internal void TestSkin(CollisionSkin b, CollisionSkin s)
{
System.Diagnostics.Debug.Assert(b.Owner != null);
System.Diagnostics.Debug.Assert(b.Owner.IsActive);
if (!collisionPredicate_.ConsiderSkinPair(b, s))
{
return;
}
info_.Skin0 = b;
info_.Skin1 = s;
int nSkin0 = info_.Skin0.NumPrimitives;
int nSkin1 = info_.Skin1.NumPrimitives;
for (info_.IndexPrim0 = 0; info_.IndexPrim0 != nSkin0; ++info_.IndexPrim0)
{
for (info_.IndexPrim1 = 0; info_.IndexPrim1 != nSkin1; ++info_.IndexPrim1)
{
if (CheckCollidables(info_.Skin0, info_.Skin1))
{
DetectFunctor f =
sys_.GetCollDetectFunctor(info_.Skin0.GetPrimitiveNewWorld(info_.IndexPrim0).Type,
info_.Skin1.GetPrimitiveNewWorld(info_.IndexPrim1).Type);
if (f != null)
{
f.CollDetect(info_, collTolerance_, collisionFunctor_);
}
}
}
}
}
/// <summary>
/// DetectCollisions
/// </summary>
/// <param name="body"></param>
/// <param name="collisionFunctor"></param>
/// <param name="collisionPredicate"></param>
/// <param name="collTolerance"></param>
public override void DetectCollisions(JigLibX.Physics.Body body, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
if (!body.IsActive)
{
return;
}
CollDetectInfo info = new CollDetectInfo();
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
{
return;
}
active_.Clear();
testing_.Clear();
Extract(info.Skin0.WorldBoundingBox.Min, info.Skin0.WorldBoundingBox.Max, active_);
for (int j = 0, m = info.Skin0.NumPrimitives; j != m; ++j)
{
testing_.Add(info.Skin0.GetPrimitiveNewWorld(j));
}
int nBodyPrims = testing_.Count;
for (int i = 0, n = active_.Count; i != n; ++i)
{
info.Skin1 = active_[i];
if (info.Skin0 != info.Skin1 && (collisionPredicate == null ||
collisionPredicate.ConsiderSkinPair(info.Skin0, info.Skin1)))
{
int nPrim1 = info.Skin1.NumPrimitives;
second_.Clear();
for (int k = 0; k != nPrim1; ++k)
{
second_.Add(info.Skin1.GetPrimitiveNewWorld(k));
}
for (info.IndexPrim0 = 0; info.IndexPrim0 != nBodyPrims; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 != nPrim1; ++info.IndexPrim1)
{
DetectFunctor f =
GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
{
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
}
}
}
/// <summary>
/// type0/1 could be from tCollisionSkinType or they could be
/// larger values. The collision detection table will get extended
/// as necessary. You only need to register the function once
/// (i.e. not for type0, type1 then type1, type 0).
/// </summary>
/// <param name="f"></param>
public void RegisterCollDetectFunctor(DetectFunctor f)
{
int key01 = f.Type0 << 16 | f.Type1;
int key10 = f.Type1 << 16 | f.Type0;
if (!detectionFunctors.ContainsKey(key01))
{
detectionFunctors.Add(key01, f);
}
if (!detectionFunctors.ContainsKey(key10))
{
detectionFunctors.Add(key10, f);
}
}
public override void DetectCollisions(Body body, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
if (!body.IsActive)
{
return;
}
CollDetectInfo info = new CollDetectInfo();
info.Skin0 = body.CollisionSkin; //?!
if (info.Skin0 == null)
{
return;
}
int bodyPrimitves = info.Skin0.NumPrimitives;
int numSkins = skins.Count;
for (int skin = 0; skin < numSkins; ++skin)
{
info.Skin1 = skins[skin];
if ((info.Skin0 != info.Skin1) && CheckCollidables(info.Skin0, info.Skin1))
{
int primitives = info.Skin1.NumPrimitives;
for (info.IndexPrim0 = 0; info.IndexPrim0 < bodyPrimitves; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 < primitives; ++info.IndexPrim1)
{
DetectFunctor f = GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
{
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
}
}
}
/// <summary>
/// type0/1 could be from tCollisionSkinType or they could be
/// larger values. The collision detection table will get extended
/// as necessary. You only need to register the function once
/// (i.e. not for type0, type1 then type1, type 0).
/// </summary>
/// <param name="f"></param>
public void RegisterCollDetectFunctor(DetectFunctor f)
{
int key01 = f.Type0 << 16 | f.Type1;
int key10 = f.Type1 << 16 | f.Type0;
if (!detectionFunctors.ContainsKey(key01))
detectionFunctors.Add(key01,f);
if (!detectionFunctors.ContainsKey(key10))
detectionFunctors.Add(key10,f);
}
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
var oldCapsule = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
var newCapsule = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
var oldHeightmap = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as CubeHeightmapCollisionShape;
var newHeightmap = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as CubeHeightmapCollisionShape;
Vector3[] oldPoints = new Vector3[2];
Vector3[] newPoints = new Vector3[2];
oldPoints[0] = oldCapsule.Position;
oldPoints[1] = oldCapsule.GetEnd();
newPoints[0] = newCapsule.Position;
newPoints[1] = newCapsule.GetEnd();
if (capsuleBoxDetectFunctor == null)
{
capsuleBoxDetectFunctor = PhysicsSystem.CurrentPhysicsSystem.CollisionSystem.GetCollDetectFunctor(
(int) PrimitiveType.Capsule, (int) PrimitiveType.Box);
}
oldHeightmap.GetMapPositions(oldPoints, oldMapPositions);
newHeightmap.GetMapPositions(newPoints, newMapPositions);
// TODO: needed ?
foreach (var oldMapPosition in oldMapPositions)
{
if (!newMapPositions.Contains(oldMapPosition))
{
newMapPositions.Add(oldMapPosition);
}
}
bool sameHeight = true;
float prevHeight = newHeightmap.GetHeight(newMapPositions[0]);
for (int i = 1; i < newMapPositions.Count; i++)
{
if (prevHeight != newHeightmap.GetHeight(newMapPositions[i]))
{
sameHeight = false;
break;
}
}
#region As plane
if (sameHeight)
{
virtualPlaneSkin.SetMaterialProperties(0, info.Skin1.GetMaterialProperties(info.IndexPrim1));
var vcdi = new CollDetectInfo()
{
Skin0 = info.Skin0,
Skin1 = virtualPlaneSkin,
IndexPrim0 = info.IndexPrim0,
IndexPrim1 = 0
};
virtualCollisionFunctor.CollisionFunctorEntity = collisionFunctor;
virtualCollisionFunctor.CollDetectInfoEntity = info;
var oldPlane = virtualPlaneSkin.GetPrimitiveOldWorld(0) as JPlane;
var newPlane = virtualPlaneSkin.GetPrimitiveNewWorld(0) as JPlane;
oldHeightmap.PrepareVirtualPlane(newMapPositions[0], oldPlane);
newHeightmap.PrepareVirtualPlane(newMapPositions[0], newPlane);
if (capsulePlaneDetectFunctor == null)
{
var collisionSystem = PhysicsSystem.CurrentPhysicsSystem.CollisionSystem;
capsulePlaneDetectFunctor = collisionSystem.GetCollDetectFunctor(
(int) PrimitiveType.Capsule,
(int) PrimitiveType.Plane);
}
virtualCollisionFunctor.CollisionFunctorEntity = collisionFunctor;
virtualCollisionFunctor.CollDetectInfoEntity = info;
capsulePlaneDetectFunctor.CollDetect(vcdi, collTolerance, virtualCollisionFunctor);
return;
}
#endregion
#region As boxes
virtualBoxSkin.SetMaterialProperties(0, info.Skin1.GetMaterialProperties(info.IndexPrim1));
CollDetectInfo virtualCollDetectInfo = new CollDetectInfo()
{
Skin0 = info.Skin0,
Skin1 = virtualBoxSkin,
IndexPrim0 = info.IndexPrim0,
IndexPrim1 = 0
};
virtualCollisionFunctor.CollisionFunctorEntity = collisionFunctor;
virtualCollisionFunctor.CollDetectInfoEntity = info;
foreach (var newMapPosition in newMapPositions)
{
var oldPrimitive = virtualBoxSkin.GetPrimitiveOldWorld(0) as Box;
var newPrimitive = virtualBoxSkin.GetPrimitiveNewWorld(0) as Box;
oldHeightmap.PrepareVirtualBox(newMapPosition, oldPrimitive);
newHeightmap.PrepareVirtualBox(newMapPosition, newPrimitive);
capsuleBoxDetectFunctor.CollDetect(virtualCollDetectInfo, collTolerance, virtualCollisionFunctor);
}
#endregion
}
public override void DetectAllCollisions(List <Body> bodies, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
int numSkins = skins.Count;
int numBodies = bodies.Count;
CollDetectInfo info = new CollDetectInfo();
for (int ibody = 0; ibody < numBodies; ++ibody)
{
Body body = bodies[ibody];
if (!body.IsActive)
{
continue;
}
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
{
continue;
}
for (int skin = 0; skin < numSkins; ++skin)
{
info.Skin1 = skins[skin];
if (info.Skin0 == info.Skin1)
{
continue;
}
// CHANGE
if (info.Skin1 == null)
{
continue;
}
bool skinSleeping = true;
if (info.Skin1.Owner != null && info.Skin1.Owner.IsActive)
{
skinSleeping = false;
}
if ((skinSleeping == false) && (info.Skin1.ID < info.Skin0.ID))
{
continue;
}
if ((collisionPredicate != null) &&
collisionPredicate.ConsiderSkinPair(info.Skin0, info.Skin1) == false)
{
continue;
}
// basic bbox test
if (BoundingBoxHelper.OverlapTest(ref info.Skin0.WorldBoundingBox,
ref info.Skin1.WorldBoundingBox, collTolerance))
{
if (CheckCollidables(info.Skin0, info.Skin1))
{
int bodyPrimitives = info.Skin0.NumPrimitives;
int primitves = info.Skin1.NumPrimitives;
for (info.IndexPrim0 = 0; info.IndexPrim0 < bodyPrimitives; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 < primitves; ++info.IndexPrim1)
{
DetectFunctor f = GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
{
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
}
} // overlapt test
} // loop over skins
} // loop over bodies
} // void
/// <summary>
/// DetectAllCollisions
/// </summary>
/// <param name="bodies"></param>
/// <param name="collisionFunctor"></param>
/// <param name="collisionPredicate"></param>
/// <param name="collTolerance"></param>
public override void DetectAllCollisions(List <Body> bodies, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
int numBodies = bodies.Count;
CollDetectInfo info = new CollDetectInfo();
for (int iBody = 0; iBody < numBodies; ++iBody)
{
Body body = bodies[iBody];
if (!body.IsActive)
{
continue;
}
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
{
continue;
}
tempGridLists.Clear();
GetListsToCheck(tempGridLists, info.Skin0);
for (int iList = tempGridLists.Count; iList-- != 0;)
{
// first one is a placeholder;
GridEntry entry = tempGridLists[iList];
for (entry = entry.Next; entry != null; entry = entry.Next)
{
info.Skin1 = entry.Skin;
if (info.Skin1 == info.Skin0)
{
continue;
}
// CHANGE
if (info.Skin1 == null)
{
continue;
}
bool skinSleeping = true;
if ((info.Skin1.Owner != null) && (info.Skin1.Owner.IsActive))
{
skinSleeping = false;
}
// only do one per pair
if ((skinSleeping == false) && (info.Skin1.ID < info.Skin0.ID))
{
continue;
}
if ((collisionPredicate != null) && (!collisionPredicate.ConsiderSkinPair(info.Skin0, info.Skin1)))
{
continue;
}
// basic bbox test
if (BoundingBoxHelper.OverlapTest(ref info.Skin1.WorldBoundingBox,
ref info.Skin0.WorldBoundingBox, collTolerance))
{
if (CheckCollidables(info.Skin0, info.Skin1))
{
int bodyPrimitives = info.Skin0.NumPrimitives;
int primitves = info.Skin1.NumPrimitives;
for (info.IndexPrim0 = 0; info.IndexPrim0 < bodyPrimitives; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 < primitves; ++info.IndexPrim1)
{
DetectFunctor f = GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
{
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
} // check collidables
} // overlapt test
} // loop over entries
} // loop over lists
} // loop over bodies
}
