public void ApplyImpulse_DynamicToFrozen(LsmBody applyBody, Particle applyParticle, LsmBody otherBody, double timeCoefficientPrediction, ref List<CollisionSubframeBuffer> collisionBuffer)
{
Debug.Assert(!applyBody.Equals(otherBody)); // don't allow self-collision here
Debug.Assert(!applyBody.Frozen && otherBody.Frozen);
foreach (Particle bodyt in otherBody.particles)
{
if (bodyt.xPos != null)
{
CheckParticleEdge_D2F(
ref applyParticle.ccdDebugInfos, applyParticle, bodyt, bodyt.xPos,
ref collisionBuffer, timeCoefficientPrediction,
new CollisionSubframeBuffer(applyParticle, applyParticle.v, new Edge(bodyt, bodyt.xPos), bodyt.v, bodyt.xPos.v, 0.0)
);
}
if (bodyt.yPos != null)
{
CheckParticleEdge_D2F(
ref applyParticle.ccdDebugInfos, applyParticle, bodyt, bodyt.yPos,
ref collisionBuffer, timeCoefficientPrediction,
new CollisionSubframeBuffer(applyParticle, applyParticle.v, new Edge(bodyt, bodyt.yPos), bodyt.v, bodyt.yPos.v, 0.0)
);
}
}
}
public void ApplyImpulse(
LsmBody applyBody, Particle applyParticle,
double timeCoefficientPrediction, ref List <CollisionSubframeBuffer> collisionBuffer // HACK // TODO: remove ref List<>
)
{
float left = this.left + border, right = this.right - border, bottom = this.bottom + border, top = this.top - border;
if (left < 0.0 || right < 0.0 || bottom < 0.0 || top < 0.0) // to prevent computation for incorrect case
{
return;
}
Vector2 pos = applyParticle.x;
Vector2 velocity = applyParticle.v;
Vector2 posNext = pos + velocity * timeCoefficientPrediction;
if (posNext.X < left)
{
collisionBuffer.Add(new CollisionSubframeBuffer(applyParticle, new Vector2(-velocity.X * BodyRepulse.coefficientElasticity, velocity.Y), null, Vector2.ZERO, Vector2.ZERO, (left - pos.X) / velocity.X));
}
if (posNext.X > right)
{
collisionBuffer.Add(new CollisionSubframeBuffer(applyParticle, new Vector2(-velocity.X * BodyRepulse.coefficientElasticity, velocity.Y), null, Vector2.ZERO, Vector2.ZERO, (right - pos.X) / velocity.X));
}
if (posNext.Y < bottom)
{
collisionBuffer.Add(new CollisionSubframeBuffer(applyParticle, new Vector2(velocity.X, -velocity.Y * BodyRepulse.coefficientElasticity), null, Vector2.ZERO, Vector2.ZERO, (bottom - pos.Y) / velocity.Y));
}
if (posNext.Y > top)
{
collisionBuffer.Add(new CollisionSubframeBuffer(applyParticle, new Vector2(velocity.X, -velocity.Y * BodyRepulse.coefficientElasticity), null, Vector2.ZERO, Vector2.ZERO, (top - pos.Y) / velocity.Y));
}
}
public void ApplyImpulse(
LsmBody applyBody, Particle applyParticle, LsmBody otherBody, // HACK // TODO: try to don't use such information for collisions or formilize this ussage
double timeCoefficientPrediction, ref List<CollisionSubframeBuffer> collisionBuffer // HACK // TODO: remove ref List<>
)
{
Debug.Assert(!applyBody.Equals(otherBody)); // don't allow self-collision here
Debug.Assert(!applyBody.Frozen && !otherBody.Frozen);
// iterate all possible edges of body and test them with current subframed point
foreach (Particle bodyt in otherBody.particles)
{
if (bodyt.xPos != null)
{
CheckParticleEdge_D2D(
ref applyParticle.ccdDebugInfos, applyParticle, bodyt, bodyt.xPos,
ref collisionBuffer, timeCoefficientPrediction,
new CollisionSubframeBuffer(applyParticle, applyParticle.v, new Edge(bodyt, bodyt.xPos), bodyt.v, bodyt.xPos.v, 0.0)
);
}
if (bodyt.yPos != null)
{
CheckParticleEdge_D2D(
ref applyParticle.ccdDebugInfos, applyParticle, bodyt, bodyt.yPos,
ref collisionBuffer, timeCoefficientPrediction,
new CollisionSubframeBuffer(applyParticle, applyParticle.v, new Edge(bodyt, bodyt.yPos), bodyt.v, bodyt.yPos.v, 0.0)
);
}
}
}
public void ApplyImpulse(
LsmBody applyBody, Particle applyParticle, LsmBody otherBody, // HACK // TODO: try to don't use such information for collisions or formilize this ussage
double timeCoefficientPrediction, ref List <CollisionSubframeBuffer> collisionBuffer // HACK // TODO: remove ref List<>
)
{
Debug.Assert(!applyBody.Equals(otherBody)); // don't allow self-collision here
Debug.Assert(!applyBody.Frozen && !otherBody.Frozen);
// iterate all possible edges of body and test them with current subframed point
foreach (Particle bodyt in otherBody.particles)
{
if (bodyt.xPos != null)
{
CheckParticleEdge_D2D(
ref applyParticle.ccdDebugInfos, applyParticle, bodyt, bodyt.xPos,
ref collisionBuffer, timeCoefficientPrediction,
new CollisionSubframeBuffer(applyParticle, applyParticle.v, new Edge(bodyt, bodyt.xPos), bodyt.v, bodyt.xPos.v, 0.0)
);
}
if (bodyt.yPos != null)
{
CheckParticleEdge_D2D(
ref applyParticle.ccdDebugInfos, applyParticle, bodyt, bodyt.yPos,
ref collisionBuffer, timeCoefficientPrediction,
new CollisionSubframeBuffer(applyParticle, applyParticle.v, new Edge(bodyt, bodyt.yPos), bodyt.v, bodyt.yPos.v, 0.0)
);
}
}
}
public void ApplyImpulse_FrozenToDynamic(LsmBody otherBody, Particle otherParticle, LsmBody applyBody, double timeCoefficientPrediction, ref List <CollisionSubframeBuffer> collisionBuffer)
{
Debug.Assert(!applyBody.Equals(otherBody)); // don't allow self-collision here
Debug.Assert(applyBody.Frozen && !otherBody.Frozen);
foreach (Particle applyParticle in applyBody.particles)
{
if (otherParticle.xPos != null)
{
CheckParticleEdge_F2D(
ref applyParticle.ccdDebugInfos, applyParticle, otherParticle, otherParticle.xPos,
ref collisionBuffer, timeCoefficientPrediction,
new CollisionSubframeBuffer(applyParticle, applyParticle.v, new Edge(otherParticle, otherParticle.xPos), otherParticle.v, otherParticle.xPos.v, 0.0)
);
}
if (otherParticle.yPos != null)
{
CheckParticleEdge_F2D(
ref applyParticle.ccdDebugInfos, applyParticle, otherParticle, otherParticle.yPos,
ref collisionBuffer, timeCoefficientPrediction,
new CollisionSubframeBuffer(applyParticle, applyParticle.v, new Edge(otherParticle, otherParticle.yPos), otherParticle.v, otherParticle.yPos.v, 0.0)
);
}
}
}
public void ApplyImpulse(
LsmBody applyBody, Particle applyParticle,
double timeCoefficientPrediction, ref List<CollisionSubframeBuffer> collisionBuffer // HACK // TODO: remove ref List<>
)
{
float left = this.left + border, right = this.right - border, bottom = this.bottom + border, top = this.top - border;
if (left < 0.0 || right < 0.0 || bottom < 0.0 || top < 0.0) // to prevent computation for incorrect case
return;
Vector2 pos = applyParticle.x;
Vector2 velocity = applyParticle.v;
Vector2 posNext = pos + velocity * timeCoefficientPrediction;
if (posNext.X < left)
{
collisionBuffer.Add(new CollisionSubframeBuffer(applyParticle, new Vector2(-velocity.X * BodyRepulse.coefficientElasticity, velocity.Y), null, Vector2.ZERO, Vector2.ZERO, (left - pos.X) / velocity.X));
}
if (posNext.X > right)
{
collisionBuffer.Add(new CollisionSubframeBuffer(applyParticle, new Vector2(-velocity.X * BodyRepulse.coefficientElasticity, velocity.Y), null, Vector2.ZERO, Vector2.ZERO, (right - pos.X) / velocity.X));
}
if (posNext.Y < bottom)
{
collisionBuffer.Add(new CollisionSubframeBuffer(applyParticle, new Vector2(velocity.X, -velocity.Y * BodyRepulse.coefficientElasticity), null, Vector2.ZERO, Vector2.ZERO, (bottom - pos.Y) / velocity.Y));
}
if (posNext.Y > top)
{
collisionBuffer.Add(new CollisionSubframeBuffer(applyParticle, new Vector2(velocity.X, -velocity.Y * BodyRepulse.coefficientElasticity), null, Vector2.ZERO, Vector2.ZERO, (top - pos.Y) / velocity.Y));
}
}
public static void MakeDataBindingForBody(TestbedWindow window, LsmBody body, int bodyIndex)
{
// TODO: make this method suitable for N bodies - not only for 2 of them
if (window != null && (bodyIndex == 0 || bodyIndex == 1))
{
MakeCheckBoxDataBinding(window, "model0" + (bodyIndex + 1) + "DisableCollisions", "Checked", body, "UseWallForce");
MakeCheckBoxDataBinding(window, "model0" + (bodyIndex + 1) + "Freeze", "Checked", body, "Frozen");
}
}
private static void RegenerateBody(int bodyIndex, bool[,] blueprint)
{
if (bodyIndex < 0 || bodyIndex >= world.bodies.Count)
{
PostMessage(Color.Red, "Invalud world.body index: " + bodyIndex + ". Failed to regenerate body.");
return;
}
LsmBody body = GenerateBody(bodyIndex, blueprint);
world.bodies[bodyIndex] = body;
}
public static void GenerateBodies(Array blueprints)
{
int verticalIndex = 0;
foreach (bool[,] blueprint in blueprints)
{
LsmBody body = GenerateBody(verticalIndex, blueprint);
world.bodies.Add(body);
++verticalIndex;
}
}
private static LsmBody GenerateBody(int verticalIndex, bool[,] blueprint)
{
LsmBody body = new LsmBody(
new Vector2(50, 50 + 150 * verticalIndex),
new Point(LsmBody.blueprintSpacingX, LsmBody.blueprintSpacingY),
new Color3(verticalIndex == 1 ? 1 : 0, verticalIndex == 0 ? 1 : 0, verticalIndex == 2 ? 1 : 0)
);
body.GenerateFromBlueprint(blueprint);
if (verticalIndex < 2)
{
MakeDataBindingForBody(Program.testbedWindow, body, verticalIndex);
}
return(body);
}
public static void CollideBodies(LsmBody movingBody, LsmBody blockingBody, double timeCoefficientPrediction, ref List <CollisionSubframeBuffer> collisionBuffer)
{
foreach (Particle particleOfMovingBody in movingBody.particles)
{
// impulse & offset collision method
particleOfMovingBody.ccdDebugInfos.Clear();
}
// Collide with other body
if (!movingBody.Frozen && !blockingBody.Frozen)
{
foreach (Particle particleOfMovingBody in movingBody.particles)
{
Testbed.world.bodyBodyRepulse.ApplyImpulse(
movingBody, particleOfMovingBody, blockingBody, timeCoefficientPrediction, ref collisionBuffer
);
}
}
else if (!movingBody.Frozen && blockingBody.Frozen)
{
foreach (Particle particleOfMovingBody in movingBody.particles)
{
Testbed.world.bodyBodyRepulse.ApplyImpulse_DynamicToFrozen(
movingBody, particleOfMovingBody, blockingBody, timeCoefficientPrediction, ref collisionBuffer
);
}
}
else if (movingBody.Frozen && !blockingBody.Frozen)
{
foreach (Particle particleOfBlockingBody in blockingBody.particles)
{
Testbed.world.bodyBodyRepulse.ApplyImpulse_FrozenToDynamic(
blockingBody, particleOfBlockingBody, movingBody, timeCoefficientPrediction, ref collisionBuffer
);
}
}
}
public static void CollideBodies(LsmBody movingBody, LsmBody blockingBody, double timeCoefficientPrediction, ref List<CollisionSubframeBuffer> collisionBuffer)
{
foreach (Particle particleOfMovingBody in movingBody.particles)
{
// impulse & offset collision method
particleOfMovingBody.ccdDebugInfos.Clear();
}
// Collide with other body
if (!movingBody.Frozen && !blockingBody.Frozen)
{
foreach (Particle particleOfMovingBody in movingBody.particles)
Testbed.world.bodyBodyRepulse.ApplyImpulse(
movingBody, particleOfMovingBody, blockingBody, timeCoefficientPrediction, ref collisionBuffer
);
}
else if (!movingBody.Frozen && blockingBody.Frozen)
{
foreach (Particle particleOfMovingBody in movingBody.particles)
Testbed.world.bodyBodyRepulse.ApplyImpulse_DynamicToFrozen(
movingBody, particleOfMovingBody, blockingBody, timeCoefficientPrediction, ref collisionBuffer
);
}
else if (movingBody.Frozen && !blockingBody.Frozen)
{
foreach (Particle particleOfBlockingBody in blockingBody.particles)
Testbed.world.bodyBodyRepulse.ApplyImpulse_FrozenToDynamic(
blockingBody, particleOfBlockingBody, movingBody, timeCoefficientPrediction, ref collisionBuffer
);
}
}
static void MakeCheckBoxDataBinding(TestbedWindow window, string checkBoxName, string checkBoxPropertyName, LsmBody body, string bodyPropertyName)
{
System.Windows.Forms.Control[] controls = window.Controls.Find(checkBoxName, true);
if (controls.Length > 0 && controls.GetValue(0) != null && controls.GetValue(0) is System.Windows.Forms.CheckBox)
{
System.Windows.Forms.CheckBox checkBox = controls.GetValue(0) as System.Windows.Forms.CheckBox;
checkBox.DataBindings.Clear();
checkBox.DataBindings.Add(checkBoxPropertyName, body, bodyPropertyName).DataSourceUpdateMode = System.Windows.Forms.DataSourceUpdateMode.OnPropertyChanged;
}
}
private static LsmBody GenerateBody(int verticalIndex, bool[,] blueprint)
{
LsmBody body = new LsmBody(
new Vector2(50, 50 + 150 * verticalIndex),
new Point(LsmBody.blueprintSpacingX, LsmBody.blueprintSpacingY),
new Color3(verticalIndex == 1 ? 1 : 0, verticalIndex == 0 ? 1 : 0, verticalIndex == 2 ? 1 : 0)
);
body.GenerateFromBlueprint(blueprint);
if (verticalIndex < 2)
{
MakeDataBindingForBody(Program.testbedWindow, body, verticalIndex);
}
return body;
}
public static void MakeDataBindingForBody(TestbedWindow window, LsmBody body, int bodyIndex)
{
// TODO: make this method suitable for N bodies - not only for 2 of them
if (window != null && (bodyIndex == 0 || bodyIndex == 1))
{
MakeCheckBoxDataBinding(window, "model0" + (bodyIndex + 1) + "DisableCollisions", "Checked", body, "UseWallForce");
MakeCheckBoxDataBinding(window, "model0" + (bodyIndex + 1) + "Freeze", "Checked", body, "Frozen");
}
}
static void MakeCheckBoxDataBinding(TestbedWindow window, string checkBoxName, string checkBoxPropertyName, LsmBody body, string bodyPropertyName)
{
System.Windows.Forms.Control[] controls = window.Controls.Find(checkBoxName, true);
if (controls.Length > 0 && controls.GetValue(0) != null && controls.GetValue(0) is System.Windows.Forms.CheckBox)
{
System.Windows.Forms.CheckBox checkBox = controls.GetValue(0) as System.Windows.Forms.CheckBox;
checkBox.DataBindings.Clear();
checkBox.DataBindings.Add(checkBoxPropertyName, body, bodyPropertyName).DataSourceUpdateMode = System.Windows.Forms.DataSourceUpdateMode.OnPropertyChanged;
}
}
public void Update()
{
// update internal processes in bodies, find velocities
foreach (LsmBody b in bodies)
{
if (!b.Frozen)
{
foreach (IEnvironmentForce force in environmentForces)
{
if (force is WallForce && !b.UseWallForce) // HACK to apply custom forces // TODO: make correct system
{
continue;
}
force.ApplyForce(b.particles);
}
b.Smooth();
b.DoFracture();
b.UpdateParticlesVelocity();
}
else
{
b.UpdateFrozenParticlesVelocity();
}
}
// iterate subframes for collision and integration system of bodies
List <CollisionSubframeBuffer> collisionBuffer = new List <CollisionSubframeBuffer>();
int iterationsCounter = 0; // to prevent deadlocks
const int maxIterations = 64; // to prevent deadlocks
double timeCoefficientPrediction = 1.0;
bool collisionFound = false;
do
{
for (int i = 0; i < bodies.Count; ++i)
{
LsmBody bLeft = bodies[i];
if (!bLeft.Frozen && !bLeft.UseWallForce)
{
bLeft.CollideWithWall(timeCoefficientPrediction, ref collisionBuffer); // TODO: refactor to remove 'ref collisionBuffer'
}
for (int j = i + 1; j < bodies.Count; ++j) // TODO: implement self-collisions for j == i.
{
LsmBody bRight = bodies[j];
LsmBody.CollideBodies(bLeft, bRight, timeCoefficientPrediction, ref collisionBuffer); // TODO: refactor to remove 'ref collisionBuffer'
LsmBody.CollideBodies(bRight, bLeft, timeCoefficientPrediction, ref collisionBuffer); // TODO: refactor to remove 'ref collisionBuffer'
}
}
double timeCoefficientIntegrate = 0.0;
if (collisionBuffer.Count > 0)
{
CollisionSubframeBuffer subframe = LsmBody.GetEarliestSubframe(collisionBuffer); // WARNING: now we assume that in 1 time moment we have maximum 1 collision in subframe.
// TODO: make system ready to handle multi-collision subframes. For example, we'll need to accumulate velocity deltas for every particle and then make summation - not just direct assign of values.
timeCoefficientIntegrate = subframe.timeCoefficient;
timeCoefficientPrediction -= subframe.timeCoefficient;
subframe.particle.v = subframe.vParticle;
if (subframe.edge != null)
{
subframe.edge.start.v = subframe.vEdgeStart;
subframe.edge.end.v = subframe.vEdgeEnd;
}
collisionBuffer.Clear();
collisionFound = true;
}
else
{
timeCoefficientIntegrate = timeCoefficientPrediction;
collisionFound = false;
}
if (timeCoefficientIntegrate > 0.0)
{
foreach (LsmBody b in bodies)
{
if (!b.Frozen)
{
b.UpdateParticlesPosition(timeCoefficientIntegrate);
}
else
{
b.UpdateFrozenParticlesPosition();
}
}
}
else
{
Testbed.PostMessage(System.Drawing.Color.Yellow, "Timestep <= 0.0 while subframes iterating!"); // DEBUG
}
if (++iterationsCounter >= maxIterations) // to prevent deadlocks
{
Testbed.PostMessage(System.Drawing.Color.Red, "Deadlock detected in HandleCollisions!"); // DEBUG
if (LsmBody.pauseOnDeadlock)
{
Testbed.Paused = true;
}
break;
}
}while (collisionFound);
}
