public TgcFrustum()
{
FrustumPlanes = new TGCPlane[6];
Color = Color.Green;
AlphaBlendingValue = 0.7f;
}
override protected void UpdateValues()
{
base.UpdateValues();
directionPlane = TGCPlane.FromPointNormal(GetPosition(), -GetVectorCostadoIzquierda());
planoCostado = TGCPlane.FromPointNormal(GetPosition(), GetVectorAdelante());
radarSphere.setValues(this.GetPosition(), radarSphere.Radius);
}
/// <summary>
/// Separa los objetos en dos listas, segun el testo contra el plano de corte
/// </summary>
private void splitByPlane(TGCPlane cutPlane, List <StaticObject> objetos,
List <StaticObject> possitiveList, List <StaticObject> negativeList)
{
TgcCollisionUtils.PlaneBoxResult c;
foreach (var objeto in objetos)
{
c = TgcCollisionUtils.classifyPlaneAABB(cutPlane, objeto.Meshes[0].BoundingBox); // TODO CALCULAR BOUNDING BOX DEL GAMEOBJECT
//possitive side
if (c == TgcCollisionUtils.PlaneBoxResult.IN_FRONT_OF)
{
possitiveList.Add(objeto);
}
//negative side
else if (c == TgcCollisionUtils.PlaneBoxResult.BEHIND)
{
negativeList.Add(objeto);
}
//both sides
else
{
possitiveList.Add(objeto);
negativeList.Add(objeto);
}
}
}
/// <summary>
/// Obtiene el mejor plano de corte recto, en el volumen dado, en la direccion dada
/// </summary>
private TGCPlane getCutPlane(List <TgcMesh> modelos, TGCVector3 n, float pMin, float pMax, ref float cutValue)
{
var vueltas = (int)((pMax - pMin) / D_DESPLAZAMIENTO);
var bestBalance = int.MaxValue;
var bestPlane = TGCPlane.Zero;
cutValue = 0;
for (var i = 0; i < vueltas; i++)
{
//crear plano de corte
var currentCutValue = pMin + D_DESPLAZAMIENTO * i;
var p = new TGCPlane(n.X, n.Y, n.Z, -currentCutValue);
//clasificar todos los modelos contra ese plano
var possitiveList = new List <TgcMesh>();
var negativeList = new List <TgcMesh>();
splitByPlane(p, modelos, possitiveList, negativeList);
//calcular balance
var balance = Math.Abs(possitiveList.Count - negativeList.Count);
//guardar mejor
if (balance < bestBalance)
{
bestBalance = balance;
bestPlane = p;
cutValue = currentCutValue;
}
}
return(bestPlane);
}
/// <summary>
/// Separa los modelos en dos listas, segun el testo contra el plano de corte
/// </summary>
private void splitByPlane(TGCPlane cutPlane, List <TgcMesh> modelos,
List <TgcMesh> possitiveList, List <TgcMesh> negativeList)
{
TgcCollisionUtils.PlaneBoxResult c;
foreach (var modelo in modelos)
{
c = TgcCollisionUtils.classifyPlaneAABB(cutPlane, modelo.BoundingBox);
//possitive side
if (c == TgcCollisionUtils.PlaneBoxResult.IN_FRONT_OF)
{
possitiveList.Add(modelo);
}
//negative side
else if (c == TgcCollisionUtils.PlaneBoxResult.BEHIND)
{
negativeList.Add(modelo);
}
//both sides
else
{
possitiveList.Add(modelo);
negativeList.Add(modelo);
}
}
}
/// <summary>
/// Actualiza la visibilidad de todos los modelos de las celdas.
/// Las modelos visibles se cargan como Enable = true, mientras que el
/// resto se deshabilita.
/// </summary>
/// <param name="cameraPos">Posición de la cámara</param>
public void updateVisibility(TGCVector3 cameraPos, TgcFrustum frustum)
{
//Armar Frustum para uso internor, en base al Frustum actual
var currentFrustumPlanes = new TGCPlane[6];
currentFrustumPlanes = new TGCPlane[6];
currentFrustumPlanes[0] = frustum.NearPlane;
currentFrustumPlanes[1] = frustum.FarPlane;
currentFrustumPlanes[2] = frustum.LeftPlane;
currentFrustumPlanes[3] = frustum.RightPlane;
currentFrustumPlanes[4] = frustum.BottomPlane;
currentFrustumPlanes[5] = frustum.TopPlane;
//Deshabilitar todas las celdas
foreach (var cell in Cells)
{
cell.Visited = false;
foreach (var connection in cell.Connections)
{
connection.Portal.Visited = false;
}
}
//Buscar la celda actual en la que se encuentra la cámara
var currentCell = findCellFromPoint(cameraPos);
if (currentCell == null)
{
return;
}
//Recorrer grafo de celdas desde la celda actual
currentCell.Visited = true;
traverseCellGraph(cameraPos, currentFrustumPlanes, currentCell);
}
/// <summary>
/// Crear un nuevo Frustum acotado usando como base el portal recorado.
/// La cantidad de planos del nuevo Frustum no tiene por qué ser 6.
/// Depende de la forma que haya quedado en el portal recortado.
/// </summary>
private TGCPlane[] createFrustumPlanes(TGCVector3 cameraPos, TGCPlane[] currentFrustumPlanes, TGCVector3[] portalVerts,
TGCPlane portalPlane)
{
//Hay un plano por cada vértice del polígono + 2 por el near y far plane
var frustumPlanes = new TGCPlane[2 + portalVerts.Length];
//Cargar near y far plane originales
//TODO: habria que usar el portalPlane para acercar el NearPlane hasta el portal
frustumPlanes[0] = currentFrustumPlanes[0];
frustumPlanes[1] = currentFrustumPlanes[1];
//Generar los planos laterales en base al polígono remanente del portal
//Vamos tomando de a dos puntos del polígono + la posición de la cámara y creamos un plano
var lastP = portalVerts[portalVerts.Length - 1];
for (var i = 0; i < portalVerts.Length; i++)
{
var nextP = portalVerts[i];
//Armar el plano para que la normal apunte hacia adentro del Frustum
var a = lastP - cameraPos;
var b = nextP - cameraPos;
var plane = TGCPlane.FromPointNormal(cameraPos, TGCVector3.Cross(b, a));
//Guardar después del near y far plane
frustumPlanes[i + 2] = plane;
lastP = nextP;
}
return(frustumPlanes);
}
/// <summary>
/// Crear triangulo.
/// Calcula su plano y BoundingSphere
/// </summary>
public Triangle(TGCVector3 a, TGCVector3 b, TGCVector3 c)
{
A = a;
B = b;
C = c;
Plane = TGCPlane.FromPoints(a, b, c);
BoundingSphere = TgcBoundingSphere.computeFromPoints(new[] { a, b, c }).toClass();
}
public TgcPortalRenderingConnection(TgcPortalRenderingPortal portal, TgcPortalRenderingCell nextCell,
TgcConvexPolygon polygon, TGCPlane plane)
{
Portal = portal;
NextCell = nextCell;
Polygon = polygon;
Plane = plane;
}
/// <summary>
/// Crear triangulo.
/// Calcula su plano
/// </summary>
public Triangle(TGCVector3 a, TGCVector3 b, TGCVector3 c, TgcBoundingSphere sphere)
{
A = a;
B = b;
C = c;
Plane = TGCPlane.FromPoints(a, b, c);
BoundingSphere = sphere;
}
public bool IntersectsWithObject(TGCPlane objectPlane, float distance)
{
pickingRay.updateRay();
bool intersected = TgcCollisionUtils.intersectRayPlane(pickingRay.Ray, objectPlane, out _, out TGCVector3 collisionPoint);
bool inSight = Math.Sqrt(TGCVector3.LengthSq(pickingRay.Ray.Origin, collisionPoint)) < distance;
return(intersected && inSight);
}
/// <summary>
/// Corte de plano Z
/// </summary>
private void doSectorOctreeZ(OctreeNode parent, TGCVector3 center, TGCVector3 size, int step,
List <TgcMesh> meshes, int childIndex)
{
var z = center.Z;
//Crear listas para realizar corte
var possitiveList = new List <TgcMesh>();
var negativeList = new List <TgcMesh>();
//Z-cut
var zCutPlane = new TGCPlane(0, 0, 1, -z);
splitByPlane(zCutPlane, meshes, possitiveList, negativeList);
//obtener lista de children del parent, con iniciacion lazy
if (parent.children == null)
{
parent.children = new OctreeNode[8];
}
//crear nodo positivo en parent, segun childIndex
var posNode = new OctreeNode();
parent.children[childIndex] = posNode;
//cargar nodo negativo en parent, segun childIndex
var negNode = new OctreeNode();
parent.children[childIndex + 1] = negNode;
//condicion de corte
if (step >= MAX_SECTOR_OCTREE_RECURSION || meshes.Count <= MIN_MESH_PER_LEAVE_THRESHOLD)
{
//cargar hijos de nodo positivo
posNode.models = possitiveList.ToArray();
//cargar hijos de nodo negativo
negNode.models = negativeList.ToArray();
//seguir recursividad
}
else
{
step++;
//recursividad de positivos con plano X, usando resultados positivos
doSectorOctreeX(posNode, new TGCVector3(center.X, center.Y, z + size.Z / 2),
new TGCVector3(size.X, size.Y, size.Z / 2),
step, possitiveList);
//recursividad de negativos con plano Y, usando resultados negativos
doSectorOctreeX(negNode, new TGCVector3(center.X, center.Y, z - size.Z / 2),
new TGCVector3(size.X, size.Y, size.Z / 2),
step, negativeList);
}
}
public Plane(TGCVector3 minPoint, TGCVector3 maxPoint, TGCVector3 orientation, string fileName, float UCoordinate, float VCoordinate)
{
orientation.Normalize();
this.plane = new TgcPlane(new TGCVector3(0, 0, 0), new TGCVector3(0, 0, 0), this.GetPlaneOrientation(orientation), TgcTexture.createTexture(GlobalConcepts.GetInstance().GetMediaDir() + "MeshCreator\\Meshes\\" + fileName), UCoordinate, VCoordinate);
this.plane.setExtremes(minPoint, maxPoint);
this.plane.updateValues();
this.mesh = this.plane.toMesh("plane");
mesh.AutoTransform = false;
//negrada atomica
InvertNormals(orientation);
this.realPlane = TGCPlane.FromPointNormal(minPoint, orientation);
mesh.Effect = TgcShaders.Instance.TgcMeshPointLightShader;
mesh.Technique = "DIFFUSE_MAP";
}
protected bool IsReallyTheFloor(Collidable element)
{
TGCVector3 directionOfCollision = new TGCVector3(0, -1f, 0);
TgcRay ray = new TgcRay();
ray.Origin = this.auto.GetLastPosition();
ray.Direction = directionOfCollision;
TGCPlane plane = element.GetPlaneOfCollision(ray, this.auto);
TGCVector3 normal = new TGCVector3(0, 1, 0);
if (normal != new TGCVector3(0, 1, 0))
{
return(false);
}
return(true);
}
/// <summary>
/// Actualiza los planos que conforman el volumen del Frustum.
/// Los planos se calculan con las normales apuntando hacia adentro
/// </summary>
/// <param name="viewMatrix">View matrix</param>
/// <param name="projectionMatrix">Projection matrix</param>
public void updateVolume(TGCMatrix viewMatrix, TGCMatrix projectionMatrix)
{
var viewProjection = viewMatrix * projectionMatrix;
//Left plane
FrustumPlanes[0].A = viewProjection.M14 + viewProjection.M11;
FrustumPlanes[0].B = viewProjection.M24 + viewProjection.M21;
FrustumPlanes[0].C = viewProjection.M34 + viewProjection.M31;
FrustumPlanes[0].D = viewProjection.M44 + viewProjection.M41;
//Right plane
FrustumPlanes[1].A = viewProjection.M14 - viewProjection.M11;
FrustumPlanes[1].B = viewProjection.M24 - viewProjection.M21;
FrustumPlanes[1].C = viewProjection.M34 - viewProjection.M31;
FrustumPlanes[1].D = viewProjection.M44 - viewProjection.M41;
//Top plane
FrustumPlanes[2].A = viewProjection.M14 - viewProjection.M12;
FrustumPlanes[2].B = viewProjection.M24 - viewProjection.M22;
FrustumPlanes[2].C = viewProjection.M34 - viewProjection.M32;
FrustumPlanes[2].D = viewProjection.M44 - viewProjection.M42;
//Bottom plane
FrustumPlanes[3].A = viewProjection.M14 + viewProjection.M12;
FrustumPlanes[3].B = viewProjection.M24 + viewProjection.M22;
FrustumPlanes[3].C = viewProjection.M34 + viewProjection.M32;
FrustumPlanes[3].D = viewProjection.M44 + viewProjection.M42;
//Near plane
FrustumPlanes[4].A = viewProjection.M13;
FrustumPlanes[4].B = viewProjection.M23;
FrustumPlanes[4].C = viewProjection.M33;
FrustumPlanes[4].D = viewProjection.M43;
//Far plane
FrustumPlanes[5].A = viewProjection.M14 - viewProjection.M13;
FrustumPlanes[5].B = viewProjection.M24 - viewProjection.M23;
FrustumPlanes[5].C = viewProjection.M34 - viewProjection.M33;
FrustumPlanes[5].D = viewProjection.M44 - viewProjection.M43;
//Normalize planes
for (var i = 0; i < 6; i++)
{
FrustumPlanes[i] = TGCPlane.Normalize(FrustumPlanes[i]);
}
}
/// <summary>
/// Corte con plano X
/// </summary>
private void doSectorOctreeX(OctreeNode parent, TGCVector3 center, TGCVector3 size,
int step, List <TgcMesh> meshes)
{
var x = center.X;
//Crear listas para realizar corte
var possitiveList = new List <TgcMesh>();
var negativeList = new List <TgcMesh>();
//X-cut
var xCutPlane = new TGCPlane(1, 0, 0, -x);
splitByPlane(xCutPlane, meshes, possitiveList, negativeList);
//recursividad de positivos con plano Y, usando resultados positivos y childIndex 0
doSectorOctreeY(parent, new TGCVector3(x + size.X / 2, center.Y, center.Z),
new TGCVector3(size.X / 2, size.Y, size.Z),
step, possitiveList, 0);
//recursividad de negativos con plano Y, usando resultados negativos y childIndex 4
doSectorOctreeY(parent, new TGCVector3(x - size.X / 2, center.Y, center.Z),
new TGCVector3(size.X / 2, size.Y, size.Z),
step, negativeList, 4);
}
/// <summary>
/// Corte con plano Y
/// </summary>
private void doSectorOctreeY(OctreeNode parent, TGCVector3 center, TGCVector3 size, int step,
List <TgcMesh> meshes, int childIndex)
{
var y = center.Y;
//Crear listas para realizar corte
var possitiveList = new List <TgcMesh>();
var negativeList = new List <TgcMesh>();
//Y-cut
var yCutPlane = new TGCPlane(0, 1, 0, -y);
splitByPlane(yCutPlane, meshes, possitiveList, negativeList);
//recursividad de positivos con plano Z, usando resultados positivos y childIndex 0
doSectorOctreeZ(parent, new TGCVector3(center.X, y + size.Y / 2, center.Z),
new TGCVector3(size.X, size.Y / 2, size.Z),
step, possitiveList, childIndex + 0);
//recursividad de negativos con plano Z, usando plano X negativo y childIndex 2
doSectorOctreeZ(parent, new TGCVector3(center.X, y - size.Y / 2, center.Z),
new TGCVector3(size.X, size.Y / 2, size.Z),
step, negativeList, childIndex + 2);
}
private void Collide(TgcMesh elemento, Vehicle car)
{
//direccion a la que estoy yendo antes de chocar
TGCVector3 directionOfCollision = car.GetDirectionOfCollision();
TgcRay ray = new TgcRay();
ray.Origin = car.GetLastPosition();
ray.Direction = directionOfCollision;
//interseco el rayo con el aabb, para conocer un punto del plano con el que colisione
TgcBoundingAxisAlignBox.Face[] faces;
faces = elemento.BoundingBox.computeFaces();
TGCPlane plane = this.CreatePlane(ray, faces, car.GetLastPosition());
TGCVector3 normal = GlobalConcepts.GetInstance().GetNormalPlane(plane);
TGCVector3 output = normal + directionOfCollision * 2;
float angle = car.SetDirection(output, normal);
car.Crash(angle);
while (TgcCollisionUtils.testObbAABB(car.GetTGCBoundingOrientedBox(), elemento.BoundingBox))
{
car.Translate(TGCMatrix.Translation(normal));
car.Transform();
}
}
public override void Init()
{
//Cargar un mesh
var loader = new TgcSceneLoader();
var scene = loader.loadSceneFromFile(MediaDir + "MeshCreator\\Meshes\\Cimientos\\PilarEgipcio\\PilarEgipcio-TgcScene.xml");
mesh = scene.Meshes[0];
//Obtener los vértices del mesh (esta operacion es lenta, copia de la GPU a la CPU, no hacer a cada rato)
var vertices = mesh.getVertexPositions();
//Iterar sobre todos los vertices y construir triangulos, normales y planos
var triCount = vertices.Length / 3;
triangles = new List <TgcTriangle>(triCount);
normals = new List <TgcArrow>();
planes = new List <TGCQuad>();
for (var i = 0; i < triCount; i++)
{
//Obtenemos los 3 vertices del triangulo, es importante saber como esta estructurado nuestro mesh.
var a = vertices[i * 3];
var b = vertices[i * 3 + 1];
var c = vertices[i * 3 + 2];
//Obtener normal del triangulo. El orden influye en si obtenemos el vector normal hacia adentro o hacia afuera del mesh
var normal = TGCVector3.Cross(c - a, b - a);
normal.Normalize();
//Crear plano que contiene el triangulo a partir un vertice y la normal
var plane = TGCPlane.FromPointNormal(a, normal);
//Calcular el centro del triangulo. Hay muchos tipos de centros para un triangulo (http://www.mathopenref.com/trianglecenters.html)
//Aca calculamos el mas simple
var center = TGCVector3.Scale(a + b + c, 1 / 3f);
///////////// Creacion de elementos para poder dibujar a pantalla (propios de este ejemplo) ///////////////
//Crear un quad (pequeno plano) con la clase TgcQuad para poder dibujar el plano que contiene al triangulo
var quad = new TGCQuad();
quad.Center = center;
quad.Normal = normal;
quad.Color = adaptColorRandom(Color.DarkGreen);
quad.Size = new TGCVector2(10, 10);
quad.updateValues();
planes.Add(quad);
//Creamos una flecha con la clase TgcArrow para poder dibujar la normal (la normal la estiramos un poco para que se pueda ver)
normals.Add(TgcArrow.fromDirection(center, TGCVector3.Scale(normal, 10f)));
//Creamos la clase TgcTriangle que es un helper para dibujar triangulos sueltos
var t = new TgcTriangle();
t.A = a;
t.B = b;
t.C = c;
t.Color = adaptColorRandom(Color.Red);
t.updateValues();
triangles.Add(t);
}
//Modifiers
meshModifier = AddBoolean("mesh", "mesh", true);
trianglesModifier = AddBoolean("triangles", "triangles", true);
normalsModifier = AddBoolean("normals", "normals", true);
planesModifier = AddBoolean("planes", "planes", false);
//Camara
Camera = new TgcRotationalCamera(mesh.BoundingBox.calculateBoxCenter(), mesh.BoundingBox.calculateBoxRadius() * 2, Input);
}
/// <summary>
/// Tomar un mesh cargar todas las estructuras internas necesarias para poder editarlo
/// </summary>
private void loadMesh(TgcMesh origMesh)
{
//Obtener vertices del mesh
mesh = origMesh;
mesh.AutoTransformEnable = true;
var origVertices = getMeshOriginalVertexData(origMesh);
var origTriCount = origVertices.Count / 3;
//Iterar sobre los triangulos y generar data auxiliar unificada
Vertices = new List <EditPolyVertex>();
Edges = new List <EditPolyEdge>();
Polygons = new List <EditPolyPolygon>();
IndexBuffer = new short[origTriCount * 3];
var attributeBuffer = origMesh.D3dMesh.LockAttributeBufferArray(LockFlags.ReadOnly);
origMesh.D3dMesh.UnlockAttributeBuffer(attributeBuffer);
for (var i = 0; i < origTriCount; i++)
{
var v1 = origVertices[i * 3];
var v2 = origVertices[i * 3 + 1];
var v3 = origVertices[i * 3 + 2];
//Agregar vertices a la lista, si es que son nuevos
var v1Idx = EditablePolyUtils.addVertexToListIfUnique(Vertices, v1);
var v2Idx = EditablePolyUtils.addVertexToListIfUnique(Vertices, v2);
var v3Idx = EditablePolyUtils.addVertexToListIfUnique(Vertices, v3);
v1 = Vertices[v1Idx];
v2 = Vertices[v2Idx];
v3 = Vertices[v3Idx];
//Crear edges
var e1 = new EditPolyEdge();
e1.a = v1;
e1.b = v2;
var e2 = new EditPolyEdge();
e2.a = v2;
e2.b = v3;
var e3 = new EditPolyEdge();
e3.a = v3;
e3.b = v1;
//Crear poligono para este triangulo
var p = new EditPolyPolygon();
p.vertices = new List <EditPolyVertex>();
p.vertices.Add(v1);
p.vertices.Add(v2);
p.vertices.Add(v3);
p.edges = new List <EditPolyEdge>();
p.edges.Add(e1);
p.edges.Add(e2);
p.edges.Add(e3);
p.vbTriangles = new List <int>();
p.vbTriangles.Add(i * 3);
p.TGCPlane = TGCPlane.FromPoints(v1.position, v2.position, v3.position);
p.TGCPlane.Normalize();
p.matId = attributeBuffer[i];
//Agregar triangulo al index buffer
IndexBuffer[i * 3] = (short)v1Idx;
IndexBuffer[i * 3 + 1] = (short)v2Idx;
IndexBuffer[i * 3 + 2] = (short)v3Idx;
//Agregar a lista de poligonos
Polygons.Add(p);
/*
* //Buscar si hay un poligono ya existente al cual sumarnos (coplanar y que compartan una arista)
* EditPolyPolygon coplanarP = null;
* for (int j = 0; j < polygons.Count; j++)
* {
* //Coplanares y con igual material ID
* EditPolyPolygon p0 = polygons[j];
* if (p0.matId == p.matId && EditablePolyUtils.sameTGCPlane(p0.TGCPlane, p.TGCPlane))
* {
* //Buscar si tienen una arista igual
* int p0SharedEdgeIdx;
* int pSharedEdgeIdx;
* if (EditablePolyUtils.findShareEdgeBetweenPolygons(p0, p, out p0SharedEdgeIdx, out pSharedEdgeIdx))
* {
* //Obtener el tercer vertice del triangulo que no es parte de la arista compartida
* EditPolyEdge sharedEdge = p0.edges[p0SharedEdgeIdx];
* EditPolyVertex thirdVert;
* if (p.vertices[0] != sharedEdge.a && p.vertices[0] != sharedEdge.b)
* thirdVert = p.vertices[0];
* else if (p.vertices[1] != sharedEdge.a && p.vertices[1] != sharedEdge.b)
* thirdVert = p.vertices[1];
* else
* thirdVert = p.vertices[2];
*
* //Agregar el tercer vertice al poligno existente
* EditablePolyUtils.addVertexToPolygon(p0, sharedEdge, thirdVert);
*
* //Quitar arista compartida
* p0.edges.Remove(sharedEdge);
*
* //Agregar al poligono dos nuevas aristas que conectar los extremos de la arista compartida hacia el tercer vertice
* EditPolyEdge newPolEdge1 = new EditPolyEdge();
* newPolEdge1.a = sharedEdge.a;
* newPolEdge1.b = thirdVert;
* p0.edges.Add(newPolEdge1);
*
* EditPolyEdge newPolEdge2 = new EditPolyEdge();
* newPolEdge2.a = thirdVert;
* newPolEdge2.b = sharedEdge.b;
* p0.edges.Add(newPolEdge2);
*
* //Agregar indice de triangulo del vertexBuffer que se sumo al poligono
* p0.vbTriangles.Add(p.vbTriangles[0]);
*
* coplanarP = p0;
* }
* }
* }
* //Es un nuevo poligono, agregarlo
* if (coplanarP == null)
* {
* polygons.Add(p);
* }
*/
}
//Unificar aristas de los poligonos
foreach (var p in Polygons)
{
for (var i = 0; i < p.edges.Count; i++)
{
bool newEdgeAdded;
var eIdx = EditablePolyUtils.addEdgeToListIfUnique(Edges, p.edges[i], out newEdgeAdded);
var e = Edges[eIdx];
//Nueva arista incorporada a la lista
if (newEdgeAdded)
{
e.faces = new List <EditPolyPolygon>();
//Agregar referencia a vertices que usan la arista
e.a.edges.Add(e);
e.b.edges.Add(e);
}
//Se usa arista existente de la lista
else
{
//Reemplazar en poligono por la nueva
p.edges[i] = e;
}
//Indicar a la arista que pertenece al poligono actual
e.faces.Add(p);
}
}
setDirtyValues(false);
}
/// <summary>
/// Compara si dos planos son iguales
/// </summary>
public static bool sameTGCPlane(TGCPlane p1, TGCPlane p2)
{
//TODO: comparar en ambos sentidos por las dudas
return(equalsTGCVector3(new TGCVector3(p1.A, p1.B, p1.C), new TGCVector3(p2.A, p2.B, p2.C)) &&
equalsFloat(p1.D, p2.D));
}
/// <summary>
/// Detección de colisiones recursiva
/// </summary>
public void doCollideWithWorld(TgcBoundingSphere characterSphere, TGCVector3 movementVector,
List <Collider> colliders, int recursionDepth, TgcBoundingSphere movementSphere, bool sliding,
float slidingMinY)
{
//Limitar recursividad
if (recursionDepth > 5)
{
return;
}
//Posicion deseada
var originalSphereCenter = characterSphere.Center;
var nextSphereCenter = originalSphereCenter + movementVector;
//Buscar el punto de colision mas cercano de todos los objetos candidatos
Collision = false;
TGCVector3 q;
float t;
TGCVector3 n;
var minT = float.MaxValue;
foreach (var collider in colliders)
{
//Colisionar Sphere en movimiento contra Collider (cada Collider resuelve la colision)
if (collider.intersectMovingSphere(characterSphere, movementVector, movementSphere, out t, out q, out n))
{
//Quedarse con el menor instante de colision
if (t < minT)
{
minT = t;
Collision = true;
LastCollisionPoint = q;
LastCollisionNormal = n;
lastCollider = collider;
}
}
}
//Si nunca hubo colisión, avanzar todo lo requerido
if (!Collision)
{
//Avanzar todo lo pedido
//lastCollisionDistance = movementVector.Length();
characterSphere.moveCenter(movementVector);
return;
}
//Solo movernos si ya no estamos muy cerca
if (minT >= EPSILON)
{
//Restar un poco al instante de colision, para movernos hasta casi esa distancia
minT -= EPSILON;
var realMovementVector = movementVector * minT;
//Mover el BoundingSphere
characterSphere.moveCenter(realMovementVector);
//Quitarle al punto de colision el EPSILON restado al movimiento, para no afectar al plano de sliding
var v = TGCVector3.Normalize(realMovementVector);
LastCollisionPoint -= v * EPSILON;
}
if (sliding)
{
//Calcular plano de Sliding, como un plano tangete al punto de colision con la esfera, apuntando hacia el centro de la esfera
var slidePlaneOrigin = LastCollisionPoint;
var slidePlaneNormal = characterSphere.Center - LastCollisionPoint;
slidePlaneNormal.Normalize();
var slidePlane = TGCPlane.FromPointNormal(slidePlaneOrigin, slidePlaneNormal);
//Calcular vector de movimiento para sliding, proyectando el punto de destino original sobre el plano de sliding
var distance = TgcCollisionUtils.distPointPlane(nextSphereCenter, slidePlane);
var newDestinationPoint = nextSphereCenter - distance * slidePlaneNormal;
var slideMovementVector = newDestinationPoint - LastCollisionPoint;
//No hacer recursividad si es muy pequeño
slideMovementVector.Scale(SlideFactor);
if (slideMovementVector.Length() < EPSILON)
{
return;
}
if (LastCollisionNormal.Y <= slidingMinY)
{
//Recursividad para aplicar sliding
doCollideWithWorld(characterSphere, slideMovementVector, colliders, recursionDepth + 1,
movementSphere, sliding, slidingMinY);
}
}
}
/// <summary>
/// Cargar información de PortalRendering
/// </summary>
public TgcPortalRenderingManager loadFromData(TgcScene scene, TgcPortalRenderingData portalRenderingData)
{
var manager = new TgcPortalRenderingManager(scene);
//Crear dictionary de nombres de los meshes
var meshDictionary = new Dictionary<string, TgcMesh>();
foreach (var mesh in scene.Meshes)
{
meshDictionary.Add(mesh.Name, mesh);
}
//Cargar celdas
foreach (var cellData in portalRenderingData.cells)
{
//Crear cuerpo Convexo
var convexPoly = new TgcConvexPolyhedron();
convexPoly.Planes = new TGCPlane[cellData.facePlanes.Length / 4];
for (var i = 0; i < convexPoly.Planes.Length; i++)
{
convexPoly.Planes[i] = new TGCPlane(
cellData.facePlanes[i * 4],
cellData.facePlanes[i * 4 + 1],
cellData.facePlanes[i * 4 + 2],
cellData.facePlanes[i * 4 + 3]
);
}
convexPoly.BoundingVertices = new TGCVector3[cellData.boundingVertices.Length / 3];
for (var i = 0; i < convexPoly.BoundingVertices.Length; i++)
{
convexPoly.BoundingVertices[i] = new TGCVector3(
cellData.boundingVertices[i * 3],
cellData.boundingVertices[i * 3 + 1],
cellData.boundingVertices[i * 3 + 2]
);
}
//Crear celda
var cell = new TgcPortalRenderingCell(cellData.name, convexPoly);
manager.Cells.Add(cell);
//Cargar meshes en celda
for (var i = 0; i < cellData.meshes.Length; i++)
{
var mesh = meshDictionary[cellData.meshes[i]];
cell.Meshes.Add(mesh);
}
}
//Cargar portales
foreach (var portalData in portalRenderingData.portals)
{
//BoundingBox del portal
var boundingBox = new TgcBoundingAxisAlignBox(
new TGCVector3(portalData.pMin[0], portalData.pMin[1], portalData.pMin[2]),
new TGCVector3(portalData.pMax[0], portalData.pMax[1], portalData.pMax[2])
);
//Crear portal
var portal = new TgcPortalRenderingPortal(portalData.name, boundingBox);
manager.Portals.Add(portal);
//Cargar conexiones para celdas A y B
var cellA = manager.Cells[portalData.cellA];
var cellB = manager.Cells[portalData.cellB];
//Poligono del portal para la celda A
var polygonA = new TgcConvexPolygon();
polygonA.BoundingVertices = new TGCVector3[portalData.boundingVerticesA.Length / 3];
for (var i = 0; i < polygonA.BoundingVertices.Length; i++)
{
polygonA.BoundingVertices[i] = new TGCVector3(
portalData.boundingVerticesA[i * 3],
portalData.boundingVerticesA[i * 3 + 1],
portalData.boundingVerticesA[i * 3 + 2]
);
}
//Plano del portal para la celda A
var planeA = TGCPlane.Float4ArrayToPlane(portalData.planeA);
//Crear conexion A
var connectionA = new TgcPortalRenderingConnection(portal, cellB, polygonA, planeA);
cellA.Connections.Add(connectionA);
//Poligono del portal para la celda B
var polygonB = new TgcConvexPolygon();
polygonB.BoundingVertices = new TGCVector3[portalData.boundingVerticesB.Length / 3];
for (var i = 0; i < polygonB.BoundingVertices.Length; i++)
{
polygonB.BoundingVertices[i] = new TGCVector3(
portalData.boundingVerticesB[i * 3],
portalData.boundingVerticesB[i * 3 + 1],
portalData.boundingVerticesB[i * 3 + 2]
);
}
//Plano del portal para la celda B
var planeB = TGCPlane.Float4ArrayToPlane(portalData.planeB);
//Crear conexion B
var connectionB = new TgcPortalRenderingConnection(portal, cellA, polygonB, planeB);
cellB.Connections.Add(connectionB);
}
return manager;
}
public bool IsInFrontOf(TGCVector3 testpoint, TGCPlane plane)
{
return(plane.A * testpoint.X + plane.B * testpoint.Y + plane.C * testpoint.Z + plane.D >= 0);
}
public TGCVector3 GetNormalPlane(TGCPlane plane)
{
return(new TGCVector3(plane.A, plane.B, plane.C));
}
/// <summary>
/// Detección de colisiones recursiva
/// </summary>
/// <param name="eSphere">Sphere de radio 1 pasada a Elipsoid space</param>
/// <param name="eMovementVector">Movimiento pasado a Elipsoid space</param>
/// <param name="eRadius">Radio de la elipsoide</param>
/// <param name="colliders">Objetos contra los cuales colisionar</param>
/// <param name="recursionDepth">Nivel de recursividad</param>
/// <param name="movementSphere">Esfera real que representa el movimiento abarcado</param>
/// <param name="slidingMinY">Minimo valor de normal Y de colision para hacer sliding</param>
/// <returns>Resultado de colision</returns>
public CollisionResult doCollideWithWorld(TgcBoundingSphere eSphere, TGCVector3 eMovementVector, TGCVector3 eRadius,
List <Collider> colliders, int recursionDepth, TgcBoundingSphere movementSphere, float slidingMinY)
{
var result = new CollisionResult();
result.collisionFound = false;
//Limitar recursividad
if (recursionDepth > 5)
{
return(result);
}
//Posicion deseada
var nextSphereCenter = eSphere.Center + eMovementVector;
//Buscar el punto de colision mas cercano de todos los objetos candidatos
TGCVector3 q;
float t;
TGCVector3 n;
var minT = float.MaxValue;
foreach (var collider in colliders)
{
//Colisionar Sphere en movimiento contra Collider (cada Collider resuelve la colision)
if (collider.intersectMovingElipsoid(eSphere, eMovementVector, eRadius, movementSphere, out t, out q,
out n))
{
//Quedarse con el menor instante de colision
if (t < minT)
{
minT = t;
result.collisionFound = true;
result.collisionPoint = q;
result.collisionNormal = n;
result.collider = collider;
}
}
}
//Si nunca hubo colisión, avanzar todo lo requerido
if (!result.collisionFound)
{
//Avanzar todo lo pedido
eSphere.moveCenter(eMovementVector);
result.realMovmentVector = eMovementVector;
result.collisionNormal = TGCVector3.Empty;
result.collisionPoint = TGCVector3.Empty;
result.collider = null;
return(result);
}
//Solo movernos si ya no estamos muy cerca
if (minT >= EPSILON)
{
//Restar un poco al instante de colision, para movernos hasta casi esa distancia
minT -= EPSILON;
result.realMovmentVector = eMovementVector * minT;
eSphere.moveCenter(result.realMovmentVector);
//Quitarle al punto de colision el EPSILON restado al movimiento, para no afectar al plano de sliding
var v = TGCVector3.Normalize(result.realMovmentVector);
result.collisionPoint -= v * EPSILON;
}
//Calcular plano de Sliding, como un plano tangete al punto de colision con la esfera, apuntando hacia el centro de la esfera
var slidePlaneOrigin = result.collisionPoint;
var slidePlaneNormal = eSphere.Center - result.collisionPoint;
slidePlaneNormal.Normalize();
var slidePlane = TGCPlane.FromPointNormal(slidePlaneOrigin, slidePlaneNormal);
//Calcular vector de movimiento para sliding, proyectando el punto de destino original sobre el plano de sliding
var distance = TgcCollisionUtils.distPointPlane(nextSphereCenter, slidePlane);
var newDestinationPoint = nextSphereCenter - distance * slidePlaneNormal;
var slideMovementVector = newDestinationPoint - result.collisionPoint;
//No hacer recursividad si es muy pequeño
slideMovementVector.Scale(SlideFactor);
if (slideMovementVector.Length() < EPSILON)
{
return(result);
}
//Ver si posee la suficiente pendiente en Y para hacer sliding
if (result.collisionNormal.Y <= slidingMinY)
{
//Recursividad para aplicar sliding
doCollideWithWorld(eSphere, slideMovementVector, eRadius, colliders, recursionDepth + 1, movementSphere,
slidingMinY);
}
return(result);
}
public TGCPlane GetPlaneOfCollision(TgcRay ray, Vehicle car)
{
return(TGCPlane.FromPointNormal(this.GetPosition(), TGCVector3.Up));
}
/// <summary>
/// Detección de colisiones recursiva
/// </summary>
public void doCollideWithWorld(TgcBoundingSphere characterSphere, TGCVector3 movementVector,
List <TgcBoundingAxisAlignBox> obstaculos, int recursionDepth)
{
//Limitar recursividad
if (recursionDepth > 5)
{
return;
}
//Ver si la distancia a recorrer es para tener en cuenta
var distanceToTravelSq = movementVector.LengthSq();
if (distanceToTravelSq < EPSILON)
{
return;
}
//Posicion deseada
var originalSphereCenter = characterSphere.Center;
var nextSphereCenter = originalSphereCenter + movementVector;
//Buscar el punto de colision mas cercano de todos los objetos candidatos
var minCollisionDistSq = float.MaxValue;
var realMovementVector = movementVector;
TgcBoundingAxisAlignBox.Face collisionFace = null;
TgcBoundingAxisAlignBox collisionObstacle = null;
var nearestPolygonIntersectionPoint = TGCVector3.Empty;
foreach (var obstaculoBB in obstaculos)
{
//Obtener los polígonos que conforman las 6 caras del BoundingBox
var bbFaces = obstaculoBB.computeFaces();
foreach (var bbFace in bbFaces)
{
var pNormal = TgcCollisionUtils.getPlaneNormal(bbFace.Plane);
var movementRay = new TgcRay(originalSphereCenter, movementVector);
float brutePlaneDist;
TGCVector3 brutePlaneIntersectionPoint;
if (
!TgcCollisionUtils.intersectRayPlane(movementRay, bbFace.Plane, out brutePlaneDist,
out brutePlaneIntersectionPoint))
{
continue;
}
var movementRadiusLengthSq = TGCVector3.Multiply(movementVector, characterSphere.Radius).LengthSq();
if (brutePlaneDist * brutePlaneDist > movementRadiusLengthSq)
{
continue;
}
//Obtener punto de colisión en el plano, según la normal del plano
float pDist;
TGCVector3 planeIntersectionPoint;
TGCVector3 sphereIntersectionPoint;
var planeNormalRay = new TgcRay(originalSphereCenter, -pNormal);
var embebbed = false;
var collisionFound = false;
if (TgcCollisionUtils.intersectRayPlane(planeNormalRay, bbFace.Plane, out pDist,
out planeIntersectionPoint))
{
//Ver si el plano está embebido en la esfera
if (pDist <= characterSphere.Radius)
{
embebbed = true;
//TODO: REVISAR ESTO, caso embebido a analizar con más detalle
sphereIntersectionPoint = originalSphereCenter - pNormal * characterSphere.Radius;
}
//Esta fuera de la esfera
else
{
//Obtener punto de colisión del contorno de la esfera según la normal del plano
sphereIntersectionPoint = originalSphereCenter -
TGCVector3.Multiply(pNormal, characterSphere.Radius);
//Disparar un rayo desde el contorno de la esfera hacia el plano, con el vector de movimiento
var sphereMovementRay = new TgcRay(sphereIntersectionPoint, movementVector);
if (
!TgcCollisionUtils.intersectRayPlane(sphereMovementRay, bbFace.Plane, out pDist,
out planeIntersectionPoint))
{
//no hay colisión
continue;
}
}
//Ver si planeIntersectionPoint pertenece al polígono
TGCVector3 newMovementVector;
float newMoveDistSq;
TGCVector3 polygonIntersectionPoint;
if (pointInBounbingBoxFace(planeIntersectionPoint, bbFace))
{
if (embebbed)
{
//TODO: REVISAR ESTO, nunca debería pasar
//throw new Exception("El polígono está dentro de la esfera");
}
polygonIntersectionPoint = planeIntersectionPoint;
collisionFound = true;
}
else
{
//Buscar el punto mas cercano planeIntersectionPoint que tiene el polígono real de esta cara
polygonIntersectionPoint = TgcCollisionUtils.closestPointRectangle3d(planeIntersectionPoint,
bbFace.Extremes[0], bbFace.Extremes[1], bbFace.Extremes[2]);
//Revertir el vector de velocidad desde el nuevo polygonIntersectionPoint para ver donde colisiona la esfera, si es que llega
var reversePointSeg = polygonIntersectionPoint - movementVector;
if (TgcCollisionUtils.intersectSegmentSphere(polygonIntersectionPoint, reversePointSeg,
characterSphere, out pDist, out sphereIntersectionPoint))
{
collisionFound = true;
}
}
if (collisionFound)
{
//Nuevo vector de movimiento acotado
newMovementVector = polygonIntersectionPoint - sphereIntersectionPoint;
newMoveDistSq = newMovementVector.LengthSq();
if (newMoveDistSq <= distanceToTravelSq && newMoveDistSq < minCollisionDistSq)
{
minCollisionDistSq = newMoveDistSq;
realMovementVector = newMovementVector;
nearestPolygonIntersectionPoint = polygonIntersectionPoint;
collisionFace = bbFace;
collisionObstacle = obstaculoBB;
}
}
}
}
}
//Si nunca hubo colisión, avanzar todo lo requerido
if (collisionFace == null)
{
//Avanzar hasta muy cerca
var movementLength = movementVector.Length();
movementVector.Multiply((movementLength - EPSILON) / movementLength);
characterSphere.moveCenter(movementVector);
return;
}
//Solo movernos si ya no estamos muy cerca
if (minCollisionDistSq >= EPSILON)
{
//Mover el BoundingSphere hasta casi la nueva posición real
var movementLength = realMovementVector.Length();
realMovementVector.Multiply((movementLength - EPSILON) / movementLength);
characterSphere.moveCenter(realMovementVector);
}
//Calcular plano de Sliding
var slidePlaneOrigin = nearestPolygonIntersectionPoint;
var slidePlaneNormal = characterSphere.Center - nearestPolygonIntersectionPoint;
slidePlaneNormal.Normalize();
var slidePlane = TGCPlane.FromPointNormal(slidePlaneOrigin, slidePlaneNormal);
//Proyectamos el punto original de destino en el plano de sliding
var slideRay = new TgcRay(nearestPolygonIntersectionPoint + TGCVector3.Multiply(movementVector, SlideFactor),
slidePlaneNormal);
float slideT;
TGCVector3 slideDestinationPoint;
if (TgcCollisionUtils.intersectRayPlane(slideRay, slidePlane, out slideT, out slideDestinationPoint))
{
//Nuevo vector de movimiento
var slideMovementVector = slideDestinationPoint - nearestPolygonIntersectionPoint;
if (slideMovementVector.LengthSq() < EPSILON)
{
return;
}
//Recursividad para aplicar sliding
doCollideWithWorld(characterSphere, slideMovementVector, obstaculos, recursionDepth + 1);
}
}
