/// <summary>
/// CollDetect
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule0 = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
Capsule newCapsule0 = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
Segment oldSeg0 = new Segment(oldCapsule0.Position, oldCapsule0.Length * oldCapsule0.Orientation.Backward);
Segment newSeg0 = new Segment(newCapsule0.Position, newCapsule0.Length * newCapsule0.Orientation.Backward);
Capsule oldCapsule1 = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Capsule;
Capsule newCapsule1 = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Capsule;
Segment oldSeg1 = new Segment(oldCapsule1.Position, oldCapsule1.Length * oldCapsule1.Orientation.Backward);
Segment newSeg1 = new Segment(newCapsule1.Position, newCapsule1.Length * newCapsule1.Orientation.Backward);
float radSum = newCapsule0.Radius + newCapsule1.Radius;
float oldt0, oldt1;
float newt0, newt1;
float oldDistSq = Distance.SegmentSegmentDistanceSq(out oldt0, out oldt1, oldSeg0, oldSeg1);
float newDistSq = Distance.SegmentSegmentDistanceSq(out newt0, out newt1, newSeg0, newSeg1);
if (System.Math.Min(oldDistSq, newDistSq) < ((radSum + collTolerance) * (radSum + collTolerance)))
{
Vector3 pos0 = oldSeg0.GetPoint(oldt0);
Vector3 pos1 = oldSeg1.GetPoint(oldt1);
Vector3 delta = pos0 - pos1;
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - dist;
if (dist > JiggleMath.Epsilon)
{
delta /= dist;
}
else
{
// todo - make this not random
delta = Vector3.TransformNormal(Vector3.Backward, Matrix.CreateFromAxisAngle(Vector3.Up, MathHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = pos1 +
(oldCapsule1.Radius - 0.5f * depth) * delta;
#if WINDOWS_PHONE
this.collInfo[0] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref delta, this.collInfo, 1);
#else
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref delta, &collInfo, 1);
}
#endif
}
}
public void Init(ref SmallCollPointInfo info)
{
this.info = info;
this.Denominator = 0.0f;
this.AccumulatedNormalImpulse = 0.0f;
this.AccumulatedNormalImpulseAux = 0.0f;
this.AccumulatedFrictionImpulse = Vector3.Zero;
this.Position = Vector3.Zero;
this.MinSeparationVel = 0.0f;
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;
JigLibX.Geometry.Plane oldPlane = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as JigLibX.Geometry.Plane;
JigLibX.Geometry.Plane newPlane = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as JigLibX.Geometry.Plane;
Matrix newPlaneInvTransform = newPlane.InverseTransformMatrix;
Matrix oldPlaneInvTransform = oldPlane.InverseTransformMatrix;
Vector3 oldSpherePos = Vector3.Transform(oldSphere.Position, oldPlaneInvTransform);
Vector3 newSpherePos = Vector3.Transform(newSphere.Position, newPlaneInvTransform);
// consider it a contact if either old or new are touching
float oldDist = Distance.PointPlaneDistance(oldSpherePos, oldPlane);
float newDist = Distance.PointPlaneDistance(newSpherePos, newPlane);
if (System.Math.Min(newDist, oldDist) > collTolerance + newSphere.Radius)
{
return;
}
// collision - record depth using the old values
float oldDepth = oldSphere.Radius - oldDist;
// calc the world position based on the old position(s)
Vector3 worldPos = oldSphere.Position - oldSphere.Radius * oldPlane.Normal;
#if WINDOWS_PHONE
this.collInfo[0] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, this.collInfo, 1);
#else
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, &collInfo, 1);
}
#endif
}
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule0 = (Capsule)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Capsule newCapsule0 = (Capsule)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
Segment oldSeg0 = new Segment(oldCapsule0.Position, oldCapsule0.Length * oldCapsule0.Orientation.Backward);
Segment newSeg0 = new Segment(newCapsule0.Position, newCapsule0.Length * newCapsule0.Orientation.Backward);
Capsule oldCapsule1 = (Capsule)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
Capsule newCapsule1 = (Capsule)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
Segment oldSeg1 = new Segment(oldCapsule1.Position, oldCapsule1.Length * oldCapsule1.Orientation.Backward);
Segment newSeg1 = new Segment(newCapsule1.Position, newCapsule1.Length * newCapsule1.Orientation.Backward);
float radSum = newCapsule0.Radius + newCapsule1.Radius;
float oldt0, oldt1;
float newt0, newt1;
float oldDistSq = Distance.SegmentSegmentDistanceSq(out oldt0, out oldt1, oldSeg0, oldSeg1);
float newDistSq = Distance.SegmentSegmentDistanceSq(out newt0, out newt1, newSeg0, newSeg1);
if (System.Math.Min(oldDistSq, newDistSq) < ((radSum + collTolerance) * (radSum + collTolerance)))
{
Vector3 pos0 = oldSeg0.GetPoint(oldt0);
Vector3 pos1 = oldSeg1.GetPoint(oldt1);
Vector3 delta = pos0 - pos1;
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - dist;
if (dist > JiggleMath.Epsilon)
{
delta /= dist;
}
else
{
// todo - make this not random
delta = Vector3.Transform(Vector3.Backward, Matrix.CreateFromAxisAngle(Vector3.Up, MathHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = pos1 +
(oldCapsule1.Radius - 0.5f * depth) * delta;
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref delta, &collInfo, 1);
}
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere0 = (Sphere)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Sphere newSphere0 = (Sphere)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
Sphere oldSphere1 = (Sphere)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
Sphere newSphere1 = (Sphere)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
Vector3 oldDelta = oldSphere0.Position - oldSphere1.Position;
Vector3 newDelta = newSphere0.Position - oldSphere1.Position;
float oldDistSq = oldDelta.LengthSquared();
float newDistSq = newDelta.LengthSquared();
float radSum = newSphere0.Radius + newSphere1.Radius;
if (System.Math.Min(oldDistSq, newDistSq) < ((radSum + collTolerance) * (radSum + collTolerance)))
{
float oldDist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - oldDist;
if (oldDist > JiggleMath.Epsilon)
{
oldDelta /= oldDist;
}
else
{
// TODO - make this not random...!
oldDelta = Vector3.TransformNormal(Vector3.Backward, Matrix.CreateFromAxisAngle(Vector3.Up, MathHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = oldSphere1.Position +
(oldSphere1.Radius - 0.5f * depth) * oldDelta;
#if WINDOWS_PHONE
this.collInfo[0] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref oldDelta, this.collInfo, 1);
#else
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref oldDelta, &collInfo, 1);
}
#endif
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;
Heightmap oldHeightmap = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Heightmap;
Heightmap newHeightmap = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Heightmap;
float newDist;
Vector3 normal;
newHeightmap.GetHeightAndNormal(out newDist, out normal, newSphere.Position);
if (newDist < collTolerance + newSphere.Radius)
{
float oldDist = oldHeightmap.GetHeight(oldSphere.Position);
float depth = oldSphere.Radius - oldDist;
// calc the world position when it just hit
Vector3 oldPt = oldSphere.Position - oldSphere.Radius * normal;
#if WINDOWS_PHONE
ptInfo[0] = new SmallCollPointInfo(oldPt - body0Pos, oldPt - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref normal, ptInfo, 1);
#else
unsafe
{
SmallCollPointInfo ptInfo = new SmallCollPointInfo(oldPt - body0Pos, oldPt - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref normal, &ptInfo, 1);
}
#endif
}
}
/// <summary>
///
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere = (Sphere)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Sphere newSphere = (Sphere)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
JigLibX.Geometry.Plane oldPlane = (JigLibX.Geometry.Plane)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
JigLibX.Geometry.Plane newPlane = (JigLibX.Geometry.Plane)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
Matrix newPlaneInvTransform = newPlane.InverseTransformMatrix;
Matrix oldPlaneInvTransform = oldPlane.InverseTransformMatrix;
Vector3 oldSpherePos = Vector3.Transform(oldSphere.Position, oldPlaneInvTransform);
Vector3 newSpherePos = Vector3.Transform(newSphere.Position, newPlaneInvTransform);
// consider it a contact if either old or new are touching
float oldDist = Distance.PointPlaneDistance(oldSpherePos, oldPlane);
float newDist = Distance.PointPlaneDistance(newSpherePos, newPlane);
if (System.Math.Min(newDist, oldDist) > collTolerance + newSphere.Radius)
return;
// collision - record depth using the old values
float oldDepth = oldSphere.Radius - oldDist;
// calc the world position based on the old position(s)
Vector3 worldPos = oldSphere.Position - oldSphere.Radius * oldPlane.Normal;
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, &collInfo, 1);
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere0 = (Sphere) info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Sphere newSphere0 = (Sphere)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
Sphere oldSphere1 = (Sphere)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
Sphere newSphere1 = (Sphere)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
Vector3 oldDelta = oldSphere0.Position - oldSphere1.Position;
Vector3 newDelta = newSphere0.Position - oldSphere1.Position;
float oldDistSq = oldDelta.LengthSquared;
float newDistSq = newDelta.LengthSquared;
float radSum = newSphere0.Radius + newSphere1.Radius;
if (System.Math.Min(oldDistSq, newDistSq) < ((radSum + collTolerance) * (radSum + collTolerance)))
{
float oldDist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - oldDist;
if (oldDist > JiggleMath.Epsilon)
{
oldDelta /= oldDist;
}
else
{
// TODO - make this not random...!
oldDelta = Vector3Extensions.TransformNormal(Vector3Extensions.Backward, Matrix4.CreateFromAxisAngle(Vector3Extensions.Up, OpenTKHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = oldSphere1.Position +
(oldSphere1.Radius - 0.5f * depth) * oldDelta;
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref oldDelta, &collInfo, 1);
}
}
}
/// <summary>
///
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere = (Sphere)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Sphere newSphere = (Sphere)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
Heightmap oldHeightmap = (Heightmap)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
Heightmap newHeightmap = (Heightmap)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
float newDist;
Vector3 normal;
newHeightmap.GetHeightAndNormal(out newDist, out normal,newSphere.Position);
if (newDist < collTolerance + newSphere.Radius)
{
float oldDist = oldHeightmap.GetHeight(oldSphere.Position);
float depth = oldSphere.Radius - oldDist;
// calc the world position when it just hit
Vector3 oldPt = oldSphere.Position - oldSphere.Radius * normal;
unsafe
{
SmallCollPointInfo ptInfo = new SmallCollPointInfo(oldPt - body0Pos, oldPt - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref normal, &ptInfo, 1);
}
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
// get the skins in the order that we're expectiing
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
Capsule newCapsule = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
Segment oldSeg = new Segment(oldCapsule.Position, oldCapsule.Length * oldCapsule.Orientation.Backward);
Segment newSeg = new Segment(newCapsule.Position, newCapsule.Length * newCapsule.Orientation.Backward);
float radius = oldCapsule.Radius;
Box oldBox = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Box;
Box newBox = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Box;
float oldSegT;
float oldBoxT0, oldBoxT1, oldBoxT2;
float oldDistSq = Distance.SegmentBoxDistanceSq(out oldSegT, out oldBoxT0, out oldBoxT1, out oldBoxT2,oldSeg, oldBox);
float newSegT;
float newBoxT0, newBoxT1, newBoxT2;
float newDistSq = Distance.SegmentBoxDistanceSq(out newSegT, out newBoxT0, out newBoxT1, out newBoxT2,newSeg, newBox);
if (MathHelper.Min(oldDistSq, newDistSq) < ((radius + collTolerance) * (radius + collTolerance)))
{
Vector3 segPos = oldSeg.GetPoint(oldSegT);
Vector3 boxPos = oldBox.GetCentre() + oldBoxT0 * oldBox.Orientation.Right +
oldBoxT1 * oldBox.Orientation.Up + oldBoxT2 * oldBox.Orientation.Backward;
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radius - dist;
Vector3 dir;
if (dist > JiggleMath.Epsilon)
{
dir = segPos - boxPos;
JiggleMath.NormalizeSafe(ref dir);
}
else if ((segPos - oldBox.GetCentre()).LengthSquared() > JiggleMath.Epsilon)
{
dir = segPos - oldBox.GetCentre();
JiggleMath.NormalizeSafe(ref dir);
}
else
{
// todo - make this not random
dir = Vector3.Transform(Vector3.Backward, Matrix.CreateFromAxisAngle(Vector3.Up, MathHelper.ToRadians(random.Next(360))));
}
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(boxPos - body0Pos, boxPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref dir, &collInfo, 1);
}
}
}
/// <summary>
/// Detect BoxHeightmap Collisions.
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
Heightmap oldHeightmap = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Heightmap;
Heightmap newHeightmap = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Heightmap;
Vector3[] oldPts, newPts;
oldBox.GetCornerPoints(out oldPts);
newBox.GetCornerPoints(out newPts);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo *collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed(SmallCollPointInfo *collPts = collPtArray)
#endif
{
int numCollPts = 0;
Vector3 collNormal = Vector3.Zero;
for (int i = 0; i < 8; ++i)
{
Vector3 newPt = newPts[i];
float newDist;
Vector3 normal;
newHeightmap.GetHeightAndNormal(out newDist, out normal, newPt);
if (newDist < collTolerance)
{
Vector3 oldPt = oldPts[i];
float oldDist = oldHeightmap.GetHeight(oldPt);
#region REFERENCE: collPts.Add(new CollPointInfo(oldPt - body0Pos, oldPt - body1Pos, -oldDist));
Vector3 pt0;
Vector3 pt1;
Vector3.Subtract(ref oldPt, ref body0Pos, out pt0);
Vector3.Subtract(ref oldPt, ref body1Pos, out pt1);
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(ref pt0, ref pt1, -oldDist);
}
#endregion
#region REFERENCE: collNormal += normal;
Vector3.Add(ref collNormal, ref normal, out collNormal);
#endregion
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
}
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
/// Detect BoxBox Collisions.
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Box box0 = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
Box box1 = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Box;
Box oldBox0 = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box oldBox1 = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Box;
Matrix dirs0 = box0.Orientation;
Matrix dirs1 = box1.Orientation;
seperatingAxes[0] = dirs0.Right;
seperatingAxes[1] = dirs0.Up;
seperatingAxes[2] = dirs0.Backward;
seperatingAxes[3] = dirs1.Right;
seperatingAxes[4] = dirs1.Up;
seperatingAxes[5] = dirs1.Backward;
Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[3], out seperatingAxes[6]);
Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[4], out seperatingAxes[7]);
Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[5], out seperatingAxes[8]);
Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[3], out seperatingAxes[9]);
Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[4], out seperatingAxes[10]);
Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[5], out seperatingAxes[11]);
Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[3], out seperatingAxes[12]);
Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[4], out seperatingAxes[13]);
Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[5], out seperatingAxes[14]);
// see if the boxes are separate along any axis, and if not keep a
// record of the depths along each axis
int i;
for (i = 0; i < 15; ++i)
{
// If we can't normalise the axis, skip it
float l2 = seperatingAxes[i].LengthSquared();
if (l2 < JiggleMath.Epsilon)
{
continue;
}
overlapDepth[i] = float.MaxValue;
if (Disjoint(out overlapDepth[i], ref seperatingAxes[i], box0, box1, collTolerance))
{
return;
}
}
// The box overlap, find the seperation depth closest to 0.
float minDepth = float.MaxValue;
int minAxis = -1;
for (i = 0; i < 15; ++i)
{
// If we can't normalise the axis, skip it
float l2 = seperatingAxes[i].LengthSquared();
if (l2 < JiggleMath.Epsilon)
{
continue;
}
// Normalise the separation axis and depth
float invl = 1.0f / (float)System.Math.Sqrt(l2);
seperatingAxes[i] *= invl;
overlapDepth[i] *= invl;
// If this axis is the minmum, select it
if (overlapDepth[i] < minDepth)
{
minDepth = overlapDepth[i];
minAxis = i;
}
}
if (minAxis == -1)
{
return;
}
// Make sure the axis is facing towards the 0th box.
// if not, invert it
Vector3 D = box1.GetCentre() - box0.GetCentre();
Vector3 N = seperatingAxes[minAxis];
float depth = overlapDepth[minAxis];
if (Vector3.Dot(D, N) > 0.0f)
{
N *= -1.0f;
}
float minA = MathHelper.Min(box0.SideLengths.X, MathHelper.Min(box0.SideLengths.Y, box0.SideLengths.Z));
float minB = MathHelper.Min(box1.SideLengths.X, MathHelper.Min(box1.SideLengths.Y, box1.SideLengths.Z));
float combinationDist = 0.05f * MathHelper.Min(minA, minB);
// the contact points
bool contactPointsFromOld = true;
contactPts.Clear();
if (depth > -JiggleMath.Epsilon)
{
GetBoxBoxIntersectionPoints(contactPts, oldBox0, oldBox1, combinationDist, collTolerance);
}
int numPts = contactPts.Count;
if (numPts == 0)
{
contactPointsFromOld = false;
GetBoxBoxIntersectionPoints(contactPts, box0, box1, combinationDist, collTolerance);
}
numPts = contactPts.Count;
Vector3 body0OldPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1OldPos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
Vector3 body0NewPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.Position : Vector3.Zero;
Vector3 body1NewPos = (info.Skin1.Owner != null) ? info.Skin1.Owner.Position : Vector3.Zero;
#region REFERENCE: Vector3 bodyDelta = body0NewPos - body0OldPos - body1NewPos + body1OldPos;
Vector3 bodyDelta;
Vector3.Subtract(ref body0NewPos, ref body0OldPos, out bodyDelta);
Vector3.Subtract(ref bodyDelta, ref body1NewPos, out bodyDelta);
Vector3.Add(ref bodyDelta, ref body1OldPos, out bodyDelta);
#endregion
#region REFERENCE: float bodyDeltaLen = Vector3.Dot(bodyDelta,N);
float bodyDeltaLen;
Vector3.Dot(ref bodyDelta, ref N, out bodyDeltaLen);
#endregion
float oldDepth = depth + bodyDeltaLen;
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo *collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed(SmallCollPointInfo *collPts = collPtArray)
#endif
{
int numCollPts = 0;
Vector3 SATPoint;
switch (minAxis)
{
// Box0 face, Box1 corner collision
case 0:
case 1:
case 2:
{
// Get the lowest point on the box1 along box1 normal
GetSupportPoint(out SATPoint, box1, -N);
break;
}
// We have a Box2 corner/Box1 face collision
case 3:
case 4:
case 5:
{
// Find with vertex on the triangle collided
GetSupportPoint(out SATPoint, box0, N);
break;
}
// We have an edge/edge collision
case 6:
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
{
{
// Retrieve which edges collided.
i = minAxis - 6;
int ia = i / 3;
int ib = i - ia * 3;
// find two P0, P1 point on both edges.
Vector3 P0, P1;
GetSupportPoint(out P0, box0, N);
GetSupportPoint(out P1, box1, -N);
// Find the edge intersection.
// plane along N and F, and passing through PB
Vector3 box0Orient, box1Orient;
JiggleUnsafe.Get(ref box0.transform.Orientation, ia, out box0Orient);
JiggleUnsafe.Get(ref box1.transform.Orientation, ib, out box1Orient);
#region REFERENCE: Vector3 planeNormal = Vector3.Cross(N, box1Orient[ib]);
Vector3 planeNormal;
Vector3.Cross(ref N, ref box1Orient, out planeNormal);
#endregion
#region REFERENCE: float planeD = Vector3.Dot(planeNormal, P1);
float planeD;
Vector3.Dot(ref planeNormal, ref P1, out planeD);
#endregion
// find the intersection t, where Pintersection = P0 + t*box edge dir
#region REFERENCE: float div = Vector3.Dot(box0Orient, planeNormal);
float div;
Vector3.Dot(ref box0Orient, ref planeNormal, out div);
#endregion
// plane and ray colinear, skip the intersection.
if (System.Math.Abs(div) < JiggleMath.Epsilon)
{
return;
}
float t = (planeD - Vector3.Dot(P0, planeNormal)) / div;
// point on edge of box0
#region REFERENCE: P0 += box0Orient * t;
P0 = Vector3.Add(Vector3.Multiply(box0Orient, t), P0);
#endregion
#region REFERENCE: SATPoint = (P0 + (0.5f * depth) * N);
Vector3.Multiply(ref N, 0.5f * depth, out SATPoint);
Vector3.Add(ref SATPoint, ref P0, out SATPoint);
#endregion
}
break;
}
default:
throw new Exception("Impossible switch");
}
// distribute the depth according to the distance to the SAT point
if (numPts > 0)
{
float minDist = float.MaxValue;
float maxDist = float.MinValue;
for (i = 0; i < numPts; ++i)
{
float dist = Distance.PointPointDistance(contactPts[i].Pos, SATPoint);
if (dist < minDist)
{
minDist = dist;
}
if (dist > maxDist)
{
maxDist = dist;
}
}
if (maxDist < minDist + JiggleMath.Epsilon)
{
maxDist = minDist + JiggleMath.Epsilon;
}
// got some intersection points
for (i = 0; i < numPts; ++i)
{
float minDepthScale = 0.0f;
float dist = Distance.PointPointDistance(contactPts[i].Pos, SATPoint);
float depthDiv = System.Math.Max(JiggleMath.Epsilon, maxDist - minDist);
float depthScale = (dist - minDist) / depthDiv;
depth = (1.0f - depthScale) * oldDepth + minDepthScale * depthScale * oldDepth;
if (contactPointsFromOld)
{
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(contactPts[i].Pos - body0OldPos, contactPts[i].Pos - body1OldPos, depth);
}
}
else
{
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(contactPts[i].Pos - body0NewPos, contactPts[i].Pos - body1NewPos, depth);
}
}
}
}
else
{
#region REFERENCE: collPts.Add(new CollPointInfo(SATPoint - body0NewPos, SATPoint - body1NewPos, oldDepth));
//collPts.Add(new CollPointInfo(SATPoint - body0NewPos, SATPoint - body1NewPos, oldDepth));
Vector3 cp0;
Vector3.Subtract(ref SATPoint, ref body0NewPos, out cp0);
Vector3 cp1;
Vector3.Subtract(ref SATPoint, ref body1NewPos, out cp1);
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(ref cp0, ref cp1, oldDepth);
}
#endregion
}
// report Collisions
collisionFunctor.CollisionNotify(ref info, ref N, collPts, numCollPts);
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
/// Detect BoxPlane Collisions.
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
JPlane oldPlane = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as JPlane;
JPlane newPlane = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as JPlane;
Matrix newPlaneInvTransform = newPlane.InverseTransformMatrix;
Vector3 newBoxCen = Vector3.Transform(newBox.GetCentre(), newPlaneInvTransform);
// quick check
float centreDist = Distance.PointPlaneDistance(newBoxCen, newPlane);
if (centreDist > collTolerance + newBox.GetBoundingRadiusAroundCentre())
{
return;
}
Matrix oldPlaneInvTransform = oldPlane.InverseTransformMatrix;
Vector3[] newPts;
newBox.GetCornerPoints(out newPts);
Vector3[] oldPts;
oldBox.GetCornerPoints(out oldPts);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo *collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed(SmallCollPointInfo *collPts = collPtArray)
#endif
{
int numCollPts = 0;
for (int i = 0; i < 8; ++i)
{
Vector3.Transform(ref oldPts[i], ref oldPlaneInvTransform, out oldTransPts[i]);
Vector3.Transform(ref newPts[i], ref newPlaneInvTransform, out newPts[i]);
float oldDepth = -Distance.PointPlaneDistance(ref oldTransPts[i], oldPlane);
float newDepth = -Distance.PointPlaneDistance(ref newPts[i], newPlane);
if (MathHelper.Max(oldDepth, newDepth) > -collTolerance)
{
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(oldPts[i] - body0Pos, oldPts[i] - body1Pos, oldDepth);
}
}
}
if (numCollPts > 0)
{
collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, collPts, numCollPts);
}
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
///
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule = (Capsule)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Capsule newCapsule = (Capsule)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
JigLibX.Geometry.Plane oldPlane = (JigLibX.Geometry.Plane)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
JigLibX.Geometry.Plane newPlane = (JigLibX.Geometry.Plane)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
Matrix newPlaneInvTransform = newPlane.InverseTransformMatrix;
Matrix oldPlaneInvTransform = oldPlane.InverseTransformMatrix;
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
#endif
{
int numCollPts = 0;
// the start
{
Vector3 oldCapsuleStartPos = Vector3.Transform(oldCapsule.Position, oldPlaneInvTransform);
Vector3 newCapsuleStartPos = Vector3.Transform(newCapsule.Position, newPlaneInvTransform);
float oldDist = Distance.PointPlaneDistance(oldCapsuleStartPos, oldPlane);
float newDist = Distance.PointPlaneDistance(newCapsuleStartPos, newPlane);
if (MathHelper.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
{
float oldDepth = oldCapsule.Radius - oldDist;
// calc the world position based on the old position8(s)
Vector3 worldPos = oldCapsule.Position - oldCapsule.Radius * oldPlane.Normal;
collPts[numCollPts++] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
}
}
// the end
{
Vector3 oldCapsuleEndPos = Vector3.Transform(oldCapsule.GetEnd(), oldPlaneInvTransform);
Vector3 newCapsuleEndPos = Vector3.Transform(newCapsule.GetEnd(), newPlaneInvTransform);
float oldDist = Distance.PointPlaneDistance(oldCapsuleEndPos, oldPlane);
float newDist = Distance.PointPlaneDistance(newCapsuleEndPos, newPlane);
if (System.Math.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
{
float oldDepth = oldCapsule.Radius - oldDist;
// calc the world position based on the old position(s)
Vector3 worldPos = oldCapsule.GetEnd() - oldCapsule.Radius * oldPlane.Normal;
collPts[numCollPts++] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
}
if (numCollPts > 0)
{
collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, collPts, numCollPts);
}
}
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
// get the skins in the order that we're expecting
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper sweep test
Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;
Box oldBox = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Box;
Box newBox = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Box;
Vector3 oldBoxPoint;
Vector3 newBoxPoint;
float oldDist = oldBox.GetDistanceToPoint(out oldBoxPoint, oldSphere.Position);
float newDist = newBox.GetDistanceToPoint(out newBoxPoint, newSphere.Position);
// normally point will be outside
float oldDepth = oldSphere.Radius - oldDist;
float newDepth = newSphere.Radius - newDist;
if (System.Math.Max(oldDepth, newDepth) > -collTolerance)
{
Vector3 dir;
if (oldDist < -JiggleMath.Epsilon)
{
dir = oldBoxPoint - oldSphere.Position - oldBoxPoint;
JiggleMath.NormalizeSafe(ref dir);
}
else if (oldDist > JiggleMath.Epsilon)
{
dir = oldSphere.Position - oldBoxPoint;
JiggleMath.NormalizeSafe(ref dir);
}
else
{
dir = oldSphere.Position - oldBox.GetCentre();
JiggleMath.NormalizeSafe(ref dir);
}
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(oldBoxPoint - body0Pos,
oldBoxPoint - body1Pos, oldDepth);
collisionFunctor.CollisionNotify(ref info, ref dir, &collInfo, 1);
}
}
#endregion
}
public unsafe override void CollisionNotify(
ref CollDetectInfo collDetectInfo,
ref Vector3 dirToBody0,
SmallCollPointInfo* pointInfos,
int numCollPts)
{
CollisionFunctorEntity.CollisionNotify(ref CollDetectInfoEntity, ref dirToBody0, pointInfos, numCollPts);
}
/// <summary>
///
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule = (Capsule)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Capsule newCapsule = (Capsule)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
JigLibX.Geometry.Plane oldPlane = (JigLibX.Geometry.Plane)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
JigLibX.Geometry.Plane newPlane = (JigLibX.Geometry.Plane)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
Matrix newPlaneInvTransform = newPlane.InverseTransformMatrix;
Matrix oldPlaneInvTransform = oldPlane.InverseTransformMatrix;
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo *collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed(SmallCollPointInfo *collPts = collPtArray)
#endif
{
int numCollPts = 0;
// the start
{
Vector3 oldCapsuleStartPos = Vector3.Transform(oldCapsule.Position, oldPlaneInvTransform);
Vector3 newCapsuleStartPos = Vector3.Transform(newCapsule.Position, newPlaneInvTransform);
float oldDist = Distance.PointPlaneDistance(oldCapsuleStartPos, oldPlane);
float newDist = Distance.PointPlaneDistance(newCapsuleStartPos, newPlane);
if (MathHelper.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
{
float oldDepth = oldCapsule.Radius - oldDist;
// calc the world position based on the old position8(s)
Vector3 worldPos = oldCapsule.Position - oldCapsule.Radius * oldPlane.Normal;
collPts[numCollPts++] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
}
}
// the end
{
Vector3 oldCapsuleEndPos = Vector3.Transform(oldCapsule.GetEnd(), oldPlaneInvTransform);
Vector3 newCapsuleEndPos = Vector3.Transform(newCapsule.GetEnd(), newPlaneInvTransform);
float oldDist = Distance.PointPlaneDistance(oldCapsuleEndPos, oldPlane);
float newDist = Distance.PointPlaneDistance(newCapsuleEndPos, newPlane);
if (System.Math.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
{
float oldDepth = oldCapsule.Radius - oldDist;
// calc the world position based on the old position(s)
Vector3 worldPos = oldCapsule.GetEnd() - oldCapsule.Radius * oldPlane.Normal;
collPts[numCollPts++] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
}
if (numCollPts > 0)
{
collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, collPts, numCollPts);
}
}
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
/// CollisionInfos will be given out from a pool. If more than
/// MaxCollisionPoints are passed in, the input positions will
/// be silently truncated!
/// </summary>
/// <param name="info"></param>
/// <param name="dirToBody0"></param>
/// <param name="pointInfos"></param>
/// <param name="numPointInfos"></param>
/// <returns></returns>
public static unsafe CollisionInfo GetCollisionInfo(CollDetectInfo info,
Vector3 dirToBody0, SmallCollPointInfo* pointInfos, int numCollPts)
{
if (freeInfos.Count == 0)
freeInfos.Push(new CollisionInfo());
CollisionInfo collInfo = freeInfos.Pop();//[freeInfos.Count - 1];
collInfo.Init(info, dirToBody0, pointInfos, numCollPts);
//freeInfos.RemoveAt(freeInfos.Count - 1);
return collInfo;
}
internal static void CollDetectSphereStaticMeshSweep(BoundingSphere oldSphere, BoundingSphere newSphere, TriangleMesh mesh,
CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// really use a swept test - or overlap?
Vector3 delta = newSphere.Center - oldSphere.Center;
if (delta.LengthSquared() < (0.25f * newSphere.Radius * newSphere.Radius))
{
CollDetectSphereStaticMeshOverlap(oldSphere, newSphere, mesh, info, collTolerance, collisionFunctor);
}
else
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
float sphereTolR = collTolerance + oldSphere.Radius;
float sphereToR2 = sphereTolR * sphereTolR;
Vector3 collNormal = Vector3.Zero;
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddSphere(oldSphere, ref bb);
BoundingBoxHelper.AddSphere(newSphere, ref bb);
// get the spheres centers in triangle mesh space
Vector3 newSphereCen = Vector3.Transform(newSphere.Center, mesh.InverseTransformMatrix);
Vector3 oldSphereCen = Vector3.Transform(oldSphere.Center, mesh.InverseTransformMatrix);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo *collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
int *potentialTriangles = stackalloc int[MaxLocalStackTris];
{
{
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed(SmallCollPointInfo *collPts = collPtArray)
{
int[] potTriArray = IntStackAlloc();
fixed(int *potentialTriangles = potTriArray)
{
#endif
int numCollPts = 0;
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
// first test the old sphere for being on the wrong side
IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
float distToCentreOld = meshTriangle.Plane.DotCoordinate(oldSphereCen);
if (distToCentreOld <= 0.0f)
{
continue;
}
// now test the new sphere for being clear
float distToCentreNew = meshTriangle.Plane.DotCoordinate(newSphereCen);
if (distToCentreNew > sphereTolR)
{
continue;
}
int i0, i1, i2;
meshTriangle.GetVertexIndices(out i0, out i1, out i2);
Triangle triangle = new Triangle(mesh.GetVertex(i0), mesh.GetVertex(i1), mesh.GetVertex(i2));
// If the old sphere is intersecting, just use that result
float s, t;
float d2 = Distance.PointTriangleDistanceSq(out s, out t, oldSphereCen, triangle);
if (d2 < sphereToR2)
{
float dist = (float)System.Math.Sqrt(d2);
float depth = oldSphere.Radius - dist;
Vector3 triangleN = triangle.Normal;
Vector3 normSafe = oldSphereCen - triangle.GetPoint(s, t);
JiggleMath.NormalizeSafe(ref normSafe);
Vector3 collisionN = (dist > float.Epsilon) ? normSafe : triangleN;
// since impulse gets applied at the old position
Vector3 pt = oldSphere.Center - oldSphere.Radius * collisionN;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(pt - body0Pos, pt - body1Pos, depth);
}
collNormal += collisionN;
}
else if (distToCentreNew < distToCentreOld)
{
// old sphere is not intersecting - do a sweep, but only if the sphere is moving into the
// triangle
Vector3 pt, N; // CHECK THIS
float depth;
if (Intersection.SweptSphereTriangleIntersection(out pt, out N, out depth, oldSphere, newSphere, triangle,
distToCentreOld, distToCentreNew, Intersection.EdgesToTest.EdgeAll, Intersection.CornersToTest.CornerAll))
{
// collision point etc must be relative to the old position because that's
//where the impulses are applied
float dist = (float)System.Math.Sqrt(d2);
float depth2 = oldSphere.Radius - dist;
Vector3 triangleN = triangle.Normal;
Vector3 normSafe = oldSphereCen - triangle.GetPoint(s, t);
JiggleMath.NormalizeSafe(ref normSafe);
Vector3 collisionN = (dist > JiggleMath.Epsilon) ? normSafe : triangleN;
// since impulse gets applied at the old position
Vector3 pt2 = oldSphere.Center - oldSphere.Radius * collisionN;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(pt2 - body0Pos, pt2 - body1Pos, depth);
}
collNormal += collisionN;
}
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
}
}
#if USE_STACKALLOC
}
}
#else
FreeStackAlloc(potTriArray);
}
FreeStackAlloc(collPtArray);
}
#endif
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
// get the skins in the order that we're expecting
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;
Capsule oldCapsule = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Capsule;
Capsule newCapsule = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Capsule;
Segment oldSeg = new Segment(oldCapsule.Position, oldCapsule.Length * oldCapsule.Orientation.Backward());
Segment newSeg = new Segment(oldCapsule.Position, newCapsule.Length * newCapsule.Orientation.Backward());
float radSum = newCapsule.Radius + newSphere.Radius;
float oldt, newt;
float oldDistSq = Distance.PointSegmentDistanceSq(out oldt, oldSphere.Position, oldSeg);
float newDistSq = Distance.PointSegmentDistanceSq(out newt, newSphere.Position, newSeg);
if (OpenTKHelper.Min(oldDistSq, newDistSq) < (radSum + collTolerance) * (radSum + collTolerance))
{
Vector3 segPos = oldSeg.GetPoint(oldt);
Vector3 delta = oldSphere.Position - segPos;
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - dist;
if (dist > JiggleMath.Epsilon)
{
delta /= dist;
}
else
{
// todo - make this not random
delta = Vector3Extensions.TransformNormal(Vector3Extensions.Backward, Matrix4.CreateFromAxisAngle(Vector3Extensions.Up, OpenTKHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = segPos +
((oldCapsule.Radius - 0.5f * depth) * delta);
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos,
worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref delta, &collInfo, 1);
}
}
}
private void CollDetectCapsuleStaticMeshOverlap(Capsule oldCapsule, Capsule newCapsule,
TriangleMesh mesh, CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
float capsuleTolR = collTolerance + newCapsule.Radius;
float capsuleTolR2 = capsuleTolR * capsuleTolR;
Vector3 collNormal = Vector3.Zero;
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddCapsule(newCapsule, ref bb);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
int* potentialTriangles = stackalloc int[MaxLocalStackTris];
{
{
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
{
int[] potTriArray = IntStackAlloc();
fixed (int* potentialTriangles = potTriArray)
{
#endif
int numCollPts = 0;
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
Vector3 capsuleStart = newCapsule.Position;
Vector3 capsuleEnd = newCapsule.GetEnd();
Matrix meshInvTransform = mesh.InverseTransformMatrix;
Vector3 meshSpaceCapsuleStart = Vector3.Transform(capsuleStart, meshInvTransform);
Vector3 meshSpaceCapsuleEnd = Vector3.Transform(capsuleEnd, meshInvTransform);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
// we do the plane test using the capsule in mesh space
float distToStart = meshTriangle.Plane.DotCoordinate(meshSpaceCapsuleStart);
float distToEnd = meshTriangle.Plane.DotCoordinate(meshSpaceCapsuleEnd);
if (distToStart > capsuleTolR && distToEnd > capsuleTolR)
continue;
if (distToStart < 0.0f && distToEnd < 0.0f)
continue;
// we now transform the triangle into world space (we could keep leave the mesh alone
// but at this point 3 vector transforms is probably not a major slow down)
int i0, i1, i2;
meshTriangle.GetVertexIndices(out i0, out i1, out i2);
Vector3 triVec0;
Vector3 triVec1;
Vector3 triVec2;
mesh.GetVertex(i0, out triVec0);
mesh.GetVertex(i1, out triVec1);
mesh.GetVertex(i2, out triVec2);
// Deano move tri into world space
Matrix transformMatrix = mesh.TransformMatrix;
Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0);
Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2);
Triangle triangle = new Triangle(ref triVec0, ref triVec1, ref triVec2);
Segment seg = new Segment(capsuleStart, capsuleEnd - capsuleStart);
float tS, tT0, tT1;
float d2 = Distance.SegmentTriangleDistanceSq(out tS, out tT0, out tT1, seg, triangle);
if (d2 < capsuleTolR2)
{
Vector3 oldCapsuleStart = oldCapsule.Position;
Vector3 oldCapsuleEnd = oldCapsule.GetEnd();
Segment oldSeg = new Segment(oldCapsuleStart, oldCapsuleEnd - oldCapsuleStart);
d2 = Distance.SegmentTriangleDistanceSq(out tS, out tT0, out tT1, oldSeg, triangle);
// report result from old position
float dist = (float)System.Math.Sqrt(d2);
float depth = oldCapsule.Radius - dist;
Vector3 pt = triangle.GetPoint(tT0, tT1);
Vector3 collisionN = (d2 > JiggleMath.Epsilon) ? JiggleMath.NormalizeSafe(oldSeg.GetPoint(tS) - pt) :
meshTriangle.Plane.Normal;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(pt - body0Pos, pt - body1Pos, depth);
}
collNormal += collisionN;
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
}
#if USE_STACKALLOC
}
}
#else
}
FreeStackAlloc(potTriArray);
}
FreeStackAlloc(collPtArray);
#endif
}
}
private static bool DoOverlapBoxTriangleTest(Box oldBox, Box newBox,
ref IndexedTriangle triangle, TriangleMesh mesh,
ref CollDetectInfo info, float collTolerance,
CollisionFunctor collisionFunctor)
{
Matrix dirs0 = newBox.Orientation;
#region REFERENCE: Triangle tri = new Triangle(mesh.GetVertex(triangle.GetVertexIndex(0)),mesh.GetVertex(triangle.GetVertexIndex(1)),mesh.GetVertex(triangle.GetVertexIndex(2)));
Vector3 triVec0;
Vector3 triVec1;
Vector3 triVec2;
mesh.GetVertex(triangle.GetVertexIndex(0), out triVec0);
mesh.GetVertex(triangle.GetVertexIndex(1), out triVec1);
mesh.GetVertex(triangle.GetVertexIndex(2), out triVec2);
// Deano move tri into world space
Matrix transformMatrix = mesh.TransformMatrix;
Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0);
Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2);
Triangle tri = new Triangle(ref triVec0,ref triVec1,ref triVec2);
#endregion
#region REFERENCE Vector3 triEdge0 = (tri.GetPoint(1) - tri.GetPoint(0));
Vector3 pt0;
Vector3 pt1;
tri.GetPoint(0, out pt0);
tri.GetPoint(1, out pt1);
Vector3 triEdge0;
Vector3.Subtract(ref pt1, ref pt0, out triEdge0);
#endregion
#region REFERENCE Vector3 triEdge1 = (tri.GetPoint(2) - tri.GetPoint(1));
Vector3 pt2;
tri.GetPoint(2, out pt2);
Vector3 triEdge1;
Vector3.Subtract(ref pt2, ref pt1, out triEdge1);
#endregion
#region REFERENCE Vector3 triEdge2 = (tri.GetPoint(0) - tri.GetPoint(2));
Vector3 triEdge2;
Vector3.Subtract(ref pt0, ref pt2, out triEdge2);
#endregion
triEdge0.Normalize();
triEdge1.Normalize();
triEdge2.Normalize();
Vector3 triNormal = triangle.Plane.Normal;
// the 15 potential separating axes
const int numAxes = 13;
Vector3[] axes = new Vector3[numAxes];
axes[0] = triNormal;
axes[1] = dirs0.Right;
axes[2] = dirs0.Up;
axes[3] = dirs0.Backward;
Vector3.Cross(ref axes[1], ref triEdge0, out axes[4]);
Vector3.Cross(ref axes[1], ref triEdge1, out axes[5]);
Vector3.Cross(ref axes[1], ref triEdge2, out axes[6]);
Vector3.Cross(ref axes[2], ref triEdge0, out axes[7]);
Vector3.Cross(ref axes[2], ref triEdge1, out axes[8]);
Vector3.Cross(ref axes[2], ref triEdge2, out axes[9]);
Vector3.Cross(ref axes[3], ref triEdge0, out axes[10]);
Vector3.Cross(ref axes[3], ref triEdge1, out axes[11]);
Vector3.Cross(ref axes[3], ref triEdge2, out axes[12]);
// the overlap depths along each axis
float[] overlapDepths = new float[numAxes];
// see if the boxes are separate along any axis, and if not keep a
// record of the depths along each axis
int i;
for (i = 0; i < numAxes; ++i)
{
overlapDepths[i] = 1.0f;
if (Disjoint(out overlapDepths[i], axes[i], newBox, tri, collTolerance))
return false;
}
// The box overlap, find the separation depth closest to 0.
float minDepth = float.MaxValue;
int minAxis = -1;
for (i = 0; i < numAxes; ++i)
{
// If we can't normalise the axis, skip it
float l2 = axes[i].LengthSquared();
if (l2 < JiggleMath.Epsilon)
continue;
// Normalise the separation axis and the depth
float invl = 1.0f / (float)System.Math.Sqrt(l2);
axes[i] *= invl;
overlapDepths[i] *= invl;
// If this axis is the minimum, select it
if (overlapDepths[i] < minDepth)
{
minDepth = overlapDepths[i];
minAxis = i;
}
}
if (minAxis == -1)
return false;
// Make sure the axis is facing towards the 0th box.
// if not, invert it
Vector3 D = newBox.GetCentre() - tri.Centre;
Vector3 N = axes[minAxis];
float depth = overlapDepths[minAxis];
if (Vector3.Dot(D, N) < 0.0f)
N *= -1;
Vector3 boxOldPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 boxNewPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.Position : Vector3.Zero;
Vector3 meshPos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
List<Vector3> pts = new List<Vector3>();
//pts.Clear();
const float combinationDist = 0.05f;
GetBoxTriangleIntersectionPoints(pts, newBox, tri, depth + combinationDist);
// adjust the depth
#region REFERENCE: Vector3 delta = boxNewPos - boxOldPos;
Vector3 delta;
Vector3.Subtract(ref boxNewPos, ref boxOldPos, out delta);
#endregion
#region REFERENCE: float oldDepth = depth + Vector3.Dot(delta, N);
float oldDepth;
Vector3.Dot(ref delta, ref N, out oldDepth);
oldDepth += depth;
#endregion
unsafe
{
// report collisions
int numPts = pts.Count;
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
#endif
{
if (numPts > 0)
{
if (numPts >= MaxLocalStackSCPI)
{
numPts = MaxLocalStackSCPI - 1;
}
// adjust positions
for (i = 0; i < numPts; ++i)
{
collPts[i] = new SmallCollPointInfo(pts[i] - boxNewPos, pts[i] - meshPos, oldDepth);
}
collisionFunctor.CollisionNotify(ref info, ref N, collPts, numPts);
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
return true;
}
else
{
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
return false;
}
}
}
}
public static void CollDetectSphereStaticMeshOverlap(BoundingSphere oldSphere, BoundingSphere newSphere,
TriangleMesh mesh, CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
float sphereTolR = collTolerance + newSphere.Radius;
float sphereTolR2 = sphereTolR * sphereTolR;
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo *collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
int *potentialTriangles = stackalloc int[MaxLocalStackTris];
{
{
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed(SmallCollPointInfo *collPts = collPtArray)
{
int[] potTriArray = IntStackAlloc();
fixed(int *potentialTriangles = potTriArray)
{
#endif
int numCollPts = 0;
Vector3 collNormal = Vector3.Zero;
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddSphere(newSphere, ref bb);
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
// Deano : get the spheres centers in triangle mesh space
Vector3 newSphereCen = Vector3.Transform(newSphere.Center, mesh.InverseTransformMatrix);
Vector3 oldSphereCen = Vector3.Transform(oldSphere.Center, mesh.InverseTransformMatrix);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
float distToCentre = meshTriangle.Plane.DotCoordinate(newSphereCen);
if (distToCentre <= 0.0f)
{
continue;
}
if (distToCentre >= sphereTolR)
{
continue;
}
int i0, i1, i2;
meshTriangle.GetVertexIndices(out i0, out i1, out i2);
Triangle triangle = new Triangle(mesh.GetVertex(i0), mesh.GetVertex(i1), mesh.GetVertex(i2));
float s, t;
float newD2 = Distance.PointTriangleDistanceSq(out s, out t, newSphereCen, triangle);
if (newD2 < sphereTolR2)
{
// have overlap - but actually report the old intersection
float oldD2 = Distance.PointTriangleDistanceSq(out s, out t, oldSphereCen, triangle);
float dist = (float)System.Math.Sqrt((float)oldD2);
float depth = oldSphere.Radius - dist;
Vector3 triPointSTNorm = oldSphereCen - triangle.GetPoint(s, t);
JiggleMath.NormalizeSafe(ref triPointSTNorm);
Vector3 collisionN = (dist > float.Epsilon) ? triPointSTNorm : triangle.Normal;
// since impulse get applied at the old position
Vector3 pt = oldSphere.Center - oldSphere.Radius * collisionN;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(pt - body0Pos, pt - body1Pos, depth);
}
collNormal += collisionN;
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
}
#if USE_STACKALLOC
}
}
#else
FreeStackAlloc(potTriArray);
}
FreeStackAlloc(collPtArray);
}
#endif
}
}
public static void FreeStackAlloc(SmallCollPointInfo[] alloced)
{
freeSCPIs.Push(alloced);
}
public void Init(ref SmallCollPointInfo info)
{
this.info = info;
this.Denominator = 0.0f;
this.AccumulatedNormalImpulse = 0.0f;
this.AccumulatedNormalImpulseAux = 0.0f;
this.AccumulatedFrictionImpulse = Vector3.Zero;
this.Position = Vector3.Zero;
this.MinSeparationVel = 0.0f;
}
private void CollDetectCapsuleStaticMeshOverlap(Capsule oldCapsule, Capsule newCapsule,
TriangleMesh mesh, CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
float capsuleTolR = collTolerance + newCapsule.Radius;
float capsuleTolR2 = capsuleTolR * capsuleTolR;
Vector3 collNormal = Vector3.Zero;
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddCapsule(newCapsule, ref bb);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo *collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
int *potentialTriangles = stackalloc int[MaxLocalStackTris];
{
{
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed(SmallCollPointInfo *collPts = collPtArray)
{
int[] potTriArray = IntStackAlloc();
fixed(int *potentialTriangles = potTriArray)
{
#endif
int numCollPts = 0;
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
Vector3 capsuleStart = newCapsule.Position;
Vector3 capsuleEnd = newCapsule.GetEnd();
Matrix meshInvTransform = mesh.InverseTransformMatrix;
Vector3 meshSpaceCapsuleStart = Vector3.Transform(capsuleStart, meshInvTransform);
Vector3 meshSpaceCapsuleEnd = Vector3.Transform(capsuleEnd, meshInvTransform);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
// we do the plane test using the capsule in mesh space
float distToStart = meshTriangle.Plane.DotCoordinate(meshSpaceCapsuleStart);
float distToEnd = meshTriangle.Plane.DotCoordinate(meshSpaceCapsuleEnd);
if (distToStart > capsuleTolR && distToEnd > capsuleTolR)
{
continue;
}
if (distToStart < 0.0f && distToEnd < 0.0f)
{
continue;
}
// we now transform the triangle into world space (we could keep leave the mesh alone
// but at this point 3 vector transforms is probably not a major slow down)
int i0, i1, i2;
meshTriangle.GetVertexIndices(out i0, out i1, out i2);
Vector3 triVec0;
Vector3 triVec1;
Vector3 triVec2;
mesh.GetVertex(i0, out triVec0);
mesh.GetVertex(i1, out triVec1);
mesh.GetVertex(i2, out triVec2);
// Deano move tri into world space
Matrix transformMatrix = mesh.TransformMatrix;
Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0);
Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2);
Triangle triangle = new Triangle(ref triVec0, ref triVec1, ref triVec2);
Segment seg = new Segment(capsuleStart, capsuleEnd - capsuleStart);
float tS, tT0, tT1;
float d2 = Distance.SegmentTriangleDistanceSq(out tS, out tT0, out tT1, seg, triangle);
if (d2 < capsuleTolR2)
{
Vector3 oldCapsuleStart = oldCapsule.Position;
Vector3 oldCapsuleEnd = oldCapsule.GetEnd();
Segment oldSeg = new Segment(oldCapsuleStart, oldCapsuleEnd - oldCapsuleStart);
d2 = Distance.SegmentTriangleDistanceSq(out tS, out tT0, out tT1, oldSeg, triangle);
// report result from old position
float dist = (float)System.Math.Sqrt(d2);
float depth = oldCapsule.Radius - dist;
Vector3 pt = triangle.GetPoint(tT0, tT1);
Vector3 collisionN = (d2 > JiggleMath.Epsilon) ? JiggleMath.NormalizeSafe(oldSeg.GetPoint(tS) - pt) :
meshTriangle.Plane.Normal;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(pt - body0Pos, pt - body1Pos, depth);
}
collNormal += collisionN;
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
}
#if USE_STACKALLOC
}
}
#else
}
FreeStackAlloc(potTriArray);
}
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
/// Detect BoxPlane Collisions.
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
JPlane oldPlane = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as JPlane;
JPlane newPlane = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as JPlane;
Matrix newPlaneInvTransform = newPlane.InverseTransformMatrix;
Vector3 newBoxCen = Vector3.Transform(newBox.GetCentre(), newPlaneInvTransform);
// quick check
float centreDist = Distance.PointPlaneDistance(newBoxCen, newPlane);
if (centreDist > collTolerance + newBox.GetBoundingRadiusAroundCentre())
return;
Matrix oldPlaneInvTransform = oldPlane.InverseTransformMatrix;
Vector3[] newPts;
newBox.GetCornerPoints(out newPts);
Vector3[] oldPts;
oldBox.GetCornerPoints(out oldPts);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
#endif
{
int numCollPts = 0;
for (int i = 0; i < 8; ++i)
{
Vector3.Transform(ref oldPts[i], ref oldPlaneInvTransform, out oldTransPts[i]);
Vector3.Transform(ref newPts[i], ref newPlaneInvTransform, out newPts[i]);
float oldDepth = -Distance.PointPlaneDistance(ref oldTransPts[i], oldPlane);
float newDepth = -Distance.PointPlaneDistance(ref newPts[i], newPlane);
if (MathHelper.Max(oldDepth, newDepth) > -collTolerance)
{
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(oldPts[i] - body0Pos, oldPts[i] - body1Pos, oldDepth);
}
}
}
if (numCollPts > 0)
{
collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, collPts, numCollPts);
}
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
// get the skins in the order that we're expecting
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper sweep test
Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;
Box oldBox = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Box;
Box newBox = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Box;
Vector3 oldBoxPoint;
Vector3 newBoxPoint;
float oldDist = oldBox.GetDistanceToPoint(out oldBoxPoint, oldSphere.Position);
float newDist = newBox.GetDistanceToPoint(out newBoxPoint, newSphere.Position);
// normally point will be outside
float oldDepth = oldSphere.Radius - oldDist;
float newDepth = newSphere.Radius - newDist;
if (System.Math.Max(oldDepth, newDepth) > -collTolerance)
{
Vector3 dir;
if (oldDist < -JiggleMath.Epsilon)
{
dir = oldBoxPoint - oldSphere.Position - oldBoxPoint;
JiggleMath.NormalizeSafe(ref dir);
}
else if (oldDist > JiggleMath.Epsilon)
{
dir = oldSphere.Position - oldBoxPoint;
JiggleMath.NormalizeSafe(ref dir);
}
else
{
dir = oldSphere.Position - oldBox.GetCentre();
JiggleMath.NormalizeSafe(ref dir);
}
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(oldBoxPoint - body0Pos,
oldBoxPoint - body1Pos, oldDepth);
collisionFunctor.CollisionNotify(ref info, ref dir, &collInfo, 1);
}
}
#endregion
}
internal static void CollDetectSphereStaticMeshSweep(BoundingSphere oldSphere, BoundingSphere newSphere, TriangleMesh mesh,
CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// really use a swept test - or overlap?
Vector3 delta = newSphere.Center - oldSphere.Center;
if (delta.LengthSquared() < (0.25f * newSphere.Radius * newSphere.Radius))
{
CollDetectSphereStaticMeshOverlap(oldSphere, newSphere, mesh, info, collTolerance, collisionFunctor);
}
else
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
float sphereTolR = collTolerance + oldSphere.Radius;
float sphereToR2 = sphereTolR * sphereTolR;
Vector3 collNormal = Vector3.Zero;
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddSphere(oldSphere, ref bb);
BoundingBoxHelper.AddSphere(newSphere, ref bb);
// get the spheres centers in triangle mesh space
Vector3 newSphereCen = Vector3.Transform(newSphere.Center, mesh.InverseTransformMatrix);
Vector3 oldSphereCen = Vector3.Transform(oldSphere.Center, mesh.InverseTransformMatrix);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
int* potentialTriangles = stackalloc int[MaxLocalStackTris];
{
{
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
{
int[] potTriArray = IntStackAlloc();
fixed( int* potentialTriangles = potTriArray)
{
#endif
int numCollPts = 0;
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
// first test the old sphere for being on the wrong side
IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
float distToCentreOld = meshTriangle.Plane.DotCoordinate(oldSphereCen);
if (distToCentreOld <= 0.0f)
continue;
// now test the new sphere for being clear
float distToCentreNew = meshTriangle.Plane.DotCoordinate(newSphereCen);
if (distToCentreNew > sphereTolR)
continue;
int i0, i1, i2;
meshTriangle.GetVertexIndices(out i0, out i1, out i2);
Triangle triangle = new Triangle(mesh.GetVertex(i0), mesh.GetVertex(i1), mesh.GetVertex(i2));
// If the old sphere is intersecting, just use that result
float s, t;
float d2 = Distance.PointTriangleDistanceSq(out s, out t, oldSphereCen, triangle);
if (d2 < sphereToR2)
{
float dist = (float)System.Math.Sqrt(d2);
float depth = oldSphere.Radius - dist;
Vector3 triangleN = triangle.Normal;
Vector3 normSafe = oldSphereCen - triangle.GetPoint(s, t);
JiggleMath.NormalizeSafe(ref normSafe);
Vector3 collisionN = (dist > float.Epsilon) ? normSafe : triangleN;
// since impulse gets applied at the old position
Vector3 pt = oldSphere.Center - oldSphere.Radius * collisionN;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(pt - body0Pos, pt - body1Pos, depth);
}
collNormal += collisionN;
}
else if (distToCentreNew < distToCentreOld)
{
// old sphere is not intersecting - do a sweep, but only if the sphere is moving into the
// triangle
Vector3 pt, N; // CHECK THIS
float depth;
if (Intersection.SweptSphereTriangleIntersection(out pt, out N, out depth, oldSphere, newSphere, triangle,
distToCentreOld, distToCentreNew, Intersection.EdgesToTest.EdgeAll, Intersection.CornersToTest.CornerAll))
{
// collision point etc must be relative to the old position because that's
//where the impulses are applied
float dist = (float)System.Math.Sqrt(d2);
float depth2 = oldSphere.Radius - dist;
Vector3 triangleN = triangle.Normal;
Vector3 normSafe = oldSphereCen - triangle.GetPoint(s, t);
JiggleMath.NormalizeSafe(ref normSafe);
Vector3 collisionN = (dist > JiggleMath.Epsilon) ? normSafe : triangleN;
// since impulse gets applied at the old position
Vector3 pt2 = oldSphere.Center - oldSphere.Radius * collisionN;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(pt2 - body0Pos, pt2 - body1Pos, depth);
}
collNormal += collisionN;
}
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
}
}
#if USE_STACKALLOC
}
}
#else
FreeStackAlloc(potTriArray);
}
FreeStackAlloc(collPtArray);
}
#endif
}
}
private static bool DoOverlapBoxTriangleTest(Box oldBox, Box newBox,
ref IndexedTriangle triangle, TriangleMesh mesh,
ref CollDetectInfo info, float collTolerance,
CollisionFunctor collisionFunctor)
{
Matrix dirs0 = newBox.Orientation;
#region REFERENCE: Triangle tri = new Triangle(mesh.GetVertex(triangle.GetVertexIndex(0)),mesh.GetVertex(triangle.GetVertexIndex(1)),mesh.GetVertex(triangle.GetVertexIndex(2)));
Vector3 triVec0;
Vector3 triVec1;
Vector3 triVec2;
mesh.GetVertex(triangle.GetVertexIndex(0), out triVec0);
mesh.GetVertex(triangle.GetVertexIndex(1), out triVec1);
mesh.GetVertex(triangle.GetVertexIndex(2), out triVec2);
// Deano move tri into world space
Matrix transformMatrix = mesh.TransformMatrix;
Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0);
Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2);
Triangle tri = new Triangle(ref triVec0, ref triVec1, ref triVec2);
#endregion
#region qqfx Vector3 triEdge0 = (tri.GetPoint(1) - tri.GetPoint(0));
Vector3 pt0;
Vector3 pt1;
tri.GetPoint(0, out pt0);
tri.GetPoint(1, out pt1);
Vector3 triEdge0;
Vector3.Subtract(ref pt1, ref pt1, out triEdge0);
#endregion
#region qqfx Vector3 triEdge1 = (tri.GetPoint(2) - tri.GetPoint(1));
Vector3 pt2;
tri.GetPoint(2, out pt2);
Vector3 triEdge1;
Vector3.Subtract(ref pt2, ref pt1, out triEdge1);
#endregion
#region qqfx Vector3 triEdge2 = (tri.GetPoint(0) - tri.GetPoint(2));
Vector3 triEdge2;
Vector3.Subtract(ref pt0, ref pt2, out triEdge2);
#endregion
triEdge0.Normalize();
triEdge1.Normalize();
triEdge2.Normalize();
Vector3 triNormal = triangle.Plane.Normal;
// the 15 potential separating axes
const int numAxes = 13;
Vector3[] axes = new Vector3[numAxes];
axes[0] = triNormal;
axes[1] = dirs0.Right;
axes[2] = dirs0.Up;
axes[3] = dirs0.Backward;
Vector3.Cross(ref axes[1], ref triEdge0, out axes[4]);
Vector3.Cross(ref axes[1], ref triEdge1, out axes[5]);
Vector3.Cross(ref axes[1], ref triEdge2, out axes[6]);
Vector3.Cross(ref axes[2], ref triEdge0, out axes[7]);
Vector3.Cross(ref axes[2], ref triEdge1, out axes[8]);
Vector3.Cross(ref axes[2], ref triEdge2, out axes[9]);
Vector3.Cross(ref axes[3], ref triEdge0, out axes[10]);
Vector3.Cross(ref axes[3], ref triEdge1, out axes[11]);
Vector3.Cross(ref axes[3], ref triEdge2, out axes[12]);
// the overlap depths along each axis
float[] overlapDepths = new float[numAxes];
// see if the boxes are separate along any axis, and if not keep a
// record of the depths along each axis
int i;
for (i = 0; i < numAxes; ++i)
{
overlapDepths[i] = 1.0f;
if (Disjoint(out overlapDepths[i], axes[i], newBox, tri, collTolerance))
{
return(false);
}
}
// The box overlap, find the separation depth closest to 0.
float minDepth = float.MaxValue;
int minAxis = -1;
for (i = 0; i < numAxes; ++i)
{
// If we can't normalise the axis, skip it
float l2 = axes[i].LengthSquared();
if (l2 < JiggleMath.Epsilon)
{
continue;
}
// Normalise the separation axis and the depth
float invl = 1.0f / (float)System.Math.Sqrt(l2);
axes[i] *= invl;
overlapDepths[i] *= invl;
// If this axis is the minimum, select it
if (overlapDepths[i] < minDepth)
{
minDepth = overlapDepths[i];
minAxis = i;
}
}
if (minAxis == -1)
{
return(false);
}
// Make sure the axis is facing towards the 0th box.
// if not, invert it
Vector3 D = newBox.GetCentre() - tri.Centre;
Vector3 N = axes[minAxis];
float depth = overlapDepths[minAxis];
if (Vector3.Dot(D, N) < 0.0f)
{
N *= -1;
}
Vector3 boxOldPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 boxNewPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.Position : Vector3.Zero;
Vector3 meshPos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
List <Vector3> pts = new List <Vector3>();
//pts.Clear();
const float combinationDist = 0.05f;
GetBoxTriangleIntersectionPoints(pts, newBox, tri, depth + combinationDist);
// adjust the depth
#region REFERENCE: Vector3 delta = boxNewPos - boxOldPos;
Vector3 delta;
Vector3.Subtract(ref boxNewPos, ref boxOldPos, out delta);
#endregion
#region REFERENCE: float oldDepth = depth + Vector3.Dot(delta, N);
float oldDepth;
Vector3.Dot(ref delta, ref N, out oldDepth);
oldDepth += depth;
#endregion
unsafe
{
// report collisions
int numPts = pts.Count;
#if USE_STACKALLOC
SmallCollPointInfo *collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed(SmallCollPointInfo *collPts = collPtArray)
#endif
{
if (numPts > 0)
{
if (numPts >= MaxLocalStackSCPI)
{
numPts = MaxLocalStackSCPI - 1;
}
// adjust positions
for (i = 0; i < numPts; ++i)
{
collPts[i] = new SmallCollPointInfo(pts[i] - boxNewPos, pts[i] - meshPos, oldDepth);
}
collisionFunctor.CollisionNotify(ref info, ref N, collPts, numPts);
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
return(true);
}
else
{
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
return(false);
}
}
}
}
public static void CollDetectSphereStaticMeshOverlap(BoundingSphere oldSphere, BoundingSphere newSphere,
TriangleMesh mesh, CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
float sphereTolR = collTolerance + newSphere.Radius;
float sphereTolR2 = sphereTolR * sphereTolR;
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
int* potentialTriangles = stackalloc int[MaxLocalStackTris];
{
{
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
{
int[] potTriArray = IntStackAlloc();
fixed( int* potentialTriangles = potTriArray)
{
#endif
int numCollPts = 0;
Vector3 collNormal = Vector3.Zero;
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddSphere(newSphere, ref bb);
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
// Deano : get the spheres centers in triangle mesh space
Vector3 newSphereCen = Vector3.Transform(newSphere.Center, mesh.InverseTransformMatrix);
Vector3 oldSphereCen = Vector3.Transform(oldSphere.Center, mesh.InverseTransformMatrix);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
float distToCentre = meshTriangle.Plane.DotCoordinate(newSphereCen);
if (distToCentre <= 0.0f)
continue;
if (distToCentre >= sphereTolR)
continue;
int i0, i1, i2;
meshTriangle.GetVertexIndices(out i0, out i1, out i2);
Triangle triangle = new Triangle(mesh.GetVertex(i0), mesh.GetVertex(i1), mesh.GetVertex(i2));
float s, t;
float newD2 = Distance.PointTriangleDistanceSq(out s, out t, newSphereCen, triangle);
if (newD2 < sphereTolR2)
{
// have overlap - but actually report the old intersection
float oldD2 = Distance.PointTriangleDistanceSq(out s, out t, oldSphereCen, triangle);
float dist = (float)System.Math.Sqrt((float)oldD2);
float depth = oldSphere.Radius - dist;
Vector3 triPointSTNorm = oldSphereCen - triangle.GetPoint(s, t);
JiggleMath.NormalizeSafe(ref triPointSTNorm);
Vector3 collisionN = (dist > float.Epsilon) ? triPointSTNorm : triangle.Normal;
// since impulse get applied at the old position
Vector3 pt = oldSphere.Center - oldSphere.Radius * collisionN;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(pt - body0Pos, pt - body1Pos, depth);
}
collNormal += collisionN;
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
}
#if USE_STACKALLOC
}
}
#else
FreeStackAlloc(potTriArray);
}
FreeStackAlloc(collPtArray);
}
#endif
}
}
/// <summary>
/// Skins are passed back because there maybe more than one skin
/// per body, and the user can always get the body from the skin.
/// </summary>
/// <param name="collDetectInfo"></param>
/// <param name="dirToBody0"></param>
/// <param name="pointInfos"></param>
public unsafe abstract void CollisionNotify(ref CollDetectInfo collDetectInfo,
ref Vector3 dirToBody0, SmallCollPointInfo* pointInfos, int numCollPts);
/// <summary>
///
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
Capsule newCapsule = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
Heightmap oldHeightmap = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Heightmap;
Heightmap newHeightmap = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Heightmap;
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
#endif
{
int numCollPts = 0;
Vector3 averageNormal = Vector3.Zero;
// the start
{
float oldDist, newDist;
Vector3 normal;
oldHeightmap.GetHeightAndNormal(out oldDist, out normal, oldCapsule.Position);
newHeightmap.GetHeightAndNormal(out newDist, out normal, newCapsule.Position);
if (MathHelper.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
{
float oldDepth = oldCapsule.Radius - oldDist;
// calc the world position based on the old position(s)
Vector3 worldPos = oldCapsule.Position - oldCapsule.Radius * normal;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
}
averageNormal += normal;
}
}
// the end
{
Vector3 oldEnd = oldCapsule.GetEnd();
Vector3 newEnd = newCapsule.GetEnd();
float oldDist, newDist;
Vector3 normal;
oldHeightmap.GetHeightAndNormal(out oldDist, out normal, oldEnd);
newHeightmap.GetHeightAndNormal(out newDist, out normal, newEnd);
if (MathHelper.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
{
float oldDepth = oldCapsule.Radius - oldDist;
// calc the world position based on the old position(s)
Vector3 worldPos = oldEnd - oldCapsule.Radius * normal;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
}
averageNormal += normal;
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref averageNormal);
collisionFunctor.CollisionNotify(ref info, ref averageNormal, collPts, numCollPts);
}
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
/// Detect BoxHeightmap Collisions.
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
Heightmap oldHeightmap = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Heightmap;
Heightmap newHeightmap = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Heightmap;
Vector3[] oldPts, newPts;
oldBox.GetCornerPoints(out oldPts);
newBox.GetCornerPoints(out newPts);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
#endif
{
int numCollPts = 0;
Vector3 collNormal = Vector3.Zero;
for (int i = 0; i < 8; ++i)
{
Vector3 newPt = newPts[i];
float newDist;
Vector3 normal;
newHeightmap.GetHeightAndNormal(out newDist, out normal, newPt);
if (newDist < collTolerance)
{
Vector3 oldPt = oldPts[i];
float oldDist = oldHeightmap.GetHeight(oldPt);
#region REFERENCE: collPts.Add(new CollPointInfo(oldPt - body0Pos, oldPt - body1Pos, -oldDist));
Vector3 pt0;
Vector3 pt1;
Vector3.Subtract(ref oldPt, ref body0Pos, out pt0);
Vector3.Subtract(ref oldPt, ref body1Pos, out pt1);
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(ref pt0, ref pt1, -oldDist);
}
#endregion
#region REFERENCE: collNormal += normal;
Vector3.Add(ref collNormal, ref normal, out collNormal);
#endregion
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
}
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
///
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule = (Capsule)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Capsule newCapsule = (Capsule)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
Heightmap oldHeightmap = (Heightmap)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
Heightmap newHeightmap = (Heightmap)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo *collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed(SmallCollPointInfo *collPts = collPtArray)
#endif
{
int numCollPts = 0;
Vector3 averageNormal = Vector3.Zero;
// the start
{
float oldDist, newDist;
Vector3 normal;
oldHeightmap.GetHeightAndNormal(out oldDist, out normal, oldCapsule.Position);
newHeightmap.GetHeightAndNormal(out newDist, out normal, newCapsule.Position);
if (MathHelper.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
{
float oldDepth = oldCapsule.Radius - oldDist;
// calc the world position based on the old position(s)
Vector3 worldPos = oldCapsule.Position - oldCapsule.Radius * normal;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
}
averageNormal += normal;
}
}
// the end
{
Vector3 oldEnd = oldCapsule.GetEnd();
Vector3 newEnd = newCapsule.GetEnd();
float oldDist, newDist;
Vector3 normal;
oldHeightmap.GetHeightAndNormal(out oldDist, out normal, oldEnd);
newHeightmap.GetHeightAndNormal(out newDist, out normal, newEnd);
if (MathHelper.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
{
float oldDepth = oldCapsule.Radius - oldDist;
// calc the world position based on the old position(s)
Vector3 worldPos = oldEnd - oldCapsule.Radius * normal;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
}
averageNormal += normal;
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref averageNormal);
collisionFunctor.CollisionNotify(ref info, ref averageNormal, collPts, numCollPts);
}
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
private unsafe void Init(CollDetectInfo info, Vector3 dirToBody0, SmallCollPointInfo* pointInfos, int numPointInfos)
{
this.SkinInfo = info;
this.dirToBody0 = dirToBody0;
int ID0 = info.Skin0.GetMaterialID(info.IndexPrim0);
int ID1 = info.Skin1.GetMaterialID(info.IndexPrim1);
MaterialTable matTable = info.Skin0.CollisionSystem.MaterialTable;
if (ID0 == (int)MaterialTable.MaterialID.UserDefined || (int)ID1 == (int)MaterialTable.MaterialID.UserDefined)
{
MaterialProperties prop0 = info.Skin0.GetMaterialProperties(info.IndexPrim0);
MaterialProperties prop1 = info.Skin1.GetMaterialProperties(info.IndexPrim1);
MatPairProperties.Restitution = prop0.Elasticity * prop1.Elasticity;
MatPairProperties.StaticFriction = prop0.StaticRoughness * prop1.StaticRoughness;
MatPairProperties.DynamicFriction = prop0.DynamicRoughness * prop1.DynamicRoughness;
}
else
{
MatPairProperties = matTable.GetPairProperties(ID0, ID1);
}
numPointInfos = (numPointInfos > MaxCollisionPoints) ? MaxCollisionPoints : numPointInfos;
NumCollPts = 0;
for (int i = 0; i < numPointInfos; ++i)
{
if (freePtInfos.Count == 0)
{
freePtInfos.Push(new CollPointInfo());
}
this.PointInfo[NumCollPts] = freePtInfos.Pop();
this.PointInfo[NumCollPts++].Init( ref pointInfos[i] );
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
// get the skins in the order that we're expectiing
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
Capsule newCapsule = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
Segment oldSeg = new Segment(oldCapsule.Position, oldCapsule.Length * oldCapsule.Orientation.Backward());
Segment newSeg = new Segment(newCapsule.Position, newCapsule.Length * newCapsule.Orientation.Backward());
float radius = oldCapsule.Radius;
Box oldBox = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Box;
Box newBox = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Box;
float oldSegT;
float oldBoxT0, oldBoxT1, oldBoxT2;
float oldDistSq = Distance.SegmentBoxDistanceSq(out oldSegT, out oldBoxT0, out oldBoxT1, out oldBoxT2, oldSeg, oldBox);
float newSegT;
float newBoxT0, newBoxT1, newBoxT2;
float newDistSq = Distance.SegmentBoxDistanceSq(out newSegT, out newBoxT0, out newBoxT1, out newBoxT2, newSeg, newBox);
if (OpenTKHelper.Min(oldDistSq, newDistSq) < ((radius + collTolerance) * (radius + collTolerance)))
{
Vector3 segPos = oldSeg.GetPoint(oldSegT);
Vector3 boxPos = oldBox.GetCentre() + oldBoxT0 * oldBox.Orientation.Right() +
oldBoxT1 * oldBox.Orientation.Up() + oldBoxT2 * oldBox.Orientation.Backward();
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radius - dist;
Vector3 dir;
if (dist > JiggleMath.Epsilon)
{
dir = segPos - boxPos;
JiggleMath.NormalizeSafe(ref dir);
}
else if ((segPos - oldBox.GetCentre()).LengthSquared > JiggleMath.Epsilon)
{
dir = segPos - oldBox.GetCentre();
JiggleMath.NormalizeSafe(ref dir);
}
else
{
// todo - make this not random
dir = Vector3.Transform(Vector3Extensions.Backward, Matrix4.CreateFromAxisAngle(Vector3Extensions.Up, OpenTKHelper.ToRadians(random.Next(360))));
}
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(boxPos - body0Pos, boxPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref dir, &collInfo, 1);
}
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
// get the skins in the order that we're expecting
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;
Capsule oldCapsule = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Capsule;
Capsule newCapsule = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Capsule;
Segment oldSeg = new Segment(oldCapsule.Position, oldCapsule.Length * oldCapsule.Orientation.Backward);
Segment newSeg = new Segment(oldCapsule.Position, newCapsule.Length * newCapsule.Orientation.Backward);
float radSum = newCapsule.Radius + newSphere.Radius;
float oldt, newt;
float oldDistSq = Distance.PointSegmentDistanceSq(out oldt, oldSphere.Position, oldSeg);
float newDistSq = Distance.PointSegmentDistanceSq(out newt, newSphere.Position, newSeg);
if (MathHelper.Min(oldDistSq, newDistSq) < (radSum + collTolerance) * (radSum + collTolerance))
{
Vector3 segPos = oldSeg.GetPoint(oldt);
Vector3 delta = oldSphere.Position - segPos;
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - dist;
if (dist > JiggleMath.Epsilon)
{
delta /= dist;
}
else
{
// todo - make this not random
delta = Vector3.TransformNormal(Vector3.Backward, Matrix.CreateFromAxisAngle(Vector3.Up, MathHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = segPos +
((oldCapsule.Radius - 0.5f * depth) * delta);
#if WINDOWS_PHONE
this.collInfo[0] = new SmallCollPointInfo(worldPos - body0Pos,
worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref delta, this.collInfo, 1);
#else
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos,
worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref delta, &collInfo, 1);
}
#endif
}
}
/// <summary>
/// Detect BoxBox Collisions.
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Box box0 = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
Box box1 = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Box;
Box oldBox0 = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box oldBox1 = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Box;
Matrix dirs0 = box0.Orientation;
Matrix dirs1 = box1.Orientation;
seperatingAxes[0] = dirs0.Right;
seperatingAxes[1] = dirs0.Up;
seperatingAxes[2] = dirs0.Backward;
seperatingAxes[3] = dirs1.Right;
seperatingAxes[4] = dirs1.Up;
seperatingAxes[5] = dirs1.Backward;
Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[3], out seperatingAxes[6]);
Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[4], out seperatingAxes[7]);
Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[5], out seperatingAxes[8]);
Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[3], out seperatingAxes[9]);
Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[4], out seperatingAxes[10]);
Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[5], out seperatingAxes[11]);
Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[3], out seperatingAxes[12]);
Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[4], out seperatingAxes[13]);
Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[5], out seperatingAxes[14]);
// see if the boxes are separate along any axis, and if not keep a
// record of the depths along each axis
int i;
for (i = 0; i < 15; ++i)
{
// If we can't normalise the axis, skip it
float l2 = seperatingAxes[i].LengthSquared();
if (l2 < JiggleMath.Epsilon) continue;
overlapDepth[i] = float.MaxValue;
if (Disjoint(out overlapDepth[i], ref seperatingAxes[i], box0, box1, collTolerance))
return;
}
// The box overlap, find the seperation depth closest to 0.
float minDepth = float.MaxValue;
int minAxis = -1;
for (i = 0; i < 15; ++i)
{
// If we can't normalise the axis, skip it
float l2 = seperatingAxes[i].LengthSquared();
if (l2 < JiggleMath.Epsilon) continue;
// Normalise the separation axis and depth
float invl = 1.0f / (float)System.Math.Sqrt(l2);
seperatingAxes[i] *= invl;
overlapDepth[i] *= invl;
// If this axis is the minmum, select it
if (overlapDepth[i] < minDepth)
{
minDepth = overlapDepth[i];
minAxis = i;
}
}
if (minAxis == -1)
return;
// Make sure the axis is facing towards the 0th box.
// if not, invert it
Vector3 D = box1.GetCentre() - box0.GetCentre();
Vector3 N = seperatingAxes[minAxis];
float depth = overlapDepth[minAxis];
if (Vector3.Dot(D, N) > 0.0f)
N *= -1.0f;
float minA = MathHelper.Min(box0.SideLengths.X, MathHelper.Min(box0.SideLengths.Y, box0.SideLengths.Z));
float minB = MathHelper.Min(box1.SideLengths.X, MathHelper.Min(box1.SideLengths.Y, box1.SideLengths.Z));
float combinationDist = 0.05f * MathHelper.Min(minA, minB);
// the contact points
bool contactPointsFromOld = true;
contactPts.Clear();
if (depth > -JiggleMath.Epsilon)
GetBoxBoxIntersectionPoints(contactPts, oldBox0, oldBox1, combinationDist, collTolerance);
int numPts = contactPts.Count;
if (numPts == 0)
{
contactPointsFromOld = false;
GetBoxBoxIntersectionPoints(contactPts, box0, box1, combinationDist, collTolerance);
}
numPts = contactPts.Count;
Vector3 body0OldPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1OldPos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
Vector3 body0NewPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.Position : Vector3.Zero;
Vector3 body1NewPos = (info.Skin1.Owner != null) ? info.Skin1.Owner.Position : Vector3.Zero;
#region REFERENCE: Vector3 bodyDelta = body0NewPos - body0OldPos - body1NewPos + body1OldPos;
Vector3 bodyDelta;
Vector3.Subtract(ref body0NewPos, ref body0OldPos, out bodyDelta);
Vector3.Subtract(ref bodyDelta, ref body1NewPos, out bodyDelta);
Vector3.Add(ref bodyDelta, ref body1OldPos, out bodyDelta);
#endregion
#region REFERENCE: float bodyDeltaLen = Vector3.Dot(bodyDelta,N);
float bodyDeltaLen;
Vector3.Dot(ref bodyDelta, ref N, out bodyDeltaLen);
#endregion
float oldDepth = depth + bodyDeltaLen;
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
#endif
{
int numCollPts = 0;
Vector3 SATPoint;
switch (minAxis)
{
// Box0 face, Box1 corner collision
case 0:
case 1:
case 2:
{
// Get the lowest point on the box1 along box1 normal
GetSupportPoint(out SATPoint, box1, -N);
break;
}
// We have a Box2 corner/Box1 face collision
case 3:
case 4:
case 5:
{
// Find with vertex on the triangle collided
GetSupportPoint(out SATPoint, box0, N);
break;
}
// We have an edge/edge collision
case 6:
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
{
{
// Retrieve which edges collided.
i = minAxis - 6;
int ia = i / 3;
int ib = i - ia * 3;
// find two P0, P1 point on both edges.
Vector3 P0, P1;
GetSupportPoint(out P0, box0, N);
GetSupportPoint(out P1, box1, -N);
// Find the edge intersection.
// plane along N and F, and passing through PB
Vector3 box0Orient, box1Orient;
JiggleUnsafe.Get(ref box0.transform.Orientation, ia, out box0Orient);
JiggleUnsafe.Get(ref box1.transform.Orientation, ib, out box1Orient);
#region REFERENCE: Vector3 planeNormal = Vector3.Cross(N, box1Orient[ib]);
Vector3 planeNormal;
Vector3.Cross(ref N, ref box1Orient, out planeNormal);
#endregion
#region REFERENCE: float planeD = Vector3.Dot(planeNormal, P1);
float planeD;
Vector3.Dot(ref planeNormal, ref P1, out planeD);
#endregion
// find the intersection t, where Pintersection = P0 + t*box edge dir
#region REFERENCE: float div = Vector3.Dot(box0Orient, planeNormal);
float div;
Vector3.Dot(ref box0Orient, ref planeNormal, out div);
#endregion
// plane and ray colinear, skip the intersection.
if (System.Math.Abs(div) < JiggleMath.Epsilon)
return;
float t = (planeD - Vector3.Dot(P0, planeNormal)) / div;
// point on edge of box0
#region REFERENCE: P0 += box0Orient * t;
P0 = Vector3.Add(Vector3.Multiply(box0Orient, t), P0);
#endregion
#region REFERENCE: SATPoint = (P0 + (0.5f * depth) * N);
Vector3.Multiply(ref N, 0.5f * depth, out SATPoint);
Vector3.Add(ref SATPoint, ref P0, out SATPoint);
#endregion
}
break;
}
default:
throw new JigLibXException("Impossible switch");
}
// distribute the depth according to the distance to the SAT point
if (numPts > 0)
{
float minDist = float.MaxValue;
float maxDist = float.MinValue;
for (i = 0; i < numPts; ++i)
{
float dist = Distance.PointPointDistance(contactPts[i].Pos, SATPoint);
if (dist < minDist)
minDist = dist;
if (dist > maxDist)
maxDist = dist;
}
if (maxDist < minDist + JiggleMath.Epsilon)
maxDist = minDist + JiggleMath.Epsilon;
// got some intersection points
for (i = 0; i < numPts; ++i)
{
float minDepthScale = 0.0f;
float dist = Distance.PointPointDistance(contactPts[i].Pos, SATPoint);
float depthScale = (dist - minDist) / (maxDist - minDist);
depth = (1.0f - depthScale) * oldDepth + minDepthScale * depthScale * oldDepth;
if (contactPointsFromOld)
{
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(contactPts[i].Pos - body0OldPos, contactPts[i].Pos - body1OldPos, depth);
}
}
else
{
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(contactPts[i].Pos - body0NewPos, contactPts[i].Pos - body1NewPos, depth);
}
}
}
}
else
{
#region REFERENCE: collPts.Add(new CollPointInfo(SATPoint - body0NewPos, SATPoint - body1NewPos, oldDepth));
//collPts.Add(new CollPointInfo(SATPoint - body0NewPos, SATPoint - body1NewPos, oldDepth));
Vector3 cp0;
Vector3.Subtract(ref SATPoint, ref body0NewPos, out cp0);
Vector3 cp1;
Vector3.Subtract(ref SATPoint, ref body1NewPos, out cp1);
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(ref cp0, ref cp1, oldDepth);
}
#endregion
}
// report Collisions
collisionFunctor.CollisionNotify(ref info, ref N, collPts, numCollPts);
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}