private List <CollisionPointStructure> SoftBodyCollisionStep(
ISoftShape softShapeA,
ISoftShape softShapeB)
{
var result = new List <CollisionPointStructure>();
var shapeA = (IShape)softShapeA;
var shapeB = (IShape)softShapeB;
var convexDecompositionA = new ConvexDecompositionEngine(
shapeA.AABBox,
Array.ConvertAll(softShapeA.ShapePoints, item => new Vertex3Index(item.Position, item.TriangleIndex, item.ID)),
softShapeA.DecompositionParameter);
var convexDecompositionB = new ConvexDecompositionEngine(
shapeB.AABBox,
Array.ConvertAll(softShapeB.ShapePoints, item => new Vertex3Index(item.Position, item.TriangleIndex, item.ID)),
softShapeB.DecompositionParameter);
List <ShapeDecompositionOutput> decompConvexShapeA = convexDecompositionA.Execute().GetConvexShapeList(true);
List <ShapeDecompositionOutput> decompConvexShapeB = convexDecompositionB.Execute().GetConvexShapeList(true);
AABB[][] boxCollision = new AABB[2][];
boxCollision[0] = Array.ConvertAll(decompConvexShapeA.ToArray(), x => x.Region);
boxCollision[1] = Array.ConvertAll(decompConvexShapeB.ToArray(), x => x.Region);
List <CollisionPair> collisionPair = broadPhaseCollisionEngine.Execute(
boxCollision[0],
boxCollision[1],
parameters.CollisionDistance);
var lockMe = new object();
Parallel.ForEach(
collisionPair,
new ParallelOptions {
MaxDegreeOfParallelism = parameters.MaxThreadNumber
},
pair =>
{
CollisionPointStructure collisionPointStruct = SoftBodyNarrowPhase(
decompConvexShapeA[pair.objectIndexA],
decompConvexShapeB[pair.objectIndexB],
shapeA.ID,
shapeB.ID);
if (collisionPointStruct != null)
{
lock (lockMe)
{
result.Add(collisionPointStruct);
}
}
});
return(result);
}
/// <summary>
/// Rigid Body Collision Detection for CompoundShape and ConvexShape
/// </summary>
/// <param name="A"></param>
/// <param name="B"></param>
/// <returns></returns>
private List <CollisionPointStructure> RigidBodyCollisionStep(
IShape A,
IShape B,
double collisionDistance)
{
List <CollisionPointStructure> collisionPointStructure = new List <CollisionPointStructure>();
IGeometry[] geometryA = ShapeDefinition.Helper.GetGeometry(A);
IGeometry[] geometryB = ShapeDefinition.Helper.GetGeometry(B);
List <CollisionPair> collisionPair = CheckGeometryAABB(
geometryA,
geometryB);
if (collisionPair.Count > 0)
{
var verticesA = Helper.GetVertexPosition(A);
var verticesB = Helper.GetVertexPosition(B);
VertexProperties[] vertexObjA = null;
VertexProperties[] vertexObjB = null;
if (A is ConvexShape)
{
vertexObjA = Helper.SetVertexPosition(geometryA[0], verticesA);
}
if (B is ConvexShape)
{
vertexObjB = Helper.SetVertexPosition(geometryB[0], verticesB);
}
foreach (var collidingPair in collisionPair)
{
if (!(A is ConvexShape))
{
vertexObjA = Helper.SetVertexPosition(geometryA[collidingPair.objectIndexA], verticesA);
}
if (!(B is ConvexShape))
{
vertexObjB = Helper.SetVertexPosition(geometryB[collidingPair.objectIndexB], verticesB);
}
CollisionPointStructure collision = convexBodyNarrowPhase.Execute(vertexObjA, vertexObjB, A.ID, B.ID, collisionDistance);
if (collision != null)
{
collisionPointStructure.Add(collision);
}
}
}
return(collisionPointStructure);
}
public CollisionPointStructure Execute(
IShape shapeA,
IShape shapeB,
double collisionDistance)
{
CollisionPointStructure collisionPointStruct = ExecuteNarrowPhase(
shapeA,
shapeB,
collisionDistance);
return(collisionPointStruct);
}
public List <CollisionPointStructure> Execute(
IShape[] shapes,
List <CollisionPair> collisionPairs,
double collisionDistance)
{
var result = new List <CollisionPointStructure>();
foreach (var pair in collisionPairs)
{
CollisionPointStructure collisionPointStruct = ExecuteNarrowPhase(
shapes[pair.objectIndexA],
shapes[pair.objectIndexB],
collisionDistance);
if (collisionPointStruct != null)
{
result.Add(collisionPointStruct);
}
}
return(result);
}
