private void glControl_Load(object sender, EventArgs e)
{
glControl.MakeCurrent();
GL.Enable(EnableCap.DepthTest);
GL.Disable(EnableCap.Lighting);
GL.Disable(EnableCap.Texture2D);
GL.Disable(EnableCap.CullFace);
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill);
GL.ClearColor(0.5f, 0.5f, 1.0f, 1.0f);
plane = new Physics.Plane(new Vector3(0.0f, 0.0f, 0.0f), new Vector3(0, 1, 0));
rigidBody = new RigidBody();
rigidBody.m_fMass = 1.0f;
rigidBody.m_v3Position = new Vector3(0, 6.0f, 0);
rigidBody.m_fGravity = new Vector3(0, -9.81f, 0);
rigidBody.m_fRestitution = 0.0f;
rigidBody.m_fFriction = 1.0f;
rigidBody.m_fLinearDamping = 0.5f;
rigidBody.m_fAngularDamping = 0.5f;
rigidBody.m_v3Rotate = new Vector3(ToRadian(30.0f), 0, ToRadian(20.0f));
rigidBody.m_listPoints.Add(new Vector3(-2.0f, -1.0f, -1.5f));
rigidBody.m_listPoints.Add(new Vector3(+2.0f, -1.0f, -1.5f));
rigidBody.m_listPoints.Add(new Vector3(-2.0f, +1.0f, -1.5f));
rigidBody.m_listPoints.Add(new Vector3(+2.0f, +1.0f, -1.5f));
rigidBody.m_listPoints.Add(new Vector3(-2.0f, -1.0f, +1.5f));
rigidBody.m_listPoints.Add(new Vector3(+2.0f, -1.0f, +1.5f));
rigidBody.m_listPoints.Add(new Vector3(-2.0f, +1.0f, +1.5f));
rigidBody.m_listPoints.Add(new Vector3(+2.0f, +1.0f, +1.5f));
// back
rigidBody.m_listIndices.AddRange(new int[] { 3, 1, 0 });
rigidBody.m_listIndices.AddRange(new int[] { 0, 2, 3 });
// front
rigidBody.m_listIndices.AddRange(new int[] { 4, 5, 7 });
rigidBody.m_listIndices.AddRange(new int[] { 7, 6, 4 });
// left
rigidBody.m_listIndices.AddRange(new int[] { 6, 2, 0 });
rigidBody.m_listIndices.AddRange(new int[] { 0, 4, 6 });
// right
rigidBody.m_listIndices.AddRange(new int[] { 1, 3, 7 });
rigidBody.m_listIndices.AddRange(new int[] { 7, 5, 1 });
// bottom
rigidBody.m_listIndices.AddRange(new int[] { 0, 1, 5 });
rigidBody.m_listIndices.AddRange(new int[] { 5, 4, 0 });
// top
rigidBody.m_listIndices.AddRange(new int[] { 7, 3, 2 });
rigidBody.m_listIndices.AddRange(new int[] { 2, 6, 7 });
rigidBody.Create();
DispatcherTimer timer = new DispatcherTimer();
timer.Tick += Timer_Tick;
timer.Interval = TimeSpan.FromSeconds(0);
timer.Start();
}
/// <summary>
/// Calcula la fuerza y la aplica al cuerpo especificado
/// </summary>
/// <param name="body">Cuerpo</param>
/// <param name="duration">Duración</param>
public override void UpdateForce(ref RigidBody body, float duration)
{
// Detectar la fase de la explosión en la que estamos
if (m_TimePassed <= ImplosionDuration)
{
// Fase de implosión
float distance = Vector3.Distance(body.Position, this.DetonationCenter);
if (distance > this.ImplosionMinRadius && distance <= this.ImplosionMaxRadius)
{
// El cuerpo está en el área de implosión. Aplicar las fuerzas
float max = this.ImplosionMaxRadius - this.ImplosionMinRadius;
float curr = distance - this.ImplosionMinRadius;
float forceMagnitude = curr / max;
Vector3 force = Vector3.Normalize(this.DetonationCenter - body.Position) * this.ImplosionForce * forceMagnitude;
body.AddForce(force);
}
}
else if (m_TimePassed <= (ImplosionDuration + ConcussionDuration))
{
// Honda expansiva
// Intervalo actual de máxima acción de la honda
float min = this.ShockwaveSpeed * m_TimePassed;
float max = this.ShockwaveSpeed * (m_TimePassed + duration);
// Distancia al centro del objeto
float distance = Vector3.Distance(body.Position, this.DetonationCenter);
float totalDuration = this.ConcussionDuration + this.ImplosionDuration;
float maxDuration = this.ConcussionDuration;
float maxDistance = (this.ShockwaveSpeed * maxDuration) + this.ShockwaveThickness;
float forceMagnitude = 0f;
if (distance >= min && distance <= max)
{
// En plena honda expansiva. Se aplican las fuerzas atenuadas sólo por la duración
float relativeTime = 0f;
if (m_TimePassed < totalDuration)
{
relativeTime = 1f - (m_TimePassed / totalDuration);
}
forceMagnitude = this.PeakConcussionForce * relativeTime;
}
else if (distance < min)
{
// El objeto ha sido sobrepasado por la honda expansiva. Fuerza mínimamente atenuada
float relativeTime = 0f;
if (m_TimePassed < totalDuration)
{
relativeTime = 1f - (m_TimePassed / totalDuration);
}
forceMagnitude = this.PeakConcussionForce * relativeTime;
}
else if (distance > max && distance <= maxDistance)
{
// El objeto no ha sido alcanzado por la honda expansiva. Fuerza atenuada por el tiempo y la distancia
float relativeDistance = 0f;
if (distance < maxDistance)
{
relativeDistance = 1f - (distance / maxDistance);
}
float relativeTime = 0f;
if (m_TimePassed < totalDuration)
{
relativeTime = 1f - (m_TimePassed / totalDuration);
}
forceMagnitude = this.PeakConcussionForce * relativeDistance * relativeTime;
}
if (forceMagnitude > 0f)
{
Vector3 force = Vector3.Normalize(body.Position - this.DetonationCenter) * forceMagnitude;
body.AddForce(force);
}
}
else
{
// Fin de la explosión
m_ExplosionActive = false;
}
m_TimePassed += duration;
}
private void glControl_Load(object sender, EventArgs e)
{
glControl.MakeCurrent();
GL.Enable(EnableCap.DepthTest);
GL.Disable(EnableCap.Lighting);
GL.Disable(EnableCap.Texture2D);
GL.Disable(EnableCap.CullFace);
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill);
GL.ClearColor(0.5f, 0.5f, 1.0f, 1.0f);
plane = new Physics.Plane(new Vector3(0.0f, 0.0f, 0.0f), new Vector3(0, 1, 0));
rigidBody1 = new RigidBody();
loader = new OBJLoader();
loader.LoadFromFile("", "henger.obj");
Vector3 v3Gravity = new Vector3(0, -9.81f, 0);
rigidBody1.m_fMass = 1.0f;
rigidBody1.m_v3Position = new Vector3(0f, 5.0f, 0);
rigidBody1.m_fGravity = v3Gravity;
rigidBody1.m_fRestitution = 0.0f;
rigidBody1.m_fFriction = 1.0f;
rigidBody1.m_v3Rotate = new Vector3(ToRadian(0.0f), 0, ToRadian(60.0f));
rigidBody1.m_fLinearDamping = 0.2f;
rigidBody1.m_fAngularDamping = 0.2f;
float scale = 0.1f;
foreach (Vector3 v in loader.vertices)
{
rigidBody1.m_listPoints.Add(new Vector3(v.X * scale, v.Y * scale, v.Z * scale));
}
foreach (OBJLoader.Material mat in loader.materials)
{
for (int i = 0; i < mat.indices.Count; i += 3)
{
int i0 = mat.indices[i + 0].id_vertex;
int i1 = mat.indices[i + 1].id_vertex;
int i2 = mat.indices[i + 2].id_vertex;
rigidBody1.m_listIndices.AddRange(new int[] { i0, i1, i2 });
}
}
rigidBody1.Create();
loader = new OBJLoader();
loader.LoadFromFile("", "sphere.obj");
rigidBody2 = new RigidBody();
rigidBody2.m_fMass = 1.0f;
rigidBody2.m_v3Position = new Vector3(2f, 10.0f, 2);
rigidBody2.m_fGravity = v3Gravity;
rigidBody2.m_fRestitution = 0.0f;
rigidBody2.m_fFriction = 1.0f;
rigidBody2.m_v3Rotate = new Vector3(ToRadian(0.0f), 0, ToRadian(-15.0f));
rigidBody2.m_fLinearDamping = 0.2f;
rigidBody2.m_fAngularDamping = 0.2f;
foreach (Vector3 v in loader.vertices)
{
rigidBody2.m_listPoints.Add(new Vector3(v.X * scale, v.Y * scale, v.Z * scale));
}
foreach (OBJLoader.Material mat in loader.materials)
{
for (int i = 0; i < mat.indices.Count; i += 3)
{
int i0 = mat.indices[i + 0].id_vertex;
int i1 = mat.indices[i + 1].id_vertex;
int i2 = mat.indices[i + 2].id_vertex;
rigidBody2.m_listIndices.AddRange(new int[] { i0, i1, i2 });
}
}
rigidBody2.Create();
DispatcherTimer timer = new DispatcherTimer();
timer.Tick += Timer_Tick;;
timer.Interval = TimeSpan.FromSeconds(0);
timer.Start();
}
//Get the coordinates of the specified jump arc where it lines up with one of the edges of a given rigidbody
public Tuple <Tuple <Vector2D, Vector2D, Vector2D, Vector2D>, Tuple <Vector2D, Vector2D, Vector2D, Vector2D> > GetBoxCollisionPoints(RigidBody RB, Vector2D source, float accelerationTime, float totalJumpTime, Vector2D gravity)
{
if (float.IsNaN(accelerationTime))
{
return(null);
}
//force acceleration time to be positive (negative times are not valid)
int sign = (int)(accelerationTime / (float)Math.Abs(accelerationTime));
accelerationTime *= sign;
//calculate the possible collision locations during acceleration
Vector2D acceleration = new Vector2D(GetHorizontalAcceleration() * sign, gravity.Y);
Vector2D velocity = new Vector2D(playerBody.LinearVelocity.X, jumpInitialVelocity);
Vector2D initialPosition = new Vector2D(source);
Tuple <Vector2D, Vector2D, Vector2D, Vector2D> resultsDuringAcc = UsefulMathsFunctions.GetArcPosAtBoxEdges(RB, initialPosition, velocity, acceleration, accelerationTime);
//calculate the possible collision locations after acceleration
float YatAccEnd = SuvatEquations.SfromUAT(velocity.Y, acceleration.Y, accelerationTime);
float XatAccEnd = SuvatEquations.SfromUAT(velocity.X, acceleration.X, accelerationTime);
initialPosition.Y += YatAccEnd;
initialPosition.X += XatAccEnd;
velocity.X = SuvatEquations.VfromUAT(velocity.X, acceleration.X, accelerationTime);
velocity.Y = SuvatEquations.VfromUAT(velocity.Y, acceleration.Y, accelerationTime);
acceleration.X = 0;
Tuple <Vector2D, Vector2D, Vector2D, Vector2D> resultsAftergAcc = UsefulMathsFunctions.GetArcPosAtBoxEdges(RB, initialPosition, velocity, acceleration, totalJumpTime - accelerationTime);
//return the two sets of coordinates
return(new Tuple <Tuple <Vector2D, Vector2D, Vector2D, Vector2D>, Tuple <Vector2D, Vector2D, Vector2D, Vector2D> >(resultsDuringAcc, resultsAftergAcc));
}
//Checks to see if a fall from an input coordinate TO an input coordinate would collide with a given rigidbody
public bool FallCollidesWithRB(RigidBody RB, Vector2D source, Vector2D destination, Vector2D gravity)
{
//Return false if the rigid body is outside the widest possible fall range
if (source.Y - playerRadius > RB.Shape.ComputeAABB().MAX.Y + RB.Position.Y)
{
return(false);
}
if (Math.Max(source.Y, destination.Y) + playerRadius < RB.Position.Y + RB.Shape.ComputeAABB().MIN.Y)
{
return(false);
}
if (RB.Shape.ComputeAABB().MAX.X + RB.Position.X < Math.Min(source.X, destination.X) - playerRadius)
{
return(false);
}
if (Math.Max(source.X, destination.X) + playerRadius < RB.Position.X + RB.Shape.ComputeAABB().MIN.X)
{
return(false);
}
Vector2D displacement = destination - source;
//calculate the fall time (return no collision if the fall time was invalid)
Tuple <float, float> timeToFall = SuvatEquations.TfromSUA(displacement.Y, 0.0f, gravity.Y);
if (float.IsNaN(timeToFall.Item1) || timeToFall.Item1 < 0)
{
return(false);
}
//calculate the average horizontal acceleration needed to fall to the destination
float acceleration = SuvatEquations.AfromSUT(displacement.X, 0.0f, Math.Max(timeToFall.Item1, timeToFall.Item2));
//calculate the four points where the path defined by acceleration could potentially collide with the rigidbody
Tuple <float, float> timeToReach;
//obtain the X positions of the sides of the rigidbody
float leftmostX = (RB.Position.X + RB.Shape.ComputeAABB().MIN.X) - source.X;
float righttmostX = (RB.Position.X + RB.Shape.ComputeAABB().MAX.X) - source.X;
//obtain the Y positions of the top and bottom of the rigidbody
float topY = (RB.Position.Y + RB.Shape.ComputeAABB().MIN.Y) - source.Y;
float bottomY = (RB.Position.Y + RB.Shape.ComputeAABB().MAX.Y) - source.Y;
//these coords will be estimated from the above coords
float leftmostY;
float righttmostY;
float topX;
float bottomX;
Shape temp = new Circle(playerRadius);
//calculate the time to reach the left side of the rigidbody
timeToReach = Physics.SuvatEquations.TfromSUA(leftmostX, 0.0f, acceleration);
//calculate the first Y position, check it for collision, calculate the second, check for collision
leftmostY = Physics.SuvatEquations.SfromUAT(0.0f, 98, timeToReach.Item1);
if (!float.IsNaN(leftmostY) && RB.Shape.IsCollided(temp, RB.Position, new Vector2D(leftmostX, leftmostY) + source))
{
return(true);
}
leftmostY = Physics.SuvatEquations.SfromUAT(0.0f, 98, timeToReach.Item2);
if (!float.IsNaN(leftmostY) && RB.Shape.IsCollided(temp, RB.Position, new Vector2D(leftmostX, leftmostY) + source))
{
return(true);
}
//calculate the time to reach the right side of the rigidbody
timeToReach = Physics.SuvatEquations.TfromSUA(righttmostX, 0.0f, acceleration);
//calculate the first Y position, check it for collision, calculate the second, check for collision
righttmostY = Physics.SuvatEquations.SfromUAT(0.0f, 98, timeToReach.Item1);
if (!float.IsNaN(righttmostY) && RB.Shape.IsCollided(temp, RB.Position, new Vector2D(righttmostX, righttmostY) + source))
{
return(true);
}
righttmostY = Physics.SuvatEquations.SfromUAT(0.0f, 98, timeToReach.Item2);
if (!float.IsNaN(righttmostY) && RB.Shape.IsCollided(temp, RB.Position, new Vector2D(righttmostX, righttmostY) + source))
{
return(true);
}
//calculate the time to reach the top of the rigidbody
timeToReach = Physics.SuvatEquations.TfromSUA(topY, 0.0f, 98);
//calculate the first X position, check it for collision, calculate the second, check for collision
topX = Physics.SuvatEquations.SfromUAT(0.0f, acceleration, timeToReach.Item1);
if (!float.IsNaN(topX) && RB.Shape.IsCollided(temp, RB.Position, new Vector2D(topX, topY) + source))
{
return(true);
}
topX = Physics.SuvatEquations.SfromUAT(0.0f, acceleration, timeToReach.Item2);
if (!float.IsNaN(topX) && RB.Shape.IsCollided(temp, RB.Position, new Vector2D(topX, topY) + source))
{
return(true);
}
//calculate the time to reach the bottom of the rigidbody
timeToReach = Physics.SuvatEquations.TfromSUA(bottomY, 0.0f, 98);
//calculate the first X position, check it for collision, calculate the second, check for collision
bottomX = Physics.SuvatEquations.SfromUAT(0.0f, acceleration, timeToReach.Item1);
if (!float.IsNaN(bottomX) && RB.Shape.IsCollided(temp, RB.Position, new Vector2D(bottomX, bottomY) + source))
{
return(true);
}
bottomX = Physics.SuvatEquations.SfromUAT(0.0f, acceleration, timeToReach.Item2);
if (!float.IsNaN(bottomX) && RB.Shape.IsCollided(temp, RB.Position, new Vector2D(bottomX, bottomY) + source))
{
return(true);
}
return(false);
}
//Checks to see if a jump from source to destination would collid with the provided rigidbody
public bool JumpCollidesWithRB(RigidBody RB, Vector2D source, Vector2D destination, Vector2D gravity)
{
//Get the max Y displacement
float maxYRange = SuvatEquations.SFromUVA(jumpInitialVelocity, 0.0f, gravity.Y);
//Return false if the rigid body is outside the widest possible jump range
if (maxYRange + source.Y - playerRadius > RB.Shape.ComputeAABB().MAX.Y + RB.Position.Y)
{
return(false);
}
if (Math.Max(source.Y, destination.Y) + playerRadius < RB.Position.Y + RB.Shape.ComputeAABB().MIN.Y)
{
return(false);
}
if (RB.Shape.ComputeAABB().MAX.X + RB.Position.X < Math.Min(source.X, destination.X) - playerRadius)
{
return(false);
}
if (Math.Max(source.X, destination.X) + playerRadius < RB.Position.X + RB.Shape.ComputeAABB().MIN.X)
{
return(false);
}
Vector2D displacement = destination - source;
//calculate the jump's acceleration duration, and total duration
float accelerationTime = GetJumpFromSourceToDest(source, destination, gravity);
float totalJumpTime = GetTotalJumpDuration(source, destination, gravity);
//if the jump is not valid, return that it does not collide with the rigidbody
if (float.IsNaN(totalJumpTime) || totalJumpTime < 0)
{
return(false);
}
//calculate the 8 points that could potentially intersect with the box (1 before and 1 after the jump's apex)
Tuple <Tuple <Vector2D, Vector2D, Vector2D, Vector2D>, Tuple <Vector2D, Vector2D, Vector2D, Vector2D> > boxCollisionPoints = GetBoxCollisionPoints(RB, source, accelerationTime, totalJumpTime, gravity);
if (boxCollisionPoints == null)
{
return(true);
}
//check to see if the player would collide with the rigidbody at any of the calculated positions
Shape temp = new Circle(playerRadius);
if (RB.Shape.IsCollided(temp, RB.Position, boxCollisionPoints.Item1.Item1))
{
return(true);
}
if (RB.Shape.IsCollided(temp, RB.Position, boxCollisionPoints.Item1.Item2))
{
return(true);
}
if (RB.Shape.IsCollided(temp, RB.Position, boxCollisionPoints.Item1.Item3))
{
return(true);
}
if (RB.Shape.IsCollided(temp, RB.Position, boxCollisionPoints.Item1.Item4))
{
return(true);
}
if (RB.Shape.IsCollided(temp, RB.Position, boxCollisionPoints.Item2.Item1))
{
return(true);
}
if (RB.Shape.IsCollided(temp, RB.Position, boxCollisionPoints.Item2.Item2))
{
return(true);
}
if (RB.Shape.IsCollided(temp, RB.Position, boxCollisionPoints.Item2.Item3))
{
return(true);
}
if (RB.Shape.IsCollided(temp, RB.Position, boxCollisionPoints.Item2.Item4))
{
return(true);
}
return(false);
}
