// Calculates intersection of line with any triangleVertexes in this model instance. Closest intersection and intersected triangleVertexes will be returned.
internal override bool GetIntersectionWithLine(ref LineD line, out MyIntersectionResultLineTriangleEx? t, IntersectionFlags flags = IntersectionFlags.ALL_TRIANGLES)
{
t = null;
return false;
//Matrix invWorld = Matrix.Invert(WorldMatrix);
//Vector3 from = Vector3.Transform(line.From, invWorld);
//Vector3 to = Vector3.Transform(line.To, invWorld);
//Line lineLocal = new Line(from, to);
//bool res = base.GetIntersectionWithLine(ref line, out t, flags);
//if (res)
//{
// var definition = MyDefinitionManager.Static.GetCubeBlockDefinition(new MyDefinitionId(MyObjectBuilderTypeEnum.Ladder));
// if (definition.ExcludedAreaForCamera != null)
// {
// foreach (var b in definition.ExcludedAreaForCamera)
// {
// if (b.Contains(t.Value.IntersectionPointInObjectSpace) == ContainmentType.Contains)
// {
// t = null;
// return false;
// }
// }
// }
//}
//return res;
}
public Sandbox.Common.MyIntersectionResultLineTriangleEx? GetIntersectionWithLine(IMyEntity physObject, ref LineD line, ref MatrixD customInvMatrix, IntersectionFlags flags)
{
LineD lineInModelSpace = new LineD(Vector3D.Transform(line.From, ref customInvMatrix), Vector3D.Transform(line.To, ref customInvMatrix));
MyIntersectionResultLineTriangleEx? ret = m_rootNode.GetIntersectionWithLine(physObject, m_model, ref lineInModelSpace, null, flags);
return ret;
}
public static double GetShortestDistanceSquared(LineD line1, LineD line2)
{
Vector3D res1, res2;
Vector3D dP = GetShortestVector(ref line1, ref line2, out res1, out res2);
//return Math.Sqrt(dot(dP, dP));
return Vector3D.Dot(dP, dP);
}
VRageMath.Vector3D?IMyCubeGrid.GetLineIntersectionExactAll(ref VRageMath.LineD line, out double distance, out IMySlimBlock intersectedBlock)
{
MySlimBlock block;
var retVal = GetLineIntersectionExactAll(ref line, out distance, out block);
intersectedBlock = block;
return(retVal);
}
// Calculates intersection of line with any triangleVertexes in this model. Closest intersection and intersected triangleVertexes will be returned.
// This method is fast, it uses octree.
public Sandbox.Common.MyIntersectionResultLineTriangleEx? GetIntersectionWithLine(IMyEntity physObject, ref LineD line, IntersectionFlags flags)
{
BoundingSphereD vol = physObject.WorldVolume;
// Check if line intersects phys object's current bounding sphere, and if not, return 'no intersection'
if (MyUtils.IsLineIntersectingBoundingSphere(ref line, ref vol) == false) return null;
// Transform line into 'model instance' local/object space. Bounding box of a line is needed!!
MatrixD worldInv = physObject.GetWorldMatrixNormalizedInv();
return GetIntersectionWithLine(physObject, ref line, ref worldInv, flags);
}
// Calculates intersection of line with object.
public override bool GetIntersectionWithLine(ref VRageMath.LineD line)
{
double?t = m_aabb.Intersects(new RayD(line.From, line.Direction));
if (t.HasValue && t.Value < line.Length && t.Value > 0)
{
return(true);
}
return(false);
}
public unsafe void DoWork(WorkData workData = null)
{
try
{
//MyEntities.EntityCloseLock.AcquireShared();
if (m_renderObject == null)
return;
if (m_renderObject is MyRenderVoxelCell)
{
}
Vector3 directionToSunNormalized = -MyRender.Sun.Direction;
VisibleFromSun = false;
var line2 = new LineD(m_renderObject.WorldVolume.Center, m_renderObject.WorldVolume.Center + directionToSunNormalized * MyShadowRenderer.SHADOW_MAX_OFFSET * 0.5f);
var result2 = MyRender.GetAnyIntersectionWithLine(MyRender.ShadowPrunning, ref line2, m_renderObject, null, m_overlapList);
VisibleFromSun |= (result2 == null); //if nothing hit, its visible from sun
if (m_renderObject.FastCastShadowResolve)
return;
Vector3D* corners = stackalloc Vector3D[8];
m_renderObject.GetCorners(corners);
for (int i = 0; i < 8; i++)
{
LineD line = new LineD(corners[i], corners[i] + directionToSunNormalized * MyShadowRenderer.SHADOW_MAX_OFFSET * 0.5f);
var result = MyRender.GetAnyIntersectionWithLine(MyRender.ShadowPrunning, ref line, m_renderObject, null, m_overlapList);
VisibleFromSun |= (result == null);
if (VisibleFromSun)
break;
}
if (!VisibleFromSun)
{
}
}
finally
{ /*
if (m_renderObject != null)
{
m_renderObject.OnClose -= m_entity_OnMarkForClose;
}
*/
// MyEntities.EntityCloseLock.ReleaseShared();
}
}
public double?Intersects(ref LineD line)
{
if (this.Contains(ref line.From))
{
RayD yd = new RayD(line.To, -line.Direction);
double?nullable = this.Intersects(ref yd);
if (!nullable.HasValue)
{
return(null);
}
double num = line.Length - nullable.Value;
if (num < 0.0)
{
return(null);
}
if (num > line.Length)
{
return(null);
}
return(new double?(num));
}
RayD ray = new RayD(line.From, line.Direction);
double?nullable2 = this.Intersects(ref ray);
if (!nullable2.HasValue)
{
return(null);
}
if (nullable2.Value < 0.0)
{
return(null);
}
if (nullable2.Value > line.Length)
{
return(null);
}
return(new double?(nullable2.Value));
}
public bool Intersects(LineD line, out double distance)
{
distance = 0f;
double?f = Intersects(new RayD(line.From, line.Direction));
if (!f.HasValue)
{
return(false);
}
if (f.Value < 0)
{
return(false);
}
if (f.Value > line.Length)
{
return(false);
}
distance = f.Value;
return(true);
}
public MyIntersectionResultLineTriangleEx(MyIntersectionResultLineTriangle triangle, IMyEntity entity, ref LineD line)
{
Triangle = triangle;
Entity = entity;
InputLineInObjectSpace = line;
NormalInObjectSpace = MyUtils.GetNormalVectorFromTriangle(ref Triangle.InputTriangle);
IntersectionPointInObjectSpace = line.From + line.Direction * Triangle.Distance;
if (Entity is IMyVoxelBase)
{
IntersectionPointInWorldSpace = (Vector3D)IntersectionPointInObjectSpace;
NormalInWorldSpace = NormalInObjectSpace;
// This will move intersection point from world space into voxel map's object space
IntersectionPointInObjectSpace = IntersectionPointInObjectSpace - ((IMyVoxelBase)Entity).PositionLeftBottomCorner;
}
else
{
var worldMatrix = Entity.WorldMatrix;
NormalInWorldSpace = (Vector3)MyUtils.GetTransformNormalNormalized((Vector3D)NormalInObjectSpace, ref worldMatrix);
IntersectionPointInWorldSpace = Vector3D.Transform((Vector3D)IntersectionPointInObjectSpace, ref worldMatrix);
}
}
private void Hammer()
{
var IntersectionStart = MySector.MainCamera.Position;
var IntersectionDirection = MySector.MainCamera.ForwardVector;
LineD line = new LineD(IntersectionStart, IntersectionStart + IntersectionDirection * 200);
var m_tmpHitList = new List<MyPhysics.HitInfo>();
MyPhysics.CastRay(line.From, line.To, m_tmpHitList, MyPhysics.ObjectDetectionCollisionLayer);
// Remove character hits.
m_tmpHitList.RemoveAll(delegate(MyPhysics.HitInfo hit)
{
return (hit.HkHitInfo.Body.GetEntity() == MySession.ControlledEntity.Entity);
});
if (m_tmpHitList.Count == 0)
return;
MyEntity closestEntity = null;
MyPhysics.HitInfo closestHit = default(MyPhysics.HitInfo);
foreach (var hit in m_tmpHitList)
{
if (hit.HkHitInfo.Body != null)
{
closestEntity = hit.HkHitInfo.Body.GetEntity() as MyEntity;
closestHit = hit;
break;
}
}
if (closestEntity == null)
return;
HkdFractureImpactDetails details = HkdFractureImpactDetails.Create();
details.SetBreakingBody(closestEntity.Physics.RigidBody);
details.SetContactPoint(closestEntity.Physics.WorldToCluster(closestHit.Position));
details.SetDestructionRadius(RADIUS);
details.SetBreakingImpulse(Sandbox.MyDestructionConstants.STRENGTH * 10);
if(HammerForce)
details.SetParticleVelocity(-line.Direction * 20);
details.SetParticlePosition(closestEntity.Physics.WorldToCluster(closestHit.Position));
details.SetParticleMass(1000000);
//details.ZeroColidingParticleVelocity();
details.Flag = details.Flag | HkdFractureImpactDetails.Flags.FLAG_DONT_RECURSE;
if (closestEntity.Physics.HavokWorld.DestructionWorld != null)
{
MyPhysics.FractureImpactDetails destruction = new MyPhysics.FractureImpactDetails();
destruction.Details = details;
destruction.World = closestEntity.Physics.HavokWorld;
destruction.Entity = closestEntity;
MyPhysics.EnqueueDestruction(destruction);
//closestGrid.Physics.HavokWorld.DestructionWorld.TriggerDestruction(ref details);
}
//details.RemoveReference();
}
public override bool GetIntersectionWithLine(ref LineD worldLine, out Vector3D? v, bool useCollisionModel = true, IntersectionFlags flags = IntersectionFlags.ALL_TRIANGLES)
{
MyIntersectionResultLineTriangleEx? result;
GetIntersectionWithLine(ref worldLine, out result);
v = null;
if (result != null)
{
v = result.Value.IntersectionPointInWorldSpace;
return true;
}
return false;
}
public void Include(ref LineD line)
{
Include(ref line.From);
Include(ref line.To);
}
public void PrefetchShapeOnRay(ref LineD ray)
{
int lod = 1;
Vector3D localStart;
MyVoxelCoordSystems.WorldPositionToLocalPosition(m_voxelMap.PositionLeftBottomCorner, ref ray.From, out localStart);
Vector3D localEnd;
MyVoxelCoordSystems.WorldPositionToLocalPosition(m_voxelMap.PositionLeftBottomCorner, ref ray.To, out localEnd);
var shape = GetShape(lod);
Debug.Assert(shape.Base.IsValid);
if (m_cellsToGenerateBuffer.Length < 64)
{
m_cellsToGenerateBuffer = new Vector3I[64];
}
int requiredCellsCount = shape.GetHitCellsInRange(localStart, localEnd, m_cellsToGenerateBuffer);
if (requiredCellsCount == 0)
{
return;
}
ProfilerShort.Begin("Start Jobs");
for (int i = 0; i < requiredCellsCount; ++i)
{
if (m_workTracker.Exists(new MyCellCoord(lod, m_cellsToGenerateBuffer[i])))
continue;
MyPrecalcJobPhysicsPrefetch.Start(new MyPrecalcJobPhysicsPrefetch.Args
{
TargetPhysics = this,
Tracker = m_workTracker,
GeometryCell = new MyCellCoord(lod, m_cellsToGenerateBuffer[i]),
Storage = m_voxelMap.Storage
});
}
ProfilerShort.End();
}
public void OverlapAllLineSegment <T>(ref LineD line, List <MyLineSegmentOverlapResult <T> > elementsList)
{
OverlapAllLineSegment <T>(ref line, elementsList, 0);
}
/// <summary>
/// Obtain entity that player is aiming/looking at.
/// </summary>
public static MyEntity GetTargetEntity()
{
var line = new LineD(MySector.MainCamera.Position, MySector.MainCamera.Position + MySector.MainCamera.ForwardVector * 10000);
m_tmpHitList.Clear();
MyPhysics.CastRay(line.From, line.To, m_tmpHitList, MyPhysics.CollisionLayers.DefaultCollisionLayer);
// Remove character hits.
m_tmpHitList.RemoveAll(delegate(MyPhysics.HitInfo hit)
{
return (hit.HkHitInfo.GetHitEntity() == MySession.Static.ControlledEntity.Entity);
});
if (m_tmpHitList.Count == 0)
return null;
return m_tmpHitList[0].HkHitInfo.GetHitEntity() as MyEntity;
}
// Calculates intersection of line with any triangleVertexes in this model instance. All intersections and intersected triangleVertexes will be returned.
internal virtual bool GetIntersectionsWithLine(ref LineD line, List<MyIntersectionResultLineTriangleEx> result, IntersectionFlags flags = IntersectionFlags.ALL_TRIANGLES)
{
MyModel collisionModel = Model;
if (collisionModel != null)
{
VRageRender.MyRenderProxy.GetRenderProfiler().StartProfilingBlock("MyEntity.GetIntersectionWithLine on model");
collisionModel.GetTrianglePruningStructure().GetTrianglesIntersectingLine(this, ref line, flags, result);
VRageRender.MyRenderProxy.GetRenderProfiler().EndProfilingBlock();
}
return result.Count > 0;
}
/// <summary>
/// Finds closest object (grid or voxel map) for placement of blocks .
/// </summary>
public bool FindClosestPlacementObject(out MyCubeGrid closestGrid, out MyVoxelMap closestVoxelMap)
{
closestGrid = null;
closestVoxelMap = null;
if (MySession.ControlledEntity == null) return false;
m_hitInfo = null;
LineD line = new LineD(IntersectionStart, IntersectionStart + IntersectionDirection * IntersectionDistance);
MyPhysics.CastRay(line.From, line.To, m_tmpHitList, MyPhysics.ObjectDetectionCollisionLayer);
// Remove character hits.
m_tmpHitList.RemoveAll(delegate(MyPhysics.HitInfo hitInfo)
{
return (hitInfo.HkHitInfo.GetHitEntity() == MySession.ControlledEntity.Entity);
});
if (m_tmpHitList.Count == 0)
return false;
var hit = m_tmpHitList[0];
closestGrid = hit.HkHitInfo.GetHitEntity() as MyCubeGrid;
if (closestGrid != null)
{
m_hitInfo = hit;
}
if (MyFakes.ENABLE_BLOCK_PLACEMENT_ON_VOXEL)
{
closestVoxelMap = hit.HkHitInfo.GetHitEntity() as MyVoxelMap;
if (closestVoxelMap != null)
m_hitInfo = hit;
}
return closestGrid != null || closestVoxelMap != null;
}
public void UpdatePlacement()
{
m_lastUpdate = MySession.Static.GameplayFrameCounter;
m_hitInfo = null;
m_closestGrid = null;
m_closestVoxelMap = null;
LineD line = new LineD(RayStart, RayStart + RayDirection * IntersectionDistance);
MyPhysics.CastRay(line.From, line.To, m_tmpHitList,
MyPhysics.CollisionLayers.ObjectDetectionCollisionLayer);
// Remove character hits.
m_tmpHitList.RemoveAll(delegate(MyPhysics.HitInfo hitInfo)
{
return (hitInfo.HkHitInfo.GetHitEntity() == MySession.Static.ControlledEntity.Entity);
});
if (m_tmpHitList.Count == 0)
return;
var hit = m_tmpHitList[0];
m_closestGrid = hit.HkHitInfo.GetHitEntity() as MyCubeGrid;
if (m_closestGrid != null)
{
//always assign otherwise the block will be completely inside/behind the grid
m_hitInfo = hit;
if (!ClosestGrid.Editable)
m_closestGrid = null;
return;
}
//if (MyFakes.ENABLE_BLOCK_PLACEMENT_ON_VOXEL) // TODO: check this MyFake to remove or what?
//{
m_closestVoxelMap = hit.HkHitInfo.GetHitEntity() as MyVoxelBase;
if (m_closestVoxelMap != null)
m_hitInfo = hit;
//}
}
public static Vector3D GetShortestVector(ref LineD line1, ref LineD line2, out Vector3D res1, out Vector3D res2)
{
double EPS = 0.000001f;
Vector3D delta21 = new Vector3D();
delta21.X = line1.To.X - line1.From.X;
delta21.Y = line1.To.Y - line1.From.Y;
delta21.Z = line1.To.Z - line1.From.Z;
Vector3D delta41 = new Vector3D();
delta41.X = line2.To.X - line2.From.X;
delta41.Y = line2.To.Y - line2.From.Y;
delta41.Z = line2.To.Z - line2.From.Z;
Vector3D delta13 = new Vector3D();
delta13.X = line1.From.X - line2.From.X;
delta13.Y = line1.From.Y - line2.From.Y;
delta13.Z = line1.From.Z - line2.From.Z;
double a = Vector3D.Dot(delta21, delta21);
double b = Vector3D.Dot(delta21, delta41);
double c = Vector3D.Dot(delta41, delta41);
double d = Vector3D.Dot(delta21, delta13);
double e = Vector3D.Dot(delta41, delta13);
double D = a * c - b * b;
double sc, sN, sD = D;
double tc, tN, tD = D;
if (D < EPS)
{
sN = 0.0f;
sD = 1.0f;
tN = e;
tD = c;
}
else
{
sN = (b * e - c * d);
tN = (a * e - b * d);
if (sN < 0.0)
{
sN = 0.0f;
tN = e;
tD = c;
}
else if (sN > sD)
{
sN = sD;
tN = e + b;
tD = c;
}
}
if (tN < 0.0)
{
tN = 0.0f;
if (-d < 0.0f)
{
sN = 0.0f;
}
else if (-d > a)
{
sN = sD;
}
else
{
sN = -d;
sD = a;
}
}
else if (tN > tD)
{
tN = tD;
if ((-d + b) < 0.0)
{
sN = 0;
}
else if ((-d + b) > a)
{
sN = sD;
}
else
{
sN = (-d + b);
sD = a;
}
}
if (Math.Abs(sN) < EPS)
{
sc = 0.0f;
}
else
{
sc = sN / sD;
}
if (Math.Abs(tN) < EPS)
{
tc = 0.0f;
}
else
{
tc = tN / tD;
}
res1.X = (sc * delta21.X);
res1.Y = (sc * delta21.Y);
res1.Z = (sc * delta21.Z);
Vector3D dP = new Vector3D();
dP.X = delta13.X - (tc * delta41.X) + res1.X;
dP.Y = delta13.Y - (tc * delta41.Y) + res1.Y;
dP.Z = delta13.Z - (tc * delta41.Z) + res1.Z;
res2 = res1 - dP;
return(dP);
}
public static Vector3D GetShortestVector(ref LineD line1, ref LineD line2, out Vector3D res1, out Vector3D res2)
{
double num8;
double num9;
double num11;
double num12;
double num = 9.9999999747524271E-07;
Vector3D vectord = new Vector3D {
X = line1.To.X - line1.From.X,
Y = line1.To.Y - line1.From.Y,
Z = line1.To.Z - line1.From.Z
};
Vector3D vectord2 = new Vector3D {
X = line2.To.X - line2.From.X,
Y = line2.To.Y - line2.From.Y,
Z = line2.To.Z - line2.From.Z
};
Vector3D vectord3 = new Vector3D {
X = line1.From.X - line2.From.X,
Y = line1.From.Y - line2.From.Y,
Z = line1.From.Z - line2.From.Z
};
double num2 = Vector3D.Dot(vectord, vectord);
double num3 = Vector3D.Dot(vectord, vectord2);
double num4 = Vector3D.Dot(vectord2, vectord2);
double num5 = Vector3D.Dot(vectord, vectord3);
double num6 = Vector3D.Dot(vectord2, vectord3);
double num7 = (num2 * num4) - (num3 * num3);
double num10 = num7;
double num13 = num7;
if (num7 < num)
{
num9 = 0.0;
num10 = 1.0;
num12 = num6;
num13 = num4;
}
else
{
num9 = (num3 * num6) - (num4 * num5);
num12 = (num2 * num6) - (num3 * num5);
if (num9 < 0.0)
{
num9 = 0.0;
num12 = num6;
num13 = num4;
}
else if (num9 > num10)
{
num9 = num10;
num12 = num6 + num3;
num13 = num4;
}
}
if (num12 < 0.0)
{
num12 = 0.0;
if (-num5 < 0.0)
{
num9 = 0.0;
}
else if (-num5 > num2)
{
num9 = num10;
}
else
{
num9 = -num5;
num10 = num2;
}
}
else if (num12 > num13)
{
num12 = num13;
if ((-num5 + num3) < 0.0)
{
num9 = 0.0;
}
else if ((-num5 + num3) > num2)
{
num9 = num10;
}
else
{
num9 = -num5 + num3;
num10 = num2;
}
}
if (Math.Abs(num9) < num)
{
num8 = 0.0;
}
else
{
num8 = num9 / num10;
}
if (Math.Abs(num12) < num)
{
num11 = 0.0;
}
else
{
num11 = num12 / num13;
}
res1.X = num8 * vectord.X;
res1.Y = num8 * vectord.Y;
res1.Z = num8 * vectord.Z;
Vector3D vectord4 = new Vector3D {
X = (vectord3.X - (num11 * vectord2.X)) + res1.X,
Y = (vectord3.Y - (num11 * vectord2.Y)) + res1.Y,
Z = (vectord3.Z - (num11 * vectord2.Z)) + res1.Z
};
res2 = res1 - vectord4;
return(vectord4);
}
public bool Intersect(ref LineD line, out double t1, out double t2)
{
RayD ray = new RayD(line.From, line.Direction);
return(this.Intersect(ref ray, out t1, out t2));
}
// Calculates intersection of line with object.
public virtual bool GetIntersectionWithLine(ref LineD line, out Vector3D? v, bool useCollisionModel = true, IntersectionFlags flags = IntersectionFlags.ALL_TRIANGLES)
{
v = null;
MyModel collisionModel = Model;
if (useCollisionModel)
collisionModel = ModelCollision;
if (collisionModel != null)
{
VRage.Game.Models.MyIntersectionResultLineTriangleEx? result = collisionModel.GetTrianglePruningStructure().GetIntersectionWithLine(this, ref line, flags);
if (result != null)
{
v = result.Value.IntersectionPointInWorldSpace;
return true;
}
}
else
Debug.Assert(false);//this should be overriden by child class if object has no model by default
return false;
}
// Calculates intersection of line with any triangleVertexes in this model instance. Closest intersection and intersected triangleVertexes will be returned.
public virtual bool GetIntersectionWithLine(ref LineD line, out VRage.Game.Models.MyIntersectionResultLineTriangleEx? t, IntersectionFlags flags = IntersectionFlags.ALL_TRIANGLES)
{
bool ret = false;
t = null;
MyModel collisionModel = Model;
if (collisionModel != null)
{
VRageRender.MyRenderProxy.GetRenderProfiler().StartProfilingBlock("MyEntity.GetIntersectionWithLine on model");
VRage.Game.Models.MyIntersectionResultLineTriangleEx? result = collisionModel.GetTrianglePruningStructure().GetIntersectionWithLine(this, ref line, flags);
VRageRender.MyRenderProxy.GetRenderProfiler().EndProfilingBlock();
if (result != null)
{
t = result.Value;
ret = true;
}
}
return ret;
}
/// <summary>
/// Calculates exact intersection point (in uniform grid coordinates) of eye ray with the given grid of all cubes.
/// Returns position of intersected object in uniform grid coordinates
/// </summary>
protected Vector3D? IntersectExact(MyCubeGrid grid, ref MatrixD inverseGridWorldMatrix, out Vector3D intersection, out MySlimBlock intersectedBlock)
{
intersection = Vector3D.Zero;
var line = new LineD(IntersectionStart, IntersectionStart + IntersectionDirection * IntersectionDistance);
double distance;
Vector3D? intersectedObjectPos = grid.GetLineIntersectionExactAll(ref line, out distance, out intersectedBlock);
if (intersectedObjectPos != null)
{
Vector3D rayStart = Vector3D.Transform(IntersectionStart, inverseGridWorldMatrix);
Vector3D rayDir = Vector3D.Normalize(Vector3D.TransformNormal(IntersectionDirection, inverseGridWorldMatrix));
intersection = rayStart + distance * rayDir;
intersection *= 1.0f / grid.GridSize;
}
return intersectedObjectPos;
}
// Calculates intersection of line with any bounding sphere in this model instance. Center of the bounding sphere will be returned.
// It takes boundingSphereRadiusMultiplier argument which serves for extending the influence (radius) for interaction with line.
public virtual Vector3D? GetIntersectionWithLineAndBoundingSphere(ref LineD line, float boundingSphereRadiusMultiplier)
{
if (Render.GetModel() == null)
return null;
BoundingSphereD vol = PositionComp.WorldVolume;
vol.Radius *= boundingSphereRadiusMultiplier;
// Check if line intersects phys object's current bounding sphere, and if not, return 'no intersection'
if (!MyUtils.IsLineIntersectingBoundingSphere(ref line, ref vol))
return null;
return vol.Center;
}
public LineD GetDamageCapsuleLine(FlameInfo info)
{
var world = Matrix.CreateFromDir(Vector3.TransformNormal(info.Direction, WorldMatrix));
var halfLenght = ThrustLengthRand * info.Radius / 2;
halfLenght *= BlockDefinition.FlameDamageLengthScale;
var position = Vector3D.Transform(info.Position, WorldMatrix);
if (halfLenght > info.Radius)
return new LineD(position - world.Forward * (info.Radius), position + world.Forward * (2 * halfLenght - info.Radius));
else
{
var l = new LineD(position + world.Forward * halfLenght, position + world.Forward * halfLenght);
l.Direction = world.Forward;
return l;
}
}
public static bool TryRayCastGrid(ref LineD worldRay, out MyCubeGrid hitGrid, out Vector3D worldHitPos)
{
try
{
MyPhysics.CastRay(worldRay.From, worldRay.To, m_tmpHitList);
foreach (var hit in m_tmpHitList)
{
var cubeGrid = hit.HkHitInfo.GetHitEntity() as MyCubeGrid;
if (cubeGrid == null)
continue;
worldHitPos = hit.Position;
VRageRender.MyRenderProxy.DebugDrawAABB(new BoundingBoxD(worldHitPos - 0.01, worldHitPos + 0.01), Color.Wheat.ToVector3(), 1f, 1f, true);
hitGrid = cubeGrid;
return true;
}
hitGrid = default(MyCubeGrid);
worldHitPos = default(Vector3D);
return false;
}
finally
{
m_tmpHitList.Clear();
}
}
public void Include(ref LineD line)
{
this.Include(ref line.From);
this.Include(ref line.To);
}
public MyCubeGrid FindClosestGrid()
{
LineD line = new LineD(IntersectionStart, IntersectionStart + IntersectionDirection * IntersectionDistance);
m_tmpHitList.Clear();
MyPhysics.CastRay(line.From, line.To, m_tmpHitList, MyPhysics.ObjectDetectionCollisionLayer);
// Remove character hits.
m_tmpHitList.RemoveAll(delegate(MyPhysics.HitInfo hit)
{
return (hit.HkHitInfo.GetHitEntity() == MySession.ControlledEntity.Entity);
});
if (m_tmpHitList.Count == 0)
return null;
MyCubeGrid closestGrid = m_tmpHitList[0].HkHitInfo.GetHitEntity() as MyCubeGrid;
return closestGrid;
}
Vector3D GetAimedPointFromHead()
{
MatrixD headMatrix = GetHeadMatrix(false);
var endPoint = headMatrix.Translation + headMatrix.Forward * 25000;
// Same optimization as the one in GetAimedPointFromCamera.
return endPoint;
if (MySession.Static.ControlledEntity == this)
{
LineD line = new LineD(headMatrix.Translation, endPoint);
//Line line = new Line(MySector.MainCamera.Position, MySector.MainCamera.Position + MySector.MainCamera.ForwardVector * 1000);
var intersection = MyEntities.GetIntersectionWithLine(ref line, this, (MyEntity)m_currentWeapon);
if (intersection.HasValue)
{
return intersection.Value.IntersectionPointInWorldSpace;
}
else
{
return (Vector3D)line.To;
}
}
else
{
return endPoint;
}
}
protected Vector3I? IntersectCubes(MyCubeGrid grid, out double distance)
{
distance = float.MaxValue;
var line = new LineD(IntersectionStart, IntersectionStart + IntersectionDirection * IntersectionDistance);
Vector3I position = Vector3I.Zero;
double dstSqr = double.MaxValue;
if (grid.GetLineIntersectionExactGrid(ref line, ref position, ref dstSqr))
{
distance = Math.Sqrt(dstSqr);
return position;
}
return null;
}
public override bool GetIntersectionWithLine(ref LineD line, out VRage.Game.Models.MyIntersectionResultLineTriangleEx? tri, IntersectionFlags flags = IntersectionFlags.ALL_TRIANGLES)
{
bool ret = GetIntersectionWithLine(ref line, ref m_hitInfoTmp, flags);
tri = m_hitInfoTmp.Triangle;
return ret;
}
/// <summary>
/// Calculates exact intersection point (in uniform grid coordinates) from stored havok's hit info object obtained during FindClosest grid.
/// Returns position of intersected object in uniform grid coordinates.
/// </summary>
protected Vector3D? GetIntersectedBlockData(ref MatrixD inverseGridWorldMatrix, out Vector3D intersection, out MySlimBlock intersectedBlock, out ushort? compoundBlockId)
{
Debug.Assert(m_hitInfo != null);
//Debug.Assert(m_hitInfo.Value.HkHitInfo.GetEntity() == CurrentGrid);
intersection = Vector3D.Zero;
intersectedBlock = null;
compoundBlockId = null;
double distance = double.MaxValue;
Vector3D? intersectedObjectPos = null;
var line = new LineD(IntersectionStart, IntersectionStart + IntersectionDirection * IntersectionDistance);
Vector3I position = Vector3I.Zero;
if (!CurrentGrid.GetLineIntersectionExactGrid(ref line, ref position, ref distance, m_hitInfo.Value))
return null;
distance = Math.Sqrt(distance);
intersectedObjectPos = position;
intersectedBlock = CurrentGrid.GetCubeBlock(position);
if (intersectedBlock == null)
return null;
// Compound block - get index of internal block for removing
if (intersectedBlock.FatBlock is MyCompoundCubeBlock)
{
MyCompoundCubeBlock compoundBlock = intersectedBlock.FatBlock as MyCompoundCubeBlock;
ushort? idInCompound = null;
ushort blockId;
MyIntersectionResultLineTriangleEx? triIntersection;
if (compoundBlock.GetIntersectionWithLine(ref line, out triIntersection, out blockId))
idInCompound = blockId;
else if (compoundBlock.GetBlocksCount() == 1) // If not intersecting with any internal block and there is only one then set the index to it
idInCompound = compoundBlock.GetBlockId(compoundBlock.GetBlocks()[0]);
compoundBlockId = idInCompound;
}
Debug.Assert(intersectedObjectPos != null);
Vector3D rayStart = Vector3D.Transform(IntersectionStart, inverseGridWorldMatrix);
Vector3D rayDir = Vector3D.Normalize(Vector3D.TransformNormal(IntersectionDirection, inverseGridWorldMatrix));
intersection = rayStart + distance * rayDir;
intersection *= 1.0f / CurrentGrid.GridSize;
return intersectedObjectPos;
}
/// <summary>
/// Returns closest hit from line start position.
/// </summary>
public bool GetIntersectionWithLine(ref LineD line, ref MyCharacterHitInfo info, IntersectionFlags flags = IntersectionFlags.ALL_TRIANGLES)
{
// TODO: This now uses caspule of physics rigid body on the character, it needs to be changed to ragdoll
// Currently this approach will be used to support Characters with different skeleton than humanoid
if (info == null)
info = new MyCharacterHitInfo();
info.Reset();
bool capsulesReady = UpdateCapsuleBones();
if (!capsulesReady)
return false;
double closestDistanceToHit = double.MaxValue;
Vector3D hitPosition = Vector3D.Zero;
Vector3D hitPosition2 = Vector3D.Zero;
Vector3 hitNormal = Vector3.Zero;
Vector3 hitNormal2 = Vector3.Zero;
int capsuleIndex = -1;
for (int i = 0; i < m_bodyCapsules.Length; i++)
{
CapsuleD capsule = m_bodyCapsules[i];
if (capsule.Intersect(line, ref hitPosition, ref hitPosition2, ref hitNormal, ref hitNormal2))
{
double distanceToHit = Vector3.Distance(hitPosition, line.From);
if (distanceToHit >= closestDistanceToHit)
continue;
closestDistanceToHit = distanceToHit;
capsuleIndex = i;
}
}
if (capsuleIndex != -1)
{
Matrix worldMatrix = PositionComp.WorldMatrix;
int boneIndex = FindBestBone(capsuleIndex, ref hitPosition, ref worldMatrix);
// Transform line to model static position and compute accurate collision there
// 1. Transform line in local coordinates (used later)
Matrix worldMatrixInv = PositionComp.WorldMatrixNormalizedInv;
Vector3 fromTrans = Vector3.Transform(line.From, ref worldMatrixInv);
Vector3 toTrans = Vector3.Transform(line.To, ref worldMatrixInv);
LineD lineLocal = new LineD(fromTrans, toTrans);
// 2. Transform line to to bone pose in binding position
var bone = AnimationController.CharacterBones[boneIndex];
bone.ComputeAbsoluteTransform();
Matrix boneAbsTrans = bone.AbsoluteTransform;
Matrix skinTransform = bone.SkinTransform;
Matrix boneTrans = skinTransform * boneAbsTrans;
Matrix invBoneTrans = Matrix.Invert(boneTrans);
fromTrans = Vector3.Transform(fromTrans, ref invBoneTrans);
toTrans = Vector3.Transform(toTrans, ref invBoneTrans);
// 3. Move back line to world coordinates
LineD lineTransWorld = new LineD(Vector3.Transform(fromTrans, ref worldMatrix), Vector3.Transform(toTrans, ref worldMatrix));
MyIntersectionResultLineTriangleEx? triangle_;
bool success = base.GetIntersectionWithLine(ref lineTransWorld, out triangle_, flags);
if (success)
{
MyIntersectionResultLineTriangleEx triangle = triangle_.Value;
info.CapsuleIndex = capsuleIndex;
info.BoneIndex = boneIndex;
info.Capsule = m_bodyCapsules[info.CapsuleIndex];
info.HitHead = info.CapsuleIndex == 0 && m_bodyCapsules.Length > 1;
info.HitPositionBindingPose = triangle.IntersectionPointInObjectSpace;
info.HitNormalBindingPose = triangle.NormalInObjectSpace;
// 4. Move intersection from binding to dynamic pose
MyTriangle_Vertexes vertices = new MyTriangle_Vertexes();
vertices.Vertex0 = Vector3.Transform(triangle.Triangle.InputTriangle.Vertex0, ref boneTrans);
vertices.Vertex1 = Vector3.Transform(triangle.Triangle.InputTriangle.Vertex1, ref boneTrans);
vertices.Vertex2 = Vector3.Transform(triangle.Triangle.InputTriangle.Vertex2, ref boneTrans);
Vector3 triangleNormal = Vector3.TransformNormal(triangle.Triangle.InputTriangleNormal, boneTrans);
MyIntersectionResultLineTriangle triraw = new MyIntersectionResultLineTriangle(ref vertices, ref triangleNormal, triangle.Triangle.Distance);
Vector3 intersectionLocal = Vector3.Transform(triangle.IntersectionPointInObjectSpace, ref boneTrans);
Vector3 normalLocal = Vector3.TransformNormal(triangle.NormalInObjectSpace, boneTrans);
// 5. Store results
triangle = new MyIntersectionResultLineTriangleEx();
triangle.Triangle = triraw;
triangle.IntersectionPointInObjectSpace = intersectionLocal;
triangle.NormalInObjectSpace = normalLocal;
triangle.IntersectionPointInWorldSpace = Vector3.Transform(intersectionLocal, ref worldMatrix);
triangle.NormalInWorldSpace = Vector3.TransformNormal(normalLocal, worldMatrix);
triangle.InputLineInObjectSpace = lineLocal;
info.Triangle = triangle;
if (MyDebugDrawSettings.ENABLE_DEBUG_DRAW)
{
MyRenderProxy.DebugClearPersistentMessages();
MyRenderProxy.DebugDrawCapsule(info.Capsule.P0, info.Capsule.P1, info.Capsule.Radius, Color.Aqua, false, persistent: true);
Vector3 p0Local = Vector3.Transform(info.Capsule.P0, ref worldMatrixInv);
Vector3 p1Local = Vector3.Transform(info.Capsule.P1, ref worldMatrixInv);
Vector3 p0LocalTrans = Vector3.Transform(p0Local, ref invBoneTrans);
Vector3 p1LocalTrans = Vector3.Transform(p1Local, ref invBoneTrans);
MyRenderProxy.DebugDrawCapsule(Vector3.Transform(p0LocalTrans, ref worldMatrix), Vector3.Transform(p1LocalTrans, ref worldMatrix), info.Capsule.Radius, Color.Brown, false, persistent: true);
MyRenderProxy.DebugDrawLine3D(line.From, line.To, Color.Blue, Color.Red, false, true);
MyRenderProxy.DebugDrawLine3D(lineTransWorld.From, lineTransWorld.To, Color.Green, Color.Yellow, false, true);
MyRenderProxy.DebugDrawSphere(triangle.IntersectionPointInWorldSpace, 0.02f, Color.Red, 1, false, persistent: true);
MyRenderProxy.DebugDrawAxis((MatrixD)boneTrans * WorldMatrix, 0.1f, false, true, true);
}
return true;
}
}
return false;
}
private void DamageGrid(FlameInfo flameInfo, LineD l, MyCubeGrid grid)
{
HkSphereShape sph = new HkSphereShape(flameInfo.Radius * BlockDefinition.FlameDamageLengthScale);
var transform = MatrixD.CreateWorld(l.From, Vector3.Forward, Vector3.Up);
var hit = MyPhysics.CastShapeReturnPoint(l.To, sph, ref transform, (int)MyPhysics.DefaultCollisionLayer, 0.05f);
sph.Base.RemoveReference();
if (hit.HasValue)
{
//MyRenderProxy.DebugDrawSphere(hit.Value, 0.1f, Color.Green.ToVector3(), 1, true);
MyPhysics.CastRay(hit.Value - l.Direction * 0.1f, hit.Value + l.Direction * 0.1f, m_gridRayCastLst, MyPhysics.ObjectDetectionCollisionLayer);
if ((m_gridRayCastLst.Count == 0 || m_gridRayCastLst[0].HkHitInfo.GetHitEntity() != grid) && grid == CubeGrid)
{
m_gridRayCastLst.Clear();
return;
}
m_gridRayCastLst.Clear();
var block = grid.GetCubeBlock(grid.WorldToGridInteger(hit.Value));
//if (block != this.SlimBlock)
{
//MyRenderProxy.DebugDrawSphere(hit.Value, 0.1f, Color.Green.ToVector3(), 1, true);
var invWorld = grid.PositionComp.GetWorldMatrixNormalizedInv();
var gridPos = Vector3D.Transform(hit.Value, invWorld);
var gridDir = Vector3D.TransformNormal(l.Direction, invWorld);
if (block != null)
if (block.FatBlock != this && (CubeGrid.GridSizeEnum == MyCubeSize.Large || block.BlockDefinition.DeformationRatio > 0.25))
{
block.DoDamage(30 * BlockDefinition.FlameDamage, MyDamageType.Environment, attackerId: EntityId);
}
var areaPlanar = 0.5f * flameInfo.Radius * CubeGrid.GridSize;
var areaVertical = 0.5f * CubeGrid.GridSize;
grid.Physics.ApplyDeformation(BlockDefinition.FlameDamage, areaPlanar, areaVertical, gridPos, gridDir, MyDamageType.Environment, CubeGrid.GridSizeEnum == MyCubeSize.Small ? 0.1f : 0, attackerId: EntityId);
}
}
}
private void TestPath()
{
using (m_lock.AcquireExclusiveUsing())
{
if (m_grid.MarkedForClose)
{
CurrentState = State.BlockedPath;
m_cells.Clear();
return;
}
if (CurrentState == State.None)
{
m_cells.Clear();
return;
}
//MyGameTimer timer = new MyGameTimer();
if (m_cells.Count != 0)
{
Vector3D worldPos = m_grid.GridIntegerToWorld(m_cells.Dequeue());
LineD worldLine = new LineD(worldPos, worldPos + m_displacement);
//var createLine = timer.Elapsed;
//timer = new MyGameTimer();
Vector3D? contact;
if (RayCast.RayCastVoxel(ClosestPlanet, worldLine, out contact))
{
//var intersect = timer.Elapsed;
m_logger.debugLog("Intersected line: " + worldLine.From + " to " + worldLine.To + ", at " + contact, Logger.severity.DEBUG);
//m_logger.debugLog("Intersected line: " + worldLine.From + " to " + worldLine.To + ", at " + contact + ", createLine: " + createLine.ToPrettySeconds() + ", intersect: " + intersect.ToPrettySeconds(), "TestPath()", Logger.severity.DEBUG);
ObstructionPoint = contact.Value;
CurrentState = State.BlockedPath;
m_cells.Clear();
return;
}
//else
//{
// var intersect = timer.Elapsed;
// m_logger.debugLog("no intersection with line: " + worldLine.From + " to " + worldLine.To + ", createLine: " + createLine.ToPrettySeconds() + ", intersect: " + intersect.ToPrettySeconds(), "TestPath()", Logger.severity.TRACE);
//}
DoTests.Enqueue(TestPath);
}
else
{
m_logger.debugLog("finished, clear", Logger.severity.DEBUG);
CurrentState = State.Clear;
}
}
}
public override void UpdateBeforeSimulation10()
{
base.UpdateBeforeSimulation10();
if (!CheckUnobstructed())
{
if (SafeConstraint != null)
{
RemoveConstraintInBoth();
}
return;
}
if (SafeConstraint != null)
{
bool staticOk = this.CubeGrid.IsStatic || !m_other.CubeGrid.IsStatic;
if (!staticOk || !IsWorking || !m_other.IsWorking || !IsWithinWorldLimits)
return;
Debug.Assert(!m_other.CubeGrid.MarkedForClose && !CubeGrid.MarkedForClose);
var mergeBlockDefinition = this.BlockDefinition as MyMergeBlockDefinition;
float maxStrength = mergeBlockDefinition != null ? mergeBlockDefinition.Strength : 0.1f;
float dist = (float)(WorldMatrix.Translation - m_other.WorldMatrix.Translation).Length() - CubeGrid.GridSize;
if (dist > CubeGrid.GridSize * 3)
{
RemoveConstraintInBoth();
return;
}
MergeData data = new MergeData();
CalculateMergeData(ref data);
(m_constraint.ConstraintData as HkMalleableConstraintData).Strength = data.ConstraintStrength;
if (data.PositionOk && data.AxisOk && data.RotationOk)
{
if (m_frameCounter++ >= 3)
{
Vector3I gridOffset = CalculateOtherGridOffset();
Vector3I otherGridOffset = m_other.CalculateOtherGridOffset();
bool canMerge = this.CubeGrid.CanMergeCubes(m_other.CubeGrid, gridOffset);
if (!canMerge)
{
if (this.CubeGrid.GridSystems.ControlSystem.IsLocallyControlled || m_other.CubeGrid.GridSystems.ControlSystem.IsLocallyControlled)
MyHud.Notifications.Add(MyNotificationSingletons.ObstructingBlockDuringMerge);
return;
}
var handle = BeforeMerge;
if (handle != null) BeforeMerge();
if (Sync.IsServer)
{
foreach (var block in CubeGrid.GetBlocks())
{
var mergeBlock = block.FatBlock as MyShipMergeBlock;
if (mergeBlock != null && mergeBlock != this && mergeBlock.InConstraint)
(block.FatBlock as MyShipMergeBlock).RemoveConstraintInBoth();
}
MyCubeGrid mergedGrid = this.CubeGrid.MergeGrid_MergeBlock(m_other.CubeGrid, gridOffset);
if (mergedGrid == null)
{
mergedGrid = m_other.CubeGrid.MergeGrid_MergeBlock(this.CubeGrid, otherGridOffset);
}
Debug.Assert(mergedGrid != null);
RemoveConstraintInBoth();
}
}
}
else
{
m_frameCounter = 0;
}
return;
}
foreach (var other in m_gridList)
{
if (other.MarkedForClose)
continue;
Vector3I pos = Vector3I.Zero;
double dist = double.MaxValue;
LineD l = new LineD(Physics.ClusterToWorld(Physics.RigidBody.Position), Physics.ClusterToWorld(Physics.RigidBody.Position) + GetMergeNormalWorld());
if (other.GetLineIntersectionExactGrid(ref l, ref pos, ref dist))
{
var block = other.GetCubeBlock(pos).FatBlock as MyShipMergeBlock;
if(block == null)
{
continue;
}
if (block.InConstraint || !block.IsWorking || !block.CheckUnobstructed() || block.GetMergeNormalWorld().Dot(GetMergeNormalWorld()) > 0.0f)
return;
if (!block.FriendlyWithBlock(this)) return;
CreateConstraint(other, block);
NeedsUpdate |= MyEntityUpdateEnum.BEFORE_NEXT_FRAME;
m_updateBeforeFlags |= UpdateBeforeFlags.EnableConstraint;
break;
}
}
}
// Method finds intersection with line and any voxel triangleVertexes in this voxel map. Closes intersection is returned.
internal override bool GetIntersectionWithLine(ref LineD worldLine, out MyIntersectionResultLineTriangleEx? t, IntersectionFlags flags = IntersectionFlags.ALL_TRIANGLES)
{
t = null;
double intersectionDistance;
LineD line = (LineD)worldLine;
if (!PositionComp.WorldAABB.Intersects(line, out intersectionDistance))
return false;
ProfilerShort.Begin("VoxelMap.LineIntersection");
try
{
Line localLine = new Line(worldLine.From - PositionLeftBottomCorner,
worldLine.To - PositionLeftBottomCorner, true);
MyIntersectionResultLineTriangle tmpResult;
if (Storage.Geometry.Intersect(ref localLine, out tmpResult, flags))
{
t = new MyIntersectionResultLineTriangleEx(tmpResult, this, ref worldLine);
var tmp = t.Value.IntersectionPointInWorldSpace;
tmp.AssertIsValid();
return true;
}
else
{
t = null;
return false;
}
}
finally
{
ProfilerShort.End();
}
}
private void ComputeSunAngle()
{
m_angleToSun = Vector3.Dot(Vector3.Transform(m_panelOrientation, m_solarBlock.WorldMatrix.GetOrientation()), MySector.DirectionToSunNormalized);
// If the sun is on the backside of the panel, and we're not two-sided, OR the block not functional, just stop processing here
if ((m_angleToSun < 0 && !m_isTwoSided) || !m_solarBlock.IsFunctional)
{
return;
}
m_currentPivot %= 8;
MatrixD rot = m_solarBlock.WorldMatrix.GetOrientation();
float scale = (float)m_solarBlock.WorldMatrix.Forward.Dot(Vector3.Transform(m_panelOrientation, rot));
float unit = m_solarBlock.BlockDefinition.CubeSize == MyCubeSize.Large ? 2.5f : 0.5f;
Vector3D pivot = m_solarBlock.WorldMatrix.Translation;
pivot += ((m_currentPivot % 4 - 1.5f) * unit * scale * (m_solarBlock.BlockDefinition.Size.X / 4f)) * m_solarBlock.WorldMatrix.Left;
pivot += ((m_currentPivot / 4 - 0.5f) * unit * scale * (m_solarBlock.BlockDefinition.Size.Y / 2f)) * m_solarBlock.WorldMatrix.Up;
pivot += unit * scale * (m_solarBlock.BlockDefinition.Size.Z / 2f) * Vector3.Transform(m_panelOrientation, rot) * m_panelOffset;
LineD l = new LineD(pivot + MySector.DirectionToSunNormalized * 100, pivot + MySector.DirectionToSunNormalized * m_solarBlock.CubeGrid.GridSize / 4); //shadows are drawn only 1000m
MyPhysics.CastRay(l.From, l.To, m_hitList, MyPhysics.CollisionLayers.DefaultCollisionLayer);
m_isPivotInSun[m_currentPivot] = true;
foreach (var hit in m_hitList)
{
var ent = hit.HkHitInfo.GetHitEntity();
if (ent != m_solarBlock.CubeGrid)
{
m_isPivotInSun[m_currentPivot] = false;
break;
}
else
{
var grid = ent as MyCubeGrid;
var pos = grid.RayCastBlocks(l.From, l.To);
if (pos.HasValue && grid.GetCubeBlock(pos.Value) != m_solarBlock.SlimBlock)
{
m_isPivotInSun[m_currentPivot] = false;
break;
}
}
}
m_pivotsInSun = 0;
foreach (bool p in m_isPivotInSun)
{
if (p)
m_pivotsInSun++;
}
}
VRageMath.Vector3?IMyEntity.GetIntersectionWithLineAndBoundingSphere(ref VRageMath.LineD line, float boundingSphereRadiusMultiplier)
{
return(GetIntersectionWithLineAndBoundingSphere(ref line, boundingSphereRadiusMultiplier));
}