/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="hit">Hit data, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public override bool ConvexCast(CollisionShapes.ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweep, out RayHit hit)
{
hit = new RayHit();
BoundingBox boundingBox;
Toolbox.GetExpandedBoundingBox(ref castShape, ref startingTransform, ref sweep, out boundingBox);
var hitElements = Resources.GetCompoundChildList();
if (hierarchy.Tree.GetOverlaps(boundingBox, hitElements))
{
hit.T = float.MaxValue;
for (int i = 0; i < hitElements.count; i++)
{
var candidate = hitElements.Elements[i].CollisionInformation;
RayHit tempHit;
if (candidate.ConvexCast(castShape, ref startingTransform, ref sweep, out tempHit) && tempHit.T < hit.T)
{
hit = tempHit;
}
}
Resources.GiveBack(hitElements);
return(hit.T != float.MaxValue);
}
Resources.GiveBack(hitElements);
return(false);
}
/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="filter">Test to apply to the entry. If it returns true, the entry is processed, otherwise the entry is ignored. If a collidable hierarchy is present
/// in the entry, this filter will be passed into inner ray casts.</param>
/// <param name="hit">Hit data, if any.</param>
/// <param name="hitChild">Child hit by the cast.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public bool ConvexCast(CollisionShapes.ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweep, Func <BroadPhaseEntry, bool> filter, out RayHit hit, out CompoundChild hitChild)
{
hit = new RayHit();
hitChild = null;
BoundingBox boundingBox;
castShape.GetSweptBoundingBox(ref startingTransform, ref sweep, out boundingBox);
var hitElements = PhysicsResources.GetCompoundChildList();
if (hierarchy.Tree.GetOverlaps(boundingBox, hitElements))
{
hit.T = float.MaxValue;
for (int i = 0; i < hitElements.Count; i++)
{
var candidate = hitElements.Elements[i].CollisionInformation;
RayHit tempHit;
if (candidate.ConvexCast(castShape, ref startingTransform, ref sweep, filter, out tempHit) && tempHit.T < hit.T)
{
hit = tempHit;
hitChild = hitElements.Elements[i];
}
}
PhysicsResources.GiveBack(hitElements);
return(hit.T != float.MaxValue);
}
PhysicsResources.GiveBack(hitElements);
return(false);
}
/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="filter">Test to apply to the entry. If it returns true, the entry is processed, otherwise the entry is ignored. If a collidable hierarchy is present
/// in the entry, this filter will be passed into inner ray casts.</param>
/// <param name="rayHit">Hit data, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public override bool ConvexCast(CollisionShapes.ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweep, Func <BroadPhaseEntry, bool> filter, out RayHit rayHit)
{
CompoundChild hitChild;
bool hit = ConvexCast(castShape, ref startingTransform, ref sweep, filter, out rayHit, out hitChild);
return(hit);
}
/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="rayHit">Hit data, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public override bool ConvexCast(CollisionShapes.ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref System.Numerics.Vector3 sweep, out RayHit rayHit)
{
CompoundChild hitChild;
bool hit = ConvexCast(castShape, ref startingTransform, ref sweep, out rayHit, out hitChild);
return(hit);
}
/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="hit">Hit data, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public override bool ConvexCast(CollisionShapes.ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweep, out RayHit hit)
{
RayCastResult result;
bool toReturn = Shape.ConvexCast(castShape, ref startingTransform, ref sweep, out result);
hit = result.HitData;
return(toReturn);
}
/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="hit">Hit data, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public override bool ConvexCast(CollisionShapes.ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweep, out RayHit hit)
{
hit = new RayHit();
BoundingBox boundingBox;
castShape.GetSweptLocalBoundingBox(ref startingTransform, ref worldTransform, ref sweep, out boundingBox);
var tri = PhysicsThreadResources.GetTriangle();
var hitElements = CommonResources.GetIntList();
if (this.Shape.TriangleMesh.Tree.GetOverlaps(boundingBox, hitElements))
{
hit.T = float.MaxValue;
for (int i = 0; i < hitElements.Count; i++)
{
Shape.TriangleMesh.Data.GetTriangle(hitElements[i], out tri.vA, out tri.vB, out tri.vC);
AffineTransform.Transform(ref tri.vA, ref worldTransform, out tri.vA);
AffineTransform.Transform(ref tri.vB, ref worldTransform, out tri.vB);
AffineTransform.Transform(ref tri.vC, ref worldTransform, out tri.vC);
Vector3 center;
Vector3.Add(ref tri.vA, ref tri.vB, out center);
Vector3.Add(ref center, ref tri.vC, out center);
Vector3.Multiply(ref center, 1f / 3f, out center);
Vector3.Subtract(ref tri.vA, ref center, out tri.vA);
Vector3.Subtract(ref tri.vB, ref center, out tri.vB);
Vector3.Subtract(ref tri.vC, ref center, out tri.vC);
tri.MaximumRadius = tri.vA.LengthSquared();
float radius = tri.vB.LengthSquared();
if (tri.MaximumRadius < radius)
{
tri.MaximumRadius = radius;
}
radius = tri.vC.LengthSquared();
if (tri.MaximumRadius < radius)
{
tri.MaximumRadius = radius;
}
tri.MaximumRadius = (float)Math.Sqrt(tri.MaximumRadius);
tri.collisionMargin = 0;
var triangleTransform = new RigidTransform {
Orientation = Quaternion.Identity, Position = center
};
RayHit tempHit;
if (MPRToolbox.Sweep(castShape, tri, ref sweep, ref Toolbox.ZeroVector, ref startingTransform, ref triangleTransform, out tempHit) && tempHit.T < hit.T)
{
hit = tempHit;
}
}
tri.MaximumRadius = 0;
PhysicsThreadResources.GiveBack(tri);
CommonResources.GiveBack(hitElements);
return(hit.T != float.MaxValue);
}
PhysicsThreadResources.GiveBack(tri);
CommonResources.GiveBack(hitElements);
return(false);
}
/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="filter">Test to apply to the entry. If it returns true, the entry is processed, otherwise the entry is ignored. If a collidable hierarchy is present
/// in the entry, this filter will be passed into inner ray casts.</param>
/// <param name="result">Data and hit object from the first impact, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public bool ConvexCast(CollisionShapes.ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweep, Func <BroadPhaseEntry, bool> filter, out RayCastResult result)
{
CompoundChild hitChild;
RayHit rayHit;
bool hit = ConvexCast(castShape, ref startingTransform, ref sweep, filter, out rayHit, out hitChild);
result = new RayCastResult {
HitData = rayHit, HitObject = hitChild.CollisionInformation
};
return(hit);
}
/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="result">Data and hit object from the first impact, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public bool ConvexCast(CollisionShapes.ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref System.Numerics.Vector3 sweep, out RayCastResult result)
{
CompoundChild hitChild;
RayHit rayHit;
bool hit = ConvexCast(castShape, ref startingTransform, ref sweep, out rayHit, out hitChild);
result = new RayCastResult {
HitData = rayHit, HitObject = hitChild.CollisionInformation
};
return(hit);
}
/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="hit">Hit data, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public override bool ConvexCast(CollisionShapes.ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3f sweep, out RayHit hit)
{
hit = new RayHit();
BoundingBox localSpaceBoundingBox;
castShape.GetSweptLocalBoundingBox(ref startingTransform, ref worldTransform, ref sweep, out localSpaceBoundingBox);
var tri = PhysicsThreadResources.GetTriangle();
var hitElements = new QuickList <int>(BufferPools <int> .Thread);
if (Shape.GetOverlaps(localSpaceBoundingBox, ref hitElements))
{
hit.T = float.MaxValue;
for (int i = 0; i < hitElements.Count; i++)
{
Shape.GetTriangle(hitElements.Elements[i], ref worldTransform, out tri.vA, out tri.vB, out tri.vC);
Vector3f center;
Vector3f.Add(ref tri.vA, ref tri.vB, out center);
Vector3f.Add(ref center, ref tri.vC, out center);
Vector3f.Multiply(ref center, 1f / 3f, out center);
Vector3f.Subtract(ref tri.vA, ref center, out tri.vA);
Vector3f.Subtract(ref tri.vB, ref center, out tri.vB);
Vector3f.Subtract(ref tri.vC, ref center, out tri.vC);
tri.MaximumRadius = tri.vA.LengthSquared;
float radius = tri.vB.LengthSquared;
if (tri.MaximumRadius < radius)
{
tri.MaximumRadius = radius;
}
radius = tri.vC.LengthSquared;
if (tri.MaximumRadius < radius)
{
tri.MaximumRadius = radius;
}
tri.MaximumRadius = (float)Math.Sqrt(tri.MaximumRadius);
tri.collisionMargin = 0;
var triangleTransform = new RigidTransform {
Orientation = Quaternion.Identity, Position = center
};
RayHit tempHit;
if (MPRToolbox.Sweep(castShape, tri, ref sweep, ref Toolbox.ZeroVector, ref startingTransform, ref triangleTransform, out tempHit) && tempHit.T < hit.T)
{
hit = tempHit;
}
}
tri.MaximumRadius = 0;
PhysicsThreadResources.GiveBack(tri);
hitElements.Dispose();
return(hit.T != float.MaxValue);
}
PhysicsThreadResources.GiveBack(tri);
hitElements.Dispose();
return(false);
}
/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="hit">Hit data, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public override bool ConvexCast(CollisionShapes.ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweep, out RayHit hit)
{
if (Shape.solidity == MobileMeshSolidity.Solid)
{
//If the convex cast is inside the mesh and the mesh is solid, it should return t = 0.
var ray = new Ray()
{
Position = startingTransform.Position, Direction = Toolbox.UpVector
};
if (Shape.IsLocalRayOriginInMesh(ref ray, out hit))
{
hit = new RayHit()
{
Location = startingTransform.Position, Normal = new Vector3(), T = 0
};
return(true);
}
}
hit = new RayHit();
BoundingBox boundingBox;
AffineTransform transform = new AffineTransform();
transform.Translation = worldTransform.Position;
Matrix3X3.CreateFromQuaternion(ref worldTransform.Orientation, out transform.LinearTransform);
castShape.GetSweptLocalBoundingBox(ref startingTransform, ref transform, ref sweep, out boundingBox);
var tri = Resources.GetTriangle();
var hitElements = Resources.GetIntList();
if (this.Shape.TriangleMesh.Tree.GetOverlaps(boundingBox, hitElements))
{
hit.T = float.MaxValue;
for (int i = 0; i < hitElements.Count; i++)
{
Shape.TriangleMesh.Data.GetTriangle(hitElements[i], out tri.vA, out tri.vB, out tri.vC);
AffineTransform.Transform(ref tri.vA, ref transform, out tri.vA);
AffineTransform.Transform(ref tri.vB, ref transform, out tri.vB);
AffineTransform.Transform(ref tri.vC, ref transform, out tri.vC);
Vector3 center;
Vector3.Add(ref tri.vA, ref tri.vB, out center);
Vector3.Add(ref center, ref tri.vC, out center);
Vector3.Multiply(ref center, 1f / 3f, out center);
Vector3.Subtract(ref tri.vA, ref center, out tri.vA);
Vector3.Subtract(ref tri.vB, ref center, out tri.vB);
Vector3.Subtract(ref tri.vC, ref center, out tri.vC);
tri.maximumRadius = tri.vA.LengthSquared();
float radius = tri.vB.LengthSquared();
if (tri.maximumRadius < radius)
{
tri.maximumRadius = radius;
}
radius = tri.vC.LengthSquared();
if (tri.maximumRadius < radius)
{
tri.maximumRadius = radius;
}
tri.maximumRadius = (float)Math.Sqrt(tri.maximumRadius);
tri.collisionMargin = 0;
var triangleTransform = new RigidTransform();
triangleTransform.Orientation = Quaternion.Identity;
triangleTransform.Position = center;
RayHit tempHit;
if (MPRToolbox.Sweep(castShape, tri, ref sweep, ref Toolbox.ZeroVector, ref startingTransform, ref triangleTransform, out tempHit) && tempHit.T < hit.T)
{
hit = tempHit;
}
}
tri.maximumRadius = 0;
Resources.GiveBack(tri);
Resources.GiveBack(hitElements);
return(hit.T != float.MaxValue);
}
Resources.GiveBack(tri);
Resources.GiveBack(hitElements);
return(false);
}