public BasicBody(IDynamicBody dynamics, IElectroMag eMProps, BasicMaterial material, IEdgeIntersector collisionShape, IVolume shape, IOverlapable boundVolume) { Dynamics = dynamics; EMProps = eMProps; Material = material; CollisionShape = collisionShape; Shape = shape; BoundVolume = boundVolume; Dynamics.FrameFinished += (sender, e) => FrameFinished?.Invoke(sender, e); }
public BasicBody(IDynamicBody dynamics, IElectroMag eMProps, BasicMaterial material, IEdgeIntersector collisionShape, IVolume shape, IOverlapable boundVolume) { Dynamics = dynamics; EMProps = eMProps; Material = material; CollisionShape = collisionShape; Shape = shape; BoundVolume = boundVolume; Dynamics.FrameFinished += (sender, e) => FrameFinished?.Invoke(sender, e); }
protected override IEnumerable <Intersection> EnactStrategyInternal(IEdgeIntersector firstShape, IEdgeIntersector secondShape, Transformation firstToSecond) { var sphere = firstShape as SphereIntersectorVolume ?? secondShape as SphereIntersectorVolume; var triangles = firstShape as CompositeIntersector ?? secondShape as CompositeIntersector; if (sphere == null || triangles == null) { throw new ArgumentException("Invalid shape types for this strategy"); } Vector3 spherePos = sphere == firstShape ? firstToSecond.TransformA.Pos : firstToSecond.TransformB.Pos; Vector3 trianglesPos = triangles == firstShape ? firstToSecond.TransformA.Pos : firstToSecond.TransformB.Pos; foreach (TriangleIntersector tri in triangles.Primitives) { Vector3 trianglePos = trianglesPos + (1.0 / 3.0) * (tri.A + tri.B + tri.C); Vector3 sphereToTriangle = trianglePos - spherePos; if (sphereToTriangle * tri.N > 0) { continue; // triangle is facing away from sphere -> no contact } // find d in the plane equation (http://mathworld.wolfram.com/Plane.html) double d = -trianglePos * tri.N; // http://mathworld.wolfram.com/Point-PlaneDistance.html double dist = spherePos * tri.N + d; if (dist > sphere.Radius) { continue; } Vector3 intersectionPt = spherePos + dist * -tri.N; // check if itnersectionPt is b/w the 3 vertices bool b1 = Sign(intersectionPt, spherePos, trianglesPos + tri.A, trianglesPos + tri.B) < 0.0; bool b2 = Sign(intersectionPt, spherePos, trianglesPos + tri.B, trianglesPos + tri.C) < 0.0; bool b3 = Sign(intersectionPt, spherePos, trianglesPos + tri.C, trianglesPos + tri.A) < 0.0; if (b1 != b2) { continue; } if (b2 != b3) { continue; } yield return(new Intersection(intersectionPt, triangles == firstShape ? tri.N : -tri.N)); } }
protected override IEnumerable <Intersection> EnactStrategyInternal(IEdgeIntersector firstShape, IEdgeIntersector secondShape, Transformation firstToSecond) { var sphereOne = (SphereIntersectorVolume)firstShape; var sphereTwo = (SphereIntersectorVolume)secondShape; var firstPos = firstToSecond.TransformA.Pos; var secondPos = firstToSecond.TransformB.Pos; Vector3 firstPosToSecond = secondPos - firstPos; double totalRadius = sphereOne.Radius + sphereTwo.Radius; if (firstPosToSecond.Magnitude > totalRadius) { yield break; } yield return(new Intersection(firstPos + firstPosToSecond * (sphereOne.Radius / totalRadius), firstPosToSecond.UnitDirection)); }
// all of the contacts where second's edges intersect first's body // handles all cordinate transformation from each body to the world private IEnumerable <Contact> ContactsOnFirst(IBody first, IBody second) { IEdgeIntersector firstShape = first.CollisionShape; IEdgeIntersector secondShape = second.CollisionShape; Transform firstTransform = first.Dynamics.Transform; Transform secondTransform = second.Dynamics.Transform; var secondToFirst = new Transformation(secondTransform, firstTransform); if (IntersectStrats.HasStrategy(firstShape, secondShape)) { return(IntersectStrats.EnactStrategy(firstShape, secondShape, secondToFirst.Reverse()).Select(i => new Contact(i, first, second))); } // general case return // everything is converted to the firsts local transform coords (secondShape.Edges.SelectMany(secondEdge => firstShape.FindIntersections(secondToFirst.TransformEdge(secondEdge)) .Select(i => new Contact(firstTransform.ToWorldSpace(i), first, second)))); // then to world coords }
public BasicBody WithCollisionShape(IEdgeIntersector newCollisionShape) => new BasicBody(Dynamics, EMProps, Material, newCollisionShape, Shape, BoundVolume);
public BasicBody WithCollisionShape(IEdgeIntersector newCollisionShape) => new BasicBody(Dynamics, EMProps, Material, newCollisionShape, Shape, BoundVolume);