protected override bool Interact(bool staticCollision)
{
if (RBElement1.GetElementType() != MyRBElementType.ET_SPHERE)
{
SwapElements();
}
Matrix matrix0 = RBElement1.GetGlobalTransformation();
Matrix matrix1 = RBElement2.GetGlobalTransformation();
float sphereRadius = ((MyRBSphereElement)RBElement1).Radius;
Vector3 body0Pos = matrix0.Translation; // sphere pos
Vector3 body1Pos = matrix1.Translation;
Matrix tempMat1 = matrix1;
Matrix inverseMatrix1 = Matrix.Invert(tempMat1);
MyModel model = ((RBElement1.Flags & MyElementFlag.EF_MODEL_PREFER_LOD0) > 0 ? ((MyRBTriangleMeshElement)RBElement2).ModelLOD0 : ((MyRBTriangleMeshElement)RBElement2).Model);
if (staticCollision)
{
BoundingSphere bsphere = new BoundingSphere(body0Pos, sphereRadius);
return(model.GetTrianglePruningStructure().GetIntersectionWithSphere(((MinerWars.AppCode.Game.Physics.MyPhysicsBody)RBElement2.GetRigidBody().m_UserData).Entity, ref bsphere));
}
else
{
float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
float epsilon = MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon;
MySmallCollPointInfo[] collPtArray = MyContactInfoCache.SCPIStackAlloc();
int numCollPts = 0;
Vector3 collNormal = Vector3.Zero;
int optimalIterationCount = (int)(GetRigidBody1().LinearVelocity.Length() * dt / (sphereRadius * 2)) + 1;
//PZ: after consultation with petrM 1-4 iteration will be just ok
int maxIndex = (int)MathHelper.Min(optimalIterationCount, MAX_AVAILABLE_ITERATION);
//float speed = GetRigidBody1().LinearVelocity.Length();
Vector3 velocityAdd = GetRigidBody1().LinearVelocity *dt / (float)maxIndex;
float velocityAddLength = velocityAdd.Length();
List <MyTriangle_Vertex_Normal> triangles = MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().GetFreeTriangleList(this);
//PZ: we will try to interpolate sphere position during this tick
//we have to have at least one iteration
for (int index = 0; index < maxIndex; index++)
{
//PZ: from starting point
Vector3 interpolatedPosition = body0Pos + velocityAdd * index;
// Deano : get the spheres centers in triangleVertexes mesh space
Vector3 newSphereCen = Vector3.Transform(interpolatedPosition, inverseMatrix1);
// Transform sphere from world space to object space
BoundingSphere newSphereInObjectSpace = new BoundingSphere(newSphereCen, sphereRadius + velocityAddLength + epsilon);
BoundingBox newAABBInObjectSpace = BoundingBox.CreateFromSphere(newSphereInObjectSpace);
model.GetTrianglePruningStructure().GetTrianglesIntersectingAABB(ref newAABBInObjectSpace, triangles, triangles.Capacity);
for (int i = 0; i < triangles.Count; i++)
{
MyTriangle_Vertex_Normal triangle = triangles[i];
// skip too narrow triangles causing instability
/* This must be done in preprocessor!
* if ((triangle.Vertexes.Vertex0 - triangle.Vertexes.Vertex1).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
* {
* continue;
* }
*
* if ((triangle.Vertexes.Vertex1 - triangle.Vertexes.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
* {
* continue;
* }
*
* if ((triangle.Vertexes.Vertex0 - triangle.Vertexes.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
* {
* continue;
* } */
MyPlane plane = new MyPlane(ref triangle.Vertexes);
Vector3?pt = MyUtils.GetSphereTriangleIntersection(ref newSphereInObjectSpace, ref plane, ref triangle.Vertexes);
if (pt == null)
{
continue;
}
pt = Vector3.Transform(pt.Value, matrix1);
Vector3 collisionN = -plane.Normal;
collisionN = Vector3.TransformNormal(collisionN, matrix1);
// skip triangle in case the normal is in wrong dir (narrow walls)
Vector3 tempV = (interpolatedPosition - pt.Value);
if (Vector3.Dot(collisionN, tempV) >= 0.8f * tempV.Length()) // equivalent to if (Vector3.Dot(collisionN, Vector3.Normalize(tempV)) > 0.8f)
{
continue;
}
float depth = Vector3.Distance(pt.Value, interpolatedPosition) - sphereRadius;
if (numCollPts < MyPhysicsConfig.MaxContactPoints)
{
// since impulse get applied at the old position
Vector3 p2 = pt.Value; // body0Pos - sphereRadius * 1.1f * collisionN;
collPtArray[numCollPts++] = new MySmallCollPointInfo(p2 - interpolatedPosition, p2 - body1Pos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, collisionN, depth, p2);
/*
* MyDebugDraw.AddDrawTriangle(
* Vector3.Transform(triangle.Vertexes.Vertex0, matrix1),
* Vector3.Transform(triangle.Vertexes.Vertex1, matrix1),
* Vector3.Transform(triangle.Vertexes.Vertex2, matrix1),
* Color.Red);
*/
}
collNormal += collisionN;
}
if (numCollPts > 0) // break if we catch any triangles in this iteration
{
break;
}
}
if (numCollPts > 0)
{
MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collPtArray, numCollPts);
}
MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().PushBackTriangleList(triangles);
MyContactInfoCache.FreeStackAlloc(collPtArray);
}
return(false);
}
protected override bool Interact(bool staticCollision)
{
if (staticCollision)
{
//MyCommonDebugUtils.AssertDebug(false, "Sphere-voxel static interaction called! And that's wrong.");
}
else
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("SphereVoxelInteraction");
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("Transformations");
if (RBElement1.GetElementType() != MyRBElementType.ET_SPHERE)
{
SwapElements();
}
Matrix matrix0 = RBElement1.GetGlobalTransformation();
Matrix matrix1 = RBElement2.GetGlobalTransformation();
float sphereRadius = ((MyRBSphereElement)RBElement1).Radius;
Vector3 body0Pos = matrix0.Translation; // sphere pos
Vector3 body1Pos = matrix1.Translation;
float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
float epsylon = MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon;
Vector3 newBody0Pos = matrix0.Translation + GetRigidBody1().LinearVelocity *dt;
float sphereTolR = epsylon + sphereRadius;
float sphereTolR2 = sphereTolR * sphereTolR;
MySmallCollPointInfo[] collPtArray = MyContactInfoCache.SCPIStackAlloc();
int numCollPts = 0;
Vector3 collNormal = Vector3.Zero;
//var colDetThroughVoxels = MyConstants.SPHERE_VOXELMAP_COLDET_THROUGH_VOXELS;
var colDetThroughVoxels = !GetRigidBody1().ReadFlag(RigidBodyFlag.RBF_COLDET_THROUGH_VOXEL_TRIANGLES);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
if (colDetThroughVoxels)
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("colDetThroughVoxels");
BoundingSphere newSphere;
newSphere.Center = newBody0Pos;
newSphere.Radius = sphereRadius;
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("PoolList.Get");
using (var voxelMapsFounded = PoolList <MyVoxelMap> .Get())
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartNextBlock("GetListOfVoxelMapsWhoseBoundingSphereIntersectsSphere");
MyVoxelMaps.GetListOfVoxelMapsWhoseBoundingSphereIntersectsSphere(ref newSphere, voxelMapsFounded, null);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartNextBlock("foreach (MyVoxelMap voxelMap in voxelMapsFounded)");
foreach (MyVoxelMap voxelMap in voxelMapsFounded)
{
if (voxelMap != null)
{
// We will iterate only voxels contained in the bounding box of new sphere, so here we get min/max corned in voxel units
MyMwcVector3Int minCorner = voxelMap.GetVoxelCoordinateFromMeters(new Vector3(
newSphere.Center.X - newSphere.Radius,
newSphere.Center.Y - newSphere.Radius,
newSphere.Center.Z - newSphere.Radius));
MyMwcVector3Int maxCorner = voxelMap.GetVoxelCoordinateFromMeters(new Vector3(
newSphere.Center.X + newSphere.Radius,
newSphere.Center.Y + newSphere.Radius,
newSphere.Center.Z + newSphere.Radius));
voxelMap.FixVoxelCoord(ref minCorner);
voxelMap.FixVoxelCoord(ref maxCorner);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("for loop");
MyMwcVector3Int tempVoxelCoord;
for (tempVoxelCoord.X = minCorner.X; tempVoxelCoord.X <= maxCorner.X; tempVoxelCoord.X++)
{
for (tempVoxelCoord.Y = minCorner.Y; tempVoxelCoord.Y <= maxCorner.Y; tempVoxelCoord.Y++)
{
for (tempVoxelCoord.Z = minCorner.Z; tempVoxelCoord.Z <= maxCorner.Z; tempVoxelCoord.Z++)
{
byte voxelContent = voxelMap.GetVoxelContent(ref tempVoxelCoord);
// Ignore voxels bellow the ISO value (empty, partialy empty...)
if (voxelContent < MyVoxelConstants.VOXEL_ISO_LEVEL)
{
continue;
}
Vector3 voxelPosition = voxelMap.GetVoxelCenterPositionAbsolute(ref tempVoxelCoord);
//float voxelSize = MyVoxelMaps.GetVoxelContentAsFloat(voxelContent) * MyVoxelConstants.VOXEL_SIZE_IN_METRES_HALF;
float voxelSize = MyVoxelMaps.GetVoxelContentAsFloat(voxelContent) * MyVoxelConstants.VOXEL_RADIUS;
// If distance to voxel border is less than sphere radius, we have a collision
// So now we calculate normal vector and penetration depth but on OLD sphere
float newDistanceToVoxel = Vector3.Distance(voxelPosition, newSphere.Center) - voxelSize;
if (newDistanceToVoxel < (epsylon + newSphere.Radius))
{
Vector3 collisionN = MyMwcUtils.Normalize(voxelPosition - body0Pos);
if (numCollPts < MyPhysicsConfig.MaxContactPoints)
{
// Calculate penetration depth, but from old sphere (not new)
float oldDistanceToVoxel = Vector3.Distance(voxelPosition, newSphere.Center) - voxelSize;
float oldPenetrationDepth = oldDistanceToVoxel - sphereRadius;
// Vector3 pt = body0Pos + sphereRadius * collisionN;
Vector3 pt = voxelPosition - collisionN * (voxelSize - epsylon);
collPtArray[numCollPts++] = new MySmallCollPointInfo(pt - body0Pos, pt - body1Pos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, collisionN, oldPenetrationDepth, pt);
}
collNormal -= collisionN;
}
}
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
else //if (colDetThroughVoxels)
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("ColDet triangles");
int optimalIterationCount = (int)(GetRigidBody1().LinearVelocity.Length() * dt / sphereRadius);
int maxIndex = (int)MathHelper.Min(MathHelper.Max(optimalIterationCount, 1), 16);
for (int i = 0; i < maxIndex; i++)
{
float velocityAdd = GetRigidBody1().LinearVelocity.Length() * dt / (float)maxIndex;
Vector3 interpolatedPosition = body0Pos + GetRigidBody1().LinearVelocity *dt *i / (float)maxIndex;
BoundingSphere newSphere;
newSphere.Center = interpolatedPosition;
newSphere.Radius = sphereRadius;
int numTriangles;
BoundingBox bb = BoundingBox.CreateFromSphere(newSphere);
MyVoxelMaps.GetPotentialTrianglesForColDet(out numTriangles, ref bb);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
MyColDetVoxelTriangle meshTriangle = MyVoxelMaps.PotentialColDetTriangles[iTriangle]; // mesh.GetTriangle(potentialTriangles[iTriangle]);
MyTriangle_Vertex_Normal triangle = new MyTriangle_Vertex_Normal();
triangle.Vertexes.Vertex0 = meshTriangle.Vertex0;
triangle.Vertexes.Vertex1 = meshTriangle.Vertex1;
triangle.Vertexes.Vertex2 = meshTriangle.Vertex2;
// skip too narrow triangles causing instability
if ((triangle.Vertexes.Vertex0 - triangle.Vertexes.Vertex1).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
{
continue;
}
if ((triangle.Vertexes.Vertex1 - triangle.Vertexes.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
{
continue;
}
if ((triangle.Vertexes.Vertex0 - triangle.Vertexes.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon)
{
continue;
}
MyPlane plane = new MyPlane(ref triangle.Vertexes);
Vector3?pt = MyUtils.GetSphereTriangleIntersection(ref newSphere, ref plane, ref triangle.Vertexes);
if (pt == null)
{
continue;
}
Vector3 collisionN = plane.Normal;
// skip triangle in case the normal is in wrong dir (narrow walls)
Vector3 tempV = (newBody0Pos - pt.Value);
if (Vector3.Dot(collisionN, tempV) >= 0.8f * tempV.Length()) // equivalent to dot(collisionN, normalize(tempV)) > 0.8f, but works for zero vectors
{
continue;
}
float depth = Vector3.Distance(pt.Value, body0Pos) - sphereRadius;
if (numCollPts < MyPhysicsConfig.MaxContactPoints)
{
// since impulse get applied at the old position
Vector3 p2 = pt.Value;
collPtArray[numCollPts++] = new MySmallCollPointInfo(p2 - body0Pos, p2 - body1Pos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, collisionN, depth, p2);
}
collNormal += collisionN;
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
if (numCollPts > 0)
{
MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collPtArray, numCollPts);
}
MyContactInfoCache.FreeStackAlloc(collPtArray);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
return(false);
}
