/// <summary>
/// Main function for testing mesh-mesh collision
/// </summary>
/// <param name="_first"></param>
/// <param name="_second"></param>
/// <returns></returns>
public bool DetectCollision(GeometricObject _first, GeometricObject _second, double tolerance)
{
List<Polygon> polygons1 = _first.Polygons;
List<Polygon> polygons2 = _second.Polygons;
var both = new List<Polygon>(polygons1);
both.AddRange(polygons2);
BSPNode bspNode = null;
int max = BSPNode.Depth;
Plane p = Plane.Empty;
if (polygons1.Count < polygons2.Count)
{
bspNode = BSPNode.BuildBSPTree(ref both, 3, _first.Polygons[0].Points[0].ID, p);
}
else
{
bspNode = BSPNode.BuildBSPTree(ref both, 3, _second.Polygons[0].Points[0].ID, p);
}
if (max < BSPNode.Depth)
{
Console.WriteLine(BSPNode.Depth);
}
return bspNode != null;
}
/// <summary>
/// Main function for testing mesh-mesh collision
/// </summary>
/// <param name="_first"></param>
/// <param name="_second"></param>
/// <returns></returns>
public static bool TestBspCollision(GeometricObject _first, GeometricObject _second)
{
List<Polygon> polygons1 = _first.Polygons;
List<Polygon> polygons2 = _second.Polygons;
var both = new List<Polygon>(polygons1);
both.AddRange(polygons2);
BSPNode bspNode = null;
int max = BSPNode.Depth;
if (polygons1.Count < polygons2.Count)
{
bspNode = BSPNode.BuildBSPTree(ref both, 3, _first.Polygons[0].Points[0].ID);
}
else
{
bspNode = BSPNode.BuildBSPTree(ref both, 3, _second.Polygons[0].Points[0].ID);
}
if (max < BSPNode.Depth)
{
Console.WriteLine(BSPNode.Depth);
}
return bspNode != null;
}
/// <summary>
/// Performs an overlap test between two elements.
/// </summary>
/// <param name="_first">first element</param>
/// <param name="_second">second element</param>
/// <param name="_overlapTolerance">overlap threshold</param>
/// <returns>true if two objects overlap more than given tolerance</returns>
public static bool TestOverlap(GeometricObject _first, GeometricObject _second, double _overlapTolerance)
{
AABox A = _first.BoundingBox;
AABox B = _second.BoundingBox;
// Matrix m = new Matrix();
Matrix fgi = Matrix.TransposeMatrix(_first.GeometryMatrix);
Vector3 fgp = _first.Position;
fgi.Translate(
//quick inverse of position
new Vector3(-fgi.M33*fgp.X - fgi.M34*fgp.Y - fgi.M24*fgp.Z,
-fgi.M32*fgp.X - fgi.M33*fgp.Y - fgi.M34*fgp.Z,
-fgi.M31*fgp.X - fgi.M32*fgp.Y - fgi.M33*fgp.Z));
Matrix mB2A = Matrix.Multiply(fgi, _second.GlobalTransformation);
bool isCollision = BoxCollision.BoxOverlapTest(A, B, mB2A, _overlapTolerance);
return isCollision;
}
public bool DetectCollision(GeometricObject obj1, GeometricObject obj2, double tolerance)
{
return BodiesIntersect(obj1.Points, obj2.Points);
}
/// <summary>
/// Main function, that tests if two geometricObjects collide
/// </summary>
/// <param name="_obj1"></param>
/// <param name="_obj2"></param>
/// <returns></returns>
public static bool CollisionTest(GeometricObject _obj1, GeometricObject _obj2)
{
bool isCollision = false;
Options.CollisionStage collisionLevel = Options.CollisionLevel;
foreach (ICollisionDetector detector in collisionDetectors)
{
if (AcceptTest(collisionLevel, detector.CollisionLevel))
{
// CollisionTest test = new CollisionTest(detector.Name, _obj1, _obj2);
//test.Start();
if (detector.DetectCollision(_obj1, _obj2, Tolerance))
{
isCollision = true;
//break;
}
else
{
isCollision = false;
}
//test.Stop(isCollision);
//CollisionTestsManager.AddTest(test);
}
}
if (isCollision)
{
AddCollidedObject(_obj1);
AddCollidedObject(_obj2);
}
return isCollision;
}
/// <summary>
/// Adds collided object
/// </summary>
/// <param name="obj"></param>
private static void AddCollidedObject(GeometricObject obj)
{
if (!collidedObjects.Contains(obj))
{
collidedObjects.Add(obj);
}
}
/// <summary>
/// Adding the mesh
/// </summary>
/// <param name="_name"></param>
/// <returns></returns>
public bool Add(string _name)
{
var obj = new GeometricObject(_name, new Vector3(0, 0, 0), Matrix.Identity, new Vector3(0, 0, 0));
if (_name.Equals("torus"))
{
obj.Mesh = Mesh.Torus(device, 2.0f, 3.5f, 8, 8);
//obj.ScaleMatrix.Scale(50.0f, 50.0f, 50.0f);
}
else if (_name.Equals("torus2"))
{
obj.Mesh = Mesh.Torus(device, 1.0f, 4.5f, 10, 10);
}
else if (_name.Equals("sphere"))
{
obj.Mesh = Mesh.Sphere(device, 5, 8, 8);
}
else if (_name.Equals("box"))
{
obj.Mesh = Mesh.Box(device, 4, 3, 2);
}
else if (_name.Equals("polygon"))
{
obj.Mesh = Mesh.Polygon(device, 10, 4);
}
else if (_name.Equals("teapot"))
{
obj.Mesh = Mesh.Teapot(device);
obj.ScaleMatrix.Scale(50.0f, 50.0f, 50.0f);
}
if (obj.Mesh != null)
{
objects.Add(obj);
SpaceApplication.Options.ListObjects.Items.Add(obj);
activeObject = obj;
return true;
}
return false;
}
public bool RemoveObject(GeometricObject _obj)
{
objects.Remove(_obj);
ActiveObject = GetObject(0);
return true;
}
/// <summary>
/// Adding the mesh
/// </summary>
/// <param name="_name"></param>
/// <returns></returns>
public bool AddTorus(double innerRadius, double outerRadius, int sides, int rings)
{
var obj = new GeometricObject("torus", new Vector3(0, 0, 0), Matrix.Identity, new Vector3(0, 0, 0));
obj.Mesh = Mesh.Torus(device, (float)innerRadius, (float) outerRadius, sides, rings);
return this.AddObject(obj);
}
/// <summary>
/// Adding the mesh
/// </summary>
/// <param name="_name"></param>
/// <returns></returns>
public bool AddSphere(double radius, int slices, int stacks)
{
var obj = new GeometricObject("sphere", new Vector3(0, 0, 0), Matrix.Identity, new Vector3(0, 0, 0));
obj.Mesh = Mesh.Sphere(device, (float)radius, slices, stacks);
return this.AddObject(obj);
}
/// <summary>
/// Adding the objects to the collection
/// </summary>
/// <param name="_obj"></param>
/// <returns></returns>
public bool AddObject(GeometricObject _obj)
{
if (_obj.Mesh != null)
{
objects.Add(_obj);
SpaceApplication.Options.ListObjects.Items.Add(_obj);
activeObject = _obj;
activeObject.IsChanged = true;
return true;
}
return false;
}
public bool DetectCollision(GeometricObject obj1, GeometricObject obj2, double tolerance)
{
return TestOverlap(obj1, obj2, tolerance);
}
