/// <summary>
/// cast a convex against another convex object
/// </summary>
/// <param name="fromA"></param>
/// <param name="toA"></param>
/// <param name="fromB"></param>
/// <param name="toB"></param>
/// <param name="result"></param>
/// <returns></returns>
public bool CalcTimeOfImpact(Matrix fromA, Matrix toA, Matrix fromB, Matrix toB, CastResult result)
{
MinkowskiSumShape combined = new MinkowskiSumShape(_convexA, _convexB);
Matrix rayFromLocalA = MathHelper.InvertMatrix(fromA) * fromB;
Matrix rayToLocalA = MathHelper.InvertMatrix(toA) * toB;
Matrix transformA = fromA;
Matrix transformB = fromB;
transformA.Translation = new Vector3(0, 0, 0);
transformB.Translation = new Vector3(0, 0, 0);
combined.TransformA = transformA;
combined.TransformB = transformB;
float radius = 0.01f;
float lambda = 0;
Vector3 s = rayFromLocalA.Translation;
Vector3 r = rayToLocalA.Translation - rayFromLocalA.Translation;
Vector3 x = s;
Vector3 n = new Vector3();
Vector3 c = new Vector3();
bool hasResult = false;
float lastLambda = lambda;
IConvexPenetrationDepthSolver penSolver = null;
Matrix identityTransform = Matrix.Identity;
SphereShape raySphere = new SphereShape(0.0f);
raySphere.Margin = 0.0f;
Matrix sphereTransform = Matrix.Identity;
sphereTransform.Translation = rayFromLocalA.Translation;
result.DrawCoordSystem(sphereTransform);
{
PointCollector pointCollector = new PointCollector();
GjkPairDetector gjk = new GjkPairDetector(raySphere, combined, _simplexSolver, penSolver);
GjkPairDetector.ClosestPointInput input = new DiscreteCollisionDetectorInterface.ClosestPointInput();
input.TransformA = sphereTransform;
input.TransformB = identityTransform;
gjk.GetClosestPoints(input, pointCollector, null);
hasResult = pointCollector.HasResult;
c = pointCollector.PointInWorld;
n = pointCollector.NormalOnBInWorld;
}
if (hasResult)
{
float dist = (c - x).Length();
if (dist < radius)
{
lastLambda = 1.0f;
}
while (dist > radius)
{
n = x - c;
float dot = Vector3.Dot(n, r);
if (dot >= -(MathHelper.Epsilon * MathHelper.Epsilon))
{
return(false);
}
lambda = lambda - Vector3.Distance(n, n) / dot;
if (lambda <= lastLambda)
{
break;
}
lastLambda = lambda;
x = s + lambda * r;
sphereTransform.Translation = x;
result.DrawCoordSystem(sphereTransform);
PointCollector pointCollector = new PointCollector();
GjkPairDetector gjk = new GjkPairDetector(raySphere, combined, _simplexSolver, penSolver);
GjkPairDetector.ClosestPointInput input = new DiscreteCollisionDetectorInterface.ClosestPointInput();
input.TransformA = sphereTransform;
input.TransformB = identityTransform;
gjk.GetClosestPoints(input, pointCollector, null);
if (pointCollector.HasResult)
{
if (pointCollector.Distance < 0.0f)
{
result.Fraction = lastLambda;
result.Normal = n;
return(true);
}
c = pointCollector.PointInWorld;
dist = (c - x).Length();
}
else
{
return(false);
}
}
if (lastLambda < 1.0f)
{
result.Fraction = lastLambda;
result.Normal = n;
return(true);
}
}
return(false);
}
/// <summary>
/// cast a convex against another convex object
/// </summary>
/// <param name="fromA"></param>
/// <param name="toA"></param>
/// <param name="fromB"></param>
/// <param name="toB"></param>
/// <param name="result"></param>
/// <returns></returns>
public bool CalcTimeOfImpact(Matrix fromA, Matrix toA, Matrix fromB, Matrix toB, CastResult result)
{
MinkowskiSumShape combined = new MinkowskiSumShape(_convexA, _convexB);
Matrix rayFromLocalA = MathHelper.InvertMatrix(fromA) * fromB;
Matrix rayToLocalA = MathHelper.InvertMatrix(toA) * toB;
Matrix transformA = fromA;
Matrix transformB = fromB;
transformA.Translation = new Vector3(0, 0, 0);
transformB.Translation = new Vector3(0, 0, 0);
combined.TransformA = transformA;
combined.TransformB = transformB;
float radius = 0.01f;
float lambda = 0;
Vector3 s = rayFromLocalA.Translation;
Vector3 r = rayToLocalA.Translation - rayFromLocalA.Translation;
Vector3 x = s;
Vector3 n = new Vector3();
Vector3 c = new Vector3();
bool hasResult = false;
float lastLambda = lambda;
IConvexPenetrationDepthSolver penSolver = null;
Matrix identityTransform = Matrix.Identity;
SphereShape raySphere = new SphereShape(0.0f);
raySphere.Margin=0.0f;
Matrix sphereTransform = Matrix.Identity;
sphereTransform.Translation = rayFromLocalA.Translation;
result.DrawCoordSystem(sphereTransform);
{
PointCollector pointCollector = new PointCollector();
GjkPairDetector gjk = new GjkPairDetector(raySphere, combined, _simplexSolver, penSolver);
GjkPairDetector.ClosestPointInput input = new DiscreteCollisionDetectorInterface.ClosestPointInput();
input.TransformA = sphereTransform;
input.TransformB = identityTransform;
gjk.GetClosestPoints(input, pointCollector, null);
hasResult = pointCollector.HasResult;
c = pointCollector.PointInWorld;
n = pointCollector.NormalOnBInWorld;
}
if (hasResult)
{
float dist = (c - x).Length();
if (dist < radius)
{
lastLambda = 1.0f;
}
while (dist > radius)
{
n = x - c;
float dot = Vector3.Dot(n, r);
if (dot >= -(MathHelper.Epsilon * MathHelper.Epsilon)) return false;
lambda = lambda - Vector3.Distance(n, n) / dot;
if (lambda <= lastLambda) break;
lastLambda = lambda;
x = s + lambda * r;
sphereTransform.Translation = x;
result.DrawCoordSystem(sphereTransform);
PointCollector pointCollector = new PointCollector();
GjkPairDetector gjk = new GjkPairDetector(raySphere, combined, _simplexSolver, penSolver);
GjkPairDetector.ClosestPointInput input = new DiscreteCollisionDetectorInterface.ClosestPointInput();
input.TransformA = sphereTransform;
input.TransformB = identityTransform;
gjk.GetClosestPoints(input, pointCollector, null);
if (pointCollector.HasResult)
{
if (pointCollector.Distance < 0.0f)
{
result.Fraction = lastLambda;
result.Normal = n;
return true;
}
c = pointCollector.PointInWorld;
dist = (c - x).Length();
}
else
{
return false;
}
}
if (lastLambda < 1.0f)
{
result.Fraction = lastLambda;
result.Normal = n;
return true;
}
}
return false;
}
public bool CalcTimeOfImpact(Matrix fromA, Matrix toA, Matrix fromB, Matrix toB, CastResult result)
{
_simplexSolver.Reset();
// compute linear and angular velocity for this interval, to interpolate
Vector3 linVelA = new Vector3(), angVelA = new Vector3(), linVelB = new Vector3(), angVelB = new Vector3();
TransformUtil.CalculateVelocity(fromA, toA, 1f, ref linVelA, ref angVelA);
TransformUtil.CalculateVelocity(fromB, toB, 1f, ref linVelB, ref angVelB);
float boundingRadiusA = _convexA.GetAngularMotionDisc();
float boundingRadiusB = _convexB.GetAngularMotionDisc();
float maxAngularProjectedVelocity = angVelA.Length() * boundingRadiusA +
angVelB.Length() * boundingRadiusB;
float radius = 0.001f;
float lambda = 0f;
Vector3 v = new Vector3(1f, 0f, 0f);
int maxIter = MaxIterations;
Vector3 n = new Vector3();
bool hasResult = false;
Vector3 c;
float lastLambda = lambda;
//float epsilon = 0.001f;
int numIter = 0;
//first solution, using GJK
Matrix identityTrans = Matrix.Identity;
SphereShape raySphere = new SphereShape(0f);
raySphere.Margin=0f;
//result.drawCoordSystem(sphereTr);
PointCollector pointCollector1 = new PointCollector();
GjkPairDetector gjk = new GjkPairDetector(_convexA, _convexB, (VoronoiSimplexSolver)_simplexSolver, _penetrationDepthSolver);
GjkPairDetector.ClosestPointInput input = new DiscreteCollisionDetectorInterface.ClosestPointInput();
//we don't use margins during CCD
gjk.setIgnoreMargin(true);
input.TransformA = fromA;
input.TransformB = fromB;
DiscreteCollisionDetectorInterface.Result r = (DiscreteCollisionDetectorInterface.Result)pointCollector1;
gjk.GetClosestPoints(input, r, null);
hasResult = pointCollector1.HasResult;
c = pointCollector1.PointInWorld;
if (hasResult)
{
float dist;
dist = pointCollector1.Distance;
n = pointCollector1.NormalOnBInWorld;
//not close enough
while (dist > radius)
{
numIter++;
if (numIter > maxIter)
return false; //todo: report a failure
float dLambda = 0f;
//calculate safe moving fraction from distance / (linear+rotational velocity)
//float clippedDist = GEN_min(angularConservativeRadius,dist);
//float clippedDist = dist;
float projectedLinearVelocity = Vector3.Dot(linVelB - linVelA, n);
dLambda = dist / (projectedLinearVelocity + maxAngularProjectedVelocity);
lambda = lambda + dLambda;
if (lambda > 1f) return false;
if (lambda < 0f) return false;
//todo: next check with relative epsilon
if (lambda <= lastLambda)
break;
lastLambda = lambda;
//interpolate to next lambda
Matrix interpolatedTransA = new Matrix(), interpolatedTransB = new Matrix(), relativeTrans;
TransformUtil.IntegrateTransform(fromA, linVelA, angVelA, lambda, ref interpolatedTransA);
TransformUtil.IntegrateTransform(fromB, linVelB, angVelB, lambda, ref interpolatedTransB);
relativeTrans = MathHelper.InverseTimes(interpolatedTransB, interpolatedTransA);
result.DebugDraw(lambda);
PointCollector pointCollector = new PointCollector();
gjk = new GjkPairDetector(_convexA, _convexB, (VoronoiSimplexSolver)_simplexSolver, _penetrationDepthSolver);
input = new DiscreteCollisionDetectorInterface.ClosestPointInput();
input.TransformA = interpolatedTransA;
input.TransformB = interpolatedTransB;
// !!!!!!!!!!
r = (DiscreteCollisionDetectorInterface.Result)pointCollector1;
gjk.GetClosestPoints(input, r, null);
if (pointCollector.HasResult)
{
if (pointCollector.Distance < 0f)
{
//degenerate ?!
result.Fraction = lastLambda;
result.Normal = n;
return true;
}
c = pointCollector.PointInWorld;
dist = pointCollector.Distance;
}
else
{
//??
return false;
}
}
result.Fraction = lambda;
result.Normal = n;
return true;
}
return false;
}
public bool CalcTimeOfImpact(Matrix fromA, Matrix toA, Matrix fromB, Matrix toB, CastResult result)
{
_simplexSolver.Reset();
// compute linear and angular velocity for this interval, to interpolate
Vector3 linVelA = new Vector3(), angVelA = new Vector3(), linVelB = new Vector3(), angVelB = new Vector3();
TransformUtil.CalculateVelocity(fromA, toA, 1f, ref linVelA, ref angVelA);
TransformUtil.CalculateVelocity(fromB, toB, 1f, ref linVelB, ref angVelB);
float boundingRadiusA = _convexA.GetAngularMotionDisc();
float boundingRadiusB = _convexB.GetAngularMotionDisc();
float maxAngularProjectedVelocity = angVelA.Length() * boundingRadiusA +
angVelB.Length() * boundingRadiusB;
float radius = 0.001f;
float lambda = 0f;
Vector3 v = new Vector3(1f, 0f, 0f);
int maxIter = MaxIterations;
Vector3 n = new Vector3();
bool hasResult = false;
Vector3 c;
float lastLambda = lambda;
//float epsilon = 0.001f;
int numIter = 0;
//first solution, using GJK
Matrix identityTrans = Matrix.Identity;
SphereShape raySphere = new SphereShape(0f);
raySphere.Margin = 0f;
//result.drawCoordSystem(sphereTr);
PointCollector pointCollector1 = new PointCollector();
GjkPairDetector gjk = new GjkPairDetector(_convexA, _convexB, (VoronoiSimplexSolver)_simplexSolver, _penetrationDepthSolver);
GjkPairDetector.ClosestPointInput input = new DiscreteCollisionDetectorInterface.ClosestPointInput();
//we don't use margins during CCD
gjk.setIgnoreMargin(true);
input.TransformA = fromA;
input.TransformB = fromB;
DiscreteCollisionDetectorInterface.Result r = (DiscreteCollisionDetectorInterface.Result)pointCollector1;
gjk.GetClosestPoints(input, r, null);
hasResult = pointCollector1.HasResult;
c = pointCollector1.PointInWorld;
if (hasResult)
{
float dist;
dist = pointCollector1.Distance;
n = pointCollector1.NormalOnBInWorld;
//not close enough
while (dist > radius)
{
numIter++;
if (numIter > maxIter)
{
return(false); //todo: report a failure
}
float dLambda = 0f;
//calculate safe moving fraction from distance / (linear+rotational velocity)
//float clippedDist = GEN_min(angularConservativeRadius,dist);
//float clippedDist = dist;
float projectedLinearVelocity = Vector3.Dot(linVelB - linVelA, n);
dLambda = dist / (projectedLinearVelocity + maxAngularProjectedVelocity);
lambda = lambda + dLambda;
if (lambda > 1f)
{
return(false);
}
if (lambda < 0f)
{
return(false);
}
//todo: next check with relative epsilon
if (lambda <= lastLambda)
{
break;
}
lastLambda = lambda;
//interpolate to next lambda
Matrix interpolatedTransA = new Matrix(), interpolatedTransB = new Matrix(), relativeTrans;
TransformUtil.IntegrateTransform(fromA, linVelA, angVelA, lambda, ref interpolatedTransA);
TransformUtil.IntegrateTransform(fromB, linVelB, angVelB, lambda, ref interpolatedTransB);
relativeTrans = MathHelper.InverseTimes(interpolatedTransB, interpolatedTransA);
result.DebugDraw(lambda);
PointCollector pointCollector = new PointCollector();
gjk = new GjkPairDetector(_convexA, _convexB, (VoronoiSimplexSolver)_simplexSolver, _penetrationDepthSolver);
input = new DiscreteCollisionDetectorInterface.ClosestPointInput();
input.TransformA = interpolatedTransA;
input.TransformB = interpolatedTransB;
// !!!!!!!!!!
r = (DiscreteCollisionDetectorInterface.Result)pointCollector1;
gjk.GetClosestPoints(input, r, null);
if (pointCollector.HasResult)
{
if (pointCollector.Distance < 0f)
{
//degenerate ?!
result.Fraction = lastLambda;
result.Normal = n;
return(true);
}
c = pointCollector.PointInWorld;
dist = pointCollector.Distance;
}
else
{
//??
return(false);
}
}
result.Fraction = lambda;
result.Normal = n;
return(true);
}
return(false);
}
