| public static Detect ( ISupportMappable support1, ISupportMappable support2, Jitter.LinearMath.JMatrix &orientation1, Jitter.LinearMath.JMatrix &orientation2, Jitter.LinearMath.JVector &position1, Jitter.LinearMath.JVector &position2, Jitter.LinearMath.JVector &point, Jitter.LinearMath.JVector &normal, float &penetration ) : bool | ||
| support1 | ISupportMappable | The SupportMappable implementation of the first shape to test. |
| support2 | ISupportMappable | The SupportMappable implementation of the seconds shape to test. |
| orientation1 | Jitter.LinearMath.JMatrix | The orientation of the first shape. |
| orientation2 | Jitter.LinearMath.JMatrix | The orientation of the second shape. |
| position1 | Jitter.LinearMath.JVector | The position of the first shape. |
| position2 | Jitter.LinearMath.JVector | The position of the second shape |
| point | Jitter.LinearMath.JVector | The pointin world coordinates, where collision occur. |
| normal | Jitter.LinearMath.JVector | The normal pointing from body2 to body1. |
| penetration | float | Estimated penetration depth of the collision. |
| return | bool | |
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 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);
}
}
private void DetectRigidRigid(RigidBody body1, RigidBody body2)
{
bool b1IsMulti = (body1.Shape is Multishape);
bool b2IsMulti = (body2.Shape is Multishape);
JVector point, normal;
float penetration;
if (!b1IsMulti && !b2IsMulti)
{
if (XenoCollide.Detect(body1.Shape, body2.Shape, ref body1.orientation,
ref body2.orientation, ref body1.position, ref body2.position,
out point, out normal, out penetration))
{
if (this.RaisePassedNarrowphase(body1, body2, ref point, ref normal, penetration))
{
JVector point1, point2;
FindSupportPoints(body1, body2, body1.Shape, body2.Shape, ref point, ref normal, out point1, out point2);
RaiseCollisionDetected(body1, body2, ref point1, ref point2, ref normal, penetration);
}
}
}
else if (b1IsMulti && b2IsMulti)
{
Multishape ms1 = (body1.Shape as Multishape);
Multishape ms2 = (body2.Shape as Multishape);
ms1 = ms1.RequestWorkingClone();
ms2 = ms2.RequestWorkingClone();
JBBox transformedBoundingBox = body2.boundingBox;
transformedBoundingBox.InverseTransform(ref body1.position, ref body1.orientation);
int ms1Length = ms1.Prepare(ref transformedBoundingBox);
transformedBoundingBox = body1.boundingBox;
transformedBoundingBox.InverseTransform(ref body2.position, ref body2.orientation);
int ms2Length = ms2.Prepare(ref transformedBoundingBox);
if (ms1Length == 0 || ms2Length == 0)
{
ms1.ReturnWorkingClone();
ms2.ReturnWorkingClone();
return;
}
for (int i = 0; i < ms1Length; i++)
{
ms1.SetCurrentShape(i);
for (int e = 0; e < ms2Length; e++)
{
ms2.SetCurrentShape(e);
if (XenoCollide.Detect(ms1, ms2, ref body1.orientation,
ref body2.orientation, ref body1.position, ref body2.position,
out point, out normal, out penetration))
{
if (this.RaisePassedNarrowphase(body1, body2, ref point, ref normal, penetration))
{
JVector point1, point2;
FindSupportPoints(body1, body2, ms1, ms2, ref point, ref normal, out point1, out point2);
RaiseCollisionDetected(body1, body2, ref point1, ref point2, ref normal, penetration);
}
}
}
}
ms1.ReturnWorkingClone();
ms2.ReturnWorkingClone();
}
else
{
RigidBody b1, b2;
if (body2.Shape is Multishape)
{
b1 = body2; b2 = body1;
}
else
{
b2 = body2; b1 = body1;
}
Multishape ms = (b1.Shape as Multishape);
ms = ms.RequestWorkingClone();
JBBox transformedBoundingBox = b2.boundingBox;
transformedBoundingBox.InverseTransform(ref b1.position, ref b1.orientation);
int msLength = ms.Prepare(ref transformedBoundingBox);
if (msLength == 0)
{
ms.ReturnWorkingClone();
return;
}
for (int i = 0; i < msLength; i++)
{
ms.SetCurrentShape(i);
if (XenoCollide.Detect(ms, b2.Shape, ref b1.orientation,
ref b2.orientation, ref b1.position, ref b2.position,
out point, out normal, out penetration))
{
if (this.RaisePassedNarrowphase(b1, b2, ref point, ref normal, penetration))
{
JVector point1, point2;
FindSupportPoints(b1, b2, ms, b2.Shape, ref point, ref normal, out point1, out point2);
if (useTerrainNormal && ms is TerrainShape)
{
(ms as TerrainShape).CollisionNormal(out normal);
JVector.Transform(ref normal, ref b1.orientation, out normal);
}
else if (useTriangleMeshNormal && ms is TriangleMeshShape)
{
(ms as TriangleMeshShape).CollisionNormal(out normal);
JVector.Transform(ref normal, ref b1.orientation, out normal);
}
RaiseCollisionDetected(b1, b2, ref point1, ref point2, ref normal, penetration);
}
}
}
ms.ReturnWorkingClone();
}
}
private void DetectRigidRigid(RigidBody body1, RigidBody body2)
{
bool b1IsMulti = (body1.Shape is Multishape);
bool b2IsMulti = (body2.Shape is Multishape);
bool speculative = speculativeContacts ||
(body1.EnableSpeculativeContacts || body2.EnableSpeculativeContacts);
JVector point, normal;
float penetration;
if (!b1IsMulti && !b2IsMulti)
{
if (XenoCollide.Detect(body1.Shape, body2.Shape, ref body1.orientation,
ref body2.orientation, ref body1.position, ref body2.position,
out point, out normal, out penetration))
{
JVector point1, point2;
FindSupportPoints(body1, body2, body1.Shape, body2.Shape, ref point, ref normal, out point1, out point2);
RaiseCollisionDetected(body1, body2, ref point1, ref point2, ref normal, penetration);
}
else if (speculative)
{
JVector hit1, hit2;
if (GJKCollide.ClosestPoints(body1.Shape, body2.Shape, ref body1.orientation, ref body2.orientation,
ref body1.position, ref body2.position, out hit1, out hit2, out normal))
{
JVector delta = hit2 - hit1;
if (delta.LengthSquared() < (body1.sweptDirection - body2.sweptDirection).LengthSquared())
{
penetration = delta * normal;
if (penetration < 0.0f)
{
RaiseCollisionDetected(body1, body2, ref hit1, ref hit2, ref normal, penetration);
}
}
}
}
}
else if (b1IsMulti && b2IsMulti)
{
Multishape ms1 = (body1.Shape as Multishape);
Multishape ms2 = (body2.Shape as Multishape);
ms1 = ms1.RequestWorkingClone();
ms2 = ms2.RequestWorkingClone();
JBBox transformedBoundingBox = body2.boundingBox;
transformedBoundingBox.InverseTransform(ref body1.position, ref body1.orientation);
int ms1Length = ms1.Prepare(ref transformedBoundingBox);
transformedBoundingBox = body1.boundingBox;
transformedBoundingBox.InverseTransform(ref body2.position, ref body2.orientation);
int ms2Length = ms2.Prepare(ref transformedBoundingBox);
if (ms1Length == 0 || ms2Length == 0)
{
ms1.ReturnWorkingClone();
ms2.ReturnWorkingClone();
return;
}
for (int i = 0; i < ms1Length; i++)
{
ms1.SetCurrentShape(i);
for (int e = 0; e < ms2Length; e++)
{
ms2.SetCurrentShape(e);
if (XenoCollide.Detect(ms1, ms2, ref body1.orientation,
ref body2.orientation, ref body1.position, ref body2.position,
out point, out normal, out penetration))
{
JVector point1, point2;
FindSupportPoints(body1, body2, ms1, ms2, ref point, ref normal, out point1, out point2);
RaiseCollisionDetected(body1, body2, ref point1, ref point2, ref normal, penetration);
}
else if (speculative)
{
JVector hit1, hit2;
if (GJKCollide.ClosestPoints(ms1, ms2, ref body1.orientation, ref body2.orientation,
ref body1.position, ref body2.position, out hit1, out hit2, out normal))
{
JVector delta = hit2 - hit1;
if (delta.LengthSquared() < (body1.sweptDirection - body2.sweptDirection).LengthSquared())
{
penetration = delta * normal;
if (penetration < 0.0f)
{
RaiseCollisionDetected(body1, body2, ref hit1, ref hit2, ref normal, penetration);
}
}
}
}
}
}
ms1.ReturnWorkingClone();
ms2.ReturnWorkingClone();
}
else
{
RigidBody b1, b2;
if (body2.Shape is Multishape)
{
b1 = body2; b2 = body1;
}
else
{
b2 = body2; b1 = body1;
}
Multishape ms = (b1.Shape as Multishape);
ms = ms.RequestWorkingClone();
JBBox transformedBoundingBox = b2.boundingBox;
transformedBoundingBox.InverseTransform(ref b1.position, ref b1.orientation);
int msLength = ms.Prepare(ref transformedBoundingBox);
if (msLength == 0)
{
ms.ReturnWorkingClone();
return;
}
for (int i = 0; i < msLength; i++)
{
ms.SetCurrentShape(i);
if (XenoCollide.Detect(ms, b2.Shape, ref b1.orientation,
ref b2.orientation, ref b1.position, ref b2.position,
out point, out normal, out penetration))
{
JVector point1, point2;
FindSupportPoints(b1, b2, ms, b2.Shape, ref point, ref normal, out point1, out point2);
if (useTerrainNormal && ms is TerrainShape)
{
(ms as TerrainShape).CollisionNormal(out normal);
JVector.Transform(ref normal, ref b1.orientation, out normal);
}
else if (useTriangleMeshNormal && ms is TriangleMeshShape)
{
(ms as TriangleMeshShape).CollisionNormal(out normal);
JVector.Transform(ref normal, ref b1.orientation, out normal);
}
RaiseCollisionDetected(b1, b2, ref point1, ref point2, ref normal, penetration);
}
else if (speculative)
{
JVector hit1, hit2;
if (GJKCollide.ClosestPoints(ms, b2.Shape, ref b1.orientation, ref b2.orientation,
ref b1.position, ref b2.position, out hit1, out hit2, out normal))
{
JVector delta = hit2 - hit1;
if (delta.LengthSquared() < (body1.sweptDirection - body2.sweptDirection).LengthSquared())
{
penetration = delta * normal;
if (penetration < 0.0f)
{
RaiseCollisionDetected(b1, b2, ref hit1, ref hit2, ref normal, penetration);
}
}
}
}
}
ms.ReturnWorkingClone();
}
}
private void DetectRigidRigid(RigidBody body1, RigidBody body2)
{
// CUSTOM: Added custom detection callbacks (primarily to accommodate actor movement on surfaces).
var callback1 = body1.ShouldGenerateContact;
var callback2 = body2.ShouldGenerateContact;
bool b1IsMulti = (body1.Shape is Multishape);
bool b2IsMulti = (body2.Shape is Multishape);
bool speculative = speculativeContacts ||
(body1.AreSpeculativeContactsEnabled || body2.AreSpeculativeContactsEnabled);
JVector point, normal;
float penetration;
if (!b1IsMulti && !b2IsMulti)
{
// CUSTOM: Added these callbacks (two rigid bodies).
if ((callback1 != null && !callback1(body2, null)) || (callback2 != null && !callback2(body1, null)))
{
return;
}
if (XenoCollide.Detect(body1.Shape, body2.Shape, ref body1.orientation,
ref body2.orientation, ref body1.position, ref body2.position,
out point, out normal, out penetration))
{
JVector point1, point2;
FindSupportPoints(body1, body2, body1.Shape, body2.Shape, ref point, ref normal, out point1, out point2);
RaiseCollisionDetected(body1, body2, ref point1, ref point2, ref normal, penetration);
}
else if (speculative)
{
JVector hit1, hit2;
if (GJKCollide.ClosestPoints(body1.Shape, body2.Shape, ref body1.orientation, ref body2.orientation,
ref body1.position, ref body2.position, out hit1, out hit2, out normal))
{
JVector delta = hit2 - hit1;
if (delta.LengthSquared() < (body1.sweptDirection - body2.sweptDirection).LengthSquared())
{
penetration = delta * normal;
if (penetration < 0.0f)
{
RaiseCollisionDetected(body1, body2, ref hit1, ref hit2, ref normal, penetration);
}
}
}
}
}
else if (b1IsMulti && b2IsMulti)
{
Multishape ms1 = (body1.Shape as Multishape);
Multishape ms2 = (body2.Shape as Multishape);
ms1 = ms1.RequestWorkingClone();
ms2 = ms2.RequestWorkingClone();
JBBox transformedBoundingBox = body2.boundingBox;
transformedBoundingBox.InverseTransform(ref body1.position, ref body1.orientation);
int ms1Length = ms1.Prepare(ref transformedBoundingBox);
transformedBoundingBox = body1.boundingBox;
transformedBoundingBox.InverseTransform(ref body2.position, ref body2.orientation);
int ms2Length = ms2.Prepare(ref transformedBoundingBox);
if (ms1Length == 0 || ms2Length == 0)
{
ms1.ReturnWorkingClone();
ms2.ReturnWorkingClone();
return;
}
for (int i = 0; i < ms1Length; i++)
{
ms1.SetCurrentShape(i);
for (int e = 0; e < ms2Length; e++)
{
ms2.SetCurrentShape(e);
if (XenoCollide.Detect(ms1, ms2, ref body1.orientation,
ref body2.orientation, ref body1.position, ref body2.position,
out point, out normal, out penetration))
{
JVector point1, point2;
FindSupportPoints(body1, body2, ms1, ms2, ref point, ref normal, out point1, out point2);
RaiseCollisionDetected(body1, body2, ref point1, ref point2, ref normal, penetration);
}
else if (speculative)
{
JVector hit1, hit2;
if (GJKCollide.ClosestPoints(ms1, ms2, ref body1.orientation, ref body2.orientation,
ref body1.position, ref body2.position, out hit1, out hit2, out normal))
{
JVector delta = hit2 - hit1;
if (delta.LengthSquared() < (body1.sweptDirection - body2.sweptDirection).LengthSquared())
{
penetration = delta * normal;
if (penetration < 0.0f)
{
RaiseCollisionDetected(body1, body2, ref hit1, ref hit2, ref normal, penetration);
}
}
}
}
}
}
ms1.ReturnWorkingClone();
ms2.ReturnWorkingClone();
}
else
{
RigidBody b1, b2;
if (body2.Shape is Multishape)
{
// CUSTOM: Swapped callbacks here as well.
b1 = body2;
b2 = body1;
// A proper swap here (using a temporary variable) isn't necessary since, by this point, the other
// callback (attached to the static body) is intentionally not used.
callback2 = callback1;
}
else
{
b2 = body2;
b1 = body1;
}
Multishape ms = (b1.Shape as Multishape);
ms = ms.RequestWorkingClone();
JBBox transformedBoundingBox = b2.boundingBox;
transformedBoundingBox.InverseTransform(ref b1.position, ref b1.orientation);
int msLength = ms.Prepare(ref transformedBoundingBox);
if (msLength == 0)
{
ms.ReturnWorkingClone();
return;
}
for (int i = 0; i < msLength; i++)
{
ms.SetCurrentShape(i);
// CUSTOM: Added this callback (to allow specific triangle collisions to be ignored).
bool shouldCollideWith = ms is TriangleMeshShape tMesh && (callback2 == null ||
callback2(b1, tMesh.CurrentTriangle));
if (shouldCollideWith && XenoCollide.Detect(ms, b2.Shape, ref b1.orientation,
ref b2.orientation, ref b1.position, ref b2.position,
out point, out normal, out penetration))
{
JVector[] triangle = null;
FindSupportPoints(b1, b2, ms, b2.Shape, ref point, ref normal, out var point1, out var point2);
if (useTerrainNormal && ms is TerrainShape)
{
(ms as TerrainShape).CollisionNormal(out normal);
JVector.Transform(ref normal, ref b1.orientation, out normal);
}
else if (useTriangleMeshNormal)
{
tMesh = ms as TriangleMeshShape;
triangle = tMesh.CurrentTriangle;
tMesh.CollisionNormal(out normal);
JVector.Transform(ref normal, ref b1.orientation, out normal);
}
RaiseCollisionDetected(b1, b2, ref point1, ref point2, ref normal, triangle, penetration);
}
else if (speculative)
{
JVector hit1, hit2;
if (GJKCollide.ClosestPoints(ms, b2.Shape, ref b1.orientation, ref b2.orientation,
ref b1.position, ref b2.position, out hit1, out hit2, out normal))
{
JVector delta = hit2 - hit1;
if (delta.LengthSquared() < (body1.sweptDirection - body2.sweptDirection).LengthSquared())
{
penetration = delta * normal;
if (penetration < 0.0f)
{
RaiseCollisionDetected(b1, b2, ref hit1, ref hit2, ref normal, penetration);
}
}
}
}
}
ms.ReturnWorkingClone();
}
}
