/// <summary>
/// CollDetectBoxStaticMeshOverlap
/// </summary>
/// <param name="oldBox"></param>
/// <param name="newBox"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
/// <returns>bool</returns>
private static bool CollDetectBoxStaticMeshOverlap(Box oldBox,
Box newBox,
TriangleMesh mesh,
ref CollDetectInfo info,
float collTolerance,
CollisionFunctor collisionFunctor)
{
float boxRadius = newBox.GetBoundingRadiusAroundCentre();
#region REFERENCE: Vector3 boxCentre = newBox.GetCentre();
Vector3 boxCentre;
newBox.GetCentre(out boxCentre);
// Deano need to trasnform the box center into mesh space
Matrix invTransformMatrix = mesh.InverseTransformMatrix;
Vector3.Transform(ref boxCentre, ref invTransformMatrix, out boxCentre);
#endregion
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddBox(newBox, ref bb);
bool collision = false;
int[] potTriArray = IntStackAlloc();
// aabox is done in mesh space and handles the mesh transform correctly
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potTriArray, MaxLocalStackTris, ref bb);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
IndexedTriangle meshTriangle = mesh.GetTriangle(potTriArray[iTriangle]);
// quick early test is done in mesh space
float dist = meshTriangle.Plane.DotCoordinate(boxCentre);
// BEN-BUG-FIX: Fixed by chaning 0.0F to -boxRadius.
if (dist > boxRadius || dist < -boxRadius)
{
continue;
}
if (DoOverlapBoxTriangleTest(
oldBox, newBox,
ref meshTriangle,
mesh,
ref info,
collTolerance,
collisionFunctor))
{
collision = true;
}
}
FreeStackAlloc(potTriArray);
return(collision);
}
private static void CollDetectSweep(ref CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
var mesh = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as TriangleMesh;
var oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
var newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
oldBox.GetCentre(out var oldCentre);
newBox.GetCentre(out var newCentre);
Vector3.Subtract(ref newCentre, ref oldCentre, out var delta);
var boxMinLen = 0.5f * System.Math.Min(newBox.SideLengths.X, System.Math.Min(newBox.SideLengths.Y, newBox.SideLengths.Z));
var nPositions = 1 + (int)(delta.Length() / boxMinLen);
if (nPositions > 50)
{
System.Diagnostics.Debug.WriteLine("Warning - clamping max positions in swept box test");
nPositions = 50;
}
if (nPositions == 1)
{
CollDetectBoxStaticMeshOverlap(oldBox, newBox, mesh, ref info, collTolerance, collisionFunctor);
}
else
{
var bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddBox(oldBox, ref bb);
BoundingBoxHelper.AddBox(newBox, ref bb);
unsafe
{
var potentialTriangles = stackalloc int[MaxLocalStackTris];
{
var numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
if (numTriangles <= 0)
{
return;
}
for (var i = 0; i <= nPositions; ++i)
{
var frac = (float)i / nPositions;
Vector3.Multiply(ref delta, frac, out var centre);
Vector3.Add(ref centre, ref oldCentre, out centre);
var orient = Matrix.Add(Matrix.Multiply(oldBox.Orientation, 1.0f - frac), Matrix.Multiply(newBox.Orientation, frac));
var box = new Box(centre - 0.5f * Vector3.TransformNormal(newBox.SideLengths, orient), orient, newBox.SideLengths);
CollDetectBoxStaticMeshOverlap(oldBox, box, mesh, ref info, collTolerance, collisionFunctor);
}
}
}
}
}
private static bool CollDetectBoxStaticMeshOverlap(Box oldBox, Box newBox, TriangleMesh mesh, ref CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
var boxRadius = newBox.GetBoundingRadiusAroundCentre();
newBox.GetCentre(out var boxCentre);
var invTransformMatrix = mesh.InverseTransformMatrix;
Vector3.Transform(ref boxCentre, ref invTransformMatrix, out boxCentre);
var bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddBox(newBox, ref bb);
unsafe
{
var collision = false;
var potentialTriangles = stackalloc int[MaxLocalStackTris];
{
var numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
for (var iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
var meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
var dist = meshTriangle.Plane.DotCoordinate(boxCentre);
if (dist > boxRadius || dist < -boxRadius)
{
continue;
}
if (DoOverlapBoxTriangleTest(oldBox, newBox, ref meshTriangle, mesh, ref info, collTolerance, collisionFunctor))
{
collision = true;
}
}
}
return(collision);
}
}
private void CollDetectSweep(ref CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// todo - proper swept test
// note - mesh is static and its triangles are in world space
TriangleMesh mesh = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as TriangleMesh;
Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
Vector3 oldCentre;
oldBox.GetCentre(out oldCentre);
Vector3 newCentre;
newBox.GetCentre(out newCentre);
Vector3 delta;
Vector3.Subtract(ref newCentre, ref oldCentre, out delta);
float boxMinLen = 0.5f * System.Math.Min(newBox.SideLengths.X, System.Math.Min(newBox.SideLengths.Y, newBox.SideLengths.Z));
int nPositions = 1 + (int)(delta.Length() / boxMinLen);
// limit the max positions...
if (nPositions > 50)
{
System.Diagnostics.Debug.WriteLine("Warning - clamping max positions in swept box test");
nPositions = 50;
}
if (nPositions == 1)
{
CollDetectBoxStaticMeshOverlap(oldBox, newBox, mesh, ref info, collTolerance, collisionFunctor);
}
else
{
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddBox(oldBox, ref bb);
BoundingBoxHelper.AddBox(newBox, ref bb);
unsafe
{
#if USE_STACKALLOC
int *potentialTriangles = stackalloc int[MaxLocalStackTris];
{
#else
int[] potTriArray = IntStackAlloc();
fixed(int *potentialTriangles = potTriArray)
{
#endif
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
if (numTriangles > 0)
{
for (int i = 0; i <= nPositions; ++i)
{
float frac = ((float)i) / nPositions;
Vector3 centre;
Vector3.Multiply(ref delta, frac, out centre);
Vector3.Add(ref centre, ref oldCentre, out centre);
Matrix orient = Matrix.Add(Matrix.Multiply(oldBox.Orientation, 1.0f - frac), Matrix.Multiply(newBox.Orientation, frac));
Box box = new Box(centre - 0.5f * Vector3.Transform(newBox.SideLengths, orient), orient, newBox.SideLengths);
// ideally we'd break if we get one collision... but that stops us getting multiple collisions
// when we enter a corner (two walls meeting) - can let us pass through
CollDetectBoxStaticMeshOverlap(oldBox, box, mesh, ref info, collTolerance, collisionFunctor);
}
}
#if USE_STACKALLOC
}
#else
}
FreeStackAlloc(potTriArray);
#endif
}
}
}