public static bool IntersectSphereOBB(Sphere s1, OBB obb, ref Geometry.Geometric_Queries.Distance_Query_Result result)
{
var closer = obb.Closest_W_Point_On_OBB_To(s1.Position, 0);
var res = s1.What_Faces(closer);
if (res.Signed_Dist > 0.1f)
{
return(false);
}
result = new Geometry.Geometric_Queries.Distance_Query_Result();
var Extreme_Point_In_Normal_Of_Body_2 = closer;
var Extreme_Point_In_Normal_Of_Body_1 = s1.Radius * res.Normal;
result.signed_distance = res.Signed_Dist;
result.first_has_normal = true;
result.double_contact = false;
result.Point_W_0 = closer;
result.Normal_W = res.Normal;
return(true);
}
public static bool IntersectSphereTriangle(Sphere sphere, Triangle trig, ref Geometry.Geometric_Queries.Distance_Query_Result result)
{
var mink_sph = new Minkowski_Description();
mink_sph.HalfAxis = new Vector4(sphere.Radius, sphere.Radius, sphere.Radius, 1);
mink_sph.Position_LM = sphere.Position - trig.Bary_center;
var sphere_from_trig = trig.What_Faces(mink_sph);
if (sphere_from_trig.Signed_Dist > 0.0f)
{
return(false);
}
result = new Geometry.Geometric_Queries.Distance_Query_Result();
result.first_has_normal = false;
result.Normal_W = trig.Normals[sphere_from_trig.Normal_Code];
var Extreme_Point_In_Normal_Of_Body_1 = trig.Points[sphere_from_trig.Normal_Code] - Intersection_Grid.current_pair_element_2.Rigid.Position;
var Extreme_Point_In_Normal_Of_Body_2 = -result.Normal_W * sphere.Radius;
result.signed_distance = sphere_from_trig.Signed_Dist;
result.double_contact = false;
result.Point_W_0 = Extreme_Point_In_Normal_Of_Body_2 + sphere.Position;
return(true);
}
//***************************************************
//INTERSECTIONS
public static bool IntersectOBBOBB(OBB obb1, OBB obb2, ref Geometry.Geometric_Queries.Distance_Query_Result result)
{
var mink2 = Minkowski.Minkowskize_OBB_In_OBB(obb2, obb1);
var mink1 = Minkowski.Minkowskize_OBB_In_OBB(obb1, obb2);
var dist_of_2_from_1 = obb1.What_Faces(mink2);
var dist_of_1_from_2 = obb2.What_Faces(mink1);
if (Math.Max(dist_of_1_from_2.Signed_Dist, dist_of_2_from_1.Signed_Dist) > 0)
{
return(false);
}
Minkowski_Description mink;
Facing_Point_Result data;
//pernoume os normal owning afto pou exei to allo pio exo
bool normal_owning_first = dist_of_2_from_1.Signed_Dist > dist_of_1_from_2.Signed_Dist;
var normal_owning_obb = (normal_owning_first) ? obb1 : obb2;
var selected_obb = (!normal_owning_first) ? obb1 : obb2;
mink = (normal_owning_first) ? mink2 : mink1;
data = (normal_owning_first) ? dist_of_2_from_1 : dist_of_1_from_2;
Vector3 p0; Vector3 p1; float d_0, d_1;
var normal = normal_owning_obb.Normal(data.Normal_Code);
OBB.Extraction_of_inner_contact_points2(normal_owning_obb, selected_obb, normal,
data.Normal_Code, out p0, out p1, out d_0, out d_1);
var test = p0 - p1;
result = new Geometry.Geometric_Queries.Distance_Query_Result();
result.first_has_normal = normal_owning_first;
result.Normal_W = normal;
result.signed_distance = normal_owning_first ? dist_of_2_from_1.Signed_Dist : dist_of_1_from_2.Signed_Dist;
result.double_contact = (Math.Abs(d_1 - d_0) < 0.3f);
GELib.Debug.Debug_Drawing.double_edge = result.double_contact;
result.Point_W_0 = p0;
result.Point_W_1 = p1;
return(true);
}
public static bool IntersectOBBTriangle(OBB obb, Triangle trig, ref Geometry.Geometric_Queries.Distance_Query_Result result)
{
var minked_tri = Minkowski.Minkowskize_Triangle_In_OBB(trig, obb);
var minked_obb = Minkowski.Minkowskize_OBB_In_Triangle(obb, trig);
var tr_from_obb = obb.What_Faces(minked_tri);
var obb_from_tr = trig.What_Faces(minked_obb);
if (Math.Max(tr_from_obb.Signed_Dist, obb_from_tr.Signed_Dist) > 0.0f)
{
return(false);
}
//pernoume os normal owning afto pou exei to allo pio exo
bool normal_owning_tr = obb_from_tr.Signed_Dist > tr_from_obb.Signed_Dist;
if (normal_owning_tr)
{
result = new Geometry.Geometric_Queries.Distance_Query_Result();
result.first_has_normal = !normal_owning_tr;
result.Normal_W = trig.Normals[obb_from_tr.Normal_Code];
var Extreme_Point_In_Normal_Of_Body_1 = trig.Points[obb_from_tr.Normal_Code] - Intersection_Grid.current_pair_element_2.Rigid.Position;
var Extreme_Point_In_Normal_Of_Body_2 = obb.Vertex(obb.Extreme_In(-result.Normal_W).code) - obb.Position;
result.signed_distance = obb_from_tr.Signed_Dist;
result.double_contact = false;
result.Point_W_0 = Extreme_Point_In_Normal_Of_Body_2 + obb.Position;
}
else
{
result = new Geometry.Geometric_Queries.Distance_Query_Result();
result.first_has_normal = !normal_owning_tr;
result.Normal_W = obb.Normal(tr_from_obb.Normal_Code);
var Extreme_Point_In_Normal_Of_Body_1 = obb.Vertex(tr_from_obb.Normal_Code) - obb.parent_tmp.Position;
var Extreme_Point_In_Normal_Of_Body_2 = trig.Points[(trig.Extreme_In(-result.Normal_W).code)] - Intersection_Grid.current_pair_element_2.Rigid.Position;
result.signed_distance = tr_from_obb.Signed_Dist;
result.Point_W_0 = Extreme_Point_In_Normal_Of_Body_2 + Intersection_Grid.current_pair_element_2.Rigid.Position;
}
return(true);
}
public static bool IntersectSphereTriangle(Sphere sphere, Triangle trig, ref Geometry.Geometric_Queries.Distance_Query_Result result)
{
var mink_sph = new Minkowski_Description();
mink_sph.HalfAxis = new Vector4(sphere.Radius, sphere.Radius, sphere.Radius,1);
mink_sph.Position_LM = sphere.Position - trig.Bary_center;
var sphere_from_trig = trig.What_Faces(mink_sph);
if (sphere_from_trig.Signed_Dist > 0.0f) return false;
result = new Geometry.Geometric_Queries.Distance_Query_Result();
result.first_has_normal = false;
result.Normal_W = trig.Normals[sphere_from_trig.Normal_Code];
var Extreme_Point_In_Normal_Of_Body_1 = trig.Points[sphere_from_trig.Normal_Code] - Intersection_Grid.current_pair_element_2.Rigid.Position;
var Extreme_Point_In_Normal_Of_Body_2 = -result.Normal_W * sphere.Radius;
result.signed_distance = sphere_from_trig.Signed_Dist;
result.double_contact=false;
result.Point_W_0 = Extreme_Point_In_Normal_Of_Body_2 + sphere.Position;
return true;
}
public static bool IntersectSphereOBB(Sphere s1, OBB obb, ref Geometry.Geometric_Queries.Distance_Query_Result result)
{
var closer = obb.Closest_W_Point_On_OBB_To(s1.Position, 0);
var res = s1.What_Faces(closer);
if (res.Signed_Dist>0.1f) return false;
result = new Geometry.Geometric_Queries.Distance_Query_Result();
var Extreme_Point_In_Normal_Of_Body_2 = closer;
var Extreme_Point_In_Normal_Of_Body_1 = s1.Radius * res.Normal;
result.signed_distance = res.Signed_Dist;
result.first_has_normal = true;
result.double_contact = false;
result.Point_W_0 = closer;
result.Normal_W = res.Normal;
return true;
}
public static bool IntersectOBBTriangle(OBB obb, Triangle trig, ref Geometry.Geometric_Queries.Distance_Query_Result result)
{
var minked_tri = Minkowski.Minkowskize_Triangle_In_OBB(trig, obb);
var minked_obb = Minkowski.Minkowskize_OBB_In_Triangle(obb, trig);
var tr_from_obb = obb.What_Faces(minked_tri);
var obb_from_tr = trig.What_Faces(minked_obb);
if (Math.Max(tr_from_obb.Signed_Dist, obb_from_tr.Signed_Dist) > 0.0f) return false;
//pernoume os normal owning afto pou exei to allo pio exo
bool normal_owning_tr = obb_from_tr.Signed_Dist>tr_from_obb.Signed_Dist;
if (normal_owning_tr)
{
result = new Geometry.Geometric_Queries.Distance_Query_Result();
result.first_has_normal = !normal_owning_tr;
result.Normal_W = trig.Normals[obb_from_tr.Normal_Code];
var Extreme_Point_In_Normal_Of_Body_1 = trig.Points[obb_from_tr.Normal_Code]-Intersection_Grid.current_pair_element_2.Rigid.Position;
var Extreme_Point_In_Normal_Of_Body_2 = obb.Vertex(obb.Extreme_In(-result.Normal_W).code)-obb.Position;
result.signed_distance = obb_from_tr.Signed_Dist;
result.double_contact = false;
result.Point_W_0 = Extreme_Point_In_Normal_Of_Body_2+obb.Position;
}
else
{
result = new Geometry.Geometric_Queries.Distance_Query_Result();
result.first_has_normal = !normal_owning_tr;
result.Normal_W = obb.Normal(tr_from_obb.Normal_Code);
var Extreme_Point_In_Normal_Of_Body_1 = obb.Vertex(tr_from_obb.Normal_Code)-obb.parent_tmp.Position;
var Extreme_Point_In_Normal_Of_Body_2 = trig.Points[(trig.Extreme_In(-result.Normal_W).code)] - Intersection_Grid.current_pair_element_2.Rigid.Position;
result.signed_distance = tr_from_obb.Signed_Dist;
result.Point_W_0 = Extreme_Point_In_Normal_Of_Body_2+Intersection_Grid.current_pair_element_2.Rigid.Position;
}
return true;
}
//***************************************************
//INTERSECTIONS
public static bool IntersectOBBOBB(OBB obb1, OBB obb2, ref Geometry.Geometric_Queries.Distance_Query_Result result)
{
var mink2 = Minkowski.Minkowskize_OBB_In_OBB(obb2, obb1);
var mink1 = Minkowski.Minkowskize_OBB_In_OBB(obb1, obb2);
var dist_of_2_from_1 = obb1.What_Faces(mink2);
var dist_of_1_from_2 = obb2.What_Faces(mink1);
if (Math.Max(dist_of_1_from_2.Signed_Dist, dist_of_2_from_1.Signed_Dist) > 0) return false;
Minkowski_Description mink;
Facing_Point_Result data;
//pernoume os normal owning afto pou exei to allo pio exo
bool normal_owning_first = dist_of_2_from_1.Signed_Dist > dist_of_1_from_2.Signed_Dist;
var normal_owning_obb = (normal_owning_first) ? obb1 : obb2;
var selected_obb = (!normal_owning_first) ? obb1 : obb2;
mink = (normal_owning_first) ? mink2 : mink1;
data = (normal_owning_first) ? dist_of_2_from_1 : dist_of_1_from_2;
Vector3 p0; Vector3 p1; float d_0, d_1;
var normal = normal_owning_obb.Normal(data.Normal_Code);
OBB.Extraction_of_inner_contact_points2(normal_owning_obb, selected_obb, normal,
data.Normal_Code,out p0, out p1, out d_0, out d_1 );
var test = p0 - p1;
result = new Geometry.Geometric_Queries.Distance_Query_Result();
result.first_has_normal = normal_owning_first;
result.Normal_W = normal;
result.signed_distance = normal_owning_first ? dist_of_2_from_1.Signed_Dist : dist_of_1_from_2.Signed_Dist;
result.double_contact = (Math.Abs(d_1-d_0) < 0.3f);
GELib.Debug.Debug_Drawing.double_edge = result.double_contact;
result.Point_W_0 = p0;
result.Point_W_1 = p1;
return true;
}
