protected override bool Interact(bool staticCollision)
{
if (!staticCollision && GetRigidBody1().IsStatic() && GetRigidBody2().IsStatic())
{
return(false);
}
MyRBSphereElement sphere1 = (MyRBSphereElement)RBElement1;
MyRBSphereElement sphere2 = (MyRBSphereElement)RBElement2;
Matrix matrix1 = sphere1.GetGlobalTransformation();
Matrix matrix2 = sphere2.GetGlobalTransformation();
Vector3 p1 = matrix1.Translation;
Vector3 p2 = matrix2.Translation;
Vector3 d = p2 - p1;
float length = d.Length();
float contactRadius = sphere1.Radius + sphere2.Radius;
float eps = MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon;
if (staticCollision)
{
return(length < contactRadius);
}
// from now on we handle dynamic collision
float dynEps = 0;
if (!staticCollision && length > eps)
{
dynEps = Vector3.Dot(GetRigidBody1().LinearVelocity - GetRigidBody2().LinearVelocity, d) / length * MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
if (dynEps < 0)
{
dynEps = 0;
}
}
if (length > MyMwcMathConstants.EPSILON && length < contactRadius + eps + dynEps)
{
Vector3 n = MyMwcUtils.Normalize(d);
Vector3 p = p1 + n * (sphere1.Radius + (length - contactRadius) * 0.5f);
float error = length - (contactRadius + 0.5f * eps);
MySmallCollPointInfo[] collInfo = MyContactInfoCache.SCPIStackAlloc();
collInfo[0] = new MySmallCollPointInfo(p - matrix1.Translation, p - matrix2.Translation, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, n, error, p);
MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collInfo, 1);
MyContactInfoCache.FreeStackAlloc(collInfo);
return(true);
}
return(false);
}
public override void DoWork()
{
MyRBSphereElement sphere = (MyRBSphereElement)m_RBElement;
MyBoxSensorElement box = (MyBoxSensorElement)m_SensorElement;
Matrix boxMatrix = box.GetGlobalTransformation();
Vector3 sphereCenter = sphere.GetGlobalTransformation().Translation;
Matrix invBoxMatrix = Matrix.Invert(boxMatrix);
Vector3 boxLocalsphereCenter = Vector3.Transform(sphereCenter, invBoxMatrix);
bool penetration = false;
Vector3 normal = new Vector3();
Vector3 closestPos = new Vector3();
uint customData = 0;
MyElementHelper.GetClosestPointForBox(box.Extent, boxLocalsphereCenter, ref closestPos, ref normal, ref penetration, ref customData);
if (penetration)
{
m_IsInside = true;
return;
}
closestPos = Vector3.Transform(closestPos, boxMatrix);
float vLength = (sphereCenter - closestPos).LengthSquared();
if (vLength <= sphere.Radius * sphere.Radius)
{
m_IsInside = true;
}
else
{
m_IsInside = false;
}
}
protected override bool Interact(bool staticCollision)
{
if (!staticCollision && GetRigidBody1().IsStatic() && GetRigidBody2().IsStatic())
{
return(false);
}
MyRBBoxElement box = null;
MyRBSphereElement sphere = null;
if (RBElement1.GetElementType() == MyRBElementType.ET_BOX)
{
SwapElements();
}
box = (MyRBBoxElement)RBElement2;
sphere = (MyRBSphereElement)RBElement1;
Matrix boxMatrix = box.GetGlobalTransformation();
Vector3 sphereCenter = sphere.GetGlobalTransformation().Translation;
Matrix invBoxMatrix = Matrix.Invert(boxMatrix);
Vector3 boxLocalsphereCenter = Vector3.Transform(sphereCenter, invBoxMatrix);
bool penetration = false;
Vector3 normal = new Vector3();
Vector3 closestPos = new Vector3();
uint customData = 0;
box.GetClosestPoint(boxLocalsphereCenter, ref closestPos, ref normal, ref penetration, ref customData);
closestPos = Vector3.Transform(closestPos, boxMatrix);
normal = -Vector3.TransformNormal(normal, boxMatrix);
normal = MyMwcUtils.Normalize(normal);
float vLength = (sphereCenter - closestPos).Length();
if (staticCollision)
{
return(vLength > 0 && vLength < sphere.Radius);
}
else
{
float eps = MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon;
float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
Vector3 pointVelocity1 = new Vector3();
Vector3 pointVelocity2 = new Vector3();
GetRigidBody1().GetGlobalPointVelocity(ref closestPos, out pointVelocity1);
GetRigidBody2().GetGlobalPointVelocity(ref closestPos, out pointVelocity2);
float dynEps = 0;
if (vLength >= eps)
{
float dot = Vector3.Dot(pointVelocity1 - pointVelocity2, normal) * dt;
if (dot >= 0)
{
dynEps = dot;
}
}
float radius = sphere.Radius;
//Second part of condition commented due to 5968: Bug B - rocket passing through prefab
//Does not seem to have any reason to be there
if (vLength > 0 /*&& vLength < (radius + eps + dynEps)*/)
{
float error = vLength - (radius + 0.5f * eps);
//error = System.Math.Min(error, eps);
MySmallCollPointInfo[] collInfo = MyContactInfoCache.SCPIStackAlloc();
collInfo[0] = new MySmallCollPointInfo(closestPos - sphereCenter, closestPos - boxMatrix.Translation, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, normal, error, closestPos);
MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collInfo, 1);
MyContactInfoCache.FreeStackAlloc(collInfo);
}
}
return(false);
}
public MyRBElement CreateRBElement(MyRBElementDesc desc)
{
switch (desc.GetElementType())
{
case MyRBElementType.ET_SPHERE:
{
MyRBSphereElement element = m_RBSphereElementPool.Allocate();
MyCommonDebugUtils.AssertDebug(element != null);
if (element.LoadFromDesc(desc))
{
return(element);
}
else
{
m_RBSphereElementPool.Deallocate(element);
return(null);
}
}
break;
case MyRBElementType.ET_BOX:
{
MyRBBoxElement element = m_RBBoxElementPool.Allocate();
MyCommonDebugUtils.AssertDebug(element != null);
if (element.LoadFromDesc(desc))
{
return(element);
}
else
{
m_RBBoxElementPool.Deallocate(element);
return(null);
}
}
break;
case MyRBElementType.ET_CAPSULE:
{
MyRBCapsuleElement element = m_RBCapsuleElementPool.Allocate();
MyCommonDebugUtils.AssertDebug(element != null);
if (element.LoadFromDesc(desc))
{
return(element);
}
else
{
m_RBCapsuleElementPool.Deallocate(element);
return(null);
}
}
break;
case MyRBElementType.ET_TRIANGLEMESH:
{
MyRBTriangleMeshElement element = m_RBTriangleMeshElementPool.Allocate();
MyCommonDebugUtils.AssertDebug(element != null);
if (element.LoadFromDesc(desc))
{
return(element);
}
else
{
m_RBTriangleMeshElementPool.Deallocate(element);
return(null);
}
}
break;
case MyRBElementType.ET_VOXEL:
{
MyRBVoxelElement element = m_RBVoxelElementPool.Allocate();
MyCommonDebugUtils.AssertDebug(element != null);
if (element.LoadFromDesc(desc))
{
return(element);
}
else
{
m_RBVoxelElementPool.Deallocate(element);
return(null);
}
}
break;
default:
// unknown element type
MyCommonDebugUtils.AssertDebug(false);
break;
}
return(null);
}