/// <summary>
/// SupportMapping. Finds the point in the shape furthest away from the given direction.
/// Imagine a plane with a normal in the search direction. Now move the plane along the normal
/// until the plane does not intersect the shape. The last intersection point is the result.
/// </summary>
/// <param name="direction">The direction.</param>
/// <param name="result">The result.</param>
public override void SupportMapping(ref FPVector direction, out FPVector result)
{
result = direction;
result.Normalize();
FPVector.Multiply(ref result, radius, out result);
}
/// <summary>
/// SupportMapping. Finds the point in the shape furthest away from the given direction.
/// Imagine a plane with a normal in the search direction. Now move the plane along the normal
/// until the plane does not intersect the shape. The last intersection point is the result.
/// </summary>
/// <param name="direction">The direction.</param>
/// <param name="result">The result.</param>
public override void SupportMapping(ref FPVector direction, out FPVector result)
{
FPVector expandVector;
FPVector.Normalize(ref direction, out expandVector);
FPVector.Multiply(ref expandVector, sphericalExpansion, out expandVector);
int minIndex = 0;
FP min = FPVector.Dot(ref points[0], ref direction);
FP dot = FPVector.Dot(ref points[1], ref direction);
if (dot > min)
{
min = dot;
minIndex = 1;
}
dot = FPVector.Dot(ref points[2], ref direction);
if (dot > min)
{
min = dot;
minIndex = 2;
}
FPVector.Add(ref points[minIndex], ref expandVector, out result);
}
public void SupportMapping(ref FPVector direction, out FPVector result)
{
FP min = FPVector.Dot(ref owner.points[indices.I0].position, ref direction);
FP dot = FPVector.Dot(ref owner.points[indices.I1].position, ref direction);
FPVector minVertex = owner.points[indices.I0].position;
if (dot > min)
{
min = dot;
minVertex = owner.points[indices.I1].position;
}
dot = FPVector.Dot(ref owner.points[indices.I2].position, ref direction);
if (dot > min)
{
min = dot;
minVertex = owner.points[indices.I2].position;
}
FPVector exp;
FPVector.Normalize(ref direction, out exp);
exp *= owner.triangleExpansion;
result = minVertex + exp;
}
/// <summary>
/// SupportMapping. Finds the point in the shape furthest away from the given direction.
/// Imagine a plane with a normal in the search direction. Now move the plane along the normal
/// until the plane does not intersect the shape. The last intersection point is the result.
/// </summary>
/// <param name="direction">The direction.</param>
/// <param name="result">The result.</param>
public override void SupportMapping(ref FPVector direction, out FPVector result)
{
FPVector exp;
FPVector.Normalize(ref direction, out exp);
exp *= sphericalExpansion;
FP min = FPVector.Dot(ref vecs[0], ref direction);
int minIndex = 0;
FP dot = FPVector.Dot(ref vecs[1], ref direction);
if (dot > min)
{
min = dot;
minIndex = 1;
}
dot = FPVector.Dot(ref vecs[2], ref direction);
if (dot > min)
{
min = dot;
minIndex = 2;
}
result = vecs[minIndex] + exp;
}
/// <summary>
/// Initializes a contact.
/// </summary>
/// <param name="body1">The first body.</param>
/// <param name="body2">The second body.</param>
/// <param name="point1">The collision point in worldspace</param>
/// <param name="point2">The collision point in worldspace</param>
/// <param name="n">The normal pointing to body2.</param>
/// <param name="penetration">The estimated penetration depth.</param>
public void Initialize(RigidBody body1, RigidBody body2, ref FPVector point1, ref FPVector point2, ref FPVector n,
FP penetration, bool newContact, ContactSettings settings)
{
this.body1 = body1; this.body2 = body2;
this.normal = n; normal.Normalize();
this.p1 = point1; this.p2 = point2;
this.newContact = newContact;
FPVector.Subtract(ref p1, ref body1.position, out relativePos1);
FPVector.Subtract(ref p2, ref body2.position, out relativePos2);
FPVector.Transform(ref relativePos1, ref body1.invOrientation, out realRelPos1);
FPVector.Transform(ref relativePos2, ref body2.invOrientation, out realRelPos2);
this.initialPen = penetration;
this.penetration = penetration;
body1IsMassPoint = body1.isParticle;
body2IsMassPoint = body2.isParticle;
// Material Properties
if (newContact)
{
treatBody1AsStatic = body1.isStatic;
treatBody2AsStatic = body2.isStatic;
accumulatedNormalImpulse = FP.Zero;
accumulatedTangentImpulse = FP.Zero;
lostSpeculativeBounce = FP.Zero;
switch (settings.MaterialCoefficientMixing)
{
case ContactSettings.MaterialCoefficientMixingType.TakeMaximum:
staticFriction = FPMath.Max(body1.staticFriction, body2.staticFriction);
dynamicFriction = FPMath.Max(body1.staticFriction, body2.staticFriction);
restitution = FPMath.Max(body1.restitution, body2.restitution);
break;
case ContactSettings.MaterialCoefficientMixingType.TakeMinimum:
staticFriction = FPMath.Min(body1.staticFriction, body2.staticFriction);
dynamicFriction = FPMath.Min(body1.staticFriction, body2.staticFriction);
restitution = FPMath.Min(body1.restitution, body2.restitution);
break;
case ContactSettings.MaterialCoefficientMixingType.UseAverage:
staticFriction = (body1.staticFriction + body2.staticFriction) * FP.Half;
dynamicFriction = (body1.staticFriction + body2.staticFriction) * FP.Half;
restitution = (body1.restitution + body2.restitution) * FP.Half;
break;
}
}
this.settings = settings;
}
/// <summary>
/// Called once before iteration starts.
/// </summary>
/// <param name="timestep">The simulation timestep</param>
public override void PrepareForIteration(FP timestep)
{
FPVector.Transform(ref localAnchor1, ref body1.orientation, out r1);
FPVector.Transform(ref localAnchor2, ref body2.orientation, out r2);
FPVector p1, p2, dp;
FPVector.Add(ref body1.position, ref r1, out p1);
FPVector.Add(ref body2.position, ref r2, out p2);
FPVector.Subtract(ref p2, ref p1, out dp);
FPVector l = FPVector.Transform(lineNormal, body1.orientation);
l.Normalize();
FPVector t = (p1 - p2) % l;
if (t.sqrMagnitude != FP.Zero)
{
t.Normalize();
}
t = t % l;
jacobian[0] = t; // linearVel Body1
jacobian[1] = (r1 + p2 - p1) % t; // angularVel Body1
jacobian[2] = -FP.One * t; // linearVel Body2
jacobian[3] = -FP.One * r2 % t; // angularVel Body2
effectiveMass = body1.inverseMass + body2.inverseMass
+ FPVector.Transform(jacobian[1], body1.invInertiaWorld) * jacobian[1]
+ FPVector.Transform(jacobian[3], body2.invInertiaWorld) * jacobian[3];
softnessOverDt = softness / timestep;
effectiveMass += softnessOverDt;
if (effectiveMass != 0)
{
effectiveMass = FP.One / effectiveMass;
}
bias = -(l % (p2 - p1)).magnitude * biasFactor * (FP.One / timestep);
if (!body1.isStatic)
{
body1.linearVelocity += body1.inverseMass * accumulatedImpulse * jacobian[0];
body1.angularVelocity += FPVector.Transform(accumulatedImpulse * jacobian[1], body1.invInertiaWorld);
}
if (!body2.isStatic)
{
body2.linearVelocity += body2.inverseMass * accumulatedImpulse * jacobian[2];
body2.angularVelocity += FPVector.Transform(accumulatedImpulse * jacobian[3], body2.invInertiaWorld);
}
}
/// <summary>
/// Constraints a point on a body to be fixed on a line
/// which is fixed on another body.
/// </summary>
/// <param name="body1"></param>
/// <param name="body2"></param>
/// <param name="lineStartPointBody1"></param>
/// <param name="lineDirection"></param>
/// <param name="pointBody2"></param>
public PointOnLine(RigidBody body1, RigidBody body2,
FPVector lineStartPointBody1, FPVector pointBody2) : base(body1, body2)
{
FPVector.Subtract(ref lineStartPointBody1, ref body1.position, out localAnchor1);
FPVector.Subtract(ref pointBody2, ref body2.position, out localAnchor2);
FPVector.Transform(ref localAnchor1, ref body1.invOrientation, out localAnchor1);
FPVector.Transform(ref localAnchor2, ref body2.invOrientation, out localAnchor2);
lineNormal = FPVector.Normalize(lineStartPointBody1 - pointBody2);
}
/// <summary>
/// Called once before iteration starts.
/// </summary>
/// <param name="timestep">The 5simulation timestep</param>
public override void PrepareForIteration(FP timestep)
{
FPVector dp;
FPVector.Subtract(ref body2.position, ref body1.position, out dp);
FP deltaLength = dp.magnitude - distance;
if (behavior == DistanceBehavior.LimitMaximumDistance && deltaLength <= FP.Zero)
{
skipConstraint = true;
}
else if (behavior == DistanceBehavior.LimitMinimumDistance && deltaLength >= FP.Zero)
{
skipConstraint = true;
}
else
{
skipConstraint = false;
FPVector n = dp;
if (n.sqrMagnitude != FP.Zero)
{
n.Normalize();
}
jacobian[0] = -FP.One * n;
//jacobian[1] = -FP.One * (r1 % n);
jacobian[1] = FP.One * n;
//jacobian[3] = (r2 % n);
effectiveMass = body1.inverseMass + body2.inverseMass;
softnessOverDt = softness / timestep;
effectiveMass += softnessOverDt;
effectiveMass = FP.One / effectiveMass;
bias = deltaLength * biasFactor * (FP.One / timestep);
if (!body1.isStatic)
{
body1.linearVelocity += body1.inverseMass * accumulatedImpulse * jacobian[0];
}
if (!body2.isStatic)
{
body2.linearVelocity += body2.inverseMass * accumulatedImpulse * jacobian[1];
}
}
}
/// <summary>
///
/// </summary>
/// <param name="rayOrigin"></param>
/// <param name="rayDelta"></param>
/// <returns></returns>
public override int Prepare(ref FPVector rayOrigin, ref FPVector rayDelta)
{
potentialTriangles.Clear();
#region Expand Spherical
FPVector expDelta;
FPVector.Normalize(ref rayDelta, out expDelta);
expDelta = rayDelta + expDelta * sphericalExpansion;
#endregion
octree.GetTrianglesIntersectingRay(potentialTriangles, rayOrigin, expDelta);
return(potentialTriangles.Count);
}
/// <summary>
/// Called once before iteration starts.
/// </summary>
/// <param name="timestep">The 5simulation timestep</param>
public override void PrepareForIteration(FP timestep)
{
FPVector.Transform(ref localAnchor1, ref body1.orientation, out r1);
FPVector.Transform(ref localAnchor2, ref body2.orientation, out r2);
FPVector p1, p2, dp;
FPVector.Add(ref body1.position, ref r1, out p1);
FPVector.Add(ref body2.position, ref r2, out p2);
FPVector.Subtract(ref p2, ref p1, out dp);
FP deltaLength = dp.magnitude;
FPVector n = p2 - p1;
if (n.sqrMagnitude != FP.Zero)
{
n.Normalize();
}
jacobian[0] = -FP.One * n;
jacobian[1] = -FP.One * (r1 % n);
jacobian[2] = FP.One * n;
jacobian[3] = (r2 % n);
effectiveMass = body1.inverseMass + body2.inverseMass
+ FPVector.Transform(jacobian[1], body1.invInertiaWorld) * jacobian[1]
+ FPVector.Transform(jacobian[3], body2.invInertiaWorld) * jacobian[3];
softnessOverDt = softness / timestep;
effectiveMass += softnessOverDt;
effectiveMass = FP.One / effectiveMass;
bias = deltaLength * biasFactor * (FP.One / timestep);
if (!body1.isStatic)
{
body1.linearVelocity += body1.inverseMass * accumulatedImpulse * jacobian[0];
body1.angularVelocity += FPVector.Transform(accumulatedImpulse * jacobian[1], body1.invInertiaWorld);
}
if (!body2.isStatic)
{
body2.linearVelocity += body2.inverseMass * accumulatedImpulse * jacobian[2];
body2.angularVelocity += FPVector.Transform(accumulatedImpulse * jacobian[3], body2.invInertiaWorld);
}
}
/// <summary>
///
/// </summary>
/// <param name="rayOrigin"></param>
/// <param name="rayDelta"></param>
/// <returns></returns>
public override int Prepare(ref FPVector rayOrigin, ref FPVector rayDelta)
{
TSBBox box = TSBBox.SmallBox;
#region RayEnd + Expand Spherical
FPVector rayEnd;
FPVector.Normalize(ref rayDelta, out rayEnd);
rayEnd = rayOrigin + rayDelta + rayEnd * sphericalExpansion;
#endregion
box.AddPoint(ref rayOrigin);
box.AddPoint(ref rayEnd);
return(this.Prepare(ref box));
}
public static void LookAt(FPVector forward, FPVector upwards, out FPMatrix result)
{
FPVector zaxis = forward; zaxis.Normalize();
FPVector xaxis = FPVector.Cross(upwards, zaxis); xaxis.Normalize();
FPVector yaxis = FPVector.Cross(zaxis, xaxis);
result.M11 = xaxis.x;
result.M21 = yaxis.x;
result.M31 = zaxis.x;
result.M12 = xaxis.y;
result.M22 = yaxis.y;
result.M32 = zaxis.y;
result.M13 = xaxis.z;
result.M23 = yaxis.z;
result.M33 = zaxis.z;
}
/// <summary>
/// SupportMapping. Finds the point in the shape furthest away from the given direction.
/// Imagine a plane with a normal in the search direction. Now move the plane along the normal
/// until the plane does not intersect the shape. The last intersection point is the result.
/// </summary>
/// <param name="direction">The direction.</param>
/// <param name="result">The result.</param>
public override void SupportMapping(ref FPVector direction, out FPVector result)
{
FP r = FP.Sqrt(direction.x * direction.x + direction.z * direction.z);
if (FP.Abs(direction.y) > FP.Zero)
{
FPVector dir; FPVector.Normalize(ref direction, out dir);
FPVector.Multiply(ref dir, radius, out result);
result.y += FP.Sign(direction.y) * FP.Half * length;
}
else if (r > FP.Zero)
{
result.x = direction.x / r * radius;
result.y = FP.Zero;
result.z = direction.z / r * radius;
}
else
{
result.x = FP.Zero;
result.y = FP.Zero;
result.z = FP.Zero;
}
}
/// <summary>
/// Checks two shapes for collisions.
/// </summary>
/// <param name="support1">The SupportMappable implementation of the first shape to test.</param>
/// <param name="support2">The SupportMappable implementation of the seconds shape to test.</param>
/// <param name="orientation1">The orientation of the first shape.</param>
/// <param name="orientation2">The orientation of the second shape.</param>
/// <param name="position1">The position of the first shape.</param>
/// <param name="position2">The position of the second shape</param>
/// <param name="point">The pointin world coordinates, where collision occur.</param>
/// <param name="normal">The normal pointing from body2 to body1.</param>
/// <param name="penetration">Estimated penetration depth of the collision.</param>
/// <returns>Returns true if there is a collision, false otherwise.</returns>
public static bool Detect(ISupportMappable support1, ISupportMappable support2, ref FPMatrix orientation1,
ref FPMatrix orientation2, ref FPVector position1, ref FPVector position2,
out FPVector point, out FPVector normal, out FP penetration)
{
// Used variables
FPVector temp1, temp2;
FPVector v01, v02, v0;
FPVector v11, v12, v1;
FPVector v21, v22, v2;
FPVector v31, v32, v3;
FPVector v41 = FPVector.zero, v42 = FPVector.zero, v4 = FPVector.zero;
FPVector mn;
// Initialization of the output
point = normal = FPVector.zero;
penetration = FP.Zero;
//JVector right = JVector.Right;
// Get the center of shape1 in world coordinates -> v01
support1.SupportCenter(out v01);
FPVector.Transform(ref v01, ref orientation1, out v01);
FPVector.Add(ref position1, ref v01, out v01);
// Get the center of shape2 in world coordinates -> v02
support2.SupportCenter(out v02);
FPVector.Transform(ref v02, ref orientation2, out v02);
FPVector.Add(ref position2, ref v02, out v02);
// v0 is the center of the minkowski difference
FPVector.Subtract(ref v02, ref v01, out v0);
// Avoid case where centers overlap -- any direction is fine in this case
if (v0.IsNearlyZero())
{
v0 = new FPVector(FP.EN4, 0, 0);
}
// v1 = support in direction of origin
mn = v0;
FPVector.Negate(ref v0, out normal);
//UnityEngine.Debug.Log("normal: " + normal);
SupportMapTransformed(support1, ref orientation1, ref position1, ref mn, out v11);
SupportMapTransformed(support2, ref orientation2, ref position2, ref normal, out v12);
FPVector.Subtract(ref v12, ref v11, out v1);
if (FPVector.Dot(ref v1, ref normal) <= FP.Zero)
{
return(false);
}
// v2 = support perpendicular to v1,v0
FPVector.Cross(ref v1, ref v0, out normal);
if (normal.IsNearlyZero())
{
FPVector.Subtract(ref v1, ref v0, out normal);
//UnityEngine.Debug.Log("normal: " + normal);
normal.Normalize();
point = v11;
FPVector.Add(ref point, ref v12, out point);
FPVector.Multiply(ref point, FP.Half, out point);
FPVector.Subtract(ref v12, ref v11, out temp1);
penetration = FPVector.Dot(ref temp1, ref normal);
//point = v11;
//point2 = v12;
return(true);
}
FPVector.Negate(ref normal, out mn);
SupportMapTransformed(support1, ref orientation1, ref position1, ref mn, out v21);
SupportMapTransformed(support2, ref orientation2, ref position2, ref normal, out v22);
FPVector.Subtract(ref v22, ref v21, out v2);
if (FPVector.Dot(ref v2, ref normal) <= FP.Zero)
{
return(false);
}
// Determine whether origin is on + or - side of plane (v1,v0,v2)
FPVector.Subtract(ref v1, ref v0, out temp1);
FPVector.Subtract(ref v2, ref v0, out temp2);
FPVector.Cross(ref temp1, ref temp2, out normal);
FP dist = FPVector.Dot(ref normal, ref v0);
// If the origin is on the - side of the plane, reverse the direction of the plane
if (dist > FP.Zero)
{
FPVector.Swap(ref v1, ref v2);
FPVector.Swap(ref v11, ref v21);
FPVector.Swap(ref v12, ref v22);
FPVector.Negate(ref normal, out normal);
UnityEngine.Debug.Log("normal: " + normal);
}
int phase2 = 0;
int phase1 = 0;
bool hit = false;
// Phase One: Identify a portal
while (true)
{
if (phase1 > MaximumIterations)
{
return(false);
}
phase1++;
// Obtain the support point in a direction perpendicular to the existing plane
// Note: This point is guaranteed to lie off the plane
FPVector.Negate(ref normal, out mn);
//UnityEngine.Debug.Log("mn: " + mn);
SupportMapTransformed(support1, ref orientation1, ref position1, ref mn, out v31);
SupportMapTransformed(support2, ref orientation2, ref position2, ref normal, out v32);
FPVector.Subtract(ref v32, ref v31, out v3);
if (FPVector.Dot(ref v3, ref normal) <= FP.Zero)
{
return(false);
}
// If origin is outside (v1,v0,v3), then eliminate v2 and loop
FPVector.Cross(ref v1, ref v3, out temp1);
if (FPVector.Dot(ref temp1, ref v0) < FP.Zero)
{
v2 = v3;
v21 = v31;
v22 = v32;
FPVector.Subtract(ref v1, ref v0, out temp1);
FPVector.Subtract(ref v3, ref v0, out temp2);
FPVector.Cross(ref temp1, ref temp2, out normal);
// UnityEngine.Debug.Log("normal: " + normal);
continue;
}
// If origin is outside (v3,v0,v2), then eliminate v1 and loop
FPVector.Cross(ref v3, ref v2, out temp1);
if (FPVector.Dot(ref temp1, ref v0) < FP.Zero)
{
v1 = v3;
v11 = v31;
v12 = v32;
FPVector.Subtract(ref v3, ref v0, out temp1);
FPVector.Subtract(ref v2, ref v0, out temp2);
FPVector.Cross(ref temp1, ref temp2, out normal);
//UnityEngine.Debug.Log("normal: " + normal);
continue;
}
// Phase Two: Refine the portal
// We are now inside of a wedge...
while (true)
{
phase2++;
/*
* UnityEngine.Debug.LogError(" ::Start STATE");
* UnityEngine.Debug.Log(temp1 + " " + temp2);
* UnityEngine.Debug.Log( v01 + " " + v02 + " "+ v0);
* UnityEngine.Debug.Log( v11+" "+ v12 +" "+ v1);
* UnityEngine.Debug.Log( v21 +" "+ v22 +" "+ v2);
* UnityEngine.Debug.Log( v31 +" "+ v32 +" "+ v3);
* UnityEngine.Debug.Log( v41 +" "+ v42 +" "+ v4);
* UnityEngine.Debug.Log( mn);
*
* UnityEngine.Debug.LogError(" ::END STATE");
*/
// Compute normal of the wedge face
FPVector.Subtract(ref v2, ref v1, out temp1);
FPVector.Subtract(ref v3, ref v1, out temp2);
FPVector.Cross(ref temp1, ref temp2, out normal);
// Beginer
// UnityEngine.Debug.Log("normal: " + normal);
// Can this happen??? Can it be handled more cleanly?
if (normal.IsNearlyZero())
{
return(true);
}
normal.Normalize();
//UnityEngine.Debug.Log("normal: " + normal);
// Compute distance from origin to wedge face
FP d = FPVector.Dot(ref normal, ref v1);
// If the origin is inside the wedge, we have a hit
if (d >= 0 && !hit)
{
// HIT!!!
hit = true;
}
// Find the support point in the direction of the wedge face
FPVector.Negate(ref normal, out mn);
SupportMapTransformed(support1, ref orientation1, ref position1, ref mn, out v41);
SupportMapTransformed(support2, ref orientation2, ref position2, ref normal, out v42);
FPVector.Subtract(ref v42, ref v41, out v4);
FPVector.Subtract(ref v4, ref v3, out temp1);
FP delta = FPVector.Dot(ref temp1, ref normal);
penetration = FPVector.Dot(ref v4, ref normal);
// If the boundary is thin enough or the origin is outside the support plane for the newly discovered vertex, then we can terminate
if (delta <= CollideEpsilon || penetration <= FP.Zero || phase2 > MaximumIterations)
{
if (hit)
{
FPVector.Cross(ref v1, ref v2, out temp1);
FP b0 = FPVector.Dot(ref temp1, ref v3);
FPVector.Cross(ref v3, ref v2, out temp1);
FP b1 = FPVector.Dot(ref temp1, ref v0);
FPVector.Cross(ref v0, ref v1, out temp1);
FP b2 = FPVector.Dot(ref temp1, ref v3);
FPVector.Cross(ref v2, ref v1, out temp1);
FP b3 = FPVector.Dot(ref temp1, ref v0);
FP sum = b0 + b1 + b2 + b3;
if (sum <= 0)
{
b0 = 0;
FPVector.Cross(ref v2, ref v3, out temp1);
b1 = FPVector.Dot(ref temp1, ref normal);
FPVector.Cross(ref v3, ref v1, out temp1);
b2 = FPVector.Dot(ref temp1, ref normal);
FPVector.Cross(ref v1, ref v2, out temp1);
b3 = FPVector.Dot(ref temp1, ref normal);
sum = b1 + b2 + b3;
}
FP inv = FP.One / sum;
FPVector.Multiply(ref v01, b0, out point);
FPVector.Multiply(ref v11, b1, out temp1);
FPVector.Add(ref point, ref temp1, out point);
FPVector.Multiply(ref v21, b2, out temp1);
FPVector.Add(ref point, ref temp1, out point);
FPVector.Multiply(ref v31, b3, out temp1);
FPVector.Add(ref point, ref temp1, out point);
FPVector.Multiply(ref v02, b0, out temp2);
FPVector.Add(ref temp2, ref point, out point);
FPVector.Multiply(ref v12, b1, out temp1);
FPVector.Add(ref point, ref temp1, out point);
FPVector.Multiply(ref v22, b2, out temp1);
FPVector.Add(ref point, ref temp1, out point);
FPVector.Multiply(ref v32, b3, out temp1);
FPVector.Add(ref point, ref temp1, out point);
FPVector.Multiply(ref point, inv * FP.Half, out point);
}
// Compute the barycentric coordinates of the origin
return(hit);
}
//// Compute the tetrahedron dividing face (v4,v0,v1)
//JVector.Cross(ref v4, ref v1, out temp1);
//FP d1 = JVector.Dot(ref temp1, ref v0);
//// Compute the tetrahedron dividing face (v4,v0,v2)
//JVector.Cross(ref v4, ref v2, out temp1);
//FP d2 = JVector.Dot(ref temp1, ref v0);
// Compute the tetrahedron dividing face (v4,v0,v3)
//UnityEngine.Debug.LogError("v4:" + v4 + " v0:" + v0);
FPVector.Cross(ref v4, ref v0, out temp1);
//UnityEngine.Debug.LogError("temp1:"+ temp1);
//Ender
// UnityEngine.Debug.Log("normal: " + normal);
FP dot = FPVector.Dot(ref temp1, ref v1);
if (dot >= FP.Zero)
{
// UnityEngine.Debug.Log("dot >= 0 temp1:" + temp1 + " v2:" + v2 );
dot = FPVector.Dot(ref temp1, ref v2);
if (dot >= FP.Zero)
{
// UnityEngine.Debug.Log("dot >= 0 v1->v4");
// Inside d1 & inside d2 ==> eliminate v1
v1 = v4;
v11 = v41;
v12 = v42;
}
else
{
// UnityEngine.Debug.Log("dot < v3->v4");
// Inside d1 & outside d2 ==> eliminate v3
v3 = v4;
v31 = v41;
v32 = v42;
}
}
else
{
// UnityEngine.Debug.Log("dot < 0 temp1:" + temp1 + " v3:" + v3 );
dot = FPVector.Dot(ref temp1, ref v3);
if (dot >= FP.Zero)
{
// UnityEngine.Debug.Log("dot >= 0 v2 => v4");
// Outside d1 & inside d3 ==> eliminate v2
v2 = v4;
v21 = v41;
v22 = v42;
}
else
{
// UnityEngine.Debug.Log("dot < 0 v1 => v4");
// Outside d1 & outside d3 ==> eliminate v1
v1 = v4;
v11 = v41;
v12 = v42;
}
}
}
}
}
/// <summary>
/// Hull making.
/// </summary>
/// <remarks>Based/Completely from http://www.xbdev.net/physics/MinkowskiDifference/index.php
/// I don't (100%) see why this should always work.
/// </remarks>
/// <param name="triangleList"></param>
/// <param name="generationThreshold"></param>
public virtual void MakeHull(ref List <FPVector> triangleList, int generationThreshold)
{
FP distanceThreshold = FP.Zero;
if (generationThreshold < 0)
{
generationThreshold = 4;
}
Stack <ClipTriangle> activeTriList = new Stack <ClipTriangle>();
FPVector[] v = new FPVector[] // 6 Array
{
new FPVector(-1, 0, 0),
new FPVector(1, 0, 0),
new FPVector(0, -1, 0),
new FPVector(0, 1, 0),
new FPVector(0, 0, -1),
new FPVector(0, 0, 1),
};
int[,] kTriangleVerts = new int[8, 3] // 8 x 3 Array
{
{ 5, 1, 3 },
{ 4, 3, 1 },
{ 3, 4, 0 },
{ 0, 5, 3 },
{ 5, 2, 1 },
{ 4, 1, 2 },
{ 2, 0, 4 },
{ 0, 2, 5 }
};
for (int i = 0; i < 8; i++)
{
ClipTriangle tri = new ClipTriangle();
tri.n1 = v[kTriangleVerts[i, 0]];
tri.n2 = v[kTriangleVerts[i, 1]];
tri.n3 = v[kTriangleVerts[i, 2]];
tri.generation = 0;
activeTriList.Push(tri);
}
// surfaceTriList
while (activeTriList.Count > 0)
{
ClipTriangle tri = activeTriList.Pop();
FPVector p1; SupportMapping(ref tri.n1, out p1);
FPVector p2; SupportMapping(ref tri.n2, out p2);
FPVector p3; SupportMapping(ref tri.n3, out p3);
FP d1 = (p2 - p1).sqrMagnitude;
FP d2 = (p3 - p2).sqrMagnitude;
FP d3 = (p1 - p3).sqrMagnitude;
if (FPMath.Max(FPMath.Max(d1, d2), d3) > distanceThreshold && tri.generation < generationThreshold)
{
ClipTriangle tri1 = new ClipTriangle();
ClipTriangle tri2 = new ClipTriangle();
ClipTriangle tri3 = new ClipTriangle();
ClipTriangle tri4 = new ClipTriangle();
tri1.generation = tri.generation + 1;
tri2.generation = tri.generation + 1;
tri3.generation = tri.generation + 1;
tri4.generation = tri.generation + 1;
tri1.n1 = tri.n1;
tri2.n2 = tri.n2;
tri3.n3 = tri.n3;
FPVector n = FP.Half * (tri.n1 + tri.n2);
n.Normalize();
tri1.n2 = n;
tri2.n1 = n;
tri4.n3 = n;
n = FP.Half * (tri.n2 + tri.n3);
n.Normalize();
tri2.n3 = n;
tri3.n2 = n;
tri4.n1 = n;
n = FP.Half * (tri.n3 + tri.n1);
n.Normalize();
tri1.n3 = n;
tri3.n1 = n;
tri4.n2 = n;
activeTriList.Push(tri1);
activeTriList.Push(tri2);
activeTriList.Push(tri3);
activeTriList.Push(tri4);
}
else
{
if (((p3 - p1) % (p2 - p1)).sqrMagnitude > FPMath.Epsilon)
{
triangleList.Add(p1);
triangleList.Add(p2);
triangleList.Add(p3);
}
}
}
}
// public static bool TimeOfImpact(ISupportMappable support1, ISupportMappable support2, ref JMatrix orientation1,
//ref JMatrix orientation2, ref JVector position1, ref JVector position2, ref JVector sweptA, ref JVector sweptB,
//out JVector p1, out JVector p2, out JVector normal)
// {
// VoronoiSimplexSolver simplexSolver = simplexSolverPool.GetNew();
// simplexSolver.Reset();
// FP lambda = FP.Zero;
// p1 = p2 = JVector.Zero;
// JVector x1 = position1;
// JVector x2 = position2;
// JVector r = sweptA - sweptB;
// JVector w, v;
// JVector supVertexA;
// JVector rn = JVector.Negate(r);
// SupportMapTransformed(support1, ref orientation1, ref x1, ref rn, out supVertexA);
// JVector supVertexB;
// SupportMapTransformed(support2, ref orientation2, ref x2, ref r, out supVertexB);
// v = supVertexA - supVertexB;
// bool hasResult = false;
// normal = JVector.Zero;
// FP lastLambda = lambda;
// int maxIter = MaxIterations;
// FP distSq = v.LengthSquared();
// FP epsilon = FP.EN5;
// FP VdotR;
// while ((distSq > epsilon) && (maxIter-- != 0))
// {
// JVector vn = JVector.Negate(v);
// SupportMapTransformed(support1, ref orientation1, ref x1, ref vn, out supVertexA);
// SupportMapTransformed(support2, ref orientation2, ref x2, ref v, out supVertexB);
// w = supVertexA - supVertexB;
// FP VdotW = JVector.Dot(ref v, ref w);
// if (VdotW > FP.Zero)
// {
// VdotR = JVector.Dot(ref v, ref r);
// if (VdotR >= -JMath.Epsilon)
// {
// simplexSolverPool.GiveBack(simplexSolver);
// return false;
// }
// else
// {
// lambda = lambda - VdotW / VdotR;
// x1 = position1 + lambda * sweptA;
// x2 = position2 + lambda * sweptB;
// w = supVertexA - supVertexB;
// normal = v;
// hasResult = true;
// }
// }
// if (!simplexSolver.InSimplex(w)) simplexSolver.AddVertex(w, supVertexA, supVertexB);
// if (simplexSolver.Closest(out v))
// {
// distSq = v.LengthSquared();
// normal = v;
// hasResult = true;
// }
// else distSq = FP.Zero;
// }
// simplexSolver.ComputePoints(out p1, out p2);
// if (normal.LengthSquared() > JMath.Epsilon * JMath.Epsilon)
// normal.Normalize();
// p1 = p1 - lambda * sweptA;
// p2 = p2 - lambda * sweptB;
// simplexSolverPool.GiveBack(simplexSolver);
// return true;
// }
#endregion
// see: btSubSimplexConvexCast.cpp
/// <summary>
/// Checks if a ray definied through it's origin and direction collides
/// with a shape.
/// </summary>
/// <param name="support">The supportmap implementation representing the shape.</param>
/// <param name="orientation">The orientation of the shape.</param>
/// <param name="invOrientation">The inverse orientation of the shape.</param>
/// <param name="position">The position of the shape.</param>
/// <param name="origin">The origin of the ray.</param>
/// <param name="direction">The direction of the ray.</param>
/// <param name="fraction">The fraction which gives information where at the
/// ray the collision occured. The hitPoint is calculated by: origin+friction*direction.</param>
/// <param name="normal">The normal from the ray collision.</param>
/// <returns>Returns true if the ray hit the shape, false otherwise.</returns>
public static bool Raycast(ISupportMappable support, ref FPMatrix orientation, ref FPMatrix invOrientation,
ref FPVector position, ref FPVector origin, ref FPVector direction, out FP fraction, out FPVector normal)
{
VoronoiSimplexSolver simplexSolver = simplexSolverPool.GetNew();
simplexSolver.Reset();
normal = FPVector.zero;
fraction = FP.MaxValue;
FP lambda = FP.Zero;
FPVector r = direction;
FPVector x = origin;
FPVector w, p, v;
FPVector arbitraryPoint;
SupportMapTransformed(support, ref orientation, ref position, ref r, out arbitraryPoint);
FPVector.Subtract(ref x, ref arbitraryPoint, out v);
int maxIter = MaxIterations;
FP distSq = v.sqrMagnitude;
FP epsilon = FP.EN6;
FP VdotR;
while ((distSq > epsilon) && (maxIter-- != 0))
{
SupportMapTransformed(support, ref orientation, ref position, ref v, out p);
FPVector.Subtract(ref x, ref p, out w);
FP VdotW = FPVector.Dot(ref v, ref w);
if (VdotW > FP.Zero)
{
VdotR = FPVector.Dot(ref v, ref r);
if (VdotR >= -FPMath.Epsilon)
{
simplexSolverPool.GiveBack(simplexSolver);
return(false);
}
else
{
lambda = lambda - VdotW / VdotR;
FPVector.Multiply(ref r, lambda, out x);
FPVector.Add(ref origin, ref x, out x);
FPVector.Subtract(ref x, ref p, out w);
normal = v;
}
}
if (!simplexSolver.InSimplex(w))
{
simplexSolver.AddVertex(w, x, p);
}
if (simplexSolver.Closest(out v))
{
distSq = v.sqrMagnitude;
}
else
{
distSq = FP.Zero;
}
}
#region Retrieving hitPoint
// Giving back the fraction like this *should* work
// but is inaccurate against large objects:
// fraction = lambda;
FPVector p1, p2;
simplexSolver.ComputePoints(out p1, out p2);
p2 = p2 - origin;
fraction = p2.magnitude / direction.magnitude;
#endregion
if (normal.sqrMagnitude > FPMath.Epsilon * FPMath.Epsilon)
{
normal.Normalize();
}
simplexSolverPool.GiveBack(simplexSolver);
return(true);
}
public static bool ClosestPoints(ISupportMappable support1, ISupportMappable support2, ref FPMatrix orientation1,
ref FPMatrix orientation2, ref FPVector position1, ref FPVector position2,
out FPVector p1, out FPVector p2, out FPVector normal)
{
VoronoiSimplexSolver simplexSolver = simplexSolverPool.GetNew();
simplexSolver.Reset();
p1 = p2 = FPVector.zero;
FPVector r = position1 - position2;
FPVector w, v;
FPVector supVertexA;
FPVector rn, vn;
rn = FPVector.Negate(r);
SupportMapTransformed(support1, ref orientation1, ref position1, ref rn, out supVertexA);
FPVector supVertexB;
SupportMapTransformed(support2, ref orientation2, ref position2, ref r, out supVertexB);
v = supVertexA - supVertexB;
normal = FPVector.zero;
int maxIter = MaxIterations;
FP distSq = v.sqrMagnitude;
FP epsilon = CollideEpsilon;
while ((distSq > epsilon) && (maxIter-- != 0))
{
vn = FPVector.Negate(v);
SupportMapTransformed(support1, ref orientation1, ref position1, ref vn, out supVertexA);
SupportMapTransformed(support2, ref orientation2, ref position2, ref v, out supVertexB);
w = supVertexA - supVertexB;
if (!simplexSolver.InSimplex(w))
{
simplexSolver.AddVertex(w, supVertexA, supVertexB);
}
if (simplexSolver.Closest(out v))
{
distSq = v.sqrMagnitude;
normal = v;
}
else
{
distSq = FP.Zero;
}
}
simplexSolver.ComputePoints(out p1, out p2);
if (normal.sqrMagnitude > FPMath.Epsilon * FPMath.Epsilon)
{
normal.Normalize();
}
simplexSolverPool.GiveBack(simplexSolver);
return(true);
}