public override void DrawTransform(ref Matrix4 transform, float orthoLen)
{
var origin = transform.ExtractTranslation( );
var x = origin + transform.Row0.Xyz.Normalized( ) * orthoLen;
var y = origin + transform.Row1.Xyz.Normalized() * orthoLen;
var z = origin + transform.Row2.Xyz.Normalized() * orthoLen;
GLDebug.QueueLineDraw(ref origin, ref x);
GLDebug.QueueLineDraw(ref origin, ref y);
GLDebug.QueueLineDraw(ref origin, ref z);
}
public void OnUpdate(object sender, EventArgs e)
{
var delta = 0.00f;
var state = Keyboard.GetState( );
if (state.IsKeyDown(Key.Q))
{
delta = -0.1f;
}
if (state.IsKeyDown(Key.E))
{
delta = +0.1f;
}
if (state.IsKeyDown(Key.Escape))
{
selectedCollisionObject = null;
}
var scenarioObject = selectedCollisionObject?.UserObject as ScenarioObject;
if (scenarioObject == null)
{
return;
}
var instanceBasis =
scenarioObject.InstanceBasisMatrices[selectedCollisionObject.UserIndex];
var upAxis = instanceBasis.Row2.Xyz.Normalized( );
GLDebug.QueueLineDraw(0, selectedCollisionObject.WorldTransform.ExtractTranslation( ),
selectedCollisionObject.WorldTransform.ExtractTranslation( ) + upAxis);
_axisAlignedRotation += delta;
var R = Quaternion.FromAxisAngle(upAxis, _axisAlignedRotation);
var T = selectedCollisionObject.WorldTransform;
selectedScenarioObject.SetAxisAlignedRotation(selectedCollisionObject.UserIndex, _axisAlignedRotation);
selectedCollisionObject.WorldTransform = instanceBasis * Matrix4.CreateFromQuaternion(R) *
Matrix4.CreateTranslation(T.ExtractTranslation( ));
//scenarioObject.InstanceRotations[selectedCollisionObject.UserIndex] = instanceRotation;
}
public override void DrawLine(ref Vector3 @from, ref Vector3 to, Color4 fromColor, Color4 toColor)
{
GLDebug.QueueLineDraw(ref from, ref to);
}
public async void OnMouseMove(object sender, SceneMouseEventArgs e)
{
//var state = Mouse.GetState( );
//if ( !state.IsButtonDown( MouseButton.Left ) ) return;
var dynamicScene = sender as DynamicScene;
if (dynamicScene == null)
{
return;
}
var collisionObject = selectedCollisionObject;
var scenarioObject = collisionObject?.UserObject as ObjectBlock;
if (scenarioObject == null)
{
return;
}
var mouse = new
{
Close = e.Camera.UnProject(new Vector2(e.ScreenCoordinates.X, e.ScreenCoordinates.Y), -1),
Far = e.Camera.UnProject(new Vector2(e.ScreenCoordinates.X, e.ScreenCoordinates.Y), 1)
};
var rayCullCallback = new ClosestRayResultCullFaceCallback(mouse.Close, mouse.Far, false)
{
CollisionFilterGroup = CollisionFilterGroups.AllFilter,
CollisionFilterMask = CollisionFilterGroups.StaticFilter
};
dynamicScene.CollisionManager.World.RayTest(mouse.Close, mouse.Far, rayCullCallback);
var rayCallback = new ClosestNotMeRayResultCallback(collisionObject, mouse.Close, mouse.Far)
{
CollisionFilterGroup = CollisionFilterGroups.AllFilter,
CollisionFilterMask = CollisionFilterGroups.StaticFilter
};
// GLDebug.Clear();
dynamicScene.CollisionManager.World.RayTest(mouse.Close, mouse.Far, rayCallback);
if (!rayCallback.HasHit)
{
return;
}
var splice = dynamicScene.Camera.Position;
if (rayCullCallback.HasHit && rayCullCallback.ClosestHitFraction < rayCallback.ClosestHitFraction)
{
splice = rayCullCallback.HitPointWorld;
}
Ray positionRay = new Ray(mouse.Close, mouse.Far);
Vector3 center;
float radius;
collisionObject.CollisionShape.GetBoundingSphere(out center, out radius);
var origin = mouse.Close + (mouse.Far - mouse.Close) * (rayCallback.ClosestHitFraction - 0.01f);
var surfaceNormal = rayCallback.HitSurfaceNormal;
var surfaceTangent = Vector3.Cross(rayCallback.HitSurfaceTangent, rayCallback.HitNormalWorld);
var surfaceBitangent = rayCallback.HitSurfaceTangent;
var basisMatrix = new Matrix4(new Vector4(surfaceTangent), new Vector4(surfaceBitangent),
new Vector4(rayCallback.HitSurfaceNormal), new Vector4(0, 0, 0, 1));
GLDebug.QueuePointDraw(rayCallback.HitPointWorld);
var destination = rayCallback.HitPointWorld;
GLDebug.QueueLineDraw(destination, destination + surfaceNormal * 1.5f);
GLDebug.QueueLineDraw(destination, destination + surfaceTangent * 0.5f);
GLDebug.QueueLineDraw(destination, destination + surfaceBitangent * 0.5f);
var convexCallback = new ClosestNotMeConvexResultCallback(collisionObject,
collisionObject.WorldTransform.ExtractTranslation( ), destination)
{
CollisionFilterGroup = CollisionFilterGroups.DefaultFilter | CollisionFilterGroups.StaticFilter,
CollisionFilterMask = CollisionFilterGroups.StaticFilter
};
var convexShape = collisionObject.CollisionShape.IsConvex
? ( ConvexShape )collisionObject.CollisionShape
: null;
var extractRotation = Matrix4.CreateFromQuaternion(collisionObject.WorldTransform.ExtractRotation( ));
var vector3 = destination + surfaceNormal * 1.5f;
var extractTranslation = Matrix4.CreateTranslation(vector3);
var from = basisMatrix * extractTranslation;
var to = basisMatrix * Matrix4.CreateTranslation(destination);
GLDebug.QueueLineDraw(from.ExtractTranslation( ), to.ExtractTranslation( ), Color.Red.ToColorF( ).RGBA.Xyz);
await Task.Run(
() => dynamicScene.CollisionManager.World.ConvexSweepTest(convexShape, from, to, convexCallback));
if (convexCallback.HasHit)
{
Vector3 linVel;
Vector3 angVel;
TransformUtil.CalculateVelocity(from, to, 1.0f, out linVel, out angVel);
Matrix4 T;
TransformUtil.IntegrateTransform(from, linVel, angVel, convexCallback.ClosestHitFraction, out T);
//.WorldTransform = basisMatrix * T;
//var instanceBasis =
// scenarioObject.InstanceBasisMatrices[selectedCollisionObject.UserIndex];
//scenarioObject.AssignInstanceBasisTransform(selectedCollisionObject.UserIndex, basisMatrix);
//var upAxis = basisMatrix.Row2.Xyz.Normalized();
//GLDebug.QueueLineDraw(0, selectedCollisionObject.WorldTransform.ExtractTranslation(),
// selectedCollisionObject.WorldTransform.ExtractTranslation() + upAxis);
//var instanceRotation = scenarioObject.InstanceRotations[selectedCollisionObject.UserIndex];
//////selectedScenarioObject.SetAxisAlignedRotation( selectedCollisionObject.UserIndex, rotation );
//var R = Quaternion.FromAxisAngle(upAxis, _axisAlignedRotation);
collisionObject.WorldTransform = T;
//debugPoint2 = T.ExtractTranslation();
//debugPoint3 = convexCallback.HitPointWorld + convexCallback.HitNormalWorld;
//// selectedCollisionObject.WorldTransform = T;
////var localMatrix = scenarioObject.collisionSpaceMatrix.Inverted() * t.Inverted() * T;
//// scenarioObject.InstanceRotations[selectedCollisionObject.UserIndex] = instanceRotation;
//selectedScenarioObject.SetAxisAlignedRotation(selectedCollisionObject.UserIndex, _axisAlignedRotation);
//scenarioObject.InstancePositions[selectedCollisionObject.UserIndex] = (scenarioObject.collisionSpaceMatrix.Inverted() * T).ExtractTranslation();
//localMatrix.ExtractTranslation();
}
}