public void init()
{
Device device = GuiController.Instance.D3dDevice;
sphere = new TgcBoundingSphere(posicion, EXPLOSION_RADIUS);
sound = new TgcStaticSound();
time = 0;
int width = GuiController.Instance.Panel3d.Width;
int height = GuiController.Instance.Panel3d.Height;
int cantExplosion = 20;
float particleTime = 1f, sizeMax = 2000f, expSpeed = 1f, expSizeSpeed = 20f; ;
float expUpdateTime = 0;
//Creo el emisor de explosion
emisorExplosion = new ExplosionEmitter(cantExplosion, posicion, new Vector3(expSpeed, expSpeed, expSpeed), new Vector3(0.00f, 0.00f, 0.00f), 500f, sizeMax, particleTime, Color.White, 150, 0f, expUpdateTime, GameManager.Instance.random.Next(0, 1000), expSizeSpeed, 2);
emisorExplosion.Init();
int cantidad = 20;
Vector3 origen1 = posicion;
float speed = 5f;
float divergence = 7f;
Vector3 velocidad = new Vector3(divergence, speed, divergence);
Vector3 aceleracion = new Vector3(0, 0, 0);
float min = 500f, max = 1000f, tiempoVida_Particula = 1f;
int alpha = 150;
float spawn = 0.01f;
float sizeSpeed = 1000f;
float updateTime = 0.02f;
//Creo los emisores de humo
emisorHumo = new SmokeEmitter(cantidad, origen1, velocidad, aceleracion, min, max, tiempoVida_Particula, Color.DarkGray, alpha, spawn, updateTime, sizeSpeed);
emisorHumo.Init();
}
public override void init()
{
Microsoft.DirectX.Direct3D.Device d3dDevice = GuiController.Instance.D3dDevice;
//Cuerpo principal que se controla con el teclado
box = TgcBox.fromSize(new Vector3(0, 10, 0), new Vector3(10, 10, 10), Color.Blue);
//triangulo
triangle = new CustomVertex.PositionColored[3];
triangle[0] = new CustomVertex.PositionColored(-100, 0, 0, Color.Red.ToArgb());
triangle[1] = new CustomVertex.PositionColored(0, 0, 50, Color.Green.ToArgb());
triangle[2] = new CustomVertex.PositionColored(0, 100, 0, Color.Blue.ToArgb());
triagleAABB = TgcBoundingBox.computeFromPoints(new Vector3[] { triangle[0].Position, triangle[1].Position, triangle[2].Position });
//box2
box2 = TgcBox.fromSize(new Vector3(-50, 10, -20), new Vector3(15, 15, 15), Color.Violet);
//sphere
sphere = new TgcBoundingSphere(new Vector3(30, 20, -20), 15);
//OBB: computar OBB a partir del AABB del mesh.
TgcSceneLoader loader = new TgcSceneLoader();
TgcMesh meshObb = loader.loadSceneFromFile(GuiController.Instance.ExamplesMediaDir + "MeshCreator\\Meshes\\Vehiculos\\StarWars-ATST\\StarWars-ATST-TgcScene.xml").Meshes[0];
obb = TgcObb.computeFromAABB(meshObb.BoundingBox);
meshObb.dispose();
obb.move(new Vector3(100, 0, 30));
obb.setRotation(new Vector3(0, FastMath.PI / 4, 0));
//Configurar camara en Tercer Persona
GuiController.Instance.ThirdPersonCamera.Enable = true;
GuiController.Instance.ThirdPersonCamera.setCamera(box.Position, 30, -75);
}
public Enemigo(Vector3 posicionInicial, EscenarioManager escenarioManager)
{
this.huellas = new HuellasManager(10);
this.teMataron = false;
this.escenarioManager = escenarioManager;
this.enemigoAmigacion = Enemigo.getAnimacion();
this.mesh = Enemigo.getMesh();
sangre = new TgcCylinder(posicionInicial, 0, 20, 0);
sangre.Color = Color.Red;
sangre.updateValues();
enemigoEsfera = new TgcBoundingSphere(new Vector3(posicionInicial.X, 30, posicionInicial.Z), 10);
Random rnd = new Random();
mesh.Position = posicionInicial;
mesh.Scale = new Vector3(1f, 1f, 1f);
mesh.AutoTransformEnable = true;
this.cabezaBounding = new TgcBoundingSphere(new Vector3(posicionInicial.X, posicionInicial.Y + 20, posicionInicial.Z), 20);
this.setEstado(new EnemigoQuieto(this));
}
public bool isAnyCollidingWith(TgcBoundingSphere tankSphere)
{
foreach (var tree in trees) {
if (TgcCollisionUtils.testSphereSphere(tree.boundingSphere, tankSphere))
return true;
}
return false;
}
public override void init()
{
collider = new TgcFixedYBoundingCylinder(new Vector3(0, 0, 0), 3, 3);
collisionableSphere = new TgcBoundingSphere(new Vector3(-6, 0, 0), 3);
collisionableAABB = new TgcBoundingBox(new Vector3(4, 0, -1), new Vector3(6, 2, 1));
collisionableCylinder = new TgcFixedYBoundingCylinder(new Vector3(0, 0, -6), 2, 2);
GuiController.Instance.Modifiers.addVertex2f("size", new Vector2(1, 1), new Vector2(5, 10), new Vector2(2, 5));
GuiController.Instance.Modifiers.addVertex3f("position", new Vector3(-20, -20, -20), new Vector3(20, 20, 20), new Vector3(0, 0, 0));
collider.setRenderColor(Color.LimeGreen);
}
public override void init()
{
collider = new TgcBoundingCylinder(new Vector3(0, 0, 0), 2, 4);
collisionableSphere = new TgcBoundingSphere(new Vector3(0, 0, -6), 3);
GuiController.Instance.Modifiers.addVertex2f("size", new Vector2(1, 1), new Vector2(5, 10), new Vector2(2, 5));
GuiController.Instance.Modifiers.addVertex3f("position", new Vector3(-20, -20, -20), new Vector3(20, 20, 20), new Vector3(0, 0, 0));
float angle = FastMath.TWO_PI;
GuiController.Instance.Modifiers.addVertex3f("rotation", new Vector3(-angle, -angle, -angle), new Vector3(angle, angle, angle), new Vector3(0, 0, 0));
collider.setRenderColor(Color.LimeGreen);
}
public SphereTriangleCollisionManager()
{
gravityEnabled = true;
gravityForce = new Vector3(0, -10, 0);
slideFactor = 1.3f;
lastCollisionNormal = Vector3.Empty;
movementSphere = new TgcBoundingSphere();
objetosCandidatos = new List<Collider>();
lastCollider = null;
onGroundMinDotValue = 0.8f;
collision = false;
lastMovementVector = Vector3.Empty;
}
/// <summary>
/// Mover BoundingSphere con detección de colisiones, sliding y gravedad.
/// Se actualiza la posición del centrodel BoundingSphere.
/// </summary>
/// <param name="characterSphere">BoundingSphere del cuerpo a mover</param>
/// <param name="movementVector">Movimiento a realizar</param>
/// <param name="obstaculos">BoundingBox de obstáculos contra los cuales se puede colisionar</param>
/// <returns>Desplazamiento relativo final efecutado al BoundingSphere</returns>
public Vector3 moveCharacter(TgcBoundingSphere characterSphere, Vector3 movementVector, List<TgcBoundingBox> obstaculos)
{
Vector3 originalSphereCenter = characterSphere.Center;
//Realizar movimiento
collideWithWorld(characterSphere, movementVector, obstaculos);
//Aplicar gravedad
if (gravityEnabled)
{
collideWithWorld(characterSphere, gravityForce, obstaculos);
}
return characterSphere.Center - originalSphereCenter;
}
/// <summary>
/// Crear inicializado
/// </summary>
public ElipsoidCollisionManager()
{
gravityEnabled = true;
gravityForce = new Vector3(0, -10, 0);
slideFactor = 1.3f;
movementSphere = new TgcBoundingSphere();
eSphere = new TgcBoundingSphere();
objetosCandidatos = new List<Collider>();
onGroundMinDotValue = 0.72f;
result = new CollisionResult();
result.collisionFound = false;
result.collisionNormal = Vector3.Empty;
result.collisionPoint = Vector3.Empty;
result.realMovmentVector = Vector3.Empty;
}
public override void init()
{
cylinder = new Cylinder(new Vector3(0, 0, 0), 2, 4);
sphere = new TgcBoundingSphere(new Vector3(0, 0, 0), 3);
//cylinder.Transform = Matrix.Scaling(2, 1, 1);
//cylinder.AutoTransformEnable = false;
//cylinder.updateValues();
GuiController.Instance.Modifiers.addBoolean("boundingCylinder", "boundingCylinder", false);
GuiController.Instance.Modifiers.addColor("color", Color.DarkGoldenrod);
GuiController.Instance.Modifiers.addVertex2f("size", new Vector2(1, 1), new Vector2(5, 10), new Vector2(2, 5));
GuiController.Instance.Modifiers.addVertex3f("position", new Vector3(-20, -20, -20), new Vector3(20, 20, 20), new Vector3(0, 0, 0));
float angle = FastMath.TWO_PI;
GuiController.Instance.Modifiers.addVertex3f("rotation", new Vector3(-angle, -angle, -angle), new Vector3(angle, angle, angle), new Vector3(0, 0, 0));
}
public Enemigo(Vector3 posicion)
{
//Cargar enemigo
TgcSkeletalLoader skeletalLoader = new TgcSkeletalLoader();
meshEnemigos.Add("BasicHuman-TgcSkeletalMesh.xml");
meshEnemigos.Add("CombineSoldier-TgcSkeletalMesh.xml");
meshEnemigos.Add("CS_Gign-TgcSkeletalMesh.xml");
meshEnemigos.Add("CS_Arctic-TgcSkeletalMesh.xml");
meshEnemigos.Add("Pilot-TgcSkeletalMesh.xml");
meshEnemigos.Add("Quake2Scout-TgcSkeletalMesh.xml");
meshEnemigos.Add("WomanJeans-TgcSkeletalMesh.xml");
enemigo = skeletalLoader.loadMeshAndAnimationsFromFile(
GuiController.Instance.ExamplesMediaDir + "SkeletalAnimations\\BasicHuman\\" + meshEnemigos[randomEnemigo.Next(0, 6)],
new string[] {
GuiController.Instance.ExamplesMediaDir + "SkeletalAnimations\\BasicHuman\\Animations\\" + "Walk-TgcSkeletalAnim.xml",
GuiController.Instance.ExamplesMediaDir + "SkeletalAnimations\\BasicHuman\\Animations\\" + "StandBy-TgcSkeletalAnim.xml",
GuiController.Instance.ExamplesMediaDir + "SkeletalAnimations\\BasicHuman\\Animations\\" + "Run-TgcSkeletalAnim.xml",
GuiController.Instance.AlumnoEjemplosMediaDir + "CEGA\\Animations\\" + "Death-TgcSkeletalAnim.xml",
});
enemigo.playAnimation("Run", true);
enemigo.Position = posicion;
enemigo.Scale = new Vector3(0.12f, 0.12f, 0.12f);
this.colisionado = false;
//Inicializo HP
hp = 100;
//Creo el BB para la cabeza
cabeza = new TgcBoundingSphere(new Vector3(enemigo.Position.X, enemigo.Position.Y + 5.2F, enemigo.Position.Z), 0.5F); //Debe haber alguna forma de sacar esta info del hueso directamente
cabeza.setRenderColor(System.Drawing.Color.Red);
//Modifico el BB del cuerpo
enemigo.AutoUpdateBoundingBox = false;
enemigo.BoundingBox.scaleTranslate(enemigo.Position, new Vector3(0.07f, 0.095f, 0.07f));
//Inicializo el emisor
emisorDeParticulas = new ParticleEmitter(GuiController.Instance.AlumnoEjemplosMediaDir + "CEGA\\Textures\\blood.jpg", 500);
emisorDeParticulas.Playing = false;
}
public Tank(Vector3 initialPosition, Terrain.Terrain terrain, string scenePath)
{
var loader = new TgcSceneLoader { MeshFactory = new MeshShaderFactory() };
var scene = loader.loadSceneFromFile(scenePath);
this.mesh = (MeshShader) scene.Meshes[0];
this.loadShader();
this.terrain = terrain;
missilesShooted = new List<Missile>();
this.boundingSphere = new TgcBoundingSphere(this.mesh.BoundingBox.calculateBoxCenter(), this.mesh.BoundingBox.calculateBoxRadius()*3);
this.mesh.AutoTransformEnable = this.mesh.AutoUpdateBoundingBox = false;
this.translationMatrix = Matrix.Identity;
this.Position = initialPosition;
this.setTranslationMatrix(initialPosition);
this.totalSpeed = 0f;
this.totalRotationSpeed = 100f;
this.forwardVector = new Vector3(0, 0, -1);
}
public override void init()
{
Device d3dDevice = GuiController.Instance.D3dDevice;
CommandosUI.Instance.Camera = new TgcCameraAdapter(new StandardCamera());
//this.lastPos = new Vector3(0, 0, 0);
//GuiController.Instance.Modifiers.addVertex3f("posicion", new Vector3(-200, 0, -200), new Vector3(200, 0, 200), this.lastPos);
this.userCylinder = new CommandosCylinder(CommandosUI.Instance.Camera.getLookAt(), 40, 20, Color.Yellow);
this.staticSphere = new TgcBoundingSphere(new Vector3(200, 0, -200), 40);
this.staticCylinder = new CommandosCylinder(new Vector3(-100, 0, 0), 40, 40, Color.Yellow);
this.staticAABB = new TgcBoundingBox(new Vector3(0, -40, -200), new Vector3(80, 40, -120));
//GuiController.Instance.Modifiers.addBoolean("closestPoint", "closestPoint", false);
this.colisionNormal = new TgcArrow();
this.colisionNormal.Thickness = 2f;
this.colisionNormal.HeadSize = new Vector2(4f, 4f);
this.colisionNormal.Enabled = true;
}
/// <summary>
/// Detección de colisiones recursiva
/// </summary>
public void doCollideWithWorld(TgcBoundingSphere characterSphere, Vector3 movementVector, List<Collider> colliders, int recursionDepth, TgcBoundingSphere movementSphere, bool sliding, float slidingMinY)
{
//Limitar recursividad
if (recursionDepth > 5)
{
return;
}
//Posicion deseada
Vector3 originalSphereCenter = characterSphere.Center;
Vector3 nextSphereCenter = originalSphereCenter + movementVector;
//Buscar el punto de colision mas cercano de todos los objetos candidatos
collision = false;
Vector3 q;
float t;
Vector3 n;
float minT = float.MaxValue;
foreach (Collider collider in colliders)
{
//Colisionar Sphere en movimiento contra Collider (cada Collider resuelve la colision)
if (collider.intersectMovingSphere(characterSphere, movementVector, movementSphere, out t, out q, out n))
{
//Quedarse con el menor instante de colision
if(t < minT)
{
minT = t;
collision = true;
lastCollisionPoint = q;
lastCollisionNormal = n;
lastCollider = collider;
}
}
}
//Si nunca hubo colisión, avanzar todo lo requerido
if (!collision)
{
//Avanzar todo lo pedido
//lastCollisionDistance = movementVector.Length();
characterSphere.moveCenter(movementVector);
return;
}
//Solo movernos si ya no estamos muy cerca
if (minT >= EPSILON)
{
//Restar un poco al instante de colision, para movernos hasta casi esa distancia
minT -= EPSILON;
Vector3 realMovementVector = movementVector * minT;
//Mover el BoundingSphere
characterSphere.moveCenter(realMovementVector);
//Quitarle al punto de colision el EPSILON restado al movimiento, para no afectar al plano de sliding
Vector3 v = Vector3.Normalize(realMovementVector);
lastCollisionPoint -= v * EPSILON;
}
if (sliding)
{
//Calcular plano de Sliding, como un plano tangete al punto de colision con la esfera, apuntando hacia el centro de la esfera
Vector3 slidePlaneOrigin = lastCollisionPoint;
Vector3 slidePlaneNormal = characterSphere.Center - lastCollisionPoint;
slidePlaneNormal.Normalize();
Plane slidePlane = Plane.FromPointNormal(slidePlaneOrigin, slidePlaneNormal);
//Calcular vector de movimiento para sliding, proyectando el punto de destino original sobre el plano de sliding
float distance = TgcCollisionUtils.distPointPlane(nextSphereCenter, slidePlane);
Vector3 newDestinationPoint = nextSphereCenter - distance * slidePlaneNormal;
Vector3 slideMovementVector = newDestinationPoint - lastCollisionPoint;
//No hacer recursividad si es muy pequeño
slideMovementVector.Scale(slideFactor);
if (slideMovementVector.Length() < EPSILON)
{
return;
}
if (lastCollisionNormal.Y <= slidingMinY)
{
//Recursividad para aplicar sliding
doCollideWithWorld(characterSphere, slideMovementVector, colliders, recursionDepth + 1, movementSphere, sliding, slidingMinY);
}
}
}
/// <summary>
/// Detecta colision entre una esfera que se esta moviendo contra un plano.
/// Si hay colision devuelve el instante t de la colision y el punto q de colision.
/// </summary>
/// <param name="sphere">BoundingSphere</param>
/// <param name="velocity">Vector de movimiento de la esfera</param>
/// <param name="plane">Plano</param>
/// <param name="t">Instante de colision en el intervalo [0, 1]</param>
/// <param name="q">Punto de colision</param>
/// <returns>True si hay colision</returns>
public static bool intersectMovingSpherePlane(TgcBoundingSphere sphere, Vector3 velocity, Plane plane, out float t, out Vector3 q)
{
// Compute distance of sphere center to plane
float dist = plane.Dot(sphere.Center);
if (FastMath.Abs(dist) <= sphere.Radius) {
// The sphere is already overlapping the plane. Set time of
// intersection to zero and q to sphere center
t = 0.0f;
q = sphere.Center;
return true;
} else {
Vector3 p_n = getPlaneNormal(plane);
float denom = Vector3.Dot(p_n, velocity);
if (denom * dist >= 0.0f) {
// No intersection as sphere moving parallel to or away from plane
t = -1;
q = Vector3.Empty;
return false;
} else {
// Sphere is moving towards the plane
// Use +r in computations if sphere in front of plane, else -r
float r = dist > 0.0f ? sphere.Radius : -sphere.Radius;
t = (r - dist) / denom;
q = sphere.Center + t * velocity - r * p_n;
if (t > 1) return false;
return true;
}
}
}
/// <summary> /// Colisiona un Elipsoide en movimiento contra el objeto colisionador. /// Si hay colision devuelve el instante t de colision, el punto q de colision y el vector normal n de la superficie contra la que /// se colisiona. /// Todo se devuelve en Elipsoid space. /// </summary> /// <param name="eSphere">BoundingSphere de radio 1 en Elipsoid space</param> /// <param name="eMovementVector">movimiento en Elipsoid space</param> /// <param name="eRadius">radio del Elipsoide</param> /// <param name="movementSphere">BoundingSphere que abarca el sphere en su punto de origen mas el sphere en su punto final deseado</param> /// <param name="t">Menor instante de colision, en Elipsoid space</param> /// <param name="q">Punto mas cercano de colision, en Elipsoid space</param> /// <param name="n">Vector normal de la superficie contra la que se colisiona</param> /// <returns>True si hay colision</returns> public abstract bool intersectMovingElipsoid(TgcBoundingSphere eSphere, Vector3 eMovementVector, Vector3 eRadius, TgcBoundingSphere movementSphere, out float t, out Vector3 q, out Vector3 n);
protected void configure(float radius, Color color, TgcTexture texture, Vector3 center)
{
this.autoTransformEnable = true;
this.transform = Matrix.Identity;
this.translation = center;
this.rotation = new Vector3(0, 0, 0);
this.enabled = true;
this.scale = new Vector3(1, 1, 1);
this.alphaBlendEnable = false;
this.uvOffset = new Vector2(0, 0);
//BoundingSphere
boundingSphere = new TgcBoundingSphere();
//Shader
this.effect = GuiController.Instance.Shaders.VariosShader;
//Tipo de vertice y technique
if (texture != null) this.setTexture(texture);
else this.setColor(color);
basePoly = eBasePoly.ICOSAHEDRON;
levelOfDetail = 2;
inflate = true;
ForceUpdate = false;
uvTiling = new Vector2(1, 1);
}
/// <summary>
/// Mover BoundingSphere con detección de colisiones, sliding y gravedad.
/// Se actualiza la posición del centrodel BoundingSphere.
/// </summary>
/// <param name="characterSphere">BoundingSphere del cuerpo a mover</param>
/// <param name="movementVector">Movimiento a realizar</param>
/// <param name="colliders">Obstáculos contra los cuales se puede colisionar</param>
/// <returns>Desplazamiento relativo final efecutado al BoundingSphere</returns>
public Vector3 moveCharacter(TgcBoundingSphere characterSphere, Vector3 movementVector, List<Collider> colliders)
{
Vector3 originalSphereCenter = characterSphere.Center;
//Mover
collideWithWorld(characterSphere, movementVector, colliders, true, 1);
//Aplicar gravedad
if (gravityEnabled)
{
collideWithWorld(characterSphere, gravityForce, colliders, true, onGroundMinDotValue);
}
//Calcular el desplazamiento real que hubo
lastMovementVector = characterSphere.Center - originalSphereCenter;
return lastMovementVector;
}
/// <summary>
/// Detección de colisiones, filtrando los obstaculos que se encuentran dentro del radio de movimiento
/// </summary>
private void collideWithWorld(TgcBoundingSphere characterSphere, Vector3 movementVector, List<Collider> colliders, bool sliding, float slidingMinY)
{
//Ver si la distancia a recorrer es para tener en cuenta
float distanceToTravelSq = movementVector.LengthSq();
if (distanceToTravelSq < EPSILON)
{
return;
}
//Dejar solo los obstáculos que están dentro del radio de movimiento de la esfera
Vector3 halfMovementVec = Vector3.Multiply(movementVector, 0.5f);
movementSphere.setValues(
characterSphere.Center + halfMovementVec,
halfMovementVec.Length() + characterSphere.Radius
);
objetosCandidatos.Clear();
foreach (Collider collider in colliders)
{
if (collider.Enable && TgcCollisionUtils.testSphereSphere(movementSphere, collider.BoundingSphere))
{
objetosCandidatos.Add(collider);
}
}
//Detectar colisiones y deplazar con sliding
doCollideWithWorld(characterSphere, movementVector, objetosCandidatos, 0, movementSphere, sliding, slidingMinY);
}
/// <summary>
/// Crear triangulo.
/// Calcula su plano y BoundingSphere
/// </summary>
public Triangle(Vector3 a, Vector3 b, Vector3 c)
{
this.a = a;
this.b = b;
this.c = c;
this.plane = Plane.FromPoints(a, b, c);
this.boundingSphere = TgcBoundingSphere.computeFromPoints(new Vector3[] { a, b, c }).toClass();
}
public override void init()
{
Microsoft.DirectX.Direct3D.Device d3dDevice = GuiController.Instance.D3dDevice;
//Cargar escenario específico para este ejemplo
TgcSceneLoader loader = new TgcSceneLoader();
escenario = loader.loadSceneFromFile(GuiController.Instance.ExamplesDir + "\\Collision\\SphereCollision\\PatioDeJuegos\\PatioDeJuegos-TgcScene.xml");
//Cargar personaje con animaciones
TgcSkeletalLoader skeletalLoader = new TgcSkeletalLoader();
personaje = skeletalLoader.loadMeshAndAnimationsFromFile(
GuiController.Instance.ExamplesMediaDir + "SkeletalAnimations\\Robot\\" + "Robot-TgcSkeletalMesh.xml",
GuiController.Instance.ExamplesMediaDir + "SkeletalAnimations\\Robot\\",
new string[] {
GuiController.Instance.ExamplesMediaDir + "SkeletalAnimations\\Robot\\" + "Caminando-TgcSkeletalAnim.xml",
GuiController.Instance.ExamplesMediaDir + "SkeletalAnimations\\Robot\\" + "Parado-TgcSkeletalAnim.xml",
});
//Le cambiamos la textura para diferenciarlo un poco
personaje.changeDiffuseMaps(new TgcTexture[] { TgcTexture.createTexture(d3dDevice, GuiController.Instance.ExamplesMediaDir + "SkeletalAnimations\\Robot\\Textures\\" + "uvwGreen.jpg") });
//Configurar animacion inicial
personaje.playAnimation("Parado", true);
//Escalarlo porque es muy grande
personaje.Position = new Vector3(0,500,-100);
//Rotarlo 180° porque esta mirando para el otro lado
personaje.rotateY(Geometry.DegreeToRadian(180f));
//BoundingSphere que va a usar el personaje
personaje.AutoUpdateBoundingBox = false;
characterSphere = new TgcBoundingSphere(personaje.BoundingBox.calculateBoxCenter(), personaje.BoundingBox.calculateBoxRadius());
//Almacenar volumenes de colision del escenario
objetosColisionables.Clear();
foreach (TgcMesh mesh in escenario.Meshes)
{
objetosColisionables.Add(mesh.BoundingBox);
}
//Crear linea para mostrar la direccion del movimiento del personaje
directionArrow = new TgcArrow();
directionArrow.BodyColor = Color.Red;
directionArrow.HeadColor = Color.Green;
directionArrow.Thickness = 1;
directionArrow.HeadSize = new Vector2(10, 20);
//Crear manejador de colisiones
collisionManager = new SphereCollisionManager();
collisionManager.GravityEnabled = true;
//Configurar camara en Tercer Persona
GuiController.Instance.ThirdPersonCamera.Enable = true;
GuiController.Instance.ThirdPersonCamera.setCamera(personaje.Position, 100, -400);
GuiController.Instance.ThirdPersonCamera.TargetDisplacement = new Vector3(0, 100, 0);
//Crear SkyBox
skyBox = new TgcSkyBox();
skyBox.Center = new Vector3(0, 0, 0);
skyBox.Size = new Vector3(10000, 10000, 10000);
string texturesPath = GuiController.Instance.ExamplesMediaDir + "Texturas\\Quake\\SkyBox3\\";
skyBox.setFaceTexture(TgcSkyBox.SkyFaces.Up, texturesPath + "Up.jpg");
skyBox.setFaceTexture(TgcSkyBox.SkyFaces.Down, texturesPath + "Down.jpg");
skyBox.setFaceTexture(TgcSkyBox.SkyFaces.Left, texturesPath + "Left.jpg");
skyBox.setFaceTexture(TgcSkyBox.SkyFaces.Right, texturesPath + "Right.jpg");
skyBox.setFaceTexture(TgcSkyBox.SkyFaces.Front, texturesPath + "Back.jpg");
skyBox.setFaceTexture(TgcSkyBox.SkyFaces.Back, texturesPath + "Front.jpg");
skyBox.updateValues();
//Modifier para ver BoundingBox
GuiController.Instance.Modifiers.addBoolean("showBoundingBox", "Bouding Box", true);
//Modifiers para desplazamiento del personaje
GuiController.Instance.Modifiers.addFloat("VelocidadCaminar", 0, 100, 16);
GuiController.Instance.Modifiers.addFloat("VelocidadRotacion", 1f, 360f, 150f);
GuiController.Instance.Modifiers.addBoolean("HabilitarGravedad", "Habilitar Gravedad", true);
GuiController.Instance.Modifiers.addVertex3f("Gravedad", new Vector3(-50, -50, -50), new Vector3(50, 50, 50), new Vector3(0, -10, 0));
GuiController.Instance.Modifiers.addFloat("SlideFactor", 1f, 2f, 1.3f);
GuiController.Instance.UserVars.addVar("Movement");
}
/// <summary>
/// Colisiona un Elipsoide en movimiento contra un conjunto de triangulos.
/// Si hay colision devuelve el instante t de colision, el punto q de colision y el vector normal n de la superficie contra la que
/// se colisiona.
/// Todo se devuelve en Elipsoid space.
/// Pasa cada triangulo a Elipsoid space para hacer el testeo.
/// </summary>
/// <param name="eSphere">BoundingSphere de radio 1 en Elipsoid space</param>
/// <param name="eMovementVector">movimiento en Elipsoid space</param>
/// <param name="eRadius">radio del Elipsoide</param>
/// <param name="movementSphere">BoundingSphere que abarca el sphere en su punto de origen mas el sphere en su punto final deseado</param>
/// <param name="minT">Menor instante de colision, en Elipsoid space</param>
/// <param name="minQ">Punto mas cercano de colision, en Elipsoid space</param>
/// <param name="n">Vector normal de la superficie contra la que se colisiona</param>
/// <returns>True si hay colision</returns>
public override bool intersectMovingElipsoid(TgcBoundingSphere eSphere, Vector3 eMovementVector, Vector3 eRadius, TgcBoundingSphere movementSphere, out float minT, out Vector3 minQ, out Vector3 n)
{
minQ = Vector3.Empty;
minT = float.MaxValue;
n = Vector3.Empty;
Plane collisionPlane = Plane.Empty;
//Colision contra cada triangulo del collider, quedarse con el menor
Vector3 q;
float t;
for (int i = 0; i < triangles.Length; i++)
{
Triangle triangle = triangles[i];
//Primero hacer un Sphere-Sphere test
if (TgcCollisionUtils.testSphereSphere(movementSphere, triangle.BoundingSphere))
{
//Pasar triangle a Elipsoid Space
Triangle eTriangle = new Triangle(
TgcVectorUtils.div(triangle.A, eRadius),
TgcVectorUtils.div(triangle.B, eRadius),
TgcVectorUtils.div(triangle.C, eRadius),
null
);
//Interseccion Moving Sphere-Triangle
if (intersectMovingSphereTriangle(eSphere, eMovementVector, eTriangle, out t, out q))
{
if (t < minT)
{
minT = t;
minQ = q;
collisionPlane = triangle.Plane;
}
}
}
}
if (minT != float.MaxValue)
{
n = TgcCollisionUtils.getPlaneNormal(collisionPlane);
return true;
}
return false;
}
/// <summary>
/// Crear triangulo.
/// Calcula su plano
/// </summary>
public Triangle(Vector3 a, Vector3 b, Vector3 c, TgcBoundingSphere sphere)
{
this.a = a;
this.b = b;
this.c = c;
this.plane = Plane.FromPoints(a, b, c);
this.boundingSphere = sphere;
}
/// <summary>
/// Indica si un BoundingSphere colisiona con otro.
/// </summary>
/// <returns>True si hay colisión</returns>
public static bool testSphereSphere(TgcBoundingSphere a, TgcBoundingSphere b)
{
// Calculate squared distance between centers
Vector3 d = a.Center - b.Center;
float dist2 = Vector3.Dot(d, d);
// Spheres intersect if squared distance is less than squared sum of radii
float radiusSum = a.Radius + b.Radius;
return dist2 <= radiusSum * radiusSum;
}
/// <summary>
/// Detectar colision entre una esfera que se mueve y un triangulo
/// </summary>
/// <param name="sphere">BoundingSphere</param>
/// <param name="movementVector">Vector de movimiento de la esferfa</param>
/// <param name="triangle">Triangulo</param>
/// <param name="collisionPoint">Menor punto de colision encontrado</param>
/// <returns>True si hay colision</returns>
private bool intersectMovingSphereTriangle(TgcBoundingSphere sphere, Vector3 movementVector, Triangle triangle, out float minT, out Vector3 collisionPoint)
{
float t;
Vector3 q;
collisionPoint = Vector3.Empty;
minT = float.MaxValue;
//Ver si la esfera en movimiento colisiona con el plano del triangulo
if (!TgcCollisionUtils.intersectMovingSpherePlane(sphere, movementVector, triangle.Plane, out t, out q))
{
return false;
}
//Ver si la esfera ya esta dentro del Plano, hacer un chequeo Sphere-Triangle
if (t == 0.0f)
{
if (TgcCollisionUtils.testSphereTriangle(sphere, triangle.A, triangle.B, triangle.C, out q))
{
minT = 0.0f;
collisionPoint = q;
return true;
}
}
else
{
//Si el punto de colision contra el plano pertenece al triangulo, entonces ya encontramos el punto de colision
if (TgcCollisionUtils.testPointInTriangle(q, triangle.A, triangle.B, triangle.C))
{
minT = t;
collisionPoint = q;
return true;
}
}
//Ver de que lado del plano del triangulo esta la esfera
float distPlane = triangle.Plane.Dot(sphere.Center);
float sphereRad = distPlane >= 0.0f ? sphere.Radius : -sphere.Radius;
Vector3 planeNormal = TgcCollisionUtils.getPlaneNormal(triangle.Plane);
//Chequear colision entre la esfera en movimiento y los tres Edge y obtener el menor punto de colision
//Es como un Ray del centro de la esfera contra un edge que se convierte en cilindro sin endcap
Vector3 segmentEnd = sphere.Center + movementVector;
if (intersectSegmentCylinderNoEndcap(sphere.Center, segmentEnd, triangle.A, triangle.B, sphere.Radius, out t))
{
minT = TgcCollisionUtils.min(t, minT);
}
if (intersectSegmentCylinderNoEndcap(sphere.Center, segmentEnd, triangle.B, triangle.C, sphere.Radius, out t))
{
minT = TgcCollisionUtils.min(t, minT);
}
if (intersectSegmentCylinderNoEndcap(sphere.Center, segmentEnd, triangle.C, triangle.A, sphere.Radius, out t))
{
minT = TgcCollisionUtils.min(t, minT);
}
//Si hubo colision, retornar la menor encontrada
if (minT != float.MaxValue)
{
collisionPoint = sphere.Center + minT * movementVector - sphereRad * planeNormal;
return true;
}
//Sino, chequear colision entra la esfera y los tres vertices del triangulo y obtener la menor
//Es como un Ray del centro de la esfera contra un vertice que se convierte en esfera
TgcBoundingSphere vertSphere = new TgcBoundingSphere();
minT = float.MaxValue;
vertSphere.setValues(triangle.A, sphere.Radius);
if (TgcCollisionUtils.intersectSegmentSphere(sphere.Center, segmentEnd, vertSphere, out t, out q))
{
minT = TgcCollisionUtils.min(t, minT);
}
vertSphere.setValues(triangle.B, sphere.Radius);
if (TgcCollisionUtils.intersectSegmentSphere(sphere.Center, segmentEnd, vertSphere, out t, out q))
{
minT = TgcCollisionUtils.min(t, minT);
}
vertSphere.setValues(triangle.C, sphere.Radius);
if (TgcCollisionUtils.intersectSegmentSphere(sphere.Center, segmentEnd, vertSphere, out t, out q))
{
minT = TgcCollisionUtils.min(t, minT);
}
//Si hubo colision, retornar la menor encontrada
if (minT != float.MaxValue)
{
collisionPoint = sphere.Center + minT * movementVector - sphereRad * planeNormal;
return true;
}
//No hay colision
return false;
}
/// <summary>
/// Indica si un BoundingSphere colisiona con un triangulo (a, b, c).
/// Si hay colision devuelve el punto p mas cercano de la colision
/// </summary>
/// <param name="sphere">BoundingSphere</param>
/// <param name="a">Vertice A del triangulo</param>
/// <param name="b">Vertice B del triangulo</param>
/// <param name="c">Vertice C del triangulo</param>
/// <param name="p">Punto mas cercano de colision</param>
/// <returns>True si hay colision</returns>
public static bool testSphereTriangle(TgcBoundingSphere sphere, Vector3 a, Vector3 b, Vector3 c, out Vector3 p)
{
// Find point P on triangle ABC closest to sphere center
p = TgcCollisionUtils.closestPointTriangle(sphere.Center, a, b, c);
// Sphere and triangle intersect if the (squared) distance from sphere
// center to point p is less than the (squared) sphere radius
Vector3 v = p - sphere.Center;
return Vector3.Dot(v, v) <= sphere.Radius * sphere.Radius;
}
/// <summary>
/// Colisiona un Elipsoide en movimiento contra el BoundingBox.
/// Si hay colision devuelve el instante t de colision, el punto q de colision y el vector normal n de la superficie contra la que
/// se colisiona.
/// Todo se devuelve en Elipsoid space.
/// El BoundingBox se pasa a Elipsoid space para comparar.
/// </summary>
/// <param name="eSphere">BoundingSphere de radio 1 en Elipsoid space</param>
/// <param name="eMovementVector">movimiento en Elipsoid space</param>
/// <param name="eRadius">radio del Elipsoide</param>
/// <param name="movementSphere">BoundingSphere que abarca el sphere en su punto de origen mas el sphere en su punto final deseado</param>
/// <param name="t">Menor instante de colision, en Elipsoid space</param>
/// <param name="q">Punto mas cercano de colision, en Elipsoid space</param>
/// <param name="n">Vector normal de la superficie contra la que se colisiona</param>
/// <returns>True si hay colision</returns>
public override bool intersectMovingElipsoid(TgcBoundingSphere eSphere, Vector3 eMovementVector, Vector3 eRadius, TgcBoundingSphere movementSphere, out float t, out Vector3 q, out Vector3 n)
{
//Pasar AABB a Elipsoid Space
eAABB.setExtremes(
TgcVectorUtils.div(aabb.PMin, eRadius),
TgcVectorUtils.div(aabb.PMax, eRadius)
);
t = -1f;
q = Vector3.Empty;
n = Vector3.Empty;
// Compute the AABB resulting from expanding b by sphere radius r
TgcBoundingBox.AABBStruct e = eAABB.toStruct();
e.min.X -= eSphere.Radius; e.min.Y -= eSphere.Radius; e.min.Z -= eSphere.Radius;
e.max.X += eSphere.Radius; e.max.Y += eSphere.Radius; e.max.Z += eSphere.Radius;
// Intersect ray against expanded AABB e. Exit with no intersection if ray
// misses e, else get intersection point p and time t as result
Vector3 p;
TgcRay.RayStruct ray = new TgcRay.RayStruct();
ray.origin = eSphere.Center;
ray.direction = eMovementVector;
if (!intersectRayAABB(ray, e, out t, out p) || t > 1.0f)
return false;
// Compute which min and max faces of b the intersection point p lies
// outside of. Note, u and v cannot have the same bits set and
// they must have at least one bit set among them
int i = 0;
int[] sign = new int[3];
if (p.X < eAABB.PMin.X)
{
sign[0] = -1;
i++;
}
if (p.X > eAABB.PMax.X)
{
sign[0] = 1;
i++;
}
if (p.Y < eAABB.PMin.Y)
{
sign[1] = -1;
i++;
}
if (p.Y > eAABB.PMax.Y)
{
sign[1] = 1;
i++;
}
if (p.Z < eAABB.PMin.Z)
{
sign[2] = -1;
i++;
}
if (p.Z > eAABB.PMax.Z)
{
sign[2] = 1;
i++;
}
//Face
if (i == 1)
{
n = new Vector3(sign[0], sign[1], sign[2]);
q = eSphere.Center + t * eMovementVector - eSphere.Radius * n;
return true;
}
// Define line segment [c, c+d] specified by the sphere movement
Segment seg = new Segment(eSphere.Center, eSphere.Center + eMovementVector);
//Box extent and center
Vector3 extent = eAABB.calculateAxisRadius();
Vector3 center = eAABB.PMin + extent;
//Edge
if (i == 2)
{
//Generar los dos puntos extremos del Edge
float[] extentDir = new float[]{sign[0], sign[1], sign[2]};
int zeroIndex = sign[0] == 0 ? 0 : (sign[1] == 0 ? 1 : 2);
extentDir[zeroIndex] = 1;
Vector3 capsuleA = center + new Vector3(extent.X * extentDir[0], extent.Y * extentDir[1], extent.Z * extentDir[2]);
extentDir[zeroIndex] = -1;
Vector3 capsuleB = center + new Vector3(extent.X * extentDir[0], extent.Y * extentDir[1], extent.Z * extentDir[2]);
//Colision contra el Edge hecho Capsula
if (intersectSegmentCapsule(seg, new Capsule(capsuleA, capsuleB, eSphere.Radius), out t))
{
n = new Vector3(sign[0], sign[1], sign[2]);
n.Normalize();
q = eSphere.Center + t * eMovementVector - eSphere.Radius * n;
return true;
}
}
//Vertex
if (i == 3)
{
float tmin = float.MaxValue;
Vector3 capsuleA = center + new Vector3(extent.X * sign[0], extent.Y * sign[1], extent.Z * sign[2]);
Vector3 capsuleB;
capsuleB = center + new Vector3(extent.X * -sign[0], extent.Y * sign[1], extent.Z * sign[2]);
if (intersectSegmentCapsule(seg, new Capsule(capsuleA, capsuleB, eSphere.Radius), out t))
tmin = TgcCollisionUtils.min(t, tmin);
capsuleB = center + new Vector3(extent.X * sign[0], extent.Y * -sign[1], extent.Z * sign[2]);
if (intersectSegmentCapsule(seg, new Capsule(capsuleA, capsuleB, eSphere.Radius), out t))
tmin = TgcCollisionUtils.min(t, tmin);
capsuleB = center + new Vector3(extent.X * sign[0], extent.Y * sign[1], extent.Z * -sign[2]);
if (intersectSegmentCapsule(seg, new Capsule(capsuleA, capsuleB, eSphere.Radius), out t))
tmin = TgcCollisionUtils.min(t, tmin);
if (tmin == float.MaxValue) return false; // No intersection
t = tmin;
n = new Vector3(sign[0], sign[1], sign[2]);
n.Normalize();
q = eSphere.Center + t * eMovementVector - eSphere.Radius * n;
return true; // Intersection at time t == tmin
}
return false;
}
/// <summary>
/// Indica si un BoundingSphere colisiona con el Frustum
/// </summary>
/// <param name="frustum">Frustum</param>
/// <param name="sphere">BoundingSphere</param>
/// <returns>Resultado de la colisión</returns>
public static FrustumResult classifyFrustumSphere(TgcFrustum frustum, TgcBoundingSphere sphere)
{
float distance;
FrustumResult result = FrustumResult.INSIDE;
Plane[] frustumPlanes = frustum.FrustumPlanes;
for (int i = 0; i < 6; i++)
{
distance = distPointPlane(sphere.Center, frustumPlanes[i]);
if (distance < - sphere.Radius)
{
return FrustumResult.OUTSIDE;
}
else if (distance < sphere.Radius)
{
result = FrustumResult.INTERSECT;
}
}
return result;
}
/// <summary>
/// Detección de colisiones recursiva
/// </summary>
/// <param name="eSphere">Sphere de radio 1 pasada a Elipsoid space</param>
/// <param name="eMovementVector">Movimiento pasado a Elipsoid space</param>
/// <param name="eRadius">Radio de la elipsoide</param>
/// <param name="colliders">Objetos contra los cuales colisionar</param>
/// <param name="recursionDepth">Nivel de recursividad</param>
/// <param name="movementSphere">Esfera real que representa el movimiento abarcado</param>
/// <param name="slidingMinY">Minimo valor de normal Y de colision para hacer sliding</param>
/// <returns>Resultado de colision</returns>
public CollisionResult doCollideWithWorld(TgcBoundingSphere eSphere, Vector3 eMovementVector, Vector3 eRadius, List<Collider> colliders, int recursionDepth, TgcBoundingSphere movementSphere, float slidingMinY)
{
CollisionResult result = new CollisionResult();
result.collisionFound = false;
//Limitar recursividad
if (recursionDepth > 5)
{
return result;
}
//Posicion deseada
Vector3 nextSphereCenter = eSphere.Center + eMovementVector;
//Buscar el punto de colision mas cercano de todos los objetos candidatos
Vector3 q;
float t;
Vector3 n;
float minT = float.MaxValue;
foreach (Collider collider in colliders)
{
//Colisionar Sphere en movimiento contra Collider (cada Collider resuelve la colision)
if (collider.intersectMovingElipsoid(eSphere, eMovementVector, eRadius, movementSphere, out t, out q, out n))
{
//Quedarse con el menor instante de colision
if(t < minT)
{
minT = t;
result.collisionFound = true;
result.collisionPoint = q;
result.collisionNormal = n;
result.collider = collider;
}
}
}
//Si nunca hubo colisión, avanzar todo lo requerido
if (!result.collisionFound)
{
//Avanzar todo lo pedido
eSphere.moveCenter(eMovementVector);
result.realMovmentVector = eMovementVector;
result.collisionNormal = Vector3.Empty;
result.collisionPoint = Vector3.Empty;
result.collider = null;
return result;
}
//Solo movernos si ya no estamos muy cerca
if (minT >= EPSILON)
{
//Restar un poco al instante de colision, para movernos hasta casi esa distancia
minT -= EPSILON;
result.realMovmentVector = eMovementVector * minT;
eSphere.moveCenter(result.realMovmentVector);
//Quitarle al punto de colision el EPSILON restado al movimiento, para no afectar al plano de sliding
Vector3 v = Vector3.Normalize(result.realMovmentVector);
result.collisionPoint -= v * EPSILON;
}
//Calcular plano de Sliding, como un plano tangete al punto de colision con la esfera, apuntando hacia el centro de la esfera
Vector3 slidePlaneOrigin = result.collisionPoint;
Vector3 slidePlaneNormal = eSphere.Center - result.collisionPoint;
slidePlaneNormal.Normalize();
Plane slidePlane = Plane.FromPointNormal(slidePlaneOrigin, slidePlaneNormal);
//Calcular vector de movimiento para sliding, proyectando el punto de destino original sobre el plano de sliding
float distance = TgcCollisionUtils.distPointPlane(nextSphereCenter, slidePlane);
Vector3 newDestinationPoint = nextSphereCenter - distance * slidePlaneNormal;
Vector3 slideMovementVector = newDestinationPoint - result.collisionPoint;
//No hacer recursividad si es muy pequeño
slideMovementVector.Scale(slideFactor);
if (slideMovementVector.Length() < EPSILON)
{
return result;
}
//Ver si posee la suficiente pendiente en Y para hacer sliding
if (result.collisionNormal.Y <= slidingMinY)
{
//Recursividad para aplicar sliding
doCollideWithWorld(eSphere, slideMovementVector, eRadius, colliders, recursionDepth + 1, movementSphere, slidingMinY);
}
return result;
}
//
/// <summary>
/// Indica si un BoundingSphere se encuentra completamente en el lado negativo del plano
/// </summary>
/// <returns>True si se encuentra completamente en el lado negativo del plano</returns>
public static bool insideSpherePlane(TgcBoundingSphere s, Plane plane)
{
Vector3 p = toVector3(plane);
float dist = Vector3.Dot(s.Center, p) - plane.D;
return dist < -s.Radius;
}