/// <summary>
/// Colisiona un Elipsoide en movimiento contra un conjunto de triangulos.
/// Si hay colision devuelve el instante t de colision, el punto q de colision y el vector normal n de la superficie
/// contra la que
/// se colisiona.
/// Todo se devuelve en Elipsoid space.
/// Pasa cada triangulo a Elipsoid space para hacer el testeo.
/// </summary>
/// <param name="eSphere">BoundingSphere de radio 1 en Elipsoid space</param>
/// <param name="eMovementVector">movimiento en Elipsoid space</param>
/// <param name="eRadius">radio del Elipsoide</param>
/// <param name="movementSphere">
/// BoundingSphere que abarca el sphere en su punto de origen mas el sphere en su punto final
/// deseado
/// </param>
/// <param name="minT">Menor instante de colision, en Elipsoid space</param>
/// <param name="minQ">Punto mas cercano de colision, en Elipsoid space</param>
/// <param name="n">Vector normal de la superficie contra la que se colisiona</param>
/// <returns>True si hay colision</returns>
public override bool intersectMovingElipsoid(TgcBoundingSphere eSphere, Vector3 eMovementVector, Vector3 eRadius,
TgcBoundingSphere movementSphere, out float minT, out Vector3 minQ, out Vector3 n)
{
minQ = Vector3.Empty;
minT = float.MaxValue;
n = Vector3.Empty;
var collisionPlane = Plane.Empty;
//Colision contra cada triangulo del collider, quedarse con el menor
Vector3 q;
float t;
for (var i = 0; i < Triangles.Length; i++)
{
var triangle = Triangles[i];
//Primero hacer un Sphere-Sphere test
if (TgcCollisionUtils.testSphereSphere(movementSphere, triangle.BoundingSphere))
{
//Pasar triangle a Elipsoid Space
var eTriangle = new Triangle(
TgcVectorUtils.div(triangle.A, eRadius),
TgcVectorUtils.div(triangle.B, eRadius),
TgcVectorUtils.div(triangle.C, eRadius),
null
);
//Interseccion Moving Sphere-Triangle
if (intersectMovingSphereTriangle(eSphere, eMovementVector, eTriangle, out t, out q))
{
if (t < minT)
{
minT = t;
minQ = q;
collisionPlane = triangle.Plane;
}
}
}
}
if (minT != float.MaxValue)
{
n = TgcCollisionUtils.getPlaneNormal(collisionPlane);
return(true);
}
return(false);
}
/// <summary>
/// Mover Elipsoide con detección de colisiones, sliding y gravedad.
/// Se actualiza la posición del centro del Elipsoide
/// </summary>
/// <param name="characterElipsoid">Elipsoide del cuerpo a mover</param>
/// <param name="movementVector">Movimiento a realizar</param>
/// <param name="colliders">Obstáculos contra los cuales se puede colisionar</param>
/// <returns>Desplazamiento relativo final efecutado al Elipsoide</returns>
public Vector3 moveCharacter(TgcBoundingElipsoid characterElipsoid, Vector3 movementVector, List <Collider> colliders)
{
//Guardar posicion original del Elipsoide
var originalElipsoidCenter = characterElipsoid.Center;
//Pasar elipsoid space
var eCenter = TgcVectorUtils.div(characterElipsoid.Center, characterElipsoid.Radius);
var eMovementVector = TgcVectorUtils.div(movementVector, characterElipsoid.Radius);
eSphere.setValues(eCenter, 1);
var eOrigCenter = eSphere.Center;
//Ver si la distancia a recorrer es para tener en cuenta
var distanceToTravelSq = movementVector.LengthSq();
if (distanceToTravelSq >= EPSILON)
{
//Mover la distancia pedida
selectPotentialColliders(characterElipsoid, movementVector, colliders);
result = doCollideWithWorld(eSphere, eMovementVector, characterElipsoid.Radius, objetosCandidatos, 0,
movementSphere, 1);
}
//Aplicar gravedad
if (GravityEnabled)
{
//Mover con gravedad
var eGravity = TgcVectorUtils.div(GravityForce, characterElipsoid.Radius);
selectPotentialColliders(characterElipsoid, eGravity, colliders);
result = doCollideWithWorld(eSphere, eGravity, characterElipsoid.Radius, objetosCandidatos, 0,
movementSphere, OnGroundMinDotValue);
}
//Mover Elipsoid pasando valores de colision a R3
var movement = TgcVectorUtils.mul(eSphere.Center - eOrigCenter, characterElipsoid.Radius);
characterElipsoid.moveCenter(movement);
//Ajustar resultados
result.realMovmentVector = TgcVectorUtils.mul(result.realMovmentVector, characterElipsoid.Radius);
result.collisionPoint = TgcVectorUtils.mul(result.collisionPoint, characterElipsoid.Radius);
return(movement);
}
/// <summary>
/// Colisiona un Elipsoide en movimiento contra el BoundingBox.
/// Si hay colision devuelve el instante t de colision, el punto q de colision y el vector normal n de la superficie
/// contra la que
/// se colisiona.
/// Todo se devuelve en Elipsoid space.
/// El BoundingBox se pasa a Elipsoid space para comparar.
/// </summary>
/// <param name="eSphere">BoundingSphere de radio 1 en Elipsoid space</param>
/// <param name="eMovementVector">movimiento en Elipsoid space</param>
/// <param name="eRadius">radio del Elipsoide</param>
/// <param name="movementSphere">
/// BoundingSphere que abarca el sphere en su punto de origen mas el sphere en su punto final
/// deseado
/// </param>
/// <param name="t">Menor instante de colision, en Elipsoid space</param>
/// <param name="q">Punto mas cercano de colision, en Elipsoid space</param>
/// <param name="n">Vector normal de la superficie contra la que se colisiona</param>
/// <returns>True si hay colision</returns>
public override bool intersectMovingElipsoid(TgcBoundingSphere eSphere, Vector3 eMovementVector, Vector3 eRadius,
TgcBoundingSphere movementSphere, out float t, out Vector3 q, out Vector3 n)
{
//Pasar AABB a Elipsoid Space
eAABB.setExtremes(
TgcVectorUtils.div(Aabb.PMin, eRadius),
TgcVectorUtils.div(Aabb.PMax, eRadius)
);
t = -1f;
q = Vector3.Empty;
n = Vector3.Empty;
// Compute the AABB resulting from expanding b by sphere radius r
var e = eAABB.toStruct();
e.min.X -= eSphere.Radius;
e.min.Y -= eSphere.Radius;
e.min.Z -= eSphere.Radius;
e.max.X += eSphere.Radius;
e.max.Y += eSphere.Radius;
e.max.Z += eSphere.Radius;
// Intersect ray against expanded AABB e. Exit with no intersection if ray
// misses e, else get intersection point p and time t as result
Vector3 p;
var ray = new TgcRay.RayStruct();
ray.origin = eSphere.Center;
ray.direction = eMovementVector;
if (!intersectRayAABB(ray, e, out t, out p) || t > 1.0f)
{
return(false);
}
// Compute which min and max faces of b the intersection point p lies
// outside of. Note, u and v cannot have the same bits set and
// they must have at least one bit set among them
var i = 0;
var sign = new int[3];
if (p.X < eAABB.PMin.X)
{
sign[0] = -1;
i++;
}
if (p.X > eAABB.PMax.X)
{
sign[0] = 1;
i++;
}
if (p.Y < eAABB.PMin.Y)
{
sign[1] = -1;
i++;
}
if (p.Y > eAABB.PMax.Y)
{
sign[1] = 1;
i++;
}
if (p.Z < eAABB.PMin.Z)
{
sign[2] = -1;
i++;
}
if (p.Z > eAABB.PMax.Z)
{
sign[2] = 1;
i++;
}
//Face
if (i == 1)
{
n = new Vector3(sign[0], sign[1], sign[2]);
q = eSphere.Center + t * eMovementVector - eSphere.Radius * n;
return(true);
}
// Define line segment [c, c+d] specified by the sphere movement
var seg = new Segment(eSphere.Center, eSphere.Center + eMovementVector);
//Box extent and center
var extent = eAABB.calculateAxisRadius();
var center = eAABB.PMin + extent;
//Edge
if (i == 2)
{
//Generar los dos puntos extremos del Edge
float[] extentDir = { sign[0], sign[1], sign[2] };
var zeroIndex = sign[0] == 0 ? 0 : (sign[1] == 0 ? 1 : 2);
extentDir[zeroIndex] = 1;
var capsuleA = center + new Vector3(extent.X * extentDir[0], extent.Y * extentDir[1], extent.Z * extentDir[2]);
extentDir[zeroIndex] = -1;
var capsuleB = center + new Vector3(extent.X * extentDir[0], extent.Y * extentDir[1], extent.Z * extentDir[2]);
//Colision contra el Edge hecho Capsula
if (intersectSegmentCapsule(seg, new Capsule(capsuleA, capsuleB, eSphere.Radius), out t))
{
n = new Vector3(sign[0], sign[1], sign[2]);
n.Normalize();
q = eSphere.Center + t * eMovementVector - eSphere.Radius * n;
return(true);
}
}
//Vertex
if (i == 3)
{
var tmin = float.MaxValue;
var capsuleA = center + new Vector3(extent.X * sign[0], extent.Y * sign[1], extent.Z * sign[2]);
Vector3 capsuleB;
capsuleB = center + new Vector3(extent.X * -sign[0], extent.Y * sign[1], extent.Z * sign[2]);
if (intersectSegmentCapsule(seg, new Capsule(capsuleA, capsuleB, eSphere.Radius), out t))
{
tmin = TgcCollisionUtils.min(t, tmin);
}
capsuleB = center + new Vector3(extent.X * sign[0], extent.Y * -sign[1], extent.Z * sign[2]);
if (intersectSegmentCapsule(seg, new Capsule(capsuleA, capsuleB, eSphere.Radius), out t))
{
tmin = TgcCollisionUtils.min(t, tmin);
}
capsuleB = center + new Vector3(extent.X * sign[0], extent.Y * sign[1], extent.Z * -sign[2]);
if (intersectSegmentCapsule(seg, new Capsule(capsuleA, capsuleB, eSphere.Radius), out t))
{
tmin = TgcCollisionUtils.min(t, tmin);
}
if (tmin == float.MaxValue)
{
return(false); // No intersection
}
t = tmin;
n = new Vector3(sign[0], sign[1], sign[2]);
n.Normalize();
q = eSphere.Center + t * eMovementVector - eSphere.Radius * n;
return(true); // Intersection at time t == tmin
}
return(false);
}