public bool Pointcast(Vector3 point)
{
var jPoint = point.ToJVector();
return(GJKCollide.Pointcast(this.body.Shape, ref this.body.orientation, ref this.body.position, ref jPoint));
}
protected override void Update(GameTime gameTime)
{
// Allows the game to exit
if (GamePad.GetState(PlayerIndex.One).Buttons.Back == ButtonState.Pressed)
{
this.Exit();
}
KeyboardState keys = Keyboard.GetState();
JVector moveVector = JVector.Zero;
float amountOfMovement = 0.05f;
if (keys.IsKeyDown(Keys.Right))
{
moveVector.X += amountOfMovement;
}
if (keys.IsKeyDown(Keys.Left))
{
moveVector.X -= amountOfMovement;
}
if (keys.IsKeyDown(Keys.Down))
{
moveVector.Y -= amountOfMovement;
}
if (keys.IsKeyDown(Keys.Up))
{
moveVector.Y += amountOfMovement;
}
body1.Position += moveVector;
if (keys.IsKeyDown(Keys.OemPlus) && oldState.IsKeyUp(Keys.OemPlus))
{
GJKCollide.MaxIterations++;
}
if (keys.IsKeyDown(Keys.OemMinus) && oldState.IsKeyUp(Keys.OemMinus))
{
GJKCollide.MaxIterations--;
}
GJKCollide.MaxIterations = (int)JMath.Clamp(GJKCollide.MaxIterations, 0, 25);
bool changeShape = false;
if (keys.IsKeyDown(Keys.D1) && oldState.IsKeyUp(Keys.D1))
{
shapeType++;
changeShape = true;
}
if (keys.IsKeyDown(Keys.D2) && oldState.IsKeyUp(Keys.D2))
{
shapeType--;
changeShape = true;
}
shapeType = (int)JMath.Clamp(shapeType, 0, 2);
if (changeShape)
{
Random r = new Random();
switch (shapeType)
{
case 0: // circle
body1 = new RigidBody(new CircleShape((float)r.NextDouble() * 3f));
break;
case 1: // capsule
body1 = new RigidBody(new CapsuleShape((float)r.NextDouble() * 3f, (float)r.NextDouble() * 1f));
break;
case 2: // box
body1 = new RigidBody(new BoxShape((float)r.NextDouble() * 3f, (float)r.NextDouble() * 3f));
break;
}
}
body1.Orientation += 0.005f;
body2.Orientation -= 0.005f;
JMatrix o1 = JMatrix.CreateRotationZ(body1.Orientation);
JMatrix o2 = JMatrix.CreateRotationZ(body2.Orientation);
JVector pos1 = body1.Position;
JVector pos2 = body2.Position;
JVector point2;
sw.Start();
hit = GJKCollide.ClosestPoints(body1.Shape, body2.Shape, ref o1, ref o2, ref pos1, ref pos2, out point, out point2, out normal);
sw.Stop();
penetration = JVector.Distance(point, point2);
ticks = sw.ElapsedTicks;
sw.Reset();
DebugDrawer.DrawPoint(point2);
DebugDrawer.DrawPoint(point);
DebugDrawer.Color = Color.Red;
DebugDrawer.DrawLine(JVector.Zero, normal);
DebugDrawer.Color = Color.Black;
DebugDrawer.DrawLine(JVector.Up, JVector.Down);
DebugDrawer.DrawLine(JVector.Left, JVector.Right);
body1.DebugDraw(DebugDrawer);
body2.DebugDraw(DebugDrawer);
oldState = keys;
base.Update(gameTime);
}
/// <summary>
/// Adds a body to the fluid. Only bodies which where added
/// to the fluidvolume gets affected by buoyancy forces.
/// </summary>
/// <param name="body">The body which should be added.</param>
/// <param name="subdivisions">The object is subdivided in smaller objects
/// for which buoyancy force is calculated. The more subdivisons the better
/// the results. Note that the total number of subdivisions is subdivisions³.</param>
public void Add(RigidBody body, int subdivisions)
{
List <JVector> massPoints = new List <JVector>();
JVector testVector;
JVector diff = body.Shape.BoundingBox.Max - body.Shape.BoundingBox.Min;
if (diff.IsNearlyZero())
{
throw new InvalidOperationException("BoundingBox volume of the shape is zero.");
}
Multishape ms = body.Shape as Multishape;
int values = 0;
if (ms != null)
{
JBBox largeBox = JBBox.LargeBox;
values = ms.Prepare(ref largeBox);
}
for (int i = 0; i < subdivisions; i++)
{
for (int e = 0; e < subdivisions; e++)
{
for (int k = 0; k < subdivisions; k++)
{
testVector.X = body.Shape.BoundingBox.Min.X + (diff.X / (float)(subdivisions - 1)) * ((float)i);
testVector.Y = body.Shape.BoundingBox.Min.Y + (diff.Y / (float)(subdivisions - 1)) * ((float)e);
testVector.Z = body.Shape.BoundingBox.Min.Z + (diff.Z / (float)(subdivisions - 1)) * ((float)k);
JMatrix ident = JMatrix.Identity;
JVector zero = JVector.Zero;
if (ms != null)
{
for (int j = 0; j < values; j++)
{
ms.SetCurrentShape(j);
if (GJKCollide.Pointcast(body.Shape, ref ident,
ref zero, ref testVector))
{
massPoints.Add(testVector);
}
}
}
else
{
if (GJKCollide.Pointcast(body.Shape, ref ident,
ref zero, ref testVector))
{
massPoints.Add(testVector);
}
}
}
}
}
samples.Add(body.Shape, massPoints.ToArray());
bodies.Add(body);
}
//int sampleCount = 50;
//float distance = 4.0f;
public void UpdateAmbientOcclusion(Model model, Group occluders, string mapName)
{
#if false // \todo fix
GeometryMesh mesh = model.Batch.MeshSource as GeometryMesh;
if (mesh == null)
{
return;
}
Geometry geometry = mesh.Geometry;
model.UpdateOctree();
var shape = new TriangleMeshShape(model.Octree);
shape.SphericalExpansion = 0.0f;
#if VISUALIZE_RAYS
sceneManager.DebugLineRenderer.Begin();
#endif
var pointLocations = geometry.PointAttributes.Find <Vector3>("point_locations");
var polygonCentroids = geometry.PolygonAttributes.Find <Vector3>("polygon_centroids");
var pointNormals = geometry.PointAttributes.Find <Vector3>(mapName);
var cornerNormals = geometry.CornerAttributes.Contains <Vector3>("corner_normals") ? geometry.CornerAttributes.Find <Vector3>("corner_normals") : null;
var cornerColors = geometry.CornerAttributes.FindOrCreate <Vector4>("corner_colors");
cornerColors.Clear();
int badCount = 0;
foreach (Polygon polygon in geometry.Polygons)
{
foreach (Corner corner in polygon.Corners)
{
Point point = corner.Point;
// Start from corner position slightly moved towards polygon center
Vector3 initialEye = Vector3.Mix(pointLocations[point], polygonCentroids[polygon], 0.001f);
Vector3 normal;
if (
(cornerNormals != null) &&
(cornerNormals.ContainsKey(corner) == true)
)
{
normal = cornerNormals[corner];
}
else
{
normal = pointNormals[point];
}
JMatrix orientation = JMatrix.Identity;
JMatrix invOrientation = JMatrix.Identity;
Vector3 modelPosition = Vector3.Zero;
// Slightly up from surface
initialEye += normal * 0.01f;
int visibility = sampleCount;
JVector position = Conversions.JVector(modelPosition);
JVector direction;
JVector jnormal;
Vector3 eye = initialEye;
JVector origin = Conversions.JVector(eye);
// Sample a few directions
for (int c = 0; c < sampleCount; ++c)
{
// Get a random direction until it points up from the surface
Vector3 sampleDirection;
float dot;
do
{
sampleDirection = Random();
dot = Vector3.Dot(normal, sampleDirection);
}while(dot < 0.25f);
// Scale
direction = Conversions.JVector(sampleDirection * distance);
bool hit = false;
{
float tempFraction;
if (shape is Multishape)
{
Multishape ms = (shape as Multishape).RequestWorkingClone();
JVector tempNormal;
int msLength = ms.Prepare(ref origin, ref direction);
for (int i = 0; i < msLength; i++)
{
ms.SetCurrentShape(i);
if (
GJKCollide.Raycast(
ms, ref orientation, ref invOrientation, ref position,
ref origin, ref direction, out tempFraction, out tempNormal
)
)
{
hit = true;
break;
}
}
ms.ReturnWorkingClone();
}
else
{
hit = GJKCollide.Raycast(
shape, ref orientation, ref invOrientation, ref position,
ref origin, ref direction, out tempFraction, out jnormal
);
}
}
if (hit)
{
visibility -= 1;
}
Vector3 root = new Vector3(origin.X, origin.Y, origin.Z);
Vector3 tip = root + 0.02f * new Vector3(direction.X, direction.Y, direction.Z);
#if VISUALIZE_RAYS
sceneManager.DebugLineRenderer.Line(
root,
Vector4.Zero,
tip,
(hit ? Vector4.UnitX : Vector4.UnitY)
);
#endif
}
float visibilityFloat = (float)(visibility) / (float)(sampleCount);
cornerColors[corner] = new Vector4(visibilityFloat, visibilityFloat, visibilityFloat, 1.0f);
}
}
mesh.Geometry.ComputePolygonCentroids();
mesh.Geometry.ComputePolygonNormals();
mesh.Geometry.SmoothNormalize("corner_normals", "polygon_normals", (2.0f * (float)Math.PI));
mesh.Geometry.SmoothAverage("corner_colors", mapName);
mesh.BuildMeshFromGeometry(BufferUsageHint.StaticDraw, NormalStyle.CornerNormals);
//UpdateMeshCornerColors(mesh);
Debug.WriteLine("bad count = " + badCount.ToString());
#if VISUALIZE_RAYS
sceneManager.DebugLineRenderer.End();
sceneManager.DebugFrame = model.Frame;
#endif
//model.Name = "AmbientOcclusion(" + model.Name + ")";
#endif
}