public bool Insert(MyRigidBody rbo)
{
if (rbo.ReadFlag(RigidBodyFlag.RBF_INSERTED))
{
return(true);
}
#if PHYSICS_CHECK
for (int i = 0; i < m_Rigids.Count; i++)
{
MyRigidBody r = m_Rigids[i];
if (r == rbo)
{
// rbo already inserted!
MyCommonDebugUtils.AssertDebug(false);
return(false);
}
}
#endif
MyCommonDebugUtils.AssertDebug(rbo != null);
// m_Rigids.Add(rbo);
// insert to sort into bp
for (int i = 0; i < rbo.GetRBElementList().Count; i++)
{
MyRBElement elem = rbo.GetRBElementList()[i];
elem.GroupMask = MyGroupMask.Empty;
elem.UpdateAABB();
m_BroadPhase.CreateVolume(elem);
}
if (!rbo.ReadFlag(RigidBodyFlag.RBF_RBO_STATIC))
{
AddActiveRigid(rbo);
rbo.ActivateNotification();
}
rbo.RaiseFlag(RigidBodyFlag.RBF_INSERTED);
return(true);
}
public override void DoWork()
{
// brute force
MyRBInteractionModule module = MyPhysics.physicsSystem.GetRBInteractionModule();
List <MyRigidBody> activeRigids = MyPhysics.physicsSystem.GetRigidBodyModule().GetActiveRigids();
m_ActiveElements.Clear();
for (int i = 0; i < activeRigids.Count; i++)
{
MyRigidBody rbo = activeRigids[i];
for (int j = 0; j < rbo.GetRBElementList().Count; j++)
{
MyRBElement el = rbo.GetRBElementList()[j];
el.UpdateAABB();
m_ActiveElements.Add(el);
}
}
// parse the elements
BoundingBox bbox;
MyRBElementInteraction interaction = null;
m_InteractionList.Clear();
for (int i = 0; i < m_ActiveElements.Count; i++)
{
MyRBElement testEl = m_ActiveElements[i];
BoundingBox testAABB = testEl.GetWorldSpaceAABB();
for (int j = 0; j < m_Elements.Count; j++)
{
MyRBElement el = m_Elements[j];
interaction = null;
if (el != testEl)
{
if (el.GetRigidBody().IsStatic() && testEl.GetRigidBody().IsStatic())
{
continue;
}
if (el.GetRigidBody().IsKinematic() && testEl.GetRigidBody().IsKinematic())
{
continue;
}
if (el.GetRigidBody() == testEl.GetRigidBody())
{
continue;
}
bbox = el.GetWorldSpaceAABB();
if (bbox.Intersects(testAABB))
{
interaction = module.FindRBElementInteraction(el, testEl);
if (interaction == null)
{
interaction = module.AddRBElementInteraction(el, testEl);
}
}
else
{
interaction = module.FindRBElementInteraction(el, testEl);
if (interaction != null)
{
interaction = null;
module.RemoveRBElementInteraction(el, testEl);
}
}
if (interaction != null)
{
bool iinserted = false;
for (int t = 0; t < m_InteractionList.Count; t++)
{
if (m_InteractionList[t] == interaction)
{
iinserted = true;
break;
}
}
if (!iinserted)
{
m_InteractionList.Add(interaction);
}
}
}
}
}
}
/// <summary>
/// parses all active rigids, updates the aabbs and checks for possible collisions using the DAABB
/// </summary>
public override void DoWork()
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("ClearInteractions");
ClearInteractions();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MyRBInteractionModule module = MyPhysics.physicsSystem.GetRBInteractionModule();
HashSet <MyRigidBody> activeRigids = MyPhysics.physicsSystem.GetRigidBodyModule().GetActiveRigids();
float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
BoundingBox aabb;
//Dictionary<string, int> typeStats = new Dictionary<string, int>();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("MoveProxy");
// A.B. this might be expensive, maybe update separate or move somewhere else like in the solve -> update positions !!
foreach (MyRigidBody rbo in activeRigids)
{
/*
* string ts = ((MinerWars.AppCode.Game.Physics.MyPhysicsBody)rbo.m_UserData).Entity.GetType().Name.ToString();
* if (!typeStats.ContainsKey(ts))
* typeStats.Add(ts, 0);
* typeStats[ts]++;
*/
for (int j = 0; j < rbo.GetRBElementList().Count; j++)
{
MyRBElement el = rbo.GetRBElementList()[j];
el.UpdateAABB();
aabb = el.GetWorldSpaceAABB();
m_DAABBTree.MoveProxy(el.ProxyData, ref aabb, el.GetRigidBody().LinearVelocity *dt);
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("make the AABB test");
// make the AABB test
MyRBElementInteraction interaction = null;
#if RENDER_PROFILING && !MEMORY_PROFILING
int[] heights = new int[activeRigids.Count];
int[] tests = new int[activeRigids.Count];
#endif
int i = 0;
foreach (MyRigidBody rbo in activeRigids)
{
for (int j = 0; j < rbo.GetRBElementList().Count; j++)
{
MyRBElement el = rbo.GetRBElementList()[j];
Vector3 globalPosition = Vector3.Transform(el.LocalPosition, rbo.Matrix);
Vector3 deltaVelocity = rbo.LinearVelocity * dt;
aabb = el.GetWorldSpaceAABB();
if (rbo.ReadFlag(RigidBodyFlag.RBF_COLDET_THROUGH_VOXEL_TRIANGLES) || el is MyRBSphereElement) //because sphere is interpolated for whole path
{
Vector3 v = globalPosition + rbo.LinearVelocity * dt;
//Vector3 v = aabb.GetCenter()+rbo.LinearVelocity * dt;
aabb = aabb.Include(ref v);
}
else
{
aabb.Max += deltaVelocity;
aabb.Min += deltaVelocity;
}
//if (el is MyRBSphereElement)
//{
//MyDebugDraw.AddDrawSphereWireframe(new BoundingSphere(aabb.GetCenter(), (aabb.GetCorners()[0] - aabb.GetCenter()).Length()));
// MyDebugDraw.AddDrawSphereWireframe(new BoundingSphere(aabb.GetCenter()+rbo.LinearVelocity * dt, (aabb.GetCorners()[0] - aabb.GetCenter()).Length()));
//}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("m_DAABBTree.OverlapAllBoundingBox");
#if RENDER_PROFILING && !MEMORY_PROFILING
m_DAABBTree.OverlapAllBoundingBox(ref aabb, m_overlapElementList, 0);
#else
m_DAABBTree.OverlapAllBoundingBox(ref aabb, m_overlapElementList, 0);
#endif
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("Interactions");
foreach (var lEl in m_overlapElementList)
{
if (el == lEl)//optimization?
{
continue;
}
if ((lEl.Flags & MyElementFlag.EF_SENSOR_ELEMENT) > 0)
{
MySensorElement sensorElement = lEl as MySensorElement;
MyRBElement rbElement = el as MyRBElement;
MyPhysics.physicsSystem.GetSensorInteractionModule().AddSensorInteraction(sensorElement, rbElement);
continue;
}
if ((lEl.Flags & MyElementFlag.EF_RB_ELEMENT) > 0)
{
MyRBElement testEl = (MyRBElement)lEl;
if (el.GetRigidBody().IsStatic() && testEl.GetRigidBody().IsStatic())
{
continue;
}
if (el.GetRigidBody().IsKinematic() && testEl.GetRigidBody().IsKinematic())
{
continue;
}
if (el.GetRigidBody().IsKinematic() && testEl.GetRigidBody().IsStatic())
{
continue;
}
if (el.GetRigidBody().IsStatic() && testEl.GetRigidBody().IsKinematic())
{
continue;
}
if (el.GetRigidBody() == testEl.GetRigidBody())
{
continue;
}
if (!MyFiltering.AcceptCollision(el, testEl))
{
continue;
}
interaction = module.FindRBElementInteraction(el, testEl);
if (interaction == null)
{
interaction = module.AddRBElementInteraction(el, testEl);
}
if (interaction != null)
{
bool iinserted = false;
for (int t = 0; t < m_InteractionList.Count; t++)
{
if (m_InteractionList[t] == interaction)
{
iinserted = true;
break;
}
}
if (!iinserted)
{
m_InteractionList.Add(interaction);
}
}
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
i++;
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Active rigids", activeRigids.Count);
#if RENDER_PROFILING && !MEMORY_PROFILING
float averageHeight = 0;
float averageTest = 0;
int maxHeight = 0;
int maxTest = 0;
for (int j = 0; j < activeRigids.Count; j++)
{
averageHeight += heights[j];
averageTest += tests[j];
if (maxHeight < heights[j])
{
maxHeight = heights[j];
}
if (maxTest < tests[j])
{
maxTest = tests[j];
}
}
averageHeight /= activeRigids.Count;
averageTest /= activeRigids.Count;
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Average height", averageHeight);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Average test", averageTest);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Max height", maxHeight);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Max test", maxTest);
#endif
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("handle active sensors");
List <MySensor> activeSensors = MyPhysics.physicsSystem.GetSensorModule().ActiveSensors;
if (activeSensors.Count > 0)
{
if (m_activeSensorIndex >= activeSensors.Count)
{
m_activeSensorIndex = 0;
}
MySensor activeSensor = activeSensors[m_activeSensorIndex];
activeSensor.PrepareSensorInteractions();
MySensorElement sensorElement = activeSensor.GetElement();
BoundingBox sensorElAABB = sensorElement.GetWorldSpaceAABB();
m_sensorInteractonList.Clear();
m_DAABBTree.OverlapAllBoundingBox(ref sensorElAABB, m_sensorInteractonList, (uint)MyElementFlag.EF_RB_ELEMENT);
foreach (MyRBElement rbElement in m_sensorInteractonList)
{
MyPhysics.physicsSystem.GetSensorInteractionModule().AddSensorInteraction(sensorElement, rbElement);
}
activeSensor.Active = false;
m_activeSensorIndex++;
}
//List<MySensor> activeSensors = MyPhysics.physicsSystem.GetSensorModule().ActiveSensors;
//for (int i = activeSensors.Count - 1; i >= 0; i--)
//{
// MySensorElement sensorElement = activeSensors[i].GetElement();
// BoundingBox sensorElAABB = sensorElement.GetWorldSpaceAABB();
// m_sensorInteractonList.Clear();
// m_DAABBTree.OverlapRBAllBoundingBox(ref sensorElAABB, m_sensorInteractonList);
// foreach (MyRBElement rbElement in m_sensorInteractonList)
// {
// MyPhysics.physicsSystem.GetSensorInteractionModule().AddSensorInteraction(sensorElement, rbElement);
// }
// activeSensors[i].IsActive = false;
// activeSensors.RemoveAt(i);
//}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}