// GetBoxTriangleIntersectionPoints
// Pushes intersection points onto the back of pts. Returns the
// number of points found.
// Points that are close together (compared to
// combinationDistance) get combined
private int GetBoxTriangleIntersectionPoints(List <MyCP> pts, MyBox box, MyColDetVoxelTriangle triangle, float combinationDistance)
{
// first intersect each edge of the box with the triangleVertexes
MyBox.Edge[] edges;
box.GetEdges(out edges);
Vector3[] boxPts;
box.GetCornerPoints(out boxPts);
float tS;
float tv1, tv2;
int iEdge;
for (iEdge = 0; iEdge < 12; ++iEdge)
{
MyBox.Edge edge = edges[iEdge];
MySegment seg = new MySegment(boxPts[(int)edge.Ind0], boxPts[(int)edge.Ind1] - boxPts[(int)edge.Ind0]);
if (this.SegmentTriangleIntersection(out tS, out tv1, out tv2, seg, triangle))
{
float depthA = Vector3.Dot(boxPts[(int)edge.Ind0] - seg.GetPoint(tS), triangle.Normal);
float depthB = Vector3.Dot(boxPts[(int)edge.Ind1] - seg.GetPoint(tS), triangle.Normal);
AddPoint(pts, seg.GetPoint(tS), triangle.Normal, depthA < depthB ? depthA : depthB, combinationDistance * combinationDistance);
}
}
Vector3 pos, n;
// now each edge of the triangleVertexes with the box
for (iEdge = 0; iEdge < 3; ++iEdge)
{
Vector3 pt0 = triangle.GetPoint(iEdge);
Vector3 pt1 = triangle.GetPoint((iEdge + 1) % 3);
MySegment s1 = new MySegment(pt0, pt1 - pt0);
MySegment s2 = new MySegment(pt1, pt0 - pt1);
if (box.SegmentIntersect(out tS, out pos, out n, s1))
{
float depthA = Vector3.Dot(pt0 - pos, triangle.Normal);
float depthB = Vector3.Dot(pt1 - pos, triangle.Normal);
AddPoint(pts, pos, triangle.Normal, depthA < depthB ? depthA : depthB, combinationDistance * combinationDistance);
}
if (box.SegmentIntersect(out tS, out pos, out n, s2))
{
float depthA = Vector3.Dot(pt0 - pos, triangle.Normal);
float depthB = Vector3.Dot(pt1 - pos, triangle.Normal);
AddPoint(pts, pos, triangle.Normal, depthA < depthB ? depthA : depthB, combinationDistance * combinationDistance);
}
}
return(pts.Count);
}
// GetBoxTriangleIntersectionPoints
// Pushes intersection points onto the back of pts. Returns the
// number of points found.
// Points that are close together (compared to
// combinationDistance) get combined
private int GetBoxTriangleIntersectionPoints(List<MyCP> pts, MyBox box, MyColDetVoxelTriangle triangle, float combinationDistance)
{
// first intersect each edge of the box with the triangleVertexes
MyBox.Edge[] edges;
box.GetEdges(out edges);
Vector3[] boxPts;
box.GetCornerPoints(out boxPts);
float tS;
float tv1, tv2;
int iEdge;
for (iEdge = 0; iEdge < 12; ++iEdge)
{
MyBox.Edge edge = edges[iEdge];
MySegment seg = new MySegment(boxPts[(int)edge.Ind0], boxPts[(int)edge.Ind1] - boxPts[(int)edge.Ind0]);
if (this.SegmentTriangleIntersection(out tS, out tv1, out tv2, seg, triangle))
{
float depthA = Vector3.Dot(boxPts[(int)edge.Ind0] - seg.GetPoint(tS), triangle.Normal);
float depthB = Vector3.Dot(boxPts[(int)edge.Ind1] - seg.GetPoint(tS), triangle.Normal);
AddPoint(pts, seg.GetPoint(tS),triangle.Normal, depthA < depthB ? depthA : depthB , combinationDistance * combinationDistance);
}
}
Vector3 pos, n;
// now each edge of the triangleVertexes with the box
for (iEdge = 0; iEdge < 3; ++iEdge)
{
Vector3 pt0 = triangle.GetPoint(iEdge);
Vector3 pt1 = triangle.GetPoint((iEdge + 1) % 3);
MySegment s1 = new MySegment(pt0, pt1 - pt0);
MySegment s2 = new MySegment(pt1, pt0 - pt1);
if (box.SegmentIntersect(out tS, out pos, out n, s1))
{
float depthA = Vector3.Dot(pt0 - pos, triangle.Normal);
float depthB = Vector3.Dot(pt1 - pos, triangle.Normal);
AddPoint(pts, pos, triangle.Normal, depthA < depthB ? depthA : depthB, combinationDistance * combinationDistance);
}
if (box.SegmentIntersect(out tS, out pos, out n, s2))
{
float depthA = Vector3.Dot(pt0 - pos, triangle.Normal);
float depthB = Vector3.Dot(pt1 - pos, triangle.Normal);
AddPoint(pts, pos, triangle.Normal, depthA < depthB ? depthA : depthB, combinationDistance * combinationDistance);
}
}
return pts.Count;
}
private bool DoOverlapBoxTriangleStaticTest(MyBox box, ref MyColDetVoxelTriangle triangle)
{
Matrix dirs0 = box.Orientation;
#region triEdge0
Vector3 pt0;
Vector3 pt1;
triangle.GetPoint(0, out pt0);
triangle.GetPoint(1, out pt1);
Vector3 triEdge0;
Vector3.Subtract(ref pt1, ref pt0, out triEdge0);
if (triEdge0.LengthSquared() < MyPhysicsConfig.Epsilon)
{
return(false);
}
#endregion
#region triEdge1
Vector3 pt2;
triangle.GetPoint(2, out pt2);
Vector3 triEdge1;
Vector3.Subtract(ref pt2, ref pt1, out triEdge1);
if (triEdge1.LengthSquared() < MyPhysicsConfig.Epsilon)
{
return(false);
}
#endregion
#region triEdge2
Vector3 triEdge2;
Vector3.Subtract(ref pt0, ref pt2, out triEdge2);
if (triEdge2.LengthSquared() < MyPhysicsConfig.Epsilon)
{
return(false);
}
#endregion
triEdge0.Normalize();
triEdge1.Normalize();
triEdge2.Normalize();
Vector3 triNormal = triangle.Plane.Normal;
m_axes[0] = triNormal;
m_axes[1] = dirs0.Right;
m_axes[2] = dirs0.Up;
m_axes[3] = dirs0.Backward;
Vector3.Cross(ref m_axes[1], ref triEdge0, out m_axes[4]);
Vector3.Cross(ref m_axes[1], ref triEdge1, out m_axes[5]);
Vector3.Cross(ref m_axes[1], ref triEdge2, out m_axes[6]);
Vector3.Cross(ref m_axes[2], ref triEdge0, out m_axes[7]);
Vector3.Cross(ref m_axes[2], ref triEdge1, out m_axes[8]);
Vector3.Cross(ref m_axes[2], ref triEdge2, out m_axes[9]);
Vector3.Cross(ref m_axes[3], ref triEdge0, out m_axes[10]);
Vector3.Cross(ref m_axes[3], ref triEdge1, out m_axes[11]);
Vector3.Cross(ref m_axes[3], ref triEdge2, out m_axes[12]);
// the overlap depths along each axis
// see if the boxes are separate along any axis, and if not keep a
// record of the depths along each axis
int i;
for (i = 0; i < numAxes; ++i)
{
m_overlapDepths[i] = 1.0f;
if (Disjoint(out m_overlapDepths[i], m_axes[i], box, triangle, MyPhysicsConfig.CollisionEpsilon))
{
return(false);
}
}
// The box overlap, find the separation depth closest to 0.
float minDepth = float.MaxValue;
int minAxis = -1;
for (i = 0; i < numAxes; ++i)
{
// If we can't normalise the axis, skip it
float l2 = m_axes[i].LengthSquared();
if (l2 < MyPhysicsConfig.Epsilon)
{
continue;
}
// Normalise the separation axis and the depth
float invl = 1.0f / (float)System.Math.Sqrt(l2);
m_axes[i] *= invl;
m_overlapDepths[i] *= invl;
// If this axis is the minimum, select it
if (m_overlapDepths[i] < minDepth)
{
minDepth = m_overlapDepths[i];
minAxis = i;
}
}
if (minAxis == -1)
{
return(false);
}
// Make sure the axis is facing towards the 0th box.
// if not, invert it
Vector3 D = box.GetCentre() - triangle.Centre;
Vector3 N = m_axes[minAxis];
float depth = m_overlapDepths[minAxis];
if (Vector3.Dot(D, N) < 0.0f)
{
N *= -1;
}
MyRigidBody rbo0 = GetRigidBody1();
MyRigidBody rbo1 = GetRigidBody2();
float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
Vector3 boxOldPos = rbo0.Position;
Vector3 boxNewPos = rbo0.Position + rbo0.LinearVelocity * dt;
Vector3 meshPos = rbo1.Position;
m_CPList.Clear();
GetBoxTriangleIntersectionPoints(m_CPList, box, triangle, MyPhysicsConfig.CollisionEpsilon);
// adjust the depth
#region delta
Vector3 delta;
Vector3.Subtract(ref boxNewPos, ref boxOldPos, out delta);
#endregion
int numPts = m_CPList.Count;
if (numPts > 0)
{
return(true);
}
else
{
return(false);
}
}
private bool DoOverlapBoxTriangleStaticTest(MyBox box, ref MyColDetVoxelTriangle triangle)
{
Matrix dirs0 = box.Orientation;
#region triEdge0
Vector3 pt0;
Vector3 pt1;
triangle.GetPoint(0, out pt0);
triangle.GetPoint(1, out pt1);
Vector3 triEdge0;
Vector3.Subtract(ref pt1, ref pt0, out triEdge0);
if (triEdge0.LengthSquared() < MyPhysicsConfig.Epsilon)
return false;
#endregion
#region triEdge1
Vector3 pt2;
triangle.GetPoint(2, out pt2);
Vector3 triEdge1;
Vector3.Subtract(ref pt2, ref pt1, out triEdge1);
if (triEdge1.LengthSquared() < MyPhysicsConfig.Epsilon)
return false;
#endregion
#region triEdge2
Vector3 triEdge2;
Vector3.Subtract(ref pt0, ref pt2, out triEdge2);
if (triEdge2.LengthSquared() < MyPhysicsConfig.Epsilon)
return false;
#endregion
triEdge0.Normalize();
triEdge1.Normalize();
triEdge2.Normalize();
Vector3 triNormal = triangle.Plane.Normal;
m_axes[0] = triNormal;
m_axes[1] = dirs0.Right;
m_axes[2] = dirs0.Up;
m_axes[3] = dirs0.Backward;
Vector3.Cross(ref m_axes[1], ref triEdge0, out m_axes[4]);
Vector3.Cross(ref m_axes[1], ref triEdge1, out m_axes[5]);
Vector3.Cross(ref m_axes[1], ref triEdge2, out m_axes[6]);
Vector3.Cross(ref m_axes[2], ref triEdge0, out m_axes[7]);
Vector3.Cross(ref m_axes[2], ref triEdge1, out m_axes[8]);
Vector3.Cross(ref m_axes[2], ref triEdge2, out m_axes[9]);
Vector3.Cross(ref m_axes[3], ref triEdge0, out m_axes[10]);
Vector3.Cross(ref m_axes[3], ref triEdge1, out m_axes[11]);
Vector3.Cross(ref m_axes[3], ref triEdge2, out m_axes[12]);
// the overlap depths along each axis
// see if the boxes are separate along any axis, and if not keep a
// record of the depths along each axis
int i;
for (i = 0; i < numAxes; ++i)
{
m_overlapDepths[i] = 1.0f;
if (Disjoint(out m_overlapDepths[i], m_axes[i], box, triangle, MyPhysicsConfig.CollisionEpsilon))
return false;
}
// The box overlap, find the separation depth closest to 0.
float minDepth = float.MaxValue;
int minAxis = -1;
for (i = 0; i < numAxes; ++i)
{
// If we can't normalise the axis, skip it
float l2 = m_axes[i].LengthSquared();
if (l2 < MyPhysicsConfig.Epsilon)
continue;
// Normalise the separation axis and the depth
float invl = 1.0f / (float)System.Math.Sqrt(l2);
m_axes[i] *= invl;
m_overlapDepths[i] *= invl;
// If this axis is the minimum, select it
if (m_overlapDepths[i] < minDepth)
{
minDepth = m_overlapDepths[i];
minAxis = i;
}
}
if (minAxis == -1)
return false;
// Make sure the axis is facing towards the 0th box.
// if not, invert it
Vector3 D = box.GetCentre() - triangle.Centre;
Vector3 N = m_axes[minAxis];
float depth = m_overlapDepths[minAxis];
if (Vector3.Dot(D, N) < 0.0f)
N *= -1;
MyRigidBody rbo0 = GetRigidBody1();
MyRigidBody rbo1 = GetRigidBody2();
float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
Vector3 boxOldPos = rbo0.Position;
Vector3 boxNewPos = rbo0.Position + rbo0.LinearVelocity * dt;
Vector3 meshPos = rbo1.Position;
m_CPList.Clear();
GetBoxTriangleIntersectionPoints(m_CPList, box, triangle, MyPhysicsConfig.CollisionEpsilon);
// adjust the depth
#region delta
Vector3 delta;
Vector3.Subtract(ref boxNewPos, ref boxOldPos, out delta);
#endregion
int numPts = m_CPList.Count;
if (numPts > 0)
return true;
else
return false;
}
