/// <summary>
/// this method is a bit hacky since I did not know where to place it. I may move it to a better
/// place somewhen in the future
/// </summary>
/// <param name="ray"></param>
/// <param name="entity"></param>
public bool GetIntersectionPoint(
ref Ray3 ray,
Entity entity,
out Vector3 outIsectPt
)
{
// find the matching collision entity (in order to get the alignedbox3tree
CollisionEntity collisionEntity = testList.GetCollisionEntity(entity);
if (collisionEntity == null)
{
outIsectPt = Vector3.Zero;
return(false);
}
Debug.Assert(collisionEntity.VolumeType == VolumeType.AlignedBox3Tree);
if (collisionEntity.VolumeType != VolumeType.AlignedBox3Tree)
{
outIsectPt = Vector3.Zero;
return(false);
}
// get world transform of from the given entity
Matrix worldTransform;
AlignedBox3Tree tree = (AlignedBox3Tree)collisionEntity.Volumes[0];
OrientationHelper.CalculateWorldTransform(entity, out worldTransform);
// transform the ray into the coordinate system of the entity
Matrix worldToEntityTransform = Matrix.Invert(worldTransform);
Matrix inverseTransposeWorldToEntityTransform = Matrix.Transpose(Matrix.Invert(worldToEntityTransform));
Vector3 entitySpaceRayOrigin = Vector3.Transform(ray.Origin, worldToEntityTransform);
Vector3 entitySpaceRayDirection = Vector3.Transform(ray.Direction, inverseTransposeWorldToEntityTransform);
entitySpaceRayDirection.Normalize();
Ray3 entitySpaceRay = new Ray3(entitySpaceRayOrigin, entitySpaceRayDirection);
float t; // parameter on ray, outIsectPt = ray.Origin + t * ray.Direction;
bool intersection = GetIntersectionPoint(ref entitySpaceRay, tree.Root, tree.Positions, out t);
if (intersection)
{
outIsectPt = Vector3.Transform(entitySpaceRay.Origin + t * entitySpaceRay.Direction, worldTransform);
}
else
{
outIsectPt = Vector3.Zero;
}
return(intersection);
}
private void Run()
{
#if XBOX
this.thread.SetProcessorAffinity(processor);
#endif
try
{
while (true)
{
startEvent.WaitOne();
double startTime = Now;
if (lastFrame > 0)
{
double targetFps = 60;
double waitTime = startTime - lastFrame;
double newTarget = ((1000d / targetFps) - waitTime);
targetMilliseconds = System.Math.Max(2, targetMilliseconds * 0.9 + newTarget * 0.1);
}
//Console.WriteLine("{0}", targetMilliseconds);
Contact lastContact = null;
TestList.TestEntry entry = testList.GetNextCollisionEntry();
while (entry != null && (Now - startTime) < targetMilliseconds) // todo: extract constant
{
// do collision detection with this entry!
ContactTest test = CollisionManager.ContactTests[
BoundingVolumeTypeUtil.ToNumber(entry.EntityA.VolumeType),
BoundingVolumeTypeUtil.ToNumber(entry.EntityB.VolumeType)
];
Vector3 scale1, position1, scale2, position2;
Quaternion rotation1, rotation2;
Matrix worldTransform1, worldTransform2;
OrientationHelper.GetTranslation(entry.EntityA.Entity, out position1);
OrientationHelper.GetRotation(entry.EntityA.Entity, out rotation1);
OrientationHelper.GetScale(entry.EntityA.Entity, out scale1);
OrientationHelper.CalculateWorldTransform(ref position1, ref rotation1, ref scale1, out worldTransform1);
OrientationHelper.GetTranslation(entry.EntityB.Entity, out position2);
OrientationHelper.GetRotation(entry.EntityB.Entity, out rotation2);
OrientationHelper.GetScale(entry.EntityB.Entity, out scale2);
OrientationHelper.CalculateWorldTransform(ref position2, ref rotation2, ref scale2, out worldTransform2);
// the xbox does not like too many allocations. so if possible we recycle the last contact
// that we allocated but did not need because there was no collision...
Contact contact = null;
if (lastContact == null || lastContact.Count > 0)
{
contact = AllocateContact(entry.EntityA.Entity, entry.EntityB.Entity);
}
else
{
lastContact.Recycle(entry.EntityA.Entity, entry.EntityB.Entity);
}
test(
entry.EntityA.Entity, entry.EntityA.Volumes, ref worldTransform1, ref position1, ref rotation1, ref scale1,
entry.EntityB.Entity, entry.EntityB.Volumes, ref worldTransform2, ref position2, ref rotation2, ref scale2,
entry.EntityA.NeedAllContacts || entry.EntityB.NeedAllContacts, ref contact
);
if (contact.Count > 0)
{
Debug.Assert(contact.EntityA == entry.EntityA.Entity && contact.EntityB == entry.EntityB.Entity);
contacts.Add(contact);
}
// get next entry
entry = testList.GetNextCollisionEntry();
}
lastFrame = Now;
finishedEvent.Set();
}
}
catch (Exception ex)
{
if (!this.aborted)
{
System.Console.WriteLine("unexpected Exception {0}\n{1}\n{2}", ex.GetType().Name, ex.Message, ex.StackTrace);
Game.Instance.CrashDebugger.Crash(ex);
finishedEvent.Set(); // => the simulationthread should be able to proceed!
}
}
}
