private float?ProcessTriangle(int triangleIndex)
{
System.Diagnostics.Debug.Assert((int)m_flags != 0);
MyTriangle_Vertexes triangle;
MyTriangleVertexIndices triangleIndices = m_model.Triangles[triangleIndex];
m_model.GetVertex(triangleIndices.I0, triangleIndices.I2, triangleIndices.I1, out triangle.Vertex0, out triangle.Vertex1, out triangle.Vertex2);
Vector3 calculatedTriangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangle);
//We dont want backside intersections
if (((int)(m_flags & IntersectionFlags.FLIPPED_TRIANGLES) == 0) &&
Vector3.Dot(m_line.Direction, calculatedTriangleNormal) > 0)
{
return(null);
}
Line lineF = (Line)m_line;
float?distance = MyUtils.GetLineTriangleIntersection(ref lineF, ref triangle);
// If intersection occured and if distance to intersection is closer to origin than any previous intersection
if ((distance != null) && ((m_result == null) || (distance.Value < m_result.Value.Distance)))
{
// We need to remember original triangleVertexes coordinates (not transformed by world matrix)
m_result = new MyIntersectionResultLineTriangle(ref triangle, ref calculatedTriangleNormal, distance.Value);
return(distance.Value);
}
return(null);
}
private float?ProcessTriangle(int triangleIndex)
{
System.Diagnostics.Debug.Assert((int)m_flags != 0);
MyTriangle_Vertexes triangle;
MyTriangleVertexIndices triangleIndices = m_model.Triangles[triangleIndex];
m_model.GetVertex(triangleIndices.I0, triangleIndices.I2, triangleIndices.I1, out triangle.Vertex0, out triangle.Vertex1, out triangle.Vertex2);
Vector3 calculatedTriangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangle);
//We dont want backside intersections
if (((int)(m_flags & IntersectionFlags.FLIPPED_TRIANGLES) == 0) &&
Vector3.Dot(m_line.Direction, calculatedTriangleNormal) > 0)
{
return(null);
}
Line lineF = (Line)m_line;
float?distance = MyUtils.GetLineTriangleIntersection(ref lineF, ref triangle);
if (distance.HasValue)
{
var result = new MyIntersectionResultLineTriangle(ref triangle, ref calculatedTriangleNormal, distance.Value);
m_result.Add(result);
}
return(distance);
}
public void GetTrianglesIntersectingAABB(ref BoundingBoxD aabb, List <MyTriangle_Vertex_Normal> retTriangles, int maxNeighbourTriangles)
{
BoundingBox boxF = (BoundingBox)aabb;
IndexedVector3 min = boxF.Min.ToBullet();
IndexedVector3 max = boxF.Max.ToBullet();
AABB gi_aabb = new AABB(ref min, ref max);
m_overlappedTriangles.Clear();
VRageRender.MyRenderProxy.GetRenderProfiler().StartProfilingBlock("m_bvh.BoxQuery");
bool res = m_bvh.BoxQuery(ref gi_aabb, m_overlappedTriangles);
VRageRender.MyRenderProxy.GetRenderProfiler().EndProfilingBlock();
if (res)
{
VRageRender.MyRenderProxy.GetRenderProfiler().StartProfilingBlock("m_overlappedTriangles");
//foreach (var triangleIndex in m_overlappedTriangles)
for (int i = 0; i < m_overlappedTriangles.Count; i++)
{
var triangleIndex = m_overlappedTriangles[i];
// If we reached end of the buffer of neighbour triangles, we stop adding new ones. This is better behavior than throwing exception because of array overflow.
if (retTriangles.Count == maxNeighbourTriangles)
{
VRageRender.MyRenderProxy.GetRenderProfiler().EndProfilingBlock();
return;
}
MyTriangleVertexIndices triangle = m_model.Triangles[triangleIndex];
MyTriangle_Vertexes triangleVertices = new MyTriangle_Vertexes();
m_model.GetVertex(triangle.I0, triangle.I1, triangle.I2, out triangleVertices.Vertex0, out triangleVertices.Vertex1, out triangleVertices.Vertex2);
IndexedVector3 iv0 = triangleVertices.Vertex0.ToBullet();
IndexedVector3 iv1 = triangleVertices.Vertex1.ToBullet();
IndexedVector3 iv2 = triangleVertices.Vertex2.ToBullet();
MyTriangle_Vertex_Normal retTriangle;
retTriangle.Vertexes = triangleVertices;
retTriangle.Normal = Vector3.Forward;
retTriangles.Add(retTriangle);
}
VRageRender.MyRenderProxy.GetRenderProfiler().EndProfilingBlock();
}
}
public bool GetIntersectionWithSphere(IMyEntity entity, ref BoundingSphereD sphere)
{
// Transform sphere from world space to object space
MatrixD worldInv = entity.PositionComp.GetWorldMatrixNormalizedInv();
Vector3 positionInObjectSpace = (Vector3)Vector3D.Transform(sphere.Center, ref worldInv);
BoundingSphereD sphereInObjectSpace = new BoundingSphereD(positionInObjectSpace, (float)sphere.Radius);
var aabb = BoundingBox.CreateInvalid();
BoundingSphere sphereF = (BoundingSphere)sphereInObjectSpace;
aabb.Include(ref sphereF);
AABB gi_aabb = new AABB(aabb.Min.ToBullet(), aabb.Max.ToBullet());
m_overlappedTriangles.Clear();
if (m_bvh.BoxQuery(ref gi_aabb, m_overlappedTriangles))
{
// temporary variable for storing tirngle boundingbox info
BoundingBox triangleBoundingBox = new BoundingBox();
// Triangles that are directly in this node
for (int i = 0; i < m_overlappedTriangles.Count; i++)
{
var triangleIndex = m_overlappedTriangles[i];
m_model.GetTriangleBoundingBox(triangleIndex, ref triangleBoundingBox);
// First test intersection of triangleVertexes's bounding box with bounding sphere. And only if they overlap or intersect, do further intersection tests.
if (triangleBoundingBox.Intersects(ref sphereInObjectSpace))
{
// See that we swaped vertex indices!!
MyTriangle_Vertexes triangle;
MyTriangleVertexIndices triangleIndices = m_model.Triangles[triangleIndex];
triangle.Vertex0 = m_model.GetVertex(triangleIndices.I0);
triangle.Vertex1 = m_model.GetVertex(triangleIndices.I2);
triangle.Vertex2 = m_model.GetVertex(triangleIndices.I1);
PlaneD trianglePlane = new PlaneD(triangle.Vertex0, triangle.Vertex1, triangle.Vertex2);
if (MyUtils.GetSphereTriangleIntersection(ref sphereInObjectSpace, ref trianglePlane, ref triangle) != null)
{
// If we found intersection we can stop and dont need to look further
return(true);
}
}
}
}
return(false);
}
void CopyTriangleIndices()
{
Triangles = new MyTriangleVertexIndices[GetNumberOfTrianglesForColDet()];
int triangleIndex = 0;
foreach (MyMesh mesh in m_meshContainer)
{
mesh.TriStart = triangleIndex;
if (m_Indices != null)
{
for (int i = 0; i < mesh.TriCount; i++)
{
// Notice we swap indices. It's because XNA's clock-wise rule probably differs from FBX's, and JigLib needs it in this order.
// But because of this, I did similar swaping in my col/det functions
Triangles[triangleIndex] = new MyTriangleVertexIndices(m_Indices[mesh.IndexStart + i * 3 + 0], m_Indices[mesh.IndexStart + i * 3 + 2], m_Indices[mesh.IndexStart + i * 3 + 1]);
triangleIndex++;
}
}
else if (m_Indices_16bit != null)
{
for (int i = 0; i < mesh.TriCount; i++)
{
// Notice we swap indices. It's because XNA's clock-wise rule probably differs from FBX's, and JigLib needs it in this order.
// But because of this, I did similar swaping in my col/det functions
Triangles[triangleIndex] = new MyTriangleVertexIndices(m_Indices_16bit[mesh.IndexStart + i * 3 + 0], m_Indices_16bit[mesh.IndexStart + i * 3 + 2], m_Indices_16bit[mesh.IndexStart + i * 3 + 1]);
triangleIndex++;
}
}
else
{
throw new InvalidBranchException(); // Neither 32bit or 16bit indices are set, probably already called mesh.DisposeIndices()
}
}
CheckTriangles(triangleIndex);
}
void CopyTriangleIndices()
{
Triangles = new MyTriangleVertexIndices[GetNumberOfTrianglesForColDet()];
int triangleIndex = 0;
foreach (MyMesh mesh in m_meshContainer)
{
mesh.TriStart = triangleIndex;
if (m_Indices != null)
{
for (int i = 0; i < mesh.TriCount; i++)
{
// Notice we swap indices. It's because XNA's clock-wise rule probably differs from FBX's, and JigLib needs it in this order.
// But because of this, I did similar swaping in my col/det functions
Triangles[triangleIndex] = new MyTriangleVertexIndices(m_Indices[mesh.IndexStart + i * 3 + 0], m_Indices[mesh.IndexStart + i * 3 + 2], m_Indices[mesh.IndexStart + i * 3 + 1]);
triangleIndex++;
}
}
else if (m_Indices_16bit != null)
{
for (int i = 0; i < mesh.TriCount; i++)
{
// Notice we swap indices. It's because XNA's clock-wise rule probably differs from FBX's, and JigLib needs it in this order.
// But because of this, I did similar swaping in my col/det functions
Triangles[triangleIndex] = new MyTriangleVertexIndices(m_Indices_16bit[mesh.IndexStart + i * 3 + 0], m_Indices_16bit[mesh.IndexStart + i * 3 + 2], m_Indices_16bit[mesh.IndexStart + i * 3 + 1]);
triangleIndex++;
}
}
else throw new InvalidBranchException(); // Neither 32bit or 16bit indices are set, probably already called mesh.DisposeIndices()
}
CheckTriangles(triangleIndex);
}
public void GetTrianglesIntersectingSphere(ref BoundingSphereD sphere, List <MyTriangle_Vertex_Normal> retTriangles, int maxNeighbourTriangles)
{
Vector3?referenceNormalVector = null;
float? maxAngle = null;
var aabb = BoundingBox.CreateInvalid();
BoundingSphere sphereF = (BoundingSphere)sphere;
aabb.Include(ref sphereF);
AABB gi_aabb = new AABB(aabb.Min.ToBullet(), aabb.Max.ToBullet());
m_overlappedTriangles.Clear();
// VRageRender.MyRenderProxy.GetRenderProfiler().StartProfilingBlock("m_bvh.BoxQuery"); // This code is called recursively and cause profiler to lag
bool res = m_bvh.BoxQuery(ref gi_aabb, m_overlappedTriangles);
// VRageRender.MyRenderProxy.GetRenderProfiler().EndProfilingBlock();
if (res)
{
//VRageRender.MyRenderProxy.GetRenderProfiler().StartProfilingBlock("m_overlappedTriangles"); // This code is called recursively and cause profiler to lag
// temporary variable for storing tirngle boundingbox info
BoundingBox triangleBoundingBox = new BoundingBox();
for (int i = 0; i < m_overlappedTriangles.Count; i++)
{
var triangleIndex = m_overlappedTriangles[i];
// If we reached end of the buffer of neighbour triangles, we stop adding new ones. This is better behavior than throwing exception because of array overflow.
if (retTriangles.Count == maxNeighbourTriangles)
{
return;
}
m_model.GetTriangleBoundingBox(triangleIndex, ref triangleBoundingBox);
//gi_aabb.CollideTriangleExact
// First test intersection of triangleVertexes's bounding box with bounding sphere. And only if they overlap or intersect, do further intersection tests.
if (triangleBoundingBox.Intersects(ref sphere))
{
//if (m_triangleIndices[value] != ignoreTriangleWithIndex)
{
// See that we swaped vertex indices!!
MyTriangle_Vertexes triangle;
MyTriangleVertexIndices triangleIndices = m_model.Triangles[triangleIndex];
triangle.Vertex0 = m_model.GetVertex(triangleIndices.I0);
triangle.Vertex1 = m_model.GetVertex(triangleIndices.I2);
triangle.Vertex2 = m_model.GetVertex(triangleIndices.I1);
Vector3 calculatedTriangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangle);
PlaneD trianglePlane = new PlaneD(triangle.Vertex0, triangle.Vertex1, triangle.Vertex2);
if (MyUtils.GetSphereTriangleIntersection(ref sphere, ref trianglePlane, ref triangle) != null)
{
Vector3 triangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangle);
if ((referenceNormalVector.HasValue == false) || (maxAngle.HasValue == false) ||
((MyUtils.GetAngleBetweenVectors(referenceNormalVector.Value, triangleNormal) <= maxAngle)))
{
MyTriangle_Vertex_Normal retTriangle;
retTriangle.Vertexes = triangle;
retTriangle.Normal = calculatedTriangleNormal;
retTriangles.Add(retTriangle);
}
}
}
}
}
//VRageRender.MyRenderProxy.GetRenderProfiler().EndProfilingBlock();
}
}
public void GetTrianglesIntersectingSphere(ref BoundingSphereD sphere, Vector3?referenceNormalVector, float?maxAngle, List <MyTriangle_Vertex_Normals> retTriangles, int maxNeighbourTriangles)
{
var aabb = BoundingBox.CreateInvalid();
BoundingSphere sphereF = (BoundingSphere)sphere;
aabb.Include(ref sphereF);
AABB gi_aabb = new AABB(aabb.Min.ToBullet(), aabb.Max.ToBullet());
m_overlappedTriangles.Clear();
if (m_bvh.BoxQuery(ref gi_aabb, m_overlappedTriangles))
{
// temporary variable for storing tirngle boundingbox info
BoundingBox triangleBoundingBox = new BoundingBox();
for (int i = 0; i < m_overlappedTriangles.Count; i++)
{
var triangleIndex = m_overlappedTriangles[i];
// If we reached end of the buffer of neighbour triangles, we stop adding new ones. This is better behavior than throwing exception because of array overflow.
if (retTriangles.Count == maxNeighbourTriangles)
{
return;
}
m_model.GetTriangleBoundingBox(triangleIndex, ref triangleBoundingBox);
// First test intersection of triangleVertexes's bounding box with bounding sphere. And only if they overlap or intersect, do further intersection tests.
if (triangleBoundingBox.Intersects(ref sphere))
{
//if (m_triangleIndices[value] != ignoreTriangleWithIndex)
{
// See that we swaped vertex indices!!
MyTriangle_Vertexes triangle;
MyTriangle_Normals triangleNormals;
//MyTriangle_Normals triangleTangents;
MyTriangleVertexIndices triangleIndices = m_model.Triangles[triangleIndex];
m_model.GetVertex(triangleIndices.I0, triangleIndices.I2, triangleIndices.I1, out triangle.Vertex0, out triangle.Vertex1, out triangle.Vertex2);
/*
* triangle.Vertex0 = m_model.GetVertex(triangleIndices.I0);
* triangle.Vertex1 = m_model.GetVertex(triangleIndices.I2);
* triangle.Vertex2 = m_model.GetVertex(triangleIndices.I1);
*/
triangleNormals.Normal0 = m_model.GetVertexNormal(triangleIndices.I0);
triangleNormals.Normal1 = m_model.GetVertexNormal(triangleIndices.I2);
triangleNormals.Normal2 = m_model.GetVertexNormal(triangleIndices.I1);
PlaneD trianglePlane = new PlaneD(triangle.Vertex0, triangle.Vertex1, triangle.Vertex2);
if (MyUtils.GetSphereTriangleIntersection(ref sphere, ref trianglePlane, ref triangle) != null)
{
Vector3 triangleNormal = MyUtils.GetNormalVectorFromTriangle(ref triangle);
if ((referenceNormalVector.HasValue == false) || (maxAngle.HasValue == false) ||
((MyUtils.GetAngleBetweenVectors(referenceNormalVector.Value, triangleNormal) <= maxAngle)))
{
MyTriangle_Vertex_Normals retTriangle;
retTriangle.Vertices = triangle;
retTriangle.Normals = triangleNormals;
retTriangles.Add(retTriangle);
}
}
}
}
}
}
}
