private static bool DoOverlapBoxTriangleTest(Box oldBox, Box newBox, ref IndexedTriangle triangle, TriangleMesh mesh, ref CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor) { Matrix dirs0 = newBox.Orientation; #region REFERENCE: Triangle tri = new Triangle(mesh.GetVertex(triangle.GetVertexIndex(0)),mesh.GetVertex(triangle.GetVertexIndex(1)),mesh.GetVertex(triangle.GetVertexIndex(2))); Vector3 triVec0; Vector3 triVec1; Vector3 triVec2; mesh.GetVertex(triangle.GetVertexIndex(0), out triVec0); mesh.GetVertex(triangle.GetVertexIndex(1), out triVec1); mesh.GetVertex(triangle.GetVertexIndex(2), out triVec2); // Deano move tri into world space Matrix transformMatrix = mesh.TransformMatrix; Vector3.TransformCoordinate(ref triVec0, ref transformMatrix, out triVec0); Vector3.TransformCoordinate(ref triVec1, ref transformMatrix, out triVec1); Vector3.TransformCoordinate(ref triVec2, ref transformMatrix, out triVec2); Triangle tri = new Triangle(ref triVec0,ref triVec1,ref triVec2); #endregion #region REFERENCE Vector3 triEdge0 = (tri.GetPoint(1) - tri.GetPoint(0)); Vector3 pt0; Vector3 pt1; tri.GetPoint(0, out pt0); tri.GetPoint(1, out pt1); Vector3 triEdge0; Vector3.Subtract(ref pt1, ref pt0, out triEdge0); #endregion #region REFERENCE Vector3 triEdge1 = (tri.GetPoint(2) - tri.GetPoint(1)); Vector3 pt2; tri.GetPoint(2, out pt2); Vector3 triEdge1; Vector3.Subtract(ref pt2, ref pt1, out triEdge1); #endregion #region REFERENCE Vector3 triEdge2 = (tri.GetPoint(0) - tri.GetPoint(2)); Vector3 triEdge2; Vector3.Subtract(ref pt0, ref pt2, out triEdge2); #endregion triEdge0.Normalize(); triEdge1.Normalize(); triEdge2.Normalize(); Vector3 triNormal = triangle.Plane.Normal; // the 15 potential separating axes const int numAxes = 13; Vector3[] axes = new Vector3[numAxes]; axes[0] = triNormal; MatrixHelper.GetRight(ref dirs0, out axes[1]); MatrixHelper.GetUp(ref dirs0, out axes[2]); MatrixHelper.GetBackward(ref dirs0, out axes[3]); Vector3.Cross(ref axes[1], ref triEdge0, out axes[4]); Vector3.Cross(ref axes[1], ref triEdge1, out axes[5]); Vector3.Cross(ref axes[1], ref triEdge2, out axes[6]); Vector3.Cross(ref axes[2], ref triEdge0, out axes[7]); Vector3.Cross(ref axes[2], ref triEdge1, out axes[8]); Vector3.Cross(ref axes[2], ref triEdge2, out axes[9]); Vector3.Cross(ref axes[3], ref triEdge0, out axes[10]); Vector3.Cross(ref axes[3], ref triEdge1, out axes[11]); Vector3.Cross(ref axes[3], ref triEdge2, out axes[12]); // the overlap depths along each axis float[] overlapDepths = new float[numAxes]; // see if the boxes are separate along any axis, and if not keep a // record of the depths along each axis int i; for (i = 0; i < numAxes; ++i) { overlapDepths[i] = 1.0f; if (Disjoint(out overlapDepths[i], axes[i], newBox, tri, collTolerance)) return false; } // The box overlap, find the separation depth closest to 0. float minDepth = float.MaxValue; int minAxis = -1; for (i = 0; i < numAxes; ++i) { // If we can't normalise the axis, skip it float l2 = axes[i].LengthSquared(); if (l2 < JiggleMath.Epsilon) continue; // Normalise the separation axis and the depth float invl = 1.0f / (float)System.Math.Sqrt(l2); axes[i] *= invl; overlapDepths[i] *= invl; // If this axis is the minimum, select it if (overlapDepths[i] < minDepth) { minDepth = overlapDepths[i]; minAxis = i; } } if (minAxis == -1) return false; // Make sure the axis is facing towards the 0th box. // if not, invert it Vector3 D = newBox.GetCentre() - tri.Centre; Vector3 N = axes[minAxis]; float depth = overlapDepths[minAxis]; if (Vector3.Dot(D, N) < 0.0f) N *= -1; Vector3 boxOldPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero; Vector3 boxNewPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.Position : Vector3.Zero; Vector3 meshPos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero; List<Vector3> pts = new List<Vector3>(); //pts.Clear(); const float combinationDist = 0.05f; GetBoxTriangleIntersectionPoints(pts, newBox, tri, depth + combinationDist); // adjust the depth #region REFERENCE: Vector3 delta = boxNewPos - boxOldPos; Vector3 delta; Vector3.Subtract(ref boxNewPos, ref boxOldPos, out delta); #endregion #region REFERENCE: float oldDepth = depth + Vector3.Dot(delta, N); float oldDepth = Vector3.Dot(delta, N); oldDepth += depth; #endregion unsafe { // report collisions int numPts = pts.Count; #if USE_STACKALLOC SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI]; #else SmallCollPointInfo[] collPtArray = SCPIStackAlloc(); fixed (SmallCollPointInfo* collPts = collPtArray) #endif { if (numPts > 0) { if (numPts >= MaxLocalStackSCPI) { numPts = MaxLocalStackSCPI - 1; } // adjust positions for (i = 0; i < numPts; ++i) { collPts[i] = new SmallCollPointInfo(pts[i] - boxNewPos, pts[i] - meshPos, oldDepth); } collisionFunctor.CollisionNotify(ref info, ref N, collPts, numPts); #if !USE_STACKALLOC FreeStackAlloc(collPtArray); #endif return true; } else { #if !USE_STACKALLOC FreeStackAlloc(collPtArray); #endif return false; } } } }
private static bool CollDetectBoxStaticMeshOverlap(Box oldBox, Box newBox, TriangleMesh mesh, ref CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor) { float boxRadius = newBox.GetBoundingRadiusAroundCentre(); #region REFERENCE: Vector3 boxCentre = newBox.GetCentre(); Vector3 boxCentre; newBox.GetCentre(out boxCentre); // Deano need to trasnform the box center into mesh space Matrix invTransformMatrix = mesh.InverseTransformMatrix; Vector3.TransformCoordinate(ref boxCentre, ref invTransformMatrix, out boxCentre); #endregion BoundingBox bb = BoundingBoxHelper.InitialBox; BoundingBoxHelper.AddBox(newBox, ref bb); unsafe { bool collision = false; #if USE_STACKALLOC int* potentialTriangles = stackalloc int[MaxLocalStackTris]; { #else int[] potTriArray = IntStackAlloc(); fixed( int* potentialTriangles = potTriArray) { #endif // aabox is done in mesh space and handles the mesh transform correctly int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb); for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle) { IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]); // quick early test is done in mesh space float dist = SlimDX.Plane.DotCoordinate(meshTriangle.Plane, boxCentre); if (dist > boxRadius || dist < 0.0f) continue; if (DoOverlapBoxTriangleTest( oldBox, newBox, ref meshTriangle, mesh, ref info, collTolerance, collisionFunctor)) { collision = true; } } #if USE_STACKALLOC } #else } FreeStackAlloc(potTriArray); #endif return collision; } }
private static void GetSupportPoint(out Vector3 p, Box box,Vector3 axis) { #region INLINE: Vector3 orient0 = box.Orientation.Right; Vector3 orient0 = new Vector3( box.transform.Orientation.M11, box.transform.Orientation.M12, box.transform.Orientation.M13); #endregion #region INLINE: Vector3 orient1 = box.Orientation.Up; Vector3 orient1 = new Vector3( box.transform.Orientation.M21, box.transform.Orientation.M22, box.transform.Orientation.M23); #endregion #region INLINE: Vector3 orient2 = box.Orientation.Backward; Vector3 orient2 = new Vector3( box.transform.Orientation.M31, box.transform.Orientation.M32, box.transform.Orientation.M33); #endregion #region INLINE: float ass = Vector3.Dot(axis,orient0); float ass = axis.X * orient0.X + axis.Y * orient0.Y + axis.Z * orient0.Z; #endregion #region INLINE: float au = Vector3.Dot(axis,orient1); float au = axis.X * orient1.X + axis.Y * orient1.Y + axis.Z * orient1.Z; #endregion #region INLINE: float ad = Vector3.Dot(axis,orient2); float ad = axis.X * orient2.X + axis.Y * orient2.Y + axis.Z * orient2.Z; #endregion float threshold = JiggleMath.Epsilon; box.GetCentre(out p); if (ass < -threshold) { #region INLINE: p += orient0 * (0.5 * box.SideLength.X); p.X += orient0.X * (0.5f * box.sideLengths.X); p.Y += orient0.Y * (0.5f * box.sideLengths.X); p.Z += orient0.Z * (0.5f * box.sideLengths.X); #endregion } else if (ass >= threshold) { #region INLINE: p -= orient0 * (0.5 * box.SideLength.X); p.X -= orient0.X * (0.5f * box.sideLengths.X); p.Y -= orient0.Y * (0.5f * box.sideLengths.X); p.Z -= orient0.Z * (0.5f * box.sideLengths.X); #endregion } if (au < -threshold) { #region INLINE: p += orient1 * (0.5 * box.SideLength.Y); p.X += orient1.X * (0.5f * box.sideLengths.Y); p.Y += orient1.Y * (0.5f * box.sideLengths.Y); p.Z += orient1.Z * (0.5f * box.sideLengths.Y); #endregion } else if (au >= threshold) { #region INLINE: p -= orient1 * (0.5 * box.SideLength.Y); p.X -= orient1.X * (0.5f * box.sideLengths.Y); p.Y -= orient1.Y * (0.5f * box.sideLengths.Y); p.Z -= orient1.Z * (0.5f * box.sideLengths.Y); #endregion } if (ad < -threshold) { #region INLINE: p += orient2 * (0.5 * box.SideLength.Z); p.X += orient2.X * (0.5f * box.sideLengths.Z); p.Y += orient2.Y * (0.5f * box.sideLengths.Z); p.Z += orient2.Z * (0.5f * box.sideLengths.Z); #endregion } else if (ad >= threshold) { #region INLINE: p -= orient2 * (0.5 * box.SideLength.Z); p.X -= orient2.X * (0.5f * box.sideLengths.Z); p.Y -= orient2.Y * (0.5f * box.sideLengths.Z); p.Z -= orient2.Z * (0.5f * box.sideLengths.Z); #endregion } }