public DXEventManager3DWrapperSample()
{
InitializeComponent();
_selectedMaterial = new DiffuseMaterial(Brushes.Red);
_unSelectedMaterial = new DiffuseMaterial(Brushes.Blue);
LowerBoxVisual3D.SetName("LowerBoxVisual3D");
PassageBoxVisual3D.SetName("PassageBoxVisual3D");
UpperBoxVisual3D.SetName("UpperBoxVisual3D");
MovableVisualParent.SetName("MovableVisualParent");
MovableBoxVisual3D.SetName("MovableBoxVisual3D");
ArrowLineVisual3D.SetName("ArrowLineVisual3D");
Cylinder1.SetName("Cylinder1");
Cylinder2.SetName("Cylinder2");
Cylinder3.SetName("Cylinder3");
TransparentPlaneVisual3D.SetName("TransparentPlaneVisual3D");
this.Loaded += new RoutedEventHandler(DXEventManager3DWrapperSample_Loaded);
// IMPORTANT:
// It is very important to call Dispose method on DXSceneView after the control is not used any more (see help file for more info)
this.Unloaded += (sender, args) => MainDXViewportView.Dispose();
}
// Token: 0x06000146 RID: 326 RVA: 0x00005CA4 File Offset: 0x00003EA4
public Face(Cylinder3 cylinder)
{
AffineTransform3 affineTransform = Transform3Factory.CreateOrthonormalBasis(cylinder.Axis.Direction);
this.Surface = new CylinderSurface(cylinder.Axis.Origin, affineTransform.AxisX, affineTransform.AxisY, true, cylinder.Radius);
this.Orientation = Orientation.Forward;
this.Wires = new List <Wire3>().AsReadOnly();
}
public static void Test(
Entity entity1, object[] boundingVolumes1, ref Matrix worldTransform1, ref Vector3 translation1, ref Quaternion rotation1, ref Vector3 scale1,
Entity entity2, object[] boundingVolumes2, ref Matrix worldTransform2, ref Vector3 translation2, ref Quaternion rotation2, ref Vector3 scale2,
bool needAllContacts, ref Contact contact
)
{
Debug.Assert(scale1.X == scale1.Y && scale1.Y == scale1.Z);
Debug.Assert(scale2.X == scale2.Y && scale2.Y == scale2.Z);
for (int i = 0; i < boundingVolumes1.Length; ++i)
{
Cylinder3 cylinder1 = (Cylinder3)boundingVolumes1[i];
for (int j = 0; j < boundingVolumes2.Length; ++j)
{
Cylinder3 cylinder2 = (Cylinder3)boundingVolumes2[j];
Vector3 top1 = Vector3.Transform(cylinder1.Top, worldTransform1);
Vector3 bottom1 = Vector3.Transform(cylinder1.Bottom, worldTransform1);
Vector3 top2 = Vector3.Transform(cylinder2.Top, worldTransform2);
Vector3 bottom2 = Vector3.Transform(cylinder2.Bottom, worldTransform2);
float radius1 = scale1.X * cylinder1.Radius;
float radius2 = scale2.X * cylinder2.Radius;
float minTop = top1.Y < top2.Y ? top1.Y : top2.Y;
float maxBottom = bottom1.Y > bottom2.Y ? bottom1.Y : bottom2.Y;
float overlap = minTop - maxBottom;
if (overlap >= 0)
{
Vector3 projected1 = new Vector3(top1.X, 0, top1.Z);
Vector3 projected2 = new Vector3(top2.X, 0, top2.Z);
Vector3 normal = projected2 - projected1;
float radiusSum = radius1 + radius2;
if (normal.LengthSquared() < radiusSum * radiusSum)
{
// collision
normal.Normalize();
Vector3 position = projected1 + normal * radius1 + Vector3.UnitY * (minTop - overlap / 2.0f);
contact.AddContactPoint(ref position, ref normal);
}
}
}
}
}
/// <summary>Tests whether a cylinder is touching a sphere</summary>
/// <param name="cylinderTransform">Orientation and position of the cylinder</param>
/// <param name="cylinderRadius">The cylinder's radius</param>
/// <param name="cylinderLength">The cylinder's length</param>
/// <param name="sphereCenter">Location of the sphere's center</param>
/// <param name="sphereRadius">The sphere's radius</param>
/// <returns>True if the objects are touching each other</returns>
public static bool CheckContact(
Matrix cylinderTransform, float cylinderRadius, float cylinderLength,
Vector3 sphereCenter, float sphereRadius
)
{
// Determine the sphere's center in the cylinder's relative orientation
Vector3 localSphereCenter = new Vector3(
Vector3.Dot(sphereCenter, cylinderTransform.Right),
Vector3.Dot(sphereCenter, cylinderTransform.Up),
Vector3.Dot(sphereCenter, cylinderTransform.Forward)
);
Vector3 closest = Cylinder3.GetClosestPoint(
cylinderRadius, cylinderLength, localSphereCenter
);
// If the closest point is within the sphere's radius, we've got a collision
return((closest - localSphereCenter).LengthSquared() < (sphereRadius * sphereRadius));
}
public void TestCheckContact()
{
Cylinder3 testCylinder = new Cylinder3(
Matrix.Identity, 10.0f, 5.0f
);
Assert.IsTrue(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
Vector3.Zero, 5.0f
),
"Fully contained sphere is detected to overlap with the cylinder"
);
Assert.IsTrue(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(-20.0f + Specifications.HullAccuracy, 0.0f, 0.0f), 10.0f
),
"Close hit of cylinder on X axis (left side) detected"
);
Assert.IsTrue(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(20.0f - Specifications.HullAccuracy, 0.0f, 0.0f), 10.0f
),
"Close hit of cylinder on X axis (right side) detected"
);
Assert.IsFalse(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(-20.0f - Specifications.HullAccuracy, 0.0f, 0.0f), 10.0f
),
"Close miss of cylinder on X axis (left side) properly handled"
);
Assert.IsFalse(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(20.0f + Specifications.HullAccuracy, 0.0f, 0.0f), 10.0f
),
"Close miss of cylinder on X axis (right side) properly handled"
);
Assert.IsTrue(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, -20.0f + Specifications.HullAccuracy, 0.0f), 10.0f
),
"Close hit of cylinder on Y axis (lower side) detected"
);
Assert.IsTrue(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, 20.0f - Specifications.HullAccuracy, 0.0f), 10.0f
),
"Close hit of cylinder on Y axis (upper side) detected"
);
Assert.IsFalse(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, -20.0f - Specifications.HullAccuracy, 0.0f), 10.0f
),
"Close miss of cylinder on Y axis (lower side) properly handled"
);
Assert.IsFalse(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, 20.0f + Specifications.HullAccuracy, 0.0f), 10.0f
),
"Close miss of cylinder on Y axis (upper side) properly handled"
);
Assert.IsTrue(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, 0.0f, -12.5f + Specifications.HullAccuracy), 10.0f
),
"Close hit of cylinder on Z axis (front side) detected"
);
Assert.IsTrue(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, 0.0f, 12.5f - Specifications.HullAccuracy), 10.0f
),
"Close hit of cylinder on Z axis (back side) detected"
);
Assert.IsFalse(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, 0.0f, -12.5f - Specifications.HullAccuracy), 10.0f
),
"Close miss of cylinder on Z axis (front side) properly handled"
);
Assert.IsFalse(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, 0.0f, 12.5f + Specifications.HullAccuracy), 10.0f
),
"Close miss of cylinder on Z axis (back side) properly handled"
);
}
public void TestCheckContact() {
Cylinder3 testCylinder = new Cylinder3(
Matrix.Identity, 10.0f, 5.0f
);
Assert.IsTrue(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
Vector3.Zero, 5.0f
),
"Fully contained sphere is detected to overlap with the cylinder"
);
Assert.IsTrue(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(-20.0f + Specifications.HullAccuracy, 0.0f, 0.0f), 10.0f
),
"Close hit of cylinder on X axis (left side) detected"
);
Assert.IsTrue(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(20.0f - Specifications.HullAccuracy, 0.0f, 0.0f), 10.0f
),
"Close hit of cylinder on X axis (right side) detected"
);
Assert.IsFalse(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(-20.0f - Specifications.HullAccuracy, 0.0f, 0.0f), 10.0f
),
"Close miss of cylinder on X axis (left side) properly handled"
);
Assert.IsFalse(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(20.0f + Specifications.HullAccuracy, 0.0f, 0.0f), 10.0f
),
"Close miss of cylinder on X axis (right side) properly handled"
);
Assert.IsTrue(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, -20.0f + Specifications.HullAccuracy, 0.0f), 10.0f
),
"Close hit of cylinder on Y axis (lower side) detected"
);
Assert.IsTrue(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, 20.0f - Specifications.HullAccuracy, 0.0f), 10.0f
),
"Close hit of cylinder on Y axis (upper side) detected"
);
Assert.IsFalse(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, -20.0f - Specifications.HullAccuracy, 0.0f), 10.0f
),
"Close miss of cylinder on Y axis (lower side) properly handled"
);
Assert.IsFalse(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, 20.0f + Specifications.HullAccuracy, 0.0f), 10.0f
),
"Close miss of cylinder on Y axis (upper side) properly handled"
);
Assert.IsTrue(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, 0.0f, -12.5f + Specifications.HullAccuracy), 10.0f
),
"Close hit of cylinder on Z axis (front side) detected"
);
Assert.IsTrue(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, 0.0f, 12.5f - Specifications.HullAccuracy), 10.0f
),
"Close hit of cylinder on Z axis (back side) detected"
);
Assert.IsFalse(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, 0.0f, -12.5f - Specifications.HullAccuracy), 10.0f
),
"Close miss of cylinder on Z axis (front side) properly handled"
);
Assert.IsFalse(
CylinderSphereCollider.CheckContact(
testCylinder.Transform, testCylinder.Radius, testCylinder.Height,
new Vector3(0.0f, 0.0f, 12.5f + Specifications.HullAccuracy), 10.0f
),
"Close miss of cylinder on Z axis (back side) properly handled"
);
}
public static void Test(
Entity entity1, object[] boundingVolumes1, ref Matrix worldTransform1, ref Vector3 translation1, ref Quaternion rotation1, ref Vector3 scale1,
Entity entity2, object[] boundingVolumes2, ref Matrix worldTransform2, ref Vector3 translation2, ref Quaternion rotation2, ref Vector3 scale2,
bool needAllContacts, ref Contact contact
)
{
Debug.Assert(scale1.X == scale1.Y && scale1.Y == scale1.Z);
Debug.Assert(scale2.X == scale2.Y && scale2.Y == scale2.Z);
for (int i = 0; i < boundingVolumes1.Length; ++i)
{
Sphere3 sphere1 = (Sphere3)boundingVolumes1[i];
for (int j = 0; j < boundingVolumes2.Length; ++j)
{
Cylinder3 cylinder2 = (Cylinder3)boundingVolumes2[j];
Vector3 center1 = Vector3.Transform(sphere1.Center, worldTransform1);
float radius1 = scale1.X * sphere1.Radius;
Vector3 top2 = Vector3.Transform(cylinder2.Top, worldTransform2);
Vector3 bottom2 = Vector3.Transform(cylinder2.Bottom, worldTransform2);
float radius2 = scale2.X * cylinder2.Radius;
// sphere is on same level as the cylinder
if (center1.Y <= top2.Y &&
center1.Y >= bottom2.Y)
{
// distance between the two
Vector3 diff = top2 - center1;
diff.Y = 0; // we are only interested in horizontal distance
float collisionLengthSquared = (radius2 + radius1) * (radius2 + radius1);
if (diff.LengthSquared() < collisionLengthSquared)
{
diff.Normalize();
Vector3 point = center1 + diff * radius1;
contact.AddContactPoint(ref point, ref diff);
}
}
// above cylinder...
else if (center1.Y > top2.Y)
{
if (center1.Y - radius1 < top2.Y)
{
// project to top cylinder 'plane'
Vector3 projected = center1;
projected.Y = top2.Y;
Vector3 toProjected = projected - top2;
if (toProjected.LengthSquared() < radius2 * radius2)
{
Vector3 normal = -Vector3.UnitY;
contact.AddContactPoint(ref projected, ref normal);
}
else
{
toProjected.Normalize();
Vector3 nearestPoint = top2 + toProjected * radius2;
Vector3 diff = nearestPoint - center1;
if (diff.LengthSquared() < radius1 * radius1)
{
Vector3 normal = -Vector3.UnitY;
contact.AddContactPoint(ref nearestPoint, ref normal);
}
}
}
}
// below cylinder
else if (center1.Y < bottom2.Y)
{
if (center1.Y + radius1 < bottom2.Y)
{
// project to bottom cylinder 'plane'
Vector3 projected = center1;
projected.Y = bottom2.Y;
Vector3 toProjected = projected - bottom2;
if (toProjected.LengthSquared() < radius2 * radius2)
{
Vector3 normal = Vector3.UnitY;
contact.AddContactPoint(ref projected, ref normal);
}
else
{
toProjected.Normalize();
Vector3 nearestPoint = bottom2 + toProjected * radius2;
Vector3 diff = nearestPoint - center1;
if (diff.LengthSquared() < radius1 * radius1)
{
Vector3 normal = Vector3.UnitY;
contact.AddContactPoint(ref nearestPoint, ref normal);
}
}
}
}
else
{
// we covered all cases...
Debug.Assert(false);
}
}
}
}
