///<summary>
/// Gets the closest points between the shapes.
///</summary>
///<param name="shapeA">First shape of the pair.</param>
///<param name="shapeB">Second shape of the pair.</param>
///<param name="transformA">Transform to apply to the first shape.</param>
///<param name="transformB">Transform to apply to the second shape.</param>
/// <param name="cachedSimplex">Simplex from a previous updated used to warmstart the current attempt. Updated after each run.</param>
///<param name="closestPointA">Closest point on the first shape to the second shape.</param>
///<param name="closestPointB">Closest point on the second shape to the first shape.</param>
///<returns>Whether or not the objects were intersecting. If they are intersecting, then the closest points cannot be identified.</returns>
public static bool GetClosestPoints(ConvexShape shapeA, ConvexShape shapeB, ref RigidTransform transformA, ref RigidTransform transformB,
ref CachedSimplex cachedSimplex, out Vector3 closestPointA, out Vector3 closestPointB)
{
RigidTransform localtransformB;
MinkowskiToolbox.GetLocalTransform(ref transformA, ref transformB, out localtransformB);
bool toReturn = GetClosestPoints(shapeA, shapeB, ref localtransformB, ref cachedSimplex, out closestPointA, out closestPointB);
RigidTransform.Transform(ref closestPointA, ref transformA, out closestPointA);
RigidTransform.Transform(ref closestPointB, ref transformA, out closestPointB);
return(toReturn);
}
///<summary>
/// Tests if the pair is intersecting.
///</summary>
///<param name="shapeA">First shape of the pair.</param>
///<param name="shapeB">Second shape of the pair.</param>
///<param name="transformA">Transform to apply to the first shape.</param>
///<param name="transformB">Transform to apply to the second shape.</param>
///<param name="localSeparatingAxis">Warmstartable separating axis used by the method to quickly early-out if possible. Updated to the latest separating axis after each run.</param>
///<returns>Whether or not the objects were intersecting.</returns>
public static bool AreShapesIntersecting(ConvexShape shapeA, ConvexShape shapeB, ref RigidTransform transformA,
ref RigidTransform transformB,
ref Vector3 localSeparatingAxis)
{
RigidTransform localtransformB;
MinkowskiToolbox.GetLocalTransform(ref transformA, ref transformB, out localtransformB);
//Warm start the simplex.
SimpleSimplex simplex = new SimpleSimplex();
Vector3 extremePoint;
MinkowskiToolbox.GetLocalMinkowskiExtremePoint(shapeA, shapeB, ref localSeparatingAxis, ref localtransformB,
out extremePoint);
simplex.AddNewSimplexPoint(ref extremePoint);
Vector3 closestPoint;
int count = 0;
while (count++ < MaximumGJKIterations)
{
if (simplex.GetPointClosestToOrigin(out closestPoint) || //Also reduces the simplex.
closestPoint.LengthSquared() <= simplex.GetErrorTolerance() * Toolbox.BigEpsilon)
//Intersecting, or so close to it that it will be difficult/expensive to figure out the separation.
{
return(true);
}
//Use the closest point as a direction.
Vector3 direction;
Vector3.Negate(ref closestPoint, out direction);
MinkowskiToolbox.GetLocalMinkowskiExtremePoint(shapeA, shapeB, ref direction, ref localtransformB,
out extremePoint);
//Since this is a boolean test, we don't need to refine the simplex if it becomes apparent that we cannot reach the origin.
//If the most extreme point at any given time does not go past the origin, then we can quit immediately.
float dot;
Vector3.Dot(ref extremePoint, ref closestPoint,
out dot); //extreme point dotted against the direction pointing backwards towards the CSO.
if (dot > 0)
{
// If it's positive, that means that the direction pointing towards the origin produced an extreme point 'in front of' the origin, eliminating the possibility of any intersection.
localSeparatingAxis = direction;
return(false);
}
simplex.AddNewSimplexPoint(ref extremePoint);
}
return(false);
}
///<summary>
/// Gets the closest points between the shapes.
///</summary>
///<param name="shapeA">First shape of the pair.</param>
///<param name="shapeB">Second shape of the pair.</param>
///<param name="transformA">Transform to apply to the first shape.</param>
///<param name="transformB">Transform to apply to the second shape.</param>
///<param name="closestPointA">Closest point on the first shape to the second shape.</param>
///<param name="closestPointB">Closest point on the second shape to the first shape.</param>
///<returns>Whether or not the objects were intersecting. If they are intersecting, then the closest points cannot be identified.</returns>
public static bool GetClosestPoints(ConvexShape shapeA, ConvexShape shapeB, ref RigidTransform transformA, ref RigidTransform transformB,
out Vector3 closestPointA, out Vector3 closestPointB)
{
//The cached simplex stores locations that are local to the shapes. A fairly decent initial state is between the centroids of the objects.
//In local space, the centroids are at the origins.
RigidTransform localtransformB;
MinkowskiToolbox.GetLocalTransform(ref transformA, ref transformB, out localtransformB);
var simplex = new CachedSimplex();// new CachedSimplex(shapeA, shapeB, ref localtransformB);
simplex.State = SimplexState.Point;
bool toReturn = GetClosestPoints(shapeA, shapeB, ref localtransformB, ref simplex, out closestPointA, out closestPointB);
RigidTransform.Transform(ref closestPointA, ref transformA, out closestPointA);
RigidTransform.Transform(ref closestPointB, ref transformA, out closestPointB);
return(toReturn);
}
///<summary>
/// Casts a fat (sphere expanded) ray against the shape.
///</summary>
///<param name="ray">Ray to test against the shape.</param>
///<param name="radius">Radius of the ray.</param>
///<param name="shape">Shape to test against.</param>
///<param name="shapeTransform">Transform to apply to the shape for the test.</param>
///<param name="maximumLength">Maximum length of the ray in units of the ray direction's length.</param>
///<param name="hit">Hit data of the sphere cast, if any.</param>
///<returns>Whether or not the sphere cast hit the shape.</returns>
public static bool SphereCast(Ray ray, float radius, ConvexShape shape, ref RigidTransform shapeTransform,
float maximumLength,
out RayHit hit)
{
//Transform the ray into the object's local space.
Vector3.Subtract(ref ray.Position, ref shapeTransform.Position, out ray.Position);
Quaternion conjugate;
Quaternion.Conjugate(ref shapeTransform.Orientation, out conjugate);
Quaternion.Transform(ref ray.Position, ref conjugate, out ray.Position);
Quaternion.Transform(ref ray.Direction, ref conjugate, out ray.Direction);
Vector3 w, p;
hit.T = 0;
hit.Location = ray.Position;
hit.Normal = Toolbox.ZeroVector;
Vector3 v = hit.Location;
RaySimplex simplex = new RaySimplex();
float vw, vdir;
int count = 0;
//This epsilon has a significant impact on performance and accuracy. Changing it to use BigEpsilon instead increases speed by around 30-40% usually, but jigging is more evident.
while (v.LengthSquared() >= Toolbox.Epsilon * simplex.GetErrorTolerance(ref ray.Position))
{
if (++count > MaximumGJKIterations)
{
//It's taken too long to find a hit. Numerical problems are probable; quit.
hit = new RayHit();
return(false);
}
shape.GetLocalExtremePointWithoutMargin(ref v, out p);
Vector3 contribution;
MinkowskiToolbox.ExpandMinkowskiSum(shape.collisionMargin, radius, ref v, out contribution);
Vector3.Add(ref p, ref contribution, out p);
Vector3.Subtract(ref hit.Location, ref p, out w);
Vector3.Dot(ref v, ref w, out vw);
if (vw > 0)
{
Vector3.Dot(ref v, ref ray.Direction, out vdir);
hit.T = hit.T - vw / vdir;
if (vdir >= 0)
//We would have to back up!
{
return(false);
}
if (hit.T > maximumLength)
//If we've gone beyond where the ray can reach, there's obviously no hit.
{
return(false);
}
//Shift the ray up.
Vector3.Multiply(ref ray.Direction, hit.T, out hit.Location);
Vector3.Add(ref hit.Location, ref ray.Position, out hit.Location);
hit.Normal = v;
}
RaySimplex shiftedSimplex;
simplex.AddNewSimplexPoint(ref p, ref hit.Location, out shiftedSimplex);
shiftedSimplex.GetPointClosestToOrigin(ref simplex, out v);
}
//Transform the hit data into world space.
Quaternion.Transform(ref hit.Normal, ref shapeTransform.Orientation, out hit.Normal);
Quaternion.Transform(ref hit.Location, ref shapeTransform.Orientation, out hit.Location);
Vector3.Add(ref hit.Location, ref shapeTransform.Position, out hit.Location);
return(true);
}
///<summary>
/// Sweeps two shapes against another.
///</summary>
///<param name="shapeA">First shape being swept.</param>
///<param name="shapeB">Second shape being swept.</param>
///<param name="sweepA">Sweep vector for the first shape.</param>
///<param name="sweepB">Sweep vector for the second shape.</param>
///<param name="transformA">Transform to apply to the first shape.</param>
///<param name="transformB">Transform to apply to the second shape.</param>
///<param name="hit">Hit data of the sweep test, if any.</param>
///<returns>Whether or not the swept shapes hit each other..</returns>
public static bool ConvexCast(ConvexShape shapeA, ConvexShape shapeB, ref Vector3 sweepA, ref Vector3 sweepB,
ref RigidTransform transformA, ref RigidTransform transformB,
out RayHit hit)
{
//Put the velocity into shapeA's local space.
Vector3 velocityWorld;
Vector3.Subtract(ref sweepB, ref sweepA, out velocityWorld);
Quaternion conjugateOrientationA;
Quaternion.Conjugate(ref transformA.Orientation, out conjugateOrientationA);
Vector3 rayDirection;
Quaternion.Transform(ref velocityWorld, ref conjugateOrientationA, out rayDirection);
//Transform b into a's local space.
RigidTransform localTransformB;
Quaternion.Concatenate(ref transformB.Orientation, ref conjugateOrientationA,
out localTransformB.Orientation);
Vector3.Subtract(ref transformB.Position, ref transformA.Position, out localTransformB.Position);
Quaternion.Transform(ref localTransformB.Position, ref conjugateOrientationA, out localTransformB.Position);
Vector3 w, p;
hit.T = 0;
hit.Location = Vector3.Zero; //The ray starts at the origin.
hit.Normal = Toolbox.ZeroVector;
Vector3 v = hit.Location;
RaySimplex simplex = new RaySimplex();
float vw, vdir;
int count = 0;
do
{
if (++count > MaximumGJKIterations)
{
//It's taken too long to find a hit. Numerical problems are probable; quit.
hit = new RayHit();
return(false);
}
MinkowskiToolbox.GetLocalMinkowskiExtremePoint(shapeA, shapeB, ref v, ref localTransformB, out p);
Vector3.Subtract(ref hit.Location, ref p, out w);
Vector3.Dot(ref v, ref w, out vw);
if (vw > 0)
{
Vector3.Dot(ref v, ref rayDirection, out vdir);
if (vdir >= 0)
{
hit = new RayHit();
return(false);
}
hit.T = hit.T - vw / vdir;
if (hit.T > 1)
{
//If we've gone beyond where the ray can reach, there's obviously no hit.
hit = new RayHit();
return(false);
}
//Shift the ray up.
Vector3.Multiply(ref rayDirection, hit.T, out hit.Location);
//The ray origin is the origin! Don't need to add any ray position.
hit.Normal = v;
}
RaySimplex shiftedSimplex;
simplex.AddNewSimplexPoint(ref p, ref hit.Location, out shiftedSimplex);
shiftedSimplex.GetPointClosestToOrigin(ref simplex, out v);
//Could measure the progress of the ray. If it's too little, could early out.
//Not used by default since it's biased towards precision over performance.
} while (v.LengthSquared() >= Toolbox.Epsilon * simplex.GetErrorTolerance(ref Toolbox.ZeroVector));
//This epsilon has a significant impact on performance and accuracy. Changing it to use BigEpsilon instead increases speed by around 30-40% usually, but jigging is more evident.
//Transform the hit data into world space.
Quaternion.Transform(ref hit.Normal, ref transformA.Orientation, out hit.Normal);
Vector3.Multiply(ref velocityWorld, hit.T, out hit.Location);
Vector3.Add(ref hit.Location, ref transformA.Position, out hit.Location);
return(true);
}
public override void Update(Fix64 dt)
{
if (Game.KeyboardInput.IsKeyDown(Keys.Left))
{
rayCastDirection = Matrix3x3.Transform(rayCastDirection, Matrix3x3.CreateFromAxisAngle(Vector3.Forward, .01m));
}
if (Game.KeyboardInput.IsKeyDown(Keys.Right))
{
rayCastDirection = Matrix3x3.Transform(rayCastDirection, Matrix3x3.CreateFromAxisAngle(Vector3.Forward, -.01m));
}
if (Game.KeyboardInput.IsKeyDown(Keys.Down))
{
rayCastDirection = Matrix3x3.Transform(rayCastDirection, Matrix3x3.CreateFromAxisAngle(Vector3.Right, .01m));
}
if (Game.KeyboardInput.IsKeyDown(Keys.Up))
{
rayCastDirection = Matrix3x3.Transform(rayCastDirection, Matrix3x3.CreateFromAxisAngle(Vector3.Right, -.01m));
}
if (Game.KeyboardInput.IsKeyDown(Keys.P))
{
Debug.WriteLine("Break.");
}
base.Update(dt);
RigidTransform localTransformB;
RigidTransform aTransform = a.CollisionInformation.WorldTransform, bTransform = b.CollisionInformation.WorldTransform;
MinkowskiToolbox.GetLocalTransform(ref aTransform, ref bTransform, out localTransformB);
Vector3 position;
if (MPRToolbox.GetLocalOverlapPosition((a.CollisionInformation.Shape as ConvexShape), (b.CollisionInformation.Shape as ConvexShape), ref localTransformB, out position))
{
//Vector3 rayCastDirection = new Vector3(1,0,0);// (Vector3.Normalize(localDirection) + Vector3.Normalize(collidableB.worldTransform.Position - collidableA.worldTransform.Position)) / 2;
Fix64 previousT;
Vector3 previousNormal;
Fix64 t;
Vector3 normal;
rayCastDirection = localTransformB.Position;
MPRToolbox.LocalSurfaceCast((a.CollisionInformation.Shape as ConvexShape), (b.CollisionInformation.Shape as ConvexShape), ref localTransformB, ref rayCastDirection, out previousT, out previousNormal);
//Vector3 secondDirection = Vector3.Cross(rayCastDirection, Vector3.Up);
//MPRTesting.LocalSurfaceCast((a.CollisionInformation.Shape as ConvexShape), (b.CollisionInformation.Shape as ConvexShape), ref localTransformB, ref secondDirection, out t, out normal);
//if (t < previousT)
//{
// previousNormal = normal;
// previousT = t;
//}
//Vector3 thirdDirection = Vector3.Cross(secondDirection, rayCastDirection);
//MPRTesting.LocalSurfaceCast((a.CollisionInformation.Shape as ConvexShape), (b.CollisionInformation.Shape as ConvexShape), ref localTransformB, ref thirdDirection, out t, out normal);
//if (t < previousT)
//{
// previousNormal = normal;
// previousT = t;
//}
//Vector3 fourthDirection = -secondDirection;
//MPRTesting.LocalSurfaceCast((a.CollisionInformation.Shape as ConvexShape), (b.CollisionInformation.Shape as ConvexShape), ref localTransformB, ref fourthDirection, out t, out normal);
//if (t < previousT)
//{
// previousNormal = normal;
// previousT = t;
//}
//Vector3 fifthDirection = -thirdDirection;
//MPRTesting.LocalSurfaceCast((a.CollisionInformation.Shape as ConvexShape), (b.CollisionInformation.Shape as ConvexShape), ref localTransformB, ref fifthDirection, out t, out normal);
//if (t < previousT)
//{
// previousNormal = normal;
// previousT = t;
//}
//Correct the penetration depth.
MPRToolbox.LocalSurfaceCast((a.CollisionInformation.Shape as ConvexShape), (b.CollisionInformation.Shape as ConvexShape), ref localTransformB, ref previousNormal, out t, out normal);
contactDepth = t;
contactNormal = previousNormal;
////Converge to local minimum.
//while (true)
//{
// MPRTesting.LocalSurfaceCast((a.CollisionInformation.Shape as ConvexShape), (b.CollisionInformation.Shape as ConvexShape), ref localTransformB, ref previousNormal, out t, out normal);
// if (previousT - t <= Toolbox.BigEpsilon)
// break;
// previousT = t;
// previousNormal = normal;
//}
}
#region Box Box minkowski sum
////Construct explicit minkowski sum.
//Vector3[] aLines = new Vector3[8];
//aLines[0] = new Vector3(-boxWidth / 2, -boxHeight / 2, -boxLength / 2);
//aLines[1] = new Vector3(-boxWidth / 2, -boxHeight / 2, boxLength / 2);
//aLines[2] = new Vector3(-boxWidth / 2, boxHeight / 2, -boxLength / 2);
//aLines[3] = new Vector3(-boxWidth / 2, boxHeight / 2, boxLength / 2);
//aLines[4] = new Vector3(boxWidth / 2, -boxHeight / 2, -boxLength / 2);
//aLines[5] = new Vector3(boxWidth / 2, -boxHeight / 2, boxLength / 2);
//aLines[6] = new Vector3(boxWidth / 2, boxHeight / 2, -boxLength / 2);
//aLines[7] = new Vector3(boxWidth / 2, boxHeight / 2, boxLength / 2);
//Vector3[] bLines = new Vector3[8];
//bLines[0] = new Vector3(-groundWidth / 2, -groundHeight / 2, -groundLength / 2);
//bLines[1] = new Vector3(-groundWidth / 2, -groundHeight / 2, groundLength / 2);
//bLines[2] = new Vector3(-groundWidth / 2, groundHeight / 2, -groundLength / 2);
//bLines[3] = new Vector3(-groundWidth / 2, groundHeight / 2, groundLength / 2);
//bLines[4] = new Vector3(groundWidth / 2, -groundHeight / 2, -groundLength / 2);
//bLines[5] = new Vector3(groundWidth / 2, -groundHeight / 2, groundLength / 2);
//bLines[6] = new Vector3(groundWidth / 2, groundHeight / 2, -groundLength / 2);
//bLines[7] = new Vector3(groundWidth / 2, groundHeight / 2, groundLength / 2);
//for (int i = 0; i < 8; i++)
// aLines[i] = Vector3.Transform(aLines[i], localTransformB.Matrix);
//List<Vector3> vertices = new List<Vector3>();
//for (int i = 0; i < 8; i++)
//{
// for (int j = 0; j < 8; j++)
// {
// if (b.CollisionInformation.Pairs.Count > 0)
// {
// if (b.CollisionInformation.Pairs[0].BroadPhaseOverlap.EntryA == b.CollisionInformation)
// vertices.Add(aLines[i] - bLines[j]);
// else
// vertices.Add(bLines[i] - aLines[j]);
// }
// else
// {
// vertices.Add(bLines[i] - aLines[j]);
// }
// }
//}
//var indices = new List<int>();
//Toolbox.GetConvexHull(vertices, indices);
#endregion
#region Arbitrary minkowski sum
var vertices = new List <Vector3>();
Vector3 max;
var direction = new Vector3();
int NumSamples = 16;
Fix64 angleChange = MathHelper.TwoPi / NumSamples;
for (int i = 1; i < NumSamples / 2 - 1; i++)
{
Fix64 phi = MathHelper.PiOver2 - i * angleChange;
var sinPhi = Fix64.Sin(phi);
var cosPhi = Fix64.Cos(phi);
for (int j = 0; j < NumSamples; j++)
{
Fix64 theta = j * angleChange;
direction.X = Fix64.Cos(theta) * cosPhi;
direction.Y = sinPhi;
direction.Z = Fix64.Sin(theta) * cosPhi;
MinkowskiToolbox.GetLocalMinkowskiExtremePoint(a.CollisionInformation.Shape as ConvexShape, b.CollisionInformation.Shape as ConvexShape, ref direction, ref localTransformB, out max);
vertices.Add(max);
}
}
MinkowskiToolbox.GetLocalMinkowskiExtremePoint(a.CollisionInformation.Shape as ConvexShape, b.CollisionInformation.Shape as ConvexShape, ref Toolbox.UpVector, ref localTransformB, out max);
vertices.Add(max);
MinkowskiToolbox.GetLocalMinkowskiExtremePoint(a.CollisionInformation.Shape as ConvexShape, b.CollisionInformation.Shape as ConvexShape, ref Toolbox.DownVector, ref localTransformB, out max);
vertices.Add(max);
var indices = new List <int>();
ConvexHullHelper.GetConvexHull(vertices, indices);
#endregion
minkowskiLines.Clear();
for (int i = 0; i < indices.Count; i += 3)
{
minkowskiLines.Add(new VertexPositionColor(MathConverter.Convert(vertices[indices[i]]), Microsoft.Xna.Framework.Color.Blue));
minkowskiLines.Add(new VertexPositionColor(MathConverter.Convert(vertices[indices[i + 1]]), Microsoft.Xna.Framework.Color.Blue));
minkowskiLines.Add(new VertexPositionColor(MathConverter.Convert(vertices[indices[i + 1]]), Microsoft.Xna.Framework.Color.Blue));
minkowskiLines.Add(new VertexPositionColor(MathConverter.Convert(vertices[indices[i + 2]]), Microsoft.Xna.Framework.Color.Blue));
minkowskiLines.Add(new VertexPositionColor(MathConverter.Convert(vertices[indices[i + 2]]), Microsoft.Xna.Framework.Color.Blue));
minkowskiLines.Add(new VertexPositionColor(MathConverter.Convert(vertices[indices[i]]), Microsoft.Xna.Framework.Color.Blue));
}
}
