/// <summary>
/// Initializes a new CollisionSystem which uses a grid to speed up collision detection.
/// Use this system for larger scenes with many objects.
/// </summary>
/// <param name="nx">Number of GridEntries in X Direction.</param>
/// <param name="ny">Number of GridEntries in Y Direction.</param>
/// <param name="nz">Number of GridEntries in Z Direction.</param>
/// <param name="dx">Size of a single GridEntry in X Direction.</param>
/// <param name="dy">Size of a single GridEntry in Y Direction.</param>
/// <param name="dz">Size of a single GridEntry in Z Direction.</param>
public CollisionSystemGrid(int nx, int ny, int nz, float dx, float dy, float dz)
{
this.nx = nx; this.ny = ny; this.nz = nz;
this.dx = dx; this.dy = dy; this.dz = dz;
this.sizeX = nx * dx;
this.sizeY = ny * dy;
this.sizeZ = nz * dz;
this.minDelta = System.Math.Min(System.Math.Min(dx, dy), dz);
int numEntries = nx * ny * nz * 2; // we allocate twice as many as need for collision skins
gridEntries = new List<GridEntry>(numEntries);
gridBoxes = new List<AABox>(numEntries);
tempGridLists = new List<GridEntry>(numEntries);
freeGrids = new Stack<GridEntry>(numEntries);
for (int i = 0; i < numEntries; ++i)
{
GridEntry entry = new GridEntry();
entry.GridIndex = -2;
freeGrids.Push(entry);
}
for (int i = 0; i < (nx * ny * nz); ++i)
{
GridEntry gridEntry = freeGrids.Pop();
gridEntry.GridIndex = i;
gridEntries.Add(gridEntry);
gridBoxes.Add(null);
}
overflowEntries = freeGrids.Pop();
overflowEntries.GridIndex = -1;
for (int iX = 0; iX < nx; ++iX)
{
for (int iY = 0; iY < ny; ++iY)
{
for (int iZ = 0; iZ < nz; ++iZ)
{
AABox box = new AABox();
box.AddPoint(new Vector3(iX * dx, iY * dy, iZ + dz));
box.AddPoint(new Vector3(iX * dx + dx, iY * dy + dy, iZ * dz + dz));
int index = CalcIndex(iX, iY, iZ);
gridBoxes[index] = box;
}
}
}
}
/// <summary>
/// Removes the entry by updating its neighbours. Also zaps the prev/next
/// pointers in the entry, to help debugging
/// </summary>
/// <param name="entry"></param>
public static void RemoveGridEntry(GridEntry entry)
{
// link the previous to the next (may be 0)
entry.Previous.Next = entry.Next;
// link the next (if it exists) to the previous.
if (entry.Next != null)
entry.Next.Previous = entry.Previous;
// tidy up this entry
entry.Previous = entry.Next = null;
entry.GridIndex = -2;
}
/// <summary>
/// Inserts an entry after prev, updating all links
/// </summary>
/// <param name="entry"></param>
/// <param name="prev"></param>
public static void InsertGridEntryAfter(GridEntry entry, GridEntry prev)
{
GridEntry next = prev.Next;
prev.Next = entry;
entry.Previous = prev;
entry.Next = next;
if (next != null)
next.Previous = entry;
entry.GridIndex = prev.GridIndex;
}
public GridEntry(CollisionSkin skin)
{
this.Skin = skin;
this.Previous = this.Next = null;
}
/// <summary>
/// DetectAllCollisions
/// </summary>
/// <param name="bodies"></param>
/// <param name="collisionFunctor"></param>
/// <param name="collisionPredicate"></param>
/// <param name="collTolerance"></param>
public override void DetectAllCollisions(List <Body> bodies, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
int numBodies = bodies.Count;
CollDetectInfo info = new CollDetectInfo();
for (int iBody = 0; iBody < numBodies; ++iBody)
{
Body body = bodies[iBody];
if (!body.IsActive)
{
continue;
}
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
{
continue;
}
tempGridLists.Clear();
GetListsToCheck(tempGridLists, info.Skin0);
for (int iList = tempGridLists.Count; iList-- != 0;)
{
// first one is a placeholder;
GridEntry entry = tempGridLists[iList];
for (entry = entry.Next; entry != null; entry = entry.Next)
{
info.Skin1 = entry.Skin;
if (info.Skin1 == info.Skin0)
{
continue;
}
// CHANGE
if (info.Skin1 == null)
{
continue;
}
bool skinSleeping = true;
if ((info.Skin1.Owner != null) && (info.Skin1.Owner.IsActive))
{
skinSleeping = false;
}
// only do one per pair
if ((skinSleeping == false) && (info.Skin1.ID < info.Skin0.ID))
{
continue;
}
if ((collisionPredicate != null) && (!collisionPredicate.ConsiderSkinPair(info.Skin0, info.Skin1)))
{
continue;
}
// basic bbox test
if (BoundingBoxHelper.OverlapTest(ref info.Skin1.WorldBoundingBox,
ref info.Skin0.WorldBoundingBox, collTolerance))
{
if (CheckCollidables(info.Skin0, info.Skin1))
{
int bodyPrimitives = info.Skin0.NumPrimitives;
int primitves = info.Skin1.NumPrimitives;
for (info.IndexPrim0 = 0; info.IndexPrim0 < bodyPrimitives; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 < primitves; ++info.IndexPrim1)
{
DetectFunctor f = GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
{
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
} // check collidables
} // overlapt test
} // loop over entries
} // loop over lists
} // loop over bodies
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="skin"></param>
public GridEntry(CollisionSkin skin)
{
this.Skin = skin;
this.Previous = this.Next = null;
}
/// <summary>
/// GetListsToCheck
/// </summary>
/// <param name="entries"></param>
/// <param name="skin"></param>
private void GetListsToCheck(List <GridEntry> entries, CollisionSkin skin)
{
entries.Clear();
GridEntry entry = (GridEntry)skin.ExternalData;
if (entry == null)
{
System.Diagnostics.Debug.WriteLine("Warning skin has grid entry null!");
//TRACE("Warning = skin %s has grid entry 0!\n", skin);
return;
}
// todo - work back from the mGridIndex rather than calculating it again...
int i, j, k;
float fi, fj, fk;
CalcGridForSkin(out i, out j, out k, out fi, out fj, out fk, skin);
if (i == -1)
{
// oh dear - add everything
for (i = 0; i < gridEntries.Count; ++i)
{
if (gridEntries[i].Next != null)
{
entries.Add(gridEntries[i]);
}
}
//entries = gridEntries;
entries.Add(overflowEntries);
return;
}
// always add the overflow
entries.Add(overflowEntries);
Vector3 delta = skin.WorldBoundingBox.Max - skin.WorldBoundingBox.Min;
int maxI = 1, maxJ = 1, maxK = 1;
if (fi + (delta.X / dx) < 1.0f)
{
maxI = 0;
}
if (fj + (delta.Y / dy) < 1.0f)
{
maxJ = 0;
}
if (fk + (delta.Z / dz) < 1.0f)
{
maxK = 0;
}
// now add the contents of all 18 grid boxes - their contents may extend beyond the bounds
for (int di = -1; di <= maxI; ++di)
{
for (int dj = -1; dj <= maxJ; ++dj)
{
for (int dk = -1; dk <= maxK; ++dk)
{
int thisIndex = CalcIndex(nx + i + di, ny + j + dj, nz + k + dk);
GridEntry start = gridEntries[thisIndex];
if (start.Next != null)
{
entries.Add(start);
}
}
}
}
}
