/// <summary>
/// Constructs the query manager for a character.
/// </summary>
/// <param name="character">Character to manage queries for.</param>
public QueryManager(CharacterController character)
{
this.character = character;
//We can share the real shape with the 'current' query object.
currentQueryObject = new ConvexCollidable <CylinderShape>(character.Body.CollisionInformation.Shape);
standingQueryObject = new ConvexCollidable <CylinderShape>(new CylinderShape(character.StanceManager.StandingHeight, character.Body.Radius));
crouchingQueryObject = new ConvexCollidable <CylinderShape>(new CylinderShape(character.StanceManager.CrouchingHeight, character.Body.Radius));
//Share the collision rules between the main body and its query objects. That way, the character's queries return valid results.
currentQueryObject.CollisionRules = character.Body.CollisionInformation.CollisionRules;
standingQueryObject.CollisionRules = character.Body.CollisionInformation.CollisionRules;
crouchingQueryObject.CollisionRules = character.Body.CollisionInformation.CollisionRules;
SupportRayFilter = SupportRayFilterFunction;
}
///<summary>
/// Initializes the manifold.
///</summary>
///<param name="newCollidableA">First collidable.</param>
///<param name="newCollidableB">Second collidable.</param>
///<exception cref="Exception">Thrown when the collidables being used are not of the proper type.</exception>
public override void Initialize(Collidable newCollidableA, Collidable newCollidableB)
{
box = newCollidableA as ConvexCollidable <BoxShape>;
sphere = newCollidableB as ConvexCollidable <SphereShape>;
if (box == null || sphere == null)
{
box = newCollidableB as ConvexCollidable <BoxShape>;
sphere = newCollidableA as ConvexCollidable <SphereShape>;
if (box == null || sphere == null)
{
throw new Exception("Inappropriate types used to initialize pair.");
}
}
}
.1f; //There's a little extra space above the maximum step height to start the obstruction and downcast test rays. Helps when a step is very close to the max step height.
/// <summary>
/// Constructs a new step manager for a character.
/// </summary>
/// <param name="characterBody">The character's body.</param>
/// <param name="contactCategorizer">Contact categorizer used by the character.</param>
/// <param name="supportFinder">Support finder used by the character.</param>
/// <param name="queryManager">Query provider to use in checking for obstructions.</param>
/// <param name="horizontalMotionConstraint">Horizontal motion constraint used by the character. Source of 3d movement direction.</param>
public StepManager(Cylinder characterBody, CharacterContactCategorizer contactCategorizer,
SupportFinder supportFinder, QueryManager queryManager,
HorizontalMotionConstraint horizontalMotionConstraint)
{
this.characterBody = characterBody;
currentQueryObject = new ConvexCollidable <CylinderShape>(characterBody.CollisionInformation.Shape);
ContactCategorizer = contactCategorizer;
SupportFinder = supportFinder;
QueryManager = queryManager;
HorizontalMotionConstraint = horizontalMotionConstraint;
//The minimum step height is just barely above where the character would generally find the ground.
//This helps avoid excess tests.
minimumUpStepHeight =
CollisionDetectionSettings.AllowedPenetration *
1.1f; // Math.Max(0, -.01f + character.Body.CollisionInformation.Shape.CollisionMargin * (1 - character.SupportFinder.sinMaximumSlope));
}
public override void Initialize(Collidable newCollidableA, Collidable newCollidableB)
{
convex = newCollidableA as ConvexCollidable;
mesh = newCollidableB as FullChunkObject;
if (convex == null || mesh == null)
{
convex = newCollidableB as ConvexCollidable;
mesh = newCollidableA as FullChunkObject;
if (convex == null || mesh == null)
{
throw new ArgumentException("Inappropriate types used to initialize contact manifold.");
}
}
ActivePairs = new QuickDictionary <Vector3i, GeneralConvexPairTester>(BufferPools <Vector3i> .Locking, BufferPools <GeneralConvexPairTester> .Locking, BufferPools <int> .Locking, 3);
activePairsBackBuffer = new QuickDictionary <Vector3i, GeneralConvexPairTester>(BufferPools <Vector3i> .Locking, BufferPools <GeneralConvexPairTester> .Locking, BufferPools <int> .Locking, 3);
}
/// <summary>
/// Constructs a stance manager for a character.
/// </summary>
/// <param name="characterBody">The character's body entity.</param>
/// <param name="crouchingHeight">Crouching height of the character.</param>
/// <param name="proneHeight">Prone height of the character.</param>
/// <param name="queryManager">Provider of queries used by the stance manager to test if it is okay to change stances.</param>
/// <param name="supportFinder">Support finder used by the character.</param>
public StanceManager(Cylinder characterBody, float crouchingHeight, float proneHeight,
QueryManager queryManager, SupportFinder supportFinder)
{
QueryManager = queryManager;
SupportFinder = supportFinder;
this.characterBody = characterBody;
standingHeight = characterBody.Height;
if (crouchingHeight < standingHeight)
{
this.crouchingHeight = crouchingHeight;
}
else
{
throw new ArgumentException("Crouching height must be less than standing height.");
}
if (proneHeight < crouchingHeight)
{
this.proneHeight = proneHeight;
}
else
{
throw new ArgumentException("Prone height must be less than crouching height.");
}
//We can share the real shape with the query objects.
currentQueryObject = new ConvexCollidable <CylinderShape>(characterBody.CollisionInformation.Shape);
standingQueryObject = new ConvexCollidable <CylinderShape>(
new CylinderShape(StandingHeight, characterBody.Radius)
{
CollisionMargin = currentQueryObject.Shape.CollisionMargin
});
crouchingQueryObject = new ConvexCollidable <CylinderShape>(
new CylinderShape(CrouchingHeight, characterBody.Radius)
{
CollisionMargin = currentQueryObject.Shape.CollisionMargin
});
proneQueryObject = new ConvexCollidable <CylinderShape>(new CylinderShape(proneHeight, characterBody.Radius)
{
CollisionMargin = currentQueryObject.Shape.CollisionMargin
});
//Share the collision rules between the main body and its query objects. That way, the character's queries return valid results.
currentQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
standingQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
crouchingQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
proneQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
}
CharacterContactPositionState TrySupportLocation(ConvexCollidable <CylinderShape> queryObject, ref Vector3 position, out float hintOffset,
ref QuickList <CharacterContact> tractionContacts, ref QuickList <CharacterContact> supportContacts, ref QuickList <CharacterContact> sideContacts, ref QuickList <CharacterContact> headContacts)
{
hintOffset = 0;
PrepareQueryObject(queryObject, ref position);
QueryManager.QueryContacts(queryObject, ref tractionContacts, ref supportContacts, ref sideContacts, ref headContacts, true);
bool obstructed = IsObstructed(ref sideContacts, ref headContacts);
if (obstructed)
{
return(CharacterContactPositionState.Obstructed);
}
if (supportContacts.Count > 0)
{
CharacterContactPositionState supportState;
CharacterContact supportContact;
QueryManager.AnalyzeSupportState(ref tractionContacts, ref supportContacts, out supportState, out supportContact);
var down = characterBody.orientationMatrix.Down;
//Note that traction is not tested for; it isn't important for the stance manager.
if (supportState == CharacterContactPositionState.Accepted)
{
//We're done! The guess found a good spot to stand on.
//We need to have fairly good contacts after this process, so only push it up a bit.
hintOffset = Math.Min(0, Vector3.Dot(supportContact.Contact.Normal, down) * (CollisionDetectionSettings.AllowedPenetration * .5f - supportContact.Contact.PenetrationDepth));
return(CharacterContactPositionState.Accepted);
}
else if (supportState == CharacterContactPositionState.TooDeep)
{
//Looks like we have to keep trying, but at least we found a good hint.
hintOffset = Math.Min(0, Vector3.Dot(supportContact.Contact.Normal, down) * (CollisionDetectionSettings.AllowedPenetration * .5f - supportContact.Contact.PenetrationDepth));
return(CharacterContactPositionState.TooDeep);
}
else //if (supportState == SupportState.Separated)
{
//It's not obstructed, but the support isn't quite right.
//It's got a negative penetration depth.
//We can use that as a hint.
hintOffset = -.001f - Vector3.Dot(supportContact.Contact.Normal, down) * supportContact.Contact.PenetrationDepth;
return(CharacterContactPositionState.NoHit);
}
}
else //Not obstructed, but no support.
{
return(CharacterContactPositionState.NoHit);
}
}
///<summary>
/// Cleans up the manifold.
///</summary>
public override void CleanUp()
{
supplementData.Clear();
convex = null;
for (int i = activePairTesters.Count - 1; i >= 0; --i)
{
activePairTesters.Values[i].CleanUp();
GiveBackTester(activePairTesters.Values[i]);
}
activePairTesters.Dispose();
activePairTesters = new QuickDictionary <TriangleIndices, TrianglePairTester>(
BufferPools <TriangleIndices> .Locking, BufferPools <TrianglePairTester> .Locking, BufferPools <int> .Locking,
3);
CleanUpOverlappingTriangles();
base.CleanUp();
}
public override void CleanUp()
{
convex = null;
for (int i = ActivePairs.Count - 1; i >= 0; --i)
{
ReturnPair(ActivePairs.Values[i]);
ActivePairs.Values[i].CleanUp();
}
//Clear->dispose is technically unnecessary now, but it may avoid some pain later on when this behavior changes in v2.
//This will be a very sneaky breaking change...
ActivePairs.Clear();
ActivePairs.Dispose();
Debug.Assert(activePairsBackBuffer.Count == 0);
activePairsBackBuffer.Dispose();
base.CleanUp();
}
public override void Initialize(Collidable newCollidableA, Collidable newCollidableB)
{
convex = newCollidableA as ConvexCollidable;
triangle = newCollidableB as ConvexCollidable <TriangleShape>;
if (convex == null || triangle == null)
{
convex = newCollidableB as ConvexCollidable;
triangle = newCollidableA as ConvexCollidable <TriangleShape>;
if (convex == null || triangle == null)
{
throw new ArgumentException("Inappropriate types used to initialize contact manifold.");
}
}
pairTester.Initialize(convex.Shape);
}
public override void Initialize(Collidable newCollidableA, Collidable newCollidableB)
{
convex = newCollidableA as ConvexCollidable;
voxelGrid = newCollidableB as VoxelGrid;
if (convex == null || voxelGrid == null)
{
convex = newCollidableB as ConvexCollidable;
voxelGrid = newCollidableA as VoxelGrid;
if (convex == null || voxelGrid == null)
{
throw new ArgumentException("Inappropriate types used to initialize contact manifold.");
}
}
ActivePairs = new QuickDictionary <Int3, GeneralConvexPairTester>(BufferPools <Int3> .Locking, BufferPools <GeneralConvexPairTester> .Locking, BufferPools <int> .Locking, 3);
activePairsBackBuffer = new QuickDictionary <Int3, GeneralConvexPairTester>(BufferPools <Int3> .Locking, BufferPools <GeneralConvexPairTester> .Locking, BufferPools <int> .Locking, 3);
}
///<summary>
/// Initializes the pair handler.
///</summary>
///<param name="entryA">First entry in the pair.</param>
///<param name="entryB">Second entry in the pair.</param>
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
box = entryA as ConvexCollidable <BoxShape>;
sphere = entryB as ConvexCollidable <SphereShape>;
if (box == null || sphere == null)
{
box = entryB as ConvexCollidable <BoxShape>;
sphere = entryA as ConvexCollidable <SphereShape>;
if (box == null || sphere == null)
{
throw new ArgumentException("Inappropriate types used to initialize pair.");
}
}
//Reorder the entries so that the guarantee that the normal points from A to B is satisfied.
broadPhaseOverlap.entryA = box;
broadPhaseOverlap.entryB = sphere;
base.Initialize(entryA, entryB);
}
///<summary>
/// Initializes the pair handler.
///</summary>
///<param name="entryA">First entry in the pair.</param>
///<param name="entryB">Second entry in the pair.</param>
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
triangle = entryA as ConvexCollidable <TriangleShape>;
convex = entryB as ConvexCollidable;
if (triangle == null || convex == null)
{
triangle = entryB as ConvexCollidable <TriangleShape>;
convex = entryA as ConvexCollidable;
if (triangle == null || convex == null)
{
throw new ArgumentException("Inappropriate types used to initialize pair.");
}
}
//Contact normal goes from A to B.
broadPhaseOverlap.entryA = convex;
broadPhaseOverlap.entryB = triangle;
base.Initialize(entryA, entryB);
}
/// <summary>
///
/// </summary>
/// <param name="from"></param>
/// <param name="to"></param>
/// <param name="normal"></param>
/// <param name="pos"></param>
/// <returns></returns>
public List <Vector3> RayCastAgainstStatic(Vector3 from, Vector3 to)
{
var list = new List <Vector3>();
var dir = to - from;
var dist = dir.Length();
var ndir = dir.Normalized();
Ray ray = new Ray(from, ndir);
Func <BroadPhaseEntry, bool> filterFunc = delegate(BroadPhaseEntry bpe)
{
ConvexCollidable cc = bpe as ConvexCollidable;
if (cc != null)
{
return(false);
}
return(true);
};
IList <RayCastResult> rcrList = new List <RayCastResult>();
bool result = Space.RayCast(ray, dist, filterFunc, rcrList);
if (!result)
{
return(list);
}
foreach (var rcr in rcrList)
{
list.Add(rcr.HitData.Location);
list.Add(rcr.HitData.Normal);
}
return(list);
}
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
if (noRecurse)
{
return;
}
noRecurse = true;
mesh = entryA as MobileChunkCollidable;
convex = entryB as ConvexCollidable;
if (mesh == null || convex == null)
{
mesh = entryB as MobileChunkCollidable;
convex = entryA as ConvexCollidable;
if (mesh == null || convex == null)
{
throw new ArgumentException("Inappropriate types used to initialize pair.");
}
}
broadPhaseOverlap = new BroadPhaseOverlap(convex, mesh, broadPhaseOverlap.CollisionRule);
UpdateMaterialProperties(convex.Entity?.Material, mesh.Entity?.Material);
base.Initialize(entryA, entryB);
noRecurse = false;
}
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
voxelGrid = entryA as VoxelGrid;
convex = entryB as ConvexCollidable;
if (voxelGrid == null || convex == null)
{
voxelGrid = entryB as VoxelGrid;
convex = entryA as ConvexCollidable;
if (voxelGrid == null || convex == null)
{
throw new ArgumentException("Inappropriate types used to initialize pair.");
}
}
//Contact normal goes from A to B.
broadPhaseOverlap = new BroadPhaseOverlap(convex, voxelGrid, broadPhaseOverlap.CollisionRule);
UpdateMaterialProperties(convex.Entity != null ? convex.Entity.Material : null, voxelGrid.Material);
base.Initialize(entryA, entryB);
}
///<summary>
/// Initializes the pair handler.
///</summary>
///<param name="entryA">First entry in the pair.</param>
///<param name="entryB">Second entry in the pair.</param>
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
mobileMesh = entryA as MobileMeshCollidable;
convex = entryB as ConvexCollidable;
if (mobileMesh == null || convex == null)
{
mobileMesh = entryB as MobileMeshCollidable;
convex = entryA as ConvexCollidable;
if (mobileMesh == null || convex == null)
throw new Exception("Inappropriate types used to initialize pair.");
}
//Contact normal goes from A to B.
broadPhaseOverlap.entryA = convex;
broadPhaseOverlap.entryB = mobileMesh;
//It's possible that the convex does not have an entity if it is a proxy for a non-entity collidable.
//Similarly, the mesh could be a query object.
UpdateMaterialProperties(convex.entity != null ? convex.entity.material : null, mobileMesh.entity != null ? mobileMesh.entity.material : null);
base.Initialize(entryA, entryB);
}
///<summary>
/// Initializes the pair handler.
///</summary>
///<param name="entryA">First entry in the pair.</param>
///<param name="entryB">Second entry in the pair.</param>
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
terrain = entryA as Terrain;
convex = entryB as ConvexCollidable;
if (terrain == null || convex == null)
{
terrain = entryB as Terrain;
convex = entryA as ConvexCollidable;
if (terrain == null || convex == null)
{
throw new Exception("Inappropriate types used to initialize pair.");
}
}
//Contact normal goes from A to B.
broadPhaseOverlap.entryA = convex;
broadPhaseOverlap.entryB = terrain;
UpdateMaterialProperties(convex.entity != null ? convex.entity.material : null, terrain.material);
base.Initialize(entryA, entryB);
}
///<summary>
/// Updates the time of impact for the pair.
///</summary>
///<param name="requester">Collidable requesting the update.</param>
///<param name="dt">Timestep duration.</param>
public override void UpdateTimeOfImpact(Collidable requester, float dt)
{
ConvexCollidable collidableA = CollidableA as ConvexCollidable;
ConvexCollidable collidableB = CollidableB as ConvexCollidable;
PositionUpdateMode modeA = collidableA.entity == null
? PositionUpdateMode.Discrete
: collidableA.entity.PositionUpdateMode;
PositionUpdateMode modeB = collidableB.entity == null
? PositionUpdateMode.Discrete
: collidableB.entity.PositionUpdateMode;
BroadPhaseOverlap overlap = BroadPhaseOverlap;
if (
(overlap.entryA.IsActive || overlap.entryB.IsActive) && //At least one has to be active.
(
modeA == PositionUpdateMode.Continuous && //If both are continuous, only do the process for A.
modeB == PositionUpdateMode.Continuous &&
overlap.entryA == requester ||
(modeA == PositionUpdateMode.Continuous) ^ //If only one is continuous, then we must do it.
(modeB == PositionUpdateMode.Continuous)
)
)
{
//Only perform the test if the minimum radii are small enough relative to the size of the velocity.
//Discrete objects have already had their linear motion integrated, so don't use their velocity.
Vector3 velocity;
if (modeA == PositionUpdateMode.Discrete)
//CollidableA is static for the purposes of this continuous test.
{
velocity = collidableB.entity.linearVelocity;
}
else if (modeB == PositionUpdateMode.Discrete)
//CollidableB is static for the purposes of this continuous test.
{
Vector3.Negate(ref collidableA.entity.linearVelocity, out velocity);
}
else
//Both objects are moving.
{
Vector3.Subtract(ref collidableB.entity.linearVelocity, ref collidableA.entity.linearVelocity,
out velocity);
}
Vector3.Multiply(ref velocity, dt, out velocity);
float velocitySquared = velocity.LengthSquared();
float minimumRadiusA = collidableA.Shape.MinimumRadius * MotionSettings.CoreShapeScaling;
timeOfImpact = 1;
if (minimumRadiusA * minimumRadiusA < velocitySquared)
{
//Spherecast A against B.
RayHit rayHit;
if (GJKToolbox.CCDSphereCast(new Ray(collidableA.worldTransform.Position, -velocity),
minimumRadiusA, collidableB.Shape, ref collidableB.worldTransform, timeOfImpact, out rayHit))
{
timeOfImpact = rayHit.T;
}
}
float minimumRadiusB = collidableB.Shape.MinimumRadius * MotionSettings.CoreShapeScaling;
if (minimumRadiusB * minimumRadiusB < velocitySquared)
{
//Spherecast B against A.
RayHit rayHit;
if (GJKToolbox.CCDSphereCast(new Ray(collidableB.worldTransform.Position, velocity), minimumRadiusB,
collidableA.Shape, ref collidableA.worldTransform, timeOfImpact, out rayHit))
{
timeOfImpact = rayHit.T;
}
}
//If it's intersecting, throw our hands into the air and give up.
//This is generally a perfectly acceptable thing to do, since it's either sitting
//inside another object (no ccd makes sense) or we're still in an intersecting case
//from a previous frame where CCD took place and a contact should have been created
//to deal with interpenetrating velocity. Sometimes that contact isn't sufficient,
//but it's good enough.
if (timeOfImpact == 0)
{
timeOfImpact = 1;
}
}
}
///<summary>
/// Cleans up the pair handler.
///</summary>
public override void CleanUp()
{
base.CleanUp();
voxelGrid = null;
convex = null;
}
public override void CleanUp()
{
base.CleanUp();
mesh = null;
convex = null;
}
///<summary>
/// Cleans up the pair handler.
///</summary>
public override void CleanUp()
{
base.CleanUp();
instancedMesh = null;
convex = null;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public StaticGroupDemo(DemosGame game)
: base(game)
{
//Creating a bunch of separate StaticMeshes or kinematic Entity objects for an environment can pollute the broad phase.
//This is because the broad phase implementation doesn't have guarantees about what elements can collide, so it has to
//traverse the acceleration structure all the way down to pairs to figure it out. That can get expensive!
//Individual objects, like StaticMeshes, can have very complicated geometry without hurting the broad phase because the broad phase
//has no knowledge of the thousands of triangles in the mesh. The StaticMesh itself knows that the triangles within the mesh
//never need to collide, so it never needs to test them against each other.
//Similarly, the StaticGroup can be given a bunch of separate collidables. The broad phase doesn't directly know about these child collidables-
//it only sees the StaticGroup. The StaticGroup knows that the things inside it can't ever collide with each other, so no tests are needed.
//This avoids the performance problem!
//To demonstrate, we'll be creating a set of static objects and giving them to a group to manage.
var collidables = new List <Collidable>();
//Start with a whole bunch of boxes. These are entity collidables, but without entities!
float xSpacing = 6;
float ySpacing = 6;
float zSpacing = 6;
//NOTE: You might notice this demo takes a while to start, especially on the Xbox360. Do not fear! That's due to the creation of the graphics data, not the physics.
//The physics can handle over 100,000 static objects pretty easily. The graphics, not so much :)
//Try disabling the game.ModelDrawer.Add() lines and increasing the number of static objects.
int xCount = 15;
int yCount = 7;
int zCount = 15;
var random = new Random();
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
for (int k = 0; k < zCount; k++)
{
//Create a transform and the instance of the mesh.
var collidable = new ConvexCollidable <BoxShape>(new BoxShape((float)random.NextDouble() * 6 + .5f, (float)random.NextDouble() * 6 + .5f, (float)random.NextDouble() * 6 + .5f));
//This EntityCollidable isn't associated with an entity, so we must manually tell it where to sit by setting the WorldTransform.
//This also updates its bounding box.
collidable.WorldTransform = new RigidTransform(
new Vector3(i * xSpacing - xCount * xSpacing * .5f, j * ySpacing + 3, k * zSpacing - zCount * zSpacing * .5f),
Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble())), (float)random.NextDouble() * 100));
collidables.Add(collidable);
game.ModelDrawer.Add(collidable);
}
}
}
//Now create a bunch of instanced meshes too.
xSpacing = 6;
ySpacing = 6;
zSpacing = 6;
xCount = 10;
yCount = 2;
zCount = 10;
Vector3[] vertices;
int[] indices;
ModelDataExtractor.GetVerticesAndIndicesFromModel(game.Content.Load <Model>("fish"), out vertices, out indices);
var meshShape = new InstancedMeshShape(vertices, indices);
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
for (int k = 0; k < zCount; k++)
{
//Create a transform and the instance of the mesh.
var transform = new AffineTransform(
new Vector3((float)random.NextDouble() * 6 + .5f, (float)random.NextDouble() * 6 + .5f, (float)random.NextDouble() * 6 + .5f),
Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble())), (float)random.NextDouble() * 100),
new Vector3(i * xSpacing - xCount * xSpacing * .5f, j * ySpacing + 50, k * zSpacing - zCount * zSpacing * .5f));
var mesh = new InstancedMesh(meshShape, transform);
//Making the triangles one-sided makes collision detection a bit more robust, since the backsides of triangles won't try to collide with things
//and 'pull' them back into the mesh.
mesh.Sidedness = TriangleSidedness.Counterclockwise;
collidables.Add(mesh);
game.ModelDrawer.Add(mesh);
}
}
}
var ground = new ConvexCollidable <BoxShape>(new BoxShape(200, 1, 200));
ground.WorldTransform = new RigidTransform(new Vector3(0, -3, 0), Quaternion.Identity);
collidables.Add(ground);
game.ModelDrawer.Add(ground);
var group = new StaticGroup(collidables);
Space.Add(group);
//Create a bunch of dynamic boxes to drop on the staticswarm.
xCount = 8;
yCount = 3;
zCount = 8;
xSpacing = 3f;
ySpacing = 5f;
zSpacing = 3f;
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < zCount; j++)
{
for (int k = 0; k < yCount; k++)
{
Space.Add(new Box(new Vector3(
xSpacing * i - (xCount - 1) * xSpacing / 2f,
100 + k * (ySpacing),
2 + zSpacing * j - (zCount - 1) * zSpacing / 2f),
1, 1, 1, 10));
}
}
}
game.Camera.Position = new Vector3(0, 60, 90);
}
///<summary>
/// Cleans up the manifold.
///</summary>
public override void CleanUp()
{
boxA = null;
boxB = null;
base.CleanUp();
}
public override void CleanUp()
{
base.CleanUp();
convex = null;
checkContainment = true;
}
///<summary>
/// Cleans up the pair handler.
///</summary>
public override void CleanUp()
{
base.CleanUp();
convexInfo = null;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public CharacterStressierTestDemo(DemosGame game)
: base(game)
{
//Load in mesh data and create the group.
Vector3[] staticTriangleVertices;
int[] staticTriangleIndices;
var playgroundModel = game.Content.Load <Model>("playground");
//This is a little convenience method used to extract vertices and indices from a model.
//It doesn't do anything special; any approach that gets valid vertices and indices will work.
ModelDataExtractor.GetVerticesAndIndicesFromModel(playgroundModel, out staticTriangleVertices, out staticTriangleIndices);
var meshShape = new InstancedMeshShape(staticTriangleVertices, staticTriangleIndices);
var meshes = new List <Collidable>();
var xSpacing = 400;
var ySpacing = 400;
var xCount = 11;
var yCount = 11;
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
var staticMesh = new InstancedMesh(meshShape, new AffineTransform(Matrix3x3.Identity, new Vector3(-xSpacing * (xCount - 1) / 2 + i * xSpacing, 0, -ySpacing * (yCount - 1) / 2 + j * ySpacing)));
staticMesh.Sidedness = TriangleSidedness.Counterclockwise;
Space.Add(staticMesh);
//meshes.Add(staticMesh);
game.ModelDrawer.Add(staticMesh);
}
}
//var group = new StaticGroup(meshes);
//Space.Add(group);
//To demonstrate, we'll be creating a set of static objects and giving them to a group to manage.
var collidables = new List <Collidable>();
//Start with a whole bunch of boxes. These are entity collidables, but without entities!
xSpacing = 25;
ySpacing = 16;
float zSpacing = 25;
xCount = 25;
yCount = 7;
int zCount = 25;
var random = new Random();
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
for (int k = 0; k < zCount; k++)
{
//Create a transform and the instance of the mesh.
var collidable = new ConvexCollidable <BoxShape>(new BoxShape((float)random.NextDouble() * 25 + 5.5f, (float)random.NextDouble() * 25 + 5.5f, (float)random.NextDouble() * 25 + 5.5f));
//This EntityCollidable isn't associated with an entity, so we must manually tell it where to sit by setting the WorldTransform.
//This also updates its bounding box.
collidable.WorldTransform = new RigidTransform(
new Vector3(i * xSpacing - xCount * xSpacing * .5f, j * ySpacing + -50, k * zSpacing - zCount * zSpacing * .5f),
Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble())), (float)random.NextDouble() * 100));
collidables.Add(collidable);
game.ModelDrawer.Add(collidable);
}
}
}
var group = new StaticGroup(collidables);
Space.Add(group);
//Now drop the characters on it!
var numColumns = 16;
var numRows = 16;
var numHigh = 16;
float separation = 24;
for (int i = 0; i < numRows; i++)
{
for (int j = 0; j < numColumns; j++)
{
for (int k = 0; k < numHigh; k++)
{
var character = new CharacterController();
character.Body.Position =
new Vector3(
separation * i - numRows * separation / 2,
50f + k * separation,
separation * j - numColumns * separation / 2);
characters.Add(character);
Space.Add(character);
}
}
}
game.Camera.Position = new Vector3(0, 10, 40);
//Dump some boxes on top of the characters for fun.
numColumns = 16;
numRows = 16;
numHigh = 8;
separation = 24;
for (int i = 0; i < numRows; i++)
{
for (int j = 0; j < numColumns; j++)
{
for (int k = 0; k < numHigh; k++)
{
var toAdd = new Box(
new Vector3(
separation * i - numRows * separation / 2,
52f + k * separation,
separation * j - numColumns * separation / 2),
0.8f, 0.8f, 0.8f, 15);
toAdd.PositionUpdateMode = BEPUphysics.PositionUpdating.PositionUpdateMode.Continuous;
Space.Add(toAdd);
}
}
}
}
