Exemplo n.º 1
0
        /*
        private void DetectSoftRigid(RigidBody rigidBody, SoftBody softBody)
        {
            if (rigidBody.Shape is Multishape)
            {
                Multishape ms = (rigidBody.Shape as Multishape);
                ms = ms.RequestWorkingClone();

                JBBox transformedBoundingBox = softBody.BoundingBox;
                transformedBoundingBox.InverseTransform(ref rigidBody.position, ref rigidBody.orientation);

                int msLength = ms.Prepare(ref transformedBoundingBox);

                List<int> detected = potentialTriangleLists.GetNew();
                softBody.dynamicTree.Query(detected, ref rigidBody.boundingBox);

                foreach (int i in detected)
                {
                    SoftBody.Triangle t = softBody.dynamicTree.GetUserData(i);

                    JVector point, normal;
                    float penetration;
                    bool result;

                    for (int e = 0; e < msLength; e++)
                    {
                        ms.SetCurrentShape(e);

                        result = XenoCollide.Detect(ms, t, ref rigidBody.orientation, ref JMatrix.InternalIdentity,
                            ref rigidBody.position, ref JVector.InternalZero, out point, out normal, out penetration);

                        if (result)
                        {
                            int minIndex = FindNearestTrianglePoint(softBody, i, ref point);

                            if (this.RaisePassedNarrowphase(rigidBody, softBody.points[minIndex],
                                ref point, ref normal, penetration))
                            {

                                RaiseCollisionDetected(rigidBody,
                                    softBody.points[minIndex], ref point, ref point, ref normal, penetration);
                            }
                        }
                    }

                }

                detected.Clear(); potentialTriangleLists.GiveBack(detected);
                ms.ReturnWorkingClone();
            }
            else
            {
                List<int> detected = potentialTriangleLists.GetNew();
                softBody.dynamicTree.Query(detected, ref rigidBody.boundingBox);

                foreach (int i in detected)
                {
                    SoftBody.Triangle t = softBody.dynamicTree.GetUserData(i);

                    JVector point, normal;
                    float penetration;
                    bool result;

                    result = XenoCollide.Detect(rigidBody.Shape, t, ref rigidBody.orientation, ref JMatrix.InternalIdentity,
                        ref rigidBody.position, ref JVector.InternalZero, out point, out normal, out penetration);

                    if (result)
                    {
                        int minIndex = FindNearestTrianglePoint(softBody, i, ref point);

                        if (this.RaisePassedNarrowphase(rigidBody, softBody.points[minIndex],
                            ref point, ref normal, penetration))
                        {
                            RaiseCollisionDetected(rigidBody,
                                softBody.points[minIndex], ref point, ref point, ref normal, penetration);
                        }
                    }
                }

                detected.Clear();
                potentialTriangleLists.GiveBack(detected);
            }
        }

        public static int FindNearestTrianglePoint(SoftBody sb, int id, ref JVector point)
        {
            SoftBody.Triangle triangle = sb.dynamicTree.GetUserData(id);
            JVector p;

            p = sb.points[triangle.indices.I0].position;
            JVector.Subtract(ref p, ref point, out p);

            float length0 = p.LengthSquared();

            p = sb.points[triangle.indices.I1].position;
            JVector.Subtract(ref p, ref point, out p);

            float length1 = p.LengthSquared();

            p = sb.points[triangle.indices.I2].position;
            JVector.Subtract(ref p, ref point, out p);

            float length2 = p.LengthSquared();

            if (length0 < length1)
            {
                if (length0 < length2) return triangle.indices.I0;
                else return triangle.indices.I2;
            }
            else
            {
                if (length1 < length2) return triangle.indices.I1;
                else return triangle.indices.I2;
            }
        }
         * */
        public static void FindSupportPoints(RigidBody body1, RigidBody body2,
            Shape shape1, Shape shape2, ref JVector point, ref JVector normal,
            out JVector point1, out JVector point2)
        {
            JVector mn; JVector.Negate(ref normal, out mn);

            JVector sA; SupportMapping(body1, shape1, ref mn, out sA);
            JVector sB; SupportMapping(body2, shape2, ref normal, out sB);

            JVector.Subtract(ref sA, ref point, out sA);
            JVector.Subtract(ref sB, ref point, out sB);

            float dot1 = JVector.Dot(ref sA, ref normal);
            float dot2 = JVector.Dot(ref sB, ref normal);

            JVector.Multiply(ref normal, dot1, out sA);
            JVector.Multiply(ref normal, dot2, out sB);

            JVector.Add(ref point, ref sA, out point1);
            JVector.Add(ref point, ref sB, out point2);
        }
Exemplo n.º 2
0
 private static void SupportMapping(RigidBody body, Shape workingShape, ref JVector direction, out JVector result)
 {
     JMatrix xform = JMatrix.CreateRotationZ(-body.orientation);
     JVector.Transform(ref direction, ref xform, out result);
     workingShape.SupportMapping(ref result, out result);
     xform = JMatrix.CreateRotationZ(body.orientation);
     JVector.Transform(ref result, ref xform, out result);
     JVector.Add(ref result, ref body.position, out result);
 }
Exemplo n.º 3
0
 public static float CalculateMassInertia(Shape shape, out JVector centerOfMass,
     out JMatrix inertia)
 {
     throw new NotImplementedException();
 }