public override CollisionShape Clone()
{
CollisionSphere rv = new CollisionSphere(center, radius);
rv.handle = this.handle;
rv.timeStamp = this.timeStamp;
return(rv);
}
private void FourCollisionsButton_Click(object sender, EventArgs e)
{
CollisionAPI API = new CollisionAPI();
// Create some obstacles, at 4 corners of a square
List<CollisionShape> shapes = new List<CollisionShape>();
CollisionSphere sphere = new CollisionSphere(new Vector3(0f, 0f, 2f), 1f);
shapes.Add(sphere);
API.AddCollisionShape(sphere, 1);
CollisionCapsule capsule = new CollisionCapsule(new Vector3(10f,0f,0f),
new Vector3(10f,0f,4f),
1f);
shapes.Add(capsule);
API.AddCollisionShape(capsule, 2);
// Now, an AABB
CollisionAABB aabb = new CollisionAABB(new Vector3(9.5f,9.5f,0f),
new Vector3(10.5f,10.5f,4f));
shapes.Add(aabb);
API.AddCollisionShape(aabb, 3);
CollisionOBB obb = new CollisionOBB(new Vector3(0f,10f,2),
new Vector3[3] {
new Vector3(1f,0f,0f),
new Vector3(0f,1f,0f),
new Vector3(0f,0f,1f)},
new Vector3(1f, 1f, 1f));
shapes.Add(obb);
API.AddCollisionShape(obb, 4);
FileStream f = new FileStream("C:\\Junk\\DumpSphereTree.txt", FileMode.Create, FileAccess.Write);
StreamWriter writer = new StreamWriter(f);
API.DumpSphereTree(writer);
API.SphereTreeRoot.VerifySphereTree();
// Now a moving object capsule in the center of the square
CollisionCapsule moCap = new CollisionCapsule(new Vector3(5f,5f,0f),
new Vector3(5f,5f,4f),
1f);
// Remember where the moving object started
Vector3 start = moCap.center;
// Move the moving object toward each of the obstacles
foreach (CollisionShape s in shapes) {
moCap.AddDisplacement(start - moCap.center);
MoveToObject(writer, API, s, moCap);
}
writer.Close();
}
// This method is the callback by which the forests controlled
// by the scene manager tell us about SpeedTrees.
private void AddTreeObstacles(SpeedTreeWrapper tree)
{
// If this tree didn't use to be in range but now is
V3 vp = tree.TreePosition;
Vector3 p = new Vector3(vp.x, vp.y, vp.z);
// Find the tile in question
int tileX, tileZ;
WorldToTileCoords(p, out tileX, out tileZ);
bool oir = InRange(tileXCenter, tileZCenter, tileX, tileZ);
bool nir = InRange(newTileXCenter, newTileZCenter, tileX, tileZ);
// if (MO.DoLog)
// MO.Log(String.Format("For tree at {0}, testing !InRange({1},{2},{3},{4}) = {5} && InRange({6},{7},{8},{9}) = {10}",
// MO.MeterString(p),tileXCenter, tileZCenter, tileX, tileZ, MO.Bool(!oir),
// newTileXCenter, newTileZCenter, tileX, tileZ, MO.Bool(nir)));
if (!oir && nir) {
int tX = TileToArrayIndex(tileX, newTileXCenter);
int tZ = TileToArrayIndex(tileZ, newTileZCenter);
uint count = tree.CollisionObjectCount;
long handle = ComposeHandle(tileX, tileZ);
CollisionShape shape = null;
if (MO.DoLog) {
MO.Log(string.Format("Adding tree at {0}, tiles[{1},{2}] = {3}, tile coords[{4},{5}], obj. new count {6}",
MO.MeterString(p), tX, tZ, tiles[tX,tZ], tileX, tileZ, count));
MO.Log(string.Format("Handle {0}, oldcenter {1}, newcenter {2}",
MO.HandleString(handle), MO.MeterString(tileWorldCenter), MO.MeterString(newTileWorldCenter)));
}
float size = 0f;
float variance = 0f;
tree.GetTreeSize(ref size, ref variance);
float scaleFactor = size / tree.OriginalSize;
for (uint i=0; i<count; i++) {
TreeCollisionObject tco = tree.CollisionObject(i);
Vector3 cp = new Vector3(tco.position.x, tco.position.y, tco.position.z) * scaleFactor + p;
Vector3 cd = new Vector3(tco.dimensions.x, tco.dimensions.y, tco.dimensions.z) * scaleFactor;
switch ((CollisionObjectType)tco.type) {
case CollisionObjectType.ColSphere:
shape = new CollisionSphere(cp, cd.x);
break;
case CollisionObjectType.ColCylinder:
// We treat it as a capsule, but we raise the
// capsule up by the capRadius, and shorten
// the segment by the double the capRadius
Vector3 top = cp;
top.y += cd.y - cd.x * 2f;
cp.y += cd.x;
shape = new CollisionCapsule(cp, top, cd.x);
break;
case CollisionObjectType.ColBox:
Vector3 tp = cp;
tp.x -= cd.x * .5f;
tp.y -= cd.y * .5f;
shape = new CollisionAABB(tp, tp + cd);
break;
}
collisionAPI.AddCollisionShape(shape, handle);
tiles[tX, tZ]++;
objectsAdded++;
if (MO.DoLog) {
MO.Log(string.Format(" tiles[{0},{1}] = {2}, tile at [{3},{4}] after adding shape {5}",
tX, tZ, tiles[tX, tZ], tileX, tileZ, shape.ToString()));
}
}
}
}
// Returns true if sphere s intersects OBB b, false otherwise.
// The point p on the OBB closest to the sphere center is also returned
public static bool TestSphereOBB(CollisionSphere s, CollisionOBB b, out Vector3 p)
{
return (SqDistPointOBB(s.center, b, out p) < s.radius * s.radius);
}
private static void TestPhysics( string srcDir, string dstDir, string name )
{
float OneMeter = 1000;
PhysicsData pd = new PhysicsData();
Vector3 center = new Vector3( 10 * OneMeter, 1 * OneMeter, 1 * OneMeter );
Vector3[] obbAxes = new Vector3[ 3 ];
obbAxes[ 0 ] = new Vector3( 1, 0, -1 );
obbAxes[ 0 ].Normalize();
obbAxes[ 1 ] = Vector3.UnitY;
obbAxes[ 2 ] = new Vector3( 1, 0, 1 );
obbAxes[ 2 ].Normalize();
Vector3 obbExtents = new Vector3( 2.5f * OneMeter, 1 * OneMeter, 1 * OneMeter );
CollisionOBB obb = new CollisionOBB( center, obbAxes, obbExtents );
pd.AddCollisionShape( "submesh01", obb );
CollisionAABB aabb = new CollisionAABB( center - obbExtents, center + obbExtents );
pd.AddCollisionShape( "submesh01", aabb );
CollisionSphere sphere = new CollisionSphere( center, 2 * OneMeter );
pd.AddCollisionShape( "submesh01", sphere );
Vector3 capExtents = new Vector3( -1 * OneMeter, 0, 0 );
CollisionCapsule capsule = new CollisionCapsule( center + capExtents, center - capExtents, .5f * OneMeter );
pd.AddCollisionShape( "submesh01", capsule );
PhysicsSerializer ps = new PhysicsSerializer();
ps.ExportPhysics( pd, name );
pd = new PhysicsData();
ps.ImportPhysics( pd, name );
foreach( string objectId in pd.GetCollisionObjects() )
{
log.InfoFormat( "Collision shapes for: {0}", objectId );
List<CollisionShape> collisionShapes = pd.GetCollisionShapes( objectId );
foreach( CollisionShape shape in collisionShapes )
log.InfoFormat( "Shape: {0}", shape );
}
}
// This method is the callback by which the forests controlled
// by the scene manager tell us about SpeedTrees.
private void AddTreeObstacles(SpeedTreeWrapper tree)
{
// If this tree didn't use to be in range but now is
V3 vp = tree.TreePosition;
Vector3 p = new Vector3(vp.x, vp.y, vp.z);
// Find the tile in question
int tileX, tileZ;
WorldToTileCoords(p, out tileX, out tileZ);
bool oir = InRange(tileXCenter, tileZCenter, tileX, tileZ);
bool nir = InRange(newTileXCenter, newTileZCenter, tileX, tileZ);
// if (MO.DoLog)
// MO.Log(String.Format("For tree at {0}, testing !InRange({1},{2},{3},{4}) = {5} && InRange({6},{7},{8},{9}) = {10}",
// MO.MeterString(p),tileXCenter, tileZCenter, tileX, tileZ, MO.Bool(!oir),
// newTileXCenter, newTileZCenter, tileX, tileZ, MO.Bool(nir)));
if (!oir && nir)
{
int tX = TileToArrayIndex(tileX, newTileXCenter);
int tZ = TileToArrayIndex(tileZ, newTileZCenter);
uint count = tree.CollisionObjectCount;
long handle = ComposeHandle(tileX, tileZ);
CollisionShape shape = null;
if (MO.DoLog)
{
MO.Log(string.Format("Adding tree at {0}, tiles[{1},{2}] = {3}, tile coords[{4},{5}], obj. new count {6}",
MO.MeterString(p), tX, tZ, tiles[tX, tZ], tileX, tileZ, count));
MO.Log(string.Format("Handle {0}, oldcenter {1}, newcenter {2}",
MO.HandleString(handle), MO.MeterString(tileWorldCenter), MO.MeterString(newTileWorldCenter)));
}
float size = 0f;
float variance = 0f;
tree.GetTreeSize(ref size, ref variance);
float scaleFactor = size / tree.OriginalSize;
for (uint i = 0; i < count; i++)
{
TreeCollisionObject tco = tree.CollisionObject(i);
Vector3 cp = new Vector3(tco.position.x, tco.position.y, tco.position.z) * scaleFactor + p;
Vector3 cd = new Vector3(tco.dimensions.x, tco.dimensions.y, tco.dimensions.z) * scaleFactor;
switch ((CollisionObjectType)tco.type)
{
case CollisionObjectType.ColSphere:
shape = new CollisionSphere(cp, cd.x);
break;
case CollisionObjectType.ColCylinder:
// We treat it as a capsule, but we raise the
// capsule up by the capRadius, and shorten
// the segment by the double the capRadius
Vector3 top = cp;
top.y += cd.y - cd.x * 2f;
cp.y += cd.x;
shape = new CollisionCapsule(cp, top, cd.x);
break;
case CollisionObjectType.ColBox:
Vector3 tp = cp;
tp.x -= cd.x * .5f;
tp.y -= cd.y * .5f;
shape = new CollisionAABB(tp, tp + cd);
break;
}
collisionAPI.AddCollisionShape(shape, handle);
tiles[tX, tZ]++;
objectsAdded++;
if (MO.DoLog)
{
MO.Log(string.Format(" tiles[{0},{1}] = {2}, tile at [{3},{4}] after adding shape {5}",
tX, tZ, tiles[tX, tZ], tileX, tileZ, shape.ToString()));
}
}
}
}
public override CollisionShape Clone()
{
CollisionSphere rv = new CollisionSphere(center, radius);
rv.handle = this.handle;
rv.timeStamp = this.timeStamp;
return rv;
}
public void ReadSphere(string objectId, Matrix4 transform, XmlNode node, PhysicsData physicsData)
{
Vector3 scaleDelta = transform.Scale - Vector3.UnitScale;
if (scaleDelta.Length > PhysicsSerializer.ScaleEpsilon)
log.Error("Scale is not currently supported for sphere shapes");
float radius = 0;
foreach (XmlNode childNode in node.ChildNodes) {
switch (childNode.Name) {
case "radius":
radius = float.Parse(childNode.InnerText);
break;
default:
DebugMessage(childNode);
break;
}
}
Vector3 center = unitConversion * transform.Translation;
radius *= unitConversion;
CollisionShape collisionShape = new CollisionSphere(center, radius);
physicsData.AddCollisionShape(objectId, collisionShape);
}