private void FourCollisionsButton_Click(object sender, EventArgs e)
{
CollisionAPI API = new CollisionAPI();
// Create some obstacles, at 4 corners of a square
List <CollisionShape> shapes = new List <CollisionShape>();
CollisionSphere sphere = new CollisionSphere(new Vector3(0f, 0f, 2f), 1f);
shapes.Add(sphere);
API.AddCollisionShape(sphere, 1);
CollisionCapsule capsule = new CollisionCapsule(new Vector3(10f, 0f, 0f),
new Vector3(10f, 0f, 4f),
1f);
shapes.Add(capsule);
API.AddCollisionShape(capsule, 2);
// Now, an AABB
CollisionAABB aabb = new CollisionAABB(new Vector3(9.5f, 9.5f, 0f),
new Vector3(10.5f, 10.5f, 4f));
shapes.Add(aabb);
API.AddCollisionShape(aabb, 3);
CollisionOBB obb = new CollisionOBB(new Vector3(0f, 10f, 2),
new Vector3[3] {
new Vector3(1f, 0f, 0f),
new Vector3(0f, 1f, 0f),
new Vector3(0f, 0f, 1f)
},
new Vector3(1f, 1f, 1f));
shapes.Add(obb);
API.AddCollisionShape(obb, 4);
FileStream f = new FileStream("C:\\Junk\\DumpSphereTree.txt", FileMode.Create, FileAccess.Write);
StreamWriter writer = new StreamWriter(f);
API.DumpSphereTree(writer);
API.SphereTreeRoot.VerifySphereTree();
// Now a moving object capsule in the center of the square
CollisionCapsule moCap = new CollisionCapsule(new Vector3(5f, 5f, 0f),
new Vector3(5f, 5f, 4f),
1f);
// Remember where the moving object started
Vector3 start = moCap.center;
// Move the moving object toward each of the obstacles
foreach (CollisionShape s in shapes)
{
moCap.AddDisplacement(start - moCap.center);
MoveToObject(writer, API, s, moCap);
}
writer.Close();
}
public void ReadCapsule(string objectId, Matrix4 transform, XmlNode node, PhysicsData physicsData)
{
Quaternion rot = MathHelpers.GetRotation(transform);
Matrix4 tmpTransform = rot.Inverse().ToRotationMatrix() * transform;
Vector3 scaleDelta = tmpTransform.Scale - Vector3.UnitScale;
if (scaleDelta.Length > PhysicsSerializer.ScaleEpsilon)
{
log.Error("Scale is not currently supported for capsule shapes");
}
float height = 0;
float[] radius = new float[2];
Vector3 halfExtents = Vector3.Zero;
foreach (XmlNode childNode in node.ChildNodes)
{
switch (childNode.Name)
{
case "height":
height = float.Parse(childNode.InnerText);
break;
case "radius": {
string[] values = childNode.InnerText.Split((char[])null, StringSplitOptions.RemoveEmptyEntries);
Debug.Assert(values.Length == 2);
for (int i = 0; i < 2; ++i)
{
radius[i] = float.Parse(values[i]);
}
}
break;
default:
DebugMessage(childNode);
break;
}
}
// We only support capsules where the two radii match
if (radius[0] != radius[1])
{
log.Error("Different radii for capsules are not currently supported");
}
Vector3 center = unitConversion * transform.Translation;
Vector3 halfExtent = unitConversion * (.5f * height * (rot * Vector3.UnitY));
radius[0] *= unitConversion;
radius[1] *= unitConversion;
CollisionShape collisionShape;
collisionShape = new CollisionCapsule(center - halfExtent, center + halfExtent, radius[0]);
physicsData.AddCollisionShape(objectId, collisionShape);
}
private static void TraceMOBottom(MovingObject mo, string description)
{
if (MO.DoLog)
{
CollisionShape obstacle = mo.parts[0].shape;
CollisionCapsule moCapsule = null;
if (obstacle is CollisionCapsule)
{
moCapsule = (CollisionCapsule)obstacle;
}
string rest = (moCapsule != null ?
string.Format("mo bottom is {0}",
moCapsule.bottomcenter - new Vector3(0f, moCapsule.capRadius, 0f)) :
string.Format("obstacle {0}", obstacle));
MO.Log("{0}, {1}", description, rest);
}
}
private static bool NowColliding(MovingObject mo, string description)
{
CollisionParms parms = new CollisionParms();
bool colliding = collisionManager.CollideAfterAddingDisplacement(mo, Vector3.Zero, parms);
CollisionShape obstacle = mo.parts[0].shape;
CollisionCapsule moCapsule = null;
if (obstacle is CollisionCapsule)
{
moCapsule = (CollisionCapsule)obstacle;
}
string rest = (moCapsule != null ?
string.Format("mo bottom is {0}",
moCapsule.bottomcenter - new Vector3(0f, moCapsule.capRadius, 0f)) :
string.Format("obstacle {0}", obstacle));
if (MO.DoLog)
{
MO.Log("{0}, now colliding = {1}; {2}", description, colliding, rest);
}
log.DebugFormat("{0}, now colliding = {1}; {2}", description, colliding, rest);
return(colliding);
}
public XmlNode WriteShape(CollisionShape shape, XmlDocument document)
{
XmlNode node = document.CreateElement("shape");
if (shape is CollisionAABB)
{
CollisionAABB aabbShape = shape as CollisionAABB;
// convert to meters (or other scaled unit) before writing out
Vector3 center = shape.center / unitConversion;
Vector3 halfExtent = (aabbShape.max - aabbShape.center) / unitConversion;
XmlNode translate = WriteTranslate(center, document);
node.AppendChild(translate);
XmlNode boxNode = WriteBox(halfExtent, document);
node.AppendChild(boxNode);
}
else if (shape is CollisionOBB)
{
CollisionOBB obbShape = shape as CollisionOBB;
// convert to meters (or other scaled unit) before writing out
Vector3 center = shape.center / unitConversion;
Vector3 halfExtent = obbShape.extents / unitConversion;
Quaternion rot = Quaternion.Identity;
rot.FromAxes(obbShape.axes[0], obbShape.axes[1], obbShape.axes[2]);
XmlNode rotate = WriteRotate(rot, document);
node.AppendChild(rotate);
XmlNode translate = WriteTranslate(center, document);
node.AppendChild(translate);
XmlNode boxNode = WriteBox(halfExtent, document);
node.AppendChild(boxNode);
}
else if (shape is CollisionCapsule)
{
CollisionCapsule capsuleShape = shape as CollisionCapsule;
// convert to meters (or other scaled unit) before writing out
Vector3 center = shape.center / unitConversion;
float height = capsuleShape.height / unitConversion;
float radius = capsuleShape.capRadius / unitConversion;
Vector3 halfExtent = capsuleShape.topcenter - capsuleShape.center;
Quaternion rot = Vector3.UnitY.GetRotationTo(halfExtent);
XmlNode rotate = WriteRotate(rot, document);
node.AppendChild(rotate);
XmlNode translate = WriteTranslate(center, document);
node.AppendChild(translate);
XmlNode capsuleNode = WriteCapsule(height, radius, document);
node.AppendChild(capsuleNode);
}
else if (shape is CollisionSphere)
{
// convert to meters (or other scaled unit) before writing out
Vector3 center = shape.center / unitConversion;
float radius = shape.radius / unitConversion;
XmlNode translate = WriteTranslate(center, document);
node.AppendChild(translate);
XmlNode sphereNode = WriteSphere(radius, document);
node.AppendChild(sphereNode);
}
else
{
log.ErrorFormat("Unsupported collision shape: {0}", shape.GetType());
}
return(node);
}
