private void DetectSoftSoft(SoftBody body1, SoftBody body2)
{
List <int> my = potentialTriangleLists.GetNew();
List <int> other = potentialTriangleLists.GetNew();
body1.dynamicTree.Query(other, my, body2.dynamicTree);
for (int i = 0; i < other.Count; i++)
{
SoftBody.Triangle myTriangle = body1.dynamicTree.GetUserData(my[i]);
SoftBody.Triangle otherTriangle = body2.dynamicTree.GetUserData(other[i]);
JVector point, normal;
float penetration;
bool result;
result = XenoCollide.Detect(myTriangle, otherTriangle, ref JMatrix.InternalIdentity, ref JMatrix.InternalIdentity,
ref JVector.InternalZero, ref JVector.InternalZero, out point, out normal, out penetration);
if (result)
{
int minIndexMy = FindNearestTrianglePoint(body1, my[i], ref point);
int minIndexOther = FindNearestTrianglePoint(body2, other[i], ref point);
RaiseCollisionDetected(body1.VertexBodies[minIndexMy],
body2.VertexBodies[minIndexOther], ref point, ref point, ref normal, penetration);
}
}
my.Clear(); other.Clear();
potentialTriangleLists.GiveBack(my);
potentialTriangleLists.GiveBack(other);
}
private void BuildVertices()
{
//Console.WriteLine("clothBuilt");
vertices = new VertexPositionNormalTexture[cloth.VertexBodies.Count];
indices = new int[cloth.Triangles.Count * 3];
for (int i = 0; i < cloth.Triangles.Count; i++)
{
SoftBody.Triangle t = cloth.Triangles[i];
indices[3 * i + 0] = t.Indices.I0;
indices[3 * i + 1] = t.Indices.I1;
indices[3 * i + 2] = t.Indices.I2;
/*t.Indices.I0 = indices[3 * i + 2];
* t.Indices.I1 = indices[3 * i + 0];
* t.Indices.I2 = indices[3 * i + 1];*/
}
UpdatePositionAndNormal();
int sqrt = (int)Math.Sqrt(vertices.Length);
for (int i = 0; i < sqrt; i++)
{
for (int e = 0; e < sqrt; e++)
{
vertices[i * sqrt + e].TextureCoordinate = new Vector2(1.0f / (float)(sqrt - 1) * (float)i, 1.0f / (float)(sqrt - 1) * (float)e);
}
}
//vertices[0].Position = Vector3.Forward + Vector3.Left;
//vertices[0].TextureCoordinate = new Vector2(0.0f, 1.0f);
//vertices[1].Position = Vector3.Backward + Vector3.Left;
//vertices[1].TextureCoordinate = new Vector2(0.0f, 0.0f);
//vertices[2].Position = Vector3.Forward + Vector3.Right;
//vertices[2].TextureCoordinate = new Vector2(1.0f, 1.0f);
//vertices[3].Position = Vector3.Backward + Vector3.Right;
//vertices[3].TextureCoordinate = new Vector2(1.0f, 0.0f);
//for (int i = 0; i < vertices.Length; i++)
//{
// vertices[i].Normal = Vector3.Up;
// vertices[i].Position *= size;
// vertices[i].TextureCoordinate *= size;
//}
//indices[5] = 0; indices[4] = 1; indices[3] = 2;
//indices[2] = 2; indices[1] = 1; indices[0] = 3;
}
public static int FindNearestTrianglePoint(SoftBody sb, int id, ref JVector point)
{
SoftBody.Triangle triangle = sb.dynamicTree.GetUserData(id);
JVector p;
p = sb.points[triangle.indices.I0].position;
JVector.Subtract(ref p, ref point, out p);
float length0 = p.LengthSquared();
p = sb.points[triangle.indices.I1].position;
JVector.Subtract(ref p, ref point, out p);
float length1 = p.LengthSquared();
p = sb.points[triangle.indices.I2].position;
JVector.Subtract(ref p, ref point, out p);
float length2 = p.LengthSquared();
if (length0 < length1)
{
if (length0 < length2)
{
return(triangle.indices.I0);
}
else
{
return(triangle.indices.I2);
}
}
else
{
if (length1 < length2)
{
return(triangle.indices.I1);
}
else
{
return(triangle.indices.I2);
}
}
}
private void DetectSoftRigid(RigidBody rigidBody, SoftBody softBody)
{
if (rigidBody.Shape is Multishape)
{
Multishape ms = (rigidBody.Shape as Multishape);
ms = ms.RequestWorkingClone();
JBBox transformedBoundingBox = softBody.BoundingBox;
transformedBoundingBox.InverseTransform(ref rigidBody.position, ref rigidBody.orientation);
int msLength = ms.Prepare(ref transformedBoundingBox);
List <int> detected = potentialTriangleLists.GetNew();
softBody.dynamicTree.Query(detected, ref rigidBody.boundingBox);
foreach (int i in detected)
{
SoftBody.Triangle t = softBody.dynamicTree.GetUserData(i);
JVector point, normal;
float penetration;
bool result;
for (int e = 0; e < msLength; e++)
{
ms.SetCurrentShape(e);
result = XenoCollide.Detect(ms, t, ref rigidBody.orientation, ref JMatrix.InternalIdentity,
ref rigidBody.position, ref JVector.InternalZero, out point, out normal, out penetration);
if (result)
{
int minIndex = FindNearestTrianglePoint(softBody, i, ref point);
if (this.RaisePassedNarrowphase(rigidBody, softBody.points[minIndex],
ref point, ref normal, penetration))
{
RaiseCollisionDetected(rigidBody,
softBody.points[minIndex], ref point, ref point, ref normal, penetration);
}
}
}
}
detected.Clear(); potentialTriangleLists.GiveBack(detected);
ms.ReturnWorkingClone();
}
else
{
List <int> detected = potentialTriangleLists.GetNew();
softBody.dynamicTree.Query(detected, ref rigidBody.boundingBox);
foreach (int i in detected)
{
SoftBody.Triangle t = softBody.dynamicTree.GetUserData(i);
JVector point, normal;
float penetration;
bool result;
result = XenoCollide.Detect(rigidBody.Shape, t, ref rigidBody.orientation, ref JMatrix.InternalIdentity,
ref rigidBody.position, ref JVector.InternalZero, out point, out normal, out penetration);
if (result)
{
int minIndex = FindNearestTrianglePoint(softBody, i, ref point);
if (this.RaisePassedNarrowphase(rigidBody, softBody.points[minIndex],
ref point, ref normal, penetration))
{
RaiseCollisionDetected(rigidBody,
softBody.points[minIndex], ref point, ref point, ref normal, penetration);
}
}
}
detected.Clear();
potentialTriangleLists.GiveBack(detected);
}
}
