public void Cast(CollisionWorld cw)
{
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
using (var cb = new CollisionWorld.ClosestConvexResultCallback(ref source[i], ref dest[i]))
{
Quaternion qFrom = Quaternion.RotationAxis(new Vector3(1.0f, 0.0f, 0.0f), 0.0f);
Quaternion qTo = Quaternion.RotationAxis(new Vector3(1.0f, 0.0f, 0.0f), 0.7f);
Matrix from = Matrix.RotationQuaternion(qFrom) * Matrix.Translation(source[i]);
Matrix to = Matrix.RotationQuaternion(qTo) * Matrix.Translation(dest[i]);
cw.ConvexSweepTest(boxShape, from, to, cb);
if (cb.HasHit)
{
hit_surface[i] = cb.HitPointWorld;
hit_com[i] = Vector3.Lerp(source[i], dest[i], cb.ClosestHitFraction);
hit_fraction[i] = cb.ClosestHitFraction;
normal[i] = cb.HitNormalWorld;
normal[i].Normalize();
}
else
{
hit_com[i] = dest[i];
hit_surface[i] = dest[i];
hit_fraction[i] = 1.0f;
normal[i] = new Vector3(1.0f, 0.0f, 0.0f);
}
}
}
frame_counter++;
if (frame_counter > 50)
{
min_ms = ms < min_ms ? ms : min_ms;
max_ms = ms > max_ms ? ms : max_ms;
sum_ms += ms;
sum_ms_samples++;
float mean_ms = (float)sum_ms / (float)sum_ms_samples;
Console.WriteLine("{0} rays in {1} ms {2} {3} {4}", NUMRAYS_IN_BAR * frame_counter, ms, min_ms, max_ms, mean_ms);
ms = 0;
frame_counter = 0;
}
}
public void OnMouseMove(CollisionManager CollisionManager, Camera ActiveCamera, System.Windows.Forms.MouseEventArgs e)
{
var mouse = new
{
Near = ActiveCamera.Project(new Vector2(e.X, e.Y), depth: -0.90f),
Far = ActiveCamera.Project(new Vector2(e.X, e.Y), depth: 1)
};
Matrix4 from = Matrix4.Translation(mouse.Near);
Matrix4 to = Matrix4.Translation(mouse.Far);
var d = (mouse.Far - mouse.Near).Normalized();
using (var callback = new CollisionWorld.ClosestConvexResultCallback(mouse.Near, mouse.Far))
{
callback.CollisionFilterGroup = CollisionFilterGroups.StaticFilter;
callback.CollisionFilterMask = CollisionFilterGroups.StaticFilter;
CollisionManager.World.ConvexSweepTest((ConvexShape)CollisionObject.CollisionShape, from, to, callback);
var lookingNormal = (callback.ConvexToWorld - callback.ConvexFromWorld).Normalized();
var dot = Vector3.Dot(callback.HitNormalWorld, lookingNormal);
Console.WriteLine(callback.HitNormalWorld);
if (callback.HasHit)
{
if (!this.Selected)
{
return;
}
var matrix = this.WorldMatrix.ClearTranslation();
var collMtrix = this.Model.RenderModel.compressionInfo[0].ToExtentsMatrix();
Vector3 linVel, angVel;
TransformUtil.CalculateVelocity(from, to, 1.0f, out linVel, out angVel);
Matrix4 T;
TransformUtil.IntegrateTransform(from, linVel, angVel, callback.ClosestHitFraction, out T);
this.WorldMatrix = T;
}
}
}
/// <summary>
/// スィープ判定
/// </summary>
/// <remarks>
/// 指定のコリジョン形状を移動ベクトルだけ移動し、他のコリジョン物体と衝突するかどうかを検査します。
/// </remarks>
/// <param name="obj">コリジョン オブジェクト</param>
/// <param name="move">移動ベクトル</param>
/// <returns></returns>
public RaycastResult Sweep(CollisionObject obj, Vector3 move)
{
if (obj == null) {
return new RaycastResult ();
}
var start = (obj.Node.Position + obj.Offset).ToBullet();
var end = start + move.ToBullet ();
var proxy = obj.Data.BroadphaseHandle;
var shape = obj.Data.CollisionShape;
var rot = obj.Node.Orientation.ToBullet();
using (var result = new CollisionWorld.ClosestConvexResultCallback (start, end)) {
result.CollisionFilterGroup = (CollisionFilterGroups)obj.Node.GroupID;
result.CollisionFilterMask = (CollisionFilterGroups)obj.CollisionMask;
var from = Matrix.RotationQuaternion(rot) * Matrix.Translation (start);
var to = Matrix.RotationQuaternion(rot) * Matrix.Translation (end);
// メモ：
// ConvexSweepTest() は自分自身にもヒットする実装としない実装があるので、
// ここで一時的に自分のコリジョンを無効化する必要がある。
var tmp = proxy.CollisionFilterGroup;
proxy.CollisionFilterGroup = CollisionFilterGroups.None;
wld.ConvexSweepTest (shape as ConvexShape,
from,
to,
result);
proxy.CollisionFilterGroup = tmp;
if (!result.HasHit) {
return new RaycastResult ();
}
var frac = result.ClosestHitFraction;
var dist = frac * move.Length;
var hitNode = (result.CollisionObject.UserObject as CollisionObject).Node;
var point = result.HitPointWorld.ToDD ();
var normal = result.HitNormalWorld.ToDD ();
return new RaycastResult (frac, dist, hitNode, point, normal);
}
}
public override void OnHandleInput()
{
Matrix xform = ghostObject.WorldTransform;
Vector3 forwardDir = new Vector3(xform.M31, xform.M32, xform.M33);
//Console.Write("forwardDir={0},{1},{2}\n", forwardDir[0], forwardDir[1], forwardDir[2]);
Vector3 upDir = new Vector3(xform.M21, xform.M22, xform.M23);
forwardDir.Normalize();
upDir.Normalize();
Vector3 pos = xform.Origin;
Vector3 walkDirection = Vector3.Zero;
const float walkVelocity = 1.1f * 4.0f;
float walkSpeed = walkVelocity * FrameDelta * 10;// * 0.0001f;
float turnSpeed = FrameDelta * 3;
if (Input.KeysDown.Contains(Keys.Left))
{
Matrix orn = xform;
orn.set_Rows(3, new Vector4(0, 0, 0, 1));
orn *= Matrix.RotationAxis(upDir, -turnSpeed);
orn.set_Rows(3, new Vector4(pos.X, pos.Y, pos.Z, 1));
ghostObject.WorldTransform = orn;
}
if (Input.KeysDown.Contains(Keys.Right))
{
Matrix orn = xform;
orn.set_Rows(3, new Vector4(0, 0, 0, 1));
orn *= Matrix.RotationAxis(upDir, turnSpeed);
orn.set_Rows(3, new Vector4(pos.X, pos.Y, pos.Z, 1));
ghostObject.WorldTransform = orn;
}
if (Input.KeysDown.Contains(Keys.Up))
{
walkDirection += forwardDir;
}
if (Input.KeysDown.Contains(Keys.Down))
{
walkDirection -= forwardDir;
}
Vector3 cameraPos = pos - forwardDir * 12 + upDir * 5;
//use the convex sweep test to find a safe position for the camera (not blocked by static geometry)
SphereShape cameraSphere = new SphereShape(0.2f);
CollisionWorld.ClosestConvexResultCallback cb = new CollisionWorld.ClosestConvexResultCallback(pos, cameraPos);
cb.CollisionFilterMask = CollisionFilterGroups.StaticFilter;
World.ConvexSweepTest(cameraSphere, Matrix.Translation(pos), Matrix.Translation(cameraPos), cb);
cameraSphere.Dispose();
if (cb.HasHit)
{
cameraPos = Vector3.Lerp(pos, cameraPos, cb.ClosestHitFraction);
}
cb.Dispose();
Freelook.SetEyeTarget(cameraPos, pos);
character.SetWalkDirection(walkDirection * walkSpeed);
base.OnHandleInput();
}
public override void OnHandleInput()
{
Matrix xform = ghostObject.WorldTransform;
Vector3 forwardDir = new Vector3(xform.M31, xform.M32, xform.M33);
//Console.Write("forwardDir={0},{1},{2}\n", forwardDir[0], forwardDir[1], forwardDir[2]);
Vector3 upDir = new Vector3(xform.M21, xform.M22, xform.M23);
forwardDir.Normalize();
upDir.Normalize();
Vector3 pos = xform.Origin;
Vector3 walkDirection = Vector3.Zero;
const float walkVelocity = 1.1f * 4.0f;
float walkSpeed = walkVelocity * FrameDelta * 10;// * 0.0001f;
float turnSpeed = FrameDelta * 3;
if (Input.KeysDown.Contains(Keys.Left))
{
Matrix orn = xform;
orn.set_Rows(3, new Vector4(0, 0, 0, 1));
orn *= Matrix.RotationAxis(upDir, -turnSpeed);
orn.set_Rows(3, new Vector4(pos.X, pos.Y, pos.Z, 1));
ghostObject.WorldTransform = orn;
}
if (Input.KeysDown.Contains(Keys.Right))
{
Matrix orn = xform;
orn.set_Rows(3, new Vector4(0, 0, 0, 1));
orn *= Matrix.RotationAxis(upDir, turnSpeed);
orn.set_Rows(3, new Vector4(pos.X, pos.Y, pos.Z, 1));
ghostObject.WorldTransform = orn;
}
if (Input.KeysDown.Contains(Keys.Up))
{
walkDirection += forwardDir;
}
if (Input.KeysDown.Contains(Keys.Down))
{
walkDirection -= forwardDir;
}
Vector3 cameraPos = pos - forwardDir * 12 + upDir * 5;
//use the convex sweep test to find a safe position for the camera (not blocked by static geometry)
SphereShape cameraSphere = new SphereShape(0.2f);
CollisionWorld.ClosestConvexResultCallback cb = new CollisionWorld.ClosestConvexResultCallback(pos, cameraPos);
cb.CollisionFilterMask = CollisionFilterGroups.StaticFilter;
World.ConvexSweepTest(cameraSphere, Matrix.Translation(pos), Matrix.Translation(cameraPos), cb);
cameraSphere.Dispose();
if (cb.HasHit)
{
cameraPos = Vector3.Lerp(pos, cameraPos, cb.ClosestHitFraction);
}
cb.Dispose();
Freelook.SetEyeTarget(cameraPos, pos);
character.SetWalkDirection(walkDirection * walkSpeed);
base.OnHandleInput();
}
public void Cast(CollisionWorld cw)
{
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
using (var cb = new CollisionWorld.ClosestConvexResultCallback(ref source[i], ref dest[i]))
{
Quaternion qFrom = Quaternion.RotationAxis(new Vector3(1.0f, 0.0f, 0.0f), 0.0f);
Quaternion qTo = Quaternion.RotationAxis(new Vector3(1.0f, 0.0f, 0.0f), 0.7f);
Matrix from = Matrix.RotationQuaternion(qFrom) * Matrix.Translation(source[i]);
Matrix to = Matrix.RotationQuaternion(qTo) * Matrix.Translation(dest[i]);
cw.ConvexSweepTest(boxShape, from, to, cb);
if (cb.HasHit)
{
hit_surface[i] = cb.HitPointWorld;
hit_com[i] = Vector3.Lerp(source[i], dest[i], cb.ClosestHitFraction);
hit_fraction[i] = cb.ClosestHitFraction;
normal[i] = cb.HitNormalWorld;
normal[i].Normalize();
}
else
{
hit_com[i] = dest[i];
hit_surface[i] = dest[i];
hit_fraction[i] = 1.0f;
normal[i] = new Vector3(1.0f, 0.0f, 0.0f);
}
}
}
frame_counter++;
if (frame_counter > 50)
{
min_ms = ms < min_ms ? ms : min_ms;
max_ms = ms > max_ms ? ms : max_ms;
sum_ms += ms;
sum_ms_samples++;
float mean_ms = (float)sum_ms / (float)sum_ms_samples;
Console.WriteLine("{0} rays in {1} ms {2} {3} {4}", NUMRAYS_IN_BAR * frame_counter, ms, min_ms, max_ms, mean_ms);
ms = 0;
frame_counter = 0;
}
}
