protected override bool Interact(bool staticCollision)
{
if (RBElement1.GetElementType() != MyRBElementType.ET_BOX)
{
SwapElements();
}
if (!staticCollision)
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("BoxVoxelInteraction");
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("Transformations");
MyRBBoxElement rbbox0 = (MyRBBoxElement)RBElement1;
Matrix matrix0 = RBElement1.GetGlobalTransformation();
MyBox box = tempBox;
box.Transform.Orientation = matrix0;
box.Transform.Orientation.Translation = Vector3.Zero;
box.Transform.Position = matrix0.Translation - Vector3.TransformNormal(rbbox0.Size * 0.5f, matrix0);
box.SideLengths = rbbox0.Size;
float boxRadius = box.GetBoundingRadiusAroundCentre();
#region boxCentre
Vector3 boxCentre;
box.GetCentre(out boxCentre);
// Deano need to trasnform the box center into mesh space
//Matrix invTransformMatrix = mesh.InverseTransformMatrix;
//Vector3.Transform(ref boxCentre, ref invTransformMatrix, out boxCentre);
#endregion
BoundingBox bb = RBElement1.GetWorldSpaceAABB();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("GetPotentialTrianglesForColDet");
// extent bb for the movement
int numTriangles;
MyVoxelMaps.GetPotentialTrianglesForColDet(out numTriangles, ref bb);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
if (staticCollision)
{
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
MyColDetVoxelTriangle triangle = MyVoxelMaps.PotentialColDetTriangles[iTriangle];
// quick early test is done in mesh space
float dist = triangle.Plane.DotCoordinate(boxCentre);
if (dist > boxRadius)
{
continue;
}
// skip too narrow triangles causing destability
if ((triangle.Vertex0 - triangle.Vertex1).LengthSquared() < MyPhysicsConfig.TriangleEpsilon ||
(triangle.Vertex1 - triangle.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon ||
(triangle.Vertex0 - triangle.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon
)
{
continue;
}
if (DoOverlapBoxTriangleStaticTest(box, ref triangle))
{
return(true);
}
}
}
else
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("for DoOverlapBoxTriangleTest");
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
MyColDetVoxelTriangle triangle = MyVoxelMaps.PotentialColDetTriangles[iTriangle];
// skip too narrow triangles causing destability
if ((triangle.Vertex0 - triangle.Vertex1).LengthSquared() < MyPhysicsConfig.TriangleEpsilon ||
(triangle.Vertex1 - triangle.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon ||
(triangle.Vertex0 - triangle.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon
)
{
continue;
}
DoOverlapBoxTriangleTest(box, ref triangle);
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
if (!staticCollision)
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
return(false);
}
protected override bool Interact(bool staticCollision)
{
try
{
if (!staticCollision)
{
TestsCount++;
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("BoxTriangleIntersection");
}
if (RBElement1.GetElementType() != MyRBElementType.ET_BOX)
{
SwapElements();
}
var boxElement = (MyRBBoxElement)RBElement1;
var triangleMeshElem = (MyRBTriangleMeshElement)RBElement2;
MyModel model = ((boxElement.Flags & MyElementFlag.EF_MODEL_PREFER_LOD0) > 0 ? triangleMeshElem.ModelLOD0 : triangleMeshElem.Model);
Matrix boxMatrix = boxElement.GetGlobalTransformation();
Matrix triangleMeshMatrix = triangleMeshElem.GetGlobalTransformation();
Matrix newMatrix = boxMatrix;
if (!staticCollision)
{
// MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep
newMatrix.Translation = newMatrix.Translation + boxElement.GetRigidBody().LinearVelocity *MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
}
MyBox oldBox = m_tempBox1;
MyBox newBox = m_tempBox2;
oldBox.Transform.Orientation = boxMatrix;
oldBox.Transform.Orientation.Translation = Vector3.Zero;
oldBox.Transform.Position = boxMatrix.Translation - Vector3.TransformNormal(boxElement.Size * 0.5f, boxMatrix);
newBox.Transform.Orientation = newMatrix;
newBox.Transform.Orientation.Translation = Vector3.Zero;
newBox.Transform.Position = newMatrix.Translation - Vector3.TransformNormal(boxElement.Size * 0.5f, newMatrix);
oldBox.SideLengths = boxElement.Size;
newBox.SideLengths = boxElement.Size;
float boxRadius = newBox.GetBoundingRadiusAroundCentre();
#region REFERENCE: Vector3 boxCentre = newBox.GetCentre();
Vector3 boxCentre;
newBox.GetCentre(out boxCentre);
// Deano need to trasnform the box center into mesh space
Matrix invTransformMatrix = Matrix.Invert(triangleMeshMatrix);
Vector3.Transform(ref boxCentre, ref invTransformMatrix, out boxCentre);
#endregion
BoundingBox bb = boxElement.GetWorldSpaceAABB();
if (staticCollision)
{
Vector3 bbMin = Vector3.Transform(bb.Min, invTransformMatrix);
Vector3 bbMax = Vector3.Transform(bb.Max, invTransformMatrix);
BoundingSphere bs = new BoundingSphere((bbMax + bbMin) / 2, Vector3.Distance(bbMin, bbMax));
List <MyTriangle_Vertex_Normal> triangles = MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().GetFreeTriangleList(this);
model.GetTrianglePruningStructure().GetTrianglesIntersectingSphere(ref bs, triangles, triangles.Capacity);
for (int iTriangle = 0; iTriangle < triangles.Count; iTriangle++)
{
MyTriangle_Vertex_Normal triangle = triangles[iTriangle];
MyPlane plane = new MyPlane(ref triangle.Vertexes);
// quick early test is done in mesh space
float dist = MyUtils.GetDistanceFromPointToPlane(ref boxCentre, ref plane);
if (dist > boxRadius || dist < -boxRadius)
{
continue;
}
Vector3 oldPos = boxMatrix.Translation;
Vector3 newPos = newMatrix.Translation;
float collisionEpsilon = 0;//pz to test not sure about value
if (DoOverlapBoxTriangleStaticTest(
oldBox, newBox,
triangle,
plane,
collisionEpsilon,
ref triangleMeshMatrix,
ref oldPos,
ref newPos))
{
return(true);
}
}
return(false);
}
else
{
bb.Min += boxElement.GetRigidBody().LinearVelocity *MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
bb.Max += boxElement.GetRigidBody().LinearVelocity *MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
var boxCenter = bb.GetCenter();
// aabox is done in mesh space and handles the mesh transform correctly
//int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
//boxElement.GetRigidBody().Position = Vector3.Zero;
//triangleMeshElem.GetRigidBody().Position = Vector3.Zero;
//BoundingSphere bs = new BoundingSphere((bbMax + bbMin) / 2, Vector3.Distance(bbMin, bbMax));
var halfSize = bb.Size() / 2;
BoundingBox bb2 = new BoundingBox(boxCentre - halfSize, boxCentre + halfSize);
List <MyTriangle_Vertex_Normal> triangles = MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().GetFreeTriangleList(this);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("PruningStructure");
model.GetTrianglePruningStructure().GetTrianglesIntersectingAABB(ref bb2, triangles, triangles.Capacity);
//model.GetTrianglePruningStructure().GetTrianglesIntersectingSphere(ref bs, triangles, triangles.Capacity);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Tests count ", TestsCount);
MySmallCollPointInfo[] collPtArray = MyContactInfoCache.SCPIStackAlloc();
int refPointer = 0;
m_collPoints.Clear();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("Triangles");
for (int iTriangle = 0; iTriangle < triangles.Count; iTriangle++)
{
MyTriangle_Vertex_Normal triangle = triangles[iTriangle];
//IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
MyPlane plane = new MyPlane(ref triangle.Vertexes);
// quick early test is done in mesh space
//float dist = meshTriangle.Plane.DotCoordinate(boxCentre);
float dist = MyUtils.GetDistanceFromPointToPlane(ref boxCentre, ref plane);
if (dist > boxRadius || dist < -boxRadius)
{
continue;
}
Vector3 oldPos = boxMatrix.Translation;
Vector3 newPos = newMatrix.Translation;
DoOverlapBoxTriangleTest(
oldBox, newBox,
triangle,
plane,
MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon,
ref triangleMeshMatrix,
ref oldPos,
ref newPos,
m_collPoints);
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
TrianglesTested += triangles.Count;
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Triangles tested ", TrianglesTested);
m_collPoints.Sort(m_colPointComparer);
refPointer = 0;
foreach (MyCollisionPointStruct collPoint in m_collPoints)
{
collPtArray[refPointer] = collPoint.CollPointInfo;
refPointer++;
if (refPointer >= MyPhysicsConfig.MaxContactPoints)
{
break;
}
}
if (refPointer > 0)
{
MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collPtArray, refPointer);
}
MyContactInfoCache.FreeStackAlloc(collPtArray);
MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().PushBackTriangleList(triangles);
}
}
catch
{
throw;
}
finally
{
if (!staticCollision)
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
}
return(false);
}
