// Set up initial bounding shapes for the primary (static) and secondary (moving)
// bounding shapes along with relevant camera position information.
protected override void Initialize()
{
Console.WriteLine("DEBUG - Game Initialize!");
debugDraw = new DebugDraw(GraphicsDevice);
Components.Add(new FrameRateCounter(this));
// Primary frustum
Matrix m1 = Matrix.CreatePerspectiveFieldOfView(MathHelper.PiOver4, 1.77778F, 0.5f, 10.0f);
Matrix m2 = Matrix.CreateTranslation(new Vector3(0, 0, -7));
primaryFrustum = new BoundingFrustum(Matrix.Multiply(m2, m1));
cameraOrigins[FrustumGroupIndex] = Vector3.Zero;
// Primary axis-aligned box
primaryAABox.Min = new Vector3(CAMERA_SPACING - 3, -4, -5);
primaryAABox.Max = new Vector3(CAMERA_SPACING + 3, 4, 5);
cameraOrigins[AABoxGroupIndex] = new Vector3(CAMERA_SPACING, 0, 0);
// Primary oriented box
primaryOBox.Center = new Vector3(-CAMERA_SPACING, 0, 0);
primaryOBox.HalfExtent = new Vector3(3, 4, 5);
primaryOBox.Orientation = Quaternion.CreateFromYawPitchRoll(0.8f, 0.7f, 0);
cameraOrigins[OBoxGroupIndex] = primaryOBox.Center;
// Primary sphere
primarySphere.Center = new Vector3(0, 0, -CAMERA_SPACING);
primarySphere.Radius = 5;
cameraOrigins[SphereGroupIndex] = primarySphere.Center;
// Primary ray
primaryRay.Position = new Vector3(0, 0, CAMERA_SPACING);
primaryRay.Direction = Vector3.UnitZ;
cameraOrigins[RayGroupIndex] = primaryRay.Position;
// Initialize all of the secondary objects with default values
Vector3 half = new Vector3(0.5F, 0.5F, 0.5F);
for (int i = 0; i < NumGroups; i++)
{
secondarySpheres[i] = new BoundingSphere(Vector3.Zero, 1.0f);
secondaryOBoxes[i] = new BoundingOrientedBox(Vector3.Zero, half, Quaternion.Identity);
secondaryAABoxes[i] = new BoundingBox(-half, half);
secondaryTris[i] = new Triangle();
}
rayHitResult = null;
currentCamera = 3;
cameraOrtho = false;
cameraYaw = (float)Math.PI * 0.75F;
cameraPitch = MathHelper.PiOver4;
cameraDistance = 20;
cameraTarget = cameraOrigins[0];
paused = false;
base.Initialize();
}
/// <summary>
/// Returns true if the given BoundingOrientedBox intersects the triangle (v0,v1,v2)
/// </summary>
public static bool Intersects(ref BoundingOrientedBox obox, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2)
{
// Transform the triangle into the local space of the box, so we can use a
// faster axis-aligned box test.
// Note than when transforming more than one point, using an intermediate matrix
// is faster than doing multiple quaternion transforms directly.
Quaternion qinv;
Quaternion.Conjugate(ref obox.Orientation, out qinv);
Matrix minv = Matrix.CreateFromQuaternion(qinv);
Triangle localTri = new Triangle();
localTri.V0 = Vector3.TransformNormal(v0 - obox.Center, minv);
localTri.V1 = Vector3.TransformNormal(v1 - obox.Center, minv);
localTri.V2 = Vector3.TransformNormal(v2 - obox.Center, minv);
return(OriginBoxContains(ref obox.HalfExtent, ref localTri) != ContainmentType.Disjoint);
}
/// <summary>
/// Renders the outline of an oriented bounding box
/// </summary>
/// <param name="box">Oriented bounding box to render</param>
/// <param name="color">Color of the box lines</param>
public void DrawWireBox(BoundingOrientedBox box, Color color)
{
DrawWireShape(box.GetCorners(), cubeIndices, color);
}
/// <summary>
/// Determines whether the given BoundingOrientedBox contains/intersects/is disjoint from the
/// given triangle.
/// </summary>
public static ContainmentType Contains(ref BoundingOrientedBox obox, ref Triangle triangle)
{
return(Contains(ref obox, ref triangle.V0, ref triangle.V1, ref triangle.V2));
}
/// <summary>
/// Check each pair of objects for collision/containment and store the results for
/// coloring them at render time.
/// </summary>
private void Collide()
{
// test collisions between objects and frustum
collideResults[FrustumGroupIndex, SphereIndex] = primaryFrustum.Contains(secondarySpheres[FrustumGroupIndex]);
collideResults[FrustumGroupIndex, OBoxIndex] = BoundingOrientedBox.Contains(primaryFrustum, ref secondaryOBoxes[FrustumGroupIndex]);
collideResults[FrustumGroupIndex, AABoxIndex] = primaryFrustum.Contains(secondaryAABoxes[FrustumGroupIndex]);
collideResults[FrustumGroupIndex, TriIndex] = TriangleTest.Contains(primaryFrustum, ref secondaryTris[FrustumGroupIndex]);
// test collisions between objects and aligned box
collideResults[AABoxGroupIndex, SphereIndex] = primaryAABox.Contains(secondarySpheres[AABoxGroupIndex]);
collideResults[AABoxGroupIndex, OBoxIndex] = BoundingOrientedBox.Contains(ref primaryAABox, ref secondaryOBoxes[AABoxGroupIndex]);
collideResults[AABoxGroupIndex, AABoxIndex] = primaryAABox.Contains(secondaryAABoxes[AABoxGroupIndex]);
collideResults[AABoxGroupIndex, TriIndex] = TriangleTest.Contains(ref primaryAABox, ref secondaryTris[AABoxGroupIndex]);
// test collisions between objects and oriented box
collideResults[OBoxGroupIndex, SphereIndex] = primaryOBox.Contains(ref secondarySpheres[OBoxGroupIndex]);
collideResults[OBoxGroupIndex, OBoxIndex] = primaryOBox.Contains(ref secondaryOBoxes[OBoxGroupIndex]);
collideResults[OBoxGroupIndex, AABoxIndex] = primaryOBox.Contains(ref secondaryAABoxes[OBoxGroupIndex]);
collideResults[OBoxGroupIndex, TriIndex] = TriangleTest.Contains(ref primaryOBox, ref secondaryTris[OBoxGroupIndex]);
// test collisions between objects and sphere
collideResults[SphereGroupIndex, SphereIndex] = primarySphere.Contains(secondarySpheres[SphereGroupIndex]);
collideResults[SphereGroupIndex, OBoxIndex] = BoundingOrientedBox.Contains(ref primarySphere, ref secondaryOBoxes[SphereGroupIndex]);
collideResults[SphereGroupIndex, AABoxIndex] = primarySphere.Contains(secondaryAABoxes[SphereGroupIndex]);
collideResults[SphereGroupIndex, TriIndex] = TriangleTest.Contains(ref primarySphere, ref secondaryTris[SphereGroupIndex]);
// test collisions between objects and ray
float dist = -1;
collideResults[RayGroupIndex, SphereIndex] =
collideResults[RayGroupIndex, OBoxIndex] =
collideResults[RayGroupIndex, AABoxIndex] =
collideResults[RayGroupIndex, TriIndex] = ContainmentType.Disjoint;
rayHitResult = null;
float?r = primaryRay.Intersects(secondarySpheres[RayGroupIndex]);
if (r.HasValue)
{
collideResults[RayGroupIndex, SphereIndex] = ContainmentType.Intersects;
dist = r.Value;
}
r = secondaryOBoxes[RayGroupIndex].Intersects(ref primaryRay);
if (r.HasValue)
{
collideResults[RayGroupIndex, OBoxIndex] = ContainmentType.Intersects;
dist = r.Value;
}
r = primaryRay.Intersects(secondaryAABoxes[RayGroupIndex]);
if (r.HasValue)
{
collideResults[RayGroupIndex, AABoxIndex] = ContainmentType.Intersects;
dist = r.Value;
}
r = TriangleTest.Intersects(ref primaryRay, ref secondaryTris[RayGroupIndex]);
if (r.HasValue)
{
collideResults[RayGroupIndex, TriIndex] = ContainmentType.Intersects;
dist = r.Value;
}
// If one of the ray intersection tests was successful, fDistance will be positive.
// If so, compute the intersection location and store it in g_RayHitResultBox.
if (dist > 0)
{
rayHitResult = primaryRay.Position + primaryRay.Direction * dist;
}
}
