public void RemoveBody(PhysicsBody body)
{
Broadphase.RemoveBody(body);
}
public PhysicsBody[] Solve(double time, PhysicsBody[][] bodies)
{
int count = bodies.Length / PhysicsOptions.BatchSize;
if (bodies.Length % PhysicsOptions.BatchSize != 0)
{
count++;
}
Parallel.For(0, count, (base_idx) =>
{
for (int batch_idx = base_idx * PhysicsOptions.BatchSize; batch_idx < PhysicsOptions.BatchSize && batch_idx < bodies.Length; batch_idx++)
{
//Check for collisions and resolve them
var batch = bodies[batch_idx];
for (int i0 = 0; i0 < batch.Length; i0++)
{
for (int i1 = i0 + 1; i1 < batch.Length; i1++)
{
PhysicsBody o0 = null;
PhysicsBody o1 = null;
if (batch[i0].Kind < batch[i1].Kind)
{
o0 = batch[i0];
o1 = batch[i1];
}
else
{
o0 = batch[i1];
o1 = batch[i0];
}
switch (o0.Kind)
{
case EntityType.FixedPlane:
switch (o1.Kind)
{
case EntityType.FixedPlane:
//Don't check
break;
case EntityType.OrientedBoundingBox:
break;
case EntityType.Point:
break;
case EntityType.Sphere:
//Distance from sphere to plane <= radius of sphere
break;
case EntityType.Triangle:
break;
}
break;
case EntityType.OrientedBoundingBox:
switch (o1.Kind)
{
case EntityType.OrientedBoundingBox:
break;
case EntityType.Point:
break;
case EntityType.Sphere:
break;
case EntityType.Triangle:
break;
}
break;
case EntityType.Point:
switch (o1.Kind)
{
case EntityType.Point:
//Doesn't make sense
break;
case EntityType.Sphere:
//Distance between center and point squared <= radius squared
break;
case EntityType.Triangle:
break;
}
break;
case EntityType.Sphere:
switch (o1.Kind)
{
case EntityType.Sphere:
//Distance between centers squared <= sum of radius squared
break;
case EntityType.Triangle:
break;
}
break;
case EntityType.Triangle:
switch (o1.Kind)
{
case EntityType.Triangle:
break;
}
break;
}
}
}
}
});
return(null);
}
public void AddBody(PhysicsBody body)
{
Broadphase.AddBody(body);
}
public PhysicsBody[][] Solve(double time)
{
//Check all points within range of each body and make a list of all intersecting axes
//Create a set for each 'group' of interactions
HashSet <PhysicsBody> netSet = null;
List <HashSet <PhysicsBody> > finalSets = null;
for (int a = 0; a < 3; a++)
{
HashSet <PhysicsBody> collisionNetSets = new HashSet <PhysicsBody>();
List <HashSet <PhysicsBody> > collisionSets = new List <HashSet <PhysicsBody> >();
for (int i = 0; i < _objs[a].Count; i++)
{
var obj_i = _objs[a][i];
for (int j = i + 1; j < _objs[a].Count; j++)
{
var obj_j = _objs[a][j];
float intersec_dist = (obj_i.CenterOfMass[a] + obj_i.BoundingRadius) - (obj_j.CenterOfMass[a] - obj_j.BoundingRadius);
if (intersec_dist >= 0)
{
//Intersection (>0) or contact (=0)
collisionNetSets.Add(obj_j);
collisionNetSets.Add(obj_i);
bool added = false;
for (int k = 0; k < collisionSets.Count; k++)
{
if (collisionSets[k].Contains(obj_i))
{
added = true;
collisionSets[k].Add(obj_j);
break;
}
else if (collisionSets[k].Contains(obj_j))
{
added = true;
collisionSets[k].Add(obj_i);
break;
}
}
if (!added)
{
var set = new HashSet <PhysicsBody>();
set.Add(obj_j);
set.Add(obj_i);
collisionSets.Add(set);
}
}
}
}
if (a == 0)
{
finalSets = collisionSets;
netSet = collisionNetSets;
}
else
{
netSet = netSet.Intersect(collisionNetSets).ToHashSet();
}
}
var collisionGroups = new PhysicsBody[finalSets.Count][];
for (int i = 0; i < finalSets.Count; i++)
{
collisionGroups[i] = finalSets[i].Intersect(netSet).ToArray();
}
return(collisionGroups);
}
