Ejemplo n.º 1
0
        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]);

                TSVector point, normal;
                FP       penetration;
                bool     result;

                result = XenoCollide.Detect(myTriangle, otherTriangle, ref TSMatrix.InternalIdentity, ref TSMatrix.InternalIdentity,
                                            ref TSVector.InternalZero, ref TSVector.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);
        }
Ejemplo n.º 2
0
        public static int FindNearestTrianglePoint(SoftBody sb, int id, ref TSVector point)
        {
            SoftBody.Triangle triangle = sb.dynamicTree.GetUserData(id);
            TSVector          p;

            p = sb.VertexBodies[triangle.indices.I0].position;
            TSVector.Subtract(ref p, ref point, out p);

            FP length0 = p.sqrMagnitude;

            p = sb.VertexBodies[triangle.indices.I1].position;
            TSVector.Subtract(ref p, ref point, out p);

            FP length1 = p.sqrMagnitude;

            p = sb.VertexBodies[triangle.indices.I2].position;
            TSVector.Subtract(ref p, ref point, out p);

            FP length2 = p.sqrMagnitude;

            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);
                }
            }
        }
Ejemplo n.º 3
0
        private void DetectSoftRigid(RigidBody rigidBody, SoftBody softBody)
        {
            if (rigidBody.Shape is Multishape)
            {
                Multishape ms = (rigidBody.Shape as Multishape);
                ms = ms.RequestWorkingClone();

                TSBBox 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);

                    TSVector point, normal;
                    FP       penetration;
                    bool     result;

                    for (int e = 0; e < msLength; e++)
                    {
                        ms.SetCurrentShape(e);

                        result = XenoCollide.Detect(ms, t, ref rigidBody.orientation, ref TSMatrix.InternalIdentity,
                                                    ref rigidBody.position, ref TSVector.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);

                    TSVector point, normal;
                    FP       penetration;
                    bool     result;

                    result = XenoCollide.Detect(rigidBody.Shape, t, ref rigidBody.orientation, ref TSMatrix.InternalIdentity,
                                                ref rigidBody.position, ref TSVector.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);
            }
        }