private void HandleDynamicVsHeightMapCollision(
DynamicCollider dynCollider,
HeightMapCollider hMapCollider,
List <Contact> contacts,
List <Segment> coarseContacts)
{
// position of bounding sphere in world coordinates
Vector3 spherePos = dynCollider.BoundingSphere.CenterW;
float radius = dynCollider.BoundingSphere.Radius;
// filtering the triangle grid with the sphere projection
hMapCollider.TriGrid.FilterBySphereProjection(spherePos, radius);
foreach (Triangle tri in hMapCollider.TriGrid)
{
Vector3Int ind = hMapCollider.TriGrid.CurrentIndices;
colors[ind.x] = colors[ind.y] = colors[ind.z] = Color.blue;
if (IntersectionTest.SphereVsTriangle(spherePos, radius, tri))
{
if (dynCollider is CSACollider)
{
// curves vs triangle
}
else if (dynCollider is BruteForceCollider)
{
// triangles vs triangle
}
else if (dynCollider is VertexCollider)
{
// vertices vs triangle
}
}
}
}
private void HandleCSAVsHeightMapCollision(
CSACollider csaCollider,
HeightMapCollider hMapCollider,
List <Contact> contacts,
List <Segment> coarseContacts
)
{
foreach (Triangle tri in hMapCollider.TriGrid)
{
Vector3Int ind = hMapCollider.TriGrid.CurrentIndices;
// position of bounding sphere in world coordinates
Vector3 spherePos = csaCollider.BoundingSphere.CenterW;
float radius = csaCollider.BoundingSphere.Radius;
colors[ind.x] = colors[ind.y] = colors[ind.z] = Color.blue;
if (IntersectionTest.SphereVsTriangle(spherePos, radius, tri))
{
colors[ind.x] = colors[ind.y] = colors[ind.z] = Color.red;
Diagnostics.Tic();
foreach (Slice slice in csaCollider.Slices)
{
if (IntersectionTest.PlaneVsTriangle(slice, tri, out Vector3 vec1, out Vector3 vec2))
{
// endpoints of the plane-triangle intersection in plane local coordinates
Vector2 vecA = slice.TransformToLocalBase(vec1);
Vector2 vecB = slice.TransformToLocalBase(vec2);
// calculating the data for transforming the curve
float theta = Mathf.Atan2(vecB.y - vecA.y, vecB.x - vecA.x);
Complex segRotation = new Complex(theta);
Transform2D segTrf = new Transform2D(-vecA, segRotation);
float segLength = Vector2.Distance(vecA, vecB);
Vector2 upInLocal = slice.TransformToLocalBase(vec1 + tri.Normal);
foreach (FourierCurve curve in slice.curves)
{
if (IntersectionTest.SegmentVsRectangle(curve.AABB, segTrf, segLength))
{
// add the segments to render on the scene
debugSegments.Add(new Segment(vec1, vec2));
coarseContacts.Add(new Segment(vec1, vec2));
if (csaCollider.rootFinder == CSACollider.RootFinder.SimulatedAnnealing)
{
if (IntersectionTest.SegmentVsCurveSA(
curve,
vecA,
vecB,
segLength,
segRotation,
upInLocal,
out Vector2 contactInPlaneLocal,
out float penetration,
annealingTemperature,
penetrationLimit))
{
// rotate back the contact point into world coordinates
Vector3 contactInWorld = contactInPlaneLocal.x * slice.LocalX + contactInPlaneLocal.y * slice.LocalY + slice.RefPoint;
debugPoints.Add(contactInWorld);
segmentColor.Add(Color.green);
// the contact point relative to the object's transform
Vector3 contactInLocal = contactInPlaneLocal.x * slice.LocalXL + contactInPlaneLocal.y * slice.LocalYL;
RigidBody body = csaCollider.GetComponent <RigidBody>();
if (!csaCollider.isTrigger && body != null && body.enabled)
{
contacts.Add(new Contact(tri, contactInWorld, body));
}
}
else
{
segmentColor.Add(Color.magenta);
}
}
else if (csaCollider.rootFinder == CSACollider.RootFinder.AberthEhrlich)
{
List <Vector2> intersections = new List <Vector2>();
if (IntersectionTest.SegmentVsCurveAE(
curve,
vecA,
vecB,
segLength,
segRotation,
upInLocal,
intersections))
{
foreach (Vector2 intPlane in intersections)
{
Vector3 intInWorld = intPlane.x * slice.LocalX + intPlane.y * slice.LocalY + slice.RefPoint;
debugPoints.Add(intInWorld);
segmentColor.Add(Color.green);
RigidBody body = csaCollider.GetComponent <RigidBody>();
if (!csaCollider.isTrigger && body != null && body.enabled)
{
contacts.Add(new Contact(tri, intInWorld, body));
}
}
}
else
{
segmentColor.Add(Color.magenta);
}
}
}
}
}
}
Diagnostics.Toc2Log("slice time");
}
}
public HeightMapColliderCreationEventArgs(HeightMapCollider collider)
{
Collider = collider;
}
