/// <summary>
/// Loads descriptor of the sensor and initialize the sensor
/// </summary>
public bool LoadFromDesc(MySensorDesc desc)
{
if (m_Inserted)
{
return false;
}
if(!desc.IsValid())
return false;
m_Matrix = desc.m_Matrix;
m_Element = desc.m_Element;
m_Element.Sensor = this;
m_SensorEventHandler = desc.m_SensorEventHandler;
MyCommonDebugUtils.AssertDebug(m_Interactions.Count == 0);
m_Interactions.Clear();
m_Guid = GUID_COUNTER;
if (GUID_COUNTER > ushort.MaxValue)
{
GUID_COUNTER = 0;
}
GUID_COUNTER++;
return true;
}
/// <summary>
/// Loads descriptor of the sensor and initialize the sensor
/// </summary>
public bool LoadFromDesc(MySensorDesc desc)
{
if (m_Inserted)
{
return(false);
}
if (!desc.IsValid())
{
return(false);
}
m_Matrix = desc.m_Matrix;
m_Element = desc.m_Element;
m_Element.Sensor = this;
m_SensorEventHandler = desc.m_SensorEventHandler;
MyCommonDebugUtils.AssertDebug(m_Interactions.Count == 0);
m_Interactions.Clear();
m_Guid = GUID_COUNTER;
if (GUID_COUNTER > ushort.MaxValue)
{
GUID_COUNTER = 0;
}
GUID_COUNTER++;
return(true);
}
public override void DestroyVolume(MyElement element)
{
if (element.ProxyData == MyElement.PROXY_UNASSIGNED)
{
return;
}
m_DAABBTree.RemoveProxy(element.ProxyData);
element.ProxyData = MyElement.PROXY_UNASSIGNED;
if ((element.Flags & MyElementFlag.EF_SENSOR_ELEMENT) > 0)
{
MySensorElement se = (MySensorElement)element;
}
if ((element.Flags & MyElementFlag.EF_RB_ELEMENT) > 0)
{
MyRBElement elm = (MyRBElement)element;
//clear all iterations from me and from objects i iterate with
while (elm.GetRBElementInteractions().Count > 0)
{
MyRBElementInteraction intr = elm.GetRBElementInteractions()[0];
MyPhysics.physicsSystem.GetRBInteractionModule().RemoveRBElementInteraction(intr.RBElement1, intr.RBElement2);
}
elm.GetRBElementInteractions().Clear();
}
}
public void HandleSensorChanges()
{
foreach (var sensorToRemoveKVP in m_SensorsToRemove)
{
MySensor sensorToRemove = sensorToRemoveKVP.Value;
ClearSensor(sensorToRemove);
m_Sensors.Remove(sensorToRemove);
}
m_SensorsToRemove.Clear();
foreach (var sensorToAddKVP in m_SensorsToAdd)
{
MySensor sensorToAdd = sensorToAddKVP.Value;
// insert to sort into bp
MySensorElement elem = sensorToAdd.GetElement();
elem.UpdateAABB();
MyPhysics.physicsSystem.GetRigidBodyModule().GetBroadphase().CreateVolume(elem);
sensorToAdd.Inserted = true;
m_Sensors.Add(sensorToAdd);
}
m_SensorsToAdd.Clear();
}
/// <summary>
/// When a sensor moves its needs to update its volume in broadphase
/// </summary>
public void MoveSensor(MySensor sensor, bool activateSensor)
{
if (sensor.Inserted)
{
MySensorElement el = sensor.GetElement();
MyPhysics.physicsSystem.GetRigidBodyModule().GetBroadphase().MoveVolume(el);
sensor.Active = true;
}
}
public void Close()
{
MyCommonDebugUtils.AssertDebug(m_isMarkedForClose);
MyCommonDebugUtils.AssertDebug(m_Interactions.Count == 0);
if (m_Element != null)
{
m_Element.Close();
m_Element = null;
}
m_SensorEventHandler = null;
m_Interactions.Clear();
m_Interactions = null;
m_UserData = null;
}
private void ClearSensor(MySensor sensor)
{
MySensorElement elem = sensor.GetElement();
elem.UpdateAABB();
MyPhysics.physicsSystem.GetRigidBodyModule().GetBroadphase().DestroyVolume(elem);
foreach (var siKvp in sensor.m_Interactions)
{
MyPhysics.physicsSystem.GetSensorInteractionModule().RemoveSensorInteraction(siKvp.Value);
}
sensor.m_Interactions.Clear();
sensor.Active = false;
sensor.Inserted = false;
if (sensor.IsMarkedForClose())
{
sensor.Close();
}
}
public MySensor()
{
m_UserData = null;
m_Element = null;
m_SensorEventHandler = null;
m_Matrix = new Matrix();
m_Inserted = false;
m_isMarkedForClose = false;
m_Interactions = new Dictionary<int, MySensorInteraction>(32);
m_Guid = GUID_COUNTER;
if (GUID_COUNTER == ushort.MaxValue)
{
GUID_COUNTER = 0;
}
GUID_COUNTER++;
}
public void Init(MySensorElement sensorElement, MyRBElement rbElement)
{
Debug.Assert(rbElement.GetRigidBody() != null);
Debug.Assert(sensorElement.Sensor != null);
m_SensorElement = sensorElement;
m_RBElement = rbElement;
int guid1 = sensorElement.GUID;
int guid2 = rbElement.GUID;
if (guid1 > guid2)
{
int tm = guid2;
guid2 = guid1;
guid1 = tm;
}
m_Guid = guid1 + (guid2 << 16);
m_IsInside = false;
m_IsInUse = true;
m_RBElement.GetRigidBody().OnDeactivated.Event += m_onRigidBodyDeactivatedEventHandler;
}
public void Init(MySensorElement sensorElement, MyRBElement rbElement)
{
Debug.Assert(rbElement.GetRigidBody() != null);
Debug.Assert(sensorElement.Sensor != null);
m_SensorElement = sensorElement;
m_RBElement = rbElement;
int guid1 = sensorElement.GUID;
int guid2 = rbElement.GUID;
if (guid1 > guid2)
{
int tm = guid2;
guid2 = guid1;
guid1 = tm;
}
m_Guid = guid1 + (guid2 << 16);
m_IsInside = false;
m_IsInUse = true;
m_RBElement.GetRigidBody().OnDeactivated.Event += m_onRigidBodyDeactivatedEventHandler;
}
public MySensor()
{
m_UserData = null;
m_Element = null;
m_SensorEventHandler = null;
m_Matrix = new Matrix();
m_Inserted = false;
m_isMarkedForClose = false;
m_Interactions = new Dictionary <int, MySensorInteraction>(32);
m_Guid = GUID_COUNTER;
if (GUID_COUNTER == ushort.MaxValue)
{
GUID_COUNTER = 0;
}
GUID_COUNTER++;
}
/// <summary>
/// adds new sensor interaction between sensor and rigid
/// </summary>
public void AddSensorInteraction(MySensorElement sensorElement, MyRBElement rbElement)
{
if (sensorElement.DetectRigidBodyTypes != null && rbElement.GetRigidBody().Type != sensorElement.DetectRigidBodyTypes.Value)
{
return;
}
MySensorInteraction si = null;
int guid1 = sensorElement.GUID;
int guid2 = rbElement.GUID;
if (guid1 > guid2)
{
int tm = guid2;
guid2 = guid1;
guid1 = tm;
}
int guid = guid1 + (guid2 << 16);
// if this interaction is in current interactions
if (m_CurrentInteractions.ContainsKey(guid))
{
return;
}
//if (sensorElement.Sensor.m_Interactions.TryGetValue(guid, out si))
//{
// Debug.Assert(guid == si.m_Guid);
// m_CurrentInteractions.Add(guid, si);
// return;
//}
if (m_InteractionsInUse.TryGetValue(guid, out si))
{
Debug.Assert(guid == si.m_Guid);
m_CurrentInteractions.Add(guid, si);
return;
}
switch (sensorElement.GetElementType())
{
case MySensorElementType.ET_SPHERE:
{
switch (rbElement.GetElementType())
{
case MyRBElementType.ET_SPHERE:
{
if (m_FreeSSSi.Count == 0)
{
m_FreeSSSi.Push(new MySphereSphereSensorInteraction());
m_newAllocatedInteractions++;
}
si = m_FreeSSSi.Pop();
}
break;
case MyRBElementType.ET_BOX:
{
if (m_FreeSBSi.Count == 0)
{
m_FreeSBSi.Push(new MySphereBoxSensorInteraction());
m_newAllocatedInteractions++;
}
si = m_FreeSBSi.Pop();
}
break;
default:
{
if (m_FreeSOSi.Count == 0)
{
m_FreeSOSi.Push(new MySphereOtherSensorInteraction());
m_newAllocatedInteractions++;
}
si = m_FreeSOSi.Pop();
}
break;
}
}
break;
case MySensorElementType.ET_BOX:
switch (rbElement.GetElementType())
{
case MyRBElementType.ET_SPHERE:
{
if (m_FreeBSSi.Count == 0)
{
m_FreeBSSi.Push(new MyBoxSphereSensorInteraction());
m_newAllocatedInteractions++;
}
si = m_FreeBSSi.Pop();
}
break;
case MyRBElementType.ET_BOX:
{
if (m_FreeBBSi.Count == 0)
{
m_FreeBBSi.Push(new MyBoxBoxSensorInteraction());
m_newAllocatedInteractions++;
}
si = m_FreeBBSi.Pop();
}
break;
default:
{
if (m_FreeBOSi.Count == 0)
{
m_FreeBOSi.Push(new MyBoxOtherSensorInteraction());
m_newAllocatedInteractions++;
}
si = m_FreeBOSi.Pop();
}
break;
}
break;
default:
break;
}
if (si == null)
{
return;
}
Debug.Assert(!si.m_IsInUse);
si.Init(sensorElement, rbElement);
Debug.Assert(guid == si.m_Guid);
m_CurrentInteractions.Add(guid, si);
m_InteractionsInUse.Add(guid, si);
m_interactionsInUse++;
if (m_interactionsInUse > m_interactionsInUseMax)
{
m_interactionsInUseMax = m_interactionsInUse;
}
}
/// <summary>
/// parses all active rigids, updates the aabbs and checks for possible collisions using the DAABB
/// </summary>
public override void DoWork()
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("ClearInteractions");
ClearInteractions();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MyRBInteractionModule module = MyPhysics.physicsSystem.GetRBInteractionModule();
HashSet <MyRigidBody> activeRigids = MyPhysics.physicsSystem.GetRigidBodyModule().GetActiveRigids();
float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
BoundingBox aabb;
//Dictionary<string, int> typeStats = new Dictionary<string, int>();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("MoveProxy");
// A.B. this might be expensive, maybe update separate or move somewhere else like in the solve -> update positions !!
foreach (MyRigidBody rbo in activeRigids)
{
/*
* string ts = ((MinerWars.AppCode.Game.Physics.MyPhysicsBody)rbo.m_UserData).Entity.GetType().Name.ToString();
* if (!typeStats.ContainsKey(ts))
* typeStats.Add(ts, 0);
* typeStats[ts]++;
*/
for (int j = 0; j < rbo.GetRBElementList().Count; j++)
{
MyRBElement el = rbo.GetRBElementList()[j];
el.UpdateAABB();
aabb = el.GetWorldSpaceAABB();
m_DAABBTree.MoveProxy(el.ProxyData, ref aabb, el.GetRigidBody().LinearVelocity *dt);
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("make the AABB test");
// make the AABB test
MyRBElementInteraction interaction = null;
#if RENDER_PROFILING && !MEMORY_PROFILING
int[] heights = new int[activeRigids.Count];
int[] tests = new int[activeRigids.Count];
#endif
int i = 0;
foreach (MyRigidBody rbo in activeRigids)
{
for (int j = 0; j < rbo.GetRBElementList().Count; j++)
{
MyRBElement el = rbo.GetRBElementList()[j];
Vector3 globalPosition = Vector3.Transform(el.LocalPosition, rbo.Matrix);
Vector3 deltaVelocity = rbo.LinearVelocity * dt;
aabb = el.GetWorldSpaceAABB();
if (rbo.ReadFlag(RigidBodyFlag.RBF_COLDET_THROUGH_VOXEL_TRIANGLES) || el is MyRBSphereElement) //because sphere is interpolated for whole path
{
Vector3 v = globalPosition + rbo.LinearVelocity * dt;
//Vector3 v = aabb.GetCenter()+rbo.LinearVelocity * dt;
aabb = aabb.Include(ref v);
}
else
{
aabb.Max += deltaVelocity;
aabb.Min += deltaVelocity;
}
//if (el is MyRBSphereElement)
//{
//MyDebugDraw.AddDrawSphereWireframe(new BoundingSphere(aabb.GetCenter(), (aabb.GetCorners()[0] - aabb.GetCenter()).Length()));
// MyDebugDraw.AddDrawSphereWireframe(new BoundingSphere(aabb.GetCenter()+rbo.LinearVelocity * dt, (aabb.GetCorners()[0] - aabb.GetCenter()).Length()));
//}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("m_DAABBTree.OverlapAllBoundingBox");
#if RENDER_PROFILING && !MEMORY_PROFILING
m_DAABBTree.OverlapAllBoundingBox(ref aabb, m_overlapElementList, 0);
#else
m_DAABBTree.OverlapAllBoundingBox(ref aabb, m_overlapElementList, 0);
#endif
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("Interactions");
foreach (var lEl in m_overlapElementList)
{
if (el == lEl)//optimization?
{
continue;
}
if ((lEl.Flags & MyElementFlag.EF_SENSOR_ELEMENT) > 0)
{
MySensorElement sensorElement = lEl as MySensorElement;
MyRBElement rbElement = el as MyRBElement;
MyPhysics.physicsSystem.GetSensorInteractionModule().AddSensorInteraction(sensorElement, rbElement);
continue;
}
if ((lEl.Flags & MyElementFlag.EF_RB_ELEMENT) > 0)
{
MyRBElement testEl = (MyRBElement)lEl;
if (el.GetRigidBody().IsStatic() && testEl.GetRigidBody().IsStatic())
{
continue;
}
if (el.GetRigidBody().IsKinematic() && testEl.GetRigidBody().IsKinematic())
{
continue;
}
if (el.GetRigidBody().IsKinematic() && testEl.GetRigidBody().IsStatic())
{
continue;
}
if (el.GetRigidBody().IsStatic() && testEl.GetRigidBody().IsKinematic())
{
continue;
}
if (el.GetRigidBody() == testEl.GetRigidBody())
{
continue;
}
if (!MyFiltering.AcceptCollision(el, testEl))
{
continue;
}
interaction = module.FindRBElementInteraction(el, testEl);
if (interaction == null)
{
interaction = module.AddRBElementInteraction(el, testEl);
}
if (interaction != null)
{
bool iinserted = false;
for (int t = 0; t < m_InteractionList.Count; t++)
{
if (m_InteractionList[t] == interaction)
{
iinserted = true;
break;
}
}
if (!iinserted)
{
m_InteractionList.Add(interaction);
}
}
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
i++;
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Active rigids", activeRigids.Count);
#if RENDER_PROFILING && !MEMORY_PROFILING
float averageHeight = 0;
float averageTest = 0;
int maxHeight = 0;
int maxTest = 0;
for (int j = 0; j < activeRigids.Count; j++)
{
averageHeight += heights[j];
averageTest += tests[j];
if (maxHeight < heights[j])
{
maxHeight = heights[j];
}
if (maxTest < tests[j])
{
maxTest = tests[j];
}
}
averageHeight /= activeRigids.Count;
averageTest /= activeRigids.Count;
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Average height", averageHeight);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Average test", averageTest);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Max height", maxHeight);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Max test", maxTest);
#endif
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("handle active sensors");
List <MySensor> activeSensors = MyPhysics.physicsSystem.GetSensorModule().ActiveSensors;
if (activeSensors.Count > 0)
{
if (m_activeSensorIndex >= activeSensors.Count)
{
m_activeSensorIndex = 0;
}
MySensor activeSensor = activeSensors[m_activeSensorIndex];
activeSensor.PrepareSensorInteractions();
MySensorElement sensorElement = activeSensor.GetElement();
BoundingBox sensorElAABB = sensorElement.GetWorldSpaceAABB();
m_sensorInteractonList.Clear();
m_DAABBTree.OverlapAllBoundingBox(ref sensorElAABB, m_sensorInteractonList, (uint)MyElementFlag.EF_RB_ELEMENT);
foreach (MyRBElement rbElement in m_sensorInteractonList)
{
MyPhysics.physicsSystem.GetSensorInteractionModule().AddSensorInteraction(sensorElement, rbElement);
}
activeSensor.Active = false;
m_activeSensorIndex++;
}
//List<MySensor> activeSensors = MyPhysics.physicsSystem.GetSensorModule().ActiveSensors;
//for (int i = activeSensors.Count - 1; i >= 0; i--)
//{
// MySensorElement sensorElement = activeSensors[i].GetElement();
// BoundingBox sensorElAABB = sensorElement.GetWorldSpaceAABB();
// m_sensorInteractonList.Clear();
// m_DAABBTree.OverlapRBAllBoundingBox(ref sensorElAABB, m_sensorInteractonList);
// foreach (MyRBElement rbElement in m_sensorInteractonList)
// {
// MyPhysics.physicsSystem.GetSensorInteractionModule().AddSensorInteraction(sensorElement, rbElement);
// }
// activeSensors[i].IsActive = false;
// activeSensors.RemoveAt(i);
//}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
public void Close()
{
MyCommonDebugUtils.AssertDebug(m_isMarkedForClose);
MyCommonDebugUtils.AssertDebug(m_Interactions.Count == 0);
if (m_Element != null)
{
m_Element.Close();
m_Element = null;
}
m_SensorEventHandler = null;
m_Interactions.Clear();
m_Interactions = null;
m_UserData = null;
}
public MySensorDesc()
{
m_Matrix = Matrix.Identity;
m_SensorEventHandler = null;
m_Element = null;
}
public MySensorDesc()
{
m_Matrix = Matrix.Identity;
m_SensorEventHandler = null;
m_Element = null;
}
/// <summary>
/// adds new sensor interaction between sensor and rigid
/// </summary>
public void AddSensorInteraction(MySensorElement sensorElement, MyRBElement rbElement)
{
if (sensorElement.DetectRigidBodyTypes != null && rbElement.GetRigidBody().Type != sensorElement.DetectRigidBodyTypes.Value)
{
return;
}
MySensorInteraction si = null;
int guid1 = sensorElement.GUID;
int guid2 = rbElement.GUID;
if (guid1 > guid2)
{
int tm = guid2;
guid2 = guid1;
guid1 = tm;
}
int guid = guid1 + (guid2 << 16);
// if this interaction is in current interactions
if (m_CurrentInteractions.ContainsKey(guid))
{
return;
}
//if (sensorElement.Sensor.m_Interactions.TryGetValue(guid, out si))
//{
// Debug.Assert(guid == si.m_Guid);
// m_CurrentInteractions.Add(guid, si);
// return;
//}
if (m_InteractionsInUse.TryGetValue(guid, out si))
{
Debug.Assert(guid == si.m_Guid);
m_CurrentInteractions.Add(guid, si);
return;
}
switch (sensorElement.GetElementType())
{
case MySensorElementType.ET_SPHERE:
{
switch (rbElement.GetElementType())
{
case MyRBElementType.ET_SPHERE:
{
if (m_FreeSSSi.Count == 0)
{
m_FreeSSSi.Push(new MySphereSphereSensorInteraction());
m_newAllocatedInteractions++;
}
si = m_FreeSSSi.Pop();
}
break;
case MyRBElementType.ET_BOX:
{
if (m_FreeSBSi.Count == 0)
{
m_FreeSBSi.Push(new MySphereBoxSensorInteraction());
m_newAllocatedInteractions++;
}
si = m_FreeSBSi.Pop();
}
break;
default:
{
if (m_FreeSOSi.Count == 0)
{
m_FreeSOSi.Push(new MySphereOtherSensorInteraction());
m_newAllocatedInteractions++;
}
si = m_FreeSOSi.Pop();
}
break;
}
}
break;
case MySensorElementType.ET_BOX:
switch (rbElement.GetElementType())
{
case MyRBElementType.ET_SPHERE:
{
if (m_FreeBSSi.Count == 0)
{
m_FreeBSSi.Push(new MyBoxSphereSensorInteraction());
m_newAllocatedInteractions++;
}
si = m_FreeBSSi.Pop();
}
break;
case MyRBElementType.ET_BOX:
{
if (m_FreeBBSi.Count == 0)
{
m_FreeBBSi.Push(new MyBoxBoxSensorInteraction());
m_newAllocatedInteractions++;
}
si = m_FreeBBSi.Pop();
}
break;
default:
{
if (m_FreeBOSi.Count == 0)
{
m_FreeBOSi.Push(new MyBoxOtherSensorInteraction());
m_newAllocatedInteractions++;
}
si = m_FreeBOSi.Pop();
}
break;
}
break;
default:
break;
}
if (si == null)
{
return;
}
Debug.Assert(!si.m_IsInUse);
si.Init(sensorElement, rbElement);
Debug.Assert(guid == si.m_Guid);
m_CurrentInteractions.Add(guid, si);
m_InteractionsInUse.Add(guid, si);
m_interactionsInUse++;
if (m_interactionsInUse > m_interactionsInUseMax)
{
m_interactionsInUseMax = m_interactionsInUse;
}
}
