public Vertex3D SurfaceVelocity(Vertex3D surfP)
{
// linear velocity plus tangential velocity due to rotation
return(Vel
.Clone()
.Add(Vertex3D.CrossProduct(AngularVelocity, surfP)));
}
public void ApplyFriction(Vertex3D hitNormal, float dTime, float frictionCoeff, PlayerPhysics physics)
{
// surface contact point relative to center of mass
var surfP = hitNormal.Clone().MultiplyScalar(-_data.Radius);
var surfVel = SurfaceVelocity(surfP);
// calc the tangential slip velocity
var slip = surfVel.Clone().Sub(hitNormal.Clone().MultiplyScalar(surfVel.Dot(hitNormal)));
var maxFriction = frictionCoeff * _data.Mass * -physics.Gravity.Dot(hitNormal);
var slipSpeed = slip.Length();
Vertex3D slipDir;
float numer;
//#ifdef C_BALL_SPIN_HACK
var normVel = Vel.Dot(hitNormal);
if (normVel <= 0.025 || slipSpeed < PhysicsConstants.Precision)
{
// check for <=0.025 originated from ball<->rubber collisions pushing the ball upwards, but this is still not enough, some could even use <=0.2
// slip speed zero - static friction case
var surfAcc = SurfaceAcceleration(surfP, physics);
// calc the tangential slip acceleration
var slipAcc = surfAcc.Clone()
.Sub(hitNormal.Clone().MultiplyScalar(surfAcc.Dot(hitNormal)));
// neither slip velocity nor slip acceleration? nothing to do here
if (slipAcc.LengthSq() < 1e-6)
{
return;
}
slipDir = slipAcc.Clone().Normalize();
numer = -slipDir.Dot(surfAcc);
}
else
{
// nonzero slip speed - dynamic friction case
slipDir = slip.Clone().DivideScalar(slipSpeed);
numer = -slipDir.Dot(surfVel);
}
var cp = Vertex3D.CrossProduct(surfP, slipDir);
var p1 = cp.Clone().DivideScalar(Inertia);
var denom = InvMass + slipDir.Dot(Vertex3D.CrossProduct(p1, surfP));
var friction = Functions.Clamp(numer / denom, -maxFriction, maxFriction);
if (!float.IsNaN(friction) && !float.IsInfinity(friction))
{
ApplySurfaceImpulse(
cp.Clone().MultiplyScalar(dTime * friction),
slipDir.Clone().MultiplyScalar(dTime * friction)
);
}
}
public Vertex3D SurfaceAcceleration(Vertex3D surfP, PlayerPhysics physics)
{
// if we had any external torque, we would have to add "(deriv. of ang.Vel.) x surfP" here
var p2 = Vertex3D.CrossProduct(AngularVelocity, surfP);
var acceleration = physics.Gravity
.Clone()
.MultiplyScalar(InvMass) // linear acceleration
.Add(Vertex3D.CrossProduct(AngularVelocity, p2)); // centripetal acceleration
return(acceleration);
}
private static List <HitObject> CheckJoint(HitTriangle ph3d1, HitTriangle ph3d2, IItem item)
{
var hitObjects = new List <HitObject>();
if (ph3d1 != null) // may be null in case of degenerate triangles
{
var jointNormal = Vertex3D.CrossProduct(ph3d1.Normal, ph3d2.Normal);
if (jointNormal.LengthSq() < 1e-8) // coplanar triangles need no joints
{
return(hitObjects);
}
}
// By convention of the calling function, points 1 [0] and 2 [1] of the second polygon will
// be the common-edge points
hitObjects.Add(GenerateJoint(ph3d2.Rgv[0], ph3d2.Rgv[1], item));
return(hitObjects);
}
public HitTriangle(Vertex3D[] rgv, ItemType itemType, IItem item) : base(itemType, item)
{
Rgv = rgv;
/* NB: due to the swapping of the order of e0 and e1,
* the vertices must be passed in counterclockwise order
* (but rendering uses clockwise order!)
*/
var e0 = Rgv[2].Clone().Sub(Rgv[0]);
var e1 = Rgv[1].Clone().Sub(Rgv[0]);
Normal = Vertex3D.CrossProduct(e0, e1);
Normal.NormalizeSafe();
Elasticity = 0.3f;
SetFriction(0.3f);
Scatter = 0;
}
public void OrthoNormalize()
{
var vX = new Vertex3D(Matrix[0][0], Matrix[1][0], Matrix[2][0]);
var vY = new Vertex3D(Matrix[0][1], Matrix[1][1], Matrix[2][1]);
var vZ = Vertex3D.CrossProduct(vX, vY);
vX.Normalize();
vZ.Normalize();
var vYY = Vertex3D.CrossProduct(vZ, vX);
Matrix[0][0] = vX.X;
Matrix[0][1] = vYY.X;
Matrix[0][2] = vZ.X;
Matrix[1][0] = vX.Y;
Matrix[1][1] = vYY.Y;
Matrix[1][2] = vZ.Y;
Matrix[2][0] = vX.Z;
Matrix[2][1] = vYY.Z;
Matrix[2][2] = vZ.Z;
}
public static void ComputeNormals(Vertex3DNoTex2[] vertices, int numVertices, int[] indices, int numIndices)
{
for (var i = 0; i < numVertices; i++)
{
vertices[i].Nx = vertices[i].Ny = vertices[i].Nz = 0.0f;
}
for (var i = 0; i < numIndices; i += 3)
{
var a = vertices[indices[i]];
var b = vertices[indices[i + 1]];
var c = vertices[indices[i + 2]];
var e0 = new Vertex3D(b.X - a.X, b.Y - a.Y, b.Z - a.Z);
var e1 = new Vertex3D(c.X - a.X, c.Y - a.Y, c.Z - a.Z);
var normal = Vertex3D.CrossProduct(e0, e1);
normal.NormalizeSafe();
a.Nx += normal.X; a.Ny += normal.Y; a.Nz += normal.Z;
b.Nx += normal.X; b.Ny += normal.Y; b.Nz += normal.Z;
c.Nx += normal.X; c.Ny += normal.Y; c.Nz += normal.Z;
vertices[indices[i]] = a;
vertices[indices[i + 1]] = b;
vertices[indices[i + 2]] = c;
}
for (var i = 0; i < numVertices; i++)
{
var v = vertices[i];
var l = v.Nx * v.Nx + v.Ny * v.Ny + v.Nz * v.Nz;
var invL = l >= Constants.FloatMin ? 1.0f / MathF.Sqrt(l) : 0.0f;
v.Nx *= invL;
v.Ny *= invL;
v.Nz *= invL;
vertices[i] = v;
}
}
public override void Contact(CollisionEvent coll, float dTime, PlayerPhysics physics)
{
var ball = coll.Ball;
var normal = coll.HitNormal;
//#ifdef PhysicsConstants.EMBEDDED
if (coll.HitDistance < -PhysicsConstants.Embedded)
{
// magic to avoid balls being pushed by each other through resting flippers!
ball.Hit.Vel.Add(normal.Clone().MultiplyScalar(0.1f));
}
//#endif
var vRel = new Vertex3D();
var rB = new Vertex3D();
var rF = new Vertex3D();
GetRelativeVelocity(normal, ball, vRel, rB, rF);
// this should be zero, but only up to +/- C_CONTACTVEL
var normVel = vRel.Dot(normal);
// If some collision has changed the ball's velocity, we may not have to do anything.
if (normVel <= PhysicsConstants.ContactVel)
{
// compute accelerations of point on ball and flipper
var aB = ball.Hit.SurfaceAcceleration(rB, physics);
var aF = _mover.SurfaceAcceleration(rF);
var aRel = aB.Clone().Sub(aF);
// time derivative of the normal vector
var normalDeriv = Vertex3D.CrossZ(_mover.AngleSpeed, normal);
// relative acceleration in the normal direction
var normAcc = aRel.Dot(normal) + 2.0f * normalDeriv.Dot(vRel);
if (normAcc >= 0)
{
return; // objects accelerating away from each other, nothing to do
}
// hypothetical accelerations arising from a unit contact force in normal direction
var aBc = normal.Clone().MultiplyScalar(ball.Hit.InvMass);
var pv2 = normal.Clone().MultiplyScalar(-1);
var cross = Vertex3D.CrossProduct(rF, pv2);
var pv1 = cross.Clone().DivideScalar(_mover.Inertia);
var aFc = Vertex3D.CrossProduct(pv1, rF);
var contactForceAcc = normal.Dot(aBc.Clone().Sub(aFc));
// find j >= 0 such that normAcc + j * contactForceAcc >= 0 (bodies should not accelerate towards each other)
var j = -normAcc / contactForceAcc;
// kill any existing normal velocity
ball.Hit.Vel.Add(normal.Clone().MultiplyScalar(j * dTime * ball.Hit.InvMass - coll.HitOrgNormalVelocity));
_mover.ApplyImpulse(cross.Clone().MultiplyScalar(j * dTime));
// apply friction
// first check for slippage
var slip = vRel.Clone().Sub(normal.Clone().MultiplyScalar(normVel)); // calc the tangential slip velocity
var maxFriction = j * Friction;
var slipSpeed = slip.Length();
Vertex3D slipDir;
Vertex3D crossF;
float numer;
float denomF;
Vertex3D pv13;
if (slipSpeed < PhysicsConstants.Precision)
{
// slip speed zero - static friction case
var slipAcc = aRel.Clone().Sub(normal.Clone().MultiplyScalar(aRel.Dot(normal))); // calc the tangential slip acceleration
// neither slip velocity nor slip acceleration? nothing to do here
if (slipAcc.LengthSq() < 1e-6)
{
return;
}
slipDir = slipAcc.Normalize();
numer = -slipDir.Dot(aRel);
crossF = Vertex3D.CrossProduct(rF, slipDir);
pv13 = crossF.Clone().DivideScalar(-_mover.Inertia);
denomF = slipDir.Dot(Vertex3D.CrossProduct(pv13, rF));
}
else
{
// nonzero slip speed - dynamic friction case
slipDir = slip.Clone().DivideScalar(slipSpeed);
numer = -slipDir.Dot(vRel);
crossF = Vertex3D.CrossProduct(rF, slipDir);
pv13 = crossF.Clone().DivideScalar(_mover.Inertia);
denomF = slipDir.Dot(Vertex3D.CrossProduct(pv13, rF));
}
var crossB = Vertex3D.CrossProduct(rB, slipDir);
var pv12 = crossB.Clone().DivideScalar(ball.Hit.Inertia);
var denomB = ball.Hit.InvMass + slipDir.Dot(Vertex3D.CrossProduct(pv12, rB));
var friction = Functions.Clamp(numer / (denomB + denomF), -maxFriction, maxFriction);
ball.Hit.ApplySurfaceImpulse(
crossB.Clone().MultiplyScalar(dTime * friction),
slipDir.Clone().MultiplyScalar(dTime * friction)
);
_mover.ApplyImpulse(crossF.Clone().MultiplyScalar(-dTime * friction));
}
}
public override void Collide(CollisionEvent coll, PlayerPhysics physics)
{
var ball = coll.Ball;
var normal = coll.HitNormal;
var vRel = new Vertex3D();
var rB = new Vertex3D();
var rF = new Vertex3D();
GetRelativeVelocity(normal, ball, vRel, rB, rF);
var bnv = normal.Dot(vRel); // relative normal velocity
if (bnv >= -PhysicsConstants.LowNormVel)
{
// nearly receding ... make sure of conditions
if (bnv > PhysicsConstants.LowNormVel)
{
// otherwise if clearly approaching .. process the collision
// is this velocity clearly receding (i.E must > a minimum)
return;
}
//#ifdef PhysicsConstants.EMBEDDED
if (coll.HitDistance < -PhysicsConstants.Embedded)
{
bnv = -PhysicsConstants.EmbedShot; // has ball become embedded???, give it a kick
}
else
{
return;
}
//#endif
}
//#ifdef PhysicsConstants.DISP_GAIN
// correct displacements, mostly from low velocity blindness, an alternative to true acceleration processing
var hitDist = -PhysicsConstants.DispGain * coll.HitDistance; // distance found in hit detection
if (hitDist > 1.0e-4)
{
if (hitDist > PhysicsConstants.DispLimit)
{
hitDist = PhysicsConstants.DispLimit; // crossing ramps, delta noise
}
// push along norm, back to free area; use the norm, but is not correct
ball.State.Pos.Add(coll.HitNormal.Clone().MultiplyScalar(hitDist));
}
//#endif
// angular response to impulse in normal direction
var angResp = Vertex3D.CrossProduct(rF, normal);
/*
* Check if flipper is in contact with its stopper and the collision impulse
* would push it beyond the stopper. In that case, don"t allow any transfer
* of kinetic energy from ball to flipper. This avoids overly dead bounces
* in that case.
*/
var angImp = -angResp.Z; // minus because impulse will apply in -normal direction
var flipperResponseScaling = 1.0f;
if (_mover.IsInContact && _mover.ContactTorque * angImp >= 0f)
{
// if impulse pushes against stopper, allow no loss of kinetic energy to flipper
// (still allow flipper recoil, but a diminished amount)
angResp.SetZero();
flipperResponseScaling = 0.5f;
}
/*
* Rubber has a coefficient of restitution which decreases with the impact velocity.
* We use a heuristic model which decreases the COR according to a falloff parameter:
* 0 = no falloff, 1 = half the COR at 1 m/s (18.53 speed units)
*/
var epsilon = Functions.ElasticityWithFalloff(Elasticity, ElasticityFalloff, bnv);
var pv1 = angResp.Clone().DivideScalar(_mover.Inertia);
var impulse = -(1.0f + epsilon) * bnv / (ball.Hit.InvMass + normal.Dot(Vertex3D.CrossProduct(pv1, rF)));
var flipperImp = normal.Clone().MultiplyScalar(-(impulse * flipperResponseScaling));
var rotI = Vertex3D.CrossProduct(rF, flipperImp);
if (_mover.IsInContact)
{
if (rotI.Z * _mover.ContactTorque < 0)
{
// pushing against the solenoid?
// Get a bound on the time the flipper needs to return to static conditions.
// If it"s too short, we treat the flipper as static during the whole collision.
var recoilTime = -rotI.Z / _mover.ContactTorque; // time flipper needs to eliminate this impulse, in 10ms
// Check ball normal velocity after collision. If the ball rebounded
// off the flipper, we need to make sure it does so with full
// reflection, i.E., treat the flipper as static, otherwise
// we get overly dead bounces.
var bnvAfter = bnv + impulse * ball.Hit.InvMass;
if (recoilTime <= 0.5 || bnvAfter > 0)
{
// treat flipper as static for this impact
impulse = -(1.0f + epsilon) * bnv * ball.Data.Mass;
flipperImp.SetZero();
rotI.SetZero();
}
}
}
ball.Hit.Vel.Add(normal.Clone().MultiplyScalar(impulse * ball.Hit.InvMass)); // new velocity for ball after impact
_mover.ApplyImpulse(rotI);
// apply friction
var tangent = vRel.Clone().Sub(normal.Clone().MultiplyScalar(vRel.Dot(normal))); // calc the tangential velocity
var tangentSpSq = tangent.LengthSq();
if (tangentSpSq > 1e-6)
{
tangent.DivideScalar(MathF.Sqrt(tangentSpSq)); // normalize to get tangent direction
var vt = vRel.Dot(tangent); // get speed in tangential direction
// compute friction impulse
var crossB = Vertex3D.CrossProduct(rB, tangent);
var pv12 = crossB.Clone().DivideScalar(ball.Hit.Inertia);
var kt = ball.Hit.InvMass + tangent.Dot(Vertex3D.CrossProduct(pv12, rB));
var crossF = Vertex3D.CrossProduct(rF, tangent);
var pv13 = crossF.Clone().DivideScalar(_mover.Inertia);
kt += tangent.Dot(Vertex3D.CrossProduct(pv13, rF)); // flipper only has angular response
// friction impulse can't be greater than coefficient of friction times collision impulse (Coulomb friction cone)
var maxFriction = Friction * impulse;
var jt = Functions.Clamp(-vt / kt, -maxFriction, maxFriction);
ball.Hit.ApplySurfaceImpulse(
crossB.Clone().MultiplyScalar(jt),
tangent.Clone().MultiplyScalar(jt)
);
_mover.ApplyImpulse(crossF.Clone().MultiplyScalar(-jt));
}
if (bnv < -0.25 && physics.TimeMsec - _lastHitTime > 250)
{
// limit rate to 250 milliseconds per event
var flipperHit =
coll.HitMomentBit ? -1.0 : -bnv; // move event processing to end of collision handler...
if (flipperHit < 0)
{
_events.FireGroupEvent(Event.HitEventsHit); // simple hit event
}
else
{
// collision velocity (normal to face)
_events.FireVoidEventParam(Event.FlipperEventsCollide, flipperHit);
}
}
_lastHitTime = physics.TimeMsec; // keep resetting until idle for 250 milliseconds
}
private Mesh GetMesh(float playfieldHeight, float meshHeight, int detailLevel, int acc = -1, bool createHitShape = false, float margin = 0f)
{
var mesh = new Mesh();
// i dont understand the calculation of splineaccuracy here /cupiii
var accuracy = (int)(10.0f * 1.2f);
if (acc != -1)
{ // hit shapes and UI display have the same, static, precision
accuracy = acc;
}
var splineAccuracy = acc != -1 ? 4.0f * MathF.Pow(10.0f, (10.0f - PhysicsConstants.HitShapeDetailLevel) * (float)(1.0 / 1.5)) : -1.0f;
SplineVertex sv = new SplineVertex(_data.DragPoints, (int)(_data.Thickness + 0.5), detailLevel, splineAccuracy, margin: margin, loop: true);
var height = playfieldHeight + meshHeight;
// one ring for each Splinevertex
var numRings = sv.VertexCount;
var numSegments = accuracy;
var up = new Vertex3D(0f, 0f, 1f);
var points = new Vertex3D[numRings]; // middlepoints of rings
var tangents = new Vertex3D[numRings]; // pointing into the direction of the spline, even first and last
var right = new Vertex3D[numRings]; // pointing right, looking into tangent direction
var down = new Vertex3D[numRings]; // pointing down from tangent view
var accLength = new float[numRings]; // accumulated length of the wire beginning at 0;
// copy the data from the pline into the middle of the new variables
for (int i = 0; i < sv.VertexCount; i++)
{
points[i] = new Vertex3D(sv.MiddlePoints[i].X, sv.MiddlePoints[i].Y, height);
right[i] = new Vertex3D(sv.RgvLocal[i].X - sv.MiddlePoints[i].X, sv.RgvLocal[i].Y - sv.MiddlePoints[i].Y, 0f);
right[i].Normalize();
tangents[i] = Vertex3D.CrossProduct(right[i], new Vertex3D(0f, 0f, 1f));
tangents[i].Normalize();
}
// calculate downvectors
for (int i = 0; i < numRings; i++)
{
down[i] = Vertex3D.CrossProduct(right[i], tangents[i]);
down[i].Normalize();
}
// For UV calculation we need the whole length of the rubber
accLength[0] = 0.0f;
for (int i = 1; i < numRings; i++)
{
accLength[i] = accLength[i - 1] + (points[i] - points[i - 1]).Length();
}
// add the lenth from the last ring to the first ring
var totalLength = accLength[numRings - 1] + (points[0] - points[numRings - 1]).Length();;
var numVertices = (numRings + 1) * numSegments;
var numIndices = numRings * numSegments * 6;
mesh.Vertices = new Vertex3DNoTex2[numVertices];
mesh.Indices = new int[numIndices];
// precalculate the rings (positive X is left, positive Y is up) Starting at the bottom clockwise (X=0, Y=1)
var ringsX = new float[numSegments];
var ringsY = new float[numSegments];
for (int i = 0; i < numSegments; i++)
{
ringsX[i] = -1.0f * (float)System.Math.Sin(System.Math.PI * 2 * i / numSegments) * _data.Thickness;
ringsY[i] = -1.0f * (float)System.Math.Cos(System.Math.PI + System.Math.PI * 2 * i / numSegments) * _data.Thickness;
}
var verticesIndex = 0;
var indicesIndex = 0;
// calculate Vertices first
for (int currentRing = 0; currentRing < numRings; currentRing++)
{
// calculate one ring
for (int currentSegment = 0; currentSegment < numSegments; currentSegment++)
{
mesh.Vertices[verticesIndex++] = new Vertex3DNoTex2
{
X = points[currentRing].X + right[currentRing].X * ringsX[currentSegment] + down[currentRing].X * ringsY[currentSegment],
Y = points[currentRing].Y + right[currentRing].Y * ringsX[currentSegment] + down[currentRing].Y * ringsY[currentSegment],
Z = points[currentRing].Z + right[currentRing].Z * ringsX[currentSegment] + down[currentRing].Z * ringsY[currentSegment],
//normals seem to be somehow off, but are caculated again at the end of mesh creation.
Nx = right[currentRing].X * ringsX[currentSegment] + down[currentRing].X * ringsY[currentSegment],
Ny = right[currentRing].Y * ringsX[currentSegment] + down[currentRing].Y * ringsY[currentSegment],
Nz = right[currentRing].Z * ringsX[currentSegment] + down[currentRing].Z * ringsY[currentSegment],
Tu = accLength[currentRing] / totalLength,
Tv = (float)currentSegment / ((float)numSegments - 1)
};
}
// could be integrated in above for loop, but better to read and will be optimized anyway by compiler
if (currentRing > 0)
{
for (int currentSegment = 0; currentSegment < numSegments; currentSegment++)
{
var csp1 = currentSegment + 1;
if (csp1 >= numSegments)
{
csp1 = 0;
}
mesh.Indices[indicesIndex++] = (currentRing - 1) * numSegments + currentSegment;
mesh.Indices[indicesIndex++] = currentRing * numSegments + currentSegment;
mesh.Indices[indicesIndex++] = currentRing * numSegments + csp1;
mesh.Indices[indicesIndex++] = (currentRing - 1) * numSegments + currentSegment;
mesh.Indices[indicesIndex++] = currentRing * numSegments + csp1;
mesh.Indices[indicesIndex++] = (currentRing - 1) * numSegments + csp1;
}
}
}
// copy first ring into last ring
for (int currentSegment = 0; currentSegment < numSegments; currentSegment++)
{
mesh.Vertices[verticesIndex++] = new Vertex3DNoTex2
{
X = points[0].X + right[0].X * ringsX[currentSegment] + down[0].X * ringsY[currentSegment],
Y = points[0].Y + right[0].Y * ringsX[currentSegment] + down[0].Y * ringsY[currentSegment],
Z = points[0].Z + right[0].Z * ringsX[currentSegment] + down[0].Z * ringsY[currentSegment],
//normals seem to be somehow off, but are caculated again at the end of mesh creation.
Nx = right[0].X * ringsX[currentSegment] + down[0].X * ringsY[currentSegment],
Ny = right[0].Y * ringsX[currentSegment] + down[0].Y * ringsY[currentSegment],
Nz = right[0].Z * ringsX[currentSegment] + down[0].Z * ringsY[currentSegment],
Tu = 1f,
Tv = (float)currentSegment / ((float)numSegments - 1)
};
}
for (int currentSegment = 0; currentSegment < numSegments; currentSegment++)
{
var csp1 = currentSegment + 1;
if (csp1 >= numSegments)
{
csp1 = 0;
}
mesh.Indices[indicesIndex++] = (numRings - 1) * numSegments + currentSegment;
mesh.Indices[indicesIndex++] = (numRings) * numSegments + currentSegment;
mesh.Indices[indicesIndex++] = (numRings) * numSegments + csp1;
mesh.Indices[indicesIndex++] = (numRings - 1) * numSegments + currentSegment;
mesh.Indices[indicesIndex++] = (numRings) * numSegments + csp1;
mesh.Indices[indicesIndex++] = (numRings - 1) * numSegments + csp1;
}
Mesh.ComputeNormals(mesh.Vertices, numVertices, mesh.Indices, numIndices);
var maxX = Constants.FloatMin;
var minX = Constants.FloatMax;
var maxY = Constants.FloatMin;
var minY = Constants.FloatMax;
var maxZ = Constants.FloatMin;
var minZ = Constants.FloatMax;
for (var i = 0; i < numVertices; i++)
{
MathF.Max(maxX, mesh.Vertices[i].X);
MathF.Max(maxY, mesh.Vertices[i].Y);
MathF.Max(maxZ, mesh.Vertices[i].Z);
MathF.Min(minX, mesh.Vertices[i].X);
MathF.Min(minY, mesh.Vertices[i].X);
MathF.Min(minZ, mesh.Vertices[i].X);
}
_middlePoint.X = (maxX + minX) * 0.5f;
_middlePoint.Y = (maxY + minY) * 0.5f;
_middlePoint.Z = (maxZ + minZ) * 0.5f;
return(mesh);
}
private Vertex3DNoTex2[] CreateWire(int numRings, int numSegments, IReadOnlyList <Vertex2D> midPoints, IReadOnlyList <float> initialHeights)
{
var vertices = new Vertex3DNoTex2[numRings * numSegments];
var prev = new Vertex3D();
var index = 0;
for (var i = 0; i < numRings; i++)
{
var i2 = i == numRings - 1 ? i : i + 1;
var height = initialHeights[i];
var tangent = new Vertex3D(
midPoints[i2].X - midPoints[i].X,
midPoints[i2].Y - midPoints[i].Y,
initialHeights[i2] - initialHeights[i]
);
if (i == numRings - 1)
{
// for the last spline point use the previous tangent again, otherwise we won't see the complete wire (it stops one control point too early)
tangent.X = midPoints[i].X - midPoints[i - 1].X;
tangent.Y = midPoints[i].Y - midPoints[i - 1].Y;
}
Vertex3D biNormal;
Vertex3D normal;
if (i == 0)
{
var up = new Vertex3D(
midPoints[i2].X + midPoints[i].X,
midPoints[i2].Y + midPoints[i].Y,
initialHeights[i2] - height
);
normal = Vertex3D.CrossProduct(tangent, up); //normal
biNormal = Vertex3D.CrossProduct(tangent, normal);
}
else
{
normal = Vertex3D.CrossProduct(prev, tangent);
biNormal = Vertex3D.CrossProduct(tangent, normal);
}
biNormal.Normalize();
normal.Normalize();
prev = biNormal;
var invNumRings = 1.0f / numRings;
var invNumSegments = 1.0f / numSegments;
var u = i * invNumRings;
for (var j = 0; j < numSegments; j++, index++)
{
var v = (j + u) * invNumSegments;
var tmp = Vertex3D.GetRotatedAxis(j * (360.0f * invNumSegments), tangent, normal) * (_data.WireDiameter * 0.5f);
vertices[index] = new Vertex3DNoTex2 {
X = midPoints[i].X + tmp.X,
Y = midPoints[i].Y + tmp.Y,
Z = height + tmp.Z,
Tu = u,
Tv = v
};
// normals
var n = new Vertex3D(
vertices[index].X - midPoints[i].X,
vertices[index].Y - midPoints[i].Y,
vertices[index].Z - height
);
var len = 1.0f / MathF.Sqrt(n.X * n.X + n.Y * n.Y + n.Z * n.Z);
vertices[index].Nx = n.X * len;
vertices[index].Ny = n.Y * len;
vertices[index].Nz = n.Z * len;
}
}
return(vertices);
}
public Mesh GetMesh(Table.Table table, int acc = -1, bool createHitShape = false)
{
var mesh = new Mesh(_data.Name);
var accuracy = (int)(10.0f * 1.2f);
if (acc != -1) // hit shapes and UI display have the same, static, precision
{
accuracy = acc;
}
var splineAccuracy = acc != -1 ? 4.0f * MathF.Pow(10.0f, (10.0f - PhysicsConstants.HitShapeDetailLevel) * (float)(1.0 / 1.5)) : -1.0f;
var sv = new SplineVertex(_data.DragPoints, _data.Thickness, table.GetDetailLevel(), splineAccuracy);
var numRings = sv.VertexCount - 1;
var numSegments = accuracy;
var numVertices = numRings * numSegments;
var numIndices = 6 * numVertices; //m_numVertices*2+2;
var height = _data.HitHeight + table.TableHeight;
mesh.Vertices = new Vertex3DNoTex2[numVertices];
mesh.Indices = new int[numIndices];
var prevB = new Vertex3D();
var invNr = 1.0f / numRings;
var invNs = 1.0f / numSegments;
var index = 0;
for (var i = 0; i < numRings; i++)
{
var i2 = i == numRings - 1 ? 0 : i + 1;
var tangent = new Vertex3D(sv.MiddlePoints[i2].X - sv.MiddlePoints[i].X,
sv.MiddlePoints[i2].Y - sv.MiddlePoints[i].Y, 0.0f);
Vertex3D biNormal;
Vertex3D normal;
if (i == 0)
{
var up = new Vertex3D(sv.MiddlePoints[i2].X + sv.MiddlePoints[i].X, sv.MiddlePoints[i2].Y + sv.MiddlePoints[i].Y, height * 2.0f);
normal = new Vertex3D(tangent.Y * up.Z, -tangent.X * up.Z, tangent.X * up.Y - tangent.Y * up.X); // = CrossProduct(tangent, up)
biNormal = new Vertex3D(tangent.Y * normal.Z, -tangent.X * normal.Z, tangent.X * normal.Y - tangent.Y * normal.X); // = CrossProduct(tangent, normal)
}
else
{
normal = Vertex3D.CrossProduct(prevB, tangent);
biNormal = Vertex3D.CrossProduct(tangent, normal);
}
biNormal.Normalize();
normal.Normalize();
prevB = biNormal;
var u = i * invNr;
for (var j = 0; j < numSegments; j++)
{
var v = ((float)j + u) * invNs;
var tmp = Vertex3D.GetRotatedAxis(j * (360.0f * invNs), tangent, normal) * (_data.Thickness * 0.5f);
mesh.Vertices[index] = new Vertex3DNoTex2 {
X = sv.MiddlePoints[i].X + tmp.X,
Y = sv.MiddlePoints[i].Y + tmp.Y
};
if (createHitShape && (j == 0 || j == 3))
{
//!! hack, adapt if changing detail level for hitshape
// for a hit shape create a more rectangle mesh and not a smooth one
tmp.Z *= 0.6f;
}
mesh.Vertices[index].Z = height + tmp.Z;
//texel
mesh.Vertices[index].Tu = u;
mesh.Vertices[index].Tv = v;
index++;
}
}
// calculate faces
for (var i = 0; i < numRings; i++)
{
for (var j = 0; j < numSegments; j++)
{
var quad = new int[4];
quad[0] = i * numSegments + j;
if (j != numSegments - 1)
{
quad[1] = i * numSegments + j + 1;
}
else
{
quad[1] = i * numSegments;
}
if (i != numRings - 1)
{
quad[2] = (i + 1) * numSegments + j;
if (j != numSegments - 1)
{
quad[3] = (i + 1) * numSegments + j + 1;
}
else
{
quad[3] = (i + 1) * numSegments;
}
}
else
{
quad[2] = j;
if (j != numSegments - 1)
{
quad[3] = j + 1;
}
else
{
quad[3] = 0;
}
}
mesh.Indices[(i * numSegments + j) * 6] = quad[0];
mesh.Indices[(i * numSegments + j) * 6 + 1] = quad[1];
mesh.Indices[(i * numSegments + j) * 6 + 2] = quad[2];
mesh.Indices[(i * numSegments + j) * 6 + 3] = quad[3];
mesh.Indices[(i * numSegments + j) * 6 + 4] = quad[2];
mesh.Indices[(i * numSegments + j) * 6 + 5] = quad[1];
}
}
Mesh.ComputeNormals(mesh.Vertices, numVertices, mesh.Indices, numIndices);
var maxX = Constants.FloatMin;
var minX = Constants.FloatMax;
var maxY = Constants.FloatMin;
var minY = Constants.FloatMax;
var maxZ = Constants.FloatMin;
var minZ = Constants.FloatMax;
for (var i = 0; i < numVertices; i++)
{
if (maxX < mesh.Vertices[i].X)
{
maxX = mesh.Vertices[i].X;
}
if (minX > mesh.Vertices[i].X)
{
minX = mesh.Vertices[i].X;
}
if (maxY < mesh.Vertices[i].Y)
{
maxY = mesh.Vertices[i].Y;
}
if (minY > mesh.Vertices[i].Y)
{
minY = mesh.Vertices[i].Y;
}
if (maxZ < mesh.Vertices[i].Z)
{
maxZ = mesh.Vertices[i].Z;
}
if (minZ > mesh.Vertices[i].Z)
{
minZ = mesh.Vertices[i].Z;
}
}
_data.MiddlePoint.X = (maxX + minX) * 0.5f;
_data.MiddlePoint.Y = (maxY + minY) * 0.5f;
_data.MiddlePoint.Z = (maxZ + minZ) * 0.5f;
return(mesh);
}
public void Collide3DWall(Vertex3D hitNormal, float elasticity, float elasticityFalloff, float friction, float scatterAngle)
{
// speed normal to wall
var dot = Vel.Dot(hitNormal);
if (dot >= -PhysicsConstants.LowNormVel)
{
// nearly receding ... make sure of conditions
if (dot > PhysicsConstants.LowNormVel)
{
// otherwise if clearly approaching .. process the collision
return; // is this velocity clearly receding (i.E must > a minimum)
}
//#ifdef PhysicsConstants.Embedded
if (Coll.HitDistance < -PhysicsConstants.Embedded)
{
dot = -PhysicsConstants.EmbedShot; // has ball become embedded???, give it a kick
}
else
{
return;
}
//#endif
}
//#ifdef PhysicsConstants.DispGain
// correct displacements, mostly from low velocity, alternative to acceleration processing
var hDist = -PhysicsConstants.DispGain * Coll.HitDistance; // limit delta noise crossing ramps,
if (hDist > 1.0e-4)
{
// when hit detection checked it what was the displacement
if (hDist > PhysicsConstants.DispLimit)
{
hDist = PhysicsConstants.DispLimit; // crossing ramps, delta noise
}
// push along norm, back to free area
_state.Pos.Add(hitNormal.Clone().MultiplyScalar(hDist));
// use the norm, but this is not correct, reverse time is correct
}
//#endif
// magnitude of the impulse which is just sufficient to keep the ball from
// penetrating the wall (needed for friction computations)
var reactionImpulse = _data.Mass * MathF.Abs(dot);
elasticity = Functions.ElasticityWithFalloff(elasticity, elasticityFalloff, dot);
dot *= -(1.0f + elasticity);
Vel.Add(hitNormal.Clone().MultiplyScalar(dot)); // apply collision impulse (along normal, so no torque)
// compute friction impulse
var surfP = hitNormal.Clone().MultiplyScalar(-_data.Radius); // surface contact point relative to center of mass
var surfVel = SurfaceVelocity(surfP); // velocity at impact point
var tangent = surfVel.Clone() // calc the tangential velocity
.Sub(hitNormal.Clone()
.MultiplyScalar(surfVel.Dot(hitNormal)));
var tangentSpSq = tangent.LengthSq();
if (tangentSpSq > 1e-6)
{
tangent.DivideScalar(MathF.Sqrt(tangentSpSq)); // normalize to get tangent direction
var vt = surfVel.Dot(tangent); // get speed in tangential direction
// compute friction impulse
var cross = Vertex3D.CrossProduct(surfP, tangent);
var crossInertia = cross.Clone().DivideScalar(Inertia);
var kt = InvMass + tangent.Dot(Vertex3D.CrossProduct(crossInertia, surfP));
// friction impulse can"t be greather than coefficient of friction times collision impulse (Coulomb friction cone)
var maxFric = friction * reactionImpulse;
var jt = Functions.Clamp(-vt / kt, -maxFric, maxFric);
if (!float.IsNaN(jt) && !float.IsInfinity(jt))
{
ApplySurfaceImpulse(
cross.Clone().MultiplyScalar(jt),
tangent.Clone().MultiplyScalar(jt)
);
}
}
if (scatterAngle < 0.0)
{
scatterAngle = HardScatter;
} // if < 0 use global value
scatterAngle *= _tableData.GlobalDifficulty; // apply difficulty weighting
if (dot > 1.0 && scatterAngle > 1.0e-5)
{
// no scatter at low velocity
var scatter = MathF.Random() * 2 - 1; // -1.0f..1.0f
scatter *= (1.0f - scatter * scatter) * 2.59808f * scatterAngle; // shape quadratic distribution and scale
var radSin = MathF.Sin(scatter); // Green's transform matrix... rotate angle delta
var radCos = MathF.Cos(scatter); // rotational transform from current position to position at time t
var vxt = Vel.X;
var vyt = Vel.Y;
Vel.X = vxt * radCos - vyt * radSin; // rotate to random scatter angle
Vel.Y = vyt * radCos + vxt * radSin;
}
}
private Mesh GetMesh(float playfieldHeight, float meshHeight, int detailLevel, float bendradius, int acc = -1, bool createHitShape = false, float margin = 0f)
{
var mesh = new Mesh();
// i dont understand the calculation of splineaccuracy here /cupiii
var accuracy = (int)(10.0f * 1.2f);
if (acc != -1) // hit shapes and UI display have the same, static, precision
{
accuracy = acc;
}
var splineAccuracy = acc != -1 ? 4.0f * MathF.Pow(10.0f, (10.0f - PhysicsConstants.HitShapeDetailLevel) * (float)(1.0 / 1.5)) : -1.0f;
SplineVertex sv = new SplineVertex(_data.DragPoints, (int)(_data.Thickness + 0.5), detailLevel, splineAccuracy, margin: margin, loop: false);
var height = playfieldHeight + meshHeight;
var standheight = _data.Standheight;
// dont lat the Collider be higher than the visible mesh, just shift the top of the MWG.
if (createHitShape)
{
standheight = standheight - _data.Height + height;
}
// one ring for each Splinevertex, two for the stands, and "bendradius" tomes two for the bend (should be enough)
// todo: could be better, if accuracy was taken into account
var numRingsInBend = (int)(bendradius + 1);
var numRings = sv.VertexCount - 1 + numRingsInBend * 2 + 2;
var numSegments = accuracy;
var up = new Vertex3D(0f, 0f, 1f);
var points = new Vertex3D[numRings]; // middlepoints of rings
var tangents = new Vertex3D[numRings]; // pointing into the direction of the spline, even first and last
var right = new Vertex3D[numRings]; // pointing right, looking into tangent direction
var down = new Vertex3D[numRings]; // pointing down from tangent view
var accLength = new float[numRings]; // accumulated length of the wire beginning at 0;
// copy the data from the pline into the middle of the new variables
for (int i = 0; i < sv.VertexCount - 1; i++)
{
points[i + numRingsInBend + 1] = new Vertex3D(sv.MiddlePoints[i].X, sv.MiddlePoints[i].Y, height);
right[i + numRingsInBend + 1] = new Vertex3D(sv.RgvLocal[i].X - sv.MiddlePoints[i].X, sv.RgvLocal[i].Y - sv.MiddlePoints[i].Y, 0f);
right[i + numRingsInBend + 1].Normalize();
tangents[i + numRingsInBend + 1] = Vertex3D.CrossProduct(right[i + numRingsInBend + 1], new Vertex3D(0f, 0f, 1f));
tangents[i + numRingsInBend + 1].Normalize();
}
// first set up beginning of the stand
points[0] = points[numRingsInBend + 1] + tangents[numRingsInBend + 1] * bendradius * -1 + up * standheight * -1f;
tangents[0] = new Vertex3D(0f, 0f, 1f);
right[0] = right[numRingsInBend + 1];
// set up the first point of the bend
points[1] = points[numRingsInBend + 1] + tangents[numRingsInBend + 1] * bendradius * -1 + up * bendradius * -1f;
tangents[1] = tangents[0];
right[1] = right[0];
// now bend from point 1 to numRingsInBend+1(-1)
var diffXY = points[numRingsInBend + 1] - points[1];
diffXY.Z = 0;
var diffZ = points[numRingsInBend + 1] - points[1];
diffZ.X = 0;
diffZ.Y = 0;
for (int i = 1; i < (numRingsInBend + 1); i++)
{
points[numRingsInBend - i + 1] = points[1] + diffXY - (float)System.Math.Sin(System.Math.PI / 2 / numRingsInBend * i) * diffXY + (float)System.Math.Cos(System.Math.PI / 2 / numRingsInBend * i) * diffZ;
var tmp = tangents[numRingsInBend + 1];
tmp.Normalize();
tangents[numRingsInBend - i + 1] = tmp * (float)System.Math.Cos(System.Math.PI / 2 / numRingsInBend * i) + (float)System.Math.Sin(System.Math.PI / 2 / numRingsInBend * i) * up;
right[numRingsInBend - i + 1] = right[0];
}
// set up last point
points[numRings - 1] = points[(numRings - 1) - numRingsInBend - 1] + tangents[numRings - 1 - numRingsInBend - 1] * bendradius + up * standheight * -1f;
tangents[numRings - 1] = new Vertex3D(0f, 0f, -1f);
right[numRings - 1] = right[(numRings - 1) - numRingsInBend - 1];
// and the point before
points[numRings - 2] = points[(numRings - 1) - numRingsInBend - 1] + tangents[numRings - 1 - numRingsInBend - 1] * bendradius + up * bendradius * -1f;
tangents[numRings - 2] = tangents[numRings - 1];
right[numRings - 2] = right[numRings - 1];
// now bend again
diffXY = points[numRings - 1 - numRingsInBend - 1] - points[numRings - 2];
diffXY.Z = 0;
diffZ = points[numRings - 1 - numRingsInBend - 1] - points[numRings - 2];
diffZ.X = 0;
diffZ.Y = 0;
for (int i = 1; i < (numRingsInBend + 1); i++)
{
points[numRings - 2 - numRingsInBend + i] = points[numRings - 2] + diffXY - (float)System.Math.Sin(System.Math.PI / 2 / numRingsInBend * i) * diffXY + (float)System.Math.Cos(System.Math.PI / 2 / numRingsInBend * i) * diffZ;
var tmp = tangents[numRings - 1 - numRingsInBend - 1];
tmp.Normalize();
tangents[numRings - 2 - numRingsInBend + i] = tmp * (float)System.Math.Cos(System.Math.PI / 2 / numRingsInBend * i) + (float)System.Math.Sin(System.Math.PI / 2 / numRingsInBend * i) * up * -1;
right[numRings - 2 - numRingsInBend + i] = right[numRings - 1];
}
// calculate downvectors
for (int i = 0; i < numRings; i++)
{
down[i] = Vertex3D.CrossProduct(right[i], tangents[i]);
down[i].Normalize();
}
// For UV calculation we need the whole length of the wire
accLength[0] = 0.0f;
for (int i = 1; i < numRings; i++)
{
accLength[i] = accLength[i - 1] + (points[i] - points[i - 1]).Length();
}
var totalLength = accLength[numRings - 1];
var numVertices = numRings * numSegments;
var numIndices = (numRings - 1) * numSegments * 6;
mesh.Vertices = new Vertex3DNoTex2[numVertices];
mesh.Indices = new int[numIndices];
// precalculate the rings (positive X is left, positive Y is up) Starting at the bottom clockwise (X=0, Y=1)
var ringsX = new float[numSegments];
var ringsY = new float[numSegments];
for (int i = 0; i < numSegments; i++)
{
ringsX[i] = -1.0f * (float)System.Math.Sin(System.Math.PI * 2 * i / numSegments) * _data.Thickness;
ringsY[i] = -1.0f * (float)System.Math.Cos(System.Math.PI + System.Math.PI * 2 * i / numSegments) * _data.Thickness;
}
var verticesIndex = 0;
var indicesIndex = 0;
// calculate Vertices first
for (int currentRing = 0; currentRing < numRings; currentRing++)
{
// calculate one ring
for (int currentSegment = 0; currentSegment < numSegments; currentSegment++)
{
mesh.Vertices[verticesIndex++] = new Vertex3DNoTex2
{
X = points[currentRing].X + right[currentRing].X * ringsX[currentSegment] + down[currentRing].X * ringsY[currentSegment],
Y = points[currentRing].Y + right[currentRing].Y * ringsX[currentSegment] + down[currentRing].Y * ringsY[currentSegment],
Z = points[currentRing].Z + right[currentRing].Z * ringsX[currentSegment] + down[currentRing].Z * ringsY[currentSegment],
//normals seem to be somehow off, but are caculated again at the end of mesh creation.
Nx = right[currentRing].X * ringsX[currentSegment] + down[currentRing].X * ringsY[currentSegment],
Ny = right[currentRing].Y * ringsX[currentSegment] + down[currentRing].Y * ringsY[currentSegment],
Nz = right[currentRing].Z * ringsX[currentSegment] + down[currentRing].Z * ringsY[currentSegment],
Tu = accLength[currentRing] / totalLength,
Tv = (float)currentSegment / ((float)numSegments - 1)
};
}
// could be integrated in above for loop, but better to read and will be optimized anyway by compiler
if (currentRing > 0)
{
for (int currentSegment = 0; currentSegment < numSegments; currentSegment++)
{
var csp1 = currentSegment + 1;
if (csp1 >= numSegments)
{
csp1 = 0;
}
mesh.Indices[indicesIndex++] = (currentRing - 1) * numSegments + currentSegment;
mesh.Indices[indicesIndex++] = currentRing * numSegments + currentSegment;
mesh.Indices[indicesIndex++] = currentRing * numSegments + csp1;
mesh.Indices[indicesIndex++] = (currentRing - 1) * numSegments + currentSegment;
mesh.Indices[indicesIndex++] = currentRing * numSegments + csp1;
mesh.Indices[indicesIndex++] = (currentRing - 1) * numSegments + csp1;
}
}
}
Mesh.ComputeNormals(mesh.Vertices, numVertices, mesh.Indices, numIndices);
var maxX = Constants.FloatMin;
var minX = Constants.FloatMax;
var maxY = Constants.FloatMin;
var minY = Constants.FloatMax;
var maxZ = Constants.FloatMin;
var minZ = Constants.FloatMax;
for (var i = 0; i < numVertices; i++)
{
MathF.Max(maxX, mesh.Vertices[i].X);
MathF.Max(maxY, mesh.Vertices[i].Y);
MathF.Max(maxZ, mesh.Vertices[i].Z);
MathF.Min(minX, mesh.Vertices[i].X);
MathF.Min(minY, mesh.Vertices[i].X);
MathF.Min(minZ, mesh.Vertices[i].X);
}
_middlePoint.X = (maxX + minX) * 0.5f;
_middlePoint.Y = (maxY + minY) * 0.5f;
_middlePoint.Z = (maxZ + minZ) * 0.5f;
return(mesh);
}