Transform composed of a rotation and translation.
 ///<summary>
 /// Constructs a new compound shape entry using the volume of the shape as a weight.
 ///</summary>
 ///<param name="shape">Shape to use.</param>
 ///<param name="position">Local position of the shape.</param>
 ///<param name="weight">Weight of the entry.  This defines how much the entry contributes to its owner
 /// for the purposes of center of mass and inertia computation.</param>
 public CompoundShapeEntry(EntityShape shape, Vector3 position, float weight)
 {
     position.Validate();
     LocalTransform = new RigidTransform(position);
     Shape = shape;
     Weight = weight;
 }
 ///<summary>
 /// Constructs a new compound shape entry using the volume of the shape as a weight.
 ///</summary>
 ///<param name="shape">Shape to use.</param>
 ///<param name="orientation">Local orientation of the shape.</param>
 ///<param name="weight">Weight of the entry.  This defines how much the entry contributes to its owner
 /// for the purposes of center of rotation computation.</param>
 public CompoundShapeEntry(EntityShape shape, Quaternion orientation, float weight)
 {
     orientation.Validate();
     LocalTransform = new RigidTransform(orientation);
     Shape = shape;
     Weight = weight;
 }
 ///<summary>
 /// Constructs a new compound shape entry using the volume of the shape as a weight.
 ///</summary>
 ///<param name="shape">Shape to use.</param>
 ///<param name="localTransform">Local transform of the shape.</param>
 ///<param name="weight">Weight of the entry.  This defines how much the entry contributes to its owner
 /// for the purposes of center of rotation computation.</param>
 public CompoundShapeEntry(EntityShape shape, RigidTransform localTransform, float weight)
 {
     localTransform.Validate();
     LocalTransform = localTransform;
     Shape = shape;
     Weight = weight;
 }
Пример #4
0
        /// <summary>
        /// Gets the normal of the triangle in world space.
        /// </summary>
        /// <param name="transform">World transform.</param>
        /// <returns>Normal of the triangle in world space.</returns>
        public Vector3 GetNormal(RigidTransform transform)
        {
            Vector3 normal = GetLocalNormal();

            Vector3.Transform(ref normal, ref transform.Orientation, out normal);
            return(normal);
        }
Пример #5
0
 public override bool ConvexCast(ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweep, Func<BroadPhaseEntry, bool> filter, out RayHit hit)
 {
     Vector3 swp = sweep;
     double len = swp.Length();
     swp /= len;
     return ConvexCast(castShape, ref startingTransform, ref swp, len, MaterialSolidity.FULLSOLID, out hit);
 }
Пример #6
0
 public override SolverUpdateable GetBaseJoint()
 {
     RigidTransform rt1 = new RigidTransform(Ent1.Body.Position, Ent1.Body.Orientation);
     RigidTransform rt2 = new RigidTransform(Ent2.Body.Position, Ent2.Body.Orientation);
     RigidTransform.MultiplyByInverse(ref rt1, ref rt2, out Relative);
     return new WeldJoint(Ent1.Body, Ent2.Body);
 }
Пример #7
0
 public bool HassSolidEntity(Location min, Location max)
 {
     // TODO: Better alg!
     BoundingBox bb = new BoundingBox(min.ToBVector(), max.ToBVector());
     List<BroadPhaseEntry> entries = new List<BroadPhaseEntry>();
     PhysicsWorld.BroadPhase.QueryAccelerator.GetEntries(bb, entries);
     if (entries.Count == 0)
     {
         return false;
     }
     Location center = (max + min) * 0.5;
     Location rel = max - min;
     BoxShape box = new BoxShape((double)rel.X, (double)rel.Y, (double)rel.Z);
     RigidTransform start = new RigidTransform(center.ToBVector(), Quaternion.Identity);
     Vector3 sweep = new Vector3(0, 0, 0.01f);
     RayHit rh;
     foreach (BroadPhaseEntry entry in entries)
     {
         if (entry is EntityCollidable && Collision.ShouldCollide(entry) &&
             entry.CollisionRules.Group != CollisionUtil.Player &&
             entry.ConvexCast(box, ref start, ref sweep, out rh))
         {
             return true;
         }
     }
     return false;
 }
Пример #8
0
        ///<summary>
        /// Casts a fat (sphere expanded) ray against the shape.  If the raycast appears to be stuck in the shape, the cast will be attempted
        /// with a smaller ray (scaled by the MotionSettings.CoreShapeScaling each time).
        ///</summary>
        ///<param name="ray">Ray to test against the shape.</param>
        ///<param name="radius">Radius of the ray.</param>
        ///<param name="target">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 CCDSphereCast(Ray ray, float radius, ConvexShape target, ref RigidTransform shapeTransform, float maximumLength,
                                         out RayHit hit)
        {
            int iterations = 0;

            while (true)
            {
                if (GJKToolbox.SphereCast(ray, radius, target, ref shapeTransform, maximumLength, out hit) &&
                    hit.T > 0)
                {
                    //The ray cast isn't embedded in the shape, and it's less than maximum length away!
                    return(true);
                }
                if (hit.T > maximumLength || hit.T < 0)
                {
                    return(false); //Failure showed it was too far, or behind.
                }
                radius *= MotionSettings.CoreShapeScaling;
                iterations++;
                if (iterations > 3) //Limit could be configurable.
                {
                    //It's iterated too much, let's just do a last ditch attempt using a raycast and hope that can help.
                    return(GJKToolbox.RayCast(ray, target, ref shapeTransform, maximumLength, out hit) && hit.T > 0);
                }
            }
        }
Пример #9
0
        /// <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="filter">Test to apply to the entry. If it returns true, the entry is processed, otherwise the entry is ignored. If a collidable hierarchy is present
        /// in the entry, this filter will be passed into inner ray casts.</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, Func <BroadPhaseEntry, bool> filter, out RayHit hit)
        {
            RayCastResult result;
            bool          toReturn = Shape.ConvexCast(castShape, ref startingTransform, ref sweep, filter, out result);

            hit = result.HitData;
            return(toReturn);
        }
Пример #10
0
        /// <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 System.Numerics.Vector3 sweep, out RayHit hit)
        {
            RayCastResult result;
            bool          toReturn = Shape.ConvexCast(castShape, ref startingTransform, ref sweep, out result);

            hit = result.HitData;
            return(toReturn);
        }
Пример #11
0
 void ApplyLiquidForcesTo(Entity e, double dt)
 {
     if (e.Mass <= 0)
     {
         return;
     }
     RigidTransform ert = new RigidTransform(e.Position, e.Orientation);
     BoundingBox entbb;
     e.CollisionInformation.Shape.GetBoundingBox(ref ert, out entbb);
     Location min = new Location(entbb.Min);
     Location max = new Location(entbb.Max);
     min = min.GetBlockLocation();
     max = max.GetUpperBlockBorder();
     for (int x = (int)min.X; x < max.X; x++)
     {
         for (int y = (int)min.Y; y < max.Y; y++)
         {
             for (int z = (int)min.Z; z < max.Z; z++)
             {
                 Location c = new Location(x, y, z);
                 Material mat = (Material)TheRegion.GetBlockInternal_NoLoad(c).BlockMaterial;
                 if (mat.GetSolidity() != MaterialSolidity.LIQUID)
                 {
                     continue;
                 }
                 // TODO: Account for block shape?
                 double vol = e.CollisionInformation.Shape.Volume;
                 double dens = (e.Mass / vol);
                 double WaterDens = 5; // TODO: Read from material. // TODO: Sanity of values.
                 double modifier = (double)(WaterDens / dens);
                 double submod = 0.125f;
                 // TODO: Tracing accuracy!
                 Vector3 impulse = -(TheRegion.PhysicsWorld.ForceUpdater.Gravity + TheRegion.GravityNormal.ToBVector() * 0.4f) * e.Mass * dt * modifier * submod;
                 // TODO: Don't apply smaller logic this if scale is big!
                 for (double x2 = 0.25f; x2 < 1; x2 += 0.5f)
                 {
                     for (double y2 = 0.25f; y2 < 1; y2 += 0.5f)
                     {
                         for (double z2 = 0.25f; z2 < 1; z2 += 0.5f)
                         {
                             Location lc = c + new Location(x2, y2, z2);
                             RayHit rh;
                             if (e.CollisionInformation.RayCast(new Ray(lc.ToBVector(), new Vector3(0, 0, 1)), 0.01f, out rh)) // TODO: Efficiency!
                             {
                                 Vector3 center = lc.ToBVector();
                                 e.ApplyImpulse(ref center, ref impulse);
                                 e.ModifyLinearDamping(mat.GetSpeedMod());
                                 e.ModifyAngularDamping(mat.GetSpeedMod());
                             }
                         }
                     }
                 }
             }
         }
     }
 }
Пример #12
0
        /// <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);
        }
Пример #13
0
        ///<summary>
        /// Gets the extreme point of the shape in world space in a given direction.
        ///</summary>
        ///<param name="direction">Direction to find the extreme point in.</param>
        /// <param name="shapeTransform">Transform to use for the shape.</param>
        ///<param name="extremePoint">Extreme point on the shape.</param>
        public void GetExtremePointWithoutMargin(Vector3 direction, ref RigidTransform shapeTransform, out Vector3 extremePoint)
        {
            Quaternion conjugate;
            Quaternion.Conjugate(ref shapeTransform.Orientation, out conjugate);
            Vector3.Transform(ref direction, ref conjugate, out direction);
            GetLocalExtremePointWithoutMargin(ref direction, out extremePoint);

            Vector3.Transform(ref extremePoint, ref shapeTransform.Orientation, out extremePoint);
            Vector3.Add(ref extremePoint, ref shapeTransform.Position, out extremePoint);
        }
Пример #14
0
 ///<summary>
 /// Gets the local transform of B in the space of A.
 ///</summary>
 ///<param name="transformA">First transform.</param>
 ///<param name="transformB">Second transform.</param>
 ///<param name="localTransformB">Transform of B in the local space of A.</param>
 public static void GetLocalTransform(ref RigidTransform transformA, ref RigidTransform transformB,
                                      out RigidTransform localTransformB)
 {
     //Put B into A's space.
     Quaternion conjugateOrientationA;
     Quaternion.Conjugate(ref transformA.Orientation, out conjugateOrientationA);
     Quaternion.Concatenate(ref transformB.Orientation, ref conjugateOrientationA, out localTransformB.Orientation);
     Vector3.Subtract(ref transformB.Position, ref transformA.Position, out localTransformB.Position);
     Vector3.Transform(ref localTransformB.Position, ref conjugateOrientationA, out localTransformB.Position);
 }
Пример #15
0
 public bool ConvexCast(ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweepnorm, double slen, MaterialSolidity solidness, out RayHit hit)
 {
     RigidTransform rt;
     RigidTransform.MultiplyByInverse(ref startingTransform, ref worldTransform, out rt);
     Vector3 swp = Quaternion.Transform(sweepnorm, Quaternion.Inverse(worldTransform.Orientation));
     RayHit rh;
     bool h = ChunkShape.ConvexCast(castShape, ref rt, ref swp, slen, solidness, out rh);
     RigidTransform.Transform(ref rh.Location, ref worldTransform, out hit.Location);
     hit.Normal = rh.Normal;
     hit.T = rh.T;
     return h;
 }
Пример #16
0
 /// <summary>
 /// Gets the bounding box of the shape given a transform.
 /// </summary>
 /// <param name="shapeTransform">Transform to use.</param>
 /// <param name="boundingBox">Bounding box of the transformed shape.</param>
 public override void GetBoundingBox(ref RigidTransform shapeTransform, out BoundingBox boundingBox)
 {
     #if !WINDOWS
     boundingBox = new BoundingBox();
     #endif
     boundingBox.Min.X = shapeTransform.Position.X - collisionMargin;
     boundingBox.Min.Y = shapeTransform.Position.Y - collisionMargin;
     boundingBox.Min.Z = shapeTransform.Position.Z - collisionMargin;
     boundingBox.Max.X = shapeTransform.Position.X + collisionMargin;
     boundingBox.Max.Y = shapeTransform.Position.Y + collisionMargin;
     boundingBox.Max.Z = shapeTransform.Position.Z + collisionMargin;
 }
Пример #17
0
        ///<summary>
        /// Gets the extreme point of the shape in world space in a given direction with margin expansion.
        ///</summary>
        ///<param name="direction">Direction to find the extreme point in.</param>
        /// <param name="shapeTransform">Transform to use for the shape.</param>
        ///<param name="extremePoint">Extreme point on the shape.</param>
        public void GetExtremePoint(Vector3 direction, ref RigidTransform shapeTransform, out Vector3 extremePoint)
        {
            GetExtremePointWithoutMargin(direction, ref shapeTransform, out extremePoint);

            float directionLength = direction.LengthSquared();
            if (directionLength > Toolbox.Epsilon)
            {
                Vector3.Multiply(ref direction, collisionMargin / (float)Math.Sqrt(directionLength), out direction);
                Vector3.Add(ref extremePoint, ref direction, out extremePoint);
            }

        }
        public override void UpdateCollision(float dt)
        {
            WasContaining = Containing;
            WasTouching = Touching;


            var transform = new RigidTransform { Orientation = Quaternion.Identity };
            DetectorVolume.TriangleMesh.Tree.GetOverlaps(convex.boundingBox, overlaps);
            for (int i = 0; i < overlaps.Count; i++)
            {
                DetectorVolume.TriangleMesh.Data.GetTriangle(overlaps.Elements[i], out triangle.vA, out triangle.vB, out triangle.vC);
                Vector3.Add(ref triangle.vA, ref triangle.vB, out transform.Position);
                Vector3.Add(ref triangle.vC, ref transform.Position, out transform.Position);
                Vector3.Multiply(ref transform.Position, 1 / 3f, out transform.Position);
                Vector3.Subtract(ref triangle.vA, ref transform.Position, out triangle.vA);
                Vector3.Subtract(ref triangle.vB, ref transform.Position, out triangle.vB);
                Vector3.Subtract(ref triangle.vC, ref transform.Position, out triangle.vC);

                //If this triangle collides with the convex, we can stop immediately since we know we're touching and not containing.)))
                //[MPR is used here in lieu of GJK because the MPR implementation tends to finish quicker when objects are overlapping than GJK.  The GJK implementation does better on separated objects.]
                if (MPRToolbox.AreShapesOverlapping(convex.Shape, triangle, ref convex.worldTransform, ref transform))
                {
                    Touching = true;
                    //The convex can't be fully contained if it's still touching the surface.
                    Containing = false;

                    overlaps.Clear();
                    goto events;
                }
            }

            overlaps.Clear();
            //If we get here, then there was no shell intersection.
            //If the convex's center point is contained by the mesh, then the convex is fully contained.
            //If this is a child pair, the CheckContainment flag may be set to false.  This is because the parent has
            //already determined that it is not contained (another child performed the check and found that it was not contained)
            //and that it is already touching somehow (either by intersection or by containment).
            //so further containment tests are unnecessary.
            if (CheckContainment && DetectorVolume.IsPointContained(ref convex.worldTransform.Position, overlaps))
            {
                Touching = true;
                Containing = true;
                goto events;
            }

            //If we get here, then there was no surface intersection and the convex's center is not contained- the volume and convex are separate!
            Touching = false;
            Containing = false;

        events:
            NotifyDetectorVolumeOfChanges();
        }
Пример #19
0
        public override void GetBoundingBox(ref RigidTransform shapeTransform, out BoundingBox boundingBox)
        {
#if !WINDOWS
            boundingBox = new BoundingBox();
#endif
            var upExtreme = new Vector3(0, halfLength, 0);
            var downExtreme = new Vector3(0, -halfLength, 0);

            Vector3.Transform(ref upExtreme, ref shapeTransform.Orientation, out upExtreme);
            Vector3.Transform(ref downExtreme, ref shapeTransform.Orientation, out downExtreme);

            if (upExtreme.X > downExtreme.X)
            {
                boundingBox.Max.X = upExtreme.X;
                boundingBox.Min.X = downExtreme.X;
            }
            else
            {
                boundingBox.Max.X = downExtreme.X;
                boundingBox.Min.X = upExtreme.X;
            }

            if (upExtreme.Y > downExtreme.Y)
            {
                boundingBox.Max.Y = upExtreme.Y;
                boundingBox.Min.Y = downExtreme.Y;
            }
            else
            {
                boundingBox.Max.Y = downExtreme.Y;
                boundingBox.Min.Y = upExtreme.Y;
            }

            if (upExtreme.Z > downExtreme.Z)
            {
                boundingBox.Max.Z = upExtreme.Z;
                boundingBox.Min.Z = downExtreme.Z;
            }
            else
            {
                boundingBox.Max.Z = downExtreme.Z;
                boundingBox.Min.Z = upExtreme.Z;
            }


            boundingBox.Min.X += shapeTransform.Position.X - collisionMargin;
            boundingBox.Min.Y += shapeTransform.Position.Y - collisionMargin;
            boundingBox.Min.Z += shapeTransform.Position.Z - collisionMargin;
            boundingBox.Max.X += shapeTransform.Position.X + collisionMargin;
            boundingBox.Max.Y += shapeTransform.Position.Y + collisionMargin;
            boundingBox.Max.Z += shapeTransform.Position.Z + collisionMargin;
        }
Пример #20
0
        /// <summary>
        /// Refreshes the contact manifold, removing any out of date contacts
        /// and updating others.
        /// </summary>
        public static void ContactRefresh(RawList<Contact> contacts, RawValueList<ContactSupplementData> supplementData, ref RigidTransform transformA, ref RigidTransform transformB, RawList<int> toRemove)
        {
            //TODO: Could also refresh normals with some trickery.
            //Would also need to refresh depth using new normals, and would require some extra information.

            for (int k = 0; k < contacts.Count; k++)
            {
                contacts.Elements[k].Validate();
                ContactSupplementData data = supplementData.Elements[k];
                System.Numerics.Vector3 newPosA, newPosB;
                RigidTransform.Transform(ref data.LocalOffsetA, ref transformA, out newPosA);
                RigidTransform.Transform(ref data.LocalOffsetB, ref transformB, out newPosB);

                //ab - (ab*n)*n
                //Compute the horizontal offset.
                System.Numerics.Vector3 ab;
                Vector3Ex.Subtract(ref newPosB, ref newPosA, out ab);
                float dot;
                Vector3Ex.Dot(ref ab, ref contacts.Elements[k].Normal, out dot);
                System.Numerics.Vector3 temp;
                Vector3Ex.Multiply(ref contacts.Elements[k].Normal, dot, out temp);
                Vector3Ex.Subtract(ref ab, ref temp, out temp);
                dot = temp.LengthSquared();
                if (dot > CollisionDetectionSettings.ContactInvalidationLengthSquared)
                {
                    toRemove.Add(k);
                }
                else
                {
                    //Depth refresh:
                    //Find deviation ((Ra-Rb)*N) and add to base depth.
                    Vector3Ex.Dot(ref ab, ref contacts.Elements[k].Normal, out dot);
                    contacts.Elements[k].PenetrationDepth = data.BasePenetrationDepth - dot;
                    if (contacts.Elements[k].PenetrationDepth < -CollisionDetectionSettings.maximumContactDistance)
                        toRemove.Add(k);
                    else
                    {
                        //Refresh position and ra/rb.
                        System.Numerics.Vector3 newPos;
                        Vector3Ex.Add(ref newPosB, ref newPosA, out newPos);
                        Vector3Ex.Multiply(ref newPos, .5f, out newPos);
                        contacts.Elements[k].Position = newPos;
                        //This is an interesting idea, but has very little effect one way or the other.
                        //data.BasePenetrationDepth = contacts.Elements[k].PenetrationDepth;
                        //RigidTransform.TransformByInverse(ref newPos, ref transformA, out data.LocalOffsetA);
                        //RigidTransform.TransformByInverse(ref newPos, ref transformB, out data.LocalOffsetB);
                    }
                    contacts.Elements[k].Validate();
                }

            }
        }
Пример #21
0
        ///<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 System.Numerics.Vector3 closestPointA, out System.Numerics.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);
        }
Пример #22
0
        ///<summary>
        /// Gets the extreme point of the minkowski difference of shapeA and shapeB in the local space of shapeA.
        ///</summary>
        ///<param name="shapeA">First shape.</param>
        ///<param name="shapeB">Second shape.</param>
        ///<param name="direction">Extreme point direction in local space.</param>
        ///<param name="localTransformB">Transform of shapeB in the local space of A.</param>
        ///<param name="extremePoint">The extreme point in the local space of A.</param>
        public static void GetLocalMinkowskiExtremePoint(ConvexShape shapeA, ConvexShape shapeB, ref Vector3 direction, ref RigidTransform localTransformB, out Vector3 extremePoint)
        {
            //Extreme point of A-B along D = (extreme point of A along D) - (extreme point of B along -D)
            shapeA.GetLocalExtremePointWithoutMargin(ref direction, out extremePoint);
            Vector3 v;
            Vector3 negativeN;
            Vector3.Negate(ref direction, out negativeN);
            shapeB.GetExtremePointWithoutMargin(negativeN, ref localTransformB, out v);
            Vector3.Subtract(ref extremePoint, ref v, out extremePoint);

            ExpandMinkowskiSum(shapeA.collisionMargin, shapeB.collisionMargin, ref direction, out v);
            Vector3.Add(ref extremePoint, ref v, out extremePoint);
        }
Пример #23
0
        /// <summary>
        /// Gets the bounding box of the shape given a transform.
        /// </summary>
        /// <param name="shapeTransform">Transform to use.</param>
        /// <param name="boundingBox">Bounding box of the transformed shape.</param>
        public override void GetBoundingBox(ref RigidTransform shapeTransform, out BoundingBox boundingBox)
        {
            #if !WINDOWS
            boundingBox = new BoundingBox();
            #endif
            Matrix3x3 o;
            Matrix3x3.CreateFromQuaternion(ref shapeTransform.Orientation, out o);
            //Sample the local directions from the orientation matrix, implicitly transposed.

            Vector3 right;
            var direction = new Vector3(o.M11, o.M21, o.M31);
            GetLocalExtremePointWithoutMargin(ref direction, out right);

            Vector3 left;
            direction = new Vector3(-o.M11, -o.M21, -o.M31);
            GetLocalExtremePointWithoutMargin(ref direction, out left);

            Vector3 up;
            direction = new Vector3(o.M12, o.M22, o.M32);
            GetLocalExtremePointWithoutMargin(ref direction, out up);

            Vector3 down;
            direction = new Vector3(-o.M12, -o.M22, -o.M32);
            GetLocalExtremePointWithoutMargin(ref direction, out down);

            Vector3 backward;
            direction = new Vector3(o.M13, o.M23, o.M33);
            GetLocalExtremePointWithoutMargin(ref direction, out backward);

            Vector3 forward;
            direction = new Vector3(-o.M13, -o.M23, -o.M33);
            GetLocalExtremePointWithoutMargin(ref direction, out forward);

            //Rather than transforming each axis independently (and doing three times as many operations as required), just get the 6 required values directly.
            Vector3 positive, negative;
            TransformLocalExtremePoints(ref right, ref up, ref backward, ref o, out positive);
            TransformLocalExtremePoints(ref left, ref down, ref forward, ref o, out negative);

            //The positive and negative vectors represent the X, Y and Z coordinates of the extreme points in world space along the world space axes.
            boundingBox.Max.X = shapeTransform.Position.X + positive.X + collisionMargin;
            boundingBox.Max.Y = shapeTransform.Position.Y + positive.Y + collisionMargin;
            boundingBox.Max.Z = shapeTransform.Position.Z + positive.Z + collisionMargin;

            boundingBox.Min.X = shapeTransform.Position.X + negative.X - collisionMargin;
            boundingBox.Min.Y = shapeTransform.Position.Y + negative.Y - collisionMargin;
            boundingBox.Min.Z = shapeTransform.Position.Z + negative.Z - collisionMargin;
        }
Пример #24
0
 public MobileChunkShape(Vector3i csize, BlockInternal[] blocks, out Vector3 center)
 {
     Matrix3x3 boxMat = new BoxShape(csize.X, csize.Y, csize.Z).VolumeDistribution;
     ChunkSize = csize;
     Blocks = blocks;
     double weightInv = 1f / blocks.Length;
     center = new Vector3(csize.X / 2f, csize.Y / 2f, csize.Z / 2f);
     // TODO: More accurately get center of weight based on which blocks are solid or not!?
     Matrix3x3 volumeDistribution = new Matrix3x3();
     RigidTransform transform = new RigidTransform(center);
     Matrix3x3 contribution;
     CompoundShape.TransformContribution(ref transform, ref center, ref boxMat, blocks.Length, out contribution);
     Matrix3x3.Add(ref volumeDistribution, ref contribution, out volumeDistribution);
     Matrix3x3.Multiply(ref volumeDistribution, weightInv, out volumeDistribution);
     UpdateEntityShapeVolume(new EntityShapeVolumeDescription() { Volume = csize.X * csize.Y * csize.Z, VolumeDistribution = volumeDistribution });
     Center = center;
 }
Пример #25
0
 public bool SpecialCaseConvexTrace(ConvexShape shape, Location start, Location dir, double len, MaterialSolidity considerSolid, Func<BroadPhaseEntry, bool> filter, out RayCastResult rayHit)
 {
     RigidTransform rt = new RigidTransform(start.ToBVector(), BEPUutilities.Quaternion.Identity);
     BEPUutilities.Vector3 sweep = (dir * len).ToBVector();
     RayCastResult best = new RayCastResult(new RayHit() { T = len }, null);
     bool hA = false;
     if (considerSolid.HasFlag(MaterialSolidity.FULLSOLID))
     {
         RayCastResult rcr;
         if (PhysicsWorld.ConvexCast(shape, ref rt, ref sweep, filter, out rcr))
         {
             best = rcr;
             hA = true;
         }
     }
     sweep = dir.ToBVector();
     AABB box = new AABB();
     box.Min = start;
     box.Max = start;
     box.Include(start + dir * len);
     foreach (KeyValuePair<Vector3i, Chunk> chunk in LoadedChunks)
     {
         if (chunk.Value == null || chunk.Value.FCO == null)
         {
             continue;
         }
         if (!box.Intersects(new AABB() { Min = chunk.Value.WorldPosition.ToLocation() * Chunk.CHUNK_SIZE,
             Max = chunk.Value.WorldPosition.ToLocation() * Chunk.CHUNK_SIZE + new Location(Chunk.CHUNK_SIZE, Chunk.CHUNK_SIZE, Chunk.CHUNK_SIZE) }))
         {
             continue;
         }
         RayHit temp;
         if (chunk.Value.FCO.ConvexCast(shape, ref rt, ref sweep, len, considerSolid, out temp))
         {
             hA = true;
             if (temp.T < best.HitData.T)
             {
                 best.HitData = temp;
                 best.HitObject = chunk.Value.FCO;
             }
         }
     }
     rayHit = best;
     return hA;
 }
Пример #26
0
        internal void Enable()
        {
            //Turn everything on.
            lock (FlipLocker)
            {
                int initialCount = Math.Max(manager.entities.Count, 64);
                backBuffer = new RigidTransform[initialCount];
                states = new RigidTransform[initialCount];
                for (int i = 0; i < manager.entities.Count; i++)
                {
                    Entity entity = manager.entities[i];
                    backBuffer[i].Position = entity.position;
                    backBuffer[i].Orientation = entity.orientation;
                }
                Array.Copy(backBuffer, states, backBuffer.Length);
            }

        }
Пример #27
0
        ///<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.
            var 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;
        }
Пример #28
0
        ///<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 System.Numerics.Vector3 closestPointA, out System.Numerics.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 {
                State = SimplexState.Point
            };
            // new CachedSimplex(shapeA, shapeB, ref localtransformB);
            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);
        }
Пример #29
0
        /// <summary>
        /// Constructs a new demo.
        /// </summary>
        /// <param name="game">Game owning this demo.</param>
        public MPRCastingDemo(DemosGame game)
            : base(game)
        {
            bShape = new BoxShape(1, 0, 1);
            //bShape.CollisionMargin = 0;
            aShape = new ConeShape(1, .4f);
            //aShape.CollisionMargin = 0;
            a = new Entity(aShape);
            b = new Entity(bShape);
            CollisionRules.AddRule(a, b, CollisionRule.NoSolver);
            NarrowPhaseHelper.CollisionManagers.Remove(new TypePair(typeof(ConvexCollidable<BoxShape>), typeof(ConvexCollidable<BoxShape>)));
            Space.Add(a);
            Space.Add(b);
            a.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver4);
            b.Orientation = Quaternion.Identity;
            aTransform = new RigidTransform(new Vector3(-10, -10, -10), a.Orientation);
            bTransform = new RigidTransform(new Vector3(10, 10, 10), b.Orientation);

            game.Camera.Position = new Vector3(0, 5, 17);
        }
Пример #30
0
        /// <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);
        }
Пример #31
0
        /// <summary>
        /// Gets the bounding box of the shape given a transform.
        /// </summary>
        /// <param name="shapeTransform">Transform to use.</param>
        /// <param name="boundingBox">Bounding box of the transformed shape.</param>
        public override void GetBoundingBox(ref RigidTransform shapeTransform, out BoundingBox boundingBox)
        {
            Vector3 a, b, c;

            Vector3.Transform(ref vA, ref shapeTransform.Orientation, out a);
            Vector3.Transform(ref vB, ref shapeTransform.Orientation, out b);
            Vector3.Transform(ref vC, ref shapeTransform.Orientation, out c);

            Vector3.Min(ref a, ref b, out boundingBox.Min);
            Vector3.Min(ref c, ref boundingBox.Min, out boundingBox.Min);

            Vector3.Max(ref a, ref b, out boundingBox.Max);
            Vector3.Max(ref c, ref boundingBox.Max, out boundingBox.Max);

            boundingBox.Min.X += shapeTransform.Position.X - collisionMargin;
            boundingBox.Min.Y += shapeTransform.Position.Y - collisionMargin;
            boundingBox.Min.Z += shapeTransform.Position.Z - collisionMargin;
            boundingBox.Max.X += shapeTransform.Position.X + collisionMargin;
            boundingBox.Max.Y += shapeTransform.Position.Y + collisionMargin;
            boundingBox.Max.Z += shapeTransform.Position.Z + collisionMargin;
        }
Пример #32
0
        /// <summary>
        /// Gets the intersection between the triangle and the ray.
        /// </summary>
        /// <param name="ray">Ray to test against the triangle.</param>
        /// <param name="transform">Transform to apply to the triangle shape for the test.</param>
        /// <param name="maximumLength">Maximum distance to travel in units of the direction vector's length.</param>
        /// <param name="hit">Hit data of the ray cast, if any.</param>
        /// <returns>Whether or not the ray hit the target.</returns>
        public override bool RayTest(ref Ray ray, ref RigidTransform transform, float maximumLength, out RayHit hit)
        {
            Matrix3x3 orientation;

            Matrix3x3.CreateFromQuaternion(ref transform.Orientation, out orientation);
            Ray        localRay;
            Quaternion conjugate;

            Quaternion.Conjugate(ref transform.Orientation, out conjugate);
            Vector3.Transform(ref ray.Direction, ref conjugate, out localRay.Direction);
            Vector3.Subtract(ref ray.Position, ref transform.Position, out localRay.Position);
            Vector3.Transform(ref localRay.Position, ref conjugate, out localRay.Position);

            bool toReturn = Toolbox.FindRayTriangleIntersection(ref localRay, maximumLength, sidedness, ref vA, ref vB, ref vC, out hit);

            //Move the hit back into world space.
            Vector3.Multiply(ref ray.Direction, hit.T, out hit.Location);
            Vector3.Add(ref ray.Position, ref hit.Location, out hit.Location);
            Vector3.Transform(ref hit.Normal, ref transform.Orientation, out hit.Normal);
            return(toReturn);
        }
Пример #33
0
        private static bool GetClosestPoints(ConvexShape shapeA, ConvexShape shapeB, ref RigidTransform localTransformB,
                                             ref CachedSimplex cachedSimplex, out System.Numerics.Vector3 localClosestPointA, out System.Numerics.Vector3 localClosestPointB)
        {
            var simplex = new PairSimplex(ref cachedSimplex, ref localTransformB);

            System.Numerics.Vector3 closestPoint;
            int count = 0;

            while (true)
            {
                if (simplex.GetPointClosestToOrigin(out closestPoint) || //Also reduces the simplex and computes barycentric coordinates if necessary.
                    closestPoint.LengthSquared() <= Toolbox.Epsilon * simplex.errorTolerance)
                {
                    //Intersecting.
                    localClosestPointA = Toolbox.ZeroVector;
                    localClosestPointB = Toolbox.ZeroVector;

                    simplex.UpdateCachedSimplex(ref cachedSimplex);
                    return(true);
                }

                if (++count > MaximumGJKIterations)
                {
                    break; //Must break BEFORE a new vertex is added if we're over the iteration limit.  This guarantees final simplex is not a tetrahedron.
                }
                if (simplex.GetNewSimplexPoint(shapeA, shapeB, count, ref closestPoint))
                {
                    //No progress towards origin, not intersecting.
                    break;
                }
            }
            //Compute closest points from the contributing simplexes and barycentric coordinates
            simplex.GetClosestPoints(out localClosestPointA, out localClosestPointB);
            //simplex.VerifyContributions();
            //if (Vector3Ex.Distance(localClosestPointA - localClosestPointB, closestPoint) > .00001f)
            //    Debug.WriteLine("break.");
            simplex.UpdateCachedSimplex(ref cachedSimplex);
            return(false);
        }
Пример #34
0
 public override void Update(double dt)
 {
     NeedsHop = false;
     Entity e = Entity;
     Vector3 vel = e.LinearVelocity * dt;
     RigidTransform start = new RigidTransform(e.Position + new Vector3(0, 0, 0.05f), e.Orientation);
     RayCastResult rcr;
     if (e.Space.ConvexCast((ConvexShape)e.CollisionInformation.Shape, ref start, ref vel, IgnoreThis, out rcr))
     {
         vel += new Vector3(0, 0, HopHeight);
         if (!e.Space.ConvexCast((ConvexShape)e.CollisionInformation.Shape, ref start, ref vel, IgnoreThis, out rcr))
         {
             start.Position += vel;
             vel = new Vector3(0, 0, -(HopHeight + 0.05f)); // TODO: Track gravity normals and all that stuff
             if (e.Space.ConvexCast((ConvexShape)e.CollisionInformation.Shape, ref start, ref vel, IgnoreThis, out rcr))
             {
                 NeedsHop = true;
                 Hop = -vel * (1f - rcr.HitData.T / (HopHeight + 0.05f));
             }
         }
     }
 }
Пример #35
0
        /// <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="result">Hit data, if any.</param>
        /// <returns>Whether or not the cast hit anything.</returns>
        public bool ConvexCast(ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref System.Numerics.Vector3 sweep, out RayCastResult result)
        {
            var outputOverlappedElements = PhysicsResources.GetCollidableList();
            BoundingBox boundingBox;
            castShape.GetSweptBoundingBox(ref startingTransform, ref sweep, out boundingBox);

            CollidableTree.GetOverlaps(boundingBox, outputOverlappedElements);
            result = new RayCastResult();
            result.HitData.T = float.MaxValue;
            for (int i = 0; i < outputOverlappedElements.Count; ++i)
            {
                RayHit hit;
                if (outputOverlappedElements.Elements[i].ConvexCast(castShape, ref startingTransform, ref sweep, out hit))
                {
                    if (hit.T < result.HitData.T)
                    {
                        result.HitData = hit;
                        result.HitObject = outputOverlappedElements.Elements[i];
                    }
                }
            }
            PhysicsResources.GiveBack(outputOverlappedElements);
            return result.HitData.T < float.MaxValue;
        }
Пример #36
0
        /// <summary>
        /// Gets the bounding box of the shape given a transform.
        /// </summary>
        /// <param name="shapeTransform">Transform to use.</param>
        /// <param name="boundingBox">Bounding box of the transformed shape.</param>
        public override void GetBoundingBox(ref RigidTransform shapeTransform, out BoundingBox boundingBox)
        {
#if !WINDOWS
            boundingBox = new BoundingBox();
#endif


            Matrix3x3 o;
            Matrix3x3.CreateFromQuaternion(ref shapeTransform.Orientation, out o);
            //Sample the local directions from the orientation matrix, implicitly transposed.
            //Notice only three directions are used.  Due to box symmetry, 'left' is just -right.
            var direction = new Vector3(o.M11, o.M21, o.M31);
            Vector3 right;
            GetLocalExtremePointWithoutMargin(ref direction, out right);

            direction = new Vector3(o.M12, o.M22, o.M32);
            Vector3 up;
            GetLocalExtremePointWithoutMargin(ref direction, out up);

            direction = new Vector3(o.M13, o.M23, o.M33);
            Vector3 backward;
            GetLocalExtremePointWithoutMargin(ref direction, out backward);

            Matrix3x3.Transform(ref right, ref o, out right);
            Matrix3x3.Transform(ref up, ref o, out up);
            Matrix3x3.Transform(ref backward, ref o, out backward);
            //These right/up/backward represent the extreme points in world space along the world space axes.

            boundingBox.Max.X = shapeTransform.Position.X + collisionMargin + right.X;
            boundingBox.Max.Y = shapeTransform.Position.Y + collisionMargin + up.Y;
            boundingBox.Max.Z = shapeTransform.Position.Z + collisionMargin + backward.Z;

            boundingBox.Min.X = shapeTransform.Position.X - collisionMargin - right.X;
            boundingBox.Min.Y = shapeTransform.Position.Y - collisionMargin - up.Y;
            boundingBox.Min.Z = shapeTransform.Position.Z - collisionMargin - backward.Z;
        }
Пример #37
0
 /// <summary>
 /// Gets the intersection between the sphere and the ray.
 /// </summary>
 /// <param name="ray">Ray to test against the sphere.</param>
 /// <param name="transform">Transform applied to the convex for the test.</param>
 /// <param name="maximumLength">Maximum distance to travel in units of the ray direction's length.</param>
 /// <param name="hit">Ray hit data, if any.</param>
 /// <returns>Whether or not the ray hit the target.</returns>
 public override bool RayTest(ref Ray ray, ref RigidTransform transform, float maximumLength, out RayHit hit)
 {
     return Toolbox.RayCastSphere(ref ray, ref transform.Position, collisionMargin, maximumLength, out hit);
 }
Пример #38
0
		///<summary>
		/// Casts a fat (sphere expanded) ray against the shape.  If the raycast appears to be stuck in the shape, the cast will be attempted
		/// with a smaller ray (scaled by the MotionSettings.CoreShapeScaling each time).
		///</summary>
		///<param name="ray">Ray to test against the shape.</param>
		///<param name="radius">Radius of the ray.</param>
		///<param name="target">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 CCDSphereCast( ref Ray ray, float radius, ConvexShape target, ref RigidTransform shapeTransform, float maximumLength,
								   out RayHit hit )
		{
			int iterations = 0;
			while( true )
			{
				if( GJKToolbox.SphereCast( ray, radius, target, ref shapeTransform, maximumLength, out hit ) &&
					hit.T > 0 )
				{
					//The ray cast isn't embedded in the shape, and it's less than maximum length away!
					return true;
				}
				if( hit.T > maximumLength || hit.T < 0 )
					return false; //Failure showed it was too far, or behind.

				radius *= MotionSettings.CoreShapeScaling;
				iterations++;
				if( iterations > 3 ) //Limit could be configurable.
				{
					//It's iterated too much, let's just do a last ditch attempt using a raycast and hope that can help.
					return GJKToolbox.RayCast( ray, target, ref shapeTransform, maximumLength, out hit ) && hit.T > 0;

				}
			}
		}
Пример #39
0
        ///<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;
        }
Пример #40
0
 ///<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>
 ///<returns>Whether or not the shapes are intersecting.</returns>
 public static bool AreShapesIntersecting(ConvexShape shapeA, ConvexShape shapeB, ref RigidTransform transformA, ref RigidTransform transformB)
 {
     //Zero isn't a very good guess!  But it's a cheap guess.
     Vector3 separatingAxis = Toolbox.ZeroVector;
     return AreShapesIntersecting(shapeA, shapeB, ref transformA, ref transformB, ref separatingAxis);
 }
Пример #41
0
        ///<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;
        }
Пример #42
0
        //TODO: Consider changing the termination epsilons on these casts.  Epsilon * Modifier is okay, but there might be better options.

        ///<summary>
        /// Tests a ray against a convex shape.
        ///</summary>
        ///<param name="ray">Ray to test against the shape.</param>
        ///<param name="shape">Shape to test.</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 ray cast, if any.</param>
        ///<returns>Whether or not the ray hit the shape.</returns>
        public static bool RayCast(Ray ray, ConvexShape shape, ref RigidTransform shapeTransform, float maximumLength,
                                   out RayHit hit)
        {
            //Transform the ray into the object's local space.
            Vector3Ex.Subtract(ref ray.Position, ref shapeTransform.Position, out ray.Position);
            System.Numerics.Quaternion conjugate;
            QuaternionEx.Conjugate(ref shapeTransform.Orientation, out conjugate);
            QuaternionEx.Transform(ref ray.Position, ref conjugate, out ray.Position);
            QuaternionEx.Transform(ref ray.Direction, ref conjugate, out ray.Direction);

            System.Numerics.Vector3 extremePointToRayOrigin, extremePoint;
            hit.T        = 0;
            hit.Location = ray.Position;
            hit.Normal   = Toolbox.ZeroVector;
            System.Numerics.Vector3 closestOffset = hit.Location;

            RaySimplex simplex = new RaySimplex();

            float vw, closestPointDotDirection;
            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 (closestOffset.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.GetLocalExtremePoint(closestOffset, out extremePoint);

                Vector3Ex.Subtract(ref hit.Location, ref extremePoint, out extremePointToRayOrigin);
                Vector3Ex.Dot(ref closestOffset, ref extremePointToRayOrigin, out vw);
                //If the closest offset and the extreme point->ray origin direction point the same way,
                //then we might be able to conservatively advance the point towards the surface.
                if (vw > 0)
                {
                    Vector3Ex.Dot(ref closestOffset, ref ray.Direction, out closestPointDotDirection);
                    if (closestPointDotDirection >= 0)
                    {
                        hit = new RayHit();
                        return(false);
                    }
                    hit.T = hit.T - vw / closestPointDotDirection;
                    if (hit.T > maximumLength)
                    {
                        //If we've gone beyond where the ray can reach, there's obviously no hit.
                        hit = new RayHit();
                        return(false);
                    }
                    //Shift the ray up.
                    Vector3Ex.Multiply(ref ray.Direction, hit.T, out hit.Location);
                    Vector3Ex.Add(ref hit.Location, ref ray.Position, out hit.Location);
                    hit.Normal = closestOffset;
                }

                RaySimplex shiftedSimplex;
                simplex.AddNewSimplexPoint(ref extremePoint, ref hit.Location, out shiftedSimplex);

                //Compute the offset from the simplex surface to the origin.
                shiftedSimplex.GetPointClosestToOrigin(ref simplex, out closestOffset);
            }
            //Transform the hit data into world space.
            QuaternionEx.Transform(ref hit.Normal, ref shapeTransform.Orientation, out hit.Normal);
            QuaternionEx.Transform(ref hit.Location, ref shapeTransform.Orientation, out hit.Location);
            Vector3Ex.Add(ref hit.Location, ref shapeTransform.Position, out hit.Location);

            return(true);
        }
Пример #43
0
 public static void Validate(this RigidTransform r)
 {
     r.Position.Validate();
     r.Orientation.Validate();
 }
Пример #44
0
 ///<summary>
 /// Sweeps a shape against another shape using a given sweep vector.
 ///</summary>
 ///<param name="sweptShape">Shape to sweep.</param>
 ///<param name="target">Shape being swept against.</param>
 ///<param name="sweep">Sweep vector for the sweptShape.</param>
 ///<param name="startingSweptTransform">Starting transform of the sweptShape.</param>
 ///<param name="targetTransform">Transform to apply to the target shape.</param>
 ///<param name="hit">Hit data of the sweep test, if any.</param>
 ///<returns>Whether or not the swept shape hit the other shape.</returns>
 public static bool ConvexCast(ConvexShape sweptShape, ConvexShape target, ref System.Numerics.Vector3 sweep, ref RigidTransform startingSweptTransform, ref RigidTransform targetTransform,
                               out RayHit hit)
 {
     return(ConvexCast(sweptShape, target, ref sweep, ref Toolbox.ZeroVector, ref startingSweptTransform, ref targetTransform, out hit));
 }
Пример #45
0
        ///<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 System.Numerics.Vector3 sweepA, ref System.Numerics.Vector3 sweepB, ref RigidTransform transformA, ref RigidTransform transformB,
                                      out RayHit hit)
        {
            //Put the velocity into shapeA's local space.
            System.Numerics.Vector3 velocityWorld;
            Vector3Ex.Subtract(ref sweepB, ref sweepA, out velocityWorld);
            System.Numerics.Quaternion conjugateOrientationA;
            QuaternionEx.Conjugate(ref transformA.Orientation, out conjugateOrientationA);
            System.Numerics.Vector3 rayDirection;
            QuaternionEx.Transform(ref velocityWorld, ref conjugateOrientationA, out rayDirection);
            //Transform b into a's local space.
            RigidTransform localTransformB;

            QuaternionEx.Concatenate(ref transformB.Orientation, ref conjugateOrientationA, out localTransformB.Orientation);
            Vector3Ex.Subtract(ref transformB.Position, ref transformA.Position, out localTransformB.Position);
            QuaternionEx.Transform(ref localTransformB.Position, ref conjugateOrientationA, out localTransformB.Position);


            System.Numerics.Vector3 w, p;
            hit.T        = 0;
            hit.Location = System.Numerics.Vector3.Zero; //The ray starts at the origin.
            hit.Normal   = Toolbox.ZeroVector;
            System.Numerics.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);

                Vector3Ex.Subtract(ref hit.Location, ref p, out w);
                Vector3Ex.Dot(ref v, ref w, out vw);
                if (vw > 0)
                {
                    Vector3Ex.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.
                    Vector3Ex.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.
            QuaternionEx.Transform(ref hit.Normal, ref transformA.Orientation, out hit.Normal);
            Vector3Ex.Multiply(ref velocityWorld, hit.T, out hit.Location);
            Vector3Ex.Add(ref hit.Location, ref transformA.Position, out hit.Location);
            return(true);
        }
Пример #46
0
 ///<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>
 ///<returns>Whether or not the shapes are intersecting.</returns>
 public static bool AreShapesIntersecting(ConvexShape shapeA, ConvexShape shapeB, ref RigidTransform transformA, ref RigidTransform transformB)
 {
     //Zero isn't a very good guess!  But it's a cheap guess.
     System.Numerics.Vector3 separatingAxis = Toolbox.ZeroVector;
     return(AreShapesIntersecting(shapeA, shapeB, ref transformA, ref transformB, ref separatingAxis));
 }
Пример #47
0
        ///<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.
            Vector3Ex.Subtract(ref ray.Position, ref shapeTransform.Position, out ray.Position);
            System.Numerics.Quaternion conjugate;
            QuaternionEx.Conjugate(ref shapeTransform.Orientation, out conjugate);
            QuaternionEx.Transform(ref ray.Position, ref conjugate, out ray.Position);
            QuaternionEx.Transform(ref ray.Direction, ref conjugate, out ray.Direction);

            System.Numerics.Vector3 w, p;
            hit.T        = 0;
            hit.Location = ray.Position;
            hit.Normal   = Toolbox.ZeroVector;
            System.Numerics.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);
                System.Numerics.Vector3 contribution;
                MinkowskiToolbox.ExpandMinkowskiSum(shape.collisionMargin, radius, ref v, out contribution);
                Vector3Ex.Add(ref p, ref contribution, out p);

                Vector3Ex.Subtract(ref hit.Location, ref p, out w);
                Vector3Ex.Dot(ref v, ref w, out vw);
                if (vw > 0)
                {
                    Vector3Ex.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.
                    Vector3Ex.Multiply(ref ray.Direction, hit.T, out hit.Location);
                    Vector3Ex.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.
            QuaternionEx.Transform(ref hit.Normal, ref shapeTransform.Orientation, out hit.Normal);
            QuaternionEx.Transform(ref hit.Location, ref shapeTransform.Orientation, out hit.Location);
            Vector3Ex.Add(ref hit.Location, ref shapeTransform.Position, out hit.Location);

            return(true);
        }
Пример #48
0
        ///<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 System.Numerics.Vector3 localSeparatingAxis)
        {
            RigidTransform localtransformB;

            MinkowskiToolbox.GetLocalTransform(ref transformA, ref transformB, out localtransformB);

            //Warm start the simplex.
            var simplex = new SimpleSimplex();

            System.Numerics.Vector3 extremePoint;
            MinkowskiToolbox.GetLocalMinkowskiExtremePoint(shapeA, shapeB, ref localSeparatingAxis, ref localtransformB, out extremePoint);
            simplex.AddNewSimplexPoint(ref extremePoint);

            System.Numerics.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.
                System.Numerics.Vector3 direction;
                Vector3Ex.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;
                Vector3Ex.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);
        }