コード例 #1
0
        private void DetectSoftRigid(RigidBody rigidBody, SoftBody softBody)
        {
            if (rigidBody.Shape is Multishape)
            {
                Multishape ms = (rigidBody.Shape as Multishape);
                ms = ms.RequestWorkingClone();

                TSBBox transformedBoundingBox = softBody.BoundingBox;
                transformedBoundingBox.InverseTransform(ref rigidBody.position, ref rigidBody.orientation);

                int msLength = ms.Prepare(ref transformedBoundingBox);

                List <int> detected = potentialTriangleLists.GetNew();
                softBody.dynamicTree.Query(detected, ref rigidBody.boundingBox);

                foreach (int i in detected)
                {
                    SoftBody.Triangle t = softBody.dynamicTree.GetUserData(i);

                    TSVector point, normal;
                    FP       penetration;
                    bool     result;

                    for (int e = 0; e < msLength; e++)
                    {
                        ms.SetCurrentShape(e);

                        result = XenoCollide.Detect(ms, t, ref rigidBody.orientation, ref TSMatrix.InternalIdentity,
                                                    ref rigidBody.position, ref TSVector.InternalZero, out point, out normal, out penetration);

                        if (result)
                        {
                            int minIndex = FindNearestTrianglePoint(softBody, i, ref point);

                            RaiseCollisionDetected(rigidBody,
                                                   softBody.VertexBodies[minIndex], ref point, ref point, ref normal, penetration);
                        }
                    }
                }

                detected.Clear(); potentialTriangleLists.GiveBack(detected);
                ms.ReturnWorkingClone();
            }
            else
            {
                List <int> detected = potentialTriangleLists.GetNew();
                softBody.dynamicTree.Query(detected, ref rigidBody.boundingBox);

                foreach (int i in detected)
                {
                    SoftBody.Triangle t = softBody.dynamicTree.GetUserData(i);

                    TSVector point, normal;
                    FP       penetration;
                    bool     result;

                    result = XenoCollide.Detect(rigidBody.Shape, t, ref rigidBody.orientation, ref TSMatrix.InternalIdentity,
                                                ref rigidBody.position, ref TSVector.InternalZero, out point, out normal, out penetration);

                    if (result)
                    {
                        int minIndex = FindNearestTrianglePoint(softBody, i, ref point);

                        RaiseCollisionDetected(rigidBody,
                                               softBody.VertexBodies[minIndex], ref point, ref point, ref normal, penetration);
                    }
                }

                detected.Clear();
                potentialTriangleLists.GiveBack(detected);
            }
        }
コード例 #2
0
        /// <summary>
        /// Integrates the whole world a timestep further in time.
        /// </summary>
        /// <param name="timestep">The timestep in seconds.
        /// It should be small as possible to keep the simulation stable.
        /// The physics simulation shouldn't run slower than 60fps.
        /// (timestep=1/60).</param>
        public void Step(FP timestep)
        {
            this.timestep = timestep;

            // yeah! nothing to do!
            if (timestep == FP.Zero)
            {
                return;
            }

            // throw exception if the timestep is smaller zero.
            if (timestep < FP.Zero)
            {
                throw new ArgumentException("The timestep can't be negative.", "timestep");
            }

            // Calculate this
            //currentAngularDampFactor = (FP)Math.Pow((double)(float)angularDamping, (double)(float)timestep);
            //currentLinearDampFactor = (FP)Math.Pow((double)(float)linearDamping, (double)(float)timestep);

#if (WINDOWS_PHONE)
            events.RaiseWorldPreStep(timestep);
            foreach (RigidBody body in rigidBodies)
            {
                body.PreStep(timestep);
            }
            UpdateContacts();

            while (removedArbiterQueue.Count > 0)
            {
                islands.ArbiterRemoved(removedArbiterQueue.Dequeue());
            }

            foreach (SoftBody body in softbodies)
            {
                body.Update(timestep);
                body.DoSelfCollision(collisionDetectionHandler);
            }

            CollisionSystem.Detect();

            while (addedArbiterQueue.Count > 0)
            {
                islands.ArbiterCreated(addedArbiterQueue.Dequeue());
            }

            CheckDeactivation();

            IntegrateForces();
            HandleArbiter(contactIterations);
            Integrate();

            foreach (RigidBody body in rigidBodies)
            {
                body.PostStep(timestep);
            }
            events.RaiseWorldPostStep(timestep);
#else
            events.RaiseWorldPreStep(timestep);

            UpdateContacts();

            for (int index = 0, length = initialCollisions.Count; index < length; index++)
            {
                OverlapPairContact op = initialCollisions[index];
                events.RaiseBodiesStayCollide(op.contact);
            }

            for (int index = 0, length = initialTriggers.Count; index < length; index++)
            {
                OverlapPairContact op = initialTriggers[index];
                events.RaiseTriggerStayCollide(op.contact);
            }

            while (removedArbiterQueue.Count > 0)
            {
                islands.ArbiterRemoved(removedArbiterQueue.Dequeue());
            }

            for (int index = 0, length = softbodies.Count; index < length; index++)
            {
                SoftBody body = softbodies[index];
                body.Update(timestep);
                body.DoSelfCollision(collisionDetectionHandler);
            }

            CollisionSystem.Detect();

            while (addedArbiterQueue.Count > 0)
            {
                islands.ArbiterCreated(addedArbiterQueue.Dequeue());
            }

            CheckDeactivation();

            IntegrateForces();

            HandleArbiter(contactIterations);

            Integrate();

            for (int index = 0, length = rigidBodies.Count; index < length; index++)
            {
                RigidBody body = rigidBodies[index];
                body.PostStep();

                for (int index2 = 0, length2 = body.constraints.Count; index2 < length2; index2++)
                {
                    body.constraints[index2].PostStep();
                }
            }

            events.RaiseWorldPostStep(timestep);
#endif
        }