/// <summary>
/// Creates a bounding box from a bounding sphere.
/// </summary>
/// <param name="boundingSphere">Bounding sphere to be used to create the bounding box.</param>
/// <param name="boundingBox">Bounding box created from the bounding sphere.</param>
public static void CreateFromSphere(ref BoundingSphere boundingSphere, out BoundingBox boundingBox)
{
boundingBox.Min.X = boundingSphere.Center.X - boundingSphere.Radius;
boundingBox.Min.Y = boundingSphere.Center.Y - boundingSphere.Radius;
boundingBox.Min.Z = boundingSphere.Center.Z - boundingSphere.Radius;
boundingBox.Max.X = boundingSphere.Center.X + boundingSphere.Radius;
boundingBox.Max.Y = boundingSphere.Center.Y + boundingSphere.Radius;
boundingBox.Max.Z = boundingSphere.Center.Z + boundingSphere.Radius;
}
public void GetEntries(BoundingSphere boundingShape, IList<BroadPhaseEntry> overlaps)
{
//Create a bounding box based on the bounding sphere.
//Compute the min and max of the bounding box.
//Loop through the cells and select bounding boxes which overlap the x axis.
#if !WINDOWS
System.Numerics.Vector3 offset = new System.Numerics.Vector3();
#else
System.Numerics.Vector3 offset;
#endif
offset.X = boundingShape.Radius;
offset.Y = offset.X;
offset.Z = offset.Y;
BoundingBox box;
Vector3Ex.Add(ref boundingShape.Center, ref offset, out box.Max);
Vector3Ex.Subtract(ref boundingShape.Center, ref offset, out box.Min);
Int2 min, max;
Grid2DSortAndSweep.ComputeCell(ref box.Min, out min);
Grid2DSortAndSweep.ComputeCell(ref box.Max, out max);
for (int i = min.Y; i <= max.Y; i++)
{
for (int j = min.Z; j <= max.Z; j++)
{
//Grab the cell that we are currently in.
Int2 cellIndex;
cellIndex.Y = i;
cellIndex.Z = j;
GridCell2D cell;
if (owner.cellSet.TryGetCell(ref cellIndex, out cell))
{
//To fully accelerate this, the entries list would need to contain both min and max interval markers.
//Since it only contains the sorted min intervals, we can't just start at a point in the middle of the list.
//Consider some giant bounding box that spans the entire list.
for (int k = 0; k < cell.entries.Count
&& cell.entries.Elements[k].item.boundingBox.Min.X <= box.Max.X; k++) //TODO: Try additional x axis pruning? A bit of optimization potential due to overlap with AABB test.
{
bool intersects;
var item = cell.entries.Elements[k].item;
item.boundingBox.Intersects(ref boundingShape, out intersects);
if (intersects && !overlaps.Contains(item))
{
overlaps.Add(item);
}
}
}
}
}
}
private void OnInputEvent(ReadOnlyCollection <SInputButtonEvent> buttonevents, string textinput)
{
foreach (var buttonEvent in buttonevents)
{
if (buttonEvent.button == EInputButton.MouseMiddleButton && buttonEvent.buttonEvent == EButtonEvent.Pressed)
{
CViewManager viewManager = m_gameWorld.ViewManager;
int mouseAbsX = System.Windows.Forms.Cursor.Position.X - (int)viewManager.ScreenLeft;
int mouseAbsY = System.Windows.Forms.Cursor.Position.Y - (int)viewManager.ScreenTop;
if (mouseAbsX < 0 || mouseAbsY < 0)
{
return;
}
viewManager.GetViewInfo(out SSceneViewInfo viewInfo);
Ray pickRay = Ray.GetPickRay(mouseAbsX, mouseAbsY, new ViewportF(0, 0, viewManager.ScreenWidth, viewManager.ScreenHeight), viewInfo.ViewMatrix * viewInfo.ProjectionMatrix);
if (m_physicSpace.RayCast(pickRay.ToBepu(), 9999.0f, out RayCastResult result))
{
float fieldRadius = 5.0f;
float impulseStrength = 20.0f;
List <BroadPhaseEntry> queryResults = new List <BroadPhaseEntry>();
BoundingSphere bs = new BoundingSphere(result.HitData.Location, fieldRadius);
m_physicSpace.BroadPhase.QueryAccelerator.GetEntries(bs, queryResults);
foreach (var entry in queryResults)
{
var entityCollision = entry as EntityCollidable;
if (entityCollision != null)
{
var e = entityCollision.Entity;
if (e.IsDynamic)
{
Vector3 toEntity = e.Position - result.HitData.Location;
float length = toEntity.Length();
float strength = impulseStrength / length;
toEntity.Y = 1.0f;
toEntity.Normalize();
e.ApplyImpulse(e.Position, toEntity * strength);
}
}
}
}
}
}
}
/// <summary>
/// Returns the list of ConvexCollidable's and Entities inside or touching the specified sphere.
/// Result does not include static geometry and non-entity physical objects.
/// </summary>
/// <param name="world"></param>
/// <param name="origin"></param>
/// <param name="radius"></param>
/// <returns></returns>
public List <Entity> WeaponOverlap(Vector3 origin, float radius, Entity entToSkip)
{
BU.BoundingSphere sphere = new BU.BoundingSphere(MathConverter.Convert(origin), radius);
SphereShape sphereShape = new SphereShape(radius);
BU.Vector3 zeroSweep = BU.Vector3.Zero;
BU.RigidTransform rigidXForm = new BU.RigidTransform(MathConverter.Convert(origin));
var candidates = PhysicsResources.GetBroadPhaseEntryList();
PhysSpace.BroadPhase.QueryAccelerator.BroadPhase.QueryAccelerator.GetEntries(sphere, candidates);
var result = new List <Entity>();
foreach (var candidate in candidates)
{
BU.RayHit rayHit;
bool r = candidate.ConvexCast(sphereShape, ref rigidXForm, ref zeroSweep, out rayHit);
if (r)
{
var collidable = candidate as ConvexCollidable;
var entity = collidable == null ? null : collidable.Entity.Tag as Entity;
if (collidable == null)
{
continue;
}
if (entity == null)
{
continue;
}
result.Add(entity);
}
}
result.RemoveAll(e => e == entToSkip);
return(result);
}
/// <summary>
/// Constructs a new force field shape using a bounding sphere.
/// </summary>
/// <param name="sphere">Bounding sphere to use.</param>
public BoundingSphereForceFieldShape(BoundingSphere sphere)
{
BoundingSphere = sphere;
}
/// <summary>
/// Determines if a bounding box intersects a bounding sphere.
/// </summary>
/// <param name="boundingSphere">Sphere to test for intersection.</param>
/// <param name="intersects">Whether the bounding shapes intersect.</param>
public void Intersects(ref BoundingSphere boundingSphere, out bool intersects)
{
Vector3 clampedLocation;
if (boundingSphere.Center.X > Max.X)
clampedLocation.X = Max.X;
else if (boundingSphere.Center.X < Min.X)
clampedLocation.X = Min.X;
else
clampedLocation.X = boundingSphere.Center.X;
if (boundingSphere.Center.Y > Max.Y)
clampedLocation.Y = Max.Y;
else if (boundingSphere.Center.Y < Min.Y)
clampedLocation.Y = Min.Y;
else
clampedLocation.Y = boundingSphere.Center.Y;
if (boundingSphere.Center.Z > Max.Z)
clampedLocation.Z = Max.Z;
else if (boundingSphere.Center.Z < Min.Z)
clampedLocation.Z = Min.Z;
else
clampedLocation.Z = boundingSphere.Center.Z;
float distanceSquared;
Vector3.DistanceSquared(ref clampedLocation, ref boundingSphere.Center, out distanceSquared);
intersects = distanceSquared <= boundingSphere.Radius * boundingSphere.Radius;
}
/// <summary>
/// Gets the triangles whose bounding boxes are overlapped by the query.
/// </summary>
/// <param name="boundingSphere">Shape to query against the tree.</param>
/// <param name="outputOverlappedElements">Indices of triangles in the index buffer with bounding boxes which are overlapped by the query.</param>
/// <returns>Whether or not any elements were overlapped.</returns>
public bool GetOverlaps(BoundingSphere boundingSphere, IList<int> outputOverlappedElements)
{
if (root != null)
{
bool intersects;
root.BoundingBox.Intersects(ref boundingSphere, out intersects);
if (intersects)
root.GetOverlaps(ref boundingSphere, outputOverlappedElements);
}
return outputOverlappedElements.Count > 0;
}
internal abstract void GetOverlaps(ref BoundingSphere boundingSphere, IList<int> outputOverlappedElements);
internal override void GetOverlaps(ref BoundingSphere boundingSphere, IList<int> outputOverlappedElements)
{
outputOverlappedElements.Add(LeafIndex);
}
internal override void GetOverlaps(ref BoundingSphere boundingSphere, IList<int> outputOverlappedElements)
{
bool intersects;
ChildA.BoundingBox.Intersects(ref boundingSphere, out intersects);
if (intersects)
ChildA.GetOverlaps(ref boundingSphere, outputOverlappedElements);
ChildB.BoundingBox.Intersects(ref boundingSphere, out intersects);
if (intersects)
ChildB.GetOverlaps(ref boundingSphere, outputOverlappedElements);
}
/// <summary>
/// Returns the list of ConvexCollidable's and Entities inside or touching the specified sphere.
/// Result does not include static geometry and non-entity physical objects.
/// </summary>
/// <param name="world"></param>
/// <param name="origin"></param>
/// <param name="radius"></param>
/// <returns></returns>
public List<Entity> WeaponOverlap( Vector3 origin, float radius, Entity entToSkip )
{
BU.BoundingSphere sphere = new BU.BoundingSphere(MathConverter.Convert(origin), radius);
SphereShape sphereShape = new SphereShape(radius);
BU.Vector3 zeroSweep = BU.Vector3.Zero;
BU.RigidTransform rigidXForm = new BU.RigidTransform( MathConverter.Convert(origin) );
var candidates = PhysicsResources.GetBroadPhaseEntryList();
physSpace.BroadPhase.QueryAccelerator.BroadPhase.QueryAccelerator.GetEntries(sphere, candidates);
var result = new List<Entity>();
foreach ( var candidate in candidates ) {
BU.RayHit rayHit;
bool r = candidate.ConvexCast( sphereShape, ref rigidXForm, ref zeroSweep, out rayHit );
if (r) {
var collidable = candidate as ConvexCollidable;
var entity = collidable==null ? null : collidable.Entity.Tag as Entity;
if (collidable==null) continue;
if (entity==null) continue;
result.Add( entity );
}
}
result.RemoveAll( e => e == entToSkip );
return result;
}
///// <summary>
///// Collects all entries with bounding boxes which intersect the given frustum.
///// </summary>
///// <param name="frustum">Frustum to test against the world.</param>
///// <param name="entries">Entries of the space which intersect the frustum.</param>
//public void GetEntries(BoundingFrustum frustum, IList<BroadPhaseEntry> entries)
//{
// if (hierarchy.root != null)
// hierarchy.root.GetOverlaps(ref frustum, entries);
//}
/// <summary>
/// Collects all entries with bounding boxes which intersect the given sphere.
/// </summary>
/// <param name="sphere">Sphere to test against the world.</param>
/// <param name="entries">Entries of the space which intersect the sphere.</param>
public void GetEntries(BoundingSphere sphere, IList<BroadPhaseEntry> entries)
{
if (hierarchy.root != null)
hierarchy.root.GetOverlaps(ref sphere, entries);
}
