//NOTE: I'm keeping the number of constructor overloads small, and instead making the user call one of the static creation methods. Otherwise it would be very
//confusing to know what you're creating
protected CollisionHull(IntPtr handle, WorldBase world, float[] offsetMatrix, CollisionShapeType collisionShape)
{
_handle = handle;
_world = world;
_offsetMatrix = offsetMatrix;
_collisionShape = collisionShape;
ObjectStorage.Instance.AddCollisionHull(_handle, this);
}
internal static CollisionHull CreateSensorCollisionHull(WorldBase world, Vector3D scale, Quaternion orientation, Point3D position)
{
Transform3DGroup transform = new Transform3DGroup();
//transform.Children.Add(new ScaleTransform3D(scale)); // it ignores scale
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(orientation)));
transform.Children.Add(new TranslateTransform3D(position.ToVector()));
// Scale X and Y should be identical, but average them to be safe
double radius = ((SIZEPERCENTOFSCALE_XY * scale.X) + (SIZEPERCENTOFSCALE_XY * scale.Y)) / 2d;
return CollisionHull.CreateCylinder(world, 0, radius, SIZEPERCENTOFSCALE_Z * scale.Z, transform.Value);
}
internal static CollisionHull CreateSensorCollisionHull(WorldBase world, Vector3D scale, Quaternion orientation, Point3D position)
{
Transform3DGroup transform = new Transform3DGroup();
//transform.Children.Add(new ScaleTransform3D(scale)); // it ignores scale
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(orientation)));
transform.Children.Add(new TranslateTransform3D(position.ToVector()));
Vector3D size = new Vector3D(SIZEPERCENTOFSCALE * scale.X, SIZEPERCENTOFSCALE * scale.Y, SIZEPERCENTOFSCALE * scale.Z);
return CollisionHull.CreateBox(world, 0, size, transform.Value);
}
public override CollisionHull CreateCollisionHull(WorldBase world)
{
return ShieldEnergyDesign.CreateCollisionHull(world, this.Scale, this.Orientation, this.Position);
}
public override CollisionHull CreateCollisionHull(WorldBase world)
{
Transform3DGroup transform = new Transform3DGroup();
//transform.Children.Add(new ScaleTransform3D(scale)); // it ignores scale
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(this.Orientation)));
transform.Children.Add(new TranslateTransform3D(this.Position.ToVector()));
Vector3D size = new Vector3D(this.Scale.X * SCALE * .5d, this.Scale.Y * SCALE * .5d, this.Scale.Z * SCALE * .5d);
return CollisionHull.CreateSphere(world, 0, size, transform.Value);
}
public CollisionHullDestroyedArgs(WorldBase world, CollisionHull collisionHull)
{
this.World = world;
this.CollisionHull = collisionHull;
}
private CollisionHullTree(IntPtr handle, WorldBase world, float[] offsetMatrix)
: base(handle, world, offsetMatrix, CollisionShapeType.Tree) { }
public static CollisionHull CreateCompoundCollision(WorldBase world, int shapeID, CollisionHull[] hulls)
{
IntPtr[] handles = new IntPtr[hulls.Length];
for (int cntr = 0; cntr < hulls.Length; cntr++)
{
handles[cntr] = hulls[cntr].Handle;
}
IntPtr handle = Newton.NewtonCreateCompoundCollision(world.Handle, hulls.Length, handles, shapeID);
return new CollisionHull(handle, world, null, CollisionShapeType.Compound);
}
public static CollisionHull CreateConvexHull(WorldBase world, int shapeID, IEnumerable<Point3D> verticies, Matrix3D? offsetMatrix = null, double tolerance = .002d)
{
//NOTE: If the mesh passed in is concave, newton will make it convex. If you require concave, build up a complex collision out of convex primitives
//NOTE: Must have at least 4 verticies
#region Tolerance Comments
// Got this from here:
//http://newtondynamics.com/wiki/index.php5?title=NewtonCreateConvexHull
// dFloat tolerance - the vertex optimization tolerance. A higher number means the hull can be simplified where there are multiple vertices with distance lower than
// the tolerance; this is useful when generating simpler convex hulls from highly detailed meshes.
// It's new in Newton 2 and can speed up the performance by reducing the count of vertices of a convex hull.
// Here is the description by Julio Jerez (author of Newton):
// The convex hull tolerance does not always apply and it is hard to predict, say for example you have a box, then the parameter will do nothing because adjacent plane
// bend 90 degree.
//
// Say some body have a cube with bevel edges, the at the corner you will have many points that are very close to each other this result on a convex hull that is very dense
// on the edges and the vertex.
//
// In that case the tolerance parameter does make a difference. What is does is that after the Hull is made, for each vertex, an average plane is created by fanning of all the
// vertices that can be reach from a direct edge going out of that vertex.
//
// If the distance from each vertex to the average plane is very small,
// And the distance from the center vertex to the plane is smaller than the tolerance,
// Then the center vertex can be extracted from the hull and the hull can be reconstructed,
// The resulting shape will not be too different from the ideal one.
//
// It continues doing that until not more vertex can be subtracted from the original shape.
//
// Basically what is does is that is remove lots of vertices that are too close and make the shep to dense for collision.
//
// A tolerance of 0.002 is good candidate especially when you have large cloud of vertices because it will eliminate points that are a 2 millimeter of less from the ideal hull,
// It leads to a great speed up in collision time.
//
// (additional note: this value depends to the kind of application and their dimensions)
// Since Newton 2.25 the tolerance depend of the diagonal of the cloud point (or bounding box). Ex: A prism with large and small dimension (580 x 0.5 x 580) will have
// a large diagonal (820). If you set tolerance at 0.001 then the function will eliminate point that are less close of 820*0.001=0.8 units. So your prism become a plane and
// the function return NULL. To resolve this error just set a lower tolerance. This change was made to get same shape for hull with different scale.
#endregion
// Offset Matrix
float[] newtOffsetMatrix = null; // null means no offset
if (offsetMatrix != null)
{
newtOffsetMatrix = new NewtonMatrix(offsetMatrix.Value).Matrix;
}
int vertexCount = verticies.Count();
// Verticies
float[,] vertexArray = new float[vertexCount, 3];
int i = 0;
foreach (Point3D vertex in verticies)
{
vertexArray[i, 0] = (float)vertex.X;
vertexArray[i, 1] = (float)vertex.Y;
vertexArray[i, 2] = (float)vertex.Z;
i++;
}
// Create in newton
IntPtr handle = Newton.NewtonCreateConvexHull(world.Handle, vertexCount, vertexArray, sizeof(float) * 3, Convert.ToSingle(tolerance), shapeID, newtOffsetMatrix);
// Exit Function
return new CollisionHull(handle, world, newtOffsetMatrix, CollisionShapeType.ConvexHull);
}
public virtual CollisionHull CreateCollisionHull(WorldBase world)
{
return this.Design.CreateCollisionHull(world);
}
internal static CollisionHull CreateTankCollisionHull(WorldBase world, Vector3D scale, Quaternion orientation, Point3D position)
{
Transform3DGroup transform = new Transform3DGroup();
//transform.Children.Add(new ScaleTransform3D(this.Scale)); // it ignores scale
transform.Children.Add(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 1, 0), 90))); // the physics hull is along x, but dna is along z
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(orientation)));
transform.Children.Add(new TranslateTransform3D(position.ToVector()));
double radius = RADIUSPERCENTOFSCALE * (scale.X + scale.Y) * .5d;
double height = scale.Z;
if (height < radius * 2d)
{
// Newton keeps the capsule caps spherical, but the visual scales them. So when the height is less than the radius, newton
// make a sphere. So just make a cylinder instead
//return CollisionHull.CreateChamferCylinder(world, 0, radius, height, transform.Value);
return CollisionHull.CreateCylinder(world, 0, radius, height, transform.Value);
}
else
{
//NOTE: The visual changes the caps around, but I want the physics to be a capsule
return CollisionHull.CreateCapsule(world, 0, radius, height, transform.Value);
}
}
public override CollisionHull CreateCollisionHull(WorldBase world)
{
return FuelTankDesign.CreateTankCollisionHull(world, this.Scale, this.Orientation, this.Position);
}
public override CollisionHull CreateCollisionHull(WorldBase world)
{
Transform3DGroup transform = new Transform3DGroup();
//transform.Children.Add(new ScaleTransform3D(this.Scale)); // it ignores scale
//transform.Children.Add(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 1, 0), 90))); // only needed for one/two types
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(this.Orientation)));
transform.Children.Add(new TranslateTransform3D(this.Position.ToVector()));
Vector3D scale = this.Scale;
switch (this.ThrusterType)
{
case ShipParts.ThrusterType.One:
case ShipParts.ThrusterType.Two:
#region Cylinder
transform.Children.Insert(0, new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 1, 0), 90))); // the physics hull is along x, but dna is along z
double radius = RADIUSPERCENTOFSCALE * (scale.X + scale.Y) * .5d;
double height = scale.Z;
if (height < radius * 2d)
{
// Newton keeps the capsule caps spherical, but the visual scales them. So when the height is less than the radius, newton
// make a sphere. So just make a cylinder instead
//return CollisionHull.CreateChamferCylinder(world, 0, radius, height, transform.Value);
return CollisionHull.CreateCylinder(world, 0, radius, height, transform.Value);
}
else
{
//NOTE: The visual changes the caps around, but I want the physics to be a capsule
return CollisionHull.CreateCapsule(world, 0, radius, height, transform.Value);
}
#endregion
default:
#region Convex Hull
if (_pointsForHull == null)
{
CreateGeometry(true, false); // passing false, because this may be executing in a different thread
}
double maxScale = Math1D.Max(scale.X * RADIUSPERCENTOFSCALE, scale.Y * RADIUSPERCENTOFSCALE, scale.Z);
//NOTE: _pointsForHull comes off the wpf model points, and is already rotated properly
Point3D[] points = _pointsForHull.Select(o => new Point3D(o.X * maxScale, o.Y * maxScale, o.Z * maxScale)).ToArray();
return CollisionHull.CreateConvexHull(world, 0, points, transform.Value);
#endregion
}
}
public override CollisionHull CreateCollisionHull(WorldBase world)
{
return ConverterEnergyToFuelDesign.CreateCollisionHull(world, this.Scale, this.Orientation, this.Position);
}
public static CollisionHull CreateCapsule(WorldBase world, int shapeID, double radius, double height, Matrix3D? offsetMatrix)
{
//NOTE: Height must be >= diameter. If you want less, use ChamferCylinder
float[] newtOffsetMatrix = null; // null means no offset
if (offsetMatrix != null)
{
newtOffsetMatrix = new NewtonMatrix(offsetMatrix.Value).Matrix;
}
IntPtr handle = Newton.NewtonCreateCapsule(world.Handle, Convert.ToSingle(radius), Convert.ToSingle(height), shapeID, newtOffsetMatrix);
return new CollisionHull(handle, world, newtOffsetMatrix, CollisionShapeType.Capsule);
}
public static CollisionHull CreateChamferCylinder(WorldBase world, int shapeID, double radius, double height, Matrix3D? offsetMatrix)
{
//TODO: Figure out what is wrong when this is tall and skinny
float[] newtOffsetMatrix = null; // null means no offset
if (offsetMatrix != null)
{
newtOffsetMatrix = new NewtonMatrix(offsetMatrix.Value).Matrix;
}
IntPtr handle = Newton.NewtonCreateChamferCylinder(world.Handle, Convert.ToSingle(radius), Convert.ToSingle(height), shapeID, newtOffsetMatrix);
return new CollisionHull(handle, world, newtOffsetMatrix, CollisionShapeType.ChamferCylinder);
}
//public abstract Model3D GetFinalModel();
//TODO: Make this abstract
/// <summary>
/// This is what gets handed to the physics body
/// </summary>
public virtual CollisionHull CreateCollisionHull(WorldBase world)
{
throw new ApplicationException("make this abstract");
}
public static CollisionHull CreateHeightFieldCollision(WorldBase world, int shapeID, short[,] heights, byte[,] materialIDs, bool gridsDiagonals_TopleftToBottomright, double horizontalScale, double verticalScale)
{
//NOTE: Height field doesn't look at the body's mass, it is static (terrain). Other stuff bounces off of this
// I believe materialIDs is the material ID for each grid point, so the terrain can have different elasticities/friction
//TODO: Make a helper method that builds a height field out of a bitmap (or 2 bitmaps, one for the heights, one for the materials)
// Turn the 2D array into a 1D array
int width = heights.GetUpperBound(0);
int height = heights.GetUpperBound(1);
if (materialIDs.GetUpperBound(0) != width || materialIDs.GetUpperBound(1) != height)
{
throw new ArgumentException(string.Format("The height array is a different size than the materialID array (height={0}x{1}, material={2}x{3}", width.ToString(), height.ToString(), materialIDs.GetUpperBound(0).ToString(), materialIDs.GetUpperBound(1).ToString()));
}
short[] heights1D = new short[width * height];
byte[] materials1D = new byte[heights1D.Length];
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
heights1D[(width * x) + y] = heights[x, y];
materials1D[(width * x) + y] = materialIDs[x, y];
}
}
// Convert bool to int
int gridsDiagonals = gridsDiagonals_TopleftToBottomright ? 1 : 0; // false is bottom left to top right
// Create in newton
IntPtr handle = Newton.NewtonCreateHeightFieldCollision(world.Handle, width, height, gridsDiagonals, heights1D, materials1D, Convert.ToSingle(horizontalScale), Convert.ToSingle(verticalScale), shapeID);
// Exit Function
return new CollisionHull(handle, world, null, CollisionShapeType.HeightField);
}
public override CollisionHull CreateCollisionHull(WorldBase world)
{
Transform3DGroup transform = new Transform3DGroup();
//transform.Children.Add(new ScaleTransform3D(this.Scale)); // it ignores scale
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(this.Orientation)));
transform.Children.Add(new TranslateTransform3D(this.Position.ToVector()));
Vector3D scale = this.Scale;
return CollisionHull.CreateSphere(world, 0, new Vector3D(scale.X * RADIUSPERCENTOFSCALE, scale.Y * RADIUSPERCENTOFSCALE, scale.Z * HEIGHTPERCENTOFSCALE), transform.Value);
}
internal static CollisionHull CreateCollisionHull(WorldBase world, Vector3D scale, Quaternion orientation, Point3D position)
{
Transform3DGroup transform = new Transform3DGroup();
//transform.Children.Add(new ScaleTransform3D(scale)); // it ignores scale
transform.Children.Add(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 1, 0), 90))); // the physics hull is along x, but dna is along z
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(orientation)));
transform.Children.Add(new TranslateTransform3D(position.ToVector()));
double radius = RADIUSPERCENTOFSCALE * (scale.X + scale.Y) * .5d;
double height = scale.Z * HEIGHTPERCENTOFSCALE;
//return CollisionHull.CreateChamferCylinder(world, 0, radius, height, transform.Value);
return CollisionHull.CreateCylinder(world, 0, radius, height, transform.Value);
}
internal static CollisionHull CreateCollisionHull(WorldBase world, Vector3D scale, Quaternion orientation, Point3D position)
{
Transform3DGroup transform = new Transform3DGroup();
//transform.Children.Add(new ScaleTransform3D(scale)); // it ignores scale
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(orientation)));
transform.Children.Add(new TranslateTransform3D(position.ToVector()));
Vector3D size = new Vector3D(scale.X * .5d, scale.Y * .5d, scale.Z * .5d);
return CollisionHull.CreateSphere(world, 0, size, transform.Value);
}
public override CollisionHull CreateCollisionHull(WorldBase world)
{
Transform3DGroup transform = new Transform3DGroup();
//transform.Children.Add(new ScaleTransform3D(this.Scale)); // it ignores scale
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(this.Orientation)));
transform.Children.Add(new TranslateTransform3D(this.Position.ToVector()));
return CollisionHull.CreateBox(world, 0, this.Scale * ConverterMatterToFuelDesign.SCALE, transform.Value);
}
public override CollisionHull CreateCollisionHull(WorldBase world)
{
return CreateSensorCollisionHull(world, this.Scale, this.Orientation, this.Position);
}
public MaterialManager(WorldBase world)
{
_world = world;
}
// These methods are used to create a collision (see class remarks for a description of the shapeID)
//NOTE: ShapeID means nothing to newton, it's just a way for the consumer to give special tokens to things (safe to pass zero for everything)
//NOTE: Elsewhere, the shapeID is considered a uint. So to be safe, stay positive
public static CollisionHull CreateNull(WorldBase world)
{
IntPtr handle = Newton.NewtonCreateNull(world.Handle);
return new CollisionHull(handle, world, null, CollisionShapeType.Null);
}
public override CollisionHull CreateCollisionHull(WorldBase world)
{
Transform3DGroup transform = new Transform3DGroup();
//transform.Children.Add(new ScaleTransform3D(this.Scale)); // it ignores scale
transform.Children.Add(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 1, 0), 90))); // the physics hull is along x, but dna is along z
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(this.Orientation)));
transform.Children.Add(new TranslateTransform3D(this.Position.ToVector()));
Vector3D scale = this.Scale;
double radius = Math1D.Avg(RADIUSPERCENTOFSCALE_WIDE, RADIUSPERCENTOFSCALE_NARROW) * Math1D.Avg(scale.X, scale.Y);
double height = HEIGHT * scale.Z;
return CollisionHull.CreateCylinder(world, 0, radius, height, transform.Value);
}
public static CollisionHull CreateBox(WorldBase world, int shapeID, Vector3D size, Matrix3D? offsetMatrix)
{
float[] newtOffsetMatrix = null; // null means no offset
if (offsetMatrix != null)
{
newtOffsetMatrix = new NewtonMatrix(offsetMatrix.Value).Matrix;
}
IntPtr handle = Newton.NewtonCreateBox(world.Handle, Convert.ToSingle(size.X), Convert.ToSingle(size.Y), Convert.ToSingle(size.Z), shapeID, newtOffsetMatrix);
return new CollisionHull(handle, world, newtOffsetMatrix, CollisionShapeType.Box);
}
public override CollisionHull CreateCollisionHull(WorldBase world)
{
Transform3DGroup transform = new Transform3DGroup();
//transform.Children.Add(new ScaleTransform3D(this.Scale)); // it ignores scale
transform.Children.Add(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 1, 0), 90))); // the physics hull is along x, but dna is along z
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(this.Orientation)));
transform.Children.Add(new TranslateTransform3D(this.Position.ToVector()));
Vector3D scale = this.Scale;
double radius = RADIUSPERCENTOFSCALE * ((scale.X + scale.Y) * .5d);
double height = scale.Z;
return CollisionHull.CreateCylinder(world, 0, radius, height, transform.Value);
//return CollisionHull.CreateChamferCylinder(world, 0, radius, height, transform.Value); //Chamfer collides weird when it's tall and skinny
}
public override CollisionHull CreateCollisionHull(WorldBase world)
{
Transform3DGroup transform = new Transform3DGroup();
//transform.Children.Add(new ScaleTransform3D(this.Scale)); // it ignores scale
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(this.Orientation)));
transform.Children.Add(new TranslateTransform3D(this.Position.ToVector()));
Vector3D scale = this.Scale;
Vector3D size = new Vector3D(1d * scale.X, RATIOY * scale.Y, RATIOZ * scale.Z);
return CollisionHull.CreateBox(world, 0, size, transform.Value);
}
