public static Node Create(Vector3 pos, int collisionMask)
{
var cmp = new MyBlock ();
var spr = new Sprite (128, 64);
spr.AddTexture (Resource.GetDefaultTexture ());
spr.Color = Color.Cyan;
var col = new CollisionObject ();
col.Shape = new BoxShape (spr.Width/2, spr.Height/2, 1);
col.SetOffset (spr.Width/2, spr.Height/2, 1);
col.CollideWith = collisionMask;
var label = new Label ();
label.Text = "Mask = 0x" + collisionMask.ToString("x");
var node = new Node ("Block");
node.Attach (cmp);
node.Attach (spr);
node.Attach (col);
node.Attach (label);
node.Translation = pos;
return node;
}
public void Test_Overlap()
{
var node1 = new Node ("Node1");
var col1 = new CollisionObject ();
col1.Shape = new BoxShape (1, 1, 1);
node1.Attach (col1);
var node2 = new Node ("Node1");
var col2 = new CollisionObject ();
col2.Shape = new BoxShape (1, 1, 1);
node2.Attach (col2);
var wld = new World ();
wld.AddChild (node1);
wld.AddChild (node2);
node1.Translate (0, 0, 0);
node2.Translate (0, 0, 0);
Assert.AreEqual (true, wld.Overlap (node1, node2));
node1.Translate (0, 0, 0);
node2.Translate (10, 0, 0);
Assert.AreEqual (false, wld.Overlap (node1, node2));
node1.Rotate (0, 0, 0, 0);
node2.Rotate (45, 0, 0, 1);
Assert.AreEqual (false, wld.Overlap (node1, node2));
node1.Detach (col1);
node2.Detach (col2);
Assert.AreEqual (false, wld.Overlap (node1, node2));
}
public static Node Create(Vector3 pos)
{
var cmp = new MySprite ();
var spr = new Sprite (64, 64);
spr.AddTexture (new Texture ("media/Box-64x64.png"));
var col = new CollisionObject ();
col.Shape = new BoxShape (spr.Width / 2, spr.Height / 2, 100);
col.SetOffset (spr.Width / 2, spr.Height / 2, 0);
var mbox1 = new MailBox ("MouseSelect");
var mbxo2 = new MailBox ("MouseDeselect");
var node = new Node ("MySprite");
node.Attach (cmp);
node.Attach (spr);
node.Attach (col);
node.Attach (mbox1);
node.Attach (mbxo2);
node.Translation = pos;
return node;
}
public void Test_Distance_Box_to_Box()
{
var node1 = new Node ("Node1");
var col1 = new CollisionObject ();
col1.Shape = new BoxShape (1, 1, 1);
col1.SetOffset (0, 0, 0);
node1.Attach (col1);
var node2 = new Node ("Node2");
var col2 = new CollisionObject ();
col2.Shape = new BoxShape (1,1,1);
col2.SetOffset (0, 10, 0);
node2.Attach (col2);
node1.Translate (0, 0, 0);
node2.Translate (10, 0, 0);
// 10*√2
var wld = new World ();
wld.AddChild (node1);
wld.AddChild (node2);
wld.CollisionUpdate ();
Assert.AreEqual(10*1.4142f - 2*1.4142f, wld.Distance (node1, node2), 0.05f);
wld.Destroy ();
}
public void Test_Overlaps()
{
var node1 = new Node ("Node1");
var col1 = new CollisionObject ();
col1.Shape = new BoxShape (1, 1, 1);
node1.Attach (col1);
var node2 = new Node ("Node2");
var col2 = new CollisionObject ();
col2.Shape = new BoxShape (1, 1, 1);
node2.Attach (col2);
var wld = new World ();
wld.AddChild (node1);
wld.AddChild (node2);
// コリジョン発生
wld.CollisionUpdate ();
Assert.AreEqual (1, col1.OverlappingObjectCount);
Assert.AreEqual (1, col2.OverlappingObjectCount);
// コリジョン消失
node2.Translate (10, 0, 0);
wld.CollisionUpdate ();
Assert.AreEqual (0, col1.OverlappingObjectCount);
Assert.AreEqual (0, col2.OverlappingObjectCount);
}
public void Test2()
{
// Test following: A ray touches a plane at the ray-end. Then the plane moves so that
// they are separated.
PlaneRayAlgorithm algo = new PlaneRayAlgorithm(new CollisionDetection());
// Plane in xz plane.
CollisionObject plane = new CollisionObject(new GeometricObject
{
Shape = new PlaneShape(Vector3F.UnitY, 1),
Pose = new Pose(new Vector3F(0, -1, 0)),
});
// Ray
CollisionObject ray = new CollisionObject(new GeometricObject
{
Shape = new RayShape(new Vector3F(0, 0, 0), new Vector3F(0, -1, 0), 10),
Pose = new Pose(new Vector3F(0, 10, 0)),
});
ContactSet contacts = algo.GetContacts(plane, ray);
Assert.AreEqual(true, contacts.HaveContact);
Assert.AreEqual(1, contacts.Count);
Assert.AreEqual(10, contacts[0].PenetrationDepth);
// Move plane less than contact position tolerance, but into a separated state.
((GeometricObject)plane.GeometricObject).Pose = new Pose(new Vector3F(0, -1.001f, 0));
algo.UpdateClosestPoints(contacts, 0);
Assert.AreEqual(false, contacts.HaveContact);
Assert.AreEqual(1, contacts.Count);
Assert.IsTrue(Numeric.AreEqual(-0.001f, contacts[0].PenetrationDepth));
}
public void TestMethods()
{
NoCollisionAlgorithm algo = new NoCollisionAlgorithm(new CollisionDetection());
CollisionObject a = new CollisionObject { GeometricObject = new GeometricObject { Shape = new SphereShape(1) } };
CollisionObject b = new CollisionObject { GeometricObject = new GeometricObject { Shape = new SphereShape(2) } };
Assert.AreEqual(a, algo.GetClosestPoints(a, b).ObjectA);
Assert.AreEqual(b, algo.GetClosestPoints(a, b).ObjectB);
Assert.AreEqual(0, algo.GetClosestPoints(a, b).Count);
Assert.AreEqual(a, algo.GetContacts(a, b).ObjectA);
Assert.AreEqual(b, algo.GetContacts(a, b).ObjectB);
Assert.AreEqual(0, algo.GetContacts(a, b).Count);
Assert.AreEqual(false, algo.HaveContact(a, b));
ContactSet cs = ContactSet.Create(a, b);
algo.UpdateClosestPoints(cs, 0);
Assert.AreEqual(a, cs.ObjectA);
Assert.AreEqual(b, cs.ObjectB);
Assert.AreEqual(0, cs.Count);
cs = ContactSet.Create(a, b);
cs.Add(Contact.Create());
algo.UpdateContacts(cs, 0);
Assert.AreEqual(a, cs.ObjectA);
Assert.AreEqual(b, cs.ObjectB);
Assert.AreEqual(0, cs.Count);
}
public static Node Create(Vector3 pos)
{
var cmp = new MyButton ();
var btn = new Button (ButtonType.Push);
btn.Normal = new Texture ("media/image128x128(Red).png");
btn.Pressed = new Texture ("media/image128x128(Green).png");
var label1 = new Label ();
var label2 = new Label ();
label2.SetOffset (0, 20);
var col = new CollisionObject ();
col.Shape = new BoxShape (64, 64, 100);
col.SetOffset (64, 64, 100);
var node = new Node ("Button");
node.Attach (btn);
node.Attach (cmp);
node.Attach (label1);
node.Attach (label2);
node.Attach (col);
node.Translation = pos;
return node;
}
public void TestSeparated()
{
PlaneConvexAlgorithm algo = new PlaneConvexAlgorithm(new CollisionDetection());
CollisionObject a = new CollisionObject(new GeometricObject
{
Shape = new BoxShape(1, 2, 3),
Pose = new Pose(new Vector3F(0, 2, 0)),
});
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new PlaneShape(new Vector3F(0, 1, 0), 0),
});
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(1,algo.GetClosestPoints(a, b).Count);
Assert.AreEqual(new Vector3F(0, -1, 0), algo.GetClosestPoints(a, b)[0].Normal);
Assert.AreEqual(new Vector3F(0.5f, 0.5f, 1.5f), algo.GetClosestPoints(a, b)[0].Position);
Assert.IsTrue(Numeric.AreEqual(-1, algo.GetClosestPoints(a, b)[0].PenetrationDepth));
// Test swapped.
Assert.AreEqual(false, algo.HaveContact(b, a));
Assert.AreEqual(1, algo.GetClosestPoints(b, a).Count);
Assert.AreEqual(new Vector3F(0, 1, 0), algo.GetClosestPoints(b, a)[0].Normal);
Assert.AreEqual(new Vector3F(0.5f, 0.5f, 1.5f), algo.GetClosestPoints(b, a)[0].Position);
Assert.IsTrue(Numeric.AreEqual(-1, algo.GetClosestPoints(b, a)[0].PenetrationDepth));
Assert.AreEqual(0, algo.GetContacts(a, b).Count);
}
public void updateSingleAabb(CollisionObject colObj)
{
btVector3 minAabb, maxAabb;
colObj.CollisionShape.getAabb(colObj.WorldTransform, out minAabb, out maxAabb);
//need to increase the aabb for contact thresholds
btVector3 contactThreshold = new btVector3(PersistentManifold.gContactBreakingThreshold, PersistentManifold.gContactBreakingThreshold, PersistentManifold.gContactBreakingThreshold);
//minAabb -= contactThreshold;
//maxAabb += contactThreshold;
minAabb.Subtract(ref contactThreshold);
maxAabb.Add(ref contactThreshold);
//IBroadphaseInterface bp = m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
if (colObj.isStaticObject || ((maxAabb - minAabb).Length2 < 1e12f))
{
m_broadphasePairCache.setAabb(colObj.BroadphaseHandle,ref minAabb,ref maxAabb, m_dispatcher1);
}
else
{
//something went wrong, investigate
//this assert is unwanted in 3D modelers (danger of loosing work)
colObj.ActivationState = ActivationStateFlags.DISABLE_SIMULATION;
if (reportMe && m_debugDrawer != null)
{
reportMe = false;
m_debugDrawer.reportErrorWarning("Overflow in AABB, object removed from simulation");
m_debugDrawer.reportErrorWarning("If you can reproduce this, please email [email protected]\n");
m_debugDrawer.reportErrorWarning("Please include above information, your Platform, version of OS.\n");
m_debugDrawer.reportErrorWarning("Thanks.\n");
}
}
}
public void Test_Distance()
{
var node1 = new Node ("Node1");
var col1 = new CollisionObject ();
col1.Shape = new BoxShape (1, 1, 1);
node1.Attach (col1);
var node2 = new Node ("Node2");
var col2 = new CollisionObject ();
col2.Shape = new BoxShape (1, 1, 1);
node2.Attach (col2);
var wld = new World ();
wld.AddChild (node1);
wld.AddChild (node2);
node1.Translate (0, 0, 0);
node2.Translate (0, 0, 0);
Assert.AreEqual (0, wld.Distance (node1, node2));
node1.Translate (0, 0, 0);
node2.Translate (10, 0, 0);
Assert.AreEqual (8, wld.Distance (node1, node2), 0.01f);
node1.Rotate (0, 0, 0, 0);
node2.Rotate (45, 0, 0, 1);
Assert.AreEqual (7.6f, wld.Distance (node1, node2), 0.01f);
node1.Detach (col1);
node2.Detach (col2);
Assert.AreEqual (Single.NaN, wld.Distance (node1, node2), 0.01f);
}
public void ComputeCollision()
{
RayConvexAlgorithm algo = new RayConvexAlgorithm(new CollisionDetection());
CollisionObject ray = new CollisionObject(new GeometricObject
{
Shape = new RayShape(new Vector3F(0, 0, 0), new Vector3F(-1, 0, 0), 10),
Pose = new Pose(new Vector3F(11, 0, 0))
});
CollisionObject triangle = new CollisionObject(new GeometricObject
{
Shape = new TriangleShape(new Vector3F(0, 0, 0), new Vector3F(0, 1, 0), new Vector3F(0, 0, 1)),
Pose = Pose.Identity,
});
ContactSet set;
// Separated
set = algo.GetClosestPoints(ray, triangle);
Assert.AreEqual(new Vector3F(1, 0, 0), set[0].PositionAWorld);
Assert.AreEqual(new Vector3F(0, 0, 0), set[0].PositionBWorld);
Assert.AreEqual(-1, set[0].PenetrationDepth);
Assert.AreEqual(false, algo.HaveContact(ray, triangle));
Assert.AreEqual(false, algo.HaveContact(triangle, ray));
Assert.AreEqual(0, algo.GetContacts(ray, triangle).Count);
// Touching
Pose newPose = ray.GeometricObject.Pose;
newPose.Position = new Vector3F(5, 0, 0);
((GeometricObject)ray.GeometricObject).Pose = newPose;
set = algo.GetClosestPoints(triangle, ray);
Assert.AreEqual(new Vector3F(0, 0, 0), set[0].PositionBWorld);
Assert.AreEqual(new Vector3F(0, 0, 0), set[0].PositionAWorld);
Assert.AreEqual(5, set[0].PenetrationDepth);
Assert.AreEqual(true, algo.HaveContact(ray, triangle));
Assert.AreEqual(true, algo.HaveContact(triangle, ray));
newPose = ray.GeometricObject.Pose;
newPose.Position = new Vector3F(4, 0.1f, 0.1f);
((GeometricObject)ray.GeometricObject).Pose = newPose;
algo.UpdateContacts(set, 0);
Assert.AreEqual(new Vector3F(0, 0.1f, 0.1f), set[0].PositionBWorld);
Assert.AreEqual(new Vector3F(0, 0.1f, 0.1f), set[0].PositionAWorld);
Assert.AreEqual(new Vector3F(0, 0.1f, 0.1f), set[0].Position);
Assert.AreEqual(4, set[0].PenetrationDepth);
Assert.AreEqual(true, algo.HaveContact(ray, triangle));
Assert.AreEqual(true, algo.HaveContact(triangle, ray));
// Through triangle plane but separated.
newPose = ray.GeometricObject.Pose;
newPose.Position = new Vector3F(5, 1.1f, 0.1f);
((GeometricObject)ray.GeometricObject).Pose = newPose;
algo.UpdateContacts(set, 0);
Assert.AreEqual(0, set.Count);
algo.UpdateClosestPoints(set, 0);
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 1.1f, 0.1f), set[0].PositionBWorld));
Assert.AreEqual(false, algo.HaveContact(ray, triangle));
Assert.AreEqual(false, algo.HaveContact(triangle, ray));
}
public static Node Create(string name, string target, Vector3 pos)
{
var cmp = new MyButton ();
cmp.target = target;
var spr = new Sprite (64, 64);
spr.AddTexture (new Texture("media/ButtonRed-Active-64x64.png"));
spr.AddTexture (new Texture ("media/ButtonGreen-Active-64x64.png"));
spr.AddTexture (new Texture ("media/ButtonBlue-Active-64x64.png"));
switch (target) {
case "A子": spr.ActiveTexture = 0; break;
case "B子": spr.ActiveTexture = 1; break;
case "C子": spr.ActiveTexture = 2; break;
}
var col = new CollisionObject ();
col.Shape = new BoxShape (40, 25, 1);
col.SetOffset (40, 25, 0);
var node = new Node (name);
node.Attach (cmp);
node.Attach (spr);
node.Attach (col);
node.UserData.Add ("PinPon", new SoundEffectTrack ("media/PinPon.wav"));
node.Translation = pos;
return node;
}
public void TestContainment()
{
PlaneSphereAlgorithm algo = new PlaneSphereAlgorithm(new CollisionDetection());
CollisionObject objectA = new CollisionObject();
((GeometricObject)objectA.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)objectA.GeometricObject).Pose = new Pose(new Vector3F(0, -2, 0));
CollisionObject objectB = new CollisionObject();
((GeometricObject)objectB.GeometricObject).Shape = new PlaneShape(new Vector3F(0, 1, 0).Normalized, 0);
((GeometricObject)objectB.GeometricObject).Pose = new Pose(new Vector3F(0, 0, 0));
ContactSet cs = ContactSet.Create(objectA, objectB);
algo.UpdateContacts(cs, 0);
Assert.AreEqual(objectA, cs.ObjectA);
Assert.AreEqual(objectB, cs.ObjectB);
Assert.AreEqual(1, cs.Count);
Assert.AreEqual(new Vector3F(0, -1.5f, 0), cs[0].Position);
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, -1, 0), cs[0].Normal));
Assert.IsTrue(Numeric.AreEqual(3, cs[0].PenetrationDepth));
// Test swapped case:
cs = ContactSet.Create(objectB, objectA);
algo.UpdateContacts(cs, 0);
Assert.AreEqual(objectB, cs.ObjectA);
Assert.AreEqual(objectA, cs.ObjectB);
Assert.AreEqual(1, cs.Count);
Assert.AreEqual(new Vector3F(0, -1.5f, 0), cs[0].Position);
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 1, 0), cs[0].Normal));
Assert.IsTrue(Numeric.AreEqual(3, cs[0].PenetrationDepth));
}
public void Containment()
{
MinkowskiPortalRefinement algo = new MinkowskiPortalRefinement(new CollisionDetection());
CollisionObject a = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(2),
Pose = new Pose(new Vector3F(1, 2, 3)),
});
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1),
Pose = new Pose(new Vector3F(1, 2, 3)),
});
ContactSet set;
set = algo.GetContacts(a, b);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(3, set[0].PenetrationDepth);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(2, 2, 3));
algo.UpdateContacts(set, 0);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(2, set[0].PenetrationDepth);
}
public void ComputeCollision()
{
MinkowskiPortalRefinement algo = new MinkowskiPortalRefinement(new CollisionDetection());
CollisionObject a = new CollisionObject(new GeometricObject
{
Shape = new TriangleShape(new Vector3F(0, 0, 0), new Vector3F(0, 1, 0), new Vector3F(0, 0, 1))
});
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1)
});
ContactSet set;
set = algo.GetContacts(a, b);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.IsTrue(Numeric.AreEqual(1, set[0].PenetrationDepth));
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(2, 0.1f, 0.2f));
algo.UpdateContacts(set, 0);
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(0, set.Count);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0.9f, 0.1f, 0.2f));
algo.UpdateContacts(set, 0);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(1, set.Count);
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 0.1f, 0.2f), set[0].PositionAWorld, 0.02f));
}
public void DelayedActivationOfLookupTable()
{
IGeometricObject geometricObjectA = new GeometricObject();
IGeometricObject geometricObjectB = new GeometricObject();
IGeometricObject geometricObjectC = new GeometricObject();
CollisionObject collisionObjectA = new CollisionObject(geometricObjectA);
CollisionObject collisionObjectB = new CollisionObject(geometricObjectB);
CollisionObject collisionObjectC = new CollisionObject(geometricObjectC);
var collisionObjectCollection = new CollisionObjectCollection();
Assert.IsFalse(collisionObjectCollection.EnableLookupTable);
collisionObjectCollection.EnableLookupTable = false; // Set to false again, just for code coverage.
collisionObjectCollection.Add(collisionObjectA);
collisionObjectCollection.EnableLookupTable = true;
collisionObjectCollection.Add(collisionObjectB);
collisionObjectCollection.Add(collisionObjectC);
Assert.IsTrue(collisionObjectCollection.EnableLookupTable);
Assert.AreEqual(collisionObjectA, collisionObjectCollection.Get(geometricObjectA));
Assert.AreEqual(collisionObjectB, collisionObjectCollection.Get(geometricObjectB));
Assert.AreEqual(collisionObjectC, collisionObjectCollection.Get(geometricObjectC));
collisionObjectCollection.Remove(collisionObjectB);
Assert.AreEqual(collisionObjectA, collisionObjectCollection.Get(geometricObjectA));
Assert.IsNull(collisionObjectCollection.Get(geometricObjectB));
Assert.AreEqual(collisionObjectC, collisionObjectCollection.Get(geometricObjectC));
collisionObjectCollection.EnableLookupTable = false;
Assert.AreEqual(collisionObjectA, collisionObjectCollection.Get(geometricObjectA));
Assert.IsNull(collisionObjectCollection.Get(geometricObjectB));
Assert.AreEqual(collisionObjectC, collisionObjectCollection.Get(geometricObjectC));
}
public static Node Create(string name, string texture, Vector3 pos)
{
var cmp = new MyTarget ();
var spr = new Sprite (64, 128);
spr.AddTexture (new Texture (texture));
var col = new CollisionObject ();
col.Shape = new BoxShape (spr.Width/2, spr.Height/2, 100);
col.SetOffset (spr.Width/2, spr.Height/2, 0);
var mbox1 = new MailBox ("MouseSelect");
var mbox2 = new MailBox ("MouseDeselect");
var node = new Node (name);
node.Attach (cmp);
node.Attach (col);
node.Attach (spr);
node.Attach (mbox1);
node.Attach (mbox2);
node.Translation = pos;
return node;
}
public void ComputeCollision()
{
Gjk algo = new Gjk(new CollisionDetection());
CollisionObject a = new CollisionObject
{
GeometricObject = new GeometricObject(new TriangleShape(new Vector3F(0, 0, 0), new Vector3F(0, 1, 0), new Vector3F(0, 0, 1)), Pose.Identity),
};
CollisionObject b = new CollisionObject
{
GeometricObject = new GeometricObject(new SphereShape(1), Pose.Identity),
};
ContactSet set;
set = algo.GetClosestPoints(a, b);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(0, set[0].PenetrationDepth);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(2, 0.1f, 0.2f));
algo.UpdateClosestPoints(set, 0);
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.IsTrue(Numeric.AreEqual(-1, set[0].PenetrationDepth, 0.001f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 0.1f, 0.2f), set[0].PositionAWorld, 0.01f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(1, 0.1f, 0.2f), set[0].PositionBWorld, 0.01f));
}
public void ComputeCollisionLineOther()
{
CollisionObject line0 = new CollisionObject();
//line0.Name = "line0";
((GeometricObject)line0.GeometricObject).Shape = new LineShape(new Vector3F(0, 0, 1), new Vector3F(1, 0, 0));
((GeometricObject)line0.GeometricObject).Pose = new Pose(new Vector3F(0, 0, 2));
CollisionObject sphere = new CollisionObject();
//sphere.Name = "sphere";
((GeometricObject)sphere.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)sphere.GeometricObject).Pose = Pose.Identity;
LineAlgorithm algo = new LineAlgorithm(new CollisionDetection());
ContactSet set;
set = algo.GetClosestPoints(line0, sphere);
Assert.IsTrue(Numeric.AreEqual(-2, set[0].PenetrationDepth));
Assert.IsTrue(Vector3F.AreNumericallyEqual(-Vector3F.UnitZ, set[0].Normal));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 0, 2), set[0].Position, 0.001f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 0, 1), set[0].PositionALocal, 0.001f));
Assert.AreEqual(false, algo.HaveContact(line0, sphere));
set = set.Swapped;
((GeometricObject)sphere.GeometricObject).Pose = new Pose(new Vector3F(0, 0, 2.1f));
algo.UpdateContacts(set, 0);
Assert.IsTrue(Numeric.AreEqual(0.1f, set[0].PenetrationDepth, 0.001f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(Vector3F.UnitZ, set[0].Normal, 0.1f)); // Large epsilon because MPR for spheres is not very accurate.
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 0, 3), set[0].Position, 0.1f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 0, 1), set[0].PositionALocal, 0.1f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 0, 1), set[0].PositionBLocal, 0.1f));
Assert.AreEqual(true, algo.HaveContact(line0, sphere));
}
public void ComputeCollision()
{
CollisionDetection cd = new CollisionDetection();
CombinedCollisionAlgorithm cca = new CombinedCollisionAlgorithm(cd, new SphereSphereAlgorithm(cd), new SphereSphereAlgorithm(cd));
CollisionObject a = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1),
});
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1),
Pose = new Pose(new Vector3F(3, 0, 0)),
});
ContactSet set = cca.GetClosestPoints(a, b);
Assert.AreEqual(1, set.Count);
set = cca.GetContacts(a, b);
Assert.IsTrue(set == null || set.Count == 0);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(2, 0, 0));
set = cca.GetClosestPoints(a, b);
Assert.AreEqual(1, set.Count);
set = cca.GetContacts(a, b);
Assert.AreEqual(1, set.Count);
}
public void AxisAlignedBoundingBox()
{
CollisionObject obj = new CollisionObject(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(1, 2, 3))));
Assert.AreEqual(new Aabb(new Vector3F(0.7f, 1.7f, 2.7f), new Vector3F(1.3f, 2.3f, 3.3f)),
obj.GeometricObject.Aabb);
}
public static Node Create(string name, string address, Vector3 pos)
{
var cmp = new MyButton ();
cmp.address = address;
var spr = new Sprite (32, 32);
spr.AddTexture (Resource.GetDefaultTexture ());
var label = new Label ();
label.Text = name;
label.Color = Color.Black;
label.SetOffset (8, 8);
var col = new CollisionObject ();
col.Shape = new BoxShape(16, 16, 16);
col.SetOffset (16, 16, 16);
var node = new Node (name);
node.Attach (cmp);
node.Attach (spr);
node.Attach (label);
node.Attach (col);
node.Translation = pos;
return node;
}
public static Node Create(Vector3 pos)
{
var cmp = new MyComponent ();
var spr = new Sprite (480, 300);
spr.AddTexture (new Texture ("media/Vanity.jpg"));
spr.AddTexture (new Texture ("media/Tanks.png"));
spr.AddTexture (new Texture ("media/TatamiRoom.png"));
spr.AutoScale = true;
Console.WriteLine ("tex = " + spr.GetTexture (0));
Console.WriteLine ("spr = " + spr);
var col = new CollisionObject();
col.Shape = new BoxShape(spr.Width/2, spr.Height/2, 100);
col.SetOffset (spr.Width/2, spr.Height/2, 0);
var ctr = new AnimationController ();
var node = new Node ();
node.Attach (cmp);
node.Attach (spr);
node.Attach (col);
node.Attach (ctr);
node.Translation = pos;
var clip = new SoundClip ("Sound");
clip.AddTrack (new SoundEffectTrack ("media/PinPon.wav"));
node.UserData.Add (clip.Name, clip);
return node;
}
/// <summary>
///
/// </summary>
/// <param name="pos"></param>
/// <param name="groupID"></param>
/// <returns></returns>
public static Node Create(Vector3 pos, int groupID)
{
var cmp = new MyCharacter ();
var spr = new Sprite (64, 64);
spr.AddTexture (Resource.GetDefaultTexture ());
spr.Color = Color.Red;
spr.SetOffset (-32, -32);
var col = new CollisionObject ();
col.Shape = new BoxShape (spr.Width / 2, spr.Height / 2, 1);
//col.SetOffset (spr.Width / 2, spr.Height / 2, 1);
var label = new Label ();
label.Text = "ID = 0x" + groupID.ToString ("x");
label.SetOffset (-spr.Width / 2, -spr.Height / 2);
var node = new Node ("MyCharacter");
node.Attach (cmp);
node.Attach (spr);
node.Attach (col);
node.Attach (label);
node.Translation = pos;
node.GroupID = groupID;
return node;
}
public static Node Create(string fileName)
{
var cmp = new MyTiledMap ();
var tiledMap = new TiledMapComposer ();
var node = new Node ("TiledMap");
node.Attach (tiledMap);
node.Attach (cmp);
tiledMap.LoadFromFile (fileName);
var halfWidth = tiledMap.TileWidth / 2;
var halfHeight = tiledMap.TileHeight / 2;
// コリジョンなどのゲームロジックはすべて
// 仮想の2D直交座標系で作成する
// 表示だけアイソメトリック
var colMap = node.Find("CollisionMap");
foreach (var tile in colMap.Downwards.Skip(1)) {
var col = new CollisionObject();
col.Shape = new BoxShape (halfWidth, halfHeight, 1);
col.SetOffset (halfWidth, halfHeight, 1);
tile.Attach (col);
}
return node;
}
public void Test_BoxShape()
{
var node = new Node ();
var col = new CollisionObject ();
col.Shape = new BoxShape (1, 1, 1);
col.SetOffset (1, 0, 0);
node.Attach (col);
node.Translate (1, 0, 0);
node.Rotate (45, 0, 0, 1);
var wld = new World ();
wld.AddChild (node);
wld.CollisionUpdate ();
// (1+1) - 1*√2
var result = wld.RayCast (new Vector3 (-10, 0, 0), new Vector3 (10, 0, 0)).First ();
Assert.AreEqual (true, result.Hit);
Assert.AreEqual (new Vector3 (0.5858f, 0, 0), result.Point);
Assert.AreEqual (new Vector3 (-1, 0, 0), result.Normal);
Assert.AreEqual (10.58579f, result.Distance, 0.01f);
Assert.AreEqual (0.5245f, result.Fraction, 0.01f);
// (1+1) + 1*√2
result = wld.RayCast (new Vector3 (10, 0, 0), new Vector3 (-10, 0, 0)).First ();
Assert.AreEqual (true, result.Hit);
Assert.AreEqual (new Vector3 (3.4142f, 0, 0), result.Point);
Assert.AreEqual (new Vector3 (1, 0, 0), result.Normal);
Assert.AreEqual (6.585786f, result.Distance, 0.01f);
Assert.AreEqual (0.3225f, result.Fraction, 0.01f);
wld.Destroy ();
}
public void TestException()
{
var sphere0 = new SphereShape(1);
var geo0 = new GeometricObject(sphere0);
var geo1 = new GeometricObject(sphere0);
var co0 = new CollisionObject(geo0);
var co1 = new CollisionObject(geo1);
geo0.Pose = Pose.Identity;
geo1.Pose = new Pose(new Vector3F(10, 0, 0));
float toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(4, 0, 0)), co1, new Pose(new Vector3F(6, 0, 0)), 0.01f);
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(4, 0, 0)), co1, new Pose(new Vector3F(6, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(4, 0, 0)), co1, new Pose(new Vector3F(6, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(4f, 0, 0)), co1, new Pose(new Vector3F(6f, 0, 0)), 0.01f);
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(4f, 0, 0)), co1, new Pose(new Vector3F(6f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(4f, 0, 0)), co1, new Pose(new Vector3F(6f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(7f, 0, 0)), co1, new Pose(new Vector3F(4f, 0, 0)), 0.01f);
Assert.IsTrue(toi > 0 && toi < 1);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(7f, 0, 0)), co1, new Pose(new Vector3F(6f, 0, 0)), 0.01f, new CollisionDetection());
Assert.IsTrue(toi > 0 && toi < 1);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(7f, 0, 0)), co1, new Pose(new Vector3F(4f, 0, 0)), 0.01f, new CollisionDetection());
Assert.IsTrue(toi > 0 && toi < 1);
// Moving away
toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(-1f, 0, 0)), co1, new Pose(new Vector3F(11f, 0, 0)), 0.01f);
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(-1f, 0, 0)), co1, new Pose(new Vector3F(11f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(-1f, 0, 0)), co1, new Pose(new Vector3F(11f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
// Touching at start. => GetTimeOfImpact result is invalid when objects touch at the start.
//geo0.Pose = new Pose(new Vector3F(9, 0, 0));
//toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(10f, 0, 0)), co1, new Pose(new Vector3F(5f, 0, 0)), 0.01f);
//Assert.AreEqual(0, toi);
//toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(10f, 0, 0)), co1, new Pose(new Vector3F(5f, 0, 0)), 0.01f, new CollisionDetection());
//Assert.AreEqual(0, toi);
//toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(10f, 0, 0)), co1, new Pose(new Vector3F(5f, 0, 0)), 0.01f, new CollisionDetection());
//Assert.AreEqual(0, toi);
}
public void Test_SetIgnoreWith()
{
var col = new CollisionObject ();
col.IgnoreWith = 255;
Assert.AreEqual (255, col.IgnoreWith);
}
public void Test_SetCollideWith()
{
var col = new CollisionObject ();
col.CollideWith = 15;
Assert.AreEqual (15, col.CollideWith);
}
public byte DefaultCollisionValue(int x, int y, float BumpConstraint, float[,] GroundPlane, byte b, float[,] Heights, CollisionIndex[,] cI)
{
if (x < 1 || y < 1 || x >= MaxXPt || y >= MaxYPt)
{
return(SimPathStore.BLOCKED);
}
if (b == SimPathStore.STICKY_PASSABLE)
{
return(b);
}
float ZLevel = Heights[x, y];
float GLevel = GroundPlane[x, y];
if (ZLevel < GLevel)
{
ZLevel = GLevel;
}
var cci = cI[x, y];
CollisionObject collisionObject = null;
if (cci != null)
{
collisionObject = cci.GetObjectAt(ZLevel);
}
int bumps;
if (x == 270 && y == 1275)
{
collisionObject = collisionObject;
}
// fixed "contiguous objects need to be passable"
if (collisionObject != null)
{
bumps = NeighborBump(x, y, ZLevel, MaxZ, ZLevel, 0.1f, Heights, cI, collisionObject, false, true);
if (bumps >= 4)
{
return(SimPathStore.BRIDGY);
}
}
// this tests for hieght differnces
bumps = NeighborBump(x, y, ZLevel, MaxZ, ZLevel, BumpConstraint, Heights, cI,
collisionObject, false, false);
if (bumps > 0)
{
return(SimPathStore.BLOCKED);
}
if (bumps > 0)
{
// return SimPathStore.BLOCKED;
}
if (BumpConstraintPurple > CollisionIndex.MaxBumpInOpenPath)
{
// this looks for transitions between objects
bumps = NeighborBump(x, y, ZLevel, MaxZ, ZLevel, BumpConstraintPurple, Heights, cI,
collisionObject, true, false);
if (bumps > 0)
{
return(SimPathStore.BLOCK_PURPLE);
}
}
if (collisionObject == null)
{
float Water = PathStore.WaterHeight;
if (DiffLessThan(Water, ZLevel, 0.1f))
{
return(SimPathStore.WATER_Z);
}
if (DiffLessThan(Water, PathStore.GroundPlane[x, y], 0.1f))
{
return(SimPathStore.WATER_G);
}
float MaxZLevel = MaxZ;
if (MaxZLevel <= ZLevel - 2)
{
return(SimPathStore.TOO_HIGH);
}
if (ZLevel + 20 < MaxZLevel) // needs passable
{
return(SimPathStore.TOO_LOW);
}
}
// this looks for transitions between objects
bumps = NeighborBump(x, y, ZLevel, MaxZ, ZLevel, 0.1f, Heights, cI, collisionObject, true, false);
if (bumps > 0)
{
if (collisionObject != null)
{
return(SimPathStore.MAYBE_BLOCKED);
}
return(SimPathStore.MAYBE_BLOCKED);
}
// this looks for little bumps
bumps = NeighborBump(x, y, ZLevel, MaxZ, ZLevel, 0.1f, Heights, cI, null, false, false);
if (bumps > 0)
{
return(SimPathStore.BLOCK_PURPLE);
}
if (b > 200)
{
return(--b);
}
CollisionIndex c = cI[x, y];
if (c != null)
{
return(c.GetOccupiedValue(GLevel, ZLevel));
}
if (b > 10)
{
return(--b);
}
return(SimPathStore.INITIALLY);
}
public Physics()
{
// collision configuration contains default setup for memory, collision setup
collisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(collisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, collisionConf);
World.Gravity = new Vector3(0, -10, 0);
CollisionShapes = new List <CollisionShape>();
// create the ground
CollisionShape groundShape = new BoxShape(50, 1, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
float start_x = StartPosX - ArraySizeX / 2;
float start_y = StartPosY;
float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.CreateTranslation(
new Vector3(
2 * i + start_x,
2 * k + start_y,
2 * j + start_z
)
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
}
internal int NeighborLevelDifLessThan(float low, float high, float originZ, int PX, int PY,
float[,] heights, CollisionIndex[,] cI, CollisionObject collisionObject, float mostDiff,
bool objToNothingBump, bool objToSelfBump)
{
float O = NeighborLevel(low, high, originZ, PX, PY, heights);
if (objToSelfBump)
{
if (collisionObject != null)
{
var FO = cI[PX, PY];
if (FO != null)
{
var fO = FO.GetObjectAt(O);
if (fO == collisionObject)
{
return(1);
}
if (FO.Contains(collisionObject))
{
return(1);
}
}
}
return(0);
}
if (objToNothingBump)
{
var FO = cI[PX, PY];
if (collisionObject != null)
{
if (FO == null)
{
return(1);
}
var fO = FO.GetObjectAt(O);
if (fO != collisionObject)
{
return(1);
}
return(0);
}
else
{
if (FO == null)
{
return(0);
}
var fO = FO.GetObjectAt(O);
if (fO != null)
{
return(1);
}
return(0);
}
return(0);
}
if (!DiffLessThan(O, originZ, mostDiff))
{
if (collisionObject != null)
{
var FO = cI[PX, PY];
if (FO != null)
{
var fO = FO.GetObjectAt(O);
if (fO == collisionObject)
{
return(0);
}
// experimental
//if (FO.Contains(collisionObject)) return 0;
}
}
return(1);
}
return(0);
}
