/// <summary>
/// Detección de colisiones recursiva
/// </summary>
public void doCollideWithWorld(TgcBoundingSphere characterSphere, Vector3 movementVector, List <TgcBoundingBox> obstaculos, int recursionDepth)
{
//Limitar recursividad
if (recursionDepth > 5)
{
return;
}
//Ver si la distancia a recorrer es para tener en cuenta
float distanceToTravelSq = movementVector.LengthSq();
if (distanceToTravelSq < EPSILON)
{
return;
}
//Posicion deseada
Vector3 originalSphereCenter = characterSphere.Center;
Vector3 nextSphereCenter = originalSphereCenter + movementVector;
//Buscar el punto de colision mas cercano de todos los objetos candidatos
float minCollisionDistSq = float.MaxValue;
Vector3 realMovementVector = movementVector;
TgcBoundingBox.Face collisionFace = null;
TgcBoundingBox collisionObstacle = null;
Vector3 nearestPolygonIntersectionPoint = Vector3.Empty;
foreach (TgcBoundingBox obstaculoBB in obstaculos)
{
//Obtener los polígonos que conforman las 6 caras del BoundingBox
TgcBoundingBox.Face[] bbFaces = obstaculoBB.computeFaces();
foreach (TgcBoundingBox.Face bbFace in bbFaces)
{
Vector3 pNormal = TgcCollisionUtils.getPlaneNormal(bbFace.Plane);
TgcRay movementRay = new TgcRay(originalSphereCenter, movementVector);
float brutePlaneDist;
Vector3 brutePlaneIntersectionPoint;
if (!TgcCollisionUtils.intersectRayPlane(movementRay, bbFace.Plane, out brutePlaneDist, out brutePlaneIntersectionPoint))
{
continue;
}
float movementRadiusLengthSq = Vector3.Multiply(movementVector, characterSphere.Radius).LengthSq();
if (brutePlaneDist * brutePlaneDist > movementRadiusLengthSq)
{
continue;
}
//Obtener punto de colisión en el plano, según la normal del plano
float pDist;
Vector3 planeIntersectionPoint;
Vector3 sphereIntersectionPoint;
TgcRay planeNormalRay = new TgcRay(originalSphereCenter, -pNormal);
bool embebbed = false;
bool collisionFound = false;
if (TgcCollisionUtils.intersectRayPlane(planeNormalRay, bbFace.Plane, out pDist, out planeIntersectionPoint))
{
//Ver si el plano está embebido en la esfera
if (pDist <= characterSphere.Radius)
{
embebbed = true;
//TODO: REVISAR ESTO, caso embebido a analizar con más detalle
sphereIntersectionPoint = originalSphereCenter - pNormal * characterSphere.Radius;
}
//Esta fuera de la esfera
else
{
//Obtener punto de colisión del contorno de la esfera según la normal del plano
sphereIntersectionPoint = originalSphereCenter - Vector3.Multiply(pNormal, characterSphere.Radius);
//Disparar un rayo desde el contorno de la esfera hacia el plano, con el vector de movimiento
TgcRay sphereMovementRay = new TgcRay(sphereIntersectionPoint, movementVector);
if (!TgcCollisionUtils.intersectRayPlane(sphereMovementRay, bbFace.Plane, out pDist, out planeIntersectionPoint))
{
//no hay colisión
continue;
}
}
//Ver si planeIntersectionPoint pertenece al polígono
Vector3 newMovementVector;
float newMoveDistSq;
Vector3 polygonIntersectionPoint;
if (pointInBounbingBoxFace(planeIntersectionPoint, bbFace))
{
if (embebbed)
{
//TODO: REVISAR ESTO, nunca debería pasar
//throw new Exception("El polígono está dentro de la esfera");
}
polygonIntersectionPoint = planeIntersectionPoint;
collisionFound = true;
}
else
{
//Buscar el punto mas cercano planeIntersectionPoint que tiene el polígono real de esta cara
polygonIntersectionPoint = TgcCollisionUtils.closestPointRectangle3d(planeIntersectionPoint,
bbFace.Extremes[0], bbFace.Extremes[1], bbFace.Extremes[2]);
//Revertir el vector de velocidad desde el nuevo polygonIntersectionPoint para ver donde colisiona la esfera, si es que llega
Vector3 reversePointSeg = polygonIntersectionPoint - movementVector;
if (TgcCollisionUtils.intersectSegmentSphere(polygonIntersectionPoint, reversePointSeg, characterSphere, out pDist, out sphereIntersectionPoint))
{
collisionFound = true;
}
}
if (collisionFound)
{
//Nuevo vector de movimiento acotado
newMovementVector = polygonIntersectionPoint - sphereIntersectionPoint;
newMoveDistSq = newMovementVector.LengthSq();
if (newMoveDistSq <= distanceToTravelSq && newMoveDistSq < minCollisionDistSq)
{
minCollisionDistSq = newMoveDistSq;
realMovementVector = newMovementVector;
nearestPolygonIntersectionPoint = polygonIntersectionPoint;
collisionFace = bbFace;
collisionObstacle = obstaculoBB;
}
}
}
}
}
//Si nunca hubo colisión, avanzar todo lo requerido
if (collisionFace == null)
{
//Avanzar hasta muy cerca
float movementLength = movementVector.Length();
movementVector.Multiply((movementLength - EPSILON) / movementLength);
characterSphere.moveCenter(movementVector);
return;
}
//Solo movernos si ya no estamos muy cerca
if (minCollisionDistSq >= EPSILON)
{
//Mover el BoundingSphere hasta casi la nueva posición real
float movementLength = realMovementVector.Length();
realMovementVector.Multiply((movementLength - EPSILON) / movementLength);
characterSphere.moveCenter(realMovementVector);
}
//Calcular plano de Sliding
Vector3 slidePlaneOrigin = nearestPolygonIntersectionPoint;
Vector3 slidePlaneNormal = characterSphere.Center - nearestPolygonIntersectionPoint;
slidePlaneNormal.Normalize();
Plane slidePlane = Plane.FromPointNormal(slidePlaneOrigin, slidePlaneNormal);
//Proyectamos el punto original de destino en el plano de sliding
TgcRay slideRay = new TgcRay(nearestPolygonIntersectionPoint + Vector3.Multiply(movementVector, slideFactor), slidePlaneNormal);
float slideT;
Vector3 slideDestinationPoint;
if (TgcCollisionUtils.intersectRayPlane(slideRay, slidePlane, out slideT, out slideDestinationPoint))
{
//Nuevo vector de movimiento
Vector3 slideMovementVector = slideDestinationPoint - nearestPolygonIntersectionPoint;
if (slideMovementVector.LengthSq() < EPSILON)
{
return;
}
//Recursividad para aplicar sliding
doCollideWithWorld(characterSphere, slideMovementVector, obstaculos, recursionDepth + 1);
}
}