//static Vector3 red = new Vector3(1.0f, 0.0f, 0.0f); public override void OnUpdate() { base.OnUpdate(); rotation += FrameDelta; rotBody.CenterOfMassTransform = Matrix.RotationX(rotation) * rotBodyPosition; GjkPairDetector detector = new GjkPairDetector(colShape0, colShape1, sGjkSimplexSolver, null); detector.CachedSeparatingAxis = new Vector3(0.00000000f, 0.059727669f, 0.29259586f); GjkPairDetector.ClosestPointInput input = new GjkPairDetector.ClosestPointInput(); input.TransformA = rotBody.CenterOfMassTransform; input.TransformB = body2Position; PointCollector result = new PointCollector(); detector.GetClosestPoints(input, result, null); /* if (result.HasResult && IsDebugDrawEnabled) { distanceFrom = result.PointInWorld; distanceTo = result.PointInWorld + result.NormalOnBInWorld * result.Distance; distance = result.Distance; //World.DebugDrawer.DrawLine(ref distanceFrom, ref distanceTo, ref red); } */ }
public override int Update(float elapsedTime) { int subSteps = base.Update(elapsedTime); rotation += elapsedTime; rotBody.CenterOfMassTransform = Matrix.RotationX(rotation) * rotBodyPosition; GjkPairDetector detector = new GjkPairDetector(colShape0, colShape1, sGjkSimplexSolver, null); detector.CachedSeparatingAxis = new Vector3(0.00000000f, 0.059727669f, 0.29259586f); GjkPairDetector.ClosestPointInput input = new GjkPairDetector.ClosestPointInput(); input.TransformA = rotBody.CenterOfMassTransform; input.TransformB = body2Position; PointCollector result = new PointCollector(); detector.GetClosestPoints(input, result, null); if (result.HasResult) { HasDistanceResult = true; distanceFrom = result.PointInWorld; distanceTo = result.PointInWorld + result.NormalOnBInWorld * result.Distance; distance = result.Distance; } else { HasDistanceResult = false; } return subSteps; }
public unsafe static void GetCachedSeparatingAxis(this GjkPairDetector obj, out OpenTK.Vector3 value) { fixed(OpenTK.Vector3 *valuePtr = &value) { *(BulletSharp.Math.Vector3 *)valuePtr = obj.CachedSeparatingAxis; } }
public unsafe static void SetCachedSeparatingAxis(this GjkPairDetector obj, ref OpenTK.Vector3 seperatingAxis) { fixed(OpenTK.Vector3 *seperatingAxisPtr = &seperatingAxis) { obj.CachedSeparatingAxis = *(BulletSharp.Math.Vector3 *)seperatingAxisPtr; } }
/// <summary> /// 2つのコリジョン オブジェクトの距離 /// </summary> /// <param name="colA">コリジョンA</param> /// <param name="colB">コリジョンB</param> /// <returns></returns> public static float Distance(CollisionObject colA, CollisionObject colB) { if (colA == null || colA.Shape == null || colB == null || colB.Shape == null || colA.Data == null || colB.Data == null) { // 距離が定義できない場合は // NaNを返す return Single.NaN; } var shpA = colA.Data.CollisionShape as ConvexShape; var shpB = colB.Data.CollisionShape as ConvexShape; var solver = new VoronoiSimplexSolver (); var detector = new GjkPairDetector (shpA, shpB, solver, null); var traA = Matrix4x4.CreateFromTranslation (colA.Offset) * colA.Node.GlobalTransform; var traB = Matrix4x4.CreateFromTranslation (colB.Offset) * colB.Node.GlobalTransform; var input = new GjkPairDetector.ClosestPointInput (); input.TransformA = traA.ToBullet (); input.TransformB = traB.ToBullet (); input.MaximumDistanceSquared = Single.MaxValue; var output = new PointCollector (); detector.GetClosestPoints (input, output, null); if (!output.HasResult) { // 重なっていた場合は // 0を返す return 0; } // 正常な距離は0以上 return output.Distance; }
public override void OnUpdate() { base.OnUpdate(); rotation += FrameDelta; rotBody.CenterOfMassTransform = Matrix.RotationX(rotation) * rotBodyPosition; var input = new DiscreteCollisionDetectorInterface.ClosestPointInput { TransformA = rotBody.CenterOfMassTransform, TransformB = body2Position }; var result = new PointCollector(); using (var detector = new GjkPairDetector(colShape0, colShape1, sGjkSimplexSolver, null)) { detector.CachedSeparatingAxis = new Vector3(0.00000000f, 0.059727669f, 0.29259586f); detector.GetClosestPoints(input, result, null); } if (result.HasResult) { distanceFrom = result.PointInWorld; distanceTo = result.PointInWorld + result.NormalOnBInWorld * result.Distance; distance = result.Distance; World.DebugDrawer.DrawLine(ref distanceFrom, ref distanceTo, ref red); } result.Dispose(); }
public static OpenTK.Vector3 GetCachedSeparatingAxis(this GjkPairDetector obj) { OpenTK.Vector3 value; GetCachedSeparatingAxis(obj, out value); return(value); }