/// <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="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);
}
public override void Update(float dt)
{
if (Game.KeyboardInput.IsKeyDown(Keys.NumPad6))
{
aTransform.Position += Vector3.Right * dt;
}
if (Game.KeyboardInput.IsKeyDown(Keys.NumPad4))
{
aTransform.Position += Vector3.Left * dt;
}
if (Game.KeyboardInput.IsKeyDown(Keys.NumPad1))
{
aTransform.Position += Vector3.Up * dt;
}
if (Game.KeyboardInput.IsKeyDown(Keys.NumPad0))
{
aTransform.Position += Vector3.Down * dt;
}
if (Game.KeyboardInput.IsKeyDown(Keys.NumPad8))
{
aTransform.Position += Vector3.Forward * dt;
}
if (Game.KeyboardInput.IsKeyDown(Keys.NumPad5))
{
aTransform.Position += Vector3.Backward * dt;
}
Vector3 sweepA = new Vector3(0, 10, 0);
Vector3 sweepB = new Vector3(0, -10, 0);
if (Game.KeyboardInput.IsKeyDown(Keys.P))
{
Debug.WriteLine("Breka.");
}
if (hit = MPRToolbox.Sweep(aShape, bShape, ref sweepA, ref sweepB, ref aTransform, ref bTransform, out hitData))
//if (hit = OldGJKVerifier.ConvexCast(a.CollisionInformation.Shape, b.CollisionInformation.Shape, ref sweepA, ref sweepB, ref aTransform, ref bTransform, out hitData))
{
a.Position = aTransform.Position + sweepA * hitData.T;
b.Position = bTransform.Position + sweepB * hitData.T;
}
else
{
a.Position = aTransform.Position;
b.Position = bTransform.Position;
}
base.Update(dt);
}
public override bool ConvexCast(ConvexShape castShape, ref MathExtensions.RigidTransform startingTransform, ref Vector3 sweep, out RayHit hit)
{
return(MPRToolbox.Sweep(castShape, Shape, ref sweep, ref Toolbox.ZeroVector, ref startingTransform, ref worldTransform, out 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(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;
var transform = new AffineTransform {
Translation = worldTransform.Position
};
Matrix3x3.CreateFromQuaternion(ref worldTransform.Orientation, out transform.LinearTransform);
castShape.GetSweptLocalBoundingBox(ref startingTransform, ref transform, 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 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 {
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);
}
public override bool ConvexCast(ConvexShape castShape, ref RigidTransform startingTransform, ref System.Numerics.Vector3 sweep, out RayHit hit)
{
return(MPRToolbox.Sweep(castShape, Shape, ref sweep, ref Toolbox.ZeroVector, ref startingTransform, ref worldTransform, out hit));
}