public override float CalculateTimeOfImpact(CollisionObject colA, CollisionObject colB, DispatcherInfo dispatchInfo, ManifoldResult resultOut) { //Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold //Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold //col0->m_worldTransform, float resultFraction = 1f; float squareMotA = (colA.InterpolationWorldTransform.Translation - colA.WorldTransform.Translation).LengthSquared(); float squareMotB = (colB.InterpolationWorldTransform.Translation - colB.WorldTransform.Translation).LengthSquared(); if (squareMotA < colA.CcdSquareMotionThreshold && squareMotB < colB.CcdSquareMotionThreshold) return resultFraction; if (DisableCcd) return 1f; //An adhoc way of testing the Continuous Collision Detection algorithms //One object is approximated as a sphere, to simplify things //Starting in penetration should report no time of impact //For proper CCD, better accuracy and handling of 'allowed' penetration should be added //also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies) // Convex0 against sphere for Convex1 { ConvexShape convexA = colA.CollisionShape as ConvexShape; SphereShape sphereB = new SphereShape(colB.CcdSweptSphereRadius); //todo: allow non-zero sphere sizes, for better approximation CastResult result = new CastResult(); VoronoiSimplexSolver voronoiSimplex = new VoronoiSimplexSolver(); //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex); //Simplification, one object is simplified as a sphere GjkConvexCast ccdB = new GjkConvexCast(convexA, sphereB, voronoiSimplex); //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0); if (ccdB.CalcTimeOfImpact(colA.WorldTransform, colA.InterpolationWorldTransform, colB.WorldTransform, colB.InterpolationWorldTransform, result)) { //store result.m_fraction in both bodies if (colA.HitFraction > result.Fraction) colA.HitFraction = result.Fraction; if (colB.HitFraction > result.Fraction) colB.HitFraction = result.Fraction; if (resultFraction > result.Fraction) resultFraction = result.Fraction; } } // Sphere (for convex0) against Convex1 { ConvexShape convexB = colB.CollisionShape as ConvexShape; SphereShape sphereA = new SphereShape(colA.CcdSweptSphereRadius); //todo: allow non-zero sphere sizes, for better approximation CastResult result = new CastResult(); VoronoiSimplexSolver voronoiSimplex = new VoronoiSimplexSolver(); //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex); ///Simplification, one object is simplified as a sphere GjkConvexCast ccdB = new GjkConvexCast(sphereA, convexB, voronoiSimplex); //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0); if (ccdB.CalcTimeOfImpact(colA.WorldTransform, colA.InterpolationWorldTransform, colB.WorldTransform, colB.InterpolationWorldTransform, result)) { //store result.m_fraction in both bodies if (colA.HitFraction > result.Fraction) colA.HitFraction = result.Fraction; if (colB.HitFraction > result.Fraction) colB.HitFraction = result.Fraction; if (resultFraction > result.Fraction) resultFraction = result.Fraction; } } return resultFraction; }
public override float CalculateTimeOfImpact(CollisionObject colA, CollisionObject colB, DispatcherInfo dispatchInfo, ManifoldResult resultOut) { //Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold //Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold //col0->m_worldTransform, float resultFraction = 1f; float squareMotA = (colA.InterpolationWorldTransform.Translation - colA.WorldTransform.Translation).LengthSquared(); float squareMotB = (colB.InterpolationWorldTransform.Translation - colB.WorldTransform.Translation).LengthSquared(); if (squareMotA < colA.CcdSquareMotionThreshold && squareMotB < colB.CcdSquareMotionThreshold) { return(resultFraction); } if (DisableCcd) { return(1f); } //An adhoc way of testing the Continuous Collision Detection algorithms //One object is approximated as a sphere, to simplify things //Starting in penetration should report no time of impact //For proper CCD, better accuracy and handling of 'allowed' penetration should be added //also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies) // Convex0 against sphere for Convex1 { ConvexShape convexA = colA.CollisionShape as ConvexShape; SphereShape sphereB = new SphereShape(colB.CcdSweptSphereRadius); //todo: allow non-zero sphere sizes, for better approximation CastResult result = new CastResult(); VoronoiSimplexSolver voronoiSimplex = new VoronoiSimplexSolver(); //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex); //Simplification, one object is simplified as a sphere GjkConvexCast ccdB = new GjkConvexCast(convexA, sphereB, voronoiSimplex); //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0); if (ccdB.CalcTimeOfImpact(colA.WorldTransform, colA.InterpolationWorldTransform, colB.WorldTransform, colB.InterpolationWorldTransform, result)) { //store result.m_fraction in both bodies if (colA.HitFraction > result.Fraction) { colA.HitFraction = result.Fraction; } if (colB.HitFraction > result.Fraction) { colB.HitFraction = result.Fraction; } if (resultFraction > result.Fraction) { resultFraction = result.Fraction; } } } // Sphere (for convex0) against Convex1 { ConvexShape convexB = colB.CollisionShape as ConvexShape; SphereShape sphereA = new SphereShape(colA.CcdSweptSphereRadius); //todo: allow non-zero sphere sizes, for better approximation CastResult result = new CastResult(); VoronoiSimplexSolver voronoiSimplex = new VoronoiSimplexSolver(); //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex); ///Simplification, one object is simplified as a sphere GjkConvexCast ccdB = new GjkConvexCast(sphereA, convexB, voronoiSimplex); //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0); if (ccdB.CalcTimeOfImpact(colA.WorldTransform, colA.InterpolationWorldTransform, colB.WorldTransform, colB.InterpolationWorldTransform, result)) { //store result.m_fraction in both bodies if (colA.HitFraction > result.Fraction) { colA.HitFraction = result.Fraction; } if (colB.HitFraction > result.Fraction) { colB.HitFraction = result.Fraction; } if (resultFraction > result.Fraction) { resultFraction = result.Fraction; } } } return(resultFraction); }