/// <summary> /// DoOverlapBoxTriangleTest /// </summary> /// <param name="oldBox"></param> /// <param name="newBox"></param> /// <param name="triangle"></param> /// <param name="mesh"></param> /// <param name="info"></param> /// <param name="collTolerance"></param> /// <param name="collisionFunctor"></param> /// <returns>bool</returns> private static bool DoOverlapBoxTriangleTest(Box oldBox, Box newBox, ref IndexedTriangle triangle, TriangleMesh mesh, ref CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor) { Matrix4 dirs0 = newBox.Orientation; #region REFERENCE: Triangle tri = new Triangle(mesh.GetVertex(triangle.GetVertexIndex(0)),mesh.GetVertex(triangle.GetVertexIndex(1)),mesh.GetVertex(triangle.GetVertexIndex(2))); Vector3 triVec0; Vector3 triVec1; Vector3 triVec2; mesh.GetVertex(triangle.GetVertexIndex(0), out triVec0); mesh.GetVertex(triangle.GetVertexIndex(1), out triVec1); mesh.GetVertex(triangle.GetVertexIndex(2), out triVec2); // Deano move tri into world space Matrix4 transformMatrix = mesh.TransformMatrix; Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0); Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1); Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2); Triangle tri = new Triangle(ref triVec0,ref triVec1,ref triVec2); #endregion #region REFERENCE Vector3 triEdge0 = (tri.GetPoint(1) - tri.GetPoint(0)); Vector3 pt0; Vector3 pt1; tri.GetPoint(0, out pt0); tri.GetPoint(1, out pt1); Vector3 triEdge0; Vector3.Subtract(ref pt1, ref pt0, out triEdge0); #endregion #region REFERENCE Vector3 triEdge1 = (tri.GetPoint(2) - tri.GetPoint(1)); Vector3 pt2; tri.GetPoint(2, out pt2); Vector3 triEdge1; Vector3.Subtract(ref pt2, ref pt1, out triEdge1); #endregion #region REFERENCE Vector3 triEdge2 = (tri.GetPoint(0) - tri.GetPoint(2)); Vector3 triEdge2; Vector3.Subtract(ref pt0, ref pt2, out triEdge2); #endregion triEdge0.Normalize(); triEdge1.Normalize(); triEdge2.Normalize(); // BEN-OPTIMISATION: Replaced loops with code that requires no looping. // The new code is faster, has less allocations and math especially // since the method returns as soon as it finds a non-overlapping axis, // i.e. Before irreleveat allocations occur. #region "Old (less efficient) code" /*Vector3 triNormal = triangle.Plane.Normal; // the 15 potential separating axes const int numAxes = 13; Vector3[] axes = new Vector3[numAxes]; axes[0] = triNormal; axes[1] = dirs0.Right; axes[2] = dirs0.Up; axes[3] = dirs0.Backward; Vector3.Cross(ref axes[1], ref triEdge0, out axes[4]); Vector3.Cross(ref axes[1], ref triEdge1, out axes[5]); Vector3.Cross(ref axes[1], ref triEdge2, out axes[6]); Vector3.Cross(ref axes[2], ref triEdge0, out axes[7]); Vector3.Cross(ref axes[2], ref triEdge1, out axes[8]); Vector3.Cross(ref axes[2], ref triEdge2, out axes[9]); Vector3.Cross(ref axes[3], ref triEdge0, out axes[10]); Vector3.Cross(ref axes[3], ref triEdge1, out axes[11]); Vector3.Cross(ref axes[3], ref triEdge2, out axes[12]); // the overlap depths along each axis float[] overlapDepths = new float[numAxes]; // see if the boxes are separate along any axis, and if not keep a // record of the depths along each axis int i; for (i = 0; i < numAxes; ++i) { overlapDepths[i] = 1.0f; if (Disjoint(out overlapDepths[i], axes[i], newBox, tri, collTolerance)) return false; } // The box overlap, find the separation depth closest to 0. float minDepth = float.MaxValue; int minAxis = -1; for (i = 0; i < numAxes; ++i) { // If we can't normalise the axis, skip it float l2 = axes[i].LengthSquared; if (l2 < JiggleMath.Epsilon) continue; // Normalise the separation axis and the depth float invl = 1.0f / (float)System.Math.Sqrt(l2); axes[i] *= invl; overlapDepths[i] *= invl; // If this axis is the minimum, select it if (overlapDepths[i] < minDepth) { minDepth = overlapDepths[i]; minAxis = i; } } if (minAxis == -1) return false; // Make sure the axis is facing towards the 0th box. // if not, invert it Vector3 D = newBox.GetCentre() - tri.Centre; Vector3 N = axes[minAxis]; float depth = overlapDepths[minAxis];*/ #endregion #region "Optimised code" Vector3 triNormal = triangle.Plane.Normal; Vector3 right = dirs0.Right(); Vector3 up = dirs0.Up(); Vector3 backward = dirs0.Backward(); float testDepth; if (Disjoint(out testDepth, ref triNormal, newBox, ref tri, collTolerance)) return (false); float depth = testDepth; Vector3 N = triNormal; if (Disjoint(out testDepth, ref right, newBox, ref tri, collTolerance)) return (false); if (testDepth < depth) { depth = testDepth; N = right; } if (Disjoint(out testDepth, ref up, newBox, ref tri, collTolerance)) return (false); if (testDepth < depth) { depth = testDepth; N = up; } if (Disjoint(out testDepth, ref backward, newBox, ref tri, collTolerance)) return (false); if (testDepth < depth) { depth = testDepth; N = backward; } Vector3 axis; Vector3.Cross(ref right, ref triEdge0, out axis); if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance)) return (false); testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z); if (testDepth < depth) { depth = testDepth; N = axis; } Vector3.Cross(ref right, ref triEdge1, out axis); if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance)) return (false); testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z); if (testDepth < depth) { depth = testDepth; N = axis; } Vector3.Cross(ref right, ref triEdge2, out axis); if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance)) return (false); testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z); if (testDepth < depth) { depth = testDepth; N = axis; } Vector3.Cross(ref up, ref triEdge0, out axis); if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance)) return (false); testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z); if (testDepth < depth) { depth = testDepth; N = axis; } Vector3.Cross(ref up, ref triEdge1, out axis); if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance)) return (false); testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z); if (testDepth < depth) { depth = testDepth; N = axis; } Vector3.Cross(ref up, ref triEdge2, out axis); if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance)) return (false); testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z); if (testDepth < depth) { depth = testDepth; N = axis; } Vector3.Cross(ref backward, ref triEdge0, out axis); if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance)) return (false); testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z); if (testDepth < depth) { depth = testDepth; N = axis; } Vector3.Cross(ref backward, ref triEdge1, out axis); if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance)) return (false); testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z); if (testDepth < depth) { depth = testDepth; N = axis; } Vector3.Cross(ref backward, ref triEdge2, out axis); if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance)) return (false); testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z); if (testDepth < depth) { depth = testDepth; N = axis; } /*if (N == Vector3.Zero) return (false);*/ Vector3 D = newBox.GetCentre() - tri.Centre; N.Normalize(); int i; #endregion if (Vector3.Dot(D, N) < 0.0f) N *= -1; Vector3 boxOldPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero; Vector3 boxNewPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.Position : Vector3.Zero; Vector3 meshPos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero; List<Vector3> pts = new List<Vector3>(); //pts.Clear(); const float combinationDist = 0.05f; GetBoxTriangleIntersectionPoints(pts, newBox, tri, depth + combinationDist); // adjust the depth #region REFERENCE: Vector3 delta = boxNewPos - boxOldPos; Vector3 delta; Vector3.Subtract(ref boxNewPos, ref boxOldPos, out delta); #endregion #region REFERENCE: float oldDepth = depth + Vector3.Dot(delta, N); float oldDepth; Vector3.Dot(ref delta, ref N, out oldDepth); oldDepth += depth; #endregion unsafe { // report collisions int numPts = pts.Count; #if USE_STACKALLOC SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI]; #else SmallCollPointInfo[] collPtArray = SCPIStackAlloc(); fixed (SmallCollPointInfo* collPts = collPtArray) #endif { if (numPts > 0) { if (numPts >= MaxLocalStackSCPI) { numPts = MaxLocalStackSCPI - 1; } // adjust positions for (i = 0; i < numPts; ++i) { // BEN-OPTIMISATION: Reused existing SmallCollPointInfo and inlined vector substraction. collPts[i].R0.X = pts[i].X - boxNewPos.X; collPts[i].R0.Y = pts[i].Y - boxNewPos.Y; collPts[i].R0.Z = pts[i].Z - boxNewPos.Z; collPts[i].R1.X = pts[i].X - meshPos.X; collPts[i].R1.Y = pts[i].Y - meshPos.Y; collPts[i].R1.Z = pts[i].Z - meshPos.Z; collPts[i].InitialPenetration = oldDepth; } collisionFunctor.CollisionNotify(ref info, ref N, collPts, numPts); #if !USE_STACKALLOC FreeStackAlloc(collPtArray); #endif return true; } else { #if !USE_STACKALLOC FreeStackAlloc(collPtArray); #endif return false; } } } }
public static void CollDetectSphereStaticMeshOverlap(BoundingSphere oldSphere, BoundingSphere newSphere, TriangleMesh mesh, CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor) { Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero; Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero; float sphereTolR = collTolerance + newSphere.Radius; float sphereTolR2 = sphereTolR * sphereTolR; unsafe { #if USE_STACKALLOC SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI]; int* potentialTriangles = stackalloc int[MaxLocalStackTris]; { { #else SmallCollPointInfo[] collPtArray = SCPIStackAlloc(); fixed (SmallCollPointInfo* collPts = collPtArray) { int[] potTriArray = IntStackAlloc(); fixed( int* potentialTriangles = potTriArray) { #endif int numCollPts = 0; Vector3 collNormal = Vector3.Zero; BoundingBox bb = BoundingBoxHelper.InitialBox; BoundingBoxHelper.AddSphere(newSphere, ref bb); int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb); // Deano : get the spheres centers in triangle mesh space Vector3 newSphereCen = Vector3.Transform(newSphere.Center, mesh.InverseTransformMatrix); Vector3 oldSphereCen = Vector3.Transform(oldSphere.Center, mesh.InverseTransformMatrix); for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle) { IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]); float distToCentre = meshTriangle.Plane.DotCoordinate(newSphereCen); if (distToCentre <= 0.0f) continue; if (distToCentre >= sphereTolR) continue; int i0, i1, i2; meshTriangle.GetVertexIndices(out i0, out i1, out i2); Triangle triangle = new Triangle(mesh.GetVertex(i0), mesh.GetVertex(i1), mesh.GetVertex(i2)); float s, t; float newD2 = Distance.PointTriangleDistanceSq(out s, out t, newSphereCen, triangle); if (newD2 < sphereTolR2) { // have overlap - but actually report the old intersection float oldD2 = Distance.PointTriangleDistanceSq(out s, out t, oldSphereCen, triangle); float dist = (float)System.Math.Sqrt((float)oldD2); float depth = oldSphere.Radius - dist; Vector3 triPointSTNorm = oldSphereCen - triangle.GetPoint(s, t); JiggleMath.NormalizeSafe(ref triPointSTNorm); Vector3 collisionN = (dist > float.Epsilon) ? triPointSTNorm : triangle.Normal; // since impulse get applied at the old position Vector3 pt = oldSphere.Center - oldSphere.Radius * collisionN; if (numCollPts < MaxLocalStackSCPI) { collPts[numCollPts++] = new SmallCollPointInfo(pt - body0Pos, pt - body1Pos, depth); } collNormal += collisionN; } } if (numCollPts > 0) { JiggleMath.NormalizeSafe(ref collNormal); collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts); } #if USE_STACKALLOC } } #else FreeStackAlloc(potTriArray); } FreeStackAlloc(collPtArray); } #endif } }
/// <summary> /// CollDetectCapsuleStaticMeshOverlap /// </summary> /// <param name="oldCapsule"></param> /// <param name="newCapsule"></param> /// <param name="mesh"></param> /// <param name="info"></param> /// <param name="collTolerance"></param> /// <param name="collisionFunctor"></param> private void CollDetectCapsuleStaticMeshOverlap(Capsule oldCapsule, Capsule newCapsule, TriangleMesh mesh, CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor) { Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero; Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero; float capsuleTolR = collTolerance + newCapsule.Radius; float capsuleTolR2 = capsuleTolR * capsuleTolR; Vector3 collNormal = Vector3.Zero; BoundingBox bb = BoundingBoxHelper.InitialBox; BoundingBoxHelper.AddCapsule(newCapsule, ref bb); unsafe { #if USE_STACKALLOC SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI]; int* potentialTriangles = stackalloc int[MaxLocalStackTris]; { { #else SmallCollPointInfo[] collPtArray = SCPIStackAlloc(); fixed (SmallCollPointInfo* collPts = collPtArray) { int[] potTriArray = IntStackAlloc(); fixed (int* potentialTriangles = potTriArray) { #endif int numCollPts = 0; int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb); Vector3 capsuleStart = newCapsule.Position; Vector3 capsuleEnd = newCapsule.GetEnd(); Matrix4 meshInvTransform = mesh.InverseTransformMatrix; Vector3 meshSpaceCapsuleStart = Vector3.Transform(capsuleStart, meshInvTransform); Vector3 meshSpaceCapsuleEnd = Vector3.Transform(capsuleEnd, meshInvTransform); for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle) { IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]); // we do the plane test using the capsule in mesh space float distToStart = meshTriangle.Plane.DotCoordinate(meshSpaceCapsuleStart); float distToEnd = meshTriangle.Plane.DotCoordinate(meshSpaceCapsuleEnd); // BEN-BUG-FIX: Fixed by replacing 0.0F with -capsuleTolR. if ((distToStart > capsuleTolR && distToEnd > capsuleTolR) || (distToStart < -capsuleTolR && distToEnd < -capsuleTolR)) continue; // we now transform the triangle into world space (we could keep leave the mesh alone // but at this point 3 vector transforms is probably not a major slow down) int i0, i1, i2; meshTriangle.GetVertexIndices(out i0, out i1, out i2); Vector3 triVec0; Vector3 triVec1; Vector3 triVec2; mesh.GetVertex(i0, out triVec0); mesh.GetVertex(i1, out triVec1); mesh.GetVertex(i2, out triVec2); // Deano move tri into world space Matrix4 transformMatrix = mesh.TransformMatrix; Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0); Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1); Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2); Triangle triangle = new Triangle(ref triVec0, ref triVec1, ref triVec2); Segment seg = new Segment(capsuleStart, capsuleEnd - capsuleStart); float tS, tT0, tT1; float d2 = Distance.SegmentTriangleDistanceSq(out tS, out tT0, out tT1, seg, triangle); if (d2 < capsuleTolR2) { Vector3 oldCapsuleStart = oldCapsule.Position; Vector3 oldCapsuleEnd = oldCapsule.GetEnd(); Segment oldSeg = new Segment(oldCapsuleStart, oldCapsuleEnd - oldCapsuleStart); d2 = Distance.SegmentTriangleDistanceSq(out tS, out tT0, out tT1, oldSeg, triangle); // report result from old position float dist = (float)System.Math.Sqrt(d2); float depth = oldCapsule.Radius - dist; Vector3 pt = triangle.GetPoint(tT0, tT1); Vector3 collisionN = (d2 > JiggleMath.Epsilon) ? JiggleMath.NormalizeSafe(oldSeg.GetPoint(tS) - pt) : meshTriangle.Plane.Normal; if (numCollPts < MaxLocalStackSCPI) { // BEN-OPTIMISATION: Reused existing collPts. collPts[numCollPts].R0 = pt - body0Pos; collPts[numCollPts].R1 = pt - body1Pos; collPts[numCollPts++].InitialPenetration = depth; } collNormal += collisionN; } } if (numCollPts > 0) { JiggleMath.NormalizeSafe(ref collNormal); collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts); } #if USE_STACKALLOC } } #else } FreeStackAlloc(potTriArray); } FreeStackAlloc(collPtArray); #endif } }
internal static void CollDetectSphereStaticMeshSweep(BoundingSphere oldSphere, BoundingSphere newSphere, TriangleMesh mesh, CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor) { // really use a swept test - or overlap? Vector3 delta = newSphere.Center - oldSphere.Center; if (delta.LengthSquared() < (0.25f * newSphere.Radius * newSphere.Radius)) { CollDetectSphereStaticMeshOverlap(oldSphere, newSphere, mesh, info, collTolerance, collisionFunctor); } else { Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero; Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero; float sphereTolR = collTolerance + oldSphere.Radius; float sphereToR2 = sphereTolR * sphereTolR; Vector3 collNormal = Vector3.Zero; BoundingBox bb = BoundingBoxHelper.InitialBox; BoundingBoxHelper.AddSphere(oldSphere, ref bb); BoundingBoxHelper.AddSphere(newSphere, ref bb); // get the spheres centers in triangle mesh space Vector3 newSphereCen = Vector3.Transform(newSphere.Center, mesh.InverseTransformMatrix); Vector3 oldSphereCen = Vector3.Transform(oldSphere.Center, mesh.InverseTransformMatrix); unsafe { #if USE_STACKALLOC SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI]; int* potentialTriangles = stackalloc int[MaxLocalStackTris]; { { #else SmallCollPointInfo[] collPtArray = SCPIStackAlloc(); fixed (SmallCollPointInfo* collPts = collPtArray) { int[] potTriArray = IntStackAlloc(); fixed( int* potentialTriangles = potTriArray) { #endif int numCollPts = 0; int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb); for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle) { // first test the old sphere for being on the wrong side IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]); float distToCentreOld = meshTriangle.Plane.DotCoordinate(oldSphereCen); if (distToCentreOld <= 0.0f) continue; // now test the new sphere for being clear float distToCentreNew = meshTriangle.Plane.DotCoordinate(newSphereCen); if (distToCentreNew > sphereTolR) continue; int i0, i1, i2; meshTriangle.GetVertexIndices(out i0, out i1, out i2); Triangle triangle = new Triangle(mesh.GetVertex(i0), mesh.GetVertex(i1), mesh.GetVertex(i2)); // If the old sphere is intersecting, just use that result float s, t; float d2 = Distance.PointTriangleDistanceSq(out s, out t, oldSphereCen, triangle); if (d2 < sphereToR2) { float dist = (float)System.Math.Sqrt(d2); float depth = oldSphere.Radius - dist; Vector3 triangleN = triangle.Normal; Vector3 normSafe = oldSphereCen - triangle.GetPoint(s, t); JiggleMath.NormalizeSafe(ref normSafe); Vector3 collisionN = (dist > float.Epsilon) ? normSafe : triangleN; // since impulse gets applied at the old position Vector3 pt = oldSphere.Center - oldSphere.Radius * collisionN; if (numCollPts < MaxLocalStackSCPI) { collPts[numCollPts++] = new SmallCollPointInfo(pt - body0Pos, pt - body1Pos, depth); } collNormal += collisionN; } else if (distToCentreNew < distToCentreOld) { // old sphere is not intersecting - do a sweep, but only if the sphere is moving into the // triangle Vector3 pt, N; // CHECK THIS float depth; if (Intersection.SweptSphereTriangleIntersection(out pt, out N, out depth, oldSphere, newSphere, triangle, distToCentreOld, distToCentreNew, Intersection.EdgesToTest.EdgeAll, Intersection.CornersToTest.CornerAll)) { // collision point etc must be relative to the old position because that's //where the impulses are applied float dist = (float)System.Math.Sqrt(d2); float depth2 = oldSphere.Radius - dist; Vector3 triangleN = triangle.Normal; Vector3 normSafe = oldSphereCen - triangle.GetPoint(s, t); JiggleMath.NormalizeSafe(ref normSafe); Vector3 collisionN = (dist > JiggleMath.Epsilon) ? normSafe : triangleN; // since impulse gets applied at the old position Vector3 pt2 = oldSphere.Center - oldSphere.Radius * collisionN; if (numCollPts < MaxLocalStackSCPI) { collPts[numCollPts++] = new SmallCollPointInfo(pt2 - body0Pos, pt2 - body1Pos, depth); } collNormal += collisionN; } } } if (numCollPts > 0) { JiggleMath.NormalizeSafe(ref collNormal); collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts); } } #if USE_STACKALLOC } } #else FreeStackAlloc(potTriArray); } FreeStackAlloc(collPtArray); } #endif } }
private static bool DoOverlapBoxTriangleTest(Box oldBox, Box newBox, ref IndexedTriangle triangle, TriangleMesh mesh, ref CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor) { Matrix dirs0 = newBox.Orientation; #region REFERENCE: Triangle tri = new Triangle(mesh.GetVertex(triangle.GetVertexIndex(0)),mesh.GetVertex(triangle.GetVertexIndex(1)),mesh.GetVertex(triangle.GetVertexIndex(2))); Vector3 triVec0; Vector3 triVec1; Vector3 triVec2; mesh.GetVertex(triangle.GetVertexIndex(0), out triVec0); mesh.GetVertex(triangle.GetVertexIndex(1), out triVec1); mesh.GetVertex(triangle.GetVertexIndex(2), out triVec2); // Deano move tri into world space Matrix transformMatrix = mesh.TransformMatrix; Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0); Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1); Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2); Triangle tri = new Triangle(ref triVec0,ref triVec1,ref triVec2); #endregion #region REFERENCE Vector3 triEdge0 = (tri.GetPoint(1) - tri.GetPoint(0)); Vector3 pt0; Vector3 pt1; tri.GetPoint(0, out pt0); tri.GetPoint(1, out pt1); Vector3 triEdge0; Vector3.Subtract(ref pt1, ref pt0, out triEdge0); #endregion #region REFERENCE Vector3 triEdge1 = (tri.GetPoint(2) - tri.GetPoint(1)); Vector3 pt2; tri.GetPoint(2, out pt2); Vector3 triEdge1; Vector3.Subtract(ref pt2, ref pt1, out triEdge1); #endregion #region REFERENCE Vector3 triEdge2 = (tri.GetPoint(0) - tri.GetPoint(2)); Vector3 triEdge2; Vector3.Subtract(ref pt0, ref pt2, out triEdge2); #endregion triEdge0.Normalize(); triEdge1.Normalize(); triEdge2.Normalize(); Vector3 triNormal = triangle.Plane.Normal; // the 15 potential separating axes const int numAxes = 13; Vector3[] axes = new Vector3[numAxes]; axes[0] = triNormal; axes[1] = dirs0.Right; axes[2] = dirs0.Up; axes[3] = dirs0.Backward; Vector3.Cross(ref axes[1], ref triEdge0, out axes[4]); Vector3.Cross(ref axes[1], ref triEdge1, out axes[5]); Vector3.Cross(ref axes[1], ref triEdge2, out axes[6]); Vector3.Cross(ref axes[2], ref triEdge0, out axes[7]); Vector3.Cross(ref axes[2], ref triEdge1, out axes[8]); Vector3.Cross(ref axes[2], ref triEdge2, out axes[9]); Vector3.Cross(ref axes[3], ref triEdge0, out axes[10]); Vector3.Cross(ref axes[3], ref triEdge1, out axes[11]); Vector3.Cross(ref axes[3], ref triEdge2, out axes[12]); // the overlap depths along each axis float[] overlapDepths = new float[numAxes]; // see if the boxes are separate along any axis, and if not keep a // record of the depths along each axis int i; for (i = 0; i < numAxes; ++i) { overlapDepths[i] = 1.0f; if (Disjoint(out overlapDepths[i], axes[i], newBox, tri, collTolerance)) return false; } // The box overlap, find the separation depth closest to 0. float minDepth = float.MaxValue; int minAxis = -1; for (i = 0; i < numAxes; ++i) { // If we can't normalise the axis, skip it float l2 = axes[i].LengthSquared(); if (l2 < JiggleMath.Epsilon) continue; // Normalise the separation axis and the depth float invl = 1.0f / (float)System.Math.Sqrt(l2); axes[i] *= invl; overlapDepths[i] *= invl; // If this axis is the minimum, select it if (overlapDepths[i] < minDepth) { minDepth = overlapDepths[i]; minAxis = i; } } if (minAxis == -1) return false; // Make sure the axis is facing towards the 0th box. // if not, invert it Vector3 D = newBox.GetCentre() - tri.Centre; Vector3 N = axes[minAxis]; float depth = overlapDepths[minAxis]; if (Vector3.Dot(D, N) < 0.0f) N *= -1; Vector3 boxOldPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero; Vector3 boxNewPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.Position : Vector3.Zero; Vector3 meshPos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero; List<Vector3> pts = new List<Vector3>(); //pts.Clear(); const float combinationDist = 0.05f; GetBoxTriangleIntersectionPoints(pts, newBox, tri, depth + combinationDist); // adjust the depth #region REFERENCE: Vector3 delta = boxNewPos - boxOldPos; Vector3 delta; Vector3.Subtract(ref boxNewPos, ref boxOldPos, out delta); #endregion #region REFERENCE: float oldDepth = depth + Vector3.Dot(delta, N); float oldDepth; Vector3.Dot(ref delta, ref N, out oldDepth); oldDepth += depth; #endregion unsafe { // report collisions int numPts = pts.Count; #if USE_STACKALLOC SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI]; #else SmallCollPointInfo[] collPtArray = SCPIStackAlloc(); fixed (SmallCollPointInfo* collPts = collPtArray) #endif { if (numPts > 0) { if (numPts >= MaxLocalStackSCPI) { numPts = MaxLocalStackSCPI - 1; } // adjust positions for (i = 0; i < numPts; ++i) { collPts[i] = new SmallCollPointInfo(pts[i] - boxNewPos, pts[i] - meshPos, oldDepth); } collisionFunctor.CollisionNotify(ref info, ref N, collPts, numPts); #if !USE_STACKALLOC FreeStackAlloc(collPtArray); #endif return true; } else { #if !USE_STACKALLOC FreeStackAlloc(collPtArray); #endif return false; } } } }