public Block(BlockType blockType, InstancedMesh <VertexData> .Instance instance, CompoundChild entity)
{
BlockType = blockType;
Instance = instance;
Entity = entity;
HitPoints = blockType.HitPoints;
}
///<summary>
/// Constructs a new compound hierarchy.
///</summary>
///<param name="owner">Owner of the hierarchy.</param>
public CompoundHierarchy(CompoundCollidable owner)
{
Owner = owner;
CompoundChild[] children = new CompoundChild[owner.children.Count];
Array.Copy(owner.children.Elements, children, owner.children.Count);
//In order to initialize a good tree, the local space bounding boxes should first be computed.
//Otherwise, the tree would try to create a hierarchy based on a bunch of zeroed out bounding boxes!
for (int i = 0; i < children.Length; i++)
{
children[i].CollisionInformation.worldTransform = owner.Shape.shapes.Elements[i].LocalTransform;
children[i].CollisionInformation.UpdateBoundingBoxInternal(0);
}
Tree = new BoundingBoxTree <CompoundChild>(children);
}
public void AddBlock(String blockType, int x, int y, int z)
{
// Obtain compound child for the block
int index = x + y * GAME_FIELD_SIZE + z * GAME_FIELD_SIZE * GAME_FIELD_SIZE;
CompoundChild child = compoundBody.CollisionInformation.Children[index];
child.CollisionInformation.CollisionRules.Group = null;
// Obtain instanced mesh for the block
InstancedMesh instancedMesh = blockInstancedMeshes[blockType];
// Create instance of the block in instanced mesh
Matrix transform = child.Entry.LocalTransform.Matrix; //Matrix.CreateTranslation(x + BLOCK_SIZE * 0.5f, y + BLOCK_SIZE * 0.5f, z + BLOCK_SIZE * 0.5f);
int instanceIndex = instancedMesh.AppendInstance(transform);
// Store new instance to the list
Block block = new Block(instancedMesh, instanceIndex, child);
blocks.Add(block);
}
private void RenderEntity(EntityCollidable entity)
{
if (entity is CompoundCollidable)
{
CompoundCollidable compound = entity as CompoundCollidable;
for (int i = 0; i < compound.Children.Count; i++)
{
CompoundChild child = compound.Children[i];
Matrix4 lt = child.Entry.LocalTransform.Matrix;
GL.MultMatrix(ref lt);
RenderEntity(child.CollisionInformation);
}
}
else
{
EntityShape shape = entity.Shape;
if (shape is BoxShape)
{
BoxShape box = shape as BoxShape;
RenderCube(box.Width, box.Height, box.Length);
}
else if (shape is CylinderShape)
{
CylinderShape cylinder = shape as CylinderShape;
RenderCylinder(cylinder.Radius, cylinder.Height);
}
else if (shape is ConeShape)
{
ConeShape cone = shape as ConeShape;
RenderCone(cone.Radius, cone.Height);
}
else if (shape is SphereShape)
{
SphereShape sphere = shape as SphereShape;
RenderSphere(sphere.Radius);
}
}
}
public void LoadLevel(String fileName)
{
// Load level data
GameLevelContent levelData = Game.Content.Load <GameLevelContent>(fileName);
int blocksCount = levelData.BlocksCount();
// List of blocks chapes for compound body
List <CompoundShapeEntry> shapes = new List <CompoundShapeEntry>();
// Create block groups and block physics
foreach (BlockGroupData blockGroup in levelData.BlockGroups)
{
// Create block group
LoadBlockType(blockGroup.BlockTypeName, blocksCount);
// Create physical representation of blocks in this group
Vector3 scale;
Quaternion rotation;
Vector3 translation;
foreach (BlockData blockData in blockGroup.Blocks)
{
// Extract size, position and orientation values from block data transform
blockData.Transform.Decompose(out scale, out rotation, out translation);
blockData.Scale = scale;
// Create physical shape of the block to be part of compound body of blocks
BoxShape blockShape = new BoxShape(scale.X, scale.Y, scale.Z);
// Create compound shape entry for compund body of blocks
CompoundShapeEntry entry = new CompoundShapeEntry(blockShape, new RigidTransform(translation, rotation));
shapes.Add(entry);
}
}
// Create compound body
compoundBody = new CompoundBody(shapes, COMPOUND_BODY_MASS);
compoundBody.PositionUpdateMode = BEPUphysics.PositionUpdating.PositionUpdateMode.Continuous;
compoundBody.AngularDamping = COMPOUND_BODY_ANGULAR_DAMPING;
// Compound body has Position and LocalPosition (in Collision information)
// Position property is position of mass center in global space - it is calculated automatically.
// LocalPosition property is position of geometry of the body in its local space.
// So in order to create compound body which is rotated around desired position ((0,0,0) for now)
// We should switch Position and LocalPosition properties of our compound body.
compoundBody.CollisionInformation.LocalPosition = compoundBody.Position;
compoundBody.Position = Vector3.Zero;
// Add constraint prevents compound body from moving
constraint = new MaximumLinearSpeedConstraint(compoundBody, 0.0f);
// Create collision group for removed blocks
removedBlocksGroup = new CollisionGroup();
// Create blocks
int childCollidableIndex = 0;
foreach (BlockGroupData blockGroup in levelData.BlockGroups)
{
Matrix localPosTransform = Matrix.CreateTranslation(compoundBody.CollisionInformation.LocalPosition);
foreach (BlockData blockData in blockGroup.Blocks)
{
// Obtain block type and instanced mesh for the block
BlockType blockType = blockTypes[blockGroup.BlockTypeName];
InstancedMesh <VertexData> instancedMesh = blockInstancedMeshes[blockGroup.BlockTypeName];
// Obtain physics body (a part of compound body) for the block
CompoundChild child = compoundBody.CollisionInformation.Children[childCollidableIndex];
// Create instance of the block in instanced mesh
InstancedMesh <VertexData> .Instance instance = instancedMesh.AppendInstance(Matrix.CreateScale(blockData.Scale) * child.Entry.LocalTransform.Matrix * localPosTransform);
// Store new block instance to the list
Block block = new Block(blockType, instance, child);
blocks.Add(block);
block.Scale = blockData.Scale;
childCollidableIndex++;
}
}
// Add compound body and its constraints to physics space
space.Add(compoundBody);
space.Add(constraint);
}
/// <summary>
/// Handles contact
/// </summary>
/// <param name="sender"></param>
/// <param name="other"></param>
/// <param name="pair"></param>
/// <param name="contact"></param>
private void handleContactCreated(EntityCollidable sender, Collidable other, CollidablePairHandler pair, ContactData contact)
{
var compoundBody = sender as CompoundCollidable;
var ballEntity = other as EntityCollidable;
// Find exact block being hit by ball
float minDistance = 0;
CompoundChild closestChild = null;
foreach (CompoundChild child in compoundBody.Children)
{
if (child.CollisionInformation.CollisionRules.Group != gameLevel.RemovedBlocksGroup)
{
Vector3 p = Vector3.Transform(child.Entry.LocalTransform.Position, compoundBody.WorldTransform.Matrix);
float distance = 0.0f;
Vector3.DistanceSquared(ref contact.Position, ref p, out distance);
if (closestChild != null)
{
if (minDistance > distance)
{
closestChild = child;
minDistance = distance;
}
}
else
{
closestChild = child;
minDistance = distance;
}
}
}
// Obtain block instance
Block hittedBlock = null;
foreach (Block block in gameLevel.Blocks)
{
if (block.Entity == closestChild)
{
hittedBlock = block;
break;
}
}
// Obtain ball instance
Ball hittingBall = null;
foreach (Platform platform in platforms)
{
foreach (Ball ball in platform.Balls)
{
if (ball.Active == true && ball.Entity.CollisionInformation == ballEntity)
{
hittingBall = ball;
break;
}
}
}
// We have obtained block and ball which are collided, now we can run game logic
if (hittedBlock != null && hittingBall != null)
{
// Get hit points from the ball
int ballHitPoints = hittingBall.HitPoints;
int gainedHitPoints = Math.Min(hittedBlock.HitPoints, hittingBall.HitPoints);
gainedHitPoints *= hittedBlock.BlockType.ScoresPerHitPoint;
hittedBlock.HitPoints -= hittingBall.HitPoints;
// Run block logic
BlockType blockType = hittedBlock.BlockType;
gameLevel.AnimateHit(hittedBlock, contact.Position, hittingBall.Platform);
foreach (BlockEvent blockAction in blockType.Events)
{
blockAction.HandleEvent(hittedBlock);
}
if (hittedBlock.HitPoints <= 0)
{
blockType.Owner.RemoveBlock(hittedBlock);
}
}
}
/// <summary>
/// Removes a child from a compound collidable.
/// </summary>
/// <param name="compound">Compound collidable to remove a child from.</param>
/// <param name="removalPredicate">Callback which analyzes a child and determines if it should be removed from the compound.</param>
/// <param name="childContributions">Distribution contributions from all shapes in the compound shape. This can include shapes which are not represented in the compound.</param>
/// <param name="distributionInfo">Distribution information of the new compound.</param>
/// <param name="weight">Total weight of the new compound.</param>
/// <param name="removedWeight">Weight removed from the compound.</param>
/// <param name="removedCenter">Center of the chunk removed from the compound.</param>
/// <returns>Whether or not any removal took place.</returns>
public static bool RemoveChildFromCompound(CompoundCollidable compound,
Func <CompoundChild, bool> removalPredicate, IList <ShapeDistributionInformation> childContributions,
out ShapeDistributionInformation distributionInfo, out float weight, out float removedWeight,
out Vector3 removedCenter)
{
bool removalOccurred = false;
removedWeight = 0;
removedCenter = new Vector3();
for (int i = compound.children.Count - 1; i >= 0; i--)
{
//The shape doesn't change during this process. The entity could, though.
//All of the other collidable information, like the Tag, CollisionRules, Events, etc. all stay the same.
CompoundChild child = compound.children.Elements[i];
if (removalPredicate(child))
{
removalOccurred = true;
CompoundShapeEntry entry = child.Entry;
removedWeight += entry.Weight;
Vector3 toAdd;
Vector3.Multiply(ref entry.LocalTransform.Position, entry.Weight, out toAdd);
Vector3.Add(ref removedCenter, ref toAdd, out removedCenter);
//The child event handler must be unhooked from the compound.
child.CollisionInformation.events.Parent = null;
compound.children.FastRemoveAt(i);
}
}
if (!removalOccurred)
{
//No removal occurred, so we cannot proceed.
distributionInfo = new ShapeDistributionInformation();
weight = 0;
return(false);
}
if (removedWeight > 0)
{
Vector3.Divide(ref removedCenter, removedWeight, out removedCenter);
}
//Compute the contributions from the original shape to the new form of the original collidable.
distributionInfo = new ShapeDistributionInformation();
weight = 0;
for (int i = compound.children.Count - 1; i >= 0; i--)
{
CompoundChild child = compound.children.Elements[i];
CompoundShapeEntry entry = child.Entry;
ShapeDistributionInformation contribution = childContributions[child.shapeIndex];
Vector3.Add(ref contribution.Center, ref entry.LocalTransform.Position, out contribution.Center);
Vector3.Multiply(ref contribution.Center, child.Entry.Weight, out contribution.Center);
Vector3.Add(ref contribution.Center, ref distributionInfo.Center, out distributionInfo.Center);
distributionInfo.Volume += contribution.Volume;
weight += entry.Weight;
}
//Average the center out.
Vector3.Divide(ref distributionInfo.Center, weight, out distributionInfo.Center);
//Note that the 'entry' is from the Shape, and so the translations are local to the shape's center.
//That is not technically the center of the new collidable- distributionInfo.Center is.
//Offset the child collidables by -distributionInfo.Center using their local offset.
Vector3 offset;
Vector3.Negate(ref distributionInfo.Center, out offset);
//Compute the unscaled inertia tensor.
for (int i = compound.children.Count - 1; i >= 0; i--)
{
CompoundChild child = compound.children.Elements[i];
CompoundShapeEntry entry = child.Entry;
Vector3 transformedOffset;
Quaternion conjugate;
Quaternion.Conjugate(ref entry.LocalTransform.Orientation, out conjugate);
Quaternion.Transform(ref offset, ref conjugate, out transformedOffset);
child.CollisionInformation.localPosition = transformedOffset;
ShapeDistributionInformation contribution = childContributions[child.shapeIndex];
CompoundShape.TransformContribution(ref entry.LocalTransform, ref distributionInfo.Center,
ref contribution.VolumeDistribution, entry.Weight, out contribution.VolumeDistribution);
//Vector3.Add(ref entry.LocalTransform.Position, ref offsetA, out entry.LocalTransform.Position);
Matrix3x3.Add(ref contribution.VolumeDistribution, ref distributionInfo.VolumeDistribution,
out distributionInfo.VolumeDistribution);
}
//Normalize the volume distribution.
Matrix3x3.Multiply(ref distributionInfo.VolumeDistribution, 1 / weight,
out distributionInfo.VolumeDistribution);
//Update the hierarchies of the compounds.
//TODO: Create a new method that does this quickly without garbage. Requires a new Reconstruct method which takes a pool which stores the appropriate node types.
compound.hierarchy.Tree.Reconstruct(compound.children);
return(true);
}
/// <summary>
/// Splits a single compound collidable into two separate compound collidables and computes information needed by the simulation.
/// </summary>
/// <param name="splitPredicate">Delegate which determines if a child in the original compound should be moved to the new compound.</param>
/// <param name="a">Original compound to be split. Children in this compound will be removed and added to the other compound.</param>
/// <param name="b">Compound to receive children removed from the original compound.</param>
/// <param name="distributionInfoA">Volume, volume distribution, and center information about the new form of the original compound collidable.</param>
/// <param name="distributionInfoB">Volume, volume distribution, and center information about the new compound collidable.</param>
/// <param name="weightA">Total weight associated with the new form of the original compound collidable.</param>
/// <param name="weightB">Total weight associated with the new compound collidable.</param>
/// <returns>Whether or not the predicate returned true for any element in the original compound and split the compound.</returns>
public static bool SplitCompound(Func <CompoundChild, bool> splitPredicate,
CompoundCollidable a, CompoundCollidable b,
out ShapeDistributionInformation distributionInfoA, out ShapeDistributionInformation distributionInfoB,
out float weightA, out float weightB)
{
bool splitOccurred = false;
for (int i = a.children.Count - 1; i >= 0; i--)
{
//The shape doesn't change during this process. The entity could, though.
//All of the other collidable information, like the Tag, CollisionRules, Events, etc. all stay the same.
CompoundChild child = a.children.Elements[i];
if (splitPredicate(child))
{
splitOccurred = true;
a.children.FastRemoveAt(i);
b.children.Add(child);
//The child event handler must be unhooked from the old compound and given to the new one.
child.CollisionInformation.events.Parent = b.Events;
}
}
if (!splitOccurred)
{
//No split occurred, so we cannot proceed.
distributionInfoA = new ShapeDistributionInformation();
distributionInfoB = new ShapeDistributionInformation();
weightA = 0;
weightB = 0;
return(false);
}
//Compute the contributions from the original shape to the new form of the original collidable.
distributionInfoA = new ShapeDistributionInformation();
weightA = 0;
distributionInfoB = new ShapeDistributionInformation();
weightB = 0;
for (int i = a.children.Count - 1; i >= 0; i--)
{
CompoundChild child = a.children.Elements[i];
CompoundShapeEntry entry = child.Entry;
Vector3 weightedCenter;
Vector3.Multiply(ref entry.LocalTransform.Position, entry.Weight, out weightedCenter);
Vector3.Add(ref weightedCenter, ref distributionInfoA.Center, out distributionInfoA.Center);
distributionInfoA.Volume += entry.Shape.Volume;
weightA += entry.Weight;
}
for (int i = b.children.Count - 1; i >= 0; i--)
{
CompoundChild child = b.children.Elements[i];
CompoundShapeEntry entry = child.Entry;
Vector3 weightedCenter;
Vector3.Multiply(ref entry.LocalTransform.Position, entry.Weight, out weightedCenter);
Vector3.Add(ref weightedCenter, ref distributionInfoB.Center, out distributionInfoB.Center);
distributionInfoB.Volume += entry.Shape.Volume;
weightB += entry.Weight;
}
//Average the center out.
if (weightA > 0)
{
Vector3.Divide(ref distributionInfoA.Center, weightA, out distributionInfoA.Center);
}
if (weightB > 0)
{
Vector3.Divide(ref distributionInfoB.Center, weightB, out distributionInfoB.Center);
}
//Note that the 'entry' is from the Shape, and so the translations are local to the shape's center.
//That is not technically the center of the new collidable- distributionInfoA.Center is.
//Offset the child collidables by -distributionInfoA.Center using their local offset.
Vector3 offsetA;
Vector3.Negate(ref distributionInfoA.Center, out offsetA);
Vector3 offsetB;
Vector3.Negate(ref distributionInfoB.Center, out offsetB);
//Compute the unscaled inertia tensor.
for (int i = a.children.Count - 1; i >= 0; i--)
{
CompoundChild child = a.children.Elements[i];
CompoundShapeEntry entry = child.Entry;
Vector3 transformedOffset;
Quaternion conjugate;
Quaternion.Conjugate(ref entry.LocalTransform.Orientation, out conjugate);
Quaternion.Transform(ref offsetA, ref conjugate, out transformedOffset);
child.CollisionInformation.localPosition = transformedOffset;
Matrix3x3 contribution;
CompoundShape.TransformContribution(ref entry.LocalTransform, ref distributionInfoA.Center,
ref entry.Shape.volumeDistribution, entry.Weight, out contribution);
Matrix3x3.Add(ref contribution, ref distributionInfoA.VolumeDistribution,
out distributionInfoA.VolumeDistribution);
}
for (int i = b.children.Count - 1; i >= 0; i--)
{
CompoundChild child = b.children.Elements[i];
CompoundShapeEntry entry = child.Entry;
Vector3 transformedOffset;
Quaternion conjugate;
Quaternion.Conjugate(ref entry.LocalTransform.Orientation, out conjugate);
Quaternion.Transform(ref offsetB, ref conjugate, out transformedOffset);
child.CollisionInformation.localPosition = transformedOffset;
Matrix3x3 contribution;
CompoundShape.TransformContribution(ref entry.LocalTransform, ref distributionInfoB.Center,
ref entry.Shape.volumeDistribution, entry.Weight, out contribution);
Matrix3x3.Add(ref contribution, ref distributionInfoB.VolumeDistribution,
out distributionInfoB.VolumeDistribution);
}
//Normalize the volume distribution.
Matrix3x3.Multiply(ref distributionInfoA.VolumeDistribution, 1 / weightA,
out distributionInfoA.VolumeDistribution);
Matrix3x3.Multiply(ref distributionInfoB.VolumeDistribution, 1 / weightB,
out distributionInfoB.VolumeDistribution);
//Update the hierarchies of the compounds.
//TODO: Create a new method that does this quickly without garbage. Requires a new Reconstruct method which takes a pool which stores the appropriate node types.
a.hierarchy.Tree.Reconstruct(a.children);
b.hierarchy.Tree.Reconstruct(b.children);
return(true);
}
