protected override bool Interact(bool staticCollision)
{
if (RBElement1.GetElementType() != MyRBElementType.ET_SPHERE)
{
SwapElements();
}
Matrix matrix0 = RBElement1.GetGlobalTransformation();
Matrix matrix1 = RBElement2.GetGlobalTransformation();
float sphereRadius = ((MyRBSphereElement)RBElement1).Radius;
Vector3 body0Pos = matrix0.Translation; // sphere pos
Vector3 body1Pos = matrix1.Translation;
Matrix tempMat1 = matrix1;
Matrix inverseMatrix1 = Matrix.Invert(tempMat1);
MyModel model = ((RBElement1.Flags & MyElementFlag.EF_MODEL_PREFER_LOD0) > 0 ? ((MyRBTriangleMeshElement)RBElement2).ModelLOD0 : ((MyRBTriangleMeshElement)RBElement2).Model);
if (staticCollision)
{
BoundingSphere bsphere = new BoundingSphere(body0Pos, sphereRadius);
return(model.GetTrianglePruningStructure().GetIntersectionWithSphere(((MinerWars.AppCode.Game.Physics.MyPhysicsBody)RBElement2.GetRigidBody().m_UserData).Entity, ref bsphere));
}
else
{
float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
float epsilon = MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon;
MySmallCollPointInfo[] collPtArray = MyContactInfoCache.SCPIStackAlloc();
int numCollPts = 0;
Vector3 collNormal = Vector3.Zero;
int optimalIterationCount = (int)(GetRigidBody1().LinearVelocity.Length() * dt / (sphereRadius * 2)) + 1;
//PZ: after consultation with petrM 1-4 iteration will be just ok
int maxIndex = (int)MathHelper.Min(optimalIterationCount, MAX_AVAILABLE_ITERATION);
//float speed = GetRigidBody1().LinearVelocity.Length();
Vector3 velocityAdd = GetRigidBody1().LinearVelocity *dt / (float)maxIndex;
float velocityAddLength = velocityAdd.Length();
List <MyTriangle_Vertex_Normal> triangles = MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().GetFreeTriangleList(this);
//PZ: we will try to interpolate sphere position during this tick
//we have to have at least one iteration
for (int index = 0; index < maxIndex; index++)
{
//PZ: from starting point
Vector3 interpolatedPosition = body0Pos + velocityAdd * index;
// Deano : get the spheres centers in triangleVertexes mesh space
Vector3 newSphereCen = Vector3.Transform(interpolatedPosition, inverseMatrix1);
// Transform sphere from world space to object space
BoundingSphere newSphereInObjectSpace = new BoundingSphere(newSphereCen, sphereRadius + velocityAddLength + epsilon);
BoundingBox newAABBInObjectSpace = BoundingBox.CreateFromSphere(newSphereInObjectSpace);
model.GetTrianglePruningStructure().GetTrianglesIntersectingAABB(ref newAABBInObjectSpace, triangles, triangles.Capacity);
for (int i = 0; i < triangles.Count; i++)
{
MyTriangle_Vertex_Normal triangle = triangles[i];
// skip too narrow triangles causing instability
/* This must be done in preprocessor!
* if ((triangle.Vertexes.Vertex0 - triangle.Vertexes.Vertex1).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
* {
* continue;
* }
*
* if ((triangle.Vertexes.Vertex1 - triangle.Vertexes.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
* {
* continue;
* }
*
* if ((triangle.Vertexes.Vertex0 - triangle.Vertexes.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
* {
* continue;
* } */
MyPlane plane = new MyPlane(ref triangle.Vertexes);
Vector3?pt = MyUtils.GetSphereTriangleIntersection(ref newSphereInObjectSpace, ref plane, ref triangle.Vertexes);
if (pt == null)
{
continue;
}
pt = Vector3.Transform(pt.Value, matrix1);
Vector3 collisionN = -plane.Normal;
collisionN = Vector3.TransformNormal(collisionN, matrix1);
// skip triangle in case the normal is in wrong dir (narrow walls)
Vector3 tempV = (interpolatedPosition - pt.Value);
if (Vector3.Dot(collisionN, tempV) >= 0.8f * tempV.Length()) // equivalent to if (Vector3.Dot(collisionN, Vector3.Normalize(tempV)) > 0.8f)
{
continue;
}
float depth = Vector3.Distance(pt.Value, interpolatedPosition) - sphereRadius;
if (numCollPts < MyPhysicsConfig.MaxContactPoints)
{
// since impulse get applied at the old position
Vector3 p2 = pt.Value; // body0Pos - sphereRadius * 1.1f * collisionN;
collPtArray[numCollPts++] = new MySmallCollPointInfo(p2 - interpolatedPosition, p2 - body1Pos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, collisionN, depth, p2);
/*
* MyDebugDraw.AddDrawTriangle(
* Vector3.Transform(triangle.Vertexes.Vertex0, matrix1),
* Vector3.Transform(triangle.Vertexes.Vertex1, matrix1),
* Vector3.Transform(triangle.Vertexes.Vertex2, matrix1),
* Color.Red);
*/
}
collNormal += collisionN;
}
if (numCollPts > 0) // break if we catch any triangles in this iteration
{
break;
}
}
if (numCollPts > 0)
{
MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collPtArray, numCollPts);
}
MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().PushBackTriangleList(triangles);
MyContactInfoCache.FreeStackAlloc(collPtArray);
}
return(false);
}
protected override bool Interact(bool staticCollision)
{
if (staticCollision)
{
//MyCommonDebugUtils.AssertDebug(false, "Sphere-voxel static interaction called! And that's wrong.");
}
else
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("SphereVoxelInteraction");
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("Transformations");
if (RBElement1.GetElementType() != MyRBElementType.ET_SPHERE)
{
SwapElements();
}
Matrix matrix0 = RBElement1.GetGlobalTransformation();
Matrix matrix1 = RBElement2.GetGlobalTransformation();
float sphereRadius = ((MyRBSphereElement)RBElement1).Radius;
Vector3 body0Pos = matrix0.Translation; // sphere pos
Vector3 body1Pos = matrix1.Translation;
float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
float epsylon = MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon;
Vector3 newBody0Pos = matrix0.Translation + GetRigidBody1().LinearVelocity *dt;
float sphereTolR = epsylon + sphereRadius;
float sphereTolR2 = sphereTolR * sphereTolR;
MySmallCollPointInfo[] collPtArray = MyContactInfoCache.SCPIStackAlloc();
int numCollPts = 0;
Vector3 collNormal = Vector3.Zero;
//var colDetThroughVoxels = MyConstants.SPHERE_VOXELMAP_COLDET_THROUGH_VOXELS;
var colDetThroughVoxels = !GetRigidBody1().ReadFlag(RigidBodyFlag.RBF_COLDET_THROUGH_VOXEL_TRIANGLES);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
if (colDetThroughVoxels)
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("colDetThroughVoxels");
BoundingSphere newSphere;
newSphere.Center = newBody0Pos;
newSphere.Radius = sphereRadius;
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("PoolList.Get");
using (var voxelMapsFounded = PoolList <MyVoxelMap> .Get())
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartNextBlock("GetListOfVoxelMapsWhoseBoundingSphereIntersectsSphere");
MyVoxelMaps.GetListOfVoxelMapsWhoseBoundingSphereIntersectsSphere(ref newSphere, voxelMapsFounded, null);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartNextBlock("foreach (MyVoxelMap voxelMap in voxelMapsFounded)");
foreach (MyVoxelMap voxelMap in voxelMapsFounded)
{
if (voxelMap != null)
{
// We will iterate only voxels contained in the bounding box of new sphere, so here we get min/max corned in voxel units
MyMwcVector3Int minCorner = voxelMap.GetVoxelCoordinateFromMeters(new Vector3(
newSphere.Center.X - newSphere.Radius,
newSphere.Center.Y - newSphere.Radius,
newSphere.Center.Z - newSphere.Radius));
MyMwcVector3Int maxCorner = voxelMap.GetVoxelCoordinateFromMeters(new Vector3(
newSphere.Center.X + newSphere.Radius,
newSphere.Center.Y + newSphere.Radius,
newSphere.Center.Z + newSphere.Radius));
voxelMap.FixVoxelCoord(ref minCorner);
voxelMap.FixVoxelCoord(ref maxCorner);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("for loop");
MyMwcVector3Int tempVoxelCoord;
for (tempVoxelCoord.X = minCorner.X; tempVoxelCoord.X <= maxCorner.X; tempVoxelCoord.X++)
{
for (tempVoxelCoord.Y = minCorner.Y; tempVoxelCoord.Y <= maxCorner.Y; tempVoxelCoord.Y++)
{
for (tempVoxelCoord.Z = minCorner.Z; tempVoxelCoord.Z <= maxCorner.Z; tempVoxelCoord.Z++)
{
byte voxelContent = voxelMap.GetVoxelContent(ref tempVoxelCoord);
// Ignore voxels bellow the ISO value (empty, partialy empty...)
if (voxelContent < MyVoxelConstants.VOXEL_ISO_LEVEL)
{
continue;
}
Vector3 voxelPosition = voxelMap.GetVoxelCenterPositionAbsolute(ref tempVoxelCoord);
//float voxelSize = MyVoxelMaps.GetVoxelContentAsFloat(voxelContent) * MyVoxelConstants.VOXEL_SIZE_IN_METRES_HALF;
float voxelSize = MyVoxelMaps.GetVoxelContentAsFloat(voxelContent) * MyVoxelConstants.VOXEL_RADIUS;
// If distance to voxel border is less than sphere radius, we have a collision
// So now we calculate normal vector and penetration depth but on OLD sphere
float newDistanceToVoxel = Vector3.Distance(voxelPosition, newSphere.Center) - voxelSize;
if (newDistanceToVoxel < (epsylon + newSphere.Radius))
{
Vector3 collisionN = MyMwcUtils.Normalize(voxelPosition - body0Pos);
if (numCollPts < MyPhysicsConfig.MaxContactPoints)
{
// Calculate penetration depth, but from old sphere (not new)
float oldDistanceToVoxel = Vector3.Distance(voxelPosition, newSphere.Center) - voxelSize;
float oldPenetrationDepth = oldDistanceToVoxel - sphereRadius;
// Vector3 pt = body0Pos + sphereRadius * collisionN;
Vector3 pt = voxelPosition - collisionN * (voxelSize - epsylon);
collPtArray[numCollPts++] = new MySmallCollPointInfo(pt - body0Pos, pt - body1Pos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, collisionN, oldPenetrationDepth, pt);
}
collNormal -= collisionN;
}
}
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
else //if (colDetThroughVoxels)
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("ColDet triangles");
int optimalIterationCount = (int)(GetRigidBody1().LinearVelocity.Length() * dt / sphereRadius);
int maxIndex = (int)MathHelper.Min(MathHelper.Max(optimalIterationCount, 1), 16);
for (int i = 0; i < maxIndex; i++)
{
float velocityAdd = GetRigidBody1().LinearVelocity.Length() * dt / (float)maxIndex;
Vector3 interpolatedPosition = body0Pos + GetRigidBody1().LinearVelocity *dt *i / (float)maxIndex;
BoundingSphere newSphere;
newSphere.Center = interpolatedPosition;
newSphere.Radius = sphereRadius;
int numTriangles;
BoundingBox bb = BoundingBox.CreateFromSphere(newSphere);
MyVoxelMaps.GetPotentialTrianglesForColDet(out numTriangles, ref bb);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
MyColDetVoxelTriangle meshTriangle = MyVoxelMaps.PotentialColDetTriangles[iTriangle]; // mesh.GetTriangle(potentialTriangles[iTriangle]);
MyTriangle_Vertex_Normal triangle = new MyTriangle_Vertex_Normal();
triangle.Vertexes.Vertex0 = meshTriangle.Vertex0;
triangle.Vertexes.Vertex1 = meshTriangle.Vertex1;
triangle.Vertexes.Vertex2 = meshTriangle.Vertex2;
// skip too narrow triangles causing instability
if ((triangle.Vertexes.Vertex0 - triangle.Vertexes.Vertex1).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
{
continue;
}
if ((triangle.Vertexes.Vertex1 - triangle.Vertexes.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
{
continue;
}
if ((triangle.Vertexes.Vertex0 - triangle.Vertexes.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
{
continue;
}
MyPlane plane = new MyPlane(ref triangle.Vertexes);
Vector3?pt = MyUtils.GetSphereTriangleIntersection(ref newSphere, ref plane, ref triangle.Vertexes);
if (pt == null)
{
continue;
}
Vector3 collisionN = plane.Normal;
// skip triangle in case the normal is in wrong dir (narrow walls)
Vector3 tempV = (newBody0Pos - pt.Value);
if (Vector3.Dot(collisionN, tempV) >= 0.8f * tempV.Length()) // equivalent to dot(collisionN, normalize(tempV)) > 0.8f, but works for zero vectors
{
continue;
}
float depth = Vector3.Distance(pt.Value, body0Pos) - sphereRadius;
if (numCollPts < MyPhysicsConfig.MaxContactPoints)
{
// since impulse get applied at the old position
Vector3 p2 = pt.Value;
collPtArray[numCollPts++] = new MySmallCollPointInfo(p2 - body0Pos, p2 - body1Pos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, collisionN, depth, p2);
}
collNormal += collisionN;
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
if (numCollPts > 0)
{
MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collPtArray, numCollPts);
}
MyContactInfoCache.FreeStackAlloc(collPtArray);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
return(false);
}
protected override bool Interact(bool staticCollision)
{
try
{
if (!staticCollision)
{
TestsCount++;
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("BoxTriangleIntersection");
}
if (RBElement1.GetElementType() != MyRBElementType.ET_BOX)
{
SwapElements();
}
var boxElement = (MyRBBoxElement)RBElement1;
var triangleMeshElem = (MyRBTriangleMeshElement)RBElement2;
MyModel model = ((boxElement.Flags & MyElementFlag.EF_MODEL_PREFER_LOD0) > 0 ? triangleMeshElem.ModelLOD0 : triangleMeshElem.Model);
Matrix boxMatrix = boxElement.GetGlobalTransformation();
Matrix triangleMeshMatrix = triangleMeshElem.GetGlobalTransformation();
Matrix newMatrix = boxMatrix;
if (!staticCollision)
{
// MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep
newMatrix.Translation = newMatrix.Translation + boxElement.GetRigidBody().LinearVelocity *MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
}
MyBox oldBox = m_tempBox1;
MyBox newBox = m_tempBox2;
oldBox.Transform.Orientation = boxMatrix;
oldBox.Transform.Orientation.Translation = Vector3.Zero;
oldBox.Transform.Position = boxMatrix.Translation - Vector3.TransformNormal(boxElement.Size * 0.5f, boxMatrix);
newBox.Transform.Orientation = newMatrix;
newBox.Transform.Orientation.Translation = Vector3.Zero;
newBox.Transform.Position = newMatrix.Translation - Vector3.TransformNormal(boxElement.Size * 0.5f, newMatrix);
oldBox.SideLengths = boxElement.Size;
newBox.SideLengths = boxElement.Size;
float boxRadius = newBox.GetBoundingRadiusAroundCentre();
#region REFERENCE: Vector3 boxCentre = newBox.GetCentre();
Vector3 boxCentre;
newBox.GetCentre(out boxCentre);
// Deano need to trasnform the box center into mesh space
Matrix invTransformMatrix = Matrix.Invert(triangleMeshMatrix);
Vector3.Transform(ref boxCentre, ref invTransformMatrix, out boxCentre);
#endregion
BoundingBox bb = boxElement.GetWorldSpaceAABB();
if (staticCollision)
{
Vector3 bbMin = Vector3.Transform(bb.Min, invTransformMatrix);
Vector3 bbMax = Vector3.Transform(bb.Max, invTransformMatrix);
BoundingSphere bs = new BoundingSphere((bbMax + bbMin) / 2, Vector3.Distance(bbMin, bbMax));
List <MyTriangle_Vertex_Normal> triangles = MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().GetFreeTriangleList(this);
model.GetTrianglePruningStructure().GetTrianglesIntersectingSphere(ref bs, triangles, triangles.Capacity);
for (int iTriangle = 0; iTriangle < triangles.Count; iTriangle++)
{
MyTriangle_Vertex_Normal triangle = triangles[iTriangle];
MyPlane plane = new MyPlane(ref triangle.Vertexes);
// quick early test is done in mesh space
float dist = MyUtils.GetDistanceFromPointToPlane(ref boxCentre, ref plane);
if (dist > boxRadius || dist < -boxRadius)
{
continue;
}
Vector3 oldPos = boxMatrix.Translation;
Vector3 newPos = newMatrix.Translation;
float collisionEpsilon = 0;//pz to test not sure about value
if (DoOverlapBoxTriangleStaticTest(
oldBox, newBox,
triangle,
plane,
collisionEpsilon,
ref triangleMeshMatrix,
ref oldPos,
ref newPos))
{
return(true);
}
}
return(false);
}
else
{
bb.Min += boxElement.GetRigidBody().LinearVelocity *MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
bb.Max += boxElement.GetRigidBody().LinearVelocity *MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
var boxCenter = bb.GetCenter();
// aabox is done in mesh space and handles the mesh transform correctly
//int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
//boxElement.GetRigidBody().Position = Vector3.Zero;
//triangleMeshElem.GetRigidBody().Position = Vector3.Zero;
//BoundingSphere bs = new BoundingSphere((bbMax + bbMin) / 2, Vector3.Distance(bbMin, bbMax));
var halfSize = bb.Size() / 2;
BoundingBox bb2 = new BoundingBox(boxCentre - halfSize, boxCentre + halfSize);
List <MyTriangle_Vertex_Normal> triangles = MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().GetFreeTriangleList(this);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("PruningStructure");
model.GetTrianglePruningStructure().GetTrianglesIntersectingAABB(ref bb2, triangles, triangles.Capacity);
//model.GetTrianglePruningStructure().GetTrianglesIntersectingSphere(ref bs, triangles, triangles.Capacity);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Tests count ", TestsCount);
MySmallCollPointInfo[] collPtArray = MyContactInfoCache.SCPIStackAlloc();
int refPointer = 0;
m_collPoints.Clear();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("Triangles");
for (int iTriangle = 0; iTriangle < triangles.Count; iTriangle++)
{
MyTriangle_Vertex_Normal triangle = triangles[iTriangle];
//IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
MyPlane plane = new MyPlane(ref triangle.Vertexes);
// quick early test is done in mesh space
//float dist = meshTriangle.Plane.DotCoordinate(boxCentre);
float dist = MyUtils.GetDistanceFromPointToPlane(ref boxCentre, ref plane);
if (dist > boxRadius || dist < -boxRadius)
{
continue;
}
Vector3 oldPos = boxMatrix.Translation;
Vector3 newPos = newMatrix.Translation;
DoOverlapBoxTriangleTest(
oldBox, newBox,
triangle,
plane,
MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon,
ref triangleMeshMatrix,
ref oldPos,
ref newPos,
m_collPoints);
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
TrianglesTested += triangles.Count;
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Triangles tested ", TrianglesTested);
m_collPoints.Sort(m_colPointComparer);
refPointer = 0;
foreach (MyCollisionPointStruct collPoint in m_collPoints)
{
collPtArray[refPointer] = collPoint.CollPointInfo;
refPointer++;
if (refPointer >= MyPhysicsConfig.MaxContactPoints)
{
break;
}
}
if (refPointer > 0)
{
MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collPtArray, refPointer);
}
MyContactInfoCache.FreeStackAlloc(collPtArray);
MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().PushBackTriangleList(triangles);
}
}
catch
{
throw;
}
finally
{
if (!staticCollision)
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
}
return(false);
}
private bool DoOverlapBoxTriangleTest(MyBox oldBox, MyBox newBox, MyTriangle_Vertex_Normal triangle, MyPlane plane, float collTolerance,
ref Matrix transformMatrix, ref Vector3 oldBoxPos, ref Vector3 newBoxPos, List <MyCollisionPointStruct> collPoints)
{
Matrix dirs0 = newBox.Orientation;
dirs0.Translation = Vector3.Zero;
#region Triangle
Vector3 triVec0 = triangle.Vertexes.Vertex0;
Vector3 triVec1 = triangle.Vertexes.Vertex1;
Vector3 triVec2 = triangle.Vertexes.Vertex2;
//mesh.GetVertex(triangle.GetVertexIndex(0), out triVec0);
//mesh.GetVertex(triangle.GetVertexIndex(1), out triVec1);
//mesh.GetVertex(triangle.GetVertexIndex(2), out triVec2);
// Deano move tri into world space
//Matrix transformMatrix = mesh.TransformMatrix;
Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0);
Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2);
MyTriangle tri = new MyTriangle(ref triVec0, ref triVec1, ref triVec2);
#endregion
#region triEdge0
Vector3 pt0;
Vector3 pt1;
tri.GetPoint(0, out pt0);
tri.GetPoint(1, out pt1);
Vector3 triEdge0;
Vector3.Subtract(ref pt1, ref pt0, out triEdge0);
#endregion
#region triEdge1
Vector3 pt2;
tri.GetPoint(2, out pt2);
Vector3 triEdge1;
Vector3.Subtract(ref pt2, ref pt1, out triEdge1);
#endregion
#region triEdge2
Vector3 triEdge2;
Vector3.Subtract(ref pt0, ref pt2, out triEdge2);
#endregion
if (triEdge0.LengthSquared() < MyMwcMathConstants.EPSILON)
{
return(false);
}
if (triEdge1.LengthSquared() < MyMwcMathConstants.EPSILON)
{
return(false);
}
if (triEdge2.LengthSquared() < MyMwcMathConstants.EPSILON)
{
return(false);
}
/*
* triEdge0 = MyMwcUtils.Normalize(triEdge0);
* triEdge1 = MyMwcUtils.Normalize(triEdge1);
* triEdge2 = MyMwcUtils.Normalize(triEdge2);
*/
triEdge0.Normalize();
triEdge1.Normalize();
triEdge2.Normalize();
//Vector3 triNormal = triangle.Plane.Normal;
Vector3 triNormal = plane.Normal;
Vector3.TransformNormal(ref triNormal, ref transformMatrix, out triNormal);
// the 15 potential separating axes (comment by Marek Rosa: note says 15 but code uses 13... I don't know why, mistake in the note??)
const int NUM_AXES = 13;
MyVector3Array13 axes = new MyVector3Array13();
axes[0] = triNormal;
axes[1] = dirs0.Right;
axes[2] = dirs0.Up;
axes[3] = dirs0.Backward;
axes[4] = Vector3.Cross(axes[1], triEdge0);
axes[5] = Vector3.Cross(axes[1], triEdge1);
axes[6] = Vector3.Cross(axes[1], triEdge2);
axes[7] = Vector3.Cross(axes[2], triEdge0);
axes[8] = Vector3.Cross(axes[2], triEdge1);
axes[9] = Vector3.Cross(axes[2], triEdge2);
axes[10] = Vector3.Cross(axes[3], triEdge0);
axes[11] = Vector3.Cross(axes[3], triEdge1);
axes[12] = Vector3.Cross(axes[3], triEdge2);
// the overlap depths along each axis
MyFloatArray13 overlapDepths = new MyFloatArray13();
// see if the boxes are separate along any axis, and if not keep a
// record of the depths along each axis
int i;
for (i = 0; i < NUM_AXES; ++i)
{
overlapDepths[i] = 1.0f;
bool b;
overlapDepths[i] = Disjoint(out b, axes[i], newBox, tri, collTolerance);
if (b)
{
return(false);
}
}
// The box overlap, find the separation depth closest to 0.
float minDepth = float.MaxValue;
int minAxis = -1;
for (i = 0; i < NUM_AXES; ++i)
{
// If we can't normalise the axis, skip it
float l2 = axes[i].LengthSquared();
if (l2 < MyPhysicsConfig.Epsilon)
{
continue;
}
// Normalise the separation axis and the depth
float invl = 1.0f / (float)System.Math.Sqrt(l2);
axes[i] *= invl;
overlapDepths[i] *= invl;
// If this axis is the minimum, select it
if (overlapDepths[i] < minDepth)
{
minDepth = overlapDepths[i];
minAxis = i;
}
}
if (minAxis == -1)
{
return(false);
}
// Make sure the axis is facing towards the 0th box.
// if not, invert it
Vector3 D = newBox.GetCentre() - tri.Centre;
Vector3 N = axes[minAxis];
float depth = overlapDepths[minAxis];
if (Vector3.Dot(D, N) > 0.0f)
{
N *= -1;
}
Vector3 boxOldPos = oldBoxPos; //(info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 boxNewPos = newBoxPos; // (info.Skin0.Owner != null) ? info.Skin0.Owner.Position : Vector3.Zero;
Vector3 meshPos = transformMatrix.Translation; // (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
m_pts.Clear();
const float combinationDist = 0.05f;
GetBoxTriangleIntersectionPoints(m_pts, newBox, tri, depth + combinationDist);
// adjust the depth
#region delta
Vector3 delta;
Vector3.Subtract(ref boxNewPos, ref boxOldPos, out delta);
#endregion
#region oldDepth
float oldDepth;
Vector3.Dot(ref delta, ref N, out oldDepth);
oldDepth += depth;
#endregion
// report collisions
int numPts = m_pts.Count;
if (numPts > 0)
{
for (i = 0; i < numPts; ++i)
{
collPoints.Add(new MyCollisionPointStruct(-oldDepth, new MySmallCollPointInfo(m_pts[i] - boxNewPos, m_pts[i] - meshPos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, N, -oldDepth, m_pts[i])));
}
return(true);
}
else
{
return(false);
}
}
private bool DoOverlapBoxTriangleStaticTest(MyBox oldBox, MyBox newBox,
MyTriangle_Vertex_Normal triangle, MyPlane plane, float collTolerance,
ref Matrix transformMatrix, ref Vector3 oldBoxPos, ref Vector3 newBoxPos)
{
Matrix dirs0 = newBox.Orientation;
dirs0.Translation = Vector3.Zero;
#region REFERENCE: Triangle tri = new Triangle(mesh.GetVertex(triangleVertexes.GetVertexIndex(0)),mesh.GetVertex(triangleVertexes.GetVertexIndex(1)),mesh.GetVertex(triangleVertexes.GetVertexIndex(2)));
Vector3 triVec0 = triangle.Vertexes.Vertex0;
Vector3 triVec1 = triangle.Vertexes.Vertex1;
Vector3 triVec2 = triangle.Vertexes.Vertex2;
// Deano move tri into world space
//Matrix transformMatrix = mesh.TransformMatrix;
Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0);
Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2);
MyTriangle tri = new MyTriangle(ref triVec0, ref triVec1, ref triVec2);
#endregion
#region REFERENCE Vector3 triEdge0 = (tri.GetPoint(1) - tri.GetPoint(0));
Vector3 pt0;
Vector3 pt1;
tri.GetPoint(0, out pt0);
tri.GetPoint(1, out pt1);
Vector3 triEdge0;
Vector3.Subtract(ref pt1, ref pt0, out triEdge0);
#endregion
#region REFERENCE Vector3 triEdge1 = (tri.GetPoint(2) - tri.GetPoint(1));
Vector3 pt2;
tri.GetPoint(2, out pt2);
Vector3 triEdge1;
Vector3.Subtract(ref pt2, ref pt1, out triEdge1);
#endregion
#region REFERENCE Vector3 triEdge2 = (tri.GetPoint(0) - tri.GetPoint(2));
Vector3 triEdge2;
Vector3.Subtract(ref pt0, ref pt2, out triEdge2);
#endregion
if (triEdge0.LengthSquared() < MyMwcMathConstants.EPSILON)
{
return(false);
}
if (triEdge1.LengthSquared() < MyMwcMathConstants.EPSILON)
{
return(false);
}
if (triEdge2.LengthSquared() < MyMwcMathConstants.EPSILON)
{
return(false);
}
triEdge0.Normalize();
triEdge1.Normalize();
triEdge2.Normalize();
//Vector3 triNormal = triangle.Plane.Normal;
Vector3 triNormal = plane.Normal;
Vector3.TransformNormal(ref triNormal, ref transformMatrix, out triNormal);
// the 15 potential separating axes
const int numAxes = 13;
Vector3[] axes = new Vector3[numAxes];
axes[0] = triNormal;
axes[1] = dirs0.Right;
axes[2] = dirs0.Up;
axes[3] = dirs0.Backward;
Vector3.Cross(ref axes[1], ref triEdge0, out axes[4]);
Vector3.Cross(ref axes[1], ref triEdge1, out axes[5]);
Vector3.Cross(ref axes[1], ref triEdge2, out axes[6]);
Vector3.Cross(ref axes[2], ref triEdge0, out axes[7]);
Vector3.Cross(ref axes[2], ref triEdge1, out axes[8]);
Vector3.Cross(ref axes[2], ref triEdge2, out axes[9]);
Vector3.Cross(ref axes[3], ref triEdge0, out axes[10]);
Vector3.Cross(ref axes[3], ref triEdge1, out axes[11]);
Vector3.Cross(ref axes[3], ref triEdge2, out axes[12]);
// the overlap depths along each axis
float[] overlapDepths = new float[numAxes];
// see if the boxes are separate along any axis, and if not keep a
// record of the depths along each axis
int i;
for (i = 0; i < numAxes; ++i)
{
overlapDepths[i] = 1.0f;
if (Disjoint(out overlapDepths[i], axes[i], newBox, tri, collTolerance))
{
return(false);
}
}
// The box overlap, find the separation depth closest to 0.
float minDepth = float.MaxValue;
int minAxis = -1;
for (i = 0; i < numAxes; ++i)
{
// If we can't normalise the axis, skip it
float l2 = axes[i].LengthSquared();
if (l2 < MyPhysicsConfig.Epsilon)
{
continue;
}
// Normalise the separation axis and the depth
float invl = 1.0f / (float)System.Math.Sqrt(l2);
axes[i] *= invl;
overlapDepths[i] *= invl;
// If this axis is the minimum, select it
if (overlapDepths[i] < minDepth)
{
minDepth = overlapDepths[i];
minAxis = i;
}
}
if (minAxis == -1)
{
return(false);
}
// Make sure the axis is facing towards the 0th box.
// if not, invert it
Vector3 D = newBox.GetCentre() - tri.Centre;
Vector3 N = axes[minAxis];
float depth = overlapDepths[minAxis];
if (Vector3.Dot(D, N) > 0.0f)
{
N *= -1;
}
Vector3 boxOldPos = oldBoxPos; //(info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 boxNewPos = newBoxPos; // (info.Skin0.Owner != null) ? info.Skin0.Owner.Position : Vector3.Zero;
Vector3 meshPos = transformMatrix.Translation; // (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
List <Vector3> pts = new List <Vector3>();
//pts.Clear();
const float combinationDist = 0.05f;
GetBoxTriangleIntersectionPoints(pts, newBox, tri, depth + combinationDist);
// adjust the depth
#region delta
Vector3 delta;
Vector3.Subtract(ref boxNewPos, ref boxOldPos, out delta);
#endregion
#region oldDepth
float oldDepth;
Vector3.Dot(ref delta, ref N, out oldDepth);
oldDepth += depth;
#endregion
// report collisions
int numPts = pts.Count;
if (numPts > 0)
{
return(true);
}
else
{
return(false);
}
}
protected override bool Interact(bool staticCollision)
{
if (staticCollision)
{
//MyCommonDebugUtils.AssertDebug(false, "Sphere-voxel static interaction called! And that's wrong.");
}
else
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("SphereVoxelInteraction");
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("Transformations");
if (RBElement1.GetElementType() != MyRBElementType.ET_SPHERE)
SwapElements();
Matrix matrix0 = RBElement1.GetGlobalTransformation();
Matrix matrix1 = RBElement2.GetGlobalTransformation();
float sphereRadius = ((MyRBSphereElement)RBElement1).Radius;
Vector3 body0Pos = matrix0.Translation; // sphere pos
Vector3 body1Pos = matrix1.Translation;
float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
float epsylon = MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon;
Vector3 newBody0Pos = matrix0.Translation + GetRigidBody1().LinearVelocity * dt;
float sphereTolR = epsylon + sphereRadius;
float sphereTolR2 = sphereTolR * sphereTolR;
MySmallCollPointInfo[] collPtArray = MyContactInfoCache.SCPIStackAlloc();
int numCollPts = 0;
Vector3 collNormal = Vector3.Zero;
//var colDetThroughVoxels = MyConstants.SPHERE_VOXELMAP_COLDET_THROUGH_VOXELS;
var colDetThroughVoxels = !GetRigidBody1().ReadFlag(RigidBodyFlag.RBF_COLDET_THROUGH_VOXEL_TRIANGLES);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
if (colDetThroughVoxels)
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("colDetThroughVoxels");
BoundingSphere newSphere;
newSphere.Center = newBody0Pos;
newSphere.Radius = sphereRadius;
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("PoolList.Get");
using (var voxelMapsFounded = PoolList<MyVoxelMap>.Get())
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartNextBlock("GetListOfVoxelMapsWhoseBoundingSphereIntersectsSphere");
MyVoxelMaps.GetListOfVoxelMapsWhoseBoundingSphereIntersectsSphere(ref newSphere, voxelMapsFounded, null);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartNextBlock("foreach (MyVoxelMap voxelMap in voxelMapsFounded)");
foreach (MyVoxelMap voxelMap in voxelMapsFounded)
{
if (voxelMap != null)
{
// We will iterate only voxels contained in the bounding box of new sphere, so here we get min/max corned in voxel units
MyMwcVector3Int minCorner = voxelMap.GetVoxelCoordinateFromMeters(new Vector3(
newSphere.Center.X - newSphere.Radius,
newSphere.Center.Y - newSphere.Radius,
newSphere.Center.Z - newSphere.Radius));
MyMwcVector3Int maxCorner = voxelMap.GetVoxelCoordinateFromMeters(new Vector3(
newSphere.Center.X + newSphere.Radius,
newSphere.Center.Y + newSphere.Radius,
newSphere.Center.Z + newSphere.Radius));
voxelMap.FixVoxelCoord(ref minCorner);
voxelMap.FixVoxelCoord(ref maxCorner);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("for loop");
MyMwcVector3Int tempVoxelCoord;
for (tempVoxelCoord.X = minCorner.X; tempVoxelCoord.X <= maxCorner.X; tempVoxelCoord.X++)
{
for (tempVoxelCoord.Y = minCorner.Y; tempVoxelCoord.Y <= maxCorner.Y; tempVoxelCoord.Y++)
{
for (tempVoxelCoord.Z = minCorner.Z; tempVoxelCoord.Z <= maxCorner.Z; tempVoxelCoord.Z++)
{
byte voxelContent = voxelMap.GetVoxelContent(ref tempVoxelCoord);
// Ignore voxels bellow the ISO value (empty, partialy empty...)
if (voxelContent < MyVoxelConstants.VOXEL_ISO_LEVEL) continue;
Vector3 voxelPosition = voxelMap.GetVoxelCenterPositionAbsolute(ref tempVoxelCoord);
//float voxelSize = MyVoxelMaps.GetVoxelContentAsFloat(voxelContent) * MyVoxelConstants.VOXEL_SIZE_IN_METRES_HALF;
float voxelSize = MyVoxelMaps.GetVoxelContentAsFloat(voxelContent) * MyVoxelConstants.VOXEL_RADIUS;
// If distance to voxel border is less than sphere radius, we have a collision
// So now we calculate normal vector and penetration depth but on OLD sphere
float newDistanceToVoxel = Vector3.Distance(voxelPosition, newSphere.Center) - voxelSize;
if (newDistanceToVoxel < (epsylon + newSphere.Radius))
{
Vector3 collisionN = MyMwcUtils.Normalize(voxelPosition - body0Pos);
if (numCollPts < MyPhysicsConfig.MaxContactPoints)
{
// Calculate penetration depth, but from old sphere (not new)
float oldDistanceToVoxel = Vector3.Distance(voxelPosition, newSphere.Center) - voxelSize;
float oldPenetrationDepth = oldDistanceToVoxel - sphereRadius;
// Vector3 pt = body0Pos + sphereRadius * collisionN;
Vector3 pt = voxelPosition - collisionN * (voxelSize - epsylon);
collPtArray[numCollPts++] = new MySmallCollPointInfo(pt - body0Pos, pt - body1Pos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, collisionN, oldPenetrationDepth, pt);
}
collNormal -= collisionN;
}
}
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
else //if (colDetThroughVoxels)
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("ColDet triangles");
int optimalIterationCount = (int)(GetRigidBody1().LinearVelocity.Length() * dt / sphereRadius);
int maxIndex = (int)MathHelper.Min(MathHelper.Max(optimalIterationCount, 1), 16);
for (int i = 0; i < maxIndex; i++)
{
float velocityAdd = GetRigidBody1().LinearVelocity.Length() * dt / (float)maxIndex;
Vector3 interpolatedPosition = body0Pos + GetRigidBody1().LinearVelocity * dt * i / (float)maxIndex;
BoundingSphere newSphere;
newSphere.Center = interpolatedPosition;
newSphere.Radius = sphereRadius;
int numTriangles;
BoundingBox bb = BoundingBox.CreateFromSphere(newSphere);
MyVoxelMaps.GetPotentialTrianglesForColDet(out numTriangles, ref bb);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
MyColDetVoxelTriangle meshTriangle = MyVoxelMaps.PotentialColDetTriangles[iTriangle]; // mesh.GetTriangle(potentialTriangles[iTriangle]);
MyTriangle_Vertex_Normal triangle = new MyTriangle_Vertex_Normal();
triangle.Vertexes.Vertex0 = meshTriangle.Vertex0;
triangle.Vertexes.Vertex1 = meshTriangle.Vertex1;
triangle.Vertexes.Vertex2 = meshTriangle.Vertex2;
// skip too narrow triangles causing instability
if ((triangle.Vertexes.Vertex0 - triangle.Vertexes.Vertex1).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
{
continue;
}
if ((triangle.Vertexes.Vertex1 - triangle.Vertexes.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
{
continue;
}
if ((triangle.Vertexes.Vertex0 - triangle.Vertexes.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
{
continue;
}
MyPlane plane = new MyPlane(ref triangle.Vertexes);
Vector3? pt = MyUtils.GetSphereTriangleIntersection(ref newSphere, ref plane, ref triangle.Vertexes);
if (pt == null)
continue;
Vector3 collisionN = plane.Normal;
// skip triangle in case the normal is in wrong dir (narrow walls)
Vector3 tempV = (newBody0Pos - pt.Value);
if (Vector3.Dot(collisionN, tempV) >= 0.8f * tempV.Length()) // equivalent to dot(collisionN, normalize(tempV)) > 0.8f, but works for zero vectors
{
continue;
}
float depth = Vector3.Distance(pt.Value, body0Pos) - sphereRadius;
if (numCollPts < MyPhysicsConfig.MaxContactPoints)
{
// since impulse get applied at the old position
Vector3 p2 = pt.Value;
collPtArray[numCollPts++] = new MySmallCollPointInfo(p2 - body0Pos, p2 - body1Pos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, collisionN, depth, p2);
}
collNormal += collisionN;
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
if (numCollPts > 0)
{
MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collPtArray, numCollPts);
}
MyContactInfoCache.FreeStackAlloc(collPtArray);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
return false;
}
