/// <summary>
/// Create collision polygon
/// </summary>
/// <param name="offset">Offset</param>
/// <param name="vert_indx">Vert _indx</param>
/// <param name="vert_offset">Vert _offset</param>
/// <param name="vertexPositions">Vert _pos</param>
public CollisionPolygon(int offset, int[] vert_indx, int vert_offset,
Vector3[] vertexPositions)
{
vertexIndices = new int[3];
box = new BoxHelper(float.MaxValue, -float.MaxValue);
for (int i = 0; i < 3; i++)
{
vertexIndices[i] = vert_indx[i + offset] + vert_offset;
box.AddPoint(vertexPositions[vertexIndices[i]]);
} // for (int)
}
/// <summary>
/// Point intersect
/// </summary>
/// <param name="ray">Ray</param>
/// <param name="vertexPositions">Vertex positions</param>
/// <param name="distance">Distance</param>
/// <param name="collisionPosition">Collision position</param>
/// <param name="collisionNormal">Collision normal</param>
/// <returns>Bool</returns>
public bool DoesRayIntersect(Ray ray, Vector3[] vertexPositions,
out float distance, out Vector3 collisionPosition,
out Vector3 collisionNormal)
{
distance = 0.0f;
collisionPosition = ray.origin;
collisionNormal = Vector3.Zero;
if (ray.Length == 0)
return false;
BoxHelper rayBox = new BoxHelper(float.MaxValue, -float.MaxValue);
rayBox.AddPoint(ray.origin);
rayBox.AddPoint(ray.EndPosition);
Vector3 inflate = new Vector3(0.001f, 0.001f, 0.001f);
rayBox.min -= inflate;
rayBox.max += inflate;
List<BaseCollisionObject> elems = new List<BaseCollisionObject>();
root.GetElements(rayBox, elems, ++id);
ray.direction *= 1.0f / ray.Length;
distance = ray.Length;
bool intersected = false;
foreach (BaseCollisionObject collisionObject in elems)
{
float checkDistance;
Vector3 position;
Vector3 normal;
if (true == collisionObject.DoesRayIntersect(ray,
vertexPositions, out checkDistance, out position, out normal))
{
if (checkDistance < distance)
{
distance = checkDistance;
collisionPosition = position;
collisionNormal = normal;
intersected = true;
} // if (checkDistance)
} // if (true)
} // foreach (collisionObject)
return intersected;
}
/// <summary>
/// Load mesh, must be called after we got all bones. Will also create
/// the vertex and index buffers and optimize the vertices as much as
/// we can.
/// </summary>
/// <param name="colladaFile">Collada file</param>
private void LoadMesh(XmlNode colladaFile)
{
XmlNode geometrys =
XmlHelper.GetChildNode(colladaFile, "library_geometries");
if (geometrys == null)
throw new InvalidOperationException(
"library_geometries node not found in collision file");
foreach (XmlNode geometry in geometrys)
if (geometry.Name == "geometry")
{
// Load everything from the mesh node
LoadMeshGeometry(colladaFile,
XmlHelper.GetChildNode(colladaFile, "mesh"),
XmlHelper.GetXmlAttribute(geometry, "name"));
// Optimize vertices first and build index buffer from that!
indices = OptimizeVertexBuffer();
// Copy and create everything to CollisionFace
faces = new CollisionPolygon[indices.Length / 3];
for (int i = 0; i < indices.Length / 3; i++)
{
faces[i] = new CollisionPolygon(i * 3, indices, 0, vectors);
} // for (int)
BoxHelper box = new BoxHelper(float.MaxValue, -float.MaxValue);
for (int i = 0; i < vectors.Length; i++)
box.AddPoint(vectors[i]);
uint subdivLevel = 4; // max 8^6 nodes
tree = new CollisionHelper(box, subdivLevel);
for (int i = 0; i < faces.Length; i++)
tree.AddElement(faces[i]);
// Get outa here, we currently only support one single mesh!
return;
} // foreach if (geometry.Name)
}
