private bool Disjoint(out float d, Vector3 axis, MyBox box, MyTriangle triangle, float collTolerance)
{
float min0, max0, min1, max1;
box.GetSpan(out min0, out max0, axis);
triangle.GetSpan(out min1, out max1, axis);
if (min0 > (max1 + collTolerance + MyPhysicsConfig.Epsilon) ||
min1 > (max0 + collTolerance + MyPhysicsConfig.Epsilon))
{
d = 0.0f;
return(true);
}
if ((max0 > max1) && (min1 > min0))
{
// triangleVertexes is inside - choose the min dist to move it out
d = System.Math.Min(max0 - min1, max1 - min0);
}
else if ((max1 > max0) && (min0 > min1))
{
// box is inside - choose the min dist to move it out
d = System.Math.Min(max1 - min0, max0 - min1);
}
else
{
// objects overlap
d = (max0 < max1) ? max0 : max1;
d -= (min0 > min1) ? min0 : min1;
}
return(false);
}
private float Disjoint(out bool b, Vector3 axis, MyBox box, MyTriangle triangle, float collTolerance)
{
float ret;
b = Disjoint(out ret, axis, box, triangle, collTolerance);
return(ret);
}
private int GetBoxTriangleIntersectionPoints(List <Vector3> pts, MyBox box, MyTriangle triangle, float combinationDistance)
{
// first intersect each edge of the box with the triangleVertexes
MyBox.Edge[] edges;
box.GetEdges(out edges);
Vector3[] boxPts;
box.GetCornerPoints(out boxPts);
float tS;
float tv1, tv2;
int iEdge;
for (iEdge = 0; iEdge < 12; ++iEdge)
{
MyBox.Edge edge = edges[iEdge];
MySegment seg = new MySegment(boxPts[(int)edge.Ind0], boxPts[(int)edge.Ind1] - boxPts[(int)edge.Ind0]);
if (SegmentTriangleIntersection(out tS, out tv1, out tv2, seg, triangle))
{
AddPoint(pts, seg.GetPoint(tS), combinationDistance * combinationDistance);
}
}
Vector3 pos, n;
// now each edge of the triangleVertexes with the box
for (iEdge = 0; iEdge < 3; ++iEdge)
{
Vector3 pt0 = triangle.GetPoint(iEdge);
Vector3 pt1 = triangle.GetPoint((iEdge + 1) % 3);
MySegment s1 = new MySegment(pt0, pt1 - pt0);
MySegment s2 = new MySegment(pt1, pt0 - pt1);
if (box.SegmentIntersect(out tS, out pos, out n, s1))
{
AddPoint(pts, pos, combinationDistance * combinationDistance);
}
if (box.SegmentIntersect(out tS, out pos, out n, s2))
{
AddPoint(pts, pos, combinationDistance * combinationDistance);
}
}
return(pts.Count);
}
private bool SegmentTriangleIntersection(out float tS, out float tT0, out float tT1, MySegment seg, MyTriangle triangle)
{
/// the parameters - if hit then they get copied into the args
float u, v, t;
tS = 0;
tT0 = 0;
tT1 = 0;
Vector3 e1 = triangle.Edge0;
Vector3 e2 = triangle.Edge1;
Vector3 p = Vector3.Cross(seg.Delta, e2);
float a = Vector3.Dot(e1, p);
if (a > -MyPhysicsConfig.Epsilon && a < MyPhysicsConfig.Epsilon)
{
return(false);
}
float f = 1.0f / a;
Vector3 s = seg.Origin - triangle.Origin;
u = f * Vector3.Dot(s, p);
if (u < 0.0f || u > 1.0f)
{
return(false);
}
Vector3 q = Vector3.Cross(s, e1);
v = f * Vector3.Dot(seg.Delta, q);
if (v < 0.0f || (u + v) > 1.0f)
{
return(false);
}
t = f * Vector3.Dot(e2, q);
if (t < 0.0f || t > 1.0f)
{
return(false);
}
tS = t;
tT0 = u;
tT1 = v;
//if (tS != 0) tS = t;
//if (tT0 != 0) tT0 = u;
//if (tT1 != 0) tT1 = v;
return(true);
}
private bool DoOverlapBoxTriangleTest(MyBox oldBox, MyBox newBox, MyTriangle_Vertex_Normal triangle, MyPlane plane, float collTolerance,
ref Matrix transformMatrix, ref Vector3 oldBoxPos, ref Vector3 newBoxPos, List <MyCollisionPointStruct> collPoints)
{
Matrix dirs0 = newBox.Orientation;
dirs0.Translation = Vector3.Zero;
#region Triangle
Vector3 triVec0 = triangle.Vertexes.Vertex0;
Vector3 triVec1 = triangle.Vertexes.Vertex1;
Vector3 triVec2 = triangle.Vertexes.Vertex2;
//mesh.GetVertex(triangle.GetVertexIndex(0), out triVec0);
//mesh.GetVertex(triangle.GetVertexIndex(1), out triVec1);
//mesh.GetVertex(triangle.GetVertexIndex(2), out triVec2);
// Deano move tri into world space
//Matrix transformMatrix = mesh.TransformMatrix;
Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0);
Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2);
MyTriangle tri = new MyTriangle(ref triVec0, ref triVec1, ref triVec2);
#endregion
#region triEdge0
Vector3 pt0;
Vector3 pt1;
tri.GetPoint(0, out pt0);
tri.GetPoint(1, out pt1);
Vector3 triEdge0;
Vector3.Subtract(ref pt1, ref pt0, out triEdge0);
#endregion
#region triEdge1
Vector3 pt2;
tri.GetPoint(2, out pt2);
Vector3 triEdge1;
Vector3.Subtract(ref pt2, ref pt1, out triEdge1);
#endregion
#region triEdge2
Vector3 triEdge2;
Vector3.Subtract(ref pt0, ref pt2, out triEdge2);
#endregion
if (triEdge0.LengthSquared() < MyMwcMathConstants.EPSILON)
{
return(false);
}
if (triEdge1.LengthSquared() < MyMwcMathConstants.EPSILON)
{
return(false);
}
if (triEdge2.LengthSquared() < MyMwcMathConstants.EPSILON)
{
return(false);
}
/*
* triEdge0 = MyMwcUtils.Normalize(triEdge0);
* triEdge1 = MyMwcUtils.Normalize(triEdge1);
* triEdge2 = MyMwcUtils.Normalize(triEdge2);
*/
triEdge0.Normalize();
triEdge1.Normalize();
triEdge2.Normalize();
//Vector3 triNormal = triangle.Plane.Normal;
Vector3 triNormal = plane.Normal;
Vector3.TransformNormal(ref triNormal, ref transformMatrix, out triNormal);
// the 15 potential separating axes (comment by Marek Rosa: note says 15 but code uses 13... I don't know why, mistake in the note??)
const int NUM_AXES = 13;
MyVector3Array13 axes = new MyVector3Array13();
axes[0] = triNormal;
axes[1] = dirs0.Right;
axes[2] = dirs0.Up;
axes[3] = dirs0.Backward;
axes[4] = Vector3.Cross(axes[1], triEdge0);
axes[5] = Vector3.Cross(axes[1], triEdge1);
axes[6] = Vector3.Cross(axes[1], triEdge2);
axes[7] = Vector3.Cross(axes[2], triEdge0);
axes[8] = Vector3.Cross(axes[2], triEdge1);
axes[9] = Vector3.Cross(axes[2], triEdge2);
axes[10] = Vector3.Cross(axes[3], triEdge0);
axes[11] = Vector3.Cross(axes[3], triEdge1);
axes[12] = Vector3.Cross(axes[3], triEdge2);
// the overlap depths along each axis
MyFloatArray13 overlapDepths = new MyFloatArray13();
// see if the boxes are separate along any axis, and if not keep a
// record of the depths along each axis
int i;
for (i = 0; i < NUM_AXES; ++i)
{
overlapDepths[i] = 1.0f;
bool b;
overlapDepths[i] = Disjoint(out b, axes[i], newBox, tri, collTolerance);
if (b)
{
return(false);
}
}
// The box overlap, find the separation depth closest to 0.
float minDepth = float.MaxValue;
int minAxis = -1;
for (i = 0; i < NUM_AXES; ++i)
{
// If we can't normalise the axis, skip it
float l2 = axes[i].LengthSquared();
if (l2 < MyPhysicsConfig.Epsilon)
{
continue;
}
// Normalise the separation axis and the depth
float invl = 1.0f / (float)System.Math.Sqrt(l2);
axes[i] *= invl;
overlapDepths[i] *= invl;
// If this axis is the minimum, select it
if (overlapDepths[i] < minDepth)
{
minDepth = overlapDepths[i];
minAxis = i;
}
}
if (minAxis == -1)
{
return(false);
}
// Make sure the axis is facing towards the 0th box.
// if not, invert it
Vector3 D = newBox.GetCentre() - tri.Centre;
Vector3 N = axes[minAxis];
float depth = overlapDepths[minAxis];
if (Vector3.Dot(D, N) > 0.0f)
{
N *= -1;
}
Vector3 boxOldPos = oldBoxPos; //(info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 boxNewPos = newBoxPos; // (info.Skin0.Owner != null) ? info.Skin0.Owner.Position : Vector3.Zero;
Vector3 meshPos = transformMatrix.Translation; // (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
m_pts.Clear();
const float combinationDist = 0.05f;
GetBoxTriangleIntersectionPoints(m_pts, newBox, tri, depth + combinationDist);
// adjust the depth
#region delta
Vector3 delta;
Vector3.Subtract(ref boxNewPos, ref boxOldPos, out delta);
#endregion
#region oldDepth
float oldDepth;
Vector3.Dot(ref delta, ref N, out oldDepth);
oldDepth += depth;
#endregion
// report collisions
int numPts = m_pts.Count;
if (numPts > 0)
{
for (i = 0; i < numPts; ++i)
{
collPoints.Add(new MyCollisionPointStruct(-oldDepth, new MySmallCollPointInfo(m_pts[i] - boxNewPos, m_pts[i] - meshPos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, N, -oldDepth, m_pts[i])));
}
return(true);
}
else
{
return(false);
}
}
private bool DoOverlapBoxTriangleStaticTest(MyBox oldBox, MyBox newBox,
MyTriangle_Vertex_Normal triangle, MyPlane plane, float collTolerance,
ref Matrix transformMatrix, ref Vector3 oldBoxPos, ref Vector3 newBoxPos)
{
Matrix dirs0 = newBox.Orientation;
dirs0.Translation = Vector3.Zero;
#region REFERENCE: Triangle tri = new Triangle(mesh.GetVertex(triangleVertexes.GetVertexIndex(0)),mesh.GetVertex(triangleVertexes.GetVertexIndex(1)),mesh.GetVertex(triangleVertexes.GetVertexIndex(2)));
Vector3 triVec0 = triangle.Vertexes.Vertex0;
Vector3 triVec1 = triangle.Vertexes.Vertex1;
Vector3 triVec2 = triangle.Vertexes.Vertex2;
// Deano move tri into world space
//Matrix transformMatrix = mesh.TransformMatrix;
Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0);
Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2);
MyTriangle tri = new MyTriangle(ref triVec0, ref triVec1, ref triVec2);
#endregion
#region REFERENCE Vector3 triEdge0 = (tri.GetPoint(1) - tri.GetPoint(0));
Vector3 pt0;
Vector3 pt1;
tri.GetPoint(0, out pt0);
tri.GetPoint(1, out pt1);
Vector3 triEdge0;
Vector3.Subtract(ref pt1, ref pt0, out triEdge0);
#endregion
#region REFERENCE Vector3 triEdge1 = (tri.GetPoint(2) - tri.GetPoint(1));
Vector3 pt2;
tri.GetPoint(2, out pt2);
Vector3 triEdge1;
Vector3.Subtract(ref pt2, ref pt1, out triEdge1);
#endregion
#region REFERENCE Vector3 triEdge2 = (tri.GetPoint(0) - tri.GetPoint(2));
Vector3 triEdge2;
Vector3.Subtract(ref pt0, ref pt2, out triEdge2);
#endregion
if (triEdge0.LengthSquared() < MyMwcMathConstants.EPSILON)
{
return(false);
}
if (triEdge1.LengthSquared() < MyMwcMathConstants.EPSILON)
{
return(false);
}
if (triEdge2.LengthSquared() < MyMwcMathConstants.EPSILON)
{
return(false);
}
triEdge0.Normalize();
triEdge1.Normalize();
triEdge2.Normalize();
//Vector3 triNormal = triangle.Plane.Normal;
Vector3 triNormal = plane.Normal;
Vector3.TransformNormal(ref triNormal, ref transformMatrix, out triNormal);
// the 15 potential separating axes
const int numAxes = 13;
Vector3[] axes = new Vector3[numAxes];
axes[0] = triNormal;
axes[1] = dirs0.Right;
axes[2] = dirs0.Up;
axes[3] = dirs0.Backward;
Vector3.Cross(ref axes[1], ref triEdge0, out axes[4]);
Vector3.Cross(ref axes[1], ref triEdge1, out axes[5]);
Vector3.Cross(ref axes[1], ref triEdge2, out axes[6]);
Vector3.Cross(ref axes[2], ref triEdge0, out axes[7]);
Vector3.Cross(ref axes[2], ref triEdge1, out axes[8]);
Vector3.Cross(ref axes[2], ref triEdge2, out axes[9]);
Vector3.Cross(ref axes[3], ref triEdge0, out axes[10]);
Vector3.Cross(ref axes[3], ref triEdge1, out axes[11]);
Vector3.Cross(ref axes[3], ref triEdge2, out axes[12]);
// the overlap depths along each axis
float[] overlapDepths = new float[numAxes];
// see if the boxes are separate along any axis, and if not keep a
// record of the depths along each axis
int i;
for (i = 0; i < numAxes; ++i)
{
overlapDepths[i] = 1.0f;
if (Disjoint(out overlapDepths[i], axes[i], newBox, tri, collTolerance))
{
return(false);
}
}
// The box overlap, find the separation depth closest to 0.
float minDepth = float.MaxValue;
int minAxis = -1;
for (i = 0; i < numAxes; ++i)
{
// If we can't normalise the axis, skip it
float l2 = axes[i].LengthSquared();
if (l2 < MyPhysicsConfig.Epsilon)
{
continue;
}
// Normalise the separation axis and the depth
float invl = 1.0f / (float)System.Math.Sqrt(l2);
axes[i] *= invl;
overlapDepths[i] *= invl;
// If this axis is the minimum, select it
if (overlapDepths[i] < minDepth)
{
minDepth = overlapDepths[i];
minAxis = i;
}
}
if (minAxis == -1)
{
return(false);
}
// Make sure the axis is facing towards the 0th box.
// if not, invert it
Vector3 D = newBox.GetCentre() - tri.Centre;
Vector3 N = axes[minAxis];
float depth = overlapDepths[minAxis];
if (Vector3.Dot(D, N) > 0.0f)
{
N *= -1;
}
Vector3 boxOldPos = oldBoxPos; //(info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 boxNewPos = newBoxPos; // (info.Skin0.Owner != null) ? info.Skin0.Owner.Position : Vector3.Zero;
Vector3 meshPos = transformMatrix.Translation; // (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
List <Vector3> pts = new List <Vector3>();
//pts.Clear();
const float combinationDist = 0.05f;
GetBoxTriangleIntersectionPoints(pts, newBox, tri, depth + combinationDist);
// adjust the depth
#region delta
Vector3 delta;
Vector3.Subtract(ref boxNewPos, ref boxOldPos, out delta);
#endregion
#region oldDepth
float oldDepth;
Vector3.Dot(ref delta, ref N, out oldDepth);
oldDepth += depth;
#endregion
// report collisions
int numPts = pts.Count;
if (numPts > 0)
{
return(true);
}
else
{
return(false);
}
}
