public Vector3 AdjustOffset(Vector3 offset)
{
var collisionAngle = Vector3.Dot(offset, CollisionInfo.SlidingNormal);
if (CollisionInfo.SlidingNormalValid && collisionAngle >= 0.0f)
{
CollisionInfo.SlidingNormalValid = false;
}
if (!CollisionInfo.ContactPlaneValid)
{
return(offset - CollisionInfo.SlidingNormal * collisionAngle);
}
var slideAngle = Vector3.Dot(CollisionInfo.ContactPlane.Normal, CollisionInfo.SlidingNormal);
if (CollisionInfo.SlidingNormalValid)
{
var contactSlide = Vector3.Cross(CollisionInfo.ContactPlane.Normal, CollisionInfo.SlidingNormal);
if (!CollisionInfo.NormalizeCheckSmall(ref contactSlide))
{
offset = Vector3.Dot(contactSlide, offset) * contactSlide;
}
else
{
offset = Vector3.Zero;
}
}
else if (slideAngle <= 0.0f)
{
offset -= CollisionInfo.ContactPlane.Normal * slideAngle;
}
else
{
CollisionInfo.ContactPlane.SnapToPlane(offset);
}
if (CollisionInfo.ContactPlaneCellID == 0 || CollisionInfo.ContactPlaneIsWater)
{
return(offset);
}
var globSphere = SpherePath.GlobalSphere[0];
var blockOffset = LandDefs.GetBlockOffset(SpherePath.CheckPos.ObjCellID, CollisionInfo.ContactPlaneCellID);
var dist = Vector3.Dot(globSphere.Center - blockOffset, CollisionInfo.ContactPlane.Normal);
if (dist >= globSphere.Radius - PhysicsGlobals.EPSILON)
{
return(offset);
}
var zDist = (globSphere.Radius - dist) / CollisionInfo.ContactPlane.Normal.Z;
if (globSphere.Radius > Math.Abs(zDist))
{
offset = new Vector3(0.0f, 0.0f, zDist);
SpherePath.AddOffsetToCheckPos(offset);
}
return(offset);
}
public TransitionState CliffSlide(Plane contactPlane)
{
var contactNormal = Vector3.Cross(contactPlane.Normal, CollisionInfo.LastKnownContactPlane.Normal);
contactNormal.Z = 0.0f;
var collideNormal = new Vector3(contactNormal.Z - contactNormal.Y, contactNormal.X - contactNormal.Z, 0);
if (Vec.NormalizeCheckSmall(ref collideNormal))
{
return(TransitionState.OK);
}
var blockOffset = LandDefs.GetBlockOffset(SpherePath.CurPos.ObjCellID, SpherePath.CheckPos.ObjCellID);
var offset = SpherePath.GlobalSphere[0].Center - SpherePath.GlobalCurrCenter[0].Center;
var angle = Vector3.Dot(collideNormal, offset + blockOffset);
if (angle <= 0.0f)
{
SpherePath.AddOffsetToCheckPos(collideNormal * angle);
CollisionInfo.SetCollisionNormal(collideNormal);
}
else
{
SpherePath.AddOffsetToCheckPos(collideNormal * -angle);
CollisionInfo.SetCollisionNormal(-collideNormal);
}
return(TransitionState.Adjusted);
}
public TransitionState PrecipiceSlide(Transition transition)
{
var collisions = transition.CollisionInfo;
Vector3 collisionNormal = Vector3.Zero;
var found = Walkable.find_crossed_edge(WalkableCheckPos, WalkableUp, ref collisionNormal);
if (!found)
{
Walkable = null;
return(TransitionState.Collided);
}
Walkable = null;
StepUp = false;
collisionNormal = WalkablePos.Frame.LocalToGlobalVec(collisionNormal);
var blockOffset = LandDefs.GetBlockOffset(CurPos.ObjCellID, CheckPos.ObjCellID);
var offset = GlobalSphere[0].Center - GlobalCurrCenter[0].Center + blockOffset;;
if (Vector3.Dot(collisionNormal, offset) > 0.0f)
{
collisionNormal *= -1.0f;
}
return(GlobalSphere[0].SlideSphere(transition, collisionNormal, GlobalCurrCenter[0].Center));
}
/// <summary>
/// Attempts to slide the sphere from a collision
/// </summary>
public TransitionState SlideSphere(Transition transition, Vector3 disp, float radsum, int sphereNum)
{
var path = transition.SpherePath;
var collisions = transition.CollisionInfo;
var globSphere = path.GlobalSphere[sphereNum];
var collisionNormal = path.GlobalCurrCenter[sphereNum].Center - Center;
if (Vec.NormalizeCheckSmall(ref collisionNormal))
{
return(TransitionState.Collided);
}
collisions.SetCollisionNormal(collisionNormal);
var contactPlane = collisions.ContactPlaneValid ? collisions.ContactPlane : collisions.LastKnownContactPlane;
var skid_dir = contactPlane.Normal;
//var direction = Vector3.Cross(skid_dir, collisionNormal);
var direction = Vector3.Cross(collisionNormal, skid_dir);
var blockOffset = LandDefs.GetBlockOffset(path.CurPos.ObjCellID, path.CheckPos.ObjCellID);
var globOffset = globSphere.Center - path.GlobalCurrCenter[sphereNum].Center + blockOffset;
var dirLenSq = direction.LengthSquared();
if (dirLenSq >= PhysicsGlobals.EPSILON)
{
skid_dir = Vector3.Dot(globOffset, direction) * direction;
var invDirLenSq = 1.0f / dirLenSq;
//skid_dir *= invDirLenSq * invDirLenSq;
skid_dir *= invDirLenSq;
direction = skid_dir;
// only x?
//if (direction.X * direction.X < PhysicsGlobals.EPSILON)
if (direction.LengthSquared() < PhysicsGlobals.EPSILON)
{
return(TransitionState.Collided);
}
direction -= globOffset;
path.AddOffsetToCheckPos(direction, globSphere.Radius);
return(TransitionState.Slid);
}
if (Vector3.Dot(skid_dir, disp) < 0.0f)
{
return(TransitionState.Collided);
}
direction = -Vector3.Dot(globOffset, collisionNormal) * collisionNormal;
path.AddOffsetToCheckPos(direction, globSphere.Radius);
return(TransitionState.Slid);
}
public void AdjustCheckPos(int cellID)
{
if (cellID < 100) // ?
{
var offset = LandDefs.GetBlockOffset(cellID, CheckPos.ObjCellID);
CacheGlobalSphere(offset);
CheckPos.Frame.Origin += offset;
}
CheckPos.ObjCellID = cellID;
}
/// <summary>
/// Attempts to slide a sphere from a collision
/// </summary>
public TransitionState SlideSphere(Transition transition, ref Vector3 collisionNormal, Vector3 currPos)
{
var path = transition.SpherePath;
var collisions = transition.CollisionInfo;
if (collisionNormal.Equals(Vector3.Zero))
{
var halfOffset = (currPos - Center) * 0.5f;
path.AddOffsetToCheckPos(halfOffset, Radius);
return(TransitionState.Adjusted);
}
collisions.SetCollisionNormal(collisionNormal);
var blockOffset = LandDefs.GetBlockOffset(path.CurPos.ObjCellID, path.CheckPos.ObjCellID);
var gDelta = blockOffset + (Center - currPos);
var contactPlane = collisions.ContactPlaneValid ? collisions.ContactPlane : collisions.LastKnownContactPlane;
var direction = Vector3.Cross(collisionNormal, contactPlane.Normal);
var dirLenSq = direction.LengthSquared();
if (dirLenSq >= PhysicsGlobals.EPSILON)
{
var diff = Vector3.Dot(direction, gDelta);
var invDirLenSq = 1.0f / dirLenSq;
var offset = direction * diff * invDirLenSq;
if (offset.LengthSquared() < PhysicsGlobals.EPSILON)
{
return(TransitionState.Collided);
}
offset -= gDelta;
path.AddOffsetToCheckPos(offset, Radius);
return(TransitionState.Slid);
}
if (Vector3.Dot(collisionNormal, contactPlane.Normal) >= 0.0f)
{
var diff = Vector3.Dot(collisionNormal, gDelta);
var offset = -collisionNormal * diff;
path.AddOffsetToCheckPos(offset, Radius);
return(TransitionState.Slid);
}
collisionNormal = -gDelta;
if (!Vec.NormalizeCheckSmall(ref collisionNormal))
{
collisions.SetCollisionNormal(collisionNormal);
}
return(TransitionState.OK);
}
/// <summary>
/// Redirects a sphere to be on collision course towards a point
/// </summary>
/// <param name="transition">The transition information for the sphere</param>
/// <param name="checkPos">The spherical point to redirect towards</param>
/// <param name="disp">Currently doesn't seem to be used?</param>
/// <param name="radsum">The sum of the sphere and spherical point radii</param>
/// <param name="sphereNum">Used as an offset in path.GlobalCurrCenter to determine movement</param>
/// <returns>The TransitionState either collided or adjusted</returns>
public TransitionState CollideWithPoint(Transition transition, Sphere checkPos, Vector3 disp, float radsum, int sphereNum)
{
var obj = transition.ObjectInfo;
var path = transition.SpherePath;
var collisions = transition.CollisionInfo;
var gCenter = path.GlobalCurrCenter[sphereNum].Center;
var globalOffset = gCenter - Center;
// if set to PerfectClip, does a more precise check
if (obj.State.HasFlag(ObjectInfoState.PerfectClip))
{
var blockOffset = LandDefs.GetBlockOffset(path.CurPos.ObjCellID, path.CheckPos.ObjCellID);
var checkOffset = checkPos.Center - gCenter + blockOffset;
var collisionTime = FindTimeOfCollision(checkOffset, globalOffset, radsum + PhysicsGlobals.EPSILON);
if (collisionTime < PhysicsGlobals.EPSILON || collisionTime > 1.0f)
{
return(TransitionState.Collided);
}
else
{
var collisionOffset = checkOffset * (float)collisionTime - checkOffset;
var old_disp = collisionOffset + checkPos.Center - Center;
var invRad = 1.0f / radsum;
var collision_normal = old_disp * invRad;
collisions.SetCollisionNormal(collision_normal);
path.AddOffsetToCheckPos(old_disp, checkPos.Radius);
return(TransitionState.Adjusted);
}
}
else
{
if (!Vec.NormalizeCheckSmall(ref globalOffset))
{
collisions.SetCollisionNormal(globalOffset);
}
return(TransitionState.Collided);
}
}
/// <summary>
/// Redirects a cylinder sphere to be on collision course towards a point
/// </summary>
/// <param name="transition">The transition information for the sphere</param>
/// <param name="checkPos">The spherical point to redirect towards</param>
/// <param name="disp">Used for calculating the collision normal</param>
/// <param name="radsum">The sum of the sphere and spherical point radii</param>
/// <param name="sphereNum">Used as an offset in path.GlobalCurrCenter to determine movement</param>
/// <returns>The TransitionState either collided or adjusted</returns>
public TransitionState CollideWithPoint(Transition transition, Sphere checkPos, Vector3 disp, float radsum, int sphereNum)
{
var obj = transition.ObjectInfo;
var path = transition.SpherePath;
var collisions = transition.CollisionInfo;
Vector3 collisionNormal;
var definate = CollisionNormal(transition, checkPos, disp, radsum, sphereNum, out collisionNormal);
if (Vec.NormalizeCheckSmall(ref collisionNormal))
{
return(TransitionState.Collided);
}
if (!obj.State.HasFlag(ObjectInfoState.PerfectClip))
{
collisions.SetCollisionNormal(collisionNormal);
return(TransitionState.Collided);
}
var globCenter = path.GlobalCurrCenter[0].Center;
var movement = LandDefs.GetBlockOffset(path.CurPos.ObjCellID, path.CheckPos.ObjCellID);
movement += checkPos.Center - globCenter;
var old_disp = globCenter - LowPoint;
radsum += PhysicsGlobals.EPSILON;
// this is similar to ray/sphere intersection, could be inlined...
var xyMoveLenSq = movement.LengthSquared2D();
var xyDiff = -movement.Dot2D(old_disp);
var diffSq = xyDiff * xyDiff - (old_disp.LengthSquared2D() - radsum * radsum) * xyMoveLenSq;
var diff = (float)Math.Sqrt(diffSq);
Vector3 scaledMovement, offset;
float time; // calculated below, refactor
if (!definate)
{
if (Math.Abs(movement.Z) < PhysicsGlobals.EPSILON)
{
return(TransitionState.Collided);
}
if (movement.Z > 0.0f)
{
collisionNormal = new Vector3(0, 0, -1.0f);
time = (movement.Z + checkPos.Radius) / movement.Z * -1.0f;
}
else
{
collisionNormal = new Vector3(0, 0, 1.0f);
time = (checkPos.Radius + Height - movement.Z) / movement.Z;
}
scaledMovement = movement * time;
var scaledLenSq = (scaledMovement + old_disp).LengthSquared2D();
if (scaledLenSq >= radsum * radsum)
{
if (Math.Abs(xyMoveLenSq) < PhysicsGlobals.EPSILON)
{
return(TransitionState.Collided);
}
if (diffSq >= 0.0f && xyMoveLenSq > PhysicsGlobals.EPSILON)
{
if (xyDiff - diff < 0.0f)
{
time = (float)((diff - movement.Dot2D(old_disp)) / xyMoveLenSq);
}
else
{
time = (float)((xyDiff - diff) / xyMoveLenSq);
}
scaledMovement = movement * time;
}
collisionNormal = (scaledMovement + globCenter - LowPoint) / radsum;
collisionNormal.Z = 0.0f;
}
if (time < 0.0f || time > 1.0f)
{
return(TransitionState.Collided);
}
offset = globCenter - scaledMovement - checkPos.Center;
path.AddOffsetToCheckPos(offset, checkPos.Radius);
collisions.SetCollisionNormal(collisionNormal);
return(TransitionState.Adjusted);
}
if (collisionNormal.Z != 0.0f)
{
if (Math.Abs(movement.Z) < PhysicsGlobals.EPSILON)
{
return(TransitionState.Collided);
}
if (movement.Z > 0.0f)
{
time = -((old_disp.Z + checkPos.Radius) / movement.Z);
}
else
{
time = (checkPos.Radius + Height - old_disp.Z) / movement.Z;
}
scaledMovement = movement * time;
if (time < 0.0f || time > 1.0f)
{
return(TransitionState.Collided);
}
offset = globCenter + scaledMovement - checkPos.Center;
path.AddOffsetToCheckPos(offset, checkPos.Radius);
collisions.SetCollisionNormal(collisionNormal);
return(TransitionState.Adjusted);
}
// duplicated from above, refactor...
if (diffSq < 0.0f || xyMoveLenSq < PhysicsGlobals.EPSILON)
{
return(TransitionState.Collided);
}
if (xyDiff - diff < 0.0f)
{
time = (float)((diff - movement.Dot2D(old_disp)) / xyMoveLenSq);
}
else
{
time = (float)((xyDiff - diff) / xyMoveLenSq);
}
scaledMovement = movement * time;
if (time < 0.0f || time > 1.0f)
{
return(TransitionState.Collided);
}
collisionNormal = (scaledMovement + globCenter - LowPoint) / radsum;
collisionNormal.Z = 0.0f;
offset = globCenter + scaledMovement - checkPos.Center;
path.AddOffsetToCheckPos(offset, checkPos.Radius);
collisions.SetCollisionNormal(collisionNormal);
return(TransitionState.Adjusted);
}
public Vector3 GetCurPosCheckPosBlockOffset()
{
return(LandDefs.GetBlockOffset(CurPos.ObjCellID, CheckPos.ObjCellID));
}
