//-------------------------------------
// Collision Methods - Single Particle Colliders
//-------------------------------------
/// <summary>
/// Separate 2 objects where at least one is a SingleParticle object (SphereCollider).
/// </summary>
private void SeparateParticleObjectWithSingleParticles(BaseCollider bc, SphereCollider sp, Vector3 currPoint, Vector3 projPoint, ColliderTypes collTypes)
{
if (collTypes == ColliderTypes.FirstRigidBody_SecondSingleParticle)
{
//ParticleObject po = bc.GetParticleObject();
//float[] c1 = this.ComputeParticlesCoefficients(po, currPoint);
//float lambda1 = this.ComputeLambda(c1);
Logger.Instance.DebugInfo("Updating FirstRigidBody_SecondSingleParticle object", "COLLISION");
// Update the dynamic object
//for (int i = 0; i < 4; i++)
//{
// po.particles[i].position = po.particles[i].position + (lambda1 * c1[i] * (projPoint - currPoint) * 0.5f) * po.particles[i].invMass;
//}
// Update also the single particle
Vector3 newPos = sp.GetSingleParticlePosition() - ((projPoint - currPoint)) * 0.5f * sp.GetSingleParticleInvMass();
sp.ChangeSingleParticlePosition(newPos);
}
// if both are single particle objects
else if (collTypes == ColliderTypes.BothSingleParticles)
{
// TODO: test
SphereCollider sp1 = (SphereCollider)bc;
Vector3 newPosSp1 = sp1.GetSingleParticlePosition() + ((projPoint - currPoint)) * sp1.GetSingleParticleInvMass();
sp1.ChangeSingleParticlePosition(newPosSp1);
Vector3 newPosSp2 = sp.GetSingleParticlePosition() - ((projPoint - currPoint)) * sp.GetSingleParticleInvMass();
sp.ChangeSingleParticlePosition(newPosSp2);
}
}
public void AddCollider(BaseCollider Collider)
{
if (Colliders == null)
{
Colliders = new List <BaseCollider>();
}
Colliders.Add(Collider);
Logger.Instance.DebugInfo("Added Collider " + Collider.Id + " to CollisionManager!");
}
private void Start()
{
// Instantiate debugging arrows
if (this.ShowVelocityArrows)
{
this.VelocityArrows_DB = new GameObject[particles.Length];
for (int i = 0; i < particles.Length; i++)
{
this.VelocityArrows_DB[i] = (GameObject)Instantiate(Resources.Load("VelocityArrow"));
this.VelocityArrows_DB[i].SetActive(false);
}
}
// Check if there is a collider
if (this.gameObject.GetComponent <BaseCollider>() != null)
{
this.Collider = this.gameObject.GetComponent <BaseCollider>();
this.Collider.AssignParticleObject(this);
}
// Initialize prev pos as current one and invmass
foreach (Particle p in particles)
{
p.position = this.transform.TransformPoint(p.position);
p.prevPosition = p.position - velocity / 10f;
}
// For visualizer
E_pointsTransformedInLocalSpace = true;
// Add Tetrahederon and Bounding constraints
constraints = new List <Constraint>();
constraints.Add(new DistanceConstraint(particles, distTuples));
constraints.Add(new PointConstraint(particles, pointTuples));
//constraints.Add(new BoundConstraint(particles, new Vector3(10, 5, 10)));
// Initialize center position
this.centerOfMass = this.ComputeCenterOfMass();
this.SetOrientationAxis();
// Add object to simulation
VerletSimulation.Instance.AddParticleObject(this);
// Initialize acceleration
gravityAcceleraiton = new Vector3(0, -9.81f, 0);
if (this.UseGravity)
{
acceleration += gravityAcceleraiton;
}
}
public void AddCollider(BaseCollider Collider, bool isSingleParticle = false)
{
if (Colliders == null)
{
this.Colliders = new List <BaseCollider>();
this.SingleParticleColliders = new List <SphereCollider>();
}
if (!isSingleParticle)
{
this.Colliders.Add(Collider);
}
else
{
this.SingleParticleColliders.Add((SphereCollider)Collider);
}
Logger.Instance.DebugInfo("Added Collider " + Collider.Id + " to CollisionManager!");
}
/// <summary>
/// Check where this vertex should be allocated.
/// </summary>
public void UpdateNodePosition(Vector3 vertexPosition, BaseCollider baseCollider)
{
//node.
//node.s
//node.node
// (1) Get node where it should be stored
OctreeNode <TType> itNode = GetRoot();
for (int i = 0; i <= depth; i++)
{
int occupiedNodeIdx = GetIndexOfPosition(vertexPosition, itNode.Position);
//itNode = itNode.Nodes[occupiedNodeIdx];
}
// (2) Once the Node is found
// (2.1) Check where this basecollider was stored previously
// (2.2) if it isn't stored in the current node add the BaseCollider to its IList
// PROBLEM: an object (cube/sphere) can be inside multiple nodes
// checking only the extents isn't enough, because it might extend
// through multiple nodes (should use ray coverage?)
}
public MapCollider(BaseCollider collider)
{
m_baseCollider = collider;
}