protected override TriangleCollidable GetOpposingCollidable(int index)
{
//Construct a TriangleCollidable from the static mesh.
TriangleCollidable toReturn = PhysicsResources.GetTriangleCollidable();
TriangleShape shape = toReturn.Shape;
mesh.Shape.TriangleMesh.Data.GetTriangle(index, out shape.vA, out shape.vB, out shape.vC);
Matrix3x3.Transform(ref shape.vA, ref mesh.worldTransform.LinearTransform, out shape.vA);
Matrix3x3.Transform(ref shape.vB, ref mesh.worldTransform.LinearTransform, out shape.vB);
Matrix3x3.Transform(ref shape.vC, ref mesh.worldTransform.LinearTransform, out shape.vC);
Vector3 center;
Vector3.Add(ref shape.vA, ref shape.vB, out center);
Vector3.Add(ref center, ref shape.vC, out center);
Vector3.Multiply(ref center, 1 / 3f, out center);
Vector3.Subtract(ref shape.vA, ref center, out shape.vA);
Vector3.Subtract(ref shape.vB, ref center, out shape.vB);
Vector3.Subtract(ref shape.vC, ref center, out shape.vC);
Vector3.Add(ref center, ref mesh.worldTransform.Translation, out center);
//The bounding box doesn't update by itself.
toReturn.worldTransform.Position = center;
toReturn.worldTransform.Orientation = Quaternion.Identity;
toReturn.UpdateBoundingBoxInternal(0);
shape.sidedness = mesh.Sidedness;
shape.collisionMargin = mobileMesh.Shape.MeshCollisionMargin;
return(toReturn);
}
/// <summary>
/// Returns a resource to the pool.
/// </summary>
/// <param name="triangle">Triangle collidable to return.</param>
public static void GiveBack(TriangleCollidable triangle)
{
if (SubPoolTriangleCollidables == null)
{
SubPoolTriangleCollidables = new UnsafeResourcePool <TriangleCollidable>();
}
triangle.CleanUp();
SubPoolTriangleCollidables.GiveBack(triangle);
}
protected override TriangleCollidable GetOpposingCollidable(int index)
{
//Construct a TriangleCollidable from the static mesh.
TriangleCollidable toReturn = PhysicsResources.GetTriangleCollidable();
toReturn.Shape.sidedness = mesh.Shape.Sidedness;
toReturn.Shape.collisionMargin = mobileMesh.Shape.MeshCollisionMargin;
toReturn.Entity = mesh.entity;
return(toReturn);
}
/// <summary>
/// Retrieves a TriangleCollidable from the resource pool.
/// </summary>
/// <param name="a">First vertex in the triangle.</param>
/// <param name="b">Second vertex in the triangle.</param>
/// <param name="c">Third vertex in the triangle.</param>
/// <returns>Initialized TriangleCollidable.</returns>
public static TriangleCollidable GetTriangleCollidable(ref Vector3 a, ref Vector3 b, ref Vector3 c)
{
if (SubPoolTriangleCollidables == null)
{
SubPoolTriangleCollidables = new UnsafeResourcePool <TriangleCollidable>();
}
TriangleCollidable tri = SubPoolTriangleCollidables.Take();
TriangleShape shape = tri.Shape;
shape.vA = a;
shape.vB = b;
shape.vC = c;
RigidTransform identity = RigidTransform.Identity;
tri.UpdateBoundingBoxForTransform(ref identity);
return(tri);
}
protected override TriangleCollidable GetOpposingCollidable(int index)
{
//Construct a TriangleCollidable from the static mesh.
TriangleCollidable toReturn = PhysicsResources.GetTriangleCollidable();
Vector3 terrainUp = new Vector3(mesh.worldTransform.LinearTransform.M21,
mesh.worldTransform.LinearTransform.M22, mesh.worldTransform.LinearTransform.M23);
float dot;
Vector3 AB, AC, normal;
TriangleShape shape = toReturn.Shape;
mesh.Shape.GetTriangle(index, ref mesh.worldTransform, out shape.vA, out shape.vB, out shape.vC);
Vector3 center;
Vector3.Add(ref shape.vA, ref shape.vB, out center);
Vector3.Add(ref center, ref shape.vC, out center);
Vector3.Multiply(ref center, 1 / 3f, out center);
Vector3.Subtract(ref shape.vA, ref center, out shape.vA);
Vector3.Subtract(ref shape.vB, ref center, out shape.vB);
Vector3.Subtract(ref shape.vC, ref center, out shape.vC);
//The bounding box doesn't update by itself.
toReturn.worldTransform.Position = center;
toReturn.worldTransform.Orientation = Quaternion.Identity;
toReturn.UpdateBoundingBoxInternal(0);
Vector3.Subtract(ref shape.vB, ref shape.vA, out AB);
Vector3.Subtract(ref shape.vC, ref shape.vA, out AC);
Vector3.Cross(ref AB, ref AC, out normal);
Vector3.Dot(ref terrainUp, ref normal, out dot);
if (dot > 0)
{
shape.sidedness = TriangleSidedness.Clockwise;
}
else
{
shape.sidedness = TriangleSidedness.Counterclockwise;
}
shape.collisionMargin = mobileMesh.Shape.MeshCollisionMargin;
return(toReturn);
}
protected override void CleanUpCollidable(TriangleCollidable collidable)
{
collidable.Entity = null;
base.CleanUpCollidable(collidable);
}
/// <summary>
/// Returns a resource to the pool.
/// </summary>
/// <param name="triangle">Triangle collidable to return.</param>
public static void GiveBack(TriangleCollidable triangle)
{
if (SubPoolTriangleCollidables == null)
SubPoolTriangleCollidables = new UnsafeResourcePool<TriangleCollidable>();
triangle.CleanUp();
SubPoolTriangleCollidables.GiveBack(triangle);
}
protected override void CleanUpCollidable(TriangleCollidable collidable)
{
collidable.Entity = null;
base.CleanUpCollidable(collidable);
}
/// <summary>
/// Cleans up the collidable.
/// </summary>
/// <param name="collidable">Collidable to clean up.</param>
protected virtual void CleanUpCollidable(TriangleCollidable collidable)
{
PhysicsResources.GiveBack(collidable);
}
/// <summary>
/// Returns a resource to the pool.
/// </summary>
/// <param name="triangle">Triangle collidable to return.</param>
public static void GiveBack(TriangleCollidable triangle)
{
triangle.CleanUp();
SubPoolTriangleCollidables.GiveBack(triangle);
}
/// <summary>
/// Returns a resource to the pool.
/// </summary>
/// <param name="triangle">Triangle collidable to return.</param>
public static void GiveBack(TriangleCollidable triangle)
{
triangle.CleanUp();
SubPoolTriangleCollidables.GiveBack(triangle);
}
protected override void CleanUpCollidable(TriangleCollidable collidable)
{
base.CleanUpCollidable(collidable);
}
protected override void CleanUpCollidable(TriangleCollidable collidable)
{
base.CleanUpCollidable(collidable);
}
