public override void init()
{
collider = new TgcFixedYBoundingCylinder(new Vector3(0, 0, 0), 3, 3);
collisionableSphere = new TgcBoundingSphere(new Vector3(-6, 0, 0), 3);
collisionableAABB = new TgcBoundingBox(new Vector3(4, 0, -1), new Vector3(6, 2, 1));
collisionableCylinder = new TgcFixedYBoundingCylinder(new Vector3(0, 0, -6), 2, 2);
GuiController.Instance.Modifiers.addVertex2f("size", new Vector2(1, 1), new Vector2(5, 10), new Vector2(2, 5));
GuiController.Instance.Modifiers.addVertex3f("position", new Vector3(-20, -20, -20), new Vector3(20, 20, 20), new Vector3(0, 0, 0));
collider.setRenderColor(Color.LimeGreen);
}
/// <summary>
/// Determina el punto mas cercano de un cilindro al punto P especificado
/// </summary>
/// <param name="p">Punto</param>
/// <param name="cylinder">Cilindro alineado</param>
/// <returns>Punto perteneciente al cilindro mas cercano a P</returns>
public static Vector3 closestPointCylinder(Vector3 p, TgcFixedYBoundingCylinder cylinder)
{
return TgcCollisionUtils.closestPointCylinder(p, cylinder.Center, cylinder.HalfLength, cylinder.Radius);
}
/// <summary>
/// Indica si un Punto colisiona con un Cilindro.
/// </summary>
/// <param name="p">Punto</param>
/// <param name="cylinder">Cilindro alineado</param>
/// <returns>True si el Punto esta adentro del Cilindro</returns>
private static bool testPointCylinder(Vector3 p, TgcFixedYBoundingCylinder cylinder)
{
return TgcCollisionUtils.testPointCylinder(p, cylinder.Center, cylinder.HalfLength, cylinder.Radius);
}
/// <summary>
/// Indica si un Cilindro colisiona con una Esfera.
/// Solo indica si hay colision o no. No va mas en detalle.
/// </summary>
/// <param name="sphere">Esfera</param>
/// <param name="cylinder">Cilindro alineado</param>
/// <returns>True si hay colision</returns>
public static bool testSphereCylinder(TgcBoundingSphere sphere, TgcFixedYBoundingCylinder cylinder)
{
return TgcCollisionUtils.testSphereCylinder(
sphere.Center, sphere.Radius,
cylinder.Center, cylinder.HalfLength, cylinder.Radius);
}
/// <summary>
/// Indica si un rayo colisiona con un cilindro.
/// </summary>
/// <param name="ray">Rayo</param>
/// <param name="cylinder">Cilindro alineado</param>
/// <returns>True si el rayo colisiona con el cilindro</returns>
public static bool testRayCylinder(TgcRay ray, TgcFixedYBoundingCylinder cylinder)
{
Matrix transformation = cylinder.AntiTransformationMatrix;
Vector3 origin = Vector3.TransformCoordinate(ray.Origin, transformation);
Vector3 direction = Vector3.TransformNormal(ray.Direction, transformation);
return TgcCollisionUtils.testRayCylinder(origin, direction);
}
/// <summary>
/// Indica si un Cilindro colisiona con otro Cilindro.
/// Solo indica si hay colision o no. No va mas en detalle.
/// </summary>
/// <param name="collider">Cilindro alineado que genera la colision</param>
/// <param name="collisionable">Cilindro alineado estatico</param>
/// <returns>True si hay colision</returns>
public static bool testCylinderCylinder(TgcFixedYBoundingCylinder collider, TgcFixedYBoundingCylinder collisionable)
{
Vector3 centerToCenter = collider.Center - collisionable.Center;
if (FastMath.Pow2(centerToCenter.X) + FastMath.Pow2(centerToCenter.Z) > FastMath.Pow2(collisionable.Radius + collider.Radius)) return false;
if (FastMath.Abs(centerToCenter.Y) > collider.HalfLength + collisionable.HalfLength) return false;
return true;
}
/// <summary>
/// Indica si un Cilindro colisiona con un AABB.
/// Solo indica si hay colision o no. No va mas en detalle.
/// </summary>
/// <param name="box">AABB</param>
/// <param name="cylinder">Cilindro alineado</param>
/// <returns>True si hay colision</returns>
public static bool testAABBCylinder(TgcBoundingBox box, TgcFixedYBoundingCylinder cylinder)
{
//datos del aabb
Vector3 boxCenter = box.calculateBoxCenter();
Vector3 boxHalfSize = box.calculateSize() * 0.5f;
//datos del cilindro
Vector3 cylCenter = cylinder.Center;
float cylHalfLength = cylinder.HalfLength;
float cylRadius = cylinder.Radius;
//vector de distancias
Vector3 distances = new Vector3(
FastMath.Abs(boxCenter.X - cylCenter.X),
FastMath.Abs(boxCenter.Y - cylCenter.Y),
FastMath.Abs(boxCenter.Z - cylCenter.Z));
//si el aabb esta muy arriba o muy abajo no hay colision
if (distances.Y > boxHalfSize.Y + cylHalfLength) return false;
//si el aabb esta muy lejos en x o en z no hay colision
if (distances.X > boxHalfSize.X + cylRadius) return false;
if (distances.Z > boxHalfSize.Z + cylRadius) return false;
//si el centro del cilindro esta dentro del aabb hay colision
if (distances.X <= boxHalfSize.X) return true;
if (distances.Z <= boxHalfSize.Z) return true;
//si el cilindro toca alguno de los extremos hay colision
float cornerDistanceSq =
FastMath.Pow2(distances.X - boxHalfSize.X) +
FastMath.Pow2(distances.Z - boxHalfSize.Z);
return (cornerDistanceSq <= FastMath.Pow2(cylRadius));
}
