/// <summary>
/// Adds all csg constraints to a diff node.
/// </summary>
public void AddCsgConstraints(CsgOpDiff diffNode, vec3 refPos)
{
Drone refDrone = ReferenceDrone;
switch (refDrone.Type)
{
case DroneType.Chain:
for (int i = 0; i < drones.Count - 1; ++i)
{
Drone first = drones[i];
Drone second = drones[i + 1];
CsgExpression expr = constraintExpression[i];
configureVerticalConstraintExpression(refPos, first, second, expr);
diffNode.AddNode(expr);
}
break;
default: Debug.Fail("Not implemented/Invalid");
break;
}
}
public DiggingController(World world, Player player)
{
Debug.Assert(instance == null, "Singleton is violated");
instance = this;
this.world = world;
this.player = player;
string digParas = "digRadius:float, digPosition:vec3, digDirX:vec3, digDirY:vec3, digDirZ:vec3";
string sphereExpression = "-digRadius + distance(vec3(x,y,z), digPosition)";
sphereNode = new CsgExpression(1, sphereExpression, UpvoidMiner.ModDomain, digParas);
string boxExpression = @"p = vec3(x,y,z) - digPosition;
dx = abs(dot(p, digDirX));
dy = abs(dot(p, digDirY));
dz = abs(dot(p, digDirZ));
-digRadius + max(dx, max(dy, dz))";
boxNode = new CsgExpression(1, boxExpression, UpvoidMiner.ModDomain, digParas);
string cylinderExpression = @"p = vec3(x,y,z) - digPosition;
dx = abs(dot(p, digDirX));
dy = abs(dot(p, digDirY));
dz = abs(dot(p, digDirZ));
-digRadius + max(dy, length(vec2(dx, dz)))";
cylinderNode = new CsgExpression(1, cylinderExpression, UpvoidMiner.ModDomain, digParas);
string playerExpression = @"p = vec3(x,y,z) - playerPosition;
dx = abs(dot(p, digDirX));
dy = abs(dot(p, digDirY));
dz = abs(dot(p, digDirZ));
-playerRadius + max(dy, length(vec2(dx, dz)))";
playerNode = new CsgExpression(1, playerExpression, UpvoidMiner.ModDomain, "playerRadius:float, playerPosition:vec3, digDirX:vec3, digDirY:vec3, digDirZ:vec3");
}
/// <summary>
/// Configure the CSG Expression of a vertical constraint (including 'shadow').
/// </summary>
private void configureVerticalConstraintExpression(vec3 refPos, Drone first, Drone second, CsgExpression expr)
{
// Calculate primary plane.
vec3 start = first.CurrentPosition;
vec3 end = second.CurrentPosition;
vec3 mid = (start + end) / 2f;
vec3 up = new vec3(0, 1, 0);
vec3 dir = end - start;
vec3 normal = vec3.cross(dir, up);
vec3 d = refPos - mid;
bool invert = vec3.dot(d, normal) < 0;
if (invert)
{
normal *= -1f;
}
expr.SetParameterVec3("plane1Normal", normal);
expr.SetParameterFloat("plane1Dis", vec3.dot(normal, mid));
// Caluclate first shadow plane
vec3 s1Pos = start;
vec3 s1Normal = vec3.cross(up, s1Pos - refPos);
if (invert)
{
s1Normal *= -1f;
}
expr.SetParameterVec3("plane2Normal", s1Normal);
expr.SetParameterFloat("plane2Dis", vec3.dot(s1Normal, s1Pos));
// Caluclate second shadow plane
vec3 s2Pos = end;
vec3 s2Normal = vec3.cross(s2Pos - refPos, up);
if (invert)
{
s2Normal *= -1f;
}
expr.SetParameterVec3("plane3Normal", s2Normal);
expr.SetParameterFloat("plane3Dis", vec3.dot(s2Normal, s2Pos));
}
