/// <summary>
/// Estimates the proximity between a given capsule and a voxel.
/// </summary>
/// <param name="capsule">The capsule to test for intersection, the points must be at least one metre apart.</param>
public static double Proximity(ref CapsuleD capsule, MyVoxelBase voxel, ref Vector3D hitPosition, double capsuleLength = -1d)
{
Logger.TraceLog(capsule.String());
if (capsuleLength < 0)
{
Vector3D.Distance(ref capsule.P0, ref capsule.P1, out capsuleLength);
}
double halfLength = capsuleLength * 0.5d;
Vector3D temp; Vector3D.Add(ref capsule.P0, ref capsule.P1, out temp);
Vector3D middle; Vector3D.Multiply(ref temp, 0.5d, out middle);
if (capsuleLength < 1d)
{
hitPosition = middle;
Logger.TraceLog("capsule length < 1: " + capsuleLength);
return(capsuleLength);
}
double radius = halfLength + capsule.Radius;
BoundingSphereD worldSphere = new BoundingSphereD()
{
Center = middle, Radius = radius
};
if (capsuleLength < Math.Max(capsule.Radius, 1f) * 8f)
{
if (!voxel.ContainsOrIntersects(ref worldSphere))
{
Logger.TraceLog("sphere does not intersect voxel: " + worldSphere + ", capsuleLength: " + capsuleLength);
return(capsuleLength);
}
}
else if (!voxel.PositionComp.WorldAABB.Intersects(ref worldSphere))
{
Logger.TraceLog("sphere does not intersect voxel AABB: " + worldSphere + ", capsuleLength: " + capsuleLength);
return(capsuleLength);
}
CapsuleD halfCapsule;
halfCapsule.P0 = capsule.P0;
halfCapsule.P1 = middle;
halfCapsule.Radius = capsule.Radius;
double prox = Proximity(ref halfCapsule, voxel, ref hitPosition, halfLength);
if (prox < 1f)
{
return(prox);
}
halfCapsule.P0 = middle;
halfCapsule.P1 = capsule.P1;
return(Math.Min(prox, Proximity(ref halfCapsule, voxel, ref hitPosition, halfLength)));
}
private void Run()
{
Voxel.FindFreeSpace(Deposit, MinRadius, out m_freePosition);
CapsuleD capsule = new CapsuleD(m_freePosition, Deposit, 1f);
Vector3D closest; CapsuleDExtensions.Intersects(ref capsule, Voxel, out closest);
NearSurface = Vector3D.DistanceSquared(Deposit, closest) < 100d;
Completed = true;
}
/// <summary>
/// Performs a binary search for intersection using spheres.
/// </summary>
/// <param name="hitPosition">a point on the capsule's line close to obstruction</param>
public static bool Intersects(ref CapsuleD capsule, MyVoxelBase voxel, out Vector3D hitPosition, double capsuleLength = -1d)
{
//Logger.DebugLog("P0: " + capsule.P0 + ", P1: " + capsule.P1 + ", radius: " + capsule.Radius);
if (capsuleLength < 0)
{
Vector3D.Distance(ref capsule.P0, ref capsule.P1, out capsuleLength);
}
double halfLength = capsuleLength * 0.5d;
Vector3D temp; Vector3D.Add(ref capsule.P0, ref capsule.P1, out temp);
Vector3D middle; Vector3D.Multiply(ref temp, 0.5d, out middle);
if (capsuleLength < 1f)
{
hitPosition = middle;
return(true);
}
double radius = halfLength + capsule.Radius;
BoundingSphereD worldSphere = new BoundingSphereD()
{
Center = middle, Radius = radius
};
if (capsuleLength < Math.Max(capsule.Radius, 1f) * 8f)
{
if (!voxel.ContainsOrIntersects(ref worldSphere))
{
hitPosition = Globals.Invalid;
return(false);
}
}
else if (!voxel.PositionComp.WorldAABB.Intersects(ref worldSphere))
{
hitPosition = Globals.Invalid;
return(false);
}
CapsuleD halfCapsule;
halfCapsule.P0 = capsule.P0;
halfCapsule.P1 = middle;
halfCapsule.Radius = capsule.Radius;
if (Intersects(ref halfCapsule, voxel, out hitPosition, halfLength))
{
return(true);
}
halfCapsule.P0 = middle;
halfCapsule.P1 = capsule.P1;
return(Intersects(ref halfCapsule, voxel, out hitPosition, halfLength));
}
public void Reset()
{
this.CapsuleIndex = -1;
this.BoneIndex = -1;
CapsuleD ed = new CapsuleD();
this.Capsule = ed;
Vector3 vector = new Vector3();
this.HitNormalBindingPose = vector;
vector = new Vector3();
this.HitPositionBindingPose = vector;
Matrix matrix = new Matrix();
this.BindingTransformation = matrix;
MyIntersectionResultLineTriangleEx ex = new MyIntersectionResultLineTriangleEx();
this.Triangle = ex;
this.HitHead = false;
}
public static bool IntersectsVoxel(ref CapsuleD capsule, out MyVoxelBase hitVoxel, out Vector3D hitPosition, bool checkPlanet, double capsuleLength = -1d)
{
Profiler.StartProfileBlock();
if (capsuleLength < 0)
{
Vector3D.Distance(ref capsule.P0, ref capsule.P1, out capsuleLength);
}
double halfLength = capsuleLength * 0.5d;
Vector3D temp; Vector3D.Add(ref capsule.P0, ref capsule.P1, out temp);
Vector3D middle; Vector3D.Multiply(ref temp, 0.5d, out middle);
double radius = halfLength + capsule.Radius;
BoundingSphereD worldSphere = new BoundingSphereD()
{
Center = middle, Radius = radius
};
List <MyVoxelBase> voxels = ResourcePool <List <MyVoxelBase> > .Get();
MyGamePruningStructure.GetAllVoxelMapsInSphere(ref worldSphere, voxels);
foreach (MyVoxelBase voxel in voxels)
{
if ((voxel is MyVoxelMap || voxel is MyPlanet && checkPlanet) && Intersects(ref capsule, voxel, out hitPosition, capsuleLength))
{
hitVoxel = voxel;
voxels.Clear();
ResourcePool.Return(voxels);
Profiler.EndProfileBlock();
return(true);
}
}
voxels.Clear();
ResourcePool.Return(voxels);
hitVoxel = null;
hitPosition = Vector3.Invalid;
Profiler.EndProfileBlock();
return(false);
}
public static string String(this CapsuleD capsule)
{
return("{P0:" + capsule.P0 + ", P1:" + capsule.P1 + ", Radius:" + capsule.Radius + "}");
}
/// <summary>
/// Estimates the proximity between a given capsule and any voxel.
/// </summary>
/// <param name="capsule">The capsule to test for intersection, the points must be at least one metre apart.</param>
public static double ProximityToVoxel(ref CapsuleD capsule, out MyVoxelBase hitVoxel, out Vector3D hitPosition, bool checkPlanet, double capsuleLength = -1d)
{
Profiler.StartProfileBlock();
if (capsuleLength < 0)
{
Vector3D.Distance(ref capsule.P0, ref capsule.P1, out capsuleLength);
}
double halfLength = capsuleLength * 0.5d;
Vector3D temp; Vector3D.Add(ref capsule.P0, ref capsule.P1, out temp);
Vector3D middle; Vector3D.Multiply(ref temp, 0.5d, out middle);
double radius = halfLength + capsule.Radius;
BoundingSphereD worldSphere = new BoundingSphereD()
{
Center = middle, Radius = radius
};
List <MyVoxelBase> voxels = ResourcePool <List <MyVoxelBase> > .Get();
MyGamePruningStructure.GetAllVoxelMapsInSphere(ref worldSphere, voxels);
double closestProx = double.MaxValue;
hitPosition = Globals.Invalid;
foreach (MyVoxelBase voxel in voxels)
{
if (voxel is MyVoxelMap || voxel is MyPlanet && checkPlanet)
{
if (voxel is MyPlanet)
{
LineSegmentD line;
ResourcePool.Get(out line);
line.From = capsule.P0;
line.To = capsule.P1;
double minDistSq = line.DistanceSquared(voxel.GetCentre());
double maxPlanetRadius = ((MyPlanet)voxel).MaximumRadius;
ResourcePool.Return(line);
if (minDistSq > maxPlanetRadius * maxPlanetRadius)
{
Logger.DebugLog("Skip planet from: " + line.From + ", to: " + line.To + ", planet centre: " + voxel.GetCentre() + ", min dist sq to centre: " + minDistSq + ", max planet radius: " + maxPlanetRadius);
continue;
}
Logger.DebugLog("Check planet from: " + line.From + ", to: " + line.To + ", planet centre: " + voxel.GetCentre() + ", min dist sq to centre: " + minDistSq + ", max planet radius: " + maxPlanetRadius);
}
double proximity = Proximity(ref capsule, voxel, ref hitPosition, capsuleLength);
if (proximity < closestProx)
{
Logger.TraceLog("proximity is less than closest. proximity: " + proximity + ", closest: " + closestProx);
closestProx = proximity;
}
if (closestProx < 1d)
{
Logger.TraceLog("closest under 1: " + closestProx);
hitVoxel = voxel;
voxels.Clear();
ResourcePool.Return(voxels);
Profiler.EndProfileBlock();
return(closestProx);
}
}
}
voxels.Clear();
ResourcePool.Return(voxels);
hitVoxel = null;
Profiler.EndProfileBlock();
return(closestProx);
}
public static void AddCapsule(CapsuleD capsule, Color col)
{
CapsulesToDraw.Add(new Tuple <CapsuleD, Color>(capsule, col));
}