internal void TestSkin(CollisionSkin b, CollisionSkin s)
{
System.Diagnostics.Debug.Assert(b.Owner != null);
System.Diagnostics.Debug.Assert(b.Owner.IsActive);
if (!collisionPredicate_.ConsiderSkinPair(b, s))
{
return;
}
info_.Skin0 = b;
info_.Skin1 = s;
int nSkin0 = info_.Skin0.NumPrimitives;
int nSkin1 = info_.Skin1.NumPrimitives;
for (info_.IndexPrim0 = 0; info_.IndexPrim0 != nSkin0; ++info_.IndexPrim0)
{
for (info_.IndexPrim1 = 0; info_.IndexPrim1 != nSkin1; ++info_.IndexPrim1)
{
if (CheckCollidables(info_.Skin0, info_.Skin1))
{
DetectFunctor f =
sys_.GetCollDetectFunctor(info_.Skin0.GetPrimitiveNewWorld(info_.IndexPrim0).Type,
info_.Skin1.GetPrimitiveNewWorld(info_.IndexPrim1).Type);
if (f != null)
{
f.CollDetect(info_, collTolerance_, collisionFunctor_);
}
}
}
}
}
/// <summary>
/// DetectCollisions
/// </summary>
/// <param name="body"></param>
/// <param name="collisionFunctor"></param>
/// <param name="collisionPredicate"></param>
/// <param name="collTolerance"></param>
public override void DetectCollisions(JigLibX.Physics.Body body, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
if (!body.IsActive)
{
return;
}
CollDetectInfo info = new CollDetectInfo();
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
{
return;
}
active_.Clear();
testing_.Clear();
Extract(info.Skin0.WorldBoundingBox.Min, info.Skin0.WorldBoundingBox.Max, active_);
for (int j = 0, m = info.Skin0.NumPrimitives; j != m; ++j)
{
testing_.Add(info.Skin0.GetPrimitiveNewWorld(j));
}
int nBodyPrims = testing_.Count;
for (int i = 0, n = active_.Count; i != n; ++i)
{
info.Skin1 = active_[i];
if (info.Skin0 != info.Skin1 && (collisionPredicate == null ||
collisionPredicate.ConsiderSkinPair(info.Skin0, info.Skin1)))
{
int nPrim1 = info.Skin1.NumPrimitives;
second_.Clear();
for (int k = 0; k != nPrim1; ++k)
{
second_.Add(info.Skin1.GetPrimitiveNewWorld(k));
}
for (info.IndexPrim0 = 0; info.IndexPrim0 != nBodyPrims; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 != nPrim1; ++info.IndexPrim1)
{
DetectFunctor f =
GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
{
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
}
}
}
// BEN-OPTIMISATION: unsafe i.e. Remove array boundary checks.
/// <summary>
/// TestSkin
/// </summary>
/// <param name="b"></param>
/// <param name="s"></param>
internal unsafe void TestSkin(CollisionSkin b, CollisionSkin s)
#endif
{
#if DEBUG
System.Diagnostics.Debug.Assert(b.Owner != null);
System.Diagnostics.Debug.Assert(b.Owner.IsActive);
#endif
if (!collisionPredicate_.ConsiderSkinPair(b, s))
{
return;
}
info_.Skin0 = b;
info_.Skin1 = s;
int nSkin0 = info_.Skin0.NumPrimitives;
int nSkin1 = info_.Skin1.NumPrimitives;
// BEN-OPTIMISATION: Reuse detectFunctor.
DetectFunctor detectFunctor;
for (info_.IndexPrim0 = 0; info_.IndexPrim0 != nSkin0; ++info_.IndexPrim0)
{
for (info_.IndexPrim1 = 0; info_.IndexPrim1 != nSkin1; ++info_.IndexPrim1)
{
if (CheckCollidables(info_.Skin0, info_.Skin1))
{
detectFunctor = sys_.GetCollDetectFunctor(
info_.Skin0.GetPrimitiveNewWorld(info_.IndexPrim0).Type,
info_.Skin1.GetPrimitiveNewWorld(info_.IndexPrim1).Type);
if (detectFunctor != null)
{
detectFunctor.CollDetect(info_, collTolerance_, collisionFunctor_);
}
}
}
}
}
public override void DetectAllCollisions(List<Body> bodies, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
int numBodies = bodies.Count;
CollDetectInfo info = new CollDetectInfo();
for (int iBody = 0; iBody < numBodies; ++iBody)
{
Body body = bodies[iBody];
if (!body.IsActive)
continue;
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
continue;
tempGridLists.Clear();
GetListsToCheck(tempGridLists, info.Skin0);
for (int iList = tempGridLists.Count; iList-- != 0; )
{
// first one is a placeholder;
GridEntry entry = tempGridLists[iList];
for (entry = entry.Next; entry != null; entry = entry.Next)
{
info.Skin1 = entry.Skin;
if (info.Skin1 == info.Skin0)
continue;
// CHANGE
if (info.Skin1 == null)
continue;
bool skinSleeping = true;
if ((info.Skin1.Owner != null) && (info.Skin1.Owner.IsActive))
skinSleeping = false;
// only do one per pair
if ((skinSleeping == false) && (info.Skin1.ID < info.Skin0.ID))
continue;
if ((collisionPredicate != null) && (!collisionPredicate.ConsiderSkinPair(info.Skin0, info.Skin1)))
continue;
// basic bbox test
if (BoundingBoxHelper.OverlapTest(ref info.Skin1.WorldBoundingBox,
ref info.Skin0.WorldBoundingBox, collTolerance))
{
if (CheckCollidables(info.Skin0, info.Skin1))
{
int bodyPrimitives = info.Skin0.NumPrimitives;
int primitves = info.Skin1.NumPrimitives;
for (info.IndexPrim0 = 0; info.IndexPrim0 < bodyPrimitives; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 < primitves; ++info.IndexPrim1)
{
DetectFunctor f = GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
} // check collidables
} // overlapt test
}// loop over entries
} // loop over lists
} // loop over bodies
}
/// <summary>
/// DetectAllCollisions
/// </summary>
/// <param name="bodies"></param>
/// <param name="collisionFunctor"></param>
/// <param name="collisionPredicate"></param>
/// <param name="collTolerance"></param>
public override void DetectAllCollisions(List<Body> bodies, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
int numSkins = skins.Count;
int numBodies = bodies.Count;
CollDetectInfo info = new CollDetectInfo();
for (int ibody = 0; ibody < numBodies; ++ibody)
{
Body body = bodies[ibody];
if(!body.IsActive)
continue;
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
continue;
for (int skin = 0; skin < numSkins; ++skin)
{
info.Skin1 = skins[skin];
if (info.Skin0 == info.Skin1)
continue;
// CHANGE
if (info.Skin1 == null)
continue;
bool skinSleeping = true;
if (info.Skin1.Owner != null && info.Skin1.Owner.IsActive)
skinSleeping = false;
if ((skinSleeping == false) && (info.Skin1.ID < info.Skin0.ID))
continue;
if((collisionPredicate != null) &&
collisionPredicate.ConsiderSkinPair(info.Skin0,info.Skin1) == false)
continue;
// basic bbox test
if(BoundingBoxHelper.OverlapTest(ref info.Skin0.WorldBoundingBox,
ref info.Skin1.WorldBoundingBox,collTolerance))
{
if (CheckCollidables(info.Skin0,info.Skin1))
{
int bodyPrimitives = info.Skin0.NumPrimitives;
int primitves = info.Skin1.NumPrimitives;
for(info.IndexPrim0 = 0; info.IndexPrim0 < bodyPrimitives; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 < primitves; ++info.IndexPrim1)
{
DetectFunctor f = GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
} // overlapt test
} // loop over skins
} // loop over bodies
}
public override void DetectAllCollisions(List <Body> bodies, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
int numSkins = skins.Count;
int numBodies = bodies.Count;
CollDetectInfo info = new CollDetectInfo();
for (int ibody = 0; ibody < numBodies; ++ibody)
{
Body body = bodies[ibody];
if (!body.IsActive)
{
continue;
}
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
{
continue;
}
for (int skin = 0; skin < numSkins; ++skin)
{
info.Skin1 = skins[skin];
if (info.Skin0 == info.Skin1)
{
continue;
}
// CHANGE
if (info.Skin1 == null)
{
continue;
}
bool skinSleeping = true;
if (info.Skin1.Owner != null && info.Skin1.Owner.IsActive)
{
skinSleeping = false;
}
if ((skinSleeping == false) && (info.Skin1.ID < info.Skin0.ID))
{
continue;
}
if ((collisionPredicate != null) &&
collisionPredicate.ConsiderSkinPair(info.Skin0, info.Skin1) == false)
{
continue;
}
// basic bbox test
if (BoundingBoxHelper.OverlapTest(ref info.Skin0.WorldBoundingBox,
ref info.Skin1.WorldBoundingBox, collTolerance))
{
if (CheckCollidables(info.Skin0, info.Skin1))
{
int bodyPrimitives = info.Skin0.NumPrimitives;
int primitves = info.Skin1.NumPrimitives;
for (info.IndexPrim0 = 0; info.IndexPrim0 < bodyPrimitives; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 < primitves; ++info.IndexPrim1)
{
DetectFunctor f = GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
{
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
}
} // overlapt test
} // loop over skins
} // loop over bodies
} // void
public override void DetectAllCollisions(List <Body> bodies, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
var numSkins = skins.Count;
var numBodies = bodies.Count;
var info = new CollDetectInfo();
for (var ibody = 0; ibody < numBodies; ++ibody)
{
var body = bodies[ibody];
if (!body.IsActive)
{
continue;
}
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
{
continue;
}
for (var skin = 0; skin < numSkins; ++skin)
{
info.Skin1 = skins[skin];
if (info.Skin0 == info.Skin1)
{
continue;
}
if (info.Skin1 == null)
{
continue;
}
var skinSleeping = true;
if (info.Skin1.Owner != null && info.Skin1.Owner.IsActive)
{
skinSleeping = false;
}
if (skinSleeping == false && info.Skin1.ID < info.Skin0.ID)
{
continue;
}
if (collisionPredicate != null && collisionPredicate.ConsiderSkinPair(info.Skin0, info.Skin1) == false)
{
continue;
}
if (BoundingBoxHelper.OverlapTest(ref info.Skin0.WorldBoundingBox, ref info.Skin1.WorldBoundingBox, collTolerance))
{
if (CheckCollidables(info.Skin0, info.Skin1))
{
var bodyPrimitives = info.Skin0.NumPrimitives;
var primitves = info.Skin1.NumPrimitives;
for (info.IndexPrim0 = 0; info.IndexPrim0 < bodyPrimitives; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 < primitves; ++info.IndexPrim1)
{
var f = GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type, info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
f?.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
}
}
}
}
/// <summary>
/// DetectAllCollisions
/// </summary>
/// <param name="bodies"></param>
/// <param name="collisionFunctor"></param>
/// <param name="collisionPredicate"></param>
/// <param name="collTolerance"></param>
public override void DetectAllCollisions(List <Body> bodies, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
int numBodies = bodies.Count;
CollDetectInfo info = new CollDetectInfo();
for (int iBody = 0; iBody < numBodies; ++iBody)
{
Body body = bodies[iBody];
if (!body.IsActive)
{
continue;
}
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
{
continue;
}
tempGridLists.Clear();
GetListsToCheck(tempGridLists, info.Skin0);
for (int iList = tempGridLists.Count; iList-- != 0;)
{
// first one is a placeholder;
GridEntry entry = tempGridLists[iList];
for (entry = entry.Next; entry != null; entry = entry.Next)
{
info.Skin1 = entry.Skin;
if (info.Skin1 == info.Skin0)
{
continue;
}
// CHANGE
if (info.Skin1 == null)
{
continue;
}
bool skinSleeping = true;
if ((info.Skin1.Owner != null) && (info.Skin1.Owner.IsActive))
{
skinSleeping = false;
}
// only do one per pair
if ((skinSleeping == false) && (info.Skin1.ID < info.Skin0.ID))
{
continue;
}
if ((collisionPredicate != null) && (!collisionPredicate.ConsiderSkinPair(info.Skin0, info.Skin1)))
{
continue;
}
// basic bbox test
if (BoundingBoxHelper.OverlapTest(ref info.Skin1.WorldBoundingBox,
ref info.Skin0.WorldBoundingBox, collTolerance))
{
if (CheckCollidables(info.Skin0, info.Skin1))
{
int bodyPrimitives = info.Skin0.NumPrimitives;
int primitves = info.Skin1.NumPrimitives;
for (info.IndexPrim0 = 0; info.IndexPrim0 < bodyPrimitives; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 < primitves; ++info.IndexPrim1)
{
DetectFunctor f = GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
{
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
} // check collidables
} // overlapt test
} // loop over entries
} // loop over lists
} // loop over bodies
}
public override void DetectAllCollisions(List <Body> bodies, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
var numBodies = bodies.Count;
var info = new CollDetectInfo();
for (var iBody = 0; iBody < numBodies; ++iBody)
{
var body = bodies[iBody];
if (!body.IsActive)
{
continue;
}
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
{
continue;
}
tempGridLists.Clear();
GetListsToCheck(tempGridLists, info.Skin0);
for (var iList = tempGridLists.Count; iList-- != 0;)
{
var entry = tempGridLists[iList];
for (entry = entry.Next; entry != null; entry = entry.Next)
{
info.Skin1 = entry.Skin;
if (info.Skin1 == info.Skin0)
{
continue;
}
if (info.Skin1 == null)
{
continue;
}
var skinSleeping = true;
if (info.Skin1.Owner != null && info.Skin1.Owner.IsActive)
{
skinSleeping = false;
}
if (skinSleeping == false && info.Skin1.ID < info.Skin0.ID)
{
continue;
}
if (collisionPredicate != null && !collisionPredicate.ConsiderSkinPair(info.Skin0, info.Skin1))
{
continue;
}
if (BoundingBoxHelper.OverlapTest(ref info.Skin1.WorldBoundingBox, ref info.Skin0.WorldBoundingBox, collTolerance))
{
if (CheckCollidables(info.Skin0, info.Skin1))
{
var bodyPrimitives = info.Skin0.NumPrimitives;
var primitves = info.Skin1.NumPrimitives;
for (info.IndexPrim0 = 0; info.IndexPrim0 < bodyPrimitives; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 < primitves; ++info.IndexPrim1)
{
var f = GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type, info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
f?.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
}
}
}
}
}
