public void ComputeCollisionBvh()
{
CollisionObject a = new CollisionObject();
TriangleMesh meshA = new TriangleMesh();
meshA.Add(new Triangle(new Vector3F(0, 0, 0), new Vector3F(0, 0, 1), new Vector3F(1, 0, 0)), false);
var meshShapeA = new TriangleMeshShape();
meshShapeA.Mesh = meshA;
meshShapeA.Partition = new AabbTree <int>();
((GeometricObject)a.GeometricObject).Shape = meshShapeA;
CollisionObject b = new CollisionObject();
TriangleMesh meshB = new TriangleMesh();
meshB.Add(new Triangle(new Vector3F(2, 0, 0), new Vector3F(2, 0, 1), new Vector3F(3, 0, 0)), false);
TriangleMeshShape meshShapeB = new TriangleMeshShape();
meshShapeB.Mesh = meshB;
meshShapeB.Partition = new AabbTree <int>();
((GeometricObject)b.GeometricObject).Shape = meshShapeB;
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(-2, 0, 0));
CollisionAlgorithm algo = new TriangleMeshAlgorithm(new CollisionDetection());
Assert.AreEqual(true, algo.HaveContact(a, b));
}
public void ComputeCollision()
{
CollisionObject a = new CollisionObject();
TriangleMesh mesh = new TriangleMesh();
mesh.Add(new Triangle(new Vector3F(0, 0, 0), new Vector3F(0, 0, 1), new Vector3F(1, 0, 0)), false);
mesh.Add(new Triangle(new Vector3F(1, 0, 0), new Vector3F(0, 0, 1), new Vector3F(1, 0, 1)), false);
TriangleMeshShape meshShape = new TriangleMeshShape();
meshShape.Mesh = mesh;
a.GeometricObject = new GeometricObject(meshShape, Pose.Identity);
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1),
Pose = new Pose(new Vector3F(0, 0.9f, 0)),
});
ContactSet set;
TriangleMeshAlgorithm algo = new TriangleMeshAlgorithm(new CollisionDetection());
set = algo.GetClosestPoints(a, b);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(true, algo.HaveContact(b, a));
Assert.AreEqual(1, set.Count);
Assert.IsTrue(Numeric.AreEqual(0.1f, set[0].PenetrationDepth, 0.001f));
//Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 0, 0), set[0].PositionALocal, 0.01f)); // MPR will not return the perfect contact point.
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 1, 0), set[0].Normal, 0.1f));
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0.1f, 0.9f, 0.1f));
algo.UpdateContacts(set, 0);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(true, algo.HaveContact(b, a));
Assert.AreEqual(1, set.Count);
Assert.IsTrue(Numeric.AreEqual(0.1f, set[0].PenetrationDepth, 0.001f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0.1f, 0, 0.1f), set[0].PositionALocal, 0.01f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 1, 0), set[0].Normal, 0.1f));
// The same with a swapped set.
set = set.Swapped;
algo.UpdateContacts(set, 0);
Assert.AreEqual(1, set.Count);
Assert.IsTrue(Numeric.AreEqual(0.1f, set[0].PenetrationDepth, 0.001f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0.1f, 0, 0.1f), set[0].PositionBLocal, 0.01f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, -1, 0), set[0].Normal, 0.1f));
// Separation.
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0.2f, 1.2f, 0.3f));
set = set.Swapped;
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(false, algo.HaveContact(b, a));
algo.UpdateClosestPoints(set, 0);
Assert.IsTrue(Numeric.AreEqual(-0.2f, set[0].PenetrationDepth, 0.001f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0.2f, 0, 0.3f), set[0].PositionALocal, 0.01f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 1, 0), set[0].Normal, 0.1f));
algo.UpdateContacts(set, 0);
Assert.AreEqual(0, set.Count);
}
public void ComputeCollision()
{
CollisionObject a = new CollisionObject();
TriangleMesh mesh = new TriangleMesh();
mesh.Add(new Triangle(new Vector3F(0, 0, 0), new Vector3F(0, 0, 1), new Vector3F(1, 0, 0)), false);
mesh.Add(new Triangle(new Vector3F(1, 0, 0), new Vector3F(0, 0, 1), new Vector3F(1, 0, 1)), false);
TriangleMeshShape meshShape = new TriangleMeshShape();
meshShape.Mesh = mesh;
a.GeometricObject = new GeometricObject(meshShape, Pose.Identity);
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new SphereShape(1),
Pose = new Pose(new Vector3F(0, 0.9f, 0)),
});
ContactSet set;
TriangleMeshAlgorithm algo = new TriangleMeshAlgorithm(new CollisionDetection());
set = algo.GetClosestPoints(a, b);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(true, algo.HaveContact(b, a));
Assert.AreEqual(1, set.Count);
Assert.IsTrue(Numeric.AreEqual(0.1f, set[0].PenetrationDepth, 0.001f));
//Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 0, 0), set[0].PositionALocal, 0.01f)); // MPR will not return the perfect contact point.
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 1, 0), set[0].Normal, 0.1f));
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0.1f, 0.9f, 0.1f));
algo.UpdateContacts(set, 0);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(true, algo.HaveContact(b, a));
Assert.AreEqual(1, set.Count);
Assert.IsTrue(Numeric.AreEqual(0.1f, set[0].PenetrationDepth, 0.001f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0.1f, 0, 0.1f), set[0].PositionALocal, 0.01f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 1, 0), set[0].Normal, 0.1f));
// The same with a swapped set.
set = set.Swapped;
algo.UpdateContacts(set, 0);
Assert.AreEqual(1, set.Count);
Assert.IsTrue(Numeric.AreEqual(0.1f, set[0].PenetrationDepth, 0.001f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0.1f, 0, 0.1f), set[0].PositionBLocal, 0.01f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, -1, 0), set[0].Normal, 0.1f));
// Separation.
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(0.2f, 1.2f, 0.3f));
set = set.Swapped;
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(false, algo.HaveContact(b, a));
algo.UpdateClosestPoints(set, 0);
Assert.IsTrue(Numeric.AreEqual(-0.2f, set[0].PenetrationDepth, 0.001f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0.2f, 0, 0.3f), set[0].PositionALocal, 0.01f));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, 1, 0), set[0].Normal, 0.1f));
algo.UpdateContacts(set, 0);
Assert.AreEqual(0, set.Count);
}
public CollisionAlgorithmMatrix(CollisionDetection collisionDetection)
{
// Initialize with dummy collision algorithms.
var noAlgo = new NoCollisionAlgorithm(collisionDetection); // Definitely no collision wanted.
var infiniteAlgo = new InfiniteShapeAlgorithm(collisionDetection); // Returns always a collision.
// Build default configuration:
var gjk = new Gjk(collisionDetection);
var gjkBoxAlgorithm = new CombinedCollisionAlgorithm(collisionDetection, gjk, new BoxBoxAlgorithm(collisionDetection));
var gjkMprAlgorithm = new CombinedCollisionAlgorithm(collisionDetection, gjk, new MinkowskiPortalRefinement(collisionDetection));
var gjkTriTriAlgorithm = new CombinedCollisionAlgorithm(collisionDetection, gjk, new TriangleTriangleAlgorithm(collisionDetection));
BoxSphereAlgorithm boxSphereAlgorithm = new BoxSphereAlgorithm(collisionDetection);
CompositeShapeAlgorithm compositeAlgorithm = new CompositeShapeAlgorithm(collisionDetection);
HeightFieldAlgorithm heightFieldAlgorithm = new HeightFieldAlgorithm(collisionDetection);
LineAlgorithm lineAlgorithm = new LineAlgorithm(collisionDetection);
PlaneBoxAlgorithm planeBoxAlgorithm = new PlaneBoxAlgorithm(collisionDetection);
PlaneConvexAlgorithm planeConvexAlgorithm = new PlaneConvexAlgorithm(collisionDetection);
PlaneRayAlgorithm planeRayAlgorithm = new PlaneRayAlgorithm(collisionDetection);
PlaneSphereAlgorithm planeSphereAlgorithm = new PlaneSphereAlgorithm(collisionDetection);
RayBoxAlgorithm rayBoxAlgorithm = new RayBoxAlgorithm(collisionDetection);
RayConvexAlgorithm rayConvexAlgorithm = new RayConvexAlgorithm(collisionDetection);
RaySphereAlgorithm raySphereAlgorithm = new RaySphereAlgorithm(collisionDetection);
RayTriangleAlgorithm rayTriangleAlgorithm = new RayTriangleAlgorithm(collisionDetection);
SphereSphereAlgorithm sphereSphereAlgorithm = new SphereSphereAlgorithm(collisionDetection);
TransformedShapeAlgorithm transformedShapeAlgorithm = new TransformedShapeAlgorithm(collisionDetection);
TriangleMeshAlgorithm triangleMeshAlgorithm = new TriangleMeshAlgorithm(collisionDetection);
RayCompositeAlgorithm rayCompositeAlgorithm = new RayCompositeAlgorithm(collisionDetection);
RayTriangleMeshAlgorithm rayTriangleMeshAlgorithm = new RayTriangleMeshAlgorithm(collisionDetection);
RayHeightFieldAlgorithm rayHeightFieldAlgorithm = new RayHeightFieldAlgorithm(collisionDetection);
this[typeof(PointShape), typeof(PointShape)] = gjkMprAlgorithm;
this[typeof(PointShape), typeof(LineShape)] = lineAlgorithm;
this[typeof(PointShape), typeof(RayShape)] = rayConvexAlgorithm;
this[typeof(PointShape), typeof(LineSegmentShape)] = gjkMprAlgorithm;
this[typeof(PointShape), typeof(TriangleShape)] = gjkMprAlgorithm;
this[typeof(PointShape), typeof(RectangleShape)] = gjkMprAlgorithm;
this[typeof(PointShape), typeof(BoxShape)] = gjkMprAlgorithm;
this[typeof(PointShape), typeof(ConvexShape)] = gjkMprAlgorithm;
this[typeof(PointShape), typeof(ScaledConvexShape)] = gjkMprAlgorithm;
this[typeof(PointShape), typeof(CircleShape)] = gjkMprAlgorithm;
this[typeof(PointShape), typeof(SphereShape)] = gjkMprAlgorithm;
this[typeof(PointShape), typeof(CapsuleShape)] = gjkMprAlgorithm;
this[typeof(PointShape), typeof(ConeShape)] = gjkMprAlgorithm;
this[typeof(PointShape), typeof(CylinderShape)] = gjkMprAlgorithm;
this[typeof(PointShape), typeof(EmptyShape)] = noAlgo;
this[typeof(PointShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(PointShape), typeof(PlaneShape)] = planeConvexAlgorithm;
this[typeof(PointShape), typeof(HeightField)] = heightFieldAlgorithm;
this[typeof(PointShape), typeof(TriangleMeshShape)] = triangleMeshAlgorithm;
this[typeof(PointShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(PointShape), typeof(CompositeShape)] = compositeAlgorithm;
this[typeof(LineShape), typeof(LineShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(RayShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(LineSegmentShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(TriangleShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(RectangleShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(BoxShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(ConvexShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(ScaledConvexShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(CircleShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(SphereShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(CapsuleShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(ConeShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(CylinderShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(EmptyShape)] = noAlgo;
this[typeof(LineShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(LineShape), typeof(PlaneShape)] = noAlgo;
this[typeof(LineShape), typeof(HeightField)] = noAlgo;
this[typeof(LineShape), typeof(TriangleMeshShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(TransformedShape)] = lineAlgorithm;
this[typeof(LineShape), typeof(CompositeShape)] = lineAlgorithm;
this[typeof(RayShape), typeof(RayShape)] = noAlgo;
this[typeof(RayShape), typeof(LineSegmentShape)] = rayConvexAlgorithm;
this[typeof(RayShape), typeof(TriangleShape)] = rayTriangleAlgorithm;
this[typeof(RayShape), typeof(RectangleShape)] = rayConvexAlgorithm;
this[typeof(RayShape), typeof(BoxShape)] = rayBoxAlgorithm;
this[typeof(RayShape), typeof(ConvexShape)] = rayConvexAlgorithm;
this[typeof(RayShape), typeof(ScaledConvexShape)] = rayConvexAlgorithm;
this[typeof(RayShape), typeof(CircleShape)] = rayConvexAlgorithm;
this[typeof(RayShape), typeof(SphereShape)] = raySphereAlgorithm;
this[typeof(RayShape), typeof(CapsuleShape)] = rayConvexAlgorithm;
this[typeof(RayShape), typeof(ConeShape)] = rayConvexAlgorithm;
this[typeof(RayShape), typeof(CylinderShape)] = rayConvexAlgorithm;
this[typeof(RayShape), typeof(EmptyShape)] = noAlgo;
this[typeof(RayShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(RayShape), typeof(PlaneShape)] = planeRayAlgorithm;
this[typeof(RayShape), typeof(HeightField)] = rayHeightFieldAlgorithm;
this[typeof(RayShape), typeof(TriangleMeshShape)] = rayTriangleMeshAlgorithm;
this[typeof(RayShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(RayShape), typeof(CompositeShape)] = rayCompositeAlgorithm;
this[typeof(LineSegmentShape), typeof(LineSegmentShape)] = gjkMprAlgorithm;
this[typeof(LineSegmentShape), typeof(TriangleShape)] = gjkMprAlgorithm;
this[typeof(LineSegmentShape), typeof(RectangleShape)] = gjkMprAlgorithm;
this[typeof(LineSegmentShape), typeof(BoxShape)] = gjkMprAlgorithm;
this[typeof(LineSegmentShape), typeof(ConvexShape)] = gjkMprAlgorithm;
this[typeof(LineSegmentShape), typeof(ScaledConvexShape)] = gjkMprAlgorithm;
this[typeof(LineSegmentShape), typeof(CircleShape)] = gjkMprAlgorithm;
this[typeof(LineSegmentShape), typeof(SphereShape)] = gjkMprAlgorithm;
this[typeof(LineSegmentShape), typeof(CapsuleShape)] = gjkMprAlgorithm;
this[typeof(LineSegmentShape), typeof(ConeShape)] = gjkMprAlgorithm;
this[typeof(LineSegmentShape), typeof(CylinderShape)] = gjkMprAlgorithm;
this[typeof(LineSegmentShape), typeof(EmptyShape)] = noAlgo;
this[typeof(LineSegmentShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(LineSegmentShape), typeof(PlaneShape)] = planeConvexAlgorithm;
this[typeof(LineSegmentShape), typeof(HeightField)] = heightFieldAlgorithm;
this[typeof(LineSegmentShape), typeof(TriangleMeshShape)] = triangleMeshAlgorithm;
this[typeof(LineSegmentShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(LineSegmentShape), typeof(CompositeShape)] = compositeAlgorithm;
this[typeof(TriangleShape), typeof(TriangleShape)] = gjkTriTriAlgorithm;
this[typeof(TriangleShape), typeof(RectangleShape)] = gjkMprAlgorithm;
this[typeof(TriangleShape), typeof(BoxShape)] = gjkMprAlgorithm;
this[typeof(TriangleShape), typeof(ConvexShape)] = gjkMprAlgorithm;
this[typeof(TriangleShape), typeof(ScaledConvexShape)] = gjkMprAlgorithm;
this[typeof(TriangleShape), typeof(CircleShape)] = gjkMprAlgorithm;
this[typeof(TriangleShape), typeof(SphereShape)] = gjkMprAlgorithm;
this[typeof(TriangleShape), typeof(CapsuleShape)] = gjkMprAlgorithm;
this[typeof(TriangleShape), typeof(ConeShape)] = gjkMprAlgorithm;
this[typeof(TriangleShape), typeof(CylinderShape)] = gjkMprAlgorithm;
this[typeof(TriangleShape), typeof(EmptyShape)] = noAlgo;
this[typeof(TriangleShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(TriangleShape), typeof(PlaneShape)] = planeConvexAlgorithm;
this[typeof(TriangleShape), typeof(HeightField)] = heightFieldAlgorithm;
this[typeof(TriangleShape), typeof(TriangleMeshShape)] = triangleMeshAlgorithm;
this[typeof(TriangleShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(TriangleShape), typeof(CompositeShape)] = compositeAlgorithm;
this[typeof(RectangleShape), typeof(RectangleShape)] = gjkMprAlgorithm;
this[typeof(RectangleShape), typeof(BoxShape)] = gjkMprAlgorithm;
this[typeof(RectangleShape), typeof(ConvexShape)] = gjkMprAlgorithm;
this[typeof(RectangleShape), typeof(ScaledConvexShape)] = gjkMprAlgorithm;
this[typeof(RectangleShape), typeof(CircleShape)] = gjkMprAlgorithm;
this[typeof(RectangleShape), typeof(SphereShape)] = gjkMprAlgorithm;
this[typeof(RectangleShape), typeof(CapsuleShape)] = gjkMprAlgorithm;
this[typeof(RectangleShape), typeof(ConeShape)] = gjkMprAlgorithm;
this[typeof(RectangleShape), typeof(CylinderShape)] = gjkMprAlgorithm;
this[typeof(RectangleShape), typeof(EmptyShape)] = noAlgo;
this[typeof(RectangleShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(RectangleShape), typeof(PlaneShape)] = planeConvexAlgorithm;
this[typeof(RectangleShape), typeof(HeightField)] = heightFieldAlgorithm;
this[typeof(RectangleShape), typeof(TriangleMeshShape)] = triangleMeshAlgorithm;
this[typeof(RectangleShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(RectangleShape), typeof(CompositeShape)] = compositeAlgorithm;
this[typeof(BoxShape), typeof(BoxShape)] = gjkBoxAlgorithm;
this[typeof(BoxShape), typeof(ConvexShape)] = gjkMprAlgorithm;
this[typeof(BoxShape), typeof(ScaledConvexShape)] = gjkMprAlgorithm;
this[typeof(BoxShape), typeof(CircleShape)] = gjkMprAlgorithm;
this[typeof(BoxShape), typeof(SphereShape)] = boxSphereAlgorithm;
this[typeof(BoxShape), typeof(CapsuleShape)] = gjkMprAlgorithm;
this[typeof(BoxShape), typeof(ConeShape)] = gjkMprAlgorithm;
this[typeof(BoxShape), typeof(CylinderShape)] = gjkMprAlgorithm;
this[typeof(BoxShape), typeof(EmptyShape)] = noAlgo;
this[typeof(BoxShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(BoxShape), typeof(PlaneShape)] = planeBoxAlgorithm;
this[typeof(BoxShape), typeof(HeightField)] = heightFieldAlgorithm;
this[typeof(BoxShape), typeof(TriangleMeshShape)] = triangleMeshAlgorithm;
this[typeof(BoxShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(BoxShape), typeof(CompositeShape)] = compositeAlgorithm;
this[typeof(ConvexShape), typeof(ConvexShape)] = gjkMprAlgorithm;
this[typeof(ConvexShape), typeof(ScaledConvexShape)] = gjkMprAlgorithm;
this[typeof(ConvexShape), typeof(CircleShape)] = gjkMprAlgorithm;
this[typeof(ConvexShape), typeof(SphereShape)] = gjkMprAlgorithm;
this[typeof(ConvexShape), typeof(CapsuleShape)] = gjkMprAlgorithm;
this[typeof(ConvexShape), typeof(ConeShape)] = gjkMprAlgorithm;
this[typeof(ConvexShape), typeof(CylinderShape)] = gjkMprAlgorithm;
this[typeof(ConvexShape), typeof(EmptyShape)] = noAlgo;
this[typeof(ConvexShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(ConvexShape), typeof(PlaneShape)] = planeConvexAlgorithm;
this[typeof(ConvexShape), typeof(HeightField)] = heightFieldAlgorithm;
this[typeof(ConvexShape), typeof(TriangleMeshShape)] = triangleMeshAlgorithm;
this[typeof(ConvexShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(ConvexShape), typeof(CompositeShape)] = compositeAlgorithm;
this[typeof(ScaledConvexShape), typeof(ScaledConvexShape)] = gjkMprAlgorithm;
this[typeof(ScaledConvexShape), typeof(CircleShape)] = gjkMprAlgorithm;
this[typeof(ScaledConvexShape), typeof(SphereShape)] = gjkMprAlgorithm;
this[typeof(ScaledConvexShape), typeof(CapsuleShape)] = gjkMprAlgorithm;
this[typeof(ScaledConvexShape), typeof(ConeShape)] = gjkMprAlgorithm;
this[typeof(ScaledConvexShape), typeof(CylinderShape)] = gjkMprAlgorithm;
this[typeof(ScaledConvexShape), typeof(EmptyShape)] = noAlgo;
this[typeof(ScaledConvexShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(ScaledConvexShape), typeof(PlaneShape)] = planeConvexAlgorithm;
this[typeof(ScaledConvexShape), typeof(HeightField)] = heightFieldAlgorithm;
this[typeof(ScaledConvexShape), typeof(TriangleMeshShape)] = triangleMeshAlgorithm;
this[typeof(ScaledConvexShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(ScaledConvexShape), typeof(CompositeShape)] = compositeAlgorithm;
this[typeof(CircleShape), typeof(CircleShape)] = gjkMprAlgorithm;
this[typeof(CircleShape), typeof(SphereShape)] = gjkMprAlgorithm;
this[typeof(CircleShape), typeof(CapsuleShape)] = gjkMprAlgorithm;
this[typeof(CircleShape), typeof(ConeShape)] = gjkMprAlgorithm;
this[typeof(CircleShape), typeof(CylinderShape)] = gjkMprAlgorithm;
this[typeof(CircleShape), typeof(EmptyShape)] = noAlgo;
this[typeof(CircleShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(CircleShape), typeof(PlaneShape)] = planeConvexAlgorithm;
this[typeof(CircleShape), typeof(HeightField)] = heightFieldAlgorithm;
this[typeof(CircleShape), typeof(TriangleMeshShape)] = triangleMeshAlgorithm;
this[typeof(CircleShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(CircleShape), typeof(CompositeShape)] = compositeAlgorithm;
this[typeof(SphereShape), typeof(SphereShape)] = sphereSphereAlgorithm;
this[typeof(SphereShape), typeof(CapsuleShape)] = gjkMprAlgorithm;
this[typeof(SphereShape), typeof(ConeShape)] = gjkMprAlgorithm;
this[typeof(SphereShape), typeof(CylinderShape)] = gjkMprAlgorithm;
this[typeof(SphereShape), typeof(EmptyShape)] = noAlgo;
this[typeof(SphereShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(SphereShape), typeof(PlaneShape)] = planeSphereAlgorithm;
this[typeof(SphereShape), typeof(HeightField)] = heightFieldAlgorithm;
this[typeof(SphereShape), typeof(TriangleMeshShape)] = triangleMeshAlgorithm;
this[typeof(SphereShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(SphereShape), typeof(CompositeShape)] = compositeAlgorithm;
this[typeof(CapsuleShape), typeof(CapsuleShape)] = gjkMprAlgorithm;
this[typeof(CapsuleShape), typeof(ConeShape)] = gjkMprAlgorithm;
this[typeof(CapsuleShape), typeof(CylinderShape)] = gjkMprAlgorithm;
this[typeof(CapsuleShape), typeof(EmptyShape)] = noAlgo;
this[typeof(CapsuleShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(CapsuleShape), typeof(PlaneShape)] = planeConvexAlgorithm;
this[typeof(CapsuleShape), typeof(HeightField)] = heightFieldAlgorithm;
this[typeof(CapsuleShape), typeof(TriangleMeshShape)] = triangleMeshAlgorithm;
this[typeof(CapsuleShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(CapsuleShape), typeof(CompositeShape)] = compositeAlgorithm;
this[typeof(ConeShape), typeof(ConeShape)] = gjkMprAlgorithm;
this[typeof(ConeShape), typeof(CylinderShape)] = gjkMprAlgorithm;
this[typeof(ConeShape), typeof(EmptyShape)] = noAlgo;
this[typeof(ConeShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(ConeShape), typeof(PlaneShape)] = planeConvexAlgorithm;
this[typeof(ConeShape), typeof(HeightField)] = heightFieldAlgorithm;
this[typeof(ConeShape), typeof(TriangleMeshShape)] = triangleMeshAlgorithm;
this[typeof(ConeShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(ConeShape), typeof(CompositeShape)] = compositeAlgorithm;
this[typeof(CylinderShape), typeof(CylinderShape)] = gjkMprAlgorithm;
this[typeof(CylinderShape), typeof(EmptyShape)] = noAlgo;
this[typeof(CylinderShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(CylinderShape), typeof(PlaneShape)] = planeConvexAlgorithm;
this[typeof(CylinderShape), typeof(HeightField)] = heightFieldAlgorithm;
this[typeof(CylinderShape), typeof(TriangleMeshShape)] = triangleMeshAlgorithm;
this[typeof(CylinderShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(CylinderShape), typeof(CompositeShape)] = compositeAlgorithm;
this[typeof(EmptyShape), typeof(EmptyShape)] = noAlgo;
this[typeof(EmptyShape), typeof(InfiniteShape)] = noAlgo; // No collision between Empty and Infinite.
this[typeof(EmptyShape), typeof(PlaneShape)] = noAlgo;
this[typeof(EmptyShape), typeof(HeightField)] = noAlgo;
this[typeof(EmptyShape), typeof(TriangleMeshShape)] = noAlgo;
this[typeof(EmptyShape), typeof(TransformedShape)] = noAlgo;
this[typeof(EmptyShape), typeof(CompositeShape)] = noAlgo;
this[typeof(InfiniteShape), typeof(InfiniteShape)] = infiniteAlgo;
this[typeof(InfiniteShape), typeof(PlaneShape)] = infiniteAlgo;
this[typeof(InfiniteShape), typeof(HeightField)] = infiniteAlgo;
this[typeof(InfiniteShape), typeof(TriangleMeshShape)] = infiniteAlgo;
this[typeof(InfiniteShape), typeof(TransformedShape)] = infiniteAlgo;
this[typeof(InfiniteShape), typeof(CompositeShape)] = infiniteAlgo;
this[typeof(PlaneShape), typeof(PlaneShape)] = noAlgo;
this[typeof(PlaneShape), typeof(HeightField)] = noAlgo;
this[typeof(PlaneShape), typeof(TriangleMeshShape)] = triangleMeshAlgorithm;
this[typeof(PlaneShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(PlaneShape), typeof(CompositeShape)] = compositeAlgorithm;
this[typeof(HeightField), typeof(HeightField)] = noAlgo;
// We could also call triangleMeshAlgorithm. But since HeightField has usually larger parts it
// is better to call the heightFieldAlgorithm. The heightFieldAlgorithm will cull all but a
// few height field cells very quickly.
this[typeof(HeightField), typeof(TriangleMeshShape)] = heightFieldAlgorithm;
this[typeof(HeightField), typeof(TransformedShape)] = transformedShapeAlgorithm;
// Same as for triangle meshes: Call height field algorithm first.
this[typeof(HeightField), typeof(CompositeShape)] = heightFieldAlgorithm;
this[typeof(TriangleMeshShape), typeof(TriangleMeshShape)] = triangleMeshAlgorithm;
this[typeof(TriangleMeshShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(TriangleMeshShape), typeof(CompositeShape)] = compositeAlgorithm;
this[typeof(TransformedShape), typeof(TransformedShape)] = transformedShapeAlgorithm;
this[typeof(TransformedShape), typeof(CompositeShape)] = transformedShapeAlgorithm;
this[typeof(CompositeShape), typeof(CompositeShape)] = compositeAlgorithm;
}
public void ComputeCollisionBvh()
{
CollisionObject a = new CollisionObject();
TriangleMesh meshA = new TriangleMesh();
meshA.Add(new Triangle(new Vector3F(0, 0, 0), new Vector3F(0, 0, 1), new Vector3F(1, 0, 0)), false);
var meshShapeA = new TriangleMeshShape();
meshShapeA.Mesh = meshA;
meshShapeA.Partition = new AabbTree<int>();
((GeometricObject)a.GeometricObject).Shape = meshShapeA;
CollisionObject b = new CollisionObject();
TriangleMesh meshB = new TriangleMesh();
meshB.Add(new Triangle(new Vector3F(2, 0, 0), new Vector3F(2, 0, 1), new Vector3F(3, 0, 0)), false);
TriangleMeshShape meshShapeB = new TriangleMeshShape();
meshShapeB.Mesh = meshB;
meshShapeB.Partition = new AabbTree<int>();
((GeometricObject)b.GeometricObject).Shape = meshShapeB;
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(-2, 0, 0));
CollisionAlgorithm algo = new TriangleMeshAlgorithm(new CollisionDetection());
Assert.AreEqual(true, algo.HaveContact(a, b));
}
