public void Paint(PaintEventArgs e)
{
for (int i = 0; i < Spheres.Count - 1; i++)
{
for (int j = i + 1; j < Spheres.Count; j++)
{
Sphere3d s1 = Spheres[i];
Sphere3d s2 = Spheres[j];
float? t = CollisionSystem.CalculateCollision(s1, s2);
if (t.HasValue && t.Value != 0)
{
s1.Move(t.Value, ref c1);
//collp.X = s1.Direction.X * t.Value + s1.Position.X;
//collp.Y = s1.Direction.Y * t.Value + s1.Position.Y;
e.Graphics.DrawCircle(Pens.Red, c1.Position.X, c1.Position.Y, s1.Radius);
s2.Move(t.Value, ref c2);
//collp.X = s2.Direction.X * t.Value + s2.Position.X;
//collp.Y = s2.Direction.Y * t.Value + s2.Position.Y;
e.Graphics.DrawCircle(Pens.Red, c2.Position.X, c2.Position.Y, s2.Radius);
e.Graphics.DrawLine(CollisionCirecleCentersPen, c1.Position.X, c1.Position.Y, c2.Position.X, c2.Position.Y);
CollisionSystem.CalculateReaction(0, c1, c2);
float tx = c1.Position.X + c1.Direction.X;
float ty = c1.Position.Y + c1.Direction.Y;
e.Graphics.DrawLine(Pens.Black, c1.Position.X, c1.Position.Y, tx, ty);
}
}
}
}
public virtual void Move(float t, ref Sphere3d s)
{
s.Position.X = Position.X + Direction.X * t;
s.Position.Y = Position.Y + Direction.Y * t;
s.Position.Z = Position.Z + Direction.Z * t;
s.Direction.X = Direction.X;
s.Direction.Y = Direction.Y;
s.Direction.Z = Direction.Z;
}
private static void WriteDebugInfo(float rotationY, Sphere3d s1, Sphere3d s2)
{
string vector(Vector3d v)
{
return($"new Vector3d({v.X}f, {v.Y}f, {v.Z}f)");
}
Console.WriteLine($"float rotationY = {rotationY}f;");
Console.WriteLine($"Sphere3d s1 = new Sphere3d({vector(s1.Position)}, {s1.Radius}, {vector(s1.Direction)});");
Console.WriteLine($"Sphere3d s2 = new Sphere3d({vector(s2.Position)}, {s1.Radius}, {vector(s2.Direction)});");
}
public void Paint(PaintEventArgs e, Pen pen, Sphere3d sphere)
{
float doubleRadius = sphere.Radius * 2;
float sx = (sphere.Position.X + TranslateX) * Scale;
float sz = (sphere.Position.Z + TranslateZ) * Scale;
e.Graphics.DrawCircle(pen, sx, sz, sphere.Radius * Scale);
e.Graphics.DrawArrow(pen, sx, sz, sx + sphere.Direction.X * Scale, sz + sphere.Direction.Z * Scale);
if (Reaction != null)
{
e.Graphics.DrawArrow(Pens.Red, sx, sz, sx + Reaction.X * Scale, sz + Reaction.Z * Scale);
}
}
public PathfinderScene(int sphereCount, int width, int height, Random random)
{
Obstacles = new List <Sphere3d>();
for (int i = 0; i < sphereCount; i++)
{
Obstacles.Add(RandomSphere(random, width, height, dynamic: false));
}
Checkpoint = RandomNonCollidingSphere(random, width, height, Obstacles, dynamic: false);
Vehicle = new Sphere3dVehicle(RandomNonCollidingSphere(random, width, height, Obstacles, dynamic: true));
List <Sphere3d> allSpheres = new List <Sphere3d>();
allSpheres.AddRange(Obstacles);
allSpheres.Add(Checkpoint);
allSpheres.Add(Vehicle.Sphere);
CollisionSystem = new CollisionSystem(allSpheres, new Triangle[] { });
}
public Race(int numberOfSpheres)
{
Spheres = new List <Sphere3d>();
PlayerSphere = new Sphere3d(new Vector3d(), 0.2f, new Vector3d());
Speed = 0.1f;
RotationY = 45;
Input = new RaceInputModel();
Random random = new Random();
Spheres.Add(PlayerSphere);
for (int i = 0; i < numberOfSpheres; i++)
{
float x = random.Next(100);
float z = random.Next(100) - 50;
float r = (float)random.NextDouble() * 2.0f + 0.2f;
Spheres.Add(new Sphere3d(new Vector3d(x, 0, z), r, new Vector3d()));
}
Ground = new Triangle(new Vector3d(-100, -5, -50), new Vector3d(0, -5, 50), new Vector3d(100, -5, -50));
collisionSystem = new CollisionSystem(Spheres, new Triangle[] { Ground });
}
public static float?CalculateCollision(Sphere3d s1, Sphere3d s2)
{
return(null);
//Vector3d.Sub(s1.Position, s2.Position, ref vecs);
//Vector3d.Sub(s1.Direction, s2.Direction, ref vecv);
//float radiusSum = s1.Radius + s2.Radius;
//float c = vecs.Dot(vecs) - radiusSum * radiusSum;
//float t = 0;
//
//if (c < 0)
//{
// return 0;
//}
//else
//{
// float a = vecv.Dot(vecv);
// float b = vecv.Dot(vecs);
//
// if (b >= 0)
// {
// return null;
// }
// else
// {
// float d = b * b - a * c;
//
// if (d < 0)
// {
// return null;
// }
// else
// {
// t = (float)(-b - Math.Sqrt(d)) / a;
// return t;
// }
// }
//}
}
public static float?CalculateCollision(Sphere3d s1, Sphere3d s2)
{
Vector3d.Sub(s1.Position, s2.Position, ref vecs);
Vector3d.Sub(s1.Direction, s2.Direction, ref vecv);
float radiusSum = s1.Radius + s2.Radius;
float c = vecs.Dot(vecs) - radiusSum * radiusSum;
float t = 0;
if (c < 0)
{
return(0);
}
else
{
float a = vecv.Dot(vecv);
float b = vecv.Dot(vecs);
if (b >= 0)
{
return(null);
}
else
{
float d = b * b - a * c;
if (d < 0)
{
return(null);
}
else
{
t = (float)(-b - Math.Sqrt(d)) / a;
return(t);
}
}
}
}
public bool IsColliding(Sphere3d s)
{
double d = Position.Distance(s.Position);
return(d < Radius + s.Radius);
}
public void Set(Sphere3d s)
{
Position.Set(s.Position);
Direction.Set(s.Direction);
Radius = s.Radius;
}
public PaintableSphere3d(Sphere3d sphere, Brush brush)
{
Sphere = sphere;
Brush = brush;
}
public PaintableSphere3d(Sphere3d sphere, Pen pen)
{
Sphere = sphere;
Pen = pen;
}
public Sphere3dVehicle(Sphere3d sphere)
{
Sphere = sphere;
}
public float?Update(float rotationY, float t)
{
float? result = null;
HashSet <int> toRecalculate = new HashSet <int>();
if (t >= closestTime)
{
Console.WriteLine("Collision");
MoveObjects(closestTime);
Sphere3d s1 = Objects[closest.X];
Sphere3d s2 = Objects[closest.Y];
result = CalculateReaction(rotationY, s1, s2);
SubstractCollisionTimes(closestTime);
toRecalculate.Add(closest.X);
toRecalculate.Add(closest.Y);
}
else
{
MoveObjects(t);
SubstractCollisionTimes(t);
closestTime -= t;
}
for (int i = 0; i < Objects.Count; i++)
{
Sphere3d sphere = Objects[i];
if (sphere.Position.X < 0 && sphere.Direction.X < 0)
{
sphere.Direction.X = -sphere.Direction.X;
toRecalculate.Add(i);
}
if (sphere.Position.X > 800 && sphere.Direction.X > 0)
{
sphere.Direction.X = -sphere.Direction.X;
toRecalculate.Add(i);
}
if (sphere.Position.Y < 0 && sphere.Direction.Y < 0)
{
sphere.Direction.Y = -sphere.Direction.Y;
toRecalculate.Add(i);
}
if (sphere.Position.Y > 600 && sphere.Direction.Y > 0)
{
sphere.Direction.Y = -sphere.Direction.Y;
toRecalculate.Add(i);
}
}
foreach (int i in toRecalculate)
{
RecalculateCollisions(i);
}
if (toRecalculate.Count > 0)
{
RecalculateClosestCollision();
}
return(result);
}
public static float?CalculateReaction(float rotationY, Sphere3d s1, Sphere3d s2)
{
float? result = null;
Vector3d n = s1.Position - s2.Position;
n.Normalize();
n.Mul(n.Dot(s1.Direction) * 2);
Vector3d r = s1.Direction - n;
if (s2 != null)
{
//Vector3d direction = new Vector3d();
//direction.Set(s1.Direction);
//direction.Normalize();
result = 57.29577f * (float)Math.Atan2(r.Z, r.X);
CollisionForm.RotationY = rotationY;
CollisionForm.NewRotationY = result.Value;
CollisionForm.Sphere1 = s1;
CollisionForm.Sphere2 = s2;
CollisionForm.Reaction = r;
CollisionForm.Empty = false;
CollisionForm.Refresh();
}
s1.Direction = r;
return(result);
// https://math.stackexchange.com/questions/13261/how-to-get-a-reflection-vector
//s1.Direction = r;
//float rx =
//float x = s1.Direction.X;
//float y = s1.Direction.Y;
//s1.Direction.X = 0;
//s1.Direction.Y = 0;
//s2.Direction.X = x;
//s2.Direction.Y = y;
////s2.RotationY = s1.RotationY;
////s2.RecalculateDirection(5);
//s2.RotationY = s1.RotationY;
////s1.RotationY += 180;
//Vector3d vecx = new Vector3d();
//Vector3d.Sub(s1.Position, s2.Position, ref vecx);
//Vector3d.Normalize(vecx, ref vecx);
//Vector3d vecv1 = new Vector3d(s1.Direction);
//float x1 = vecx.Dot(s1.Direction);
//Vector3d vecv1x = new Vector3d(vecx);
//vecv1x.Mul(x1);
//Vector3d vecv1y = new Vector3d();
//Vector3d.Sub(vecv1, vecv1x, ref vecv1y);
//float m1 = 1;
//
//vecx.Mul(-1);
//Vector3d vecv2 = new Vector3d(s2.Direction);
//float x2 = vecx.Dot(s2.Direction);
//Vector3d vecv2x = new Vector3d(vecx);
//vecv2x.Mul(x2);
//Vector3d vecv2y = new Vector3d();
//Vector3d.Sub(vecv2, vecv2x, ref vecv2y);
//float m2 = 1;
//
//Vector3d vecv2xa = new Vector3d(vecv2x);
//vecv2xa.Mul((2 * m2) / (m1 + m2));
//vecv1x.Mul((m1 - m2) / (m1 - m2));
//Vector3d.Sum(ref s1.Direction, vecv1x, vecv2xa, vecv1);
}
