/** Cross Product
* @param v
* @return vettore ortogonale a v e this
*/
public Vec3 Cross(Vec3 v)
{
return new Vec3(
Y * v.Z - Z * v.Y, //x
Z * v.X - X * v.Z, //y
X * v.Y - Y * v.X //z
);
}
public void Add(Vec3 p)
{
if(IsEmpty){
max = new Vec3(p.X,p.Y,p.Z);
min =new Vec3(p.X,p.Y,p.Z);
}
else{
if(p.X < min.X) min.X=p.X;
if(p.Y < min.Y) min.Y=p.Y;
if(p.Z < min.Z) min.Z=p.Z;
if(p.X > max.X) max.X=p.X;
if(p.Y > max.Y) max.Y=p.Y;
if(p.Z > max.Z) max.Z=p.Z;
}
IsEmpty = false;
}
private void UpdateAABB()
{
aabb.Clear();
for(int i=0; i<VertexList.Count; i++){
Vec3 p = new Vec3(VertexList[i].X,VertexList[i].Y,VertexList[i].Z);
aabb.Add(p);
}
}
void InitCloth()
{
clothForce = new Vec3(0,0,+1).Mult(5.0f);
cloth = new VerletMesh (Mesh.CreatePlane (clothWidth=50,clothHeight=50, 20, 20));
if (clothConstraints == null) {
cloth.GenerateVertexConstraintsFromFaces ();
clothConstraints = cloth.VertexConstraints;
} else
cloth.VertexConstraints = clothConstraints;
cloth.Mass= (0.05f);
cloth.Model = IMatrix.Translation (0, 10.0f, 0.0f).Dot (IMatrix.RotationX (-90)).Dot (IMatrix.Translation (-clothWidth/2, -clothHeight/2, 0.0f));
}
void DrawLine(Vec3 pointA, Vec3 pointB)
{
GL.Begin (BeginMode.Lines);
GL.Vertex3 (pointA.X, pointA.Y, pointA.Z);
GL.Vertex3 (pointB.X, pointB.Y, pointB.Z);
GL.End ();
}
public void UpdatePosition(float dt)
{
Vec3 acc = new Vec3 (Force.X, Force.Y, Force.Z);
acc.Normalize();
acc = acc.Mult(Force.W);
acc = new Vec3(acc.Mult (Mass));
var pNext = new List<Vec3> ();
for (var i = 0; i<VertexNow.Count; i++) {
var pNow = VertexNow [i];
var pOld = VertexOld [i];
pNext.Add (pNow * 2 - pOld + acc * dt*dt);
}
VertexOld = VertexNow;
VertexNow = pNext;
}
public void FixCollisionWithSphere(Vec3 sphereCenter, float sphereRadius)
{
for (var i = 0; i<VertexList.Count; i++) {
var v = VertexList [i];
var diff = (v - sphereCenter);
var distance = diff.Norm();
if (distance > sphereRadius)
continue;
VertexList [i] = v+diff;
}
}
public Vec3 Sub(Vec3 v2)
{
Vec4 v = base.Sub(v2);
return new Vec3(v.X, v.Y, v.Z);
}
public Vec3 Add(Vec3 v2)
{
Vec4 v = base.Add(v2);
return new Vec3(v.X, v.Y, v.Z);
}
public Vec3(Vec3 v)
: base(v)
{
}
void init()
{
VertexConstraints = new List<VertexConstraint> ();
VertexOld = new List<Vec3> ();
Force = new Vec3 (0, 0, 0);
Mass = 0;
Model = IMatrix.Identity ();
foreach (var v in VertexNow)
VertexOld.Add (v * 1);
}
public void FixCollisionWithSphere(Vec3 sphereCenter, float sphereRadius)
{
var offset = 0.5f;
var sc = Model.Inverse.Dot (sphereCenter);
for (var i = 0; i<VertexList.Count; i++) {
var v = VertexList [i];
var diff = (v - sc);
var distance = diff.Norm();
if (distance > sphereRadius+offset) {
VertexList [i].IsColliding |= false;
continue;
}
v = new Vec3(sc+(diff.Normalized () * (sphereRadius+offset)));
VertexList[i] = v;
VertexList [i].IsColliding = true;
}
}
public void FixCollisionWithCapsule(Vec3 pointA, Vec3 pointB, float radius)
{
var a = new Vec3(Model.Inverse.Dot (pointA));
var b = new Vec3(Model.Inverse.Dot (pointB));
var abNormalized = (b-a).Normalized ();
var abNorm = (b-a).Norm ();
for (var i = 0; i<VertexList.Count; i++) {
var v = VertexList [i];
var p = a + abNormalized.Mult((v - a).Dot (abNormalized));
if ((v - p).Norm () > radius)
continue;
if ((p - a).Norm () > abNorm + radius || (p - b).Norm () > abNorm + radius)
continue;
VertexList [i] = p+(v - p).Normalized () * radius;
VertexList [i].IsColliding |= true;
}
}
public void ApplyForce(Vec3 force)
{
Force = Force + force;
}
