/// <summary>
/// DoOverlapBoxTriangleTest
/// </summary>
/// <param name="oldBox"></param>
/// <param name="newBox"></param>
/// <param name="triangle"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
/// <returns>bool</returns>
private static bool DoOverlapBoxTriangleTest(Box oldBox, Box newBox,
ref IndexedTriangle triangle, TriangleMesh mesh,
ref CollDetectInfo info, float collTolerance,
CollisionFunctor collisionFunctor)
{
Matrix4 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
Matrix4 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();
// BEN-OPTIMISATION: Replaced loops with code that requires no looping.
// The new code is faster, has less allocations and math especially
// since the method returns as soon as it finds a non-overlapping axis,
// i.e. Before irreleveat allocations occur.
#region "Old (less efficient) code"
/*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];*/
#endregion
#region "Optimised code"
Vector3 triNormal = triangle.Plane.Normal;
Vector3 right = dirs0.Right();
Vector3 up = dirs0.Up();
Vector3 backward = dirs0.Backward();
float testDepth;
if (Disjoint(out testDepth, ref triNormal, newBox, ref tri, collTolerance))
return (false);
float depth = testDepth;
Vector3 N = triNormal;
if (Disjoint(out testDepth, ref right, newBox, ref tri, collTolerance))
return (false);
if (testDepth < depth)
{
depth = testDepth;
N = right;
}
if (Disjoint(out testDepth, ref up, newBox, ref tri, collTolerance))
return (false);
if (testDepth < depth)
{
depth = testDepth;
N = up;
}
if (Disjoint(out testDepth, ref backward, newBox, ref tri, collTolerance))
return (false);
if (testDepth < depth)
{
depth = testDepth;
N = backward;
}
Vector3 axis;
Vector3.Cross(ref right, ref triEdge0, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref right, ref triEdge1, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref right, ref triEdge2, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref up, ref triEdge0, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref up, ref triEdge1, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref up, ref triEdge2, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref backward, ref triEdge0, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref backward, ref triEdge1, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref backward, ref triEdge2, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
/*if (N == Vector3.Zero)
return (false);*/
Vector3 D = newBox.GetCentre() - tri.Centre;
N.Normalize();
int i;
#endregion
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)
{
// BEN-OPTIMISATION: Reused existing SmallCollPointInfo and inlined vector substraction.
collPts[i].R0.X = pts[i].X - boxNewPos.X;
collPts[i].R0.Y = pts[i].Y - boxNewPos.Y;
collPts[i].R0.Z = pts[i].Z - boxNewPos.Z;
collPts[i].R1.X = pts[i].X - meshPos.X;
collPts[i].R1.Y = pts[i].Y - meshPos.Y;
collPts[i].R1.Z = pts[i].Z - meshPos.Z;
collPts[i].InitialPenetration = 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>
/// CollDetectCapsuleStaticMeshOverlap
/// </summary>
/// <param name="oldCapsule"></param>
/// <param name="newCapsule"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
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();
Matrix4 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);
// BEN-BUG-FIX: Fixed by replacing 0.0F with -capsuleTolR.
if ((distToStart > capsuleTolR && distToEnd > capsuleTolR)
|| (distToStart < -capsuleTolR && distToEnd < -capsuleTolR))
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
Matrix4 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)
{
// BEN-OPTIMISATION: Reused existing collPts.
collPts[numCollPts].R0 = pt - body0Pos;
collPts[numCollPts].R1 = pt - body1Pos;
collPts[numCollPts++].InitialPenetration = 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
}
}
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 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;
}
}
}
}