internal static Intersection TestIntersectionTerrainSpherePerfect(GeoTerrainTriangle triangle, Hitbox caller, Hitbox collider, ref Vector3 offsetCaller)
{
Vector3 untranslatedPositionOfCaller = caller.Owner.Position + offsetCaller - collider.Owner.Position;
float sphereRadius = caller.Owner.Scale.X / 2;
float lowestPointOfSphere = untranslatedPositionOfCaller.Y - sphereRadius;
float highestPointOfSphere = untranslatedPositionOfCaller.Y + sphereRadius;
bool doPreciseTest = IsBetweenOrdered(lowestPointOfSphere, triangle.heightMinUntranslated, triangle.heightMaxUntranslated) ||
IsBetweenOrdered(highestPointOfSphere, triangle.heightMinUntranslated, triangle.heightMaxUntranslated);
if (doPreciseTest != true)
{
if (lowestPointOfSphere >= triangle.heightMinUntranslated && highestPointOfSphere <= triangle.heightMaxUntranslated)
{
doPreciseTest = true;
}
else if (lowestPointOfSphere <= triangle.heightMinUntranslated && highestPointOfSphere >= triangle.heightMaxUntranslated)
{
doPreciseTest = true;
}
}
if (doPreciseTest)
{
float heightOnTriangle = triangle.InterpolateHeight(untranslatedPositionOfCaller.X, untranslatedPositionOfCaller.Z);
float difference = heightOnTriangle - lowestPointOfSphere;
if (difference < 0)
{
return(null);
}
float differenceTowardsTriangleNormal = Vector3.Dot(new Vector3(0, difference, 0), triangle.Normal);
Vector3 mtvUp = new Vector3(0, difference, 0);
Vector3 mtv = triangle.Normal * differenceTowardsTriangleNormal;
Intersection o = new Intersection(collider.Owner, caller, collider, mtv, mtvUp, collider.mMesh.Name, triangle.Normal);
return(o);
}
return(null);
}
internal static Intersection TestIntersectionSATForTerrain(GeoTerrainTriangle triangle, Hitbox caller, Hitbox collider, ref Vector3 offsetCaller)
{
if (caller.Owner.IsSpherePerfect())
{
return(TestIntersectionTerrainSpherePerfect(triangle, caller, collider, ref offsetCaller));
}
float shape1Min, shape1Max, shape2Min, shape2Max;
Vector3 o = collider.Owner.Position;
float mtvDistance = float.MaxValue;
float mtvDirection = 1;
float mtvDistanceUp = float.MaxValue;
float mtvDirectionUp = 1;
MTVTemp = Vector3.Zero;
MTVTempUp = Vector3.Zero;
int collisionNormalIndex = -2;
bool allTrue = true;
// Test #1
SatTest(ref triangle.Normal, ref caller.mVertices, out shape1Min, out shape1Max, ref offsetCaller);
SatTestOffset(ref triangle.Normal, ref triangle.Vertices, out shape2Min, out shape2Max, ref o);
if (Overlaps(shape1Min, shape1Max, shape2Min, shape2Max))
{
bool modifyCollisionNormal = CalculateOverlap(ref triangle.Normal, ref shape1Min, ref shape1Max, ref shape2Min, ref shape2Max,
ref mtvDistance, ref mtvDistanceUp, ref MTVTemp, ref MTVTempUp, ref mtvDirection, ref mtvDirectionUp,
ref caller.mCenter, ref collider.mCenter, ref offsetCaller);
if (modifyCollisionNormal)
{
collisionNormalIndex = -1; // -1 = normal from triangle
}
for (int j = 0; j < caller.mNormals.Length; j++)
{
SatTest(ref caller.mNormals[j], ref caller.mVertices, out shape1Min, out shape1Max, ref offsetCaller);
SatTestOffset(ref caller.mNormals[j], ref triangle.Vertices, out shape2Min, out shape2Max, ref o);
if (Overlaps(shape1Min, shape1Max, shape2Min, shape2Max))
{
bool modifyCollisionNormalInLoop = CalculateOverlap(ref caller.mNormals[j], ref shape1Min, ref shape1Max, ref shape2Min, ref shape2Max,
ref mtvDistance, ref mtvDistanceUp, ref MTVTemp, ref MTVTempUp, ref mtvDirection, ref mtvDirectionUp,
ref caller.mCenter, ref collider.mCenter, ref offsetCaller);
if (modifyCollisionNormalInLoop)
{
collisionNormalIndex = j;
}
}
else
{
allTrue = false;
break;
}
}
if (allTrue)
{
Intersection tempIntersection;
Vector3 rayPos = caller.Owner.GetLargestHitbox().mCenter + offsetCaller + KWEngine.WorldUp * KWEngine.CurrentWorld.WorldDistance;
float heightOnTerrain = triangle.InterpolateHeight(rayPos.X - o.X, rayPos.Z - o.Z);
MTVTempUp.Y = heightOnTerrain - caller.Owner.Position.Y;
MTVTempUp.X = 0;
MTVTempUp.Z = 0;
if (collisionNormalIndex == -1)
{
tempIntersection = new Intersection(collider.Owner, caller, collider, MTVTemp, MTVTempUp, collider.Owner.Name, triangle.Normal);
}
else
{
tempIntersection = new Intersection(collider.Owner, caller, collider, MTVTemp, MTVTempUp, collider.Owner.Name, caller.Normals[collisionNormalIndex]);
}
return(tempIntersection);
}
}
return(null);
}
internal static Intersection TestIntersection(Hitbox caller, Hitbox collider, Vector3 offsetCaller)
{
if (caller.Owner.IsSpherePerfect() && !collider.Owner.IsSpherePerfect())
{
return(TestIntersectionSphereConvexHull(caller, collider, offsetCaller));
}
else if (caller.Owner.IsSpherePerfect() && collider.Owner.IsSpherePerfect())
{
return(TestIntersectionSphereSphere(caller, collider, offsetCaller));
}
else if (!caller.Owner.IsSpherePerfect() && collider.Owner.IsSpherePerfect())
{
return(TestIntersectionConvexHullSphere(caller, collider, offsetCaller));
}
float mtvDistance = float.MaxValue;
float mtvDirection = 1;
float mtvDistanceUp = float.MaxValue;
float mtvDirectionUp = 1;
MTVTemp = Vector3.Zero;
MTVTempUp = Vector3.Zero;
int collisionNormalIndex = 0;
for (int i = 0; i < caller.mNormals.Length; i++)
{
float shape1Min, shape1Max, shape2Min, shape2Max;
SatTest(ref caller.mNormals[i], ref caller.mVertices, out shape1Min, out shape1Max, ref offsetCaller);
SatTest(ref caller.mNormals[i], ref collider.mVertices, out shape2Min, out shape2Max, ref ZeroVector);
if (!Overlaps(shape1Min, shape1Max, shape2Min, shape2Max))
{
return(null);
}
else
{
bool m = CalculateOverlap(ref caller.mNormals[i], ref shape1Min, ref shape1Max, ref shape2Min, ref shape2Max,
ref mtvDistance, ref mtvDistanceUp, ref MTVTemp, ref MTVTempUp, ref mtvDirection, ref mtvDirectionUp, ref caller.mCenter, ref collider.mCenter, ref offsetCaller);
if (m)
{
collisionNormalIndex = i;
}
}
}
for (int i = 0; i < collider.mNormals.Length; i++)
{
float shape1Min, shape1Max, shape2Min, shape2Max;
SatTest(ref collider.mNormals[i], ref caller.mVertices, out shape1Min, out shape1Max, ref offsetCaller);
SatTest(ref collider.mNormals[i], ref collider.mVertices, out shape2Min, out shape2Max, ref ZeroVector);
if (!Overlaps(shape1Min, shape1Max, shape2Min, shape2Max))
{
return(null);
}
else
{
bool m = CalculateOverlap(ref collider.mNormals[i], ref shape1Min, ref shape1Max, ref shape2Min, ref shape2Max,
ref mtvDistance, ref mtvDistanceUp, ref MTVTemp, ref MTVTempUp, ref mtvDirection, ref mtvDirectionUp, ref caller.mCenter, ref collider.mCenter, ref offsetCaller);
if (m)
{
collisionNormalIndex = caller.mNormals.Length + i;
}
}
}
if (MTVTemp == Vector3.Zero)
{
return(null);
}
Vector3 collisionSurfaceNormal;
if (collisionNormalIndex < caller.mNormals.Length)
{
collisionSurfaceNormal = caller.mNormals[collisionNormalIndex];
}
else
{
collisionSurfaceNormal = collider.mNormals[collisionNormalIndex - caller.mNormals.Length];
}
Intersection o = new Intersection(collider.Owner, caller, collider, MTVTemp, MTVTempUp, collider.mMesh.Name, collisionSurfaceNormal);
return(o);
}
private static Intersection TestIntersectionConvexHullSphere(Hitbox caller, Hitbox collider, Vector3 offsetCaller)
{
float mtvDistance = float.MaxValue;
float mtvDirection = 1;
float mtvDistanceUp = float.MaxValue;
float mtvDirectionUp = 1;
MTVTemp = Vector3.Zero;
MTVTempUp = Vector3.Zero;
bool useSphereNormal = false;
float sphereRadius = collider.Owner.Scale.X / 2;
Vector3 collisionSurfaceNormal = new Vector3(0, 0, 0);
float shape1Min, shape1Max, shape2Min, shape2Max;
for (int i = 0; i < caller.mNormals.Length; i++)
{
SatTest(ref caller.mNormals[i], ref caller.mVertices, out shape1Min, out shape1Max, ref ZeroVector);
shape2Min = Vector3.Dot(collider.GetCenter() - caller.mNormals[i] * sphereRadius, caller.mNormals[i]);
shape2Max = Vector3.Dot(collider.GetCenter() + caller.mNormals[i] * sphereRadius, caller.mNormals[i]);
if (!Overlaps(shape1Min, shape1Max, shape2Min, shape2Max))
{
return(null);
}
else
{
bool m = CalculateOverlap(ref caller.mNormals[i], ref shape1Min, ref shape1Max, ref shape2Min, ref shape2Max,
ref mtvDistance, ref mtvDistanceUp, ref MTVTemp, ref MTVTempUp, ref mtvDirection, ref mtvDirectionUp, ref caller.mCenter, ref collider.mCenter, ref offsetCaller);
if (m)
{
collisionSurfaceNormal = Vector3.NormalizeFast((caller.mCenter + offsetCaller) - collider.mCenter);
}
}
}
//collider is sphere:
Vector3 sphereToHullDirectionVector = Vector3.NormalizeFast((caller.GetCenter() + offsetCaller) - collider.GetCenter());
SatTest(ref sphereToHullDirectionVector, ref caller.mVertices, out shape1Min, out shape1Max, ref offsetCaller);
shape2Min = Vector3.Dot(collider.GetCenter() - sphereToHullDirectionVector * sphereRadius, sphereToHullDirectionVector);
shape2Max = Vector3.Dot(collider.GetCenter() + sphereToHullDirectionVector * sphereRadius, sphereToHullDirectionVector);
if (!Overlaps(shape1Min, shape1Max, shape2Min, shape2Max))
{
return(null);
}
else
{
bool m = CalculateOverlap(ref sphereToHullDirectionVector, ref shape1Min, ref shape1Max, ref shape2Min, ref shape2Max,
ref mtvDistance, ref mtvDistanceUp, ref MTVTemp, ref MTVTempUp, ref mtvDirection, ref mtvDirectionUp, ref caller.mCenter, ref collider.mCenter, ref offsetCaller);
if (m)
{
useSphereNormal = true;
}
}
if (MTVTemp == Vector3.Zero)
{
return(null);
}
Intersection o = new Intersection(collider.Owner, caller, collider, MTVTemp, MTVTempUp, collider.mMesh.Name, useSphereNormal ? sphereToHullDirectionVector : collisionSurfaceNormal);
return(o);
}
private static Intersection TestIntersectionSphereConvexHull(Hitbox caller, Hitbox collider, Vector3 offsetCaller)
{
float mtvDistance = float.MaxValue;
float mtvDirection = 1;
float mtvDistanceUp = float.MaxValue;
float mtvDirectionUp = 1;
MTVTemp = Vector3.Zero;
MTVTempUp = Vector3.Zero;
float sphereRadius = caller.Owner.Scale.X / 2;
int bestCollisionIndex = 0;
float shape1Min, shape1Max, shape2Min, shape2Max;
for (int i = 0; i < collider.mNormals.Length; i++)
{
shape1Min = Vector3.Dot((caller.GetCenter() + offsetCaller) - collider.mNormals[i] * sphereRadius, collider.mNormals[i]);
shape1Max = Vector3.Dot((caller.GetCenter() + offsetCaller) + collider.mNormals[i] * sphereRadius, collider.mNormals[i]);
SatTest(ref collider.mNormals[i], ref collider.mVertices, out shape2Min, out shape2Max, ref ZeroVector);
if (!Overlaps(shape1Min, shape1Max, shape2Min, shape2Max))
{
return(null);
}
else
{
bool m = CalculateOverlap(ref collider.mNormals[i], ref shape1Min, ref shape1Max, ref shape2Min, ref shape2Max,
ref mtvDistance, ref mtvDistanceUp, ref MTVTemp, ref MTVTempUp, ref mtvDirection, ref mtvDirectionUp, ref caller.mCenter, ref collider.mCenter, ref offsetCaller);
if (m)
{
bestCollisionIndex = i;
}
}
}
Vector3 hullToSphereDirectionVector = Vector3.NormalizeFast((caller.GetCenter() + offsetCaller) - collider.GetCenter());
shape1Min = Vector3.Dot((caller.GetCenter() + offsetCaller) - hullToSphereDirectionVector * sphereRadius, hullToSphereDirectionVector);
shape1Max = Vector3.Dot((caller.GetCenter() + offsetCaller) + hullToSphereDirectionVector * sphereRadius, hullToSphereDirectionVector);
SatTest(ref hullToSphereDirectionVector, ref collider.mVertices, out shape2Min, out shape2Max, ref ZeroVector);
if (!Overlaps(shape1Min, shape1Max, shape2Min, shape2Max))
{
return(null);
}
else
{
bool m = CalculateOverlap(ref hullToSphereDirectionVector, ref shape1Min, ref shape1Max, ref shape2Min, ref shape2Max,
ref mtvDistance, ref mtvDistanceUp, ref MTVTemp, ref MTVTempUp, ref mtvDirection, ref mtvDirectionUp, ref caller.mCenter, ref collider.mCenter, ref offsetCaller);
if (m)
{
bestCollisionIndex = -100;
}
}
if (MTVTemp == Vector3.Zero)
{
return(null);
}
Intersection o = new Intersection(collider.Owner, caller, collider, MTVTemp, MTVTempUp, collider.mMesh.Name, bestCollisionIndex == -100 ? hullToSphereDirectionVector : collider.mNormals[bestCollisionIndex]);
return(o);
}
internal static List <Vector3> ClipFaces(Hitbox caller, Hitbox collider)
{
List <Vector3> callerVertices = new List <Vector3>(caller.mVertices);
List <Vector3> collisionVolumeVertices = new List <Vector3>();
// Clip caller against collider faces:
for (int colliderFaceIndex = 0; colliderFaceIndex < collider.mMesh.Faces.Length; colliderFaceIndex++)
{
GeoMeshFace colliderClippingFace = collider.mMesh.Faces[colliderFaceIndex];
Vector3 colliderClippingFaceVertex = collider.mVertices[colliderClippingFace.Vertices[0]];
Vector3 colliderClippingFaceNormal = colliderClippingFace.Flip ? collider.mNormals[colliderClippingFace.Normal] : -collider.mNormals[colliderClippingFace.Normal];
for (int callerVertexIndex = 0; callerVertexIndex < callerVertices.Count; callerVertexIndex++)
{
Vector3 callerVertex1 = callerVertices[callerVertexIndex];
Vector3 callerVertex2 = callerVertices[(callerVertexIndex + 1) % callerVertices.Count];
Vector3 lineDirection = Vector3.NormalizeFast(callerVertex2 - callerVertex1);
bool callerVertex1InsideRegion = HelperIntersection.IsInFrontOfPlane(ref callerVertex1, ref colliderClippingFaceNormal, ref colliderClippingFaceVertex);
bool callerVertex2InsideRegion = HelperIntersection.IsInFrontOfPlane(ref callerVertex2, ref colliderClippingFaceNormal, ref colliderClippingFaceVertex);
if (callerVertex1InsideRegion)
{
if (callerVertex2InsideRegion)
{
if (!collisionVolumeVertices.Contains(callerVertex2))
{
collisionVolumeVertices.Add(callerVertex2);
}
}
else
{
Vector3?clippedVertex = ClipLineToPlane(ref callerVertex2, ref lineDirection, ref colliderClippingFaceVertex, ref colliderClippingFaceNormal);
if (clippedVertex != null && !collisionVolumeVertices.Contains(clippedVertex.Value))
{
collisionVolumeVertices.Add(clippedVertex.Value);
}
}
}
else
{
if (callerVertex2InsideRegion)
{
Vector3?clippedVertex = ClipLineToPlane(ref callerVertex1, ref lineDirection, ref colliderClippingFaceVertex, ref colliderClippingFaceNormal);
if (clippedVertex != null && !collisionVolumeVertices.Contains(clippedVertex.Value))
{
collisionVolumeVertices.Add(clippedVertex.Value);
}
if (!collisionVolumeVertices.Contains(callerVertex2))
{
collisionVolumeVertices.Add(callerVertex2);
}
}
}
}
callerVertices.Clear();
for (int i = 0; i < collisionVolumeVertices.Count; i++)
{
callerVertices.Add(collisionVolumeVertices[i]);
}
collisionVolumeVertices.Clear();
}
return(callerVertices);
}
internal static void TestIntersectionSATForTerrain(ref List <GeoTerrainTriangle> tris, Hitbox caller, Hitbox collider, Vector3 offsetCaller)
{
trianglesMTV.Clear();
float shape1Min, shape1Max, shape2Min, shape2Max;
Vector3 o = collider.Owner.Position;
for (int i = 0; i < tris.Count; i++)
{
GeoTerrainTriangle triangle = tris[i];
// Test #1
SatTest(ref triangle.Normal, ref caller.mVertices, out shape1Min, out shape1Max, ref offsetCaller);
SatTestOffset(ref triangle.Normal, ref triangle.Vertices, out shape2Min, out shape2Max, ref o);
if (Overlaps(shape1Min, shape1Max, shape2Min, shape2Max))
{
// Test #2:
SatTest(ref caller.mNormals[0], ref caller.mVertices, out shape1Min, out shape1Max, ref offsetCaller);
SatTestOffset(ref caller.mNormals[0], ref triangle.Vertices, out shape2Min, out shape2Max, ref o);
if (Overlaps(shape1Min, shape1Max, shape2Min, shape2Max))
{
// Test #3:
SatTest(ref caller.mNormals[1], ref caller.mVertices, out shape1Min, out shape1Max, ref offsetCaller);
SatTestOffset(ref caller.mNormals[1], ref triangle.Vertices, out shape2Min, out shape2Max, ref o);
if (Overlaps(shape1Min, shape1Max, shape2Min, shape2Max))
{
// Test #4:
SatTest(ref caller.mNormals[2], ref caller.mVertices, out shape1Min, out shape1Max, ref offsetCaller);
SatTestOffset(ref caller.mNormals[2], ref triangle.Vertices, out shape2Min, out shape2Max, ref o);
if (Overlaps(shape1Min, shape1Max, shape2Min, shape2Max))
{
// Test #5: B-A x Hitbox-X-Axis
Vector3 subVector = triangle.Vertices[1] - triangle.Vertices[0];
//Vector3.Subtract(ref triangle.Vertices[1], ref triangle.Vertices[0], out Vector3 subVector);
Vector3.Cross(ref subVector, ref caller.mNormals[0], out Vector3 axisFive);