public Triangle(SoftBody owner)
{
this.owner = owner;
}
public MassPoint(Shape shape, SoftBody owner, Material material)
: base(shape, material, true)
{
this.SoftBody = owner;
}
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);
RaiseCollisionDetected(rigidBody,
softBody.VertexBodies[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);
RaiseCollisionDetected(rigidBody,
softBody.VertexBodies[minIndex], ref point, ref point, ref normal, penetration);
}
}
detected.Clear();
potentialTriangleLists.GiveBack(detected);
}
}
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);
}
public static int FindNearestTrianglePoint(SoftBody sb, int id, ref JVector point)
{
SoftBody.Triangle triangle = sb.dynamicTree.GetUserData(id);
JVector p;
p = sb.VertexBodies[triangle.indices.I0].position;
JVector.Subtract(ref p, ref point, out p);
float length0 = p.LengthSquared();
p = sb.VertexBodies[triangle.indices.I1].position;
JVector.Subtract(ref p, ref point, out p);
float length1 = p.LengthSquared();
p = sb.VertexBodies[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;
}
}
