private void AddPointsAndSprings(List <TriangleVertexIndices> indices, List <TSVector> vertices)
{
for (int i = 0; i < vertices.Count; i++)
{
SoftBody.MassPoint massPoint = new SoftBody.MassPoint(this.sphere, this, this.material);
massPoint.Position = vertices[i];
massPoint.Mass = FP.EN1;
this.points.Add(massPoint);
}
for (int j = 0; j < indices.Count; j++)
{
TriangleVertexIndices indices2 = indices[j];
SoftBody.Triangle triangle = new SoftBody.Triangle(this);
triangle.indices = indices2;
this.triangles.Add(triangle);
triangle.boundingBox = TSBBox.SmallBox;
triangle.boundingBox.AddPoint(this.points[triangle.indices.I0].position);
triangle.boundingBox.AddPoint(this.points[triangle.indices.I1].position);
triangle.boundingBox.AddPoint(this.points[triangle.indices.I2].position);
triangle.dynamicTreeID = this.dynamicTree.AddProxy(ref triangle.boundingBox, triangle);
}
HashSet <SoftBody.Edge> edges = this.GetEdges(indices);
int num = 0;
foreach (SoftBody.Edge current in edges)
{
SoftBody.Spring spring = new SoftBody.Spring(this.points[current.Index1], this.points[current.Index2]);
spring.Softness = FP.EN2;
spring.BiasFactor = FP.EN1;
spring.SpringType = SoftBody.SpringType.EdgeSpring;
this.springs.Add(spring);
num++;
}
}
private void DetectSoftSoft(SoftBody body1, SoftBody body2)
{
List <int> @new = this.potentialTriangleLists.GetNew();
List <int> new2 = this.potentialTriangleLists.GetNew();
body1.dynamicTree.Query(new2, @new, body2.dynamicTree);
for (int i = 0; i < new2.Count; i++)
{
SoftBody.Triangle userData = body1.dynamicTree.GetUserData(@new[i]);
SoftBody.Triangle userData2 = body2.dynamicTree.GetUserData(new2[i]);
TSVector tSVector;
TSVector tSVector2;
FP penetration;
bool flag = XenoCollide.Detect(userData, userData2, ref TSMatrix.InternalIdentity, ref TSMatrix.InternalIdentity, ref TSVector.InternalZero, ref TSVector.InternalZero, out tSVector, out tSVector2, out penetration);
bool flag2 = flag;
if (flag2)
{
int index = CollisionSystem.FindNearestTrianglePoint(body1, @new[i], ref tSVector);
int index2 = CollisionSystem.FindNearestTrianglePoint(body2, new2[i], ref tSVector);
this.RaiseCollisionDetected(body1.VertexBodies[index], body2.VertexBodies[index2], ref tSVector, ref tSVector, ref tSVector2, penetration);
}
}
@new.Clear();
new2.Clear();
this.potentialTriangleLists.GiveBack(@new);
this.potentialTriangleLists.GiveBack(new2);
}
public virtual void DoSelfCollision(CollisionDetectedHandler collision)
{
bool flag = !this.selfCollision;
if (!flag)
{
for (int i = 0; i < this.points.Count; i++)
{
this.queryList.Clear();
this.dynamicTree.Query(this.queryList, ref this.points[i].boundingBox);
for (int j = 0; j < this.queryList.Count; j++)
{
SoftBody.Triangle userData = this.dynamicTree.GetUserData(this.queryList[j]);
bool flag2 = userData.VertexBody1 != this.points[i] && userData.VertexBody2 != this.points[i] && userData.VertexBody3 != this.points[i];
if (flag2)
{
TSVector tSVector;
TSVector normal;
FP penetration;
bool flag3 = XenoCollide.Detect(this.points[i].Shape, userData, ref this.points[i].orientation, ref TSMatrix.InternalIdentity, ref this.points[i].position, ref TSVector.InternalZero, out tSVector, out normal, out penetration);
if (flag3)
{
int index = CollisionSystem.FindNearestTrianglePoint(this, this.queryList[j], ref tSVector);
collision(this.points[i], this.points[index], tSVector, tSVector, normal, penetration);
}
}
}
}
}
}
private void DetectSoftRigid(RigidBody rigidBody, SoftBody softBody)
{
bool flag = rigidBody.Shape is Multishape;
if (flag)
{
Multishape multishape = rigidBody.Shape as Multishape;
multishape = multishape.RequestWorkingClone();
TSBBox boundingBox = softBody.BoundingBox;
boundingBox.InverseTransform(ref rigidBody.position, ref rigidBody.orientation);
int num = multishape.Prepare(ref boundingBox);
List <int> @new = this.potentialTriangleLists.GetNew();
softBody.dynamicTree.Query(@new, ref rigidBody.boundingBox);
foreach (int current in @new)
{
SoftBody.Triangle userData = softBody.dynamicTree.GetUserData(current);
for (int i = 0; i < num; i++)
{
multishape.SetCurrentShape(i);
TSVector tSVector;
TSVector tSVector2;
FP penetration;
bool flag2 = XenoCollide.Detect(multishape, userData, ref rigidBody.orientation, ref TSMatrix.InternalIdentity, ref rigidBody.position, ref TSVector.InternalZero, out tSVector, out tSVector2, out penetration);
bool flag3 = flag2;
if (flag3)
{
int index = CollisionSystem.FindNearestTrianglePoint(softBody, current, ref tSVector);
this.RaiseCollisionDetected(rigidBody, softBody.VertexBodies[index], ref tSVector, ref tSVector, ref tSVector2, penetration);
}
}
}
@new.Clear();
this.potentialTriangleLists.GiveBack(@new);
multishape.ReturnWorkingClone();
}
else
{
List <int> new2 = this.potentialTriangleLists.GetNew();
softBody.dynamicTree.Query(new2, ref rigidBody.boundingBox);
foreach (int current2 in new2)
{
SoftBody.Triangle userData2 = softBody.dynamicTree.GetUserData(current2);
TSVector tSVector3;
TSVector tSVector4;
FP penetration2;
bool flag4 = XenoCollide.Detect(rigidBody.Shape, userData2, ref rigidBody.orientation, ref TSMatrix.InternalIdentity, ref rigidBody.position, ref TSVector.InternalZero, out tSVector3, out tSVector4, out penetration2);
bool flag5 = flag4;
if (flag5)
{
int index2 = CollisionSystem.FindNearestTrianglePoint(softBody, current2, ref tSVector3);
this.RaiseCollisionDetected(rigidBody, softBody.VertexBodies[index2], ref tSVector3, ref tSVector3, ref tSVector4, penetration2);
}
}
new2.Clear();
this.potentialTriangleLists.GiveBack(new2);
}
}
public static int FindNearestTrianglePoint(SoftBody sb, int id, ref TSVector point)
{
SoftBody.Triangle userData = sb.dynamicTree.GetUserData(id);
TSVector position = sb.VertexBodies[userData.indices.I0].position;
TSVector.Subtract(ref position, ref point, out position);
FP sqrMagnitude = position.sqrMagnitude;
position = sb.VertexBodies[userData.indices.I1].position;
TSVector.Subtract(ref position, ref point, out position);
FP sqrMagnitude2 = position.sqrMagnitude;
position = sb.VertexBodies[userData.indices.I2].position;
TSVector.Subtract(ref position, ref point, out position);
FP sqrMagnitude3 = position.sqrMagnitude;
bool flag = sqrMagnitude < sqrMagnitude2;
int result;
if (flag)
{
bool flag2 = sqrMagnitude < sqrMagnitude3;
if (flag2)
{
result = userData.indices.I0;
}
else
{
result = userData.indices.I2;
}
}
else
{
bool flag3 = sqrMagnitude2 < sqrMagnitude3;
if (flag3)
{
result = userData.indices.I1;
}
else
{
result = userData.indices.I2;
}
}
return(result);
}
