public override void Update(GameTime gameTime)
{
// If an item in a spatial partition changes (e.g. if it moves or if the AABB changes) you
// have to call
//_spatialPartition.Invalidate(changedGeometryobject);
// If many or all items have changed you can call
//_spatialPartition.Invalidate();
// After an item was invalidated, the spatial partition needs to be rebuilt. This happens
// automatically when needed or when you call
//_spatialPartition.Update(forceRebuild: false);
// Get a ray which shoots forward.
var cameraPose = GraphicsScreen.CameraNode.PoseWorld;
var ray = new Ray
{
Origin = cameraPose.Position,
Direction = cameraPose.ToWorldDirection(Vector3F.Forward),
Length = 100,
};
// Draw objects.
var debugRenderer = GraphicsScreen.DebugRenderer;
debugRenderer.Clear();
foreach (var geometricObject in _spatialPartition)
debugRenderer.DrawObject(geometricObject, Color.LightGreen, false, false);
GeometricObject closestHitGeometricObject = null;
Triangle closestHitTriangle = new Triangle();
float closestHitDistance = float.PositiveInfinity;
// Use the spatial partition to get all objects where the AABB overlaps the ray.
foreach (var geometricObject in _spatialPartition.GetOverlaps(ray))
{
var triangleMeshShape = (TriangleMeshShape)geometricObject.Shape;
// Transform the ray into the local space of the triangle mesh.
var localRay = new Ray
{
Origin = geometricObject.Pose.ToLocalPosition(ray.Origin),
Direction = geometricObject.Pose.ToLocalDirection(ray.Direction),
Length = ray.Length,
};
// Use the spatial partition of the mesh shape to compute all triangles where the
// AABB overlaps the ray.
foreach (var triangleIndex in triangleMeshShape.Partition.GetOverlaps(localRay))
{
var triangle = triangleMeshShape.Mesh.GetTriangle(triangleIndex);
// Check if ray intersects the triangle and remember the closest hit.
float hitDistance;
if (GeometryHelper.GetContact(localRay, triangle, false, out hitDistance)
&& hitDistance < closestHitDistance)
{
closestHitGeometricObject = geometricObject;
closestHitTriangle = triangle;
closestHitDistance = hitDistance;
}
}
}
// Draw hit triangle.
if (closestHitGeometricObject != null)
debugRenderer.DrawTriangle(closestHitTriangle, closestHitGeometricObject.Pose, Vector3F.One, Color.Red, true, true);
}
public override void Update(GameTime gameTime)
{
// If an item in a spatial partition changes (e.g. if it moves or if the AABB changes) you
// have to call
//_spatialPartition.Invalidate(changedGeometryobject);
// If many or all items have changed you can call
//_spatialPartition.Invalidate();
// After an item was invalidated, the spatial partition needs to be rebuilt. This happens
// automatically when needed or when you call
//_spatialPartition.Update(forceRebuild: false);
// Get a ray which shoots forward.
var cameraPose = GraphicsScreen.CameraNode.PoseWorld;
var ray = new Ray
{
Origin = cameraPose.Position,
Direction = cameraPose.ToWorldDirection(Vector3F.Forward),
Length = 100,
};
// Draw objects.
var debugRenderer = GraphicsScreen.DebugRenderer;
debugRenderer.Clear();
foreach (var geometricObject in _spatialPartition)
{
debugRenderer.DrawObject(geometricObject, Color.LightGreen, false, false);
}
GeometricObject closestHitGeometricObject = null;
Triangle closestHitTriangle = new Triangle();
float closestHitDistance = float.PositiveInfinity;
// Use the spatial partition to get all objects where the AABB overlaps the ray.
foreach (var geometricObject in _spatialPartition.GetOverlaps(ray))
{
var triangleMeshShape = (TriangleMeshShape)geometricObject.Shape;
// Transform the ray into the local space of the triangle mesh.
var localRay = new Ray
{
Origin = geometricObject.Pose.ToLocalPosition(ray.Origin),
Direction = geometricObject.Pose.ToLocalDirection(ray.Direction),
Length = ray.Length,
};
// Use the spatial partition of the mesh shape to compute all triangles where the
// AABB overlaps the ray.
foreach (var triangleIndex in triangleMeshShape.Partition.GetOverlaps(localRay))
{
var triangle = triangleMeshShape.Mesh.GetTriangle(triangleIndex);
// Check if ray intersects the triangle and remember the closest hit.
float hitDistance;
if (GeometryHelper.GetContact(localRay, triangle, false, out hitDistance) &&
hitDistance < closestHitDistance)
{
closestHitGeometricObject = geometricObject;
closestHitTriangle = triangle;
closestHitDistance = hitDistance;
}
}
}
// Draw hit triangle.
if (closestHitGeometricObject != null)
{
debugRenderer.DrawTriangle(closestHitTriangle, closestHitGeometricObject.Pose, Vector3F.One, Color.Red, true, true);
}
}
