Beispiel #1
0
        private CollisionData ProjectNormals(SatBodyData body1, SatBodyData body2)
        {
            Float3        dir    = (body1.Center - body2.Center).Normalize();
            CollisionData result = new CollisionData
            {
                Intersecting = true,
                Depth        = float.MaxValue
            };

            foreach (var normal in body1.Normals)
            {
                Projection1.ProjectVertices(body1, normal);
                Projection2.ProjectVertices(body2, normal);

                if (!Projection1.Overlaps(Projection2))
                {
                    result.Intersecting = false;
                    return(result);
                }

                float depth = normal.Dot(dir) < 0.0f ? Projection1.GetMaxOverlap(Projection2) : Projection1.GetOverlap(Projection2);
                if (depth < result.Depth)
                {
                    result.Depth  = depth;
                    result.Normal = normal;
                }
            }

            return(result);
        }
Beispiel #2
0
        // Special SAT case for spheres
        public CollisionData Test(SatBodyData body, Sphere s)
        {
            bool bodiesSet = body.Vertices.Length > 0 && body.Normals.Length > 0;

            if (!bodiesSet)
            {
                Logger.Error("Bodies for SAT test not set correctly");
                return(new CollisionData());
            }

            Logger.Error("SAT Test with sphere not implemented");
            return(new CollisionData());
        }
Beispiel #3
0
        // Projects the satBody on a normal
        public void ProjectVertices(SatBodyData satBody, Float3 normal)
        {
            Min = normal.Dot(satBody.Vertices[0]);
            Max = Min;

            for (int i = 1; i < satBody.Vertices.Length; i++)
            {
                float p = normal.Dot(satBody.Vertices[i]);
                if (p < Min)
                {
                    Min = p;
                }
                else if (p > Max)
                {
                    Max = p;
                }
            }
        }
Beispiel #4
0
        public CollisionData Test(SatBodyData body1, SatBodyData body2)
        {
            bool bodiesSet = body1.Vertices.Length > 0 && body1.Normals.Length > 0 && body2.Vertices.Length > 0 && body2.Normals.Length > 0;

            if (!bodiesSet)
            {
                Logger.Error("Bodies for SAT test not set correctly");
                return(new CollisionData());
            }

            Projection1 = new SatProjectionData();
            Projection2 = new SatProjectionData();

            CollisionData c1 = ProjectNormals(body1, body2);

            if (!c1.Intersecting)
            {
                return(c1);
            }

            CollisionData c2 = ProjectNormals(body2, body1);

            if (!c2.Intersecting)
            {
                return(c2);
            }

            CollisionData result = c1;

            if (c1.Depth < c2.Depth)
            {
                result        = c2;
                result.Normal = -1.0f * result.Normal;
            }
            return(result);
        }