protected override void UpdateContainedPairs()
{
RigidTransform rtMesh = mesh.WorldTransform;
RigidTransform rtMobile = mobile.WorldTransform;
QuickList <Vector3i> overlaps = new QuickList <Vector3i>(BufferPools <Vector3i> .Thread);
mesh.ChunkShape.GetOverlaps(ref rtMesh, mobile.BoundingBox, ref overlaps);
for (int i = 0; i < overlaps.Count; i++)
{
Vector3i pos = overlaps.Elements[i];
Vector3 offs;
ReusableGenericCollidable <ConvexShape> colBox = new ReusableGenericCollidable <ConvexShape>(mesh.ChunkShape.ShapeAt(pos.X, pos.Y, pos.Z, out offs));
Vector3 input = new Vector3(pos.X + offs.X, pos.Y + offs.Y, pos.Z + offs.Z);
Vector3 transfd = Quaternion.Transform(input, rtMesh.Orientation);
RigidTransform outp = new RigidTransform(transfd + rtMesh.Position, rtMesh.Orientation);
colBox.WorldTransform = outp;
colBox.UpdateBoundingBoxForTransform(ref outp);
QuickList <Vector3i> overlaps2 = new QuickList <Vector3i>(BufferPools <Vector3i> .Thread);
mobile.ChunkShape.GetOverlaps(ref rtMobile, colBox.BoundingBox, ref overlaps2);
for (int x = 0; x < overlaps2.Count; x++)
{
Vector3i pos2 = overlaps2.Elements[x];
Vector3 offs2;
ReusableGenericCollidable <ConvexShape> colBox2 = new ReusableGenericCollidable <ConvexShape>(mobile.ChunkShape.ShapeAt(pos2.X, pos2.Y, pos2.Z, out offs2));
colBox2.SetEntity(mobile.Entity);
Vector3 input2 = new Vector3(pos2.X + offs2.X, pos2.Y + offs2.Y, pos2.Z + offs2.Z);
Vector3 transfd2 = Quaternion.Transform(input2, rtMobile.Orientation);
RigidTransform outp2 = new RigidTransform(transfd2 + rtMobile.Position, rtMobile.Orientation);
colBox2.WorldTransform = outp2;
TryToAdd(colBox, colBox2, mesh.Entity != null ? mesh.Entity.Material : null, mobile.Entity != null ? mobile.Entity.Material : null);
}
overlaps2.Dispose();
}
overlaps.Dispose();
}
public override void UpdateTimeOfImpact(Collidable requester, double dt)
{
//Notice that we don't test for convex entity null explicitly. The convex.IsActive property does that for us.
if (convex.IsActive && convex.Entity.PositionUpdateMode == PositionUpdateMode.Continuous)
{
//Only perform the test if the minimum radii are small enough relative to the size of the velocity.
Vector3 velocity = convex.Entity.LinearVelocity * dt;
double velocitySquared = velocity.LengthSquared();
double minimumRadius = convex.Shape.MinimumRadius * MotionSettings.CoreShapeScaling;
timeOfImpact = 1;
if (minimumRadius * minimumRadius < velocitySquared)
{
for (int i = 0; i < contactManifold.ActivePairs.Count; i++)
{
GeneralConvexPairTester pair = contactManifold.ActivePairs.Values[i];
ReusableGenericCollidable <ConvexShape> boxCollidable = (ReusableGenericCollidable <ConvexShape>)pair.CollidableB;
RayHit rayHit;
RigidTransform worldTransform = boxCollidable.WorldTransform;
if (GJKToolbox.CCDSphereCast(new Ray(convex.WorldTransform.Position, velocity), minimumRadius, boxCollidable.Shape, ref worldTransform, timeOfImpact, out rayHit) &&
rayHit.T > Toolbox.BigEpsilon)
{
timeOfImpact = rayHit.T;
}
}
}
}
}
private GeneralConvexPairTester GetPair(ref Vector3i position)
{
// TODO: Efficiency!
GeneralConvexPairTester pair = testerPool.Take();
Vector3 offs;
ReusableGenericCollidable <ConvexShape> boxCollidable = new ReusableGenericCollidable <ConvexShape>((ConvexShape)mesh.ChunkShape.ShapeAt(position.X, position.Y, position.Z, out offs));
pair.Initialize(convex, boxCollidable);
boxCollidable.WorldTransform = new RigidTransform(new Vector3(
mesh.Position.X + position.X + offs.X,
mesh.Position.Y + position.Y + offs.Y,
mesh.Position.Z + position.Z + offs.Z));
return(pair);
}
protected override void UpdateContainedPairs()
{
RigidTransform rt = mesh.WorldTransform;
QuickList <Vector3i> overlaps = new QuickList <Vector3i>(BufferPools <Vector3i> .Thread);
mesh.ChunkShape.GetOverlaps(ref rt, convex.BoundingBox, ref overlaps);
for (int i = 0; i < overlaps.Count; i++)
{
Vector3i pos = overlaps.Elements[i];
Vector3 offs;
ReusableGenericCollidable <ConvexShape> colBox = new ReusableGenericCollidable <ConvexShape>(mesh.ChunkShape.ShapeAt(pos.X, pos.Y, pos.Z, out offs));
colBox.SetEntity(mesh.Entity);
Vector3 input = new Vector3(pos.X + offs.X, pos.Y + offs.Y, pos.Z + offs.Z);
Vector3 transfd = Quaternion.Transform(input, rt.Orientation);
RigidTransform outp = new RigidTransform(transfd + rt.Position, rt.Orientation);
colBox.WorldTransform = outp;
TryToAdd(colBox, convex, mesh.Entity != null ? mesh.Entity.Material : null, convex.Entity != null ? convex.Entity.Material : null);
}
overlaps.Dispose();
}
