/// <summary>
/// Retrieves a Triangle shape from the resource pool.
/// </summary>
/// <param name="v1">Position of the first vertex.</param>
/// <param name="v2">Position of the second vertex.</param>
/// <param name="v3">Position of the third vertex.</param>
/// <returns>Initialized TriangleShape.</returns>
public static TriangleShape GetTriangle(ref Vector3 v1, ref Vector3 v2, ref Vector3 v3)
{
TriangleShape toReturn = SubPoolTriangleShape.Take();
toReturn.vA = v1;
toReturn.vB = v2;
toReturn.vC = v3;
return(toReturn);
}
/// <summary>
/// Retrieves a TriangleCollidable from the resource pool.
/// </summary>
/// <param name="a">First vertex in the triangle.</param>
/// <param name="b">Second vertex in the triangle.</param>
/// <param name="c">Third vertex in the triangle.</param>
/// <returns>Initialized TriangleCollidable.</returns>
public static TriangleCollidable GetTriangleCollidable(ref Vector3 a, ref Vector3 b, ref Vector3 c)
{
var tri = SubPoolTriangleCollidables.Take();
var shape = tri.Shape;
shape.vA = a;
shape.vB = b;
shape.vC = c;
var identity = RigidTransform.Identity;
tri.UpdateBoundingBoxForTransform(ref identity);
return(tri);
}
/// <summary>
/// Removes redundant points. Two points are redundant if they occupy the same hash grid cell.
/// </summary>
/// <param name="points">List of points to prune.</param>
/// <param name="cellSize">Size of cells to determine redundancy.</param>
public static void RemoveRedundantPoints(RawList <Vector3> points, double cellSize)
{
var set = BlockedCellSets.Take();
for (int i = points.Count - 1; i >= 0; --i)
{
var element = points.Elements[i];
var cell = new BlockedCell
{
X = (int)Math.Floor(element.X / cellSize),
Y = (int)Math.Floor(element.Y / cellSize),
Z = (int)Math.Floor(element.Z / cellSize)
};
if (set.Contains(cell))
{
points.FastRemoveAt(i);
}
else
{
set.Add(cell);
//TODO: Consider adding adjacent cells to guarantee that a point on the border between two cells will still detect the presence
//of a point on the opposite side of that border.
}
}
set.Clear();
BlockedCellSets.GiveBack(set);
}
private GeneralConvexPairTester GetPair(ref Vector3i position)
{
// TODO: Efficiency!
GeneralConvexPairTester pair = testerPool.Take();
ReusableGenericCollidable <ConvexShape> boxCollidable = new ReusableGenericCollidable <ConvexShape>(mesh.ChunkShape.ShapeAt(position.X, position.Y, position.Z, out Vector3 offs));
pair.Initialize(convex, boxCollidable);
boxCollidable.WorldTransform = new RigidTransform(new Vector3(
mesh.Position.X + position.X + offs.X,
mesh.Position.Y + position.Y + offs.Y,
mesh.Position.Z + position.Z + offs.Z));
return(pair);
}
private GeneralConvexPairTester GetPair(ref Int3 position)
{
var pair = testerPool.Take();
var boxCollidable = boxCollidablePool.Take();
boxCollidable.Shape.Width = voxelGrid.Shape.CellWidth;
boxCollidable.Shape.Height = voxelGrid.Shape.CellWidth;
boxCollidable.Shape.Length = voxelGrid.Shape.CellWidth;
pair.Initialize(convex, boxCollidable);
boxCollidable.WorldTransform = new RigidTransform(new Vector3(
voxelGrid.Position.X + (position.X + 0.5f) * voxelGrid.Shape.CellWidth,
voxelGrid.Position.Y + (position.Y + 0.5f) * voxelGrid.Shape.CellWidth,
voxelGrid.Position.Z + (position.Z + 0.5f) * voxelGrid.Shape.CellWidth));
return(pair);
}
protected override TrianglePairTester GetTester()
{
return(testerPool.Take());
}
/// <summary>
/// Retrieves a Collidable list from the resource pool.
/// </summary>
/// <returns>Empty Collidable list.</returns>
public static RawList <Collidable> GetCollidableList()
{
return(SubPoolCollidableList.Take());
}
/// <summary>
/// Retrieves an BroadPhaseEntry list from the resource pool.
/// </summary>
/// <returns>Empty BroadPhaseEntry list.</returns>
public static RawList <BroadPhaseEntry> GetBroadPhaseEntryList()
{
return(SubPoolBroadPhaseEntryList.Take());
}
//#endif
/// <summary>
/// Retrieves a ray cast result list from the resource pool.
/// </summary>
/// <returns>Empty ray cast result list.</returns>
public static RawList <RayCastResult> GetRayCastResultList()
{
return(SubPoolRayCastResultList.Take());
}
/// <summary>
/// Retrieves a simulation island connection from the resource pool.
/// </summary>
/// <returns>Uninitialized simulation island connection.</returns>
public static SimulationIslandConnection GetSimulationIslandConnection()
{
return(SimulationIslandConnections.Take());
}
/// <summary>
/// Retrieves a TriangleCollidable from the resource pool.
/// </summary>
/// <returns>Initialized TriangleCollidable.</returns>
public static TriangleCollidable GetTriangleCollidable()
{
return(SubPoolTriangleCollidables.Take());
}
/// <summary>
/// Retrieves an Entity RawList from the resource pool.
/// </summary>
/// <returns>Empty Entity raw list.</returns>
public static RawList <Entity> GetEntityRawList()
{
return(SubPoolEntityRawList.Take());
}
/// <summary>
/// Retrieves an CompoundChild list from the resource pool.
/// </summary>
/// <returns>Empty information list.</returns>
public static RawList <CompoundChild> GetCompoundChildList()
{
return(SubPoolCompoundChildList.Take());
}
/// <summary>
/// Retrieves a TriangleIndices list from the resource pool.
/// </summary>
/// <returns>TriangleIndices list.</returns>
public static RawList <TriangleMeshConvexContactManifold.TriangleIndices> GetTriangleIndicesList()
{
return(SubPoolTriangleIndicesList.Take());
}
