public override void DoWork()
{
MyRBBoxElement rbBoxElement = (MyRBBoxElement)m_RBElement;
MyBoxSensorElement seBoxElement = (MyBoxSensorElement)m_SensorElement;
Matrix rbBoxMatrix = rbBoxElement.GetGlobalTransformation();
Matrix seBoxMatrix = seBoxElement.GetGlobalTransformation();
BoundingBox rbBB = new BoundingBox(-rbBoxElement.Size / 2f, rbBoxElement.Size / 2f);
BoundingBox seBB = new BoundingBox(-seBoxElement.Extent, seBoxElement.Extent);
MyOrientedBoundingBox rbBoxOriented = MyOrientedBoundingBox.CreateFromBoundingBox(rbBB).Transform(rbBoxMatrix);
MyOrientedBoundingBox seBoxOriented = MyOrientedBoundingBox.CreateFromBoundingBox(seBB).Transform(seBoxMatrix);
m_IsInside = rbBoxOriented.Intersects(ref seBoxOriented);
}
public override void DoWork()
{
MyRBBoxElement box = (MyRBBoxElement)m_RBElement;
MySphereSensorElement sphere = (MySphereSensorElement)m_SensorElement;
Matrix boxMatrix = box.GetGlobalTransformation();
Vector3 sphereCenter = sphere.GetGlobalTransformation().Translation;
Matrix invBoxMatrix = Matrix.Invert(boxMatrix);
Vector3 boxLocalsphereCenter = Vector3.Transform(sphereCenter, invBoxMatrix);
bool penetration = false;
Vector3 normal = new Vector3();
Vector3 closestPos = new Vector3();
uint customData = 0;
box.GetClosestPoint(boxLocalsphereCenter, ref closestPos, ref normal, ref penetration, ref customData);
if (penetration)
{
m_IsInside = true;
return;
}
closestPos = Vector3.Transform(closestPos, boxMatrix);
float vLength = (sphereCenter - closestPos).LengthSquared();
if (vLength <= sphere.Radius * sphere.Radius)
{
if (vLength <= (sphere.Radius / 2f) * (sphere.Radius / 2f) || sphere.SpecialDetectingAngle == null)
{
m_IsInside = true;
}
else if (sphere.SpecialDetectingAngle != null)
{
Vector3 normalizeDirectionToRBElement = Vector3.Normalize(boxMatrix.Translation - sphereCenter);
float cosAngle = Vector3.Dot(normalizeDirectionToRBElement, sphere.GetGlobalTransformation().Forward);
m_IsInside = Math.Abs(cosAngle) >= sphere.SpecialDetectingAngle.Value;
}
}
else
{
m_IsInside = false;
}
}
protected override bool Interact(bool staticCollision)
{
if (!staticCollision && GetRigidBody1().IsStatic() && GetRigidBody2().IsStatic())
{
return(false);
}
MyRBBoxElement box = null;
MyRBSphereElement sphere = null;
if (RBElement1.GetElementType() == MyRBElementType.ET_BOX)
{
SwapElements();
}
box = (MyRBBoxElement)RBElement2;
sphere = (MyRBSphereElement)RBElement1;
Matrix boxMatrix = box.GetGlobalTransformation();
Vector3 sphereCenter = sphere.GetGlobalTransformation().Translation;
Matrix invBoxMatrix = Matrix.Invert(boxMatrix);
Vector3 boxLocalsphereCenter = Vector3.Transform(sphereCenter, invBoxMatrix);
bool penetration = false;
Vector3 normal = new Vector3();
Vector3 closestPos = new Vector3();
uint customData = 0;
box.GetClosestPoint(boxLocalsphereCenter, ref closestPos, ref normal, ref penetration, ref customData);
closestPos = Vector3.Transform(closestPos, boxMatrix);
normal = -Vector3.TransformNormal(normal, boxMatrix);
normal = MyMwcUtils.Normalize(normal);
float vLength = (sphereCenter - closestPos).Length();
if (staticCollision)
{
return(vLength > 0 && vLength < sphere.Radius);
}
else
{
float eps = MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon;
float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
Vector3 pointVelocity1 = new Vector3();
Vector3 pointVelocity2 = new Vector3();
GetRigidBody1().GetGlobalPointVelocity(ref closestPos, out pointVelocity1);
GetRigidBody2().GetGlobalPointVelocity(ref closestPos, out pointVelocity2);
float dynEps = 0;
if (vLength >= eps)
{
float dot = Vector3.Dot(pointVelocity1 - pointVelocity2, normal) * dt;
if (dot >= 0)
{
dynEps = dot;
}
}
float radius = sphere.Radius;
//Second part of condition commented due to 5968: Bug B - rocket passing through prefab
//Does not seem to have any reason to be there
if (vLength > 0 /*&& vLength < (radius + eps + dynEps)*/)
{
float error = vLength - (radius + 0.5f * eps);
//error = System.Math.Min(error, eps);
MySmallCollPointInfo[] collInfo = MyContactInfoCache.SCPIStackAlloc();
collInfo[0] = new MySmallCollPointInfo(closestPos - sphereCenter, closestPos - boxMatrix.Translation, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, normal, error, closestPos);
MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collInfo, 1);
MyContactInfoCache.FreeStackAlloc(collInfo);
}
}
return(false);
}
protected override bool Interact(bool staticCollision)
{
if (!staticCollision)
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("BoxBoxInteraction");
}
try
{
MyRBBoxElement rbbox0 = (MyRBBoxElement)RBElement1;
MyRBBoxElement rbbox1 = (MyRBBoxElement)RBElement2;
MyBox box0 = m_TempBox1;
MyBox box1 = m_TempBox2;
Matrix matrix0 = rbbox0.GetGlobalTransformation();
Matrix matrix1 = rbbox1.GetGlobalTransformation();
box0.Transform.Orientation = matrix0;
box0.Transform.Orientation.Translation = Vector3.Zero;
box0.Transform.Position = matrix0.Translation - Vector3.TransformNormal(rbbox0.Size * 0.5f, matrix0);
box1.Transform.Orientation = matrix1;
box1.Transform.Orientation.Translation = Vector3.Zero;
box1.Transform.Position = matrix1.Translation - Vector3.TransformNormal(rbbox1.Size * 0.5f, matrix1);
box0.SideLengths = rbbox0.Size;
box1.SideLengths = rbbox1.Size;
// see if the boxes are separate along any axis, and if not keep a
// record of the depths along each axis
for (int i = 0; i < 15; ++i)
{
switch (i)
{
case 0: seperatingAxes[0] = box0.Orientation.Right; break;
case 1: seperatingAxes[1] = box0.Orientation.Up; break;
case 2: seperatingAxes[2] = box0.Orientation.Backward; break;
case 3: seperatingAxes[3] = box1.Orientation.Right; break;
case 4: seperatingAxes[4] = box1.Orientation.Up; break;
case 5: seperatingAxes[5] = box1.Orientation.Backward; break;
case 6: Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[3], out seperatingAxes[6]); break;
case 7: Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[4], out seperatingAxes[7]); break;
case 8: Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[5], out seperatingAxes[8]); break;
case 9: Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[3], out seperatingAxes[9]); break;
case 10: Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[4], out seperatingAxes[10]); break;
case 11: Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[5], out seperatingAxes[11]); break;
case 12: Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[3], out seperatingAxes[12]); break;
case 13: Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[4], out seperatingAxes[13]); break;
case 14: Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[5], out seperatingAxes[14]); break;
}
// If we can't normalise the axis, skip it
if (seperatingAxes[i].LengthSquared() < MyPhysicsConfig.CollisionEpsilon)
{
continue;
}
overlapDepth[i] = float.MaxValue;
if (Disjoint(out overlapDepth[i], ref seperatingAxes[i], box0, box1, MyPhysicsConfig.CollisionEpsilon))
{
return(false);
}
}
if (staticCollision)
{
return(true); // Static collision: we're done.
}
// Dynamic collision.
// The boxes overlap, find the seperation depth closest to 0.
float minDepth = float.MaxValue;
int minAxis = -1;
for (int i = 0; i < 15; ++i)
{
// If we can't normalise the axis, skip it
float l2 = seperatingAxes[i].LengthSquared();
if (l2 < MyPhysicsConfig.CollisionEpsilon)
{
continue;
}
// Normalise the separation axis and depth
float invl = 1.0f / (float)System.Math.Sqrt(l2);
seperatingAxes[i] *= invl;
overlapDepth[i] *= invl;
// If this axis is the minmum, select it
if (overlapDepth[i] < minDepth)
{
minDepth = overlapDepth[i];
minAxis = i;
}
}
if (minAxis == -1)
{
return(false);
}
// Make sure the axis is facing towards the 0th box.
// if not, invert it
Vector3 D = box1.GetCentre() - box0.GetCentre();
Vector3 N = seperatingAxes[minAxis];
float depth = overlapDepth[minAxis];
if (Vector3.Dot(D, N) < 0.0f)
{
N *= -1.0f;
}
float minA = MathHelper.Min(box0.SideLengths.X, MathHelper.Min(box0.SideLengths.Y, box0.SideLengths.Z));
float minB = MathHelper.Min(box1.SideLengths.X, MathHelper.Min(box1.SideLengths.Y, box1.SideLengths.Z));
float combinationDist = 0.05f * MathHelper.Min(minA, minB);
// the contact points
contactPts.Clear();
int numPts = contactPts.Count;
GetBoxBoxIntersectionPoints(contactPts, box0, box1, combinationDist, MyPhysicsConfig.CollisionEpsilon);
numPts = contactPts.Count;
MyRigidBody rbo0 = GetRigidBody1();
MyRigidBody rbo1 = GetRigidBody2();
float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
Vector3 body0OldPos = rbo0.Position;
Vector3 body1OldPos = rbo1.Position;
Vector3 body0NewPos = (rbo0.Position + rbo0.LinearVelocity * dt);
Vector3 body1NewPos = (rbo1.Position + rbo1.LinearVelocity * dt);
#region REFERENCE: Vector3 bodyDelta = body0NewPos - body0OldPos - body1NewPos + body1OldPos;
Vector3 bodyDelta;
Vector3.Subtract(ref body0NewPos, ref body0OldPos, out bodyDelta);
Vector3.Subtract(ref bodyDelta, ref body1NewPos, out bodyDelta);
Vector3.Add(ref bodyDelta, ref body1OldPos, out bodyDelta);
#endregion
#region REFERENCE: float bodyDeltaLen = Vector3.Dot(bodyDelta,N);
float bodyDeltaLen;
Vector3.Dot(ref bodyDelta, ref N, out bodyDeltaLen);
#endregion
float oldDepth = depth + bodyDeltaLen;
MySmallCollPointInfo[] collPtArray = MyContactInfoCache.SCPIStackAlloc();
{
int numCollPts = 0;
Vector3 SATPoint;
switch (minAxis)
{
// Box0 face, Box1 corner collision
case 0:
case 1:
case 2:
{
// Get the lowest point on the box1 along box1 normal
GetSupportPoint(out SATPoint, box1, -N);
break;
}
// We have a Box2 corner/Box1 face collision
case 3:
case 4:
case 5:
{
// Find with vertex on the triangleVertexes collided
GetSupportPoint(out SATPoint, box0, N);
break;
}
// We have an edge/edge collision
case 6:
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
{
{
// Retrieve which edges collided.
int i = minAxis - 6;
int ia = i / 3;
int ib = i - ia * 3;
// find two P0, P1 point on both edges.
Vector3 P0, P1;
GetSupportPoint(out P0, box0, N);
GetSupportPoint(out P1, box1, -N);
// Find the edge intersection.
// plane along N and F, and passing through PB
Vector3 box0Orient, box1Orient;
MyPhysicsUtils.MyPhysicsUnsafe.Get(ref box0.Transform.Orientation, ia, out box0Orient);
MyPhysicsUtils.MyPhysicsUnsafe.Get(ref box1.Transform.Orientation, ib, out box1Orient);
#region REFERENCE: Vector3 planeNormal = Vector3.Cross(N, box1Orient[ib]);
Vector3 planeNormal;
Vector3.Cross(ref N, ref box1Orient, out planeNormal);
#endregion
#region REFERENCE: float planeD = Vector3.Dot(planeNormal, P1);
float planeD;
Vector3.Dot(ref planeNormal, ref P1, out planeD);
#endregion
// find the intersection t, where Pintersection = P0 + t*box edge dir
#region REFERENCE: float div = Vector3.Dot(box0Orient, planeNormal);
float div;
Vector3.Dot(ref box0Orient, ref planeNormal, out div);
#endregion
// plane and ray colinear, skip the intersection.
if (System.Math.Abs(div) < MyPhysicsConfig.CollisionEpsilon)
{
return(false);
}
float t = (planeD - Vector3.Dot(P0, planeNormal)) / div;
// point on edge of box0
#region REFERENCE: P0 += box0Orient * t;
P0 = Vector3.Add(Vector3.Multiply(box0Orient, t), P0);
#endregion
#region REFERENCE: SATPoint = (P0 + (0.5f * depth) * N);
Vector3.Multiply(ref N, 0.5f * depth, out SATPoint);
Vector3.Add(ref SATPoint, ref P0, out SATPoint);
#endregion
}
break;
}
default:
{
SATPoint = Vector3.Zero;
Debug.Assert(false);
break;
}
}
// distribute the depth according to the distance to the SAT point
if (numPts > 0)
{
float minDist = float.MaxValue;
float maxDist = float.MinValue;
for (int i = 0; i < numPts; ++i)
{
float dist = MyPhysicsUtils.PointPointDistance(contactPts[i].Pos, SATPoint);
if (dist < minDist)
{
minDist = dist;
}
if (dist > maxDist)
{
maxDist = dist;
}
}
// got some intersection points
for (int i = 0; i < numPts; ++i)
{
float minDepthScale = 0.0f;
float dist = MyPhysicsUtils.PointPointDistance(contactPts[i].Pos, SATPoint);
float safeDivisionDist = (maxDist - minDist);
if ((maxDist - minDist) == 0.0f)
{
safeDivisionDist = MyPhysicsConfig.CollisionEpsilon;
}
float depthScale = (dist - minDist) / safeDivisionDist;
depth = (1.0f - depthScale) * oldDepth + minDepthScale * depthScale * oldDepth;
if (numCollPts < MyPhysicsConfig.MaxContactPoints)
{
collPtArray[numCollPts++] = new MySmallCollPointInfo(contactPts[i].Pos - body0OldPos, contactPts[i].Pos - body1OldPos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, N, depth, contactPts[i].Pos);
}
}
}
else
{
#region REFERENCE: collPts.Add(new CollPointInfo(SATPoint - body0NewPos, SATPoint - body1NewPos, oldDepth));
//collPts.Add(new CollPointInfo(SATPoint - body0NewPos, SATPoint - body1NewPos, oldDepth));
Vector3 cp0;
Vector3.Subtract(ref SATPoint, ref body0NewPos, out cp0);
Vector3 cp1;
Vector3.Subtract(ref SATPoint, ref body1NewPos, out cp1);
if (numCollPts < MyPhysicsConfig.MaxContactPoints)
{
collPtArray[numCollPts++] = new MySmallCollPointInfo(cp0, cp1, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, N, oldDepth, SATPoint);
}
#endregion
}
// report Collisions
MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collPtArray, numCollPts);
}
MyContactInfoCache.FreeStackAlloc(collPtArray);
}
catch
{
throw;
}
finally
{
if (!staticCollision)
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
}
return(false);
}
public MyRBElement CreateRBElement(MyRBElementDesc desc)
{
switch (desc.GetElementType())
{
case MyRBElementType.ET_SPHERE:
{
MyRBSphereElement element = m_RBSphereElementPool.Allocate();
MyCommonDebugUtils.AssertDebug(element != null);
if (element.LoadFromDesc(desc))
{
return(element);
}
else
{
m_RBSphereElementPool.Deallocate(element);
return(null);
}
}
break;
case MyRBElementType.ET_BOX:
{
MyRBBoxElement element = m_RBBoxElementPool.Allocate();
MyCommonDebugUtils.AssertDebug(element != null);
if (element.LoadFromDesc(desc))
{
return(element);
}
else
{
m_RBBoxElementPool.Deallocate(element);
return(null);
}
}
break;
case MyRBElementType.ET_CAPSULE:
{
MyRBCapsuleElement element = m_RBCapsuleElementPool.Allocate();
MyCommonDebugUtils.AssertDebug(element != null);
if (element.LoadFromDesc(desc))
{
return(element);
}
else
{
m_RBCapsuleElementPool.Deallocate(element);
return(null);
}
}
break;
case MyRBElementType.ET_TRIANGLEMESH:
{
MyRBTriangleMeshElement element = m_RBTriangleMeshElementPool.Allocate();
MyCommonDebugUtils.AssertDebug(element != null);
if (element.LoadFromDesc(desc))
{
return(element);
}
else
{
m_RBTriangleMeshElementPool.Deallocate(element);
return(null);
}
}
break;
case MyRBElementType.ET_VOXEL:
{
MyRBVoxelElement element = m_RBVoxelElementPool.Allocate();
MyCommonDebugUtils.AssertDebug(element != null);
if (element.LoadFromDesc(desc))
{
return(element);
}
else
{
m_RBVoxelElementPool.Deallocate(element);
return(null);
}
}
break;
default:
// unknown element type
MyCommonDebugUtils.AssertDebug(false);
break;
}
return(null);
}
protected override bool Interact(bool staticCollision)
{
if (RBElement1.GetElementType() != MyRBElementType.ET_BOX)
{
SwapElements();
}
if (!staticCollision)
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("BoxVoxelInteraction");
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("Transformations");
MyRBBoxElement rbbox0 = (MyRBBoxElement)RBElement1;
Matrix matrix0 = RBElement1.GetGlobalTransformation();
MyBox box = tempBox;
box.Transform.Orientation = matrix0;
box.Transform.Orientation.Translation = Vector3.Zero;
box.Transform.Position = matrix0.Translation - Vector3.TransformNormal(rbbox0.Size * 0.5f, matrix0);
box.SideLengths = rbbox0.Size;
float boxRadius = box.GetBoundingRadiusAroundCentre();
#region boxCentre
Vector3 boxCentre;
box.GetCentre(out boxCentre);
// Deano need to trasnform the box center into mesh space
//Matrix invTransformMatrix = mesh.InverseTransformMatrix;
//Vector3.Transform(ref boxCentre, ref invTransformMatrix, out boxCentre);
#endregion
BoundingBox bb = RBElement1.GetWorldSpaceAABB();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("GetPotentialTrianglesForColDet");
// extent bb for the movement
int numTriangles;
MyVoxelMaps.GetPotentialTrianglesForColDet(out numTriangles, ref bb);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
if (staticCollision)
{
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
MyColDetVoxelTriangle triangle = MyVoxelMaps.PotentialColDetTriangles[iTriangle];
// quick early test is done in mesh space
float dist = triangle.Plane.DotCoordinate(boxCentre);
if (dist > boxRadius)
{
continue;
}
// skip too narrow triangles causing destability
if ((triangle.Vertex0 - triangle.Vertex1).LengthSquared() < MyPhysicsConfig.TriangleEpsilon ||
(triangle.Vertex1 - triangle.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon ||
(triangle.Vertex0 - triangle.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon
)
{
continue;
}
if (DoOverlapBoxTriangleStaticTest(box, ref triangle))
{
return(true);
}
}
}
else
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("for DoOverlapBoxTriangleTest");
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
MyColDetVoxelTriangle triangle = MyVoxelMaps.PotentialColDetTriangles[iTriangle];
// skip too narrow triangles causing destability
if ((triangle.Vertex0 - triangle.Vertex1).LengthSquared() < MyPhysicsConfig.TriangleEpsilon ||
(triangle.Vertex1 - triangle.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon ||
(triangle.Vertex0 - triangle.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon
)
{
continue;
}
DoOverlapBoxTriangleTest(box, ref triangle);
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
if (!staticCollision)
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
return(false);
}
