public void Cast(CollisionWorld cw, float frameDelta)
{
using (var cb = new ClosestConvexResultCallback())
{
for (int i = 0; i < NumRays; i++)
{
cb.ClosestHitFraction = 1.0f;
cb.ConvexFromWorld = _source[i];
cb.ConvexToWorld = _destination[i];
Matrix from = _fromRotation * Matrix.Translation(_source[i]);
Matrix to = _toRotation * Matrix.Translation(_destination[i]);
cw.ConvexSweepTestRef(_boxShape, ref from, ref to, cb);
if (cb.HasHit)
{
_hitPoint[i] = cb.HitPointWorld;
Vector3.Lerp(ref _source[i], ref _destination[i], cb.ClosestHitFraction, out _hitCenterOfMass[i]);
_hitFraction[i] = cb.ClosestHitFraction;
_normal[i] = cb.HitNormalWorld;
_normal[i].Normalize();
}
else
{
_hitCenterOfMass[i] = _destination[i];
_hitPoint[i] = _destination[i];
_hitFraction[i] = 1.0f;
_normal[i] = new Vector3(1.0f, 0.0f, 0.0f);
}
}
}
_time += frameDelta;
_frameCount++;
if (_frameCount > 50)
{
if (_time < _timeMin)
{
_timeMin = _time;
}
if (_time > _timeMax)
{
_timeMax = _time;
}
_timeTotal += _time;
_sampleCount++;
float timeMean = _timeTotal / _sampleCount;
Console.WriteLine("{0} rays in {1} s, min {2}, max {3}, mean {4}",
NumRays * _frameCount,
_time.ToString("0.000", CultureInfo.InvariantCulture),
_timeMin.ToString("0.000", CultureInfo.InvariantCulture),
_timeMax.ToString("0.000", CultureInfo.InvariantCulture),
timeMean.ToString("0.000", CultureInfo.InvariantCulture));
_time = 0;
_frameCount = 0;
}
}
protected void StepUp(CollisionWorld collisionWorld)
{
// phase 1: up
Matrix start, end;
m_targetPosition = m_currentPosition + upAxisDirection[m_upAxis] * (m_stepHeight + (m_verticalOffset > 0.0f ? m_verticalOffset : 0.0f));
/* FIXME: Handle penetration properly */
start = Matrix.Translation(m_currentPosition + upAxisDirection[m_upAxis] * (m_convexShape.Margin + m_addedMargin));
end = Matrix.Translation(m_targetPosition);
KinematicClosestNotMeConvexResultCallback callback = new KinematicClosestNotMeConvexResultCallback(m_ghostObject, -upAxisDirection[m_upAxis], 0.7071f);
callback.CollisionFilterGroup = GhostObject.BroadphaseHandle.CollisionFilterGroup;
callback.CollisionFilterMask = GhostObject.BroadphaseHandle.CollisionFilterMask;
if (m_useGhostObjectSweepTest)
{
m_ghostObject.ConvexSweepTestRef(m_convexShape, ref start, ref end, callback, collisionWorld.DispatchInfo.AllowedCcdPenetration);
}
else
{
collisionWorld.ConvexSweepTestRef(m_convexShape, ref start, ref end, callback, 0f);
}
if (callback.HasHit)
{
// Only modify the position if the hit was a slope and not a wall or ceiling.
if (Vector3.Dot(callback.HitNormalWorld, upAxisDirection[m_upAxis]) > 0.0)
{
// we moved up only a fraction of the step height
m_currentStepOffset = m_stepHeight * callback.ClosestHitFraction;
if (m_interpolateUp)
{
Vector3.Lerp(ref m_currentPosition, ref m_targetPosition, callback.ClosestHitFraction, out m_currentPosition);
}
else
{
m_currentPosition = m_targetPosition;
}
}
m_verticalVelocity = 0.0f;
m_verticalOffset = 0.0f;
}
else
{
m_currentStepOffset = m_stepHeight;
m_currentPosition = m_targetPosition;
}
}
public void Cast(CollisionWorld cw, ClosestConvexResultCallback callback, float frameDelta)
{
foreach (var ray in _rays)
{
callback.ClosestHitFraction = 1.0f;
callback.ConvexFromWorld = ray.Source;
callback.ConvexToWorld = ray.Destination;
Matrix from = _fromRotation * Matrix.Translation(ray.Source);
Matrix to = _toRotation * Matrix.Translation(ray.Destination);
cw.ConvexSweepTestRef(_boxShape, ref from, ref to, callback);
if (callback.HasHit)
{
ray.HitPoint = callback.HitPointWorld;
Vector3.Lerp(ref ray.Source, ref ray.Destination, callback.ClosestHitFraction, out ray.HitCenterOfMass);
ray.HitFraction = callback.ClosestHitFraction;
ray.Normal = callback.HitNormalWorld;
ray.Normal.Normalize();
}
else
{
ray.HitCenterOfMass = ray.Destination;
ray.HitPoint = ray.Destination;
ray.HitFraction = 1.0f;
ray.Normal = new Vector3(1.0f, 0.0f, 0.0f);
}
}
_time += frameDelta;
_frameCount++;
if (_frameCount > 50)
{
if (_time < _timeMin)
{
_timeMin = _time;
}
if (_time > _timeMax)
{
_timeMax = _time;
}
_timeTotal += _time;
_sampleCount++;
PrintStats();
_time = 0;
_frameCount = 0;
}
}
protected void StepUp(CollisionWorld collisionWorld)
{
Matrix start, end;
m_targetPosition = m_currentPosition + Vector3.UnitY * (m_stepHeight + (m_verticalOffset > 0.0f ? m_verticalOffset : 0.0f));
start = Matrix.Translation(m_currentPosition + Vector3.UnitY * (m_convexShape.Margin + m_addedMargin));
end = Matrix.Translation(m_targetPosition);
_callback.Me = m_ghostObject;
_callback.Up = -Vector3.UnitY;
_callback.MinSlopeDot = 0.7071f;
_callback.CollisionFilterGroup = GhostObject.BroadphaseHandle.CollisionFilterGroup;
_callback.CollisionFilterMask = GhostObject.BroadphaseHandle.CollisionFilterMask;
_callback.ClosestHitFraction = 1;
if (m_useGhostObjectSweepTest)
{
m_ghostObject.ConvexSweepTestRef(m_convexShape, ref start, ref end, _callback, collisionWorld.DispatchInfo.AllowedCcdPenetration);
}
else
{
collisionWorld.ConvexSweepTestRef(m_convexShape, ref start, ref end, _callback, 0f);
}
if (_callback.HasHit)
{
if (Vector3.Dot(_callback.HitNormalWorld, Vector3.UnitY) > 0.0)
{
m_currentStepOffset = m_stepHeight * _callback.ClosestHitFraction;
if (m_interpolateUp)
{
Vector3.Lerp(ref m_currentPosition, ref m_targetPosition, _callback.ClosestHitFraction, out m_currentPosition);
}
else
{
m_currentPosition = m_targetPosition;
}
}
m_verticalVelocity = 0.0f;
m_verticalOffset = 0.0f;
}
else
{
m_currentStepOffset = m_stepHeight;
m_currentPosition = m_targetPosition;
}
}
public void Cast(CollisionWorld cw)
{
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
using (var cb = new ClosestConvexResultCallback(ref source[i], ref dest[i]))
{
Quaternion qFrom = Quaternion.RotationAxis(new Vector3(1.0f, 0.0f, 0.0f), 0.0f);
Quaternion qTo = Quaternion.RotationAxis(new Vector3(1.0f, 0.0f, 0.0f), 0.7f);
Matrix from = Matrix.RotationQuaternion(qFrom) * Matrix.Translation(source[i]);
Matrix to = Matrix.RotationQuaternion(qTo) * Matrix.Translation(dest[i]);
cw.ConvexSweepTestRef(boxShape, ref from, ref to, cb);
if (cb.HasHit)
{
hit_surface[i] = cb.HitPointWorld;
hit_com[i] = Vector3.Lerp(source[i], dest[i], cb.ClosestHitFraction);
hit_fraction[i] = cb.ClosestHitFraction;
normal[i] = cb.HitNormalWorld;
normal[i].Normalize();
}
else
{
hit_com[i] = dest[i];
hit_surface[i] = dest[i];
hit_fraction[i] = 1.0f;
normal[i] = new Vector3(1.0f, 0.0f, 0.0f);
}
}
}
frame_counter++;
if (frame_counter > 50)
{
min_ms = ms < min_ms ? ms : min_ms;
max_ms = ms > max_ms ? ms : max_ms;
sum_ms += ms;
sum_ms_samples++;
float mean_ms = (float)sum_ms / (float)sum_ms_samples;
Console.WriteLine("{0} rays in {1} ms {2} {3} {4}", NUMRAYS_IN_BAR * frame_counter, ms, min_ms, max_ms, mean_ms);
ms = 0;
frame_counter = 0;
}
}
protected void StepDown(CollisionWorld collisionWorld, float dt)
{
Matrix start, end, end_double;
bool runonce = false;
// phase 3: down
/*float additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0;
* btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + additionalDownStep);
* float downVelocity = (additionalDownStep == 0.0 && m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt;
* btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * downVelocity;
* m_targetPosition -= (step_drop + gravity_drop);*/
Vector3 orig_position = m_targetPosition;
float downVelocity = (m_verticalVelocity < 0.0f ? -m_verticalVelocity : 0.0f) * dt;
if (downVelocity > 0.0 && downVelocity > m_fallSpeed &&
(m_wasOnGround || !m_wasJumping))
{
downVelocity = m_fallSpeed;
}
Vector3 step_drop = upAxisDirection[m_upAxis] * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop;
KinematicClosestNotMeConvexResultCallback callback = new KinematicClosestNotMeConvexResultCallback(m_ghostObject, upAxisDirection[m_upAxis], m_maxSlopeCosine);
callback.CollisionFilterGroup = GhostObject.BroadphaseHandle.CollisionFilterGroup;
callback.CollisionFilterMask = GhostObject.BroadphaseHandle.CollisionFilterMask;
KinematicClosestNotMeConvexResultCallback callback2 = new KinematicClosestNotMeConvexResultCallback(m_ghostObject, upAxisDirection[m_upAxis], m_maxSlopeCosine);
callback2.CollisionFilterGroup = GhostObject.BroadphaseHandle.CollisionFilterGroup;
callback2.CollisionFilterMask = GhostObject.BroadphaseHandle.CollisionFilterMask;
while (true)
{
start = Matrix.Translation(m_currentPosition);
end = Matrix.Translation(m_targetPosition);
//set double test for 2x the step drop, to check for a large drop vs small drop
end_double = Matrix.Translation(m_targetPosition - step_drop);
if (m_useGhostObjectSweepTest)
{
m_ghostObject.ConvexSweepTestRef(m_convexShape, ref start, ref end, callback, collisionWorld.DispatchInfo.AllowedCcdPenetration);
if (!callback.HasHit)
{
//test a double fall height, to see if the character should interpolate it's fall (full) or not (partial)
m_ghostObject.ConvexSweepTest(m_convexShape, start, end_double, callback2, collisionWorld.DispatchInfo.AllowedCcdPenetration);
}
}
else
{
// this works....
collisionWorld.ConvexSweepTestRef(m_convexShape, ref start, ref end, callback, collisionWorld.DispatchInfo.AllowedCcdPenetration);
if (!callback.HasHit)
{
//test a double fall height, to see if the character should interpolate it's fall (large) or not (small)
m_ghostObject.ConvexSweepTest(m_convexShape, start, end_double, callback2, collisionWorld.DispatchInfo.AllowedCcdPenetration);
}
}
float downVelocity2 = (m_verticalVelocity < 0.0f ? -m_verticalVelocity : 0.0f) * dt;
bool has_hit = false;
if (bounce_fix == true)
{
has_hit = callback.HasHit || callback2.HasHit;
}
else
{
has_hit = callback2.HasHit;
}
if (downVelocity2 > 0.0f && downVelocity2 < m_stepHeight && has_hit == true && runonce == false &&
(m_wasOnGround || !m_wasJumping))
{
//redo the velocity calculation when falling a small amount, for fast stairs motion
//for larger falls, use the smoother/slower interpolated movement by not touching the target position
m_targetPosition = orig_position;
downVelocity = m_stepHeight;
Vector3 step_drop2 = upAxisDirection[m_upAxis] * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop2;
runonce = true;
continue; //re-run previous tests
}
break;
}
if (callback.HasHit || runonce == true)
{
// we dropped a fraction of the height -> hit floor
float fraction = (m_currentPosition.Y - callback.HitPointWorld.Y) / 2;
//printf("hitpoint: %g - pos %g\n", callback.m_hitPointWorld.getY(), m_currentPosition.getY());
if (bounce_fix == true)
{
if (full_drop == true)
{
Vector3.Lerp(ref m_currentPosition, ref m_targetPosition, callback.ClosestHitFraction, out m_currentPosition);
}
else
{
//due to errors in the closestHitFraction variable when used with large polygons, calculate the hit fraction manually
Vector3.Lerp(ref m_currentPosition, ref m_targetPosition, fraction, out m_currentPosition);
}
}
else
{
Vector3.Lerp(ref m_currentPosition, ref m_targetPosition, callback.ClosestHitFraction, out m_currentPosition);
}
full_drop = false;
m_verticalVelocity = 0.0f;
m_verticalOffset = 0.0f;
m_wasJumping = false;
}
else
{
// we dropped the full height
full_drop = true;
if (bounce_fix == true)
{
downVelocity = (m_verticalVelocity < 0.0f ? -m_verticalVelocity : 0.0f) * dt;
if (downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping))
{
m_targetPosition += step_drop; //undo previous target change
downVelocity = m_fallSpeed;
step_drop = upAxisDirection[m_upAxis] * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop;
}
}
//printf("full drop - %g, %g\n", m_currentPosition.getY(), m_targetPosition.getY());
m_currentPosition = m_targetPosition;
}
}
protected void StepForwardAndStrafe(CollisionWorld collisionWorld, ref Vector3 walkMove)
{
// printf("originalDir=%f,%f,%f\n",originalDir[0],originalDir[1],originalDir[2]);
// phase 2: forward and strafe
Matrix start = Matrix.Identity, end = Matrix.Identity;
m_targetPosition = m_currentPosition + walkMove;
float fraction = 1.0f;
float distance2 = (m_currentPosition - m_targetPosition).LengthSquared;
// printf("distance2=%f\n",distance2);
if (m_touchingContact)
{
float dot;
Vector3.Dot(ref m_normalizedDirection, ref m_touchingNormal, out dot);
if (dot > 0.0f)
{
//interferes with step movement
//UpdateTargetPositionBasedOnCollision(ref m_touchingNormal, 0.0f, 1.0f);
}
}
int maxIter = 10;
while (fraction > 0.01f && maxIter-- > 0)
{
start.Origin = (m_currentPosition);
end.Origin = (m_targetPosition);
Vector3 sweepDirNegative = m_currentPosition - m_targetPosition;
KinematicClosestNotMeConvexResultCallback callback = new KinematicClosestNotMeConvexResultCallback(m_ghostObject, sweepDirNegative, 0f);
callback.CollisionFilterGroup = GhostObject.BroadphaseHandle.CollisionFilterGroup;
callback.CollisionFilterMask = GhostObject.BroadphaseHandle.CollisionFilterMask;
float margin = m_convexShape.Margin;
m_convexShape.Margin = margin + m_addedMargin;
if (m_useGhostObjectSweepTest)
{
m_ghostObject.ConvexSweepTestRef(m_convexShape, ref start, ref end, callback, collisionWorld.DispatchInfo.AllowedCcdPenetration);
}
else
{
collisionWorld.ConvexSweepTestRef(m_convexShape, ref start, ref end, callback, collisionWorld.DispatchInfo.AllowedCcdPenetration);
}
m_convexShape.Margin = margin;
fraction -= callback.ClosestHitFraction;
if (callback.HasHit)
{
// we moved only a fraction
float hitDistance = (callback.HitPointWorld - m_currentPosition).Length;
Vector3 hitNormalWorld = callback.HitNormalWorld;
UpdateTargetPositionBasedOnCollision(ref hitNormalWorld, 0f, 1f);
Vector3 currentDir = m_targetPosition - m_currentPosition;
distance2 = currentDir.LengthSquared;
if (distance2 > MathUtil.SIMD_EPSILON)
{
currentDir.Normalize();
/* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
float dot;
Vector3.Dot(ref currentDir, ref m_normalizedDirection, out dot);
if (dot <= 0.0f)
{
break;
}
}
else
{
// printf("currentDir: don't normalize a zero vector\n");
break;
}
}
else
{
// we moved whole way
m_currentPosition = m_targetPosition;
}
// if (callback.m_closestHitFraction == 0.f)
// break;
}
}
protected void StepDown(CollisionWorld collisionWorld, float dt)
{
Matrix start, end, end_double;
bool runonce = false;
Vector3 orig_position = m_targetPosition;
float downVelocity = (m_verticalVelocity < 0.0f ? -m_verticalVelocity : 0.0f) * dt;
if (downVelocity > 0.0 && downVelocity > m_fallSpeed &&
(m_wasOnGround || !m_wasJumping))
{
downVelocity = m_fallSpeed;
}
Vector3 step_drop = Vector3.UnitY * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop;
_callback.MinSlopeDot = m_maxSlopeCosine;
_callback.Up = Vector3.UnitY;
_callback.CollisionFilterGroup = GhostObject.BroadphaseHandle.CollisionFilterGroup;
_callback.CollisionFilterMask = GhostObject.BroadphaseHandle.CollisionFilterMask;
bool hasFirstHit;
float hitFraction;
Vector3 pointWorld;
while (true)
{
start = Matrix.Translation(m_currentPosition);
end = Matrix.Translation(m_targetPosition);
//set double test for 2x the step drop, to check for a large drop vs small drop
end_double = Matrix.Translation(m_targetPosition - step_drop);
bool has_hit_first = false;
bool has_hit_second = false;
if (m_useGhostObjectSweepTest)
{
_callback.ClosestHitFraction = 1;
m_ghostObject.ConvexSweepTestRef(m_convexShape, ref start, ref end, _callback, collisionWorld.DispatchInfo.AllowedCcdPenetration);
pointWorld = _callback.HitPointWorld;
has_hit_first = _callback.HasHit;
hitFraction = _callback.ClosestHitFraction;
if (!has_hit_first)
{
_callback.ClosestHitFraction = 1;
//test a double fall height, to see if the character should interpolate it's fall (full) or not (partial)
m_ghostObject.ConvexSweepTest(m_convexShape, start, end_double, _callback, collisionWorld.DispatchInfo.AllowedCcdPenetration);
has_hit_second = _callback.HasHit;
}
}
else
{
_callback.ClosestHitFraction = 1;
// this works....
collisionWorld.ConvexSweepTestRef(m_convexShape, ref start, ref end, _callback, collisionWorld.DispatchInfo.AllowedCcdPenetration);
pointWorld = _callback.HitPointWorld;
has_hit_first = _callback.HasHit;
hitFraction = _callback.ClosestHitFraction;
if (!has_hit_first)
{
_callback.ClosestHitFraction = 1;
//test a double fall height, to see if the character should interpolate it's fall (large) or not (small)
m_ghostObject.ConvexSweepTest(m_convexShape, start, end_double, _callback, collisionWorld.DispatchInfo.AllowedCcdPenetration);
has_hit_second = _callback.HasHit;
}
}
hasFirstHit = has_hit_first;
float downVelocity2 = (m_verticalVelocity < 0.0f ? -m_verticalVelocity : 0.0f) * dt;
bool has_hit;
if (bounce_fix == true)
{
has_hit = has_hit_first || has_hit_second;
}
else
{
has_hit = has_hit_second;
}
if (downVelocity2 > 0.0f && downVelocity2 < m_stepHeight && has_hit == true && runonce == false &&
(m_wasOnGround || !m_wasJumping))
{
//redo the velocity calculation when falling a small amount, for fast stairs motion
//for larger falls, use the smoother/slower interpolated movement by not touching the target position
m_targetPosition = orig_position;
downVelocity = m_stepHeight;
Vector3 step_drop2 = Vector3.UnitY * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop2;
runonce = true;
continue; //re-run previous tests
}
break;
}
if (hasFirstHit || runonce)
{
// we dropped a fraction of the height -> hit floor
float fraction = (m_currentPosition.Y - pointWorld.Y) / 2;
if (bounce_fix)
{
if (full_drop)
{
Vector3.Lerp(ref m_currentPosition, ref m_targetPosition, hitFraction, out m_currentPosition);
}
else
{
//due to errors in the closestHitFraction variable when used with large polygons, calculate the hit fraction manually
Vector3.Lerp(ref m_currentPosition, ref m_targetPosition, fraction, out m_currentPosition);
}
}
else
{
Vector3.Lerp(ref m_currentPosition, ref m_targetPosition, hitFraction, out m_currentPosition);
}
full_drop = false;
m_verticalVelocity = 0.0f;
m_verticalOffset = 0.0f;
m_wasJumping = false;
}
else
{
// we dropped the full height
full_drop = true;
if (bounce_fix == true)
{
downVelocity = (m_verticalVelocity < 0.0f ? -m_verticalVelocity : 0.0f) * dt;
if (downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping))
{
m_targetPosition += step_drop; //undo previous target change
downVelocity = m_fallSpeed;
step_drop = Vector3.UnitY * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop;
}
}
m_currentPosition = m_targetPosition;
}
}
protected void StepForwardAndStrafe(CollisionWorld collisionWorld, ref Vector3 walkMove)
{
Matrix start = Matrix.Identity, end = Matrix.Identity;
m_targetPosition = m_currentPosition + walkMove;
float fraction = 1.0f;
float distance2 = (m_currentPosition - m_targetPosition).LengthSquared;
int maxIter = 10;
while (fraction > 0.01f && maxIter-- > 0)
{
start.Origin = (m_currentPosition);
end.Origin = (m_targetPosition);
Vector3 sweepDirNegative = m_currentPosition - m_targetPosition;
_callback.MinSlopeDot = 0;
_callback.Up = sweepDirNegative;
_callback.CollisionFilterGroup = GhostObject.BroadphaseHandle.CollisionFilterGroup;
_callback.CollisionFilterMask = GhostObject.BroadphaseHandle.CollisionFilterMask;
_callback.ClosestHitFraction = 1;
float margin = m_convexShape.Margin;
m_convexShape.Margin = margin + m_addedMargin;
if (m_useGhostObjectSweepTest)
{
m_ghostObject.ConvexSweepTestRef(m_convexShape, ref start, ref end, _callback, collisionWorld.DispatchInfo.AllowedCcdPenetration);
}
else
{
collisionWorld.ConvexSweepTestRef(m_convexShape, ref start, ref end, _callback, collisionWorld.DispatchInfo.AllowedCcdPenetration);
}
m_convexShape.Margin = margin;
fraction -= _callback.ClosestHitFraction;
if (_callback.HasHit)
{
Vector3 hitNormalWorld = _callback.HitNormalWorld;
UpdateTargetPositionBasedOnCollision(ref hitNormalWorld, 0f, 1f);
Vector3 currentDir = m_targetPosition - m_currentPosition;
distance2 = currentDir.LengthSquared;
if (distance2 > MathUtil.SIMD_EPSILON)
{
currentDir.Normalize();
/* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
Vector3.Dot(ref currentDir, ref m_normalizedDirection, out var dot);
if (dot <= 0.0f)
{
break;
}
}
else
{
break;
}
}
else
{
m_currentPosition = m_targetPosition;
}
}
}