public void ReadSphere(string objectId, Matrix4 transform, XmlNode node, PhysicsData physicsData)
{
Vector3 scaleDelta = transform.Scale - Vector3.UnitScale;
if (scaleDelta.Length > PhysicsSerializer.ScaleEpsilon)
{
log.Error("Scale is not currently supported for sphere shapes");
}
float radius = 0;
foreach (XmlNode childNode in node.ChildNodes)
{
switch (childNode.Name)
{
case "radius":
radius = float.Parse(childNode.InnerText);
break;
default:
DebugMessage(childNode);
break;
}
}
Vector3 center = unitConversion * transform.Translation;
radius *= unitConversion;
CollisionShape collisionShape = new CollisionSphere(center, radius);
physicsData.AddCollisionShape(objectId, collisionShape);
}
public void ReadCapsule(string objectId, Matrix4 transform, XmlNode node, PhysicsData physicsData)
{
Quaternion rot = MathHelpers.GetRotation(transform);
Matrix4 tmpTransform = rot.Inverse().ToRotationMatrix() * transform;
Vector3 scaleDelta = tmpTransform.Scale - Vector3.UnitScale;
if (scaleDelta.Length > PhysicsSerializer.ScaleEpsilon)
{
log.Error("Scale is not currently supported for capsule shapes");
}
float height = 0;
float[] radius = new float[2];
Vector3 halfExtents = Vector3.Zero;
foreach (XmlNode childNode in node.ChildNodes)
{
switch (childNode.Name)
{
case "height":
height = float.Parse(childNode.InnerText);
break;
case "radius": {
string[] values = childNode.InnerText.Split((char[])null, StringSplitOptions.RemoveEmptyEntries);
Debug.Assert(values.Length == 2);
for (int i = 0; i < 2; ++i)
{
radius[i] = float.Parse(values[i]);
}
}
break;
default:
DebugMessage(childNode);
break;
}
}
// We only support capsules where the two radii match
if (radius[0] != radius[1])
{
log.Error("Different radii for capsules are not currently supported");
}
Vector3 center = unitConversion * transform.Translation;
Vector3 halfExtent = unitConversion * (.5f * height * (rot * Vector3.UnitY));
radius[0] *= unitConversion;
radius[1] *= unitConversion;
CollisionShape collisionShape;
collisionShape = new CollisionCapsule(center - halfExtent, center + halfExtent, radius[0]);
physicsData.AddCollisionShape(objectId, collisionShape);
}
public void ReadBox(string objectId, Matrix4 transform, XmlNode node, PhysicsData physicsData)
{
Quaternion rot = MathHelpers.GetRotation(transform);
Matrix4 tmpTransform = rot.Inverse().ToRotationMatrix() * transform;
Vector3 scaleDelta = tmpTransform.Scale - Vector3.UnitScale;
if (scaleDelta.Length > PhysicsSerializer.ScaleEpsilon)
{
log.Error("Scale is not currently supported for box shapes");
}
Vector3 halfExtents = Vector3.Zero;
foreach (XmlNode childNode in node.ChildNodes)
{
switch (childNode.Name)
{
case "half_extents":
ReadVector(ref halfExtents, childNode);
break;
default:
DebugMessage(childNode);
break;
}
}
Vector3 center = unitConversion * transform.Translation;
halfExtents *= unitConversion;
CollisionShape collisionShape;
float angle = 0;
Vector3 axis = Vector3.Zero;
rot.ToAngleAxis(ref angle, ref axis);
// I could build AABB shapes for boxes that are aligned, but then
// I can't drop instances in the world with arbitrary rotations.
// Instead, just always use an OBB.
//if (angle < PhysicsSerializer.RotateEpsilon) {
// collisionShape = new CollisionAABB(center - halfExtents, center + halfExtents);
//} else {
// TODO: I'm not sure I understand the OBB constructor
Vector3[] axes = new Vector3[3];
axes[0] = rot.XAxis;
axes[1] = rot.YAxis;
axes[2] = rot.ZAxis;
collisionShape = new CollisionOBB(center, axes, halfExtents);
physicsData.AddCollisionShape(objectId, collisionShape);
}
private static void TestPhysics( string srcDir, string dstDir, string name )
{
float OneMeter = 1000;
PhysicsData pd = new PhysicsData();
Vector3 center = new Vector3( 10 * OneMeter, 1 * OneMeter, 1 * OneMeter );
Vector3[] obbAxes = new Vector3[ 3 ];
obbAxes[ 0 ] = new Vector3( 1, 0, -1 );
obbAxes[ 0 ].Normalize();
obbAxes[ 1 ] = Vector3.UnitY;
obbAxes[ 2 ] = new Vector3( 1, 0, 1 );
obbAxes[ 2 ].Normalize();
Vector3 obbExtents = new Vector3( 2.5f * OneMeter, 1 * OneMeter, 1 * OneMeter );
CollisionOBB obb = new CollisionOBB( center, obbAxes, obbExtents );
pd.AddCollisionShape( "submesh01", obb );
CollisionAABB aabb = new CollisionAABB( center - obbExtents, center + obbExtents );
pd.AddCollisionShape( "submesh01", aabb );
CollisionSphere sphere = new CollisionSphere( center, 2 * OneMeter );
pd.AddCollisionShape( "submesh01", sphere );
Vector3 capExtents = new Vector3( -1 * OneMeter, 0, 0 );
CollisionCapsule capsule = new CollisionCapsule( center + capExtents, center - capExtents, .5f * OneMeter );
pd.AddCollisionShape( "submesh01", capsule );
PhysicsSerializer ps = new PhysicsSerializer();
ps.ExportPhysics( pd, name );
pd = new PhysicsData();
ps.ImportPhysics( pd, name );
foreach( string objectId in pd.GetCollisionObjects() )
{
log.InfoFormat( "Collision shapes for: {0}", objectId );
List<CollisionShape> collisionShapes = pd.GetCollisionShapes( objectId );
foreach( CollisionShape shape in collisionShapes )
log.InfoFormat( "Shape: {0}", shape );
}
}
public void ReadSphere(string objectId, Matrix4 transform, XmlNode node, PhysicsData physicsData)
{
Vector3 scaleDelta = transform.Scale - Vector3.UnitScale;
if (scaleDelta.Length > PhysicsSerializer.ScaleEpsilon)
log.Error("Scale is not currently supported for sphere shapes");
float radius = 0;
foreach (XmlNode childNode in node.ChildNodes) {
switch (childNode.Name) {
case "radius":
radius = float.Parse(childNode.InnerText);
break;
default:
DebugMessage(childNode);
break;
}
}
Vector3 center = unitConversion * transform.Translation;
radius *= unitConversion;
CollisionShape collisionShape = new CollisionSphere(center, radius);
physicsData.AddCollisionShape(objectId, collisionShape);
}
public void ReadCapsule(string objectId, Matrix4 transform, XmlNode node, PhysicsData physicsData)
{
Quaternion rot = MathHelpers.GetRotation(transform);
Matrix4 tmpTransform = rot.Inverse().ToRotationMatrix() * transform;
Vector3 scaleDelta = tmpTransform.Scale - Vector3.UnitScale;
if (scaleDelta.Length > PhysicsSerializer.ScaleEpsilon)
log.Error("Scale is not currently supported for capsule shapes");
float height = 0;
float[] radius = new float[2];
Vector3 halfExtents = Vector3.Zero;
foreach (XmlNode childNode in node.ChildNodes) {
switch (childNode.Name) {
case "height":
height = float.Parse(childNode.InnerText);
break;
case "radius": {
string[] values = childNode.InnerText.Split((char[])null, StringSplitOptions.RemoveEmptyEntries);
Debug.Assert(values.Length == 2);
for (int i = 0; i < 2; ++i)
radius[i] = float.Parse(values[i]);
}
break;
default:
DebugMessage(childNode);
break;
}
}
// We only support capsules where the two radii match
if (radius[0] != radius[1])
log.Error("Different radii for capsules are not currently supported");
Vector3 center = unitConversion * transform.Translation;
Vector3 halfExtent = unitConversion * (.5f * height * (rot * Vector3.UnitY));
radius[0] *= unitConversion;
radius[1] *= unitConversion;
CollisionShape collisionShape;
collisionShape = new CollisionCapsule(center - halfExtent, center + halfExtent, radius[0]);
physicsData.AddCollisionShape(objectId, collisionShape);
}
public void ReadBox(string objectId, Matrix4 transform, XmlNode node, PhysicsData physicsData)
{
Quaternion rot = MathHelpers.GetRotation(transform);
Matrix4 tmpTransform = rot.Inverse().ToRotationMatrix() * transform;
Vector3 scaleDelta = tmpTransform.Scale - Vector3.UnitScale;
if (scaleDelta.Length > PhysicsSerializer.ScaleEpsilon)
log.Error("Scale is not currently supported for box shapes");
Vector3 halfExtents = Vector3.Zero;
foreach (XmlNode childNode in node.ChildNodes) {
switch (childNode.Name) {
case "half_extents":
ReadVector(ref halfExtents, childNode);
break;
default:
DebugMessage(childNode);
break;
}
}
Vector3 center = unitConversion * transform.Translation;
halfExtents *= unitConversion;
CollisionShape collisionShape;
float angle = 0;
Vector3 axis = Vector3.Zero;
rot.ToAngleAxis(ref angle, ref axis);
// I could build AABB shapes for boxes that are aligned, but then
// I can't drop instances in the world with arbitrary rotations.
// Instead, just always use an OBB.
//if (angle < PhysicsSerializer.RotateEpsilon) {
// collisionShape = new CollisionAABB(center - halfExtents, center + halfExtents);
//} else {
// TODO: I'm not sure I understand the OBB constructor
Vector3[] axes = new Vector3[3];
axes[0] = rot.XAxis;
axes[1] = rot.YAxis;
axes[2] = rot.ZAxis;
collisionShape = new CollisionOBB(center, axes, halfExtents);
physicsData.AddCollisionShape(objectId, collisionShape);
}
