/// <summary>
///
/// </summary>
/// <param name="object1"></param>
/// <param name="object2"></param>
/// <returns></returns>
public static CollisionImpact Touch(Object3d object1, Object3d object2)
{
if (object1 == null)
{
throw new ArgumentNullException("object1");
}
if (object2 == null)
{
throw new ArgumentNullException("object2");
}
/* Detect if two objects are touching
* object1: The first object to be detected: class or subclass of Object3d
* object2: The second object to be detected: class or subclass of Object3d
*
* imp: a collider with the impact time and faces touched on both objects: class collide
*/
//produce an imaginary collision object based on projecting object 1 in the direction of object 2
CollisionImpact imp = new CollisionImpact();
int[] zero = { 0, 0, 0 };
Isotope.Object3d sense_object1 = new Isotope.Object3d(zero, zero, 0, true);
//Take the 2 centres of the objects
int[] twos = { 2, 2, 2 };
int[] centre_object1 = Vector.AddVector(object1.GetPosition(), Vector.DivideVector(object1.GetSize(), twos));
int[] centre_object2 = Vector.AddVector(object2.GetPosition(), Vector.DivideVector(object2.GetSize(), twos));
//Find the projected vector between them
int[] project_vector = Vector.MultiplyVector(Vector.Direction(centre_object1, centre_object2), twos);
//Add the projected vector to the first objects position
sense_object1.SetPosition(Vector.AddVector(object1.GetPosition(), project_vector));
Vector.CopyVector(object1.GetSize(), sense_object1.GetSize());
//collision detect the sense object with the object 2
imp = CollisionDetect(sense_object1, object2);
return(imp);
}
/// <summary>
///
/// </summary>
/// <param name="test_object"></param>
/// <param name="object_group"></param>
/// <returns></returns>
public static bool TestCollisionGroup(Object3d testObject, ArrayList objectGroup)
{
if (objectGroup == null)
{
throw new ArgumentNullException("objectGroup");
}
/* Checks if the test object collides with any object in the object group
*
* test_object: The object to be tested for a collision: class or subclass of Object3d
* object_group: A list of objects : list of class or subclass of Object3d
* Return true/false: true for a collision : boolean
*/
CollisionImpact imp = new CollisionImpact();
for (int obj = 0; obj < objectGroup.Count; obj++)
{
//call the collision detector to get the first object collided with
imp = CollisionDetect(testObject, (Object3d)objectGroup[obj]);
if (imp.Impact == true)
{
return(true);
}
}
return(false);
}
//NOTE: we are using an impact structure for touch which may not be appropriate
/// <summary>
///
/// </summary>
/// <param name="obj_group"></param>
public static void TouchProcessor(Object3d[] objectGroup)
{
if (objectGroup == null)
{
throw new ArgumentNullException("objectGroup");
}
/*Discover if any of the objects in the group are touching and call their touch response routines
*
* obj_group: A list of objects within the scene: list of class or subclass of Object3d
*/
CollisionImpact imp = new CollisionImpact();
for (int object1 = 0; object1 < objectGroup.Length; object1++)
{
for (int object2 = object1 + 1; object2 < objectGroup.Length; object2++)
{
//Detect a touch between object 1 and object 2
imp = Touch(objectGroup[object1], objectGroup[object2]);
if (imp.Impact == true)
{
//Touch response, call the objects touch event handler
objectGroup[object1].EventTouch(imp.Impact, objectGroup[object2], imp.ImpactFaceObject1);
objectGroup[object2].EventTouch(imp.Impact, objectGroup[object1], imp.ImpactFaceObject2);
}
}
}
}
/// <summary>
///
/// </summary>
/// <param name="obj_group"></param>
public static void CollisionProcessor(Object3d[] objectGroup)
{
if (objectGroup == null)
{
throw new ArgumentNullException("objectGroup");
}
/* collision_processor: Detects collisions amongst all object pairs and moves them back
* until just before the collision and runs the object collision responses
*
* obj_group: A list of objects within the scene: list of class or subclass of Object3d
*/
CollisionImpact imp = new CollisionImpact();
//runs the collision routines until no impacts occur
while (true)
{
bool noimpact = true;
for (int object1 = 0; object1 < objectGroup.Length; object1++)
{
for (int object2 = object1 + 1; object2 < objectGroup.Length; object2++)
{
//If both objects are not fixedob call the collision detector to get the first object collided with
//and time of collision, faces collided with
if (objectGroup[object1].FixedObject == false || objectGroup[object2].FixedObject == false)
{
imp = CollisionDetect(objectGroup[object1], objectGroup[object2]);
if (imp.Impact == true)
{
//Collision response, currently just moving the two objects apart to just touching
CollisionResponse(objectGroup[object1], objectGroup[object2], imp);
objectGroup[object1].EventCollision(objectGroup[object2], imp.ImpactFaceObject1);
objectGroup[object2].EventCollision(objectGroup[object1], imp.ImpactFaceObject2);
noimpact = false;
//Console.WriteLine("End collider loop");
}
}
}
}
if (noimpact == true)
{
break;
}
}
}
/// <summary>
///
/// </summary>
/// <param name="object1"></param>
/// <param name="object2"></param>
/// <returns></returns>
public static CollisionImpact CollisionDetect(Object3d object1, Object3d object2)
{
if (object1 == null)
{
throw new ArgumentNullException("object1");
}
if (object2 == null)
{
throw new ArgumentNullException("object2");
}
/* Discovers if there is a collision between two objects
*
* object1: The first object to be detected: class or subclass of Object3d
* object2: The second object to be detected: class or subclass of Object3d
* Returns imp: a collider with the impact time and faces hit on both objects: class collider
*
* Notes: Simple collision detection, does not handle if objects pass completely
* through each other if they have high velocity and the objects are small
*/
CollisionImpact imp = new CollisionImpact();
int impactTimeFace1;
int impactTimeFace2;
int impactFaceObject1 = 0;
int impactFaceObject2 = 0;
int impactTimeCoord = 0;
for (int i = 0; i <= 2; i++)
{
//check if intersecting
if (object1.GetPosition()[i] + object1.GetSize()[i] <= object2.GetPosition()[i])
{
return(imp);
}
if (object1.GetPosition()[i] >= object2.GetPosition()[i] + object2.GetSize()[i])
{
return(imp);
}
}
//if intersecting calculate the first face impacted
imp.Impact = true;
//***OSCALL
imp.ImpactTime = 1600000;
for (int i = 0; i <= 2; i++)
{
impactTimeFace1 = object1.GetPosition()[i] + object1.GetSize()[i] - object2.GetPosition()[i];
impactTimeFace2 = object2.GetPosition()[i] + object2.GetSize()[i] - object1.GetPosition()[i];
if (impactTimeFace1 < impactTimeFace2)
{
impactFaceObject1 = i << 1;
impactFaceObject2 = (i << 1) + 1;
impactTimeCoord = impactTimeFace1;
}
else if (impactTimeFace1 >= impactTimeFace2)
{
impactFaceObject1 = (i << 1) + 1;
impactFaceObject2 = i << 1;
impactTimeCoord = impactTimeFace2;
}
if (impactTimeCoord < imp.ImpactTime)
{
imp.ImpactTime = impactTimeCoord;
imp.ImpactFaceObject1 = impactFaceObject1;
imp.ImpactFaceObject2 = impactFaceObject2;
}
}
return(imp);
}
/// <summary>
///
/// </summary>
/// <param name="object1"></param>
/// <param name="object2"></param>
/// <param name="imp"></param>
public static void CollisionResponse(Object3d object1, Object3d object2, CollisionImpact imp)
{
if (object1 == null)
{
throw new ArgumentNullException("object1");
}
if (object2 == null)
{
throw new ArgumentNullException("object2");
}
if (imp == null)
{
throw new ArgumentNullException("imp");
}
/* Moves back the objects until they are adjacent on their colliding sides
*
* object1: The first object to be moved: class or subclass of Object3d
* object2: The second object to be moved: class or subclass of Object3d
* imp: a collider with the impact time and faces hit on both objects: class collider */
// calculate the collision coordinate from the face
int coord = imp.ImpactFaceObject1 >> 1;
int delta = 0;
//four cases based on if the object has its fixedob flag to stop pushing.
if (object1.FixedObject == true && object2.FixedObject == true)
{
// Do nothing as both objects are fixedob
return;
}
if (object1.FixedObject == false && object2.FixedObject == true)
{
if (imp.ImpactFaceObject1 % 2 == 0)
{
object1.GetPosition()[coord] = object2.GetPosition()[coord] - object1.GetSize()[coord] - 1;
}
else
{
object1.GetPosition()[coord] = object2.GetPosition()[coord] + object2.GetSize()[coord];
}
}
if (object1.FixedObject == true && object2.FixedObject == false)
{
if (imp.ImpactFaceObject2 % 2 == 0)
{
object2.GetPosition()[coord] = object1.GetPosition()[coord] - object2.GetSize()[coord] - 1;
}
else
{
object2.GetPosition()[coord] = object1.GetPosition()[coord] + object1.GetSize()[coord];
}
}
if (object1.FixedObject == false && object2.FixedObject == false)
{
if (imp.ImpactFaceObject1 % 2 == 0)
{
delta = (object1.GetPosition()[coord] + object1.GetSize()[coord] - object2.GetPosition()[coord]);
object1.GetPosition()[coord] = (int)object1.GetPosition()[coord] - (int)((float)delta / 2.0);
object2.GetPosition()[coord] = (int)object2.GetPosition()[coord] + (int)((float)delta / 2.0) + 1;
}
else
{
delta = (object2.GetPosition()[coord] + object2.GetSize()[coord] - object1.GetPosition()[coord]);
object2.GetPosition()[coord] = (int)object2.GetPosition()[coord] - (int)((float)delta / 2.0);
object1.GetPosition()[coord] = (int)object1.GetPosition()[coord] + (int)((float)delta / 2.0) + 1;
}
}
}
/// <summary>
///
/// </summary>
/// <param name="object1"></param>
/// <param name="object2"></param>
/// <returns></returns>
public static CollisionImpact CollisionDetect(Object3d object1, Object3d object2)
{
if (object1 == null)
{
throw new ArgumentNullException("object1");
}
if (object2 == null)
{
throw new ArgumentNullException("object2");
}
/* Discovers if there is a collision between two objects
object1: The first object to be detected: class or subclass of Object3d
object2: The second object to be detected: class or subclass of Object3d
Returns imp: a collider with the impact time and faces hit on both objects: class collider
Notes: Simple collision detection, does not handle if objects pass completely
through each other if they have high velocity and the objects are small
*/
CollisionImpact imp = new CollisionImpact();
int impactTimeFace1;
int impactTimeFace2;
int impactFaceObject1 = 0;
int impactFaceObject2 = 0;
int impactTimeCoord = 0;
for (int i = 0; i <= 2; i++)
{
//check if intersecting
if (object1.GetPosition()[i] + object1.GetSize()[i] <= object2.GetPosition()[i])
{
return (imp);
}
if (object1.GetPosition()[i] >= object2.GetPosition()[i] + object2.GetSize()[i])
{
return (imp);
}
}
//if intersecting calculate the first face impacted
imp.Impact = true;
//***OSCALL
imp.ImpactTime = 1600000;
for (int i = 0; i <= 2; i++)
{
impactTimeFace1 = object1.GetPosition()[i] + object1.GetSize()[i] - object2.GetPosition()[i];
impactTimeFace2 = object2.GetPosition()[i] + object2.GetSize()[i] - object1.GetPosition()[i];
if (impactTimeFace1 < impactTimeFace2)
{
impactFaceObject1 = i << 1;
impactFaceObject2 = (i << 1) + 1;
impactTimeCoord = impactTimeFace1;
}
else if (impactTimeFace1 >= impactTimeFace2)
{
impactFaceObject1 = (i << 1) + 1;
impactFaceObject2 = i << 1;
impactTimeCoord = impactTimeFace2;
}
if (impactTimeCoord < imp.ImpactTime)
{
imp.ImpactTime = impactTimeCoord;
imp.ImpactFaceObject1 = impactFaceObject1;
imp.ImpactFaceObject2 = impactFaceObject2;
}
}
return (imp);
}
/// <summary>
///
/// </summary>
/// <param name="test_object"></param>
/// <param name="object_group"></param>
/// <returns></returns>
public static bool TestCollisionGroup(Object3d testObject, ArrayList objectGroup)
{
if (objectGroup == null)
{
throw new ArgumentNullException("objectGroup");
}
/* Checks if the test object collides with any object in the object group
test_object: The object to be tested for a collision: class or subclass of Object3d
object_group: A list of objects : list of class or subclass of Object3d
Return true/false: true for a collision : boolean
*/
CollisionImpact imp = new CollisionImpact();
for (int obj = 0; obj < objectGroup.Count; obj++)
{
//call the collision detector to get the first object collided with
imp = CollisionDetect(testObject, (Object3d)objectGroup[obj]);
if (imp.Impact == true)
{
return (true);
}
}
return (false);
}
/// <summary>
///
/// </summary>
/// <param name="object1"></param>
/// <param name="object2"></param>
/// <returns></returns>
public static CollisionImpact Touch(Object3d object1, Object3d object2)
{
if (object1 == null)
{
throw new ArgumentNullException("object1");
}
if (object2 == null)
{
throw new ArgumentNullException("object2");
}
/* Detect if two objects are touching
object1: The first object to be detected: class or subclass of Object3d
object2: The second object to be detected: class or subclass of Object3d
imp: a collider with the impact time and faces touched on both objects: class collide
*/
//produce an imaginary collision object based on projecting object 1 in the direction of object 2
CollisionImpact imp = new CollisionImpact();
int[] zero ={ 0, 0, 0 };
Isotope.Object3d sense_object1 = new Isotope.Object3d(zero, zero, 0, true);
//Take the 2 centres of the objects
int[] twos ={ 2, 2, 2 };
int[] centre_object1 = Vector.AddVector(object1.GetPosition(), Vector.DivideVector(object1.GetSize(), twos));
int[] centre_object2 = Vector.AddVector(object2.GetPosition(), Vector.DivideVector(object2.GetSize(), twos));
//Find the projected vector between them
int[] project_vector = Vector.MultiplyVector(Vector.Direction(centre_object1, centre_object2), twos);
//Add the projected vector to the first objects position
sense_object1.SetPosition(Vector.AddVector(object1.GetPosition(), project_vector));
Vector.CopyVector(object1.GetSize(), sense_object1.GetSize());
//collision detect the sense object with the object 2
imp = CollisionDetect(sense_object1, object2);
return (imp);
}
//NOTE: we are using an impact structure for touch which may not be appropriate
/// <summary>
///
/// </summary>
/// <param name="obj_group"></param>
public static void TouchProcessor(Object3d[] objectGroup)
{
if (objectGroup == null)
{
throw new ArgumentNullException("objectGroup");
}
/*Discover if any of the objects in the group are touching and call their touch response routines
obj_group: A list of objects within the scene: list of class or subclass of Object3d
*/
CollisionImpact imp = new CollisionImpact();
for (int object1 = 0; object1 < objectGroup.Length; object1++)
{
for (int object2 = object1 + 1; object2 < objectGroup.Length; object2++)
{
//Detect a touch between object 1 and object 2
imp = Touch(objectGroup[object1], objectGroup[object2]);
if (imp.Impact == true)
{
//Touch response, call the objects touch event handler
objectGroup[object1].EventTouch(imp.Impact, objectGroup[object2], imp.ImpactFaceObject1);
objectGroup[object2].EventTouch(imp.Impact, objectGroup[object1], imp.ImpactFaceObject2);
}
}
}
}
/// <summary>
///
/// </summary>
/// <param name="object1"></param>
/// <param name="object2"></param>
/// <param name="imp"></param>
public static void CollisionResponse(Object3d object1, Object3d object2, CollisionImpact imp)
{
if (object1 == null)
{
throw new ArgumentNullException("object1");
}
if (object2 == null)
{
throw new ArgumentNullException("object2");
}
if (imp == null)
{
throw new ArgumentNullException("imp");
}
/* Moves back the objects until they are adjacent on their colliding sides
object1: The first object to be moved: class or subclass of Object3d
object2: The second object to be moved: class or subclass of Object3d
imp: a collider with the impact time and faces hit on both objects: class collider */
// calculate the collision coordinate from the face
int coord = imp.ImpactFaceObject1 >> 1;
int delta = 0;
//four cases based on if the object has its fixedob flag to stop pushing.
if (object1.FixedObject == true && object2.FixedObject == true)
// Do nothing as both objects are fixedob
return;
if (object1.FixedObject == false && object2.FixedObject == true)
{
if (imp.ImpactFaceObject1 % 2 == 0)
{
object1.GetPosition()[coord] = object2.GetPosition()[coord] - object1.GetSize()[coord] - 1;
}
else
{
object1.GetPosition()[coord] = object2.GetPosition()[coord] + object2.GetSize()[coord];
}
}
if (object1.FixedObject == true && object2.FixedObject == false)
{
if (imp.ImpactFaceObject2 % 2 == 0)
{
object2.GetPosition()[coord] = object1.GetPosition()[coord] - object2.GetSize()[coord] - 1;
}
else
{
object2.GetPosition()[coord] = object1.GetPosition()[coord] + object1.GetSize()[coord];
}
}
if (object1.FixedObject == false && object2.FixedObject == false)
{
if (imp.ImpactFaceObject1 % 2 == 0)
{
delta = (object1.GetPosition()[coord] + object1.GetSize()[coord] - object2.GetPosition()[coord]);
object1.GetPosition()[coord] = (int)object1.GetPosition()[coord] - (int)((float)delta / 2.0);
object2.GetPosition()[coord] = (int)object2.GetPosition()[coord] + (int)((float)delta / 2.0) + 1;
}
else
{
delta = (object2.GetPosition()[coord] + object2.GetSize()[coord] - object1.GetPosition()[coord]);
object2.GetPosition()[coord] = (int)object2.GetPosition()[coord] - (int)((float)delta / 2.0);
object1.GetPosition()[coord] = (int)object1.GetPosition()[coord] + (int)((float)delta / 2.0) + 1;
}
}
}
/// <summary>
///
/// </summary>
/// <param name="obj_group"></param>
public static void CollisionProcessor(Object3d[] objectGroup)
{
if (objectGroup == null)
{
throw new ArgumentNullException("objectGroup");
}
/* collision_processor: Detects collisions amongst all object pairs and moves them back
until just before the collision and runs the object collision responses
obj_group: A list of objects within the scene: list of class or subclass of Object3d
*/
CollisionImpact imp = new CollisionImpact();
//runs the collision routines until no impacts occur
while (true)
{
bool noimpact = true;
for (int object1 = 0; object1 < objectGroup.Length; object1++)
{
for (int object2 = object1 + 1; object2 < objectGroup.Length; object2++)
{
//If both objects are not fixedob call the collision detector to get the first object collided with
//and time of collision, faces collided with
if (objectGroup[object1].FixedObject == false || objectGroup[object2].FixedObject == false)
{
imp = CollisionDetect(objectGroup[object1], objectGroup[object2]);
if (imp.Impact == true)
{
//Collision response, currently just moving the two objects apart to just touching
CollisionResponse(objectGroup[object1], objectGroup[object2], imp);
objectGroup[object1].EventCollision(objectGroup[object2], imp.ImpactFaceObject1);
objectGroup[object2].EventCollision(objectGroup[object1], imp.ImpactFaceObject2);
noimpact = false;
//Console.WriteLine("End collider loop");
}
}
}
}
if (noimpact == true)
{
break;
}
}
}
