/// <summary>
/// Initializes a new instance of the TerrainShape class.
/// </summary>
/// <param name="heights">An array containing the heights of the terrain surface.</param>
/// <param name="scaleX">The x-scale factor. (The x-space between neighbour heights)</param>
/// <param name="scaleZ">The y-scale factor. (The y-space between neighbour heights)</param>
public TerrainShape(float[,] heights, float scaleX, float scaleZ)
{
heightsLength0 = heights.GetLength(0);
heightsLength1 = heights.GetLength(1);
#region Bounding Box
boundings = JBBox.SmallBox;
for (int i = 0; i < heightsLength0; i++)
{
for (int e = 0; e < heightsLength1; e++)
{
if (heights[i, e] > boundings.Max.Y)
boundings.Max.Y = heights[i, e];
else if (heights[i, e] < boundings.Min.Y)
boundings.Min.Y = heights[i, e];
}
}
boundings.Min.X = 0.0f;
boundings.Min.Z = 0.0f;
boundings.Max.X = checked(heightsLength0 * scaleX);
boundings.Max.Z = checked(heightsLength1 * scaleZ);
#endregion
this.heights = heights;
this.scaleX = scaleX;
this.scaleZ = scaleZ;
UpdateShape();
}
/// <summary>
/// Calculates the bounding box of the sphere.
/// </summary>
/// <param name="orientation">The orientation of the shape.</param>
/// <param name="box">The resulting axis aligned bounding box.</param>
public override void GetBoundingBox(ref JMatrix orientation, out JBBox box)
{
box.Min.X = -radius;
box.Min.Y = -radius;
box.Min.Z = -radius;
box.Max.X = radius;
box.Max.Y = radius;
box.Max.Z = radius;
}
/// <summary>
/// Gets the axis aligned bounding box of the orientated shape. This includes
/// the whole shape.
/// </summary>
/// <param name="orientation">The orientation of the shape.</param>
/// <param name="box">The axis aligned bounding box of the shape.</param>
public override void GetBoundingBox(ref JMatrix orientation, out JBBox box)
{
JBBox helpBox = JBBox.LargeBox;
int length = this.Prepare(ref helpBox);
box = JBBox.SmallBox;
for (int i = 0; i < length; i++)
{
this.SetCurrentShape(i);
base.GetBoundingBox(ref orientation, out helpBox);
JBBox.CreateMerged(ref box, ref helpBox, out box);
}
}
/// <summary>
/// Passes a axis aligned bounding box to the shape where collision
/// could occour.
/// </summary>
/// <param name="box">The bounding box where collision could occur.</param>
/// <returns>The upper index with which <see cref="SetCurrentShape"/> can be
/// called.</returns>
public override int Prepare(ref JBBox box)
{
potentialTriangles.Clear();
#region Expand Spherical
JBBox exp = box;
exp.Min.X -= sphericalExpansion;
exp.Min.Y -= sphericalExpansion;
exp.Min.Z -= sphericalExpansion;
exp.Max.X += sphericalExpansion;
exp.Max.Y += sphericalExpansion;
exp.Max.Z += sphericalExpansion;
#endregion
octree.GetTrianglesIntersectingtAABox(potentialTriangles, ref exp);
return potentialTriangles.Count;
}
/// <summary> /// Passes a axis aligned bounding box to the shape where collision /// could occour. /// </summary> /// <param name="box">The bounding box where collision could occur.</param> /// <returns>The upper index with which <see cref="SetCurrentShape"/> can be /// called.</returns> public abstract int Prepare(ref JBBox box);
/// <summary>
/// Uses the supportMapping to calculate the bounding box. Should be overidden
/// to make this faster.
/// </summary>
/// <param name="orientation">The orientation of the shape.</param>
/// <param name="box">The resulting axis aligned bounding box.</param>
public virtual void GetBoundingBox(ref JMatrix orientation, out JBBox box)
{
// I don't think that this can be done faster.
// 6 is the minimum number of SupportMap calls.
JVector vec = JVector.Zero;
vec.Set(orientation.M11, orientation.M21, orientation.M31);
SupportMapping(ref vec, out vec);
box.Max.X = orientation.M11 * vec.X + orientation.M21 * vec.Y + orientation.M31 * vec.Z;
vec.Set(orientation.M12, orientation.M22, orientation.M32);
SupportMapping(ref vec, out vec);
box.Max.Y = orientation.M12 * vec.X + orientation.M22 * vec.Y + orientation.M32 * vec.Z;
vec.Set(orientation.M13, orientation.M23, orientation.M33);
SupportMapping(ref vec, out vec);
box.Max.Z = orientation.M13 * vec.X + orientation.M23 * vec.Y + orientation.M33 * vec.Z;
vec.Set(-orientation.M11, -orientation.M21, -orientation.M31);
SupportMapping(ref vec, out vec);
box.Min.X = orientation.M11 * vec.X + orientation.M21 * vec.Y + orientation.M31 * vec.Z;
vec.Set(-orientation.M12, -orientation.M22, -orientation.M32);
SupportMapping(ref vec, out vec);
box.Min.Y = orientation.M12 * vec.X + orientation.M22 * vec.Y + orientation.M32 * vec.Z;
vec.Set(-orientation.M13, -orientation.M23, -orientation.M33);
SupportMapping(ref vec, out vec);
box.Min.Z = orientation.M13 * vec.X + orientation.M23 * vec.Y + orientation.M33 * vec.Z;
}
/// <summary>
/// Gets the axis aligned bounding box of the orientated shape. This includes
/// the whole shape.
/// </summary>
/// <param name="orientation">The orientation of the shape.</param>
/// <param name="box">The axis aligned bounding box of the shape.</param>
public override void GetBoundingBox(ref JMatrix orientation, out JBBox box)
{
box = octree.rootNodeBox;
#region Expand Spherical
box.Min.X -= sphericalExpansion;
box.Min.Y -= sphericalExpansion;
box.Min.Z -= sphericalExpansion;
box.Max.X += sphericalExpansion;
box.Max.Y += sphericalExpansion;
box.Max.Z += sphericalExpansion;
#endregion
box.Transform(ref orientation);
}
/// <summary>
/// Passes a axis aligned bounding box to the shape where collision
/// could occour.
/// </summary>
/// <param name="box">The bounding box where collision could occur.</param>
/// <returns>The upper index with which <see cref="SetCurrentShape"/> can be
/// called.</returns>
public override int Prepare(ref JBBox box)
{
// simple idea: the terrain is a grid. x and z is the position in the grid.
// y the height. we know compute the min and max grid-points. All quads
// between these points have to be checked.
// including overflow exception prevention
if (box.Min.X < boundings.Min.X) minX = 0;
else
{
minX = (int)Math.Floor((float)((box.Min.X - sphericalExpansion) / scaleX));
minX = Math.Max(minX, 0);
}
if (box.Max.X > boundings.Max.X) maxX = heightsLength0 - 1;
else
{
maxX = (int)Math.Ceiling((float)((box.Max.X + sphericalExpansion) / scaleX));
maxX = Math.Min(maxX, heightsLength0 - 1);
}
if (box.Min.Z < boundings.Min.Z) minZ = 0;
else
{
minZ = (int)Math.Floor((float)((box.Min.Z - sphericalExpansion) / scaleZ));
minZ = Math.Max(minZ, 0);
}
if (box.Max.Z > boundings.Max.Z) maxZ = heightsLength1 - 1;
else
{
maxZ = (int)Math.Ceiling((float)((box.Max.Z + sphericalExpansion) / scaleZ));
maxZ = Math.Min(maxZ, heightsLength1 - 1);
}
numX = maxX - minX;
numZ = maxZ - minZ;
// since every quad contains two triangles we multiply by 2.
return numX * numZ * 2;
}
/// <summary>
/// Creates a new instance of the TransformedShape struct.
/// </summary>
/// <param name="shape">The shape.</param>
/// <param name="orientation">The orientation this shape should have.</param>
/// <param name="position">The position this shape should have.</param>
public TransformedShape(Shape shape, JMatrix orientation, JVector position)
{
this.position = position;
this.orientation = orientation;
JMatrix.Transpose(ref orientation, out invOrientation);
this.shape = shape;
this.boundingBox = new JBBox();
UpdateBoundingBox();
}
/// <summary>
/// Create a bounding box appropriate for a child, based on a parents AABox
/// </summary>
/// <param name="aabb"></param>
/// <param name="child"></param>
/// <param name="result"></param>
#region private void CreateAABox(ref JBBox aabb, EChild child,out JBBox result)
private void CreateAABox(ref JBBox aabb, EChild child,out JBBox result)
{
JVector dims;
JVector.Subtract(ref aabb.Max, ref aabb.Min, out dims);
JVector.Multiply(ref dims, 0.5f, out dims);
JVector offset = JVector.Zero;
switch (child)
{
case EChild.PPP: offset = new JVector(1, 1, 1); break;
case EChild.PPM: offset = new JVector(1, 1, 0); break;
case EChild.PMP: offset = new JVector(1, 0, 1); break;
case EChild.PMM: offset = new JVector(1, 0, 0); break;
case EChild.MPP: offset = new JVector(0, 1, 1); break;
case EChild.MPM: offset = new JVector(0, 1, 0); break;
case EChild.MMP: offset = new JVector(0, 0, 1); break;
case EChild.MMM: offset = new JVector(0, 0, 0); break;
default:
System.Diagnostics.Debug.WriteLine("Octree.CreateAABox got impossible child");
break;
}
result = new JBBox();
result.Min = new JVector(offset.X * dims.X, offset.Y * dims.Y, offset.Z * dims.Z);
JVector.Add(ref result.Min, ref aabb.Min, out result.Min);
JVector.Add(ref result.Min, ref dims, out result.Max);
// expand it just a tiny bit just to be safe!
float extra = 0.00001f;
JVector temp; JVector.Multiply(ref dims, extra, out temp);
JVector.Subtract(ref result.Min, ref temp, out result.Min);
JVector.Add(ref result.Max, ref temp, out result.Max);
}
/// <summary>
/// Returns all triangles which intersect the given axis aligned bounding box.
/// </summary>
/// <param name="triangles">The list to add the triangles to.</param>
/// <param name="testBox">The axis alignes bounding box.</param>
/// <returns></returns>
#region public int GetTrianglesIntersectingtAABox(List<int> triangles, ref JBBox testBox)
public int GetTrianglesIntersectingtAABox(List<int> triangles, ref JBBox testBox)
{
if (nodes.Length == 0)
return 0;
int curStackIndex = 0;
int endStackIndex = 1;
UInt16[] nodeStack = nodeStackPool.GetNew();
nodeStack[0] = 0;
int triCount = 0;
while (curStackIndex < endStackIndex)
{
UInt16 nodeIndex = nodeStack[curStackIndex];
curStackIndex++;
if (nodes[nodeIndex].box.Contains(ref testBox) != JBBox.ContainmentType.Disjoint)
{
for (int i = 0; i < nodes[nodeIndex].triIndices.Length; ++i)
{
if (triBoxes[nodes[nodeIndex].triIndices[i]].Contains(ref testBox) != JBBox.ContainmentType.Disjoint)
{
triangles.Add(nodes[nodeIndex].triIndices[i]);
triCount++;
}
}
int numChildren = nodes[nodeIndex].nodeIndices.Length;
for (int i = 0; i < numChildren; ++i)
{
nodeStack[endStackIndex++] = nodes[nodeIndex].nodeIndices[i];
}
}
}
nodeStackPool.GiveBack(nodeStack);
return triCount;
}
/// <summary>
/// Passes a axis aligned bounding box to the shape where collision
/// could occour.
/// </summary>
/// <param name="box">The bounding box where collision could occur.</param>
/// <returns>The upper index with which <see cref="SetCurrentShape"/> can be
/// called.</returns>
public override int Prepare(ref JBBox box)
{
currentSubShapes.Clear();
for (int i = 0; i < shapes.Length; i++)
{
if (shapes[i].boundingBox.Contains(ref box) != JBBox.ContainmentType.Disjoint)
currentSubShapes.Add(i);
}
return currentSubShapes.Count;
}
/// <summary>
/// Builds the octree.
/// </summary>
#region public void BuildOctree()
public void BuildOctree()
{
// create tri and tri bounding box arrays
triBoxes = new JBBox[tris.Length];
// create an infinite size root box
rootNodeBox = new JBBox(new JVector(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity),
new JVector(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity));
for (int i = 0; i < tris.Length; i++)
{
JVector.Min(ref positions[tris[i].I1], ref positions[tris[i].I2], out triBoxes[i].Min);
JVector.Min(ref positions[tris[i].I0], ref triBoxes[i].Min, out triBoxes[i].Min);
JVector.Max(ref positions[tris[i].I1], ref positions[tris[i].I2], out triBoxes[i].Max);
JVector.Max(ref positions[tris[i].I0], ref triBoxes[i].Max, out triBoxes[i].Max);
// get size of the root box
JVector.Min(ref rootNodeBox.Min, ref triBoxes[i].Min, out rootNodeBox.Min);
JVector.Max(ref rootNodeBox.Max, ref triBoxes[i].Max, out rootNodeBox.Max);
}
List<BuildNode> buildNodes = new List<BuildNode>();
buildNodes.Add(new BuildNode());
buildNodes[0].box = rootNodeBox;
JBBox[] children = new JBBox[8];
for (int triNum = 0; triNum < tris.Length; triNum++)
{
int nodeIndex = 0;
JBBox box = rootNodeBox;
while (box.Contains(ref triBoxes[triNum]) == JBBox.ContainmentType.Contains)
{
int childCon = -1;
for (int i = 0; i < 8; ++i)
{
CreateAABox(ref box, (EChild)i,out children[i]);
if (children[i].Contains(ref triBoxes[triNum]) == JBBox.ContainmentType.Contains)
{
// this box contains the tri, it can be the only one that does,
// so we can stop our child search now and recurse into it
childCon = i;
break;
}
}
// no child contains this tri completely, so it belong in this node
if (childCon == -1)
{
buildNodes[nodeIndex].triIndices.Add(triNum);
break;
}
else
{
// do we already have this child
int childIndex = -1;
for (int index = 0; index < buildNodes[nodeIndex].nodeIndices.Count; ++index)
{
if (buildNodes[buildNodes[nodeIndex].nodeIndices[index]].childType == childCon)
{
childIndex = index;
break;
}
}
if (childIndex == -1)
{
// nope create child
BuildNode parentNode = buildNodes[nodeIndex];
BuildNode newNode = new BuildNode();
newNode.childType = childCon;
newNode.box = children[childCon];
buildNodes.Add(newNode);
nodeIndex = buildNodes.Count - 1;
box = children[childCon];
parentNode.nodeIndices.Add(nodeIndex);
}
else
{
nodeIndex = buildNodes[nodeIndex].nodeIndices[childIndex];
box = children[childCon];
}
}
}
}
// now convert to the tighter Node from BuildNodes
nodes = new Node[buildNodes.Count];
nodeStackPool = new ArrayResourcePool<ushort>(buildNodes.Count);
//nodeStack = new UInt16[buildNodes.Count];
for (int i = 0; i < nodes.Length; i++)
{
nodes[i].nodeIndices = new UInt16[buildNodes[i].nodeIndices.Count];
for (int index = 0; index < nodes[i].nodeIndices.Length; ++index)
{
nodes[i].nodeIndices[index] = (UInt16)buildNodes[i].nodeIndices[index];
}
nodes[i].triIndices = new int[buildNodes[i].triIndices.Count];
buildNodes[i].triIndices.CopyTo(nodes[i].triIndices);
nodes[i].box = buildNodes[i].box;
}
buildNodes.Clear(); buildNodes = null;
}
/// <summary>
/// Gets the axis aligned bounding box of the orientated shape. (Inlcuding all
/// 'sub' shapes)
/// </summary>
/// <param name="orientation">The orientation of the shape.</param>
/// <param name="box">The axis aligned bounding box of the shape.</param>
public override void GetBoundingBox(ref JMatrix orientation, out JBBox box)
{
box.Min = mInternalBBox.Min;
box.Max = mInternalBBox.Max;
JVector localHalfExtents = 0.5f * (box.Max - box.Min);
JVector localCenter = 0.5f * (box.Max + box.Min);
JVector center;
JVector.Transform(ref localCenter, ref orientation, out center);
JMatrix abs; JMath.Absolute(ref orientation, out abs);
JVector temp;
JVector.Transform(ref localHalfExtents, ref abs, out temp);
box.Max = center + temp;
box.Min = center - temp;
}
public void UpdateBoundingBox()
{
boundingBox = JBBox.SmallBox;
boundingBox.AddPoint(ref owner.points[indices.I0].position);
boundingBox.AddPoint(ref owner.points[indices.I1].position);
boundingBox.AddPoint(ref owner.points[indices.I2].position);
boundingBox.Min -= new JVector(owner.triangleExpansion);
boundingBox.Max += new JVector(owner.triangleExpansion);
}
/// <summary>
/// Passes a axis aligned bounding box to the shape where collision
/// could occour.
/// </summary>
/// <param name="box">The bounding box where collision could occur.</param>
/// <returns>The upper index with which <see cref="SetCurrentShape"/> can be
/// called.</returns>
public override int Prepare(ref JBBox box)
{
return shapes.Length;
}
/// <summary>
/// Creates a new box containing the two given ones.
/// </summary>
/// <param name="original">First box.</param>
/// <param name="additional">Second box.</param>
/// <param name="result">A JBBox containing the two given boxes.</param>
public static void CreateMerged(ref JBBox original, ref JBBox additional, out JBBox result)
{
JVector vector;
JVector vector2;
JVector.Min(ref original.Min, ref additional.Min, out vector2);
JVector.Max(ref original.Max, ref additional.Max, out vector);
result.Min = vector2;
result.Max = vector;
}
/// <summary>
/// Creates a new box containing the two given ones.
/// </summary>
/// <param name="original">First box.</param>
/// <param name="additional">Second box.</param>
/// <returns>A JBBox containing the two given boxes.</returns>
#region public static JBBox CreateMerged(JBBox original, JBBox additional)
public static JBBox CreateMerged(JBBox original, JBBox additional)
{
JBBox result;
JBBox.CreateMerged(ref original, ref additional, out result);
return result;
}
/// <summary>
/// Checks whether another bounding box is inside, outside or intersecting
/// this box.
/// </summary>
/// <param name="box">The other bounding box to check.</param>
/// <returns>The ContainmentType of the box.</returns>
public ContainmentType Contains(ref JBBox box)
{
ContainmentType result = ContainmentType.Disjoint;
if ((((this.Max.X >= box.Min.X) && (this.Min.X <= box.Max.X)) && ((this.Max.Y >= box.Min.Y) && (this.Min.Y <= box.Max.Y))) && ((this.Max.Z >= box.Min.Z) && (this.Min.Z <= box.Max.Z)))
{
result = ((((this.Min.X <= box.Min.X) && (box.Max.X <= this.Max.X)) && ((this.Min.Y <= box.Min.Y) && (box.Max.Y <= this.Max.Y))) && ((this.Min.Z <= box.Min.Z) && (box.Max.Z <= this.Max.Z))) ? ContainmentType.Contains : ContainmentType.Intersects;
}
return result;
}
/// <summary>
/// Checks whether another bounding box is inside, outside or intersecting
/// this box.
/// </summary>
/// <param name="box">The other bounding box to check.</param>
/// <returns>The ContainmentType of the box.</returns>
#region public ContainmentType Contains(JBBox box)
public ContainmentType Contains(JBBox box)
{
return this.Contains(ref box);
}
public virtual void Update(float timestep)
{
active = false;
foreach (MassPoint point in points)
{
if (point.isActive && !point.isStatic) { active = true; break; }
}
if(!active) return;
box = JBBox.SmallBox;
volume = 0.0f;
mass = 0.0f;
foreach (MassPoint point in points)
{
mass += point.Mass;
box.AddPoint(point.position);
}
box.Min -= new JVector(TriangleExpansion);
box.Max += new JVector(TriangleExpansion);
foreach (Triangle t in triangles)
{
// Update bounding box and move proxy in dynamic tree.
JVector prevCenter = t.boundingBox.Center;
t.UpdateBoundingBox();
JVector linVel = t.VertexBody1.linearVelocity +
t.VertexBody2.linearVelocity +
t.VertexBody3.linearVelocity;
linVel *= 1.0f / 3.0f;
dynamicTree.MoveProxy(t.dynamicTreeID, ref t.boundingBox, linVel * timestep);
JVector v1 = points[t.indices.I0].position;
JVector v2 = points[t.indices.I1].position;
JVector v3 = points[t.indices.I2].position;
volume -= ((v2.Y - v1.Y) * (v3.Z - v1.Z) -
(v2.Z - v1.Z) * (v3.Y - v1.Y)) * (v1.X + v2.X + v3.X);
}
volume /= 6.0f;
AddPressureForces(timestep);
}
/// <summary>
/// Gets the axis aligned bounding box of the orientated shape.
/// </summary>
/// <param name="orientation">The orientation of the shape.</param>
/// <param name="box">The axis aligned bounding box of the shape.</param>
public override void GetBoundingBox(ref JMatrix orientation, out JBBox box)
{
JMatrix abs; JMath.Absolute(ref orientation, out abs);
JVector temp;
JVector.Transform(ref halfSize, ref abs, out temp);
box.Max = temp;
JVector.Negate(ref temp, out box.Min);
}
