/// <summary>
/// DetectAllCollisions
/// </summary>
/// <param name="bodies"></param>
/// <param name="collisionFunctor"></param>
/// <param name="collisionPredicate"></param>
/// <param name="collTolerance"></param>
public override void DetectAllCollisions(List <JigLibX.Physics.Body> bodies, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
skinTester_.Set(this, collisionFunctor, collisionPredicate, collTolerance);
MaybeSort();
// I know that each skin for the bodies is already in my list of skins.
// Thus, I can do collision between all skins, culling out non-active bodies.
int nSkins = skins_.Count;
active_.Clear();
#if WINDOWS_PHONE
for (int i = 0; i != nSkins; ++i)
{
AddToActive(skins_[i], skinTester_);
}
#else
// BEN-OPTIMISATION: unsafe, remove array boundary checks.
unsafe
{
for (int i = 0; i != nSkins; ++i)
{
AddToActive(skins_[i], skinTester_);
}
}
#endif
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule0 = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
Capsule newCapsule0 = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
Segment oldSeg0 = new Segment(oldCapsule0.Position, oldCapsule0.Length * oldCapsule0.Orientation.Backward);
Segment newSeg0 = new Segment(newCapsule0.Position, newCapsule0.Length * newCapsule0.Orientation.Backward);
Capsule oldCapsule1 = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Capsule;
Capsule newCapsule1 = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Capsule;
Segment oldSeg1 = new Segment(oldCapsule1.Position, oldCapsule1.Length * oldCapsule1.Orientation.Backward);
Segment newSeg1 = new Segment(newCapsule1.Position, newCapsule1.Length * newCapsule1.Orientation.Backward);
float radSum = newCapsule0.Radius + newCapsule1.Radius;
float oldt0, oldt1;
float newt0, newt1;
float oldDistSq = Distance.SegmentSegmentDistanceSq(out oldt0, out oldt1, oldSeg0, oldSeg1);
float newDistSq = Distance.SegmentSegmentDistanceSq(out newt0, out newt1, newSeg0, newSeg1);
if (System.Math.Min(oldDistSq, newDistSq) < ((radSum + collTolerance) * (radSum + collTolerance)))
{
Vector3 pos0 = oldSeg0.GetPoint(oldt0);
Vector3 pos1 = oldSeg1.GetPoint(oldt1);
Vector3 delta = pos0 - pos1;
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - dist;
if (dist > JiggleMath.Epsilon)
{
delta /= dist;
}
else
{
// todo - make this not random
delta = Vector3.TransformNormal(Vector3.Backward, Matrix.CreateFromAxisAngle(Vector3.Up, MathHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = pos1 +
(oldCapsule1.Radius - 0.5f * depth) * delta;
#if WINDOWS_PHONE
this.collInfo[0] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref delta, this.collInfo, 1);
#else
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref delta, &collInfo, 1);
}
#endif
}
}
/// <summary>
/// CollDetectBoxStaticMeshOverlap
/// </summary>
/// <param name="oldBox"></param>
/// <param name="newBox"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
/// <returns>bool</returns>
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.Transform(ref boxCentre, ref invTransformMatrix, out boxCentre);
#endregion
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddBox(newBox, ref bb);
bool collision = false;
int[] potTriArray = IntStackAlloc();
// aabox is done in mesh space and handles the mesh transform correctly
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potTriArray, MaxLocalStackTris, ref bb);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
IndexedTriangle meshTriangle = mesh.GetTriangle(potTriArray[iTriangle]);
// quick early test is done in mesh space
float dist = meshTriangle.Plane.DotCoordinate(boxCentre);
// BEN-BUG-FIX: Fixed by chaning 0.0F to -boxRadius.
if (dist > boxRadius || dist < -boxRadius)
{
continue;
}
if (DoOverlapBoxTriangleTest(
oldBox, newBox,
ref meshTriangle,
mesh,
ref info,
collTolerance,
collisionFunctor))
{
collision = true;
}
}
FreeStackAlloc(potTriArray);
return(collision);
}
private void CollDetectOverlap(ref CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// note - mesh is static and its triangles are in world space
TriangleMesh mesh = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as TriangleMesh;
Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
CollDetectBoxStaticMeshOverlap(oldBox, newBox, mesh, ref info, collTolerance, collisionFunctor);
}
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule0 = (Capsule)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Capsule newCapsule0 = (Capsule)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
Segment oldSeg0 = new Segment(oldCapsule0.Position, oldCapsule0.Length * oldCapsule0.Orientation.Backward);
Segment newSeg0 = new Segment(newCapsule0.Position, newCapsule0.Length * newCapsule0.Orientation.Backward);
Capsule oldCapsule1 = (Capsule)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
Capsule newCapsule1 = (Capsule)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
Segment oldSeg1 = new Segment(oldCapsule1.Position, oldCapsule1.Length * oldCapsule1.Orientation.Backward);
Segment newSeg1 = new Segment(newCapsule1.Position, newCapsule1.Length * newCapsule1.Orientation.Backward);
float radSum = newCapsule0.Radius + newCapsule1.Radius;
float oldt0, oldt1;
float newt0, newt1;
float oldDistSq = Distance.SegmentSegmentDistanceSq(out oldt0, out oldt1, oldSeg0, oldSeg1);
float newDistSq = Distance.SegmentSegmentDistanceSq(out newt0, out newt1, newSeg0, newSeg1);
if (System.Math.Min(oldDistSq, newDistSq) < ((radSum + collTolerance) * (radSum + collTolerance)))
{
Vector3 pos0 = oldSeg0.GetPoint(oldt0);
Vector3 pos1 = oldSeg1.GetPoint(oldt1);
Vector3 delta = pos0 - pos1;
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - dist;
if (dist > JiggleMath.Epsilon)
{
delta /= dist;
}
else
{
// todo - make this not random
delta = Vector3.Transform(Vector3.Backward, Matrix.CreateFromAxisAngle(Vector3.Up, MathHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = pos1 +
(oldCapsule1.Radius - 0.5f * depth) * delta;
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref delta, &collInfo, 1);
}
}
}
/// <summary>
/// CollDetectSweep
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
private void CollDetectSweep(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Capsule oldCapsule = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
Capsule newCapsule = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
// todo - proper swept test
// note - mesh is static and its triangles are in world space
TriangleMesh mesh = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as TriangleMesh;
CollDetectCapsulseStaticMeshSweep(oldCapsule, newCapsule, mesh, info, collTolerance, collisionFunctor);
}
/// <summary>
/// DetectCollisions
/// </summary>
/// <param name="body"></param>
/// <param name="collisionFunctor"></param>
/// <param name="collisionPredicate"></param>
/// <param name="collTolerance"></param>
public override void DetectCollisions(JigLibX.Physics.Body body, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
if (!body.IsActive)
{
return;
}
CollDetectInfo info = new CollDetectInfo();
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
{
return;
}
active_.Clear();
testing_.Clear();
Extract(info.Skin0.WorldBoundingBox.Min, info.Skin0.WorldBoundingBox.Max, active_);
for (int j = 0, m = info.Skin0.NumPrimitives; j != m; ++j)
{
testing_.Add(info.Skin0.GetPrimitiveNewWorld(j));
}
int nBodyPrims = testing_.Count;
for (int i = 0, n = active_.Count; i != n; ++i)
{
info.Skin1 = active_[i];
if (info.Skin0 != info.Skin1 && (collisionPredicate == null ||
collisionPredicate.ConsiderSkinPair(info.Skin0, info.Skin1)))
{
int nPrim1 = info.Skin1.NumPrimitives;
second_.Clear();
for (int k = 0; k != nPrim1; ++k)
{
second_.Add(info.Skin1.GetPrimitiveNewWorld(k));
}
for (info.IndexPrim0 = 0; info.IndexPrim0 != nBodyPrims; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 != nPrim1; ++info.IndexPrim1)
{
DetectFunctor f =
GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
{
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
}
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;
JigLibX.Geometry.Plane oldPlane = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as JigLibX.Geometry.Plane;
JigLibX.Geometry.Plane newPlane = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as JigLibX.Geometry.Plane;
Matrix newPlaneInvTransform = newPlane.InverseTransformMatrix;
Matrix oldPlaneInvTransform = oldPlane.InverseTransformMatrix;
Vector3 oldSpherePos = Vector3.Transform(oldSphere.Position, oldPlaneInvTransform);
Vector3 newSpherePos = Vector3.Transform(newSphere.Position, newPlaneInvTransform);
// consider it a contact if either old or new are touching
float oldDist = Distance.PointPlaneDistance(oldSpherePos, oldPlane);
float newDist = Distance.PointPlaneDistance(newSpherePos, newPlane);
if (System.Math.Min(newDist, oldDist) > collTolerance + newSphere.Radius)
{
return;
}
// collision - record depth using the old values
float oldDepth = oldSphere.Radius - oldDist;
// calc the world position based on the old position(s)
Vector3 worldPos = oldSphere.Position - oldSphere.Radius * oldPlane.Normal;
#if WINDOWS_PHONE
this.collInfo[0] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, this.collInfo, 1);
#else
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, &collInfo, 1);
}
#endif
}
/// <summary>
/// Set
/// </summary>
/// <param name="sys"></param>
/// <param name="collisionFunctor"></param>
/// <param name="collisionPredicate"></param>
/// <param name="collTolerance"></param>
internal void Set(CollisionSystem sys, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
sys_ = sys;
collisionFunctor_ = collisionFunctor;
collisionPredicate_ = collisionPredicate;
if (collisionPredicate_ == null)
{
collisionPredicate_ = this;
}
collTolerance_ = collTolerance;
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere0 = (Sphere)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Sphere newSphere0 = (Sphere)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
Sphere oldSphere1 = (Sphere)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
Sphere newSphere1 = (Sphere)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
Vector3 oldDelta = oldSphere0.Position - oldSphere1.Position;
Vector3 newDelta = newSphere0.Position - oldSphere1.Position;
float oldDistSq = oldDelta.LengthSquared();
float newDistSq = newDelta.LengthSquared();
float radSum = newSphere0.Radius + newSphere1.Radius;
if (System.Math.Min(oldDistSq, newDistSq) < ((radSum + collTolerance) * (radSum + collTolerance)))
{
float oldDist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - oldDist;
if (oldDist > JiggleMath.Epsilon)
{
oldDelta /= oldDist;
}
else
{
// TODO - make this not random...!
oldDelta = Vector3.TransformNormal(Vector3.Backward, Matrix.CreateFromAxisAngle(Vector3.Up, MathHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = oldSphere1.Position +
(oldSphere1.Radius - 0.5f * depth) * oldDelta;
#if WINDOWS_PHONE
this.collInfo[0] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref oldDelta, this.collInfo, 1);
#else
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref oldDelta, &collInfo, 1);
}
#endif
}
}
/// <summary>
/// CollDetectOverlap
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
private void CollDetectOverlap(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// todo - proper swept test
Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;
BoundingSphere oldBSphere = new BoundingSphere(oldSphere.Position, oldSphere.Radius);
BoundingSphere newBSphere = new BoundingSphere(newSphere.Position, newSphere.Radius);
// todo - proper swept test
// note - mesh is static and its triangles are in world space
TriangleMesh mesh = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as TriangleMesh;
CollDetectSphereStaticMeshOverlap(oldBSphere, newBSphere, mesh, info, collTolerance, collisionFunctor);
}
public override void DetectAllCollisions(List <JigLibX.Physics.Body> bodies, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
skinTester_.Set(this, collisionFunctor, collisionPredicate, collTolerance);
MaybeSort();
// I know that each skin for the bodies is already in my list of skins.
// Thus, I can do collision between all skins, culling out non-active bodies.
int nSkins = skins_.Count;
active_.Clear();
// sweep the sorted list for potential overlaps
for (int i = 0; i != nSkins; ++i)
{
AddToActive(skins_[i], skinTester_);
}
}
/// <summary>
///
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere = (Sphere)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Sphere newSphere = (Sphere)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
JigLibX.Geometry.Plane oldPlane = (JigLibX.Geometry.Plane)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
JigLibX.Geometry.Plane newPlane = (JigLibX.Geometry.Plane)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
Matrix newPlaneInvTransform = newPlane.InverseTransformMatrix;
Matrix oldPlaneInvTransform = oldPlane.InverseTransformMatrix;
Vector3 oldSpherePos = Vector3.Transform(oldSphere.Position, oldPlaneInvTransform);
Vector3 newSpherePos = Vector3.Transform(newSphere.Position, newPlaneInvTransform);
// consider it a contact if either old or new are touching
float oldDist = Distance.PointPlaneDistance(oldSpherePos, oldPlane);
float newDist = Distance.PointPlaneDistance(newSpherePos, newPlane);
if (System.Math.Min(newDist, oldDist) > collTolerance + newSphere.Radius)
return;
// collision - record depth using the old values
float oldDepth = oldSphere.Radius - oldDist;
// calc the world position based on the old position(s)
Vector3 worldPos = oldSphere.Position - oldSphere.Radius * oldPlane.Normal;
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, &collInfo, 1);
}
}
/// <summary>
/// Detect BoxStaticMesh Collisions.
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
if (info.Skin0.CollisionSystem != null && info.Skin0.CollisionSystem.UseSweepTests)
CollDetectSweep(ref info, collTolerance, collisionFunctor);
else
CollDetectOverlap(ref info, collTolerance, collisionFunctor);
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere0 = (Sphere) info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Sphere newSphere0 = (Sphere)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
Sphere oldSphere1 = (Sphere)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
Sphere newSphere1 = (Sphere)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
Vector3 oldDelta = oldSphere0.Position - oldSphere1.Position;
Vector3 newDelta = newSphere0.Position - oldSphere1.Position;
float oldDistSq = oldDelta.LengthSquared;
float newDistSq = newDelta.LengthSquared;
float radSum = newSphere0.Radius + newSphere1.Radius;
if (System.Math.Min(oldDistSq, newDistSq) < ((radSum + collTolerance) * (radSum + collTolerance)))
{
float oldDist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - oldDist;
if (oldDist > JiggleMath.Epsilon)
{
oldDelta /= oldDist;
}
else
{
// TODO - make this not random...!
oldDelta = Vector3Extensions.TransformNormal(Vector3Extensions.Backward, Matrix4.CreateFromAxisAngle(Vector3Extensions.Up, OpenTKHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = oldSphere1.Position +
(oldSphere1.Radius - 0.5f * depth) * oldDelta;
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref oldDelta, &collInfo, 1);
}
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// get the skins in the order that we're expecting
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
if((info.Skin0.CollisionSystem != null) && info.Skin0.CollisionSystem.UseSweepTests)
CollDetectSweep(info, collTolerance, collisionFunctor);
else
CollDetectOverlap(info, collTolerance, collisionFunctor);
}
public override void DetectAllCollisions(List <Physics.Body> bodies, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
skinTester_.Set(this, collisionFunctor, collisionPredicate, collTolerance);
MaybeSort();
var nSkins = skins_.Count;
active_.Clear();
unsafe
{
for (var i = 0; i != nSkins; ++i)
{
AddToActive(skins_[i], skinTester_);
}
}
}
public override void DetectCollisions(Body body, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
if (!body.IsActive)
{
return;
}
CollDetectInfo info = new CollDetectInfo();
info.Skin0 = body.CollisionSkin; //?!
if (info.Skin0 == null)
{
return;
}
int bodyPrimitves = info.Skin0.NumPrimitives;
int numSkins = skins.Count;
for (int skin = 0; skin < numSkins; ++skin)
{
info.Skin1 = skins[skin];
if ((info.Skin0 != info.Skin1) && CheckCollidables(info.Skin0, info.Skin1))
{
int primitives = info.Skin1.NumPrimitives;
for (info.IndexPrim0 = 0; info.IndexPrim0 < bodyPrimitves; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 < primitives; ++info.IndexPrim1)
{
DetectFunctor f = GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
{
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
}
}
}
/// <summary>
///
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere = (Sphere)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Sphere newSphere = (Sphere)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
Heightmap oldHeightmap = (Heightmap)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
Heightmap newHeightmap = (Heightmap)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
float newDist;
Vector3 normal;
newHeightmap.GetHeightAndNormal(out newDist, out normal,newSphere.Position);
if (newDist < collTolerance + newSphere.Radius)
{
float oldDist = oldHeightmap.GetHeight(oldSphere.Position);
float depth = oldSphere.Radius - oldDist;
// calc the world position when it just hit
Vector3 oldPt = oldSphere.Position - oldSphere.Radius * normal;
unsafe
{
SmallCollPointInfo ptInfo = new SmallCollPointInfo(oldPt - body0Pos, oldPt - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref normal, &ptInfo, 1);
}
}
}
/// <summary>
/// Detect BoxStaticMesh Collisions.
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
if (info.Skin0.CollisionSystem != null && info.Skin0.CollisionSystem.UseSweepTests)
{
CollDetectSweep(ref info, collTolerance, collisionFunctor);
}
else
{
CollDetectOverlap(ref info, collTolerance, collisionFunctor);
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// get the skins in the order that we're expecting
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
if ((info.Skin0.CollisionSystem != null) && info.Skin0.CollisionSystem.UseSweepTests)
{
CollDetectSweep(info, collTolerance, collisionFunctor);
}
else
{
CollDetectOverlap(info, collTolerance, collisionFunctor);
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
// get the skins in the order that we're expectiing
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
Capsule newCapsule = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
Segment oldSeg = new Segment(oldCapsule.Position, oldCapsule.Length * oldCapsule.Orientation.Backward());
Segment newSeg = new Segment(newCapsule.Position, newCapsule.Length * newCapsule.Orientation.Backward());
float radius = oldCapsule.Radius;
Box oldBox = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Box;
Box newBox = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Box;
float oldSegT;
float oldBoxT0, oldBoxT1, oldBoxT2;
float oldDistSq = Distance.SegmentBoxDistanceSq(out oldSegT, out oldBoxT0, out oldBoxT1, out oldBoxT2, oldSeg, oldBox);
float newSegT;
float newBoxT0, newBoxT1, newBoxT2;
float newDistSq = Distance.SegmentBoxDistanceSq(out newSegT, out newBoxT0, out newBoxT1, out newBoxT2, newSeg, newBox);
if (OpenTKHelper.Min(oldDistSq, newDistSq) < ((radius + collTolerance) * (radius + collTolerance)))
{
Vector3 segPos = oldSeg.GetPoint(oldSegT);
Vector3 boxPos = oldBox.GetCentre() + oldBoxT0 * oldBox.Orientation.Right() +
oldBoxT1 * oldBox.Orientation.Up() + oldBoxT2 * oldBox.Orientation.Backward();
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radius - dist;
Vector3 dir;
if (dist > JiggleMath.Epsilon)
{
dir = segPos - boxPos;
JiggleMath.NormalizeSafe(ref dir);
}
else if ((segPos - oldBox.GetCentre()).LengthSquared > JiggleMath.Epsilon)
{
dir = segPos - oldBox.GetCentre();
JiggleMath.NormalizeSafe(ref dir);
}
else
{
// todo - make this not random
dir = Vector3.Transform(Vector3Extensions.Backward, Matrix4.CreateFromAxisAngle(Vector3Extensions.Up, OpenTKHelper.ToRadians(random.Next(360))));
}
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(boxPos - body0Pos, boxPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref dir, &collInfo, 1);
}
}
}
/// <summary>
/// As DetectCollisions but detects for all bodies, testing each pair
/// only once
/// </summary>
/// <param name="bodies"></param>
/// <param name="collisionFunctor"></param>
/// <param name="collisionPredicate"></param>
/// <param name="collTolerance"></param>
public abstract void DetectAllCollisions(List <Body> bodies, CollisionFunctor collisionFunctor,
CollisionSkinPredicate2 collisionPredicate, float collTolerance);
/// <summary>
/// Detects all collisions between the body and all the registered
/// collision skins (which should have already had their
/// positions/bounding volumes etc updated). For each potential
/// pair of skins then the predicate (if it exists) will be called
/// to see whether or not to continue. If the skins are closer
/// than collTolerance (+ve value means report objects that aren't
/// quite colliding) then the functor will get called.
/// You can't just loop over all your bodies calling this, because
/// that will double-detect collisions. Use DetectAllCollisions for
/// that.
/// </summary>
public abstract void DetectCollisions(Body body, CollisionFunctor collisionFunctor,
CollisionSkinPredicate2 collisionPredicate, float collTolerance);
/// <summary>
/// CollDetect
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule = (Capsule)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Capsule newCapsule = (Capsule)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
JigLibX.Geometry.Plane oldPlane = (JigLibX.Geometry.Plane)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
JigLibX.Geometry.Plane newPlane = (JigLibX.Geometry.Plane)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
Matrix newPlaneInvTransform = newPlane.InverseTransformMatrix;
Matrix oldPlaneInvTransform = oldPlane.InverseTransformMatrix;
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
#endif
{
int numCollPts = 0;
// the start
{
Vector3 oldCapsuleStartPos = Vector3.Transform(oldCapsule.Position, oldPlaneInvTransform);
Vector3 newCapsuleStartPos = Vector3.Transform(newCapsule.Position, newPlaneInvTransform);
float oldDist = Distance.PointPlaneDistance(oldCapsuleStartPos, oldPlane);
float newDist = Distance.PointPlaneDistance(newCapsuleStartPos, newPlane);
if (MathHelper.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
{
float oldDepth = oldCapsule.Radius - oldDist;
// calc the world position based on the old position8(s)
Vector3 worldPos = oldCapsule.Position - oldCapsule.Radius * oldPlane.Normal;
// BEN-OPTIMISATION: Now reuses existing collPts instead of reallocating.
collPts[numCollPts].R0 = worldPos - body0Pos;
collPts[numCollPts].R1 = worldPos - body1Pos;
collPts[numCollPts++].InitialPenetration = oldDepth;
}
}
// the end
{
Vector3 oldCapsuleEndPos = Vector3.Transform(oldCapsule.GetEnd(), oldPlaneInvTransform);
Vector3 newCapsuleEndPos = Vector3.Transform(newCapsule.GetEnd(), newPlaneInvTransform);
float oldDist = Distance.PointPlaneDistance(oldCapsuleEndPos, oldPlane);
float newDist = Distance.PointPlaneDistance(newCapsuleEndPos, newPlane);
if (System.Math.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
{
float oldDepth = oldCapsule.Radius - oldDist;
// calc the world position based on the old position(s)
Vector3 worldPos = oldCapsule.GetEnd() - oldCapsule.Radius * oldPlane.Normal;
// BEN-OPTIMISATION: Now reuses existing collPts instead of reallocating.
collPts[numCollPts].R0 = worldPos - body0Pos;
collPts[numCollPts].R1 = worldPos - body1Pos;
collPts[numCollPts++].InitialPenetration = oldDepth;
}
if (numCollPts > 0)
{
collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, collPts, numCollPts);
}
}
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
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.Transform(ref triVec0, ref transformMatrix, out triVec0);
Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2);
Triangle tri = new Triangle(ref triVec0, ref triVec1, ref triVec2);
#endregion
#region qqfx 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 pt1, out triEdge0);
#endregion
#region qqfx 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 qqfx 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;
axes[1] = dirs0.Right;
axes[2] = dirs0.Up;
axes[3] = dirs0.Backward;
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(ref delta, ref N, out oldDepth);
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);
}
}
}
}
/// <summary>
/// CollDetectSphereStaticMeshOverlap
/// </summary>
/// <param name="oldSphere"></param>
/// <param name="newSphere"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public static void CollDetectSphereStaticMeshOverlap(BoundingSphere oldSphere, BoundingSphere newSphere,
TriangleMesh mesh, CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
float sphereTolR = collTolerance + newSphere.Radius;
float sphereTolR2 = sphereTolR * sphereTolR;
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
int[] potTriArray = IntStackAlloc();
int numCollPts = 0;
Vector3 collNormal = Vector3.Zero;
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddSphere(newSphere, ref bb);
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potTriArray, MaxLocalStackTris, ref bb);
// Deano : get the spheres centers in triangle mesh space
Vector3 newSphereCen = Vector3.Transform(newSphere.Center, mesh.InverseTransformMatrix);
Vector3 oldSphereCen = Vector3.Transform(oldSphere.Center, mesh.InverseTransformMatrix);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
IndexedTriangle meshTriangle = mesh.GetTriangle(potTriArray[iTriangle]);
float distToCentre = meshTriangle.Plane.DotCoordinate(newSphereCen);
// BEN-BUG-FIX: Replaced 0.0f with -sphereTolR.
if (distToCentre < -sphereTolR || distToCentre > sphereTolR)
{
continue;
}
int i0, i1, i2;
meshTriangle.GetVertexIndices(out i0, out i1, out i2);
Triangle triangle = new Triangle(mesh.GetVertex(i0), mesh.GetVertex(i1), mesh.GetVertex(i2));
float s, t;
float newD2 = Distance.PointTriangleDistanceSq(out s, out t, newSphereCen, triangle);
if (newD2 < sphereTolR2)
{
// have overlap - but actually report the old intersection
float oldD2 = Distance.PointTriangleDistanceSq(out s, out t, oldSphereCen, triangle);
float dist = (float)System.Math.Sqrt((float)oldD2);
float depth = oldSphere.Radius - dist;
Vector3 triPointSTNorm = oldSphereCen - triangle.GetPoint(s, t);
JiggleMath.NormalizeSafe(ref triPointSTNorm);
Vector3 collisionN = (dist > float.Epsilon) ? triPointSTNorm : triangle.Normal;
// since impulse get applied at the old position
Vector3 pt = oldSphere.Center - oldSphere.Radius * collisionN;
if (numCollPts < MaxLocalStackSCPI)
{
// BEN-OPTIMISATION: Reuse existing collPts.
collPtArray[numCollPts].R0 = pt - body0Pos;
collPtArray[numCollPts].R1 = pt - body1Pos;
collPtArray[numCollPts++].InitialPenetration = depth;
}
collNormal += collisionN;
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPtArray, numCollPts);
}
FreeStackAlloc(potTriArray);
FreeStackAlloc(collPtArray);
}
internal static void CollDetectSphereStaticMeshSweep(BoundingSphere oldSphere, BoundingSphere newSphere, TriangleMesh mesh,
CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// really use a swept test - or overlap?
Vector3 delta = newSphere.Center - oldSphere.Center;
if (delta.LengthSquared() < (0.25f * newSphere.Radius * newSphere.Radius))
{
CollDetectSphereStaticMeshOverlap(oldSphere, newSphere, mesh, info, collTolerance, collisionFunctor);
}
else
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
float sphereTolR = collTolerance + oldSphere.Radius;
float sphereToR2 = sphereTolR * sphereTolR;
Vector3 collNormal = Vector3.Zero;
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddSphere(oldSphere, ref bb);
BoundingBoxHelper.AddSphere(newSphere, ref bb);
// get the spheres centers in triangle mesh space
Vector3 newSphereCen = Vector3.Transform(newSphere.Center, mesh.InverseTransformMatrix);
Vector3 oldSphereCen = Vector3.Transform(oldSphere.Center, mesh.InverseTransformMatrix);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
int* potentialTriangles = stackalloc int[MaxLocalStackTris];
{
{
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
{
int[] potTriArray = IntStackAlloc();
fixed( int* potentialTriangles = potTriArray)
{
#endif
int numCollPts = 0;
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
// first test the old sphere for being on the wrong side
IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
float distToCentreOld = meshTriangle.Plane.DotCoordinate(oldSphereCen);
if (distToCentreOld <= 0.0f)
continue;
// now test the new sphere for being clear
float distToCentreNew = meshTriangle.Plane.DotCoordinate(newSphereCen);
if (distToCentreNew > sphereTolR)
continue;
int i0, i1, i2;
meshTriangle.GetVertexIndices(out i0, out i1, out i2);
Triangle triangle = new Triangle(mesh.GetVertex(i0), mesh.GetVertex(i1), mesh.GetVertex(i2));
// If the old sphere is intersecting, just use that result
float s, t;
float d2 = Distance.PointTriangleDistanceSq(out s, out t, oldSphereCen, triangle);
if (d2 < sphereToR2)
{
float dist = (float)System.Math.Sqrt(d2);
float depth = oldSphere.Radius - dist;
Vector3 triangleN = triangle.Normal;
Vector3 normSafe = oldSphereCen - triangle.GetPoint(s, t);
JiggleMath.NormalizeSafe(ref normSafe);
Vector3 collisionN = (dist > float.Epsilon) ? normSafe : triangleN;
// since impulse gets applied at the old position
Vector3 pt = oldSphere.Center - oldSphere.Radius * collisionN;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(pt - body0Pos, pt - body1Pos, depth);
}
collNormal += collisionN;
}
else if (distToCentreNew < distToCentreOld)
{
// old sphere is not intersecting - do a sweep, but only if the sphere is moving into the
// triangle
Vector3 pt, N; // CHECK THIS
float depth;
if (Intersection.SweptSphereTriangleIntersection(out pt, out N, out depth, oldSphere, newSphere, triangle,
distToCentreOld, distToCentreNew, Intersection.EdgesToTest.EdgeAll, Intersection.CornersToTest.CornerAll))
{
// collision point etc must be relative to the old position because that's
//where the impulses are applied
float dist = (float)System.Math.Sqrt(d2);
float depth2 = oldSphere.Radius - dist;
Vector3 triangleN = triangle.Normal;
Vector3 normSafe = oldSphereCen - triangle.GetPoint(s, t);
JiggleMath.NormalizeSafe(ref normSafe);
Vector3 collisionN = (dist > JiggleMath.Epsilon) ? normSafe : triangleN;
// since impulse gets applied at the old position
Vector3 pt2 = oldSphere.Center - oldSphere.Radius * collisionN;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(pt2 - body0Pos, pt2 - body1Pos, depth);
}
collNormal += collisionN;
}
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
}
}
#if USE_STACKALLOC
}
}
#else
FreeStackAlloc(potTriArray);
}
FreeStackAlloc(collPtArray);
}
#endif
}
}
public override void DetectAllCollisions(List<Body> bodies, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
int numBodies = bodies.Count;
CollDetectInfo info = new CollDetectInfo();
for (int iBody = 0; iBody < numBodies; ++iBody)
{
Body body = bodies[iBody];
if (!body.IsActive)
continue;
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
continue;
tempGridLists.Clear();
GetListsToCheck(tempGridLists, info.Skin0);
for (int iList = tempGridLists.Count; iList-- != 0; )
{
// first one is a placeholder;
GridEntry entry = tempGridLists[iList];
for (entry = entry.Next; entry != null; entry = entry.Next)
{
info.Skin1 = entry.Skin;
if (info.Skin1 == info.Skin0)
continue;
// CHANGE
if (info.Skin1 == null)
continue;
bool skinSleeping = true;
if ((info.Skin1.Owner != null) && (info.Skin1.Owner.IsActive))
skinSleeping = false;
// only do one per pair
if ((skinSleeping == false) && (info.Skin1.ID < info.Skin0.ID))
continue;
if ((collisionPredicate != null) && (!collisionPredicate.ConsiderSkinPair(info.Skin0, info.Skin1)))
continue;
// basic bbox test
if (BoundingBoxHelper.OverlapTest(ref info.Skin1.WorldBoundingBox,
ref info.Skin0.WorldBoundingBox, collTolerance))
{
if (CheckCollidables(info.Skin0, info.Skin1))
{
int bodyPrimitives = info.Skin0.NumPrimitives;
int primitves = info.Skin1.NumPrimitives;
for (info.IndexPrim0 = 0; info.IndexPrim0 < bodyPrimitives; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 < primitves; ++info.IndexPrim1)
{
DetectFunctor f = GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
} // check collidables
} // overlapt test
}// loop over entries
} // loop over lists
} // loop over bodies
}
/// <summary>
/// CollDetectCapsulseStaticMeshSweep
/// </summary>
/// <param name="oldCapsule"></param>
/// <param name="newCapsule"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
private void CollDetectCapsulseStaticMeshSweep(Capsule oldCapsule, Capsule newCapsule,
TriangleMesh mesh, CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// really use a swept test - or overlap?
Vector3 delta = newCapsule.Position - oldCapsule.Position;
if (delta.LengthSquared() < (0.25f * newCapsule.Radius * newCapsule.Radius))
{
CollDetectCapsuleStaticMeshOverlap(oldCapsule, newCapsule, mesh, info, collTolerance, collisionFunctor);
}
else
{
float capsuleLen = oldCapsule.Length;
float capsuleRadius = oldCapsule.Radius;
int nSpheres = 2 + (int)(capsuleLen / (2.0f * oldCapsule.Radius));
for (int iSphere = 0; iSphere < nSpheres; ++iSphere)
{
float offset = ((float)iSphere) * capsuleLen / ((float)nSpheres - 1.0f);
BoundingSphere oldSphere = new BoundingSphere(oldCapsule.Position + oldCapsule.Orientation.Backward * offset, capsuleRadius);
BoundingSphere newSphere = new BoundingSphere(newCapsule.Position + newCapsule.Orientation.Backward * offset, capsuleRadius);
CollDetectSphereStaticMesh.CollDetectSphereStaticMeshSweep(oldSphere, newSphere, mesh, info, collTolerance, collisionFunctor);
}
}
}
private void CollDetectSweep(CollDetectInfo info, float collTolerance,
CollisionFunctor collisionFunctor)
{
// todo - proper swept test
Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;
BoundingSphere oldBSphere = new BoundingSphere(oldSphere.Position, oldSphere.Radius);
BoundingSphere newBSphere = new BoundingSphere(newSphere.Position, newSphere.Radius);
// todo - proper swept test
// note - mesh is static and its triangles are in world space
TriangleMesh mesh = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as TriangleMesh;
CollDetectSphereStaticMeshSweep(oldBSphere, newBSphere, mesh, info, collTolerance, collisionFunctor);
}
/// <summary>
/// Detect BoxBox Collisions.
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Box box0 = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
Box box1 = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Box;
Box oldBox0 = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box oldBox1 = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Box;
Matrix dirs0 = box0.Orientation;
Matrix dirs1 = box1.Orientation;
seperatingAxes[0] = dirs0.Right;
seperatingAxes[1] = dirs0.Up;
seperatingAxes[2] = dirs0.Backward;
seperatingAxes[3] = dirs1.Right;
seperatingAxes[4] = dirs1.Up;
seperatingAxes[5] = dirs1.Backward;
Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[3], out seperatingAxes[6]);
Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[4], out seperatingAxes[7]);
Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[5], out seperatingAxes[8]);
Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[3], out seperatingAxes[9]);
Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[4], out seperatingAxes[10]);
Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[5], out seperatingAxes[11]);
Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[3], out seperatingAxes[12]);
Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[4], out seperatingAxes[13]);
Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[5], out seperatingAxes[14]);
// 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 < 15; ++i)
{
// If we can't normalise the axis, skip it
float l2 = seperatingAxes[i].LengthSquared();
if (l2 < JiggleMath.Epsilon)
{
continue;
}
overlapDepth[i] = float.MaxValue;
if (Disjoint(out overlapDepth[i], ref seperatingAxes[i], box0, box1, collTolerance))
{
return;
}
}
// The box overlap, find the seperation depth closest to 0.
float minDepth = float.MaxValue;
int minAxis = -1;
for (i = 0; i < 15; ++i)
{
// If we can't normalise the axis, skip it
float l2 = seperatingAxes[i].LengthSquared();
if (l2 < JiggleMath.Epsilon)
{
continue;
}
// Normalise the separation axis and depth
float invl = 1.0f / (float)System.Math.Sqrt(l2);
seperatingAxes[i] *= invl;
overlapDepth[i] *= invl;
// If this axis is the minmum, select it
if (overlapDepth[i] < minDepth)
{
minDepth = overlapDepth[i];
minAxis = i;
}
}
if (minAxis == -1)
{
return;
}
// Make sure the axis is facing towards the 0th box.
// if not, invert it
Vector3 D = box1.GetCentre() - box0.GetCentre();
Vector3 N = seperatingAxes[minAxis];
float depth = overlapDepth[minAxis];
if (Vector3.Dot(D, N) > 0.0f)
{
N *= -1.0f;
}
float minA = MathHelper.Min(box0.SideLengths.X, MathHelper.Min(box0.SideLengths.Y, box0.SideLengths.Z));
float minB = MathHelper.Min(box1.SideLengths.X, MathHelper.Min(box1.SideLengths.Y, box1.SideLengths.Z));
float combinationDist = 0.05f * MathHelper.Min(minA, minB);
// the contact points
bool contactPointsFromOld = true;
contactPts.Clear();
if (depth > -JiggleMath.Epsilon)
{
GetBoxBoxIntersectionPoints(contactPts, oldBox0, oldBox1, combinationDist, collTolerance);
}
int numPts = contactPts.Count;
if (numPts == 0)
{
contactPointsFromOld = false;
GetBoxBoxIntersectionPoints(contactPts, box0, box1, combinationDist, collTolerance);
}
numPts = contactPts.Count;
Vector3 body0OldPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1OldPos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
Vector3 body0NewPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.Position : Vector3.Zero;
Vector3 body1NewPos = (info.Skin1.Owner != null) ? info.Skin1.Owner.Position : Vector3.Zero;
#region REFERENCE: Vector3 bodyDelta = body0NewPos - body0OldPos - body1NewPos + body1OldPos;
Vector3 bodyDelta;
Vector3.Subtract(ref body0NewPos, ref body0OldPos, out bodyDelta);
Vector3.Subtract(ref bodyDelta, ref body1NewPos, out bodyDelta);
Vector3.Add(ref bodyDelta, ref body1OldPos, out bodyDelta);
#endregion
#region REFERENCE: float bodyDeltaLen = Vector3.Dot(bodyDelta,N);
float bodyDeltaLen;
Vector3.Dot(ref bodyDelta, ref N, out bodyDeltaLen);
#endregion
float oldDepth = depth + bodyDeltaLen;
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo *collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed(SmallCollPointInfo *collPts = collPtArray)
#endif
{
int numCollPts = 0;
Vector3 SATPoint;
switch (minAxis)
{
// Box0 face, Box1 corner collision
case 0:
case 1:
case 2:
{
// Get the lowest point on the box1 along box1 normal
GetSupportPoint(out SATPoint, box1, -N);
break;
}
// We have a Box2 corner/Box1 face collision
case 3:
case 4:
case 5:
{
// Find with vertex on the triangle collided
GetSupportPoint(out SATPoint, box0, N);
break;
}
// We have an edge/edge collision
case 6:
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
{
{
// Retrieve which edges collided.
i = minAxis - 6;
int ia = i / 3;
int ib = i - ia * 3;
// find two P0, P1 point on both edges.
Vector3 P0, P1;
GetSupportPoint(out P0, box0, N);
GetSupportPoint(out P1, box1, -N);
// Find the edge intersection.
// plane along N and F, and passing through PB
Vector3 box0Orient, box1Orient;
JiggleUnsafe.Get(ref box0.transform.Orientation, ia, out box0Orient);
JiggleUnsafe.Get(ref box1.transform.Orientation, ib, out box1Orient);
#region REFERENCE: Vector3 planeNormal = Vector3.Cross(N, box1Orient[ib]);
Vector3 planeNormal;
Vector3.Cross(ref N, ref box1Orient, out planeNormal);
#endregion
#region REFERENCE: float planeD = Vector3.Dot(planeNormal, P1);
float planeD;
Vector3.Dot(ref planeNormal, ref P1, out planeD);
#endregion
// find the intersection t, where Pintersection = P0 + t*box edge dir
#region REFERENCE: float div = Vector3.Dot(box0Orient, planeNormal);
float div;
Vector3.Dot(ref box0Orient, ref planeNormal, out div);
#endregion
// plane and ray colinear, skip the intersection.
if (System.Math.Abs(div) < JiggleMath.Epsilon)
{
return;
}
float t = (planeD - Vector3.Dot(P0, planeNormal)) / div;
// point on edge of box0
#region REFERENCE: P0 += box0Orient * t;
P0 = Vector3.Add(Vector3.Multiply(box0Orient, t), P0);
#endregion
#region REFERENCE: SATPoint = (P0 + (0.5f * depth) * N);
Vector3.Multiply(ref N, 0.5f * depth, out SATPoint);
Vector3.Add(ref SATPoint, ref P0, out SATPoint);
#endregion
}
break;
}
default:
throw new Exception("Impossible switch");
}
// distribute the depth according to the distance to the SAT point
if (numPts > 0)
{
float minDist = float.MaxValue;
float maxDist = float.MinValue;
for (i = 0; i < numPts; ++i)
{
float dist = Distance.PointPointDistance(contactPts[i].Pos, SATPoint);
if (dist < minDist)
{
minDist = dist;
}
if (dist > maxDist)
{
maxDist = dist;
}
}
if (maxDist < minDist + JiggleMath.Epsilon)
{
maxDist = minDist + JiggleMath.Epsilon;
}
// got some intersection points
for (i = 0; i < numPts; ++i)
{
float minDepthScale = 0.0f;
float dist = Distance.PointPointDistance(contactPts[i].Pos, SATPoint);
float depthDiv = System.Math.Max(JiggleMath.Epsilon, maxDist - minDist);
float depthScale = (dist - minDist) / depthDiv;
depth = (1.0f - depthScale) * oldDepth + minDepthScale * depthScale * oldDepth;
if (contactPointsFromOld)
{
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(contactPts[i].Pos - body0OldPos, contactPts[i].Pos - body1OldPos, depth);
}
}
else
{
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(contactPts[i].Pos - body0NewPos, contactPts[i].Pos - body1NewPos, depth);
}
}
}
}
else
{
#region REFERENCE: collPts.Add(new CollPointInfo(SATPoint - body0NewPos, SATPoint - body1NewPos, oldDepth));
//collPts.Add(new CollPointInfo(SATPoint - body0NewPos, SATPoint - body1NewPos, oldDepth));
Vector3 cp0;
Vector3.Subtract(ref SATPoint, ref body0NewPos, out cp0);
Vector3 cp1;
Vector3.Subtract(ref SATPoint, ref body1NewPos, out cp1);
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(ref cp0, ref cp1, oldDepth);
}
#endregion
}
// report Collisions
collisionFunctor.CollisionNotify(ref info, ref N, collPts, numCollPts);
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
///
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
Capsule newCapsule = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
Heightmap oldHeightmap = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Heightmap;
Heightmap newHeightmap = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Heightmap;
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
#endif
{
int numCollPts = 0;
Vector3 averageNormal = Vector3.Zero;
// the start
{
float oldDist, newDist;
Vector3 normal;
oldHeightmap.GetHeightAndNormal(out oldDist, out normal, oldCapsule.Position);
newHeightmap.GetHeightAndNormal(out newDist, out normal, newCapsule.Position);
if (MathHelper.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
{
float oldDepth = oldCapsule.Radius - oldDist;
// calc the world position based on the old position(s)
Vector3 worldPos = oldCapsule.Position - oldCapsule.Radius * normal;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
}
averageNormal += normal;
}
}
// the end
{
Vector3 oldEnd = oldCapsule.GetEnd();
Vector3 newEnd = newCapsule.GetEnd();
float oldDist, newDist;
Vector3 normal;
oldHeightmap.GetHeightAndNormal(out oldDist, out normal, oldEnd);
newHeightmap.GetHeightAndNormal(out newDist, out normal, newEnd);
if (MathHelper.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
{
float oldDepth = oldCapsule.Radius - oldDist;
// calc the world position based on the old position(s)
Vector3 worldPos = oldEnd - oldCapsule.Radius * normal;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
}
averageNormal += normal;
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref averageNormal);
collisionFunctor.CollisionNotify(ref info, ref averageNormal, collPts, numCollPts);
}
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
public override void DetectCollisions(Body body, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
if (!body.IsActive)
return;
CollDetectInfo info = new CollDetectInfo();
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
return;
int bodyPrimitives = info.Skin0.NumPrimitives;
int numSkins = skins.Count;
for (int skin = 0; skin < numSkins; ++skin)
{
info.Skin1 = skins[skin];
if ((info.Skin0 != info.Skin1) && CheckCollidables(info.Skin0, info.Skin1))
{
int primitives = info.Skin1.NumPrimitives;
for (info.IndexPrim0 = 0; info.IndexPrim0 < bodyPrimitives; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 < primitives; ++info.IndexPrim1)
{
DetectFunctor f =
GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
}
}
/// <summary>
/// DoOverlapBoxTriangleTest
/// </summary>
/// <param name="oldBox"></param>
/// <param name="newBox"></param>
/// <param name="triangle"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
/// <returns>bool</returns>
private static bool DoOverlapBoxTriangleTest(Box oldBox, Box newBox,
ref IndexedTriangle triangle, TriangleMesh mesh,
ref CollDetectInfo info, float collTolerance,
CollisionFunctor collisionFunctor)
{
Matrix4 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
Matrix4 transformMatrix = mesh.TransformMatrix;
Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0);
Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
Vector3.Transform(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();
// BEN-OPTIMISATION: Replaced loops with code that requires no looping.
// The new code is faster, has less allocations and math especially
// since the method returns as soon as it finds a non-overlapping axis,
// i.e. Before irreleveat allocations occur.
#region "Old (less efficient) code"
/*Vector3 triNormal = triangle.Plane.Normal;
*
* // the 15 potential separating axes
* const int numAxes = 13;
* Vector3[] axes = new Vector3[numAxes];
*
* axes[0] = triNormal;
* axes[1] = dirs0.Right;
* axes[2] = dirs0.Up;
* axes[3] = dirs0.Backward;
* 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];*/
#endregion
#region "Optimised code"
Vector3 triNormal = triangle.Plane.Normal;
Vector3 right = dirs0.Right();
Vector3 up = dirs0.Up();
Vector3 backward = dirs0.Backward();
float testDepth;
if (Disjoint(out testDepth, ref triNormal, newBox, ref tri, collTolerance))
{
return(false);
}
float depth = testDepth;
Vector3 N = triNormal;
if (Disjoint(out testDepth, ref right, newBox, ref tri, collTolerance))
{
return(false);
}
if (testDepth < depth)
{
depth = testDepth;
N = right;
}
if (Disjoint(out testDepth, ref up, newBox, ref tri, collTolerance))
{
return(false);
}
if (testDepth < depth)
{
depth = testDepth;
N = up;
}
if (Disjoint(out testDepth, ref backward, newBox, ref tri, collTolerance))
{
return(false);
}
if (testDepth < depth)
{
depth = testDepth;
N = backward;
}
Vector3 axis;
Vector3.Cross(ref right, ref triEdge0, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
{
return(false);
}
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref right, ref triEdge1, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
{
return(false);
}
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref right, ref triEdge2, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
{
return(false);
}
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref up, ref triEdge0, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
{
return(false);
}
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref up, ref triEdge1, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
{
return(false);
}
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref up, ref triEdge2, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
{
return(false);
}
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref backward, ref triEdge0, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
{
return(false);
}
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref backward, ref triEdge1, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
{
return(false);
}
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref backward, ref triEdge2, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
{
return(false);
}
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
/*if (N == Vector3.Zero)
* return (false);*/
Vector3 D = newBox.GetCentre() - tri.Centre;
N.Normalize();
int i;
#endregion
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(ref delta, ref N, out oldDepth);
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)
{
// BEN-OPTIMISATION: Reused existing SmallCollPointInfo and inlined vector substraction.
collPts[i].R0.X = pts[i].X - boxNewPos.X;
collPts[i].R0.Y = pts[i].Y - boxNewPos.Y;
collPts[i].R0.Z = pts[i].Z - boxNewPos.Z;
collPts[i].R1.X = pts[i].X - meshPos.X;
collPts[i].R1.Y = pts[i].Y - meshPos.Y;
collPts[i].R1.Z = pts[i].Z - meshPos.Z;
collPts[i].InitialPenetration = 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);
}
}
}
}
/// <summary>
/// CollDetectSweep
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
private void CollDetectSweep(ref CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// todo - proper swept test
// note - mesh is static and its triangles are in world space
TriangleMesh mesh = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as TriangleMesh;
Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
Vector3 oldCentre;
oldBox.GetCentre(out oldCentre);
Vector3 newCentre;
newBox.GetCentre(out newCentre);
Vector3 delta;
Vector3.Subtract(ref newCentre, ref oldCentre, out delta);
float boxMinLen = 0.5f * System.Math.Min(newBox.SideLengths.X, System.Math.Min(newBox.SideLengths.Y, newBox.SideLengths.Z));
int nPositions = 1 + (int)(delta.Length / boxMinLen);
// limit the max positions...
if (nPositions > 50)
{
System.Diagnostics.Debug.WriteLine("Warning - clamping max positions in swept box test");
nPositions = 50;
}
if (nPositions == 1)
{
CollDetectBoxStaticMeshOverlap(oldBox, newBox, mesh,ref info, collTolerance, collisionFunctor);
}
else
{
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddBox(oldBox, ref bb);
BoundingBoxHelper.AddBox(newBox, ref bb);
unsafe
{
#if USE_STACKALLOC
int* potentialTriangles = stackalloc int[MaxLocalStackTris];
{
#else
int[] potTriArray = IntStackAlloc();
fixed( int* potentialTriangles = potTriArray)
{
#endif
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
if (numTriangles > 0)
{
for (int i = 0; i <= nPositions; ++i)
{
float frac = ((float)i) / nPositions;
Vector3 centre;
Vector3.Multiply(ref delta, frac, out centre);
Vector3.Add(ref centre, ref oldCentre, out centre);
Matrix4 orient = Matrix4Extensions.Add(Matrix4Extensions.Multiply(oldBox.Orientation, 1.0f - frac), Matrix4Extensions.Multiply(newBox.Orientation, frac));
Box box = new Box(centre - 0.5f * Vector3Extensions.TransformNormal(newBox.SideLengths, orient), orient, newBox.SideLengths);
// ideally we'd break if we get one collision... but that stops us getting multiple collisions
// when we enter a corner (two walls meeting) - can let us pass through
CollDetectBoxStaticMeshOverlap(oldBox, box, mesh, ref info, collTolerance, collisionFunctor);
}
}
#if USE_STACKALLOC
}
#else
}
FreeStackAlloc(potTriArray);
#endif
}
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
// get the skins in the order that we're expecting
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;
Capsule oldCapsule = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Capsule;
Capsule newCapsule = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Capsule;
Segment oldSeg = new Segment(oldCapsule.Position, oldCapsule.Length * oldCapsule.Orientation.Backward());
Segment newSeg = new Segment(oldCapsule.Position, newCapsule.Length * newCapsule.Orientation.Backward());
float radSum = newCapsule.Radius + newSphere.Radius;
float oldt, newt;
float oldDistSq = Distance.PointSegmentDistanceSq(out oldt, oldSphere.Position, oldSeg);
float newDistSq = Distance.PointSegmentDistanceSq(out newt, newSphere.Position, newSeg);
if (OpenTKHelper.Min(oldDistSq, newDistSq) < (radSum + collTolerance) * (radSum + collTolerance))
{
Vector3 segPos = oldSeg.GetPoint(oldt);
Vector3 delta = oldSphere.Position - segPos;
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - dist;
if (dist > JiggleMath.Epsilon)
{
delta /= dist;
}
else
{
// todo - make this not random
delta = Vector3Extensions.TransformNormal(Vector3Extensions.Backward, Matrix4.CreateFromAxisAngle(Vector3Extensions.Up, OpenTKHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = segPos +
((oldCapsule.Radius - 0.5f * depth) * delta);
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos,
worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref delta, &collInfo, 1);
}
}
}
/// <summary>
/// CollDetectCapsuleStaticMeshOverlap
/// </summary>
/// <param name="oldCapsule"></param>
/// <param name="newCapsule"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
private void CollDetectCapsuleStaticMeshOverlap(Capsule oldCapsule, Capsule newCapsule,
TriangleMesh mesh, CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
float capsuleTolR = collTolerance + newCapsule.Radius;
float capsuleTolR2 = capsuleTolR * capsuleTolR;
Vector3 collNormal = Vector3.Zero;
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddCapsule(newCapsule, ref bb);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
int* potentialTriangles = stackalloc int[MaxLocalStackTris];
{
{
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
{
int[] potTriArray = IntStackAlloc();
fixed (int* potentialTriangles = potTriArray)
{
#endif
int numCollPts = 0;
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
Vector3 capsuleStart = newCapsule.Position;
Vector3 capsuleEnd = newCapsule.GetEnd();
Matrix4 meshInvTransform = mesh.InverseTransformMatrix;
Vector3 meshSpaceCapsuleStart = Vector3.Transform(capsuleStart, meshInvTransform);
Vector3 meshSpaceCapsuleEnd = Vector3.Transform(capsuleEnd, meshInvTransform);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
// we do the plane test using the capsule in mesh space
float distToStart = meshTriangle.Plane.DotCoordinate(meshSpaceCapsuleStart);
float distToEnd = meshTriangle.Plane.DotCoordinate(meshSpaceCapsuleEnd);
// BEN-BUG-FIX: Fixed by replacing 0.0F with -capsuleTolR.
if ((distToStart > capsuleTolR && distToEnd > capsuleTolR)
|| (distToStart < -capsuleTolR && distToEnd < -capsuleTolR))
continue;
// we now transform the triangle into world space (we could keep leave the mesh alone
// but at this point 3 vector transforms is probably not a major slow down)
int i0, i1, i2;
meshTriangle.GetVertexIndices(out i0, out i1, out i2);
Vector3 triVec0;
Vector3 triVec1;
Vector3 triVec2;
mesh.GetVertex(i0, out triVec0);
mesh.GetVertex(i1, out triVec1);
mesh.GetVertex(i2, out triVec2);
// Deano move tri into world space
Matrix4 transformMatrix = mesh.TransformMatrix;
Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0);
Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2);
Triangle triangle = new Triangle(ref triVec0, ref triVec1, ref triVec2);
Segment seg = new Segment(capsuleStart, capsuleEnd - capsuleStart);
float tS, tT0, tT1;
float d2 = Distance.SegmentTriangleDistanceSq(out tS, out tT0, out tT1, seg, triangle);
if (d2 < capsuleTolR2)
{
Vector3 oldCapsuleStart = oldCapsule.Position;
Vector3 oldCapsuleEnd = oldCapsule.GetEnd();
Segment oldSeg = new Segment(oldCapsuleStart, oldCapsuleEnd - oldCapsuleStart);
d2 = Distance.SegmentTriangleDistanceSq(out tS, out tT0, out tT1, oldSeg, triangle);
// report result from old position
float dist = (float)System.Math.Sqrt(d2);
float depth = oldCapsule.Radius - dist;
Vector3 pt = triangle.GetPoint(tT0, tT1);
Vector3 collisionN = (d2 > JiggleMath.Epsilon) ? JiggleMath.NormalizeSafe(oldSeg.GetPoint(tS) - pt) :
meshTriangle.Plane.Normal;
if (numCollPts < MaxLocalStackSCPI)
{
// BEN-OPTIMISATION: Reused existing collPts.
collPts[numCollPts].R0 = pt - body0Pos;
collPts[numCollPts].R1 = pt - body1Pos;
collPts[numCollPts++].InitialPenetration = depth;
}
collNormal += collisionN;
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
}
#if USE_STACKALLOC
}
}
#else
}
FreeStackAlloc(potTriArray);
}
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
/// CollDetectSphereStaticMeshSweep
/// </summary>
/// <param name="oldSphere"></param>
/// <param name="newSphere"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
internal static void CollDetectSphereStaticMeshSweep(BoundingSphere oldSphere, BoundingSphere newSphere, TriangleMesh mesh,
CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// really use a swept test - or overlap?
Vector3 delta = newSphere.Center - oldSphere.Center;
if (delta.LengthSquared() < (0.25f * newSphere.Radius * newSphere.Radius))
{
CollDetectSphereStaticMeshOverlap(oldSphere, newSphere, mesh, info, collTolerance, collisionFunctor);
}
else
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
float sphereTolR = collTolerance + oldSphere.Radius;
float sphereToR2 = sphereTolR * sphereTolR;
Vector3 collNormal = Vector3.Zero;
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddSphere(oldSphere, ref bb);
BoundingBoxHelper.AddSphere(newSphere, ref bb);
// get the spheres centers in triangle mesh space
Vector3 newSphereCen = Vector3.Transform(newSphere.Center, mesh.InverseTransformMatrix);
Vector3 oldSphereCen = Vector3.Transform(oldSphere.Center, mesh.InverseTransformMatrix);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo *collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
int *potentialTriangles = stackalloc int[MaxLocalStackTris];
{
{
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed(SmallCollPointInfo *collPts = collPtArray)
{
int[] potTriArray = IntStackAlloc();
fixed(int *potentialTriangles = potTriArray)
{
#endif
int numCollPts = 0;
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
// first test the old sphere for being on the wrong side
IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
float distToCentreOld = meshTriangle.Plane.DotCoordinate(oldSphereCen);
if (distToCentreOld <= 0.0f)
{
continue;
}
// now test the new sphere for being clear
float distToCentreNew = meshTriangle.Plane.DotCoordinate(newSphereCen);
if (distToCentreNew > sphereTolR)
{
continue;
}
int i0, i1, i2;
meshTriangle.GetVertexIndices(out i0, out i1, out i2);
Triangle triangle = new Triangle(mesh.GetVertex(i0), mesh.GetVertex(i1), mesh.GetVertex(i2));
// If the old sphere is intersecting, just use that result
float s, t;
float d2 = Distance.PointTriangleDistanceSq(out s, out t, oldSphereCen, triangle);
if (d2 < sphereToR2)
{
float dist = (float)System.Math.Sqrt(d2);
float depth = oldSphere.Radius - dist;
Vector3 triangleN = triangle.Normal;
Vector3 normSafe = oldSphereCen - triangle.GetPoint(s, t);
JiggleMath.NormalizeSafe(ref normSafe);
Vector3 collisionN = (dist > float.Epsilon) ? normSafe : triangleN;
// since impulse gets applied at the old position
Vector3 pt = oldSphere.Center - oldSphere.Radius * collisionN;
if (numCollPts < MaxLocalStackSCPI)
{
// BEN-OPTIMISATION: Reuse existing collPts.
collPts[numCollPts].R0 = pt - body0Pos;
collPts[numCollPts].R1 = pt - body1Pos;
collPts[numCollPts++].InitialPenetration = depth;
}
collNormal += collisionN;
}
else if (distToCentreNew < distToCentreOld)
{
// old sphere is not intersecting - do a sweep, but only if the sphere is moving into the
// triangle
Vector3 pt, N; // CHECK THIS
float depth;
if (Intersection.SweptSphereTriangleIntersection(out pt, out N, out depth, oldSphere, newSphere, triangle,
distToCentreOld, distToCentreNew, Intersection.EdgesToTest.EdgeAll, Intersection.CornersToTest.CornerAll))
{
// collision point etc must be relative to the old position because that's
//where the impulses are applied
float dist = (float)System.Math.Sqrt(d2);
float depth2 = oldSphere.Radius - dist;
Vector3 triangleN = triangle.Normal;
Vector3 normSafe = oldSphereCen - triangle.GetPoint(s, t);
JiggleMath.NormalizeSafe(ref normSafe);
Vector3 collisionN = (dist > JiggleMath.Epsilon) ? normSafe : triangleN;
// since impulse gets applied at the old position
Vector3 pt2 = oldSphere.Center - oldSphere.Radius * collisionN;
if (numCollPts < MaxLocalStackSCPI)
{
// BEN-OPTIMISATION: Reuse existing collPts.
collPts[numCollPts].R0 = pt2 - body0Pos;
collPts[numCollPts].R1 = pt2 - body1Pos;
collPts[numCollPts++].InitialPenetration = depth;
}
collNormal += collisionN;
}
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
}
}
#if USE_STACKALLOC
}
}
#else
FreeStackAlloc(potTriArray);
}
FreeStackAlloc(collPtArray);
}
#endif
}
}
/// <summary> /// /// </summary> /// <param name="info"></param> /// <param name="collTolerance"></param> /// <param name="collisionFunctor"></param> public abstract void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor);
private void CollDetectSweep(ref CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// todo - proper swept test
// note - mesh is static and its triangles are in world space
TriangleMesh mesh = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as TriangleMesh;
Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
Vector3 oldCentre;
oldBox.GetCentre(out oldCentre);
Vector3 newCentre;
newBox.GetCentre(out newCentre);
Vector3 delta;
Vector3.Subtract(ref newCentre, ref oldCentre, out delta);
float boxMinLen = 0.5f * System.Math.Min(newBox.SideLengths.X, System.Math.Min(newBox.SideLengths.Y, newBox.SideLengths.Z));
int nPositions = 1 + (int)(delta.Length() / boxMinLen);
// limit the max positions...
if (nPositions > 50)
{
System.Diagnostics.Debug.WriteLine("Warning - clamping max positions in swept box test");
nPositions = 50;
}
if (nPositions == 1)
{
CollDetectBoxStaticMeshOverlap(oldBox, newBox, mesh, ref info, collTolerance, collisionFunctor);
}
else
{
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddBox(oldBox, ref bb);
BoundingBoxHelper.AddBox(newBox, ref bb);
unsafe
{
#if USE_STACKALLOC
int *potentialTriangles = stackalloc int[MaxLocalStackTris];
{
#else
int[] potTriArray = IntStackAlloc();
fixed(int *potentialTriangles = potTriArray)
{
#endif
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
if (numTriangles > 0)
{
for (int i = 0; i <= nPositions; ++i)
{
float frac = ((float)i) / nPositions;
Vector3 centre;
Vector3.Multiply(ref delta, frac, out centre);
Vector3.Add(ref centre, ref oldCentre, out centre);
Matrix orient = Matrix.Add(Matrix.Multiply(oldBox.Orientation, 1.0f - frac), Matrix.Multiply(newBox.Orientation, frac));
Box box = new Box(centre - 0.5f * Vector3.Transform(newBox.SideLengths, orient), orient, newBox.SideLengths);
// ideally we'd break if we get one collision... but that stops us getting multiple collisions
// when we enter a corner (two walls meeting) - can let us pass through
CollDetectBoxStaticMeshOverlap(oldBox, box, mesh, ref info, collTolerance, collisionFunctor);
}
}
#if USE_STACKALLOC
}
#else
}
FreeStackAlloc(potTriArray);
#endif
}
}
}
/// <summary>
/// CollDetectSweep
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
private void CollDetectSweep(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Capsule oldCapsule = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
Capsule newCapsule = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
// todo - proper swept test
// note - mesh is static and its triangles are in world space
TriangleMesh mesh = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as TriangleMesh;
CollDetectCapsulseStaticMeshSweep(oldCapsule, newCapsule, mesh, info, collTolerance, collisionFunctor);
}
/// <summary>
/// As DetectCollisions but detects for all bodies, testing each pair
/// only once
/// </summary>
/// <param name="bodies"></param>
/// <param name="collisionFunctor"></param>
/// <param name="collisionPredicate"></param>
/// <param name="collTolerance"></param>
public abstract void DetectAllCollisions(List<Body> bodies, CollisionFunctor collisionFunctor,
CollisionSkinPredicate2 collisionPredicate, float collTolerance);
/// <summary>
/// Detect BoxPlane Collisions.
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
JPlane oldPlane = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as JPlane;
JPlane newPlane = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as JPlane;
Matrix newPlaneInvTransform = newPlane.InverseTransformMatrix;
Vector3 newBoxCen = Vector3.Transform(newBox.GetCentre(), newPlaneInvTransform);
// quick check
float centreDist = Distance.PointPlaneDistance(newBoxCen, newPlane);
if (centreDist > collTolerance + newBox.GetBoundingRadiusAroundCentre())
{
return;
}
Matrix oldPlaneInvTransform = oldPlane.InverseTransformMatrix;
Vector3[] newPts;
newBox.GetCornerPoints(out newPts);
Vector3[] oldPts;
oldBox.GetCornerPoints(out oldPts);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo *collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed(SmallCollPointInfo *collPts = collPtArray)
#endif
{
int numCollPts = 0;
for (int i = 0; i < 8; ++i)
{
Vector3.Transform(ref oldPts[i], ref oldPlaneInvTransform, out oldTransPts[i]);
Vector3.Transform(ref newPts[i], ref newPlaneInvTransform, out newPts[i]);
float oldDepth = -Distance.PointPlaneDistance(ref oldTransPts[i], oldPlane);
float newDepth = -Distance.PointPlaneDistance(ref newPts[i], newPlane);
if (MathHelper.Max(oldDepth, newDepth) > -collTolerance)
{
if (numCollPts < MaxLocalStackSCPI)
{
// BEN-OPTIMISATION: Now reuses instead of reallocating.
collPts[numCollPts].R0 = oldPts[i] - body0Pos;
collPts[numCollPts].R1 = oldPts[i] - body1Pos;
collPts[numCollPts++].InitialPenetration = oldDepth;
}
}
}
if (numCollPts > 0)
{
collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, collPts, numCollPts);
}
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
// get the skins in the order that we're expecting
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;
Capsule oldCapsule = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Capsule;
Capsule newCapsule = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Capsule;
Segment oldSeg = new Segment(oldCapsule.Position, oldCapsule.Length * oldCapsule.Orientation.Backward);
Segment newSeg = new Segment(oldCapsule.Position, newCapsule.Length * newCapsule.Orientation.Backward);
float radSum = newCapsule.Radius + newSphere.Radius;
float oldt, newt;
float oldDistSq = Distance.PointSegmentDistanceSq(out oldt, oldSphere.Position, oldSeg);
float newDistSq = Distance.PointSegmentDistanceSq(out newt, newSphere.Position, newSeg);
if (MathHelper.Min(oldDistSq, newDistSq) < (radSum + collTolerance) * (radSum + collTolerance))
{
Vector3 segPos = oldSeg.GetPoint(oldt);
Vector3 delta = oldSphere.Position - segPos;
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radSum - dist;
if (dist > JiggleMath.Epsilon)
{
delta /= dist;
}
else
{
// todo - make this not random
delta = Vector3.TransformNormal(Vector3.Backward, Matrix.CreateFromAxisAngle(Vector3.Up, MathHelper.ToRadians(random.Next(360))));
}
Vector3 worldPos = segPos +
((oldCapsule.Radius - 0.5f * depth) * delta);
#if WINDOWS_PHONE
this.collInfo[0] = new SmallCollPointInfo(worldPos - body0Pos,
worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref delta, this.collInfo, 1);
#else
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos,
worldPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref delta, &collInfo, 1);
}
#endif
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
// get the skins in the order that we're expecting
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper sweep test
Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;
Box oldBox = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Box;
Box newBox = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Box;
Vector3 oldBoxPoint;
Vector3 newBoxPoint;
float oldDist = oldBox.GetDistanceToPoint(out oldBoxPoint, oldSphere.Position);
float newDist = newBox.GetDistanceToPoint(out newBoxPoint, newSphere.Position);
// normally point will be outside
float oldDepth = oldSphere.Radius - oldDist;
float newDepth = newSphere.Radius - newDist;
if (System.Math.Max(oldDepth, newDepth) > -collTolerance)
{
Vector3 dir;
if (oldDist < -JiggleMath.Epsilon)
{
dir = oldBoxPoint - oldSphere.Position - oldBoxPoint;
JiggleMath.NormalizeSafe(ref dir);
}
else if (oldDist > JiggleMath.Epsilon)
{
dir = oldSphere.Position - oldBoxPoint;
JiggleMath.NormalizeSafe(ref dir);
}
else
{
dir = oldSphere.Position - oldBox.GetCentre();
JiggleMath.NormalizeSafe(ref dir);
}
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(oldBoxPoint - body0Pos,
oldBoxPoint - body1Pos, oldDepth);
collisionFunctor.CollisionNotify(ref info, ref dir, &collInfo, 1);
}
}
#endregion
}
/// <summary>
/// Detect BoxPlane Collisions.
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
JPlane oldPlane = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as JPlane;
JPlane newPlane = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as JPlane;
Matrix4 newPlaneInvTransform = newPlane.InverseTransformMatrix;
Vector3 newBoxCen = Vector3.Transform(newBox.GetCentre(), newPlaneInvTransform);
// quick check
float centreDist = Distance.PointPlaneDistance(newBoxCen, newPlane);
if (centreDist > collTolerance + newBox.GetBoundingRadiusAroundCentre())
return;
Matrix4 oldPlaneInvTransform = oldPlane.InverseTransformMatrix;
Vector3[] newPts;
newBox.GetCornerPoints(out newPts);
Vector3[] oldPts;
oldBox.GetCornerPoints(out oldPts);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
#endif
{
int numCollPts = 0;
for (int i = 0; i < 8; ++i)
{
Vector3.Transform(ref oldPts[i], ref oldPlaneInvTransform, out oldTransPts[i]);
Vector3.Transform(ref newPts[i], ref newPlaneInvTransform, out newPts[i]);
float oldDepth = -Distance.PointPlaneDistance(ref oldTransPts[i], oldPlane);
float newDepth = -Distance.PointPlaneDistance(ref newPts[i], newPlane);
if (OpenTKHelper.Max(oldDepth, newDepth) > -collTolerance)
{
if (numCollPts < MaxLocalStackSCPI)
{
// BEN-OPTIMISATION: Now reuses instead of reallocating.
collPts[numCollPts].R0 = oldPts[i] - body0Pos;
collPts[numCollPts].R1 = oldPts[i] - body1Pos;
collPts[numCollPts++].InitialPenetration = oldDepth;
}
}
}
if (numCollPts > 0)
{
collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, collPts, numCollPts);
}
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
// get the skins in the order that we're expecting
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper sweep test
Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;
Box oldBox = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Box;
Box newBox = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Box;
Vector3 oldBoxPoint;
Vector3 newBoxPoint;
float oldDist = oldBox.GetDistanceToPoint(out oldBoxPoint, oldSphere.Position);
float newDist = newBox.GetDistanceToPoint(out newBoxPoint, newSphere.Position);
// normally point will be outside
float oldDepth = oldSphere.Radius - oldDist;
float newDepth = newSphere.Radius - newDist;
if (System.Math.Max(oldDepth, newDepth) > -collTolerance)
{
Vector3 dir;
if (oldDist < -JiggleMath.Epsilon)
{
dir = oldBoxPoint - oldSphere.Position - oldBoxPoint;
JiggleMath.NormalizeSafe(ref dir);
}
else if (oldDist > JiggleMath.Epsilon)
{
dir = oldSphere.Position - oldBoxPoint;
JiggleMath.NormalizeSafe(ref dir);
}
else
{
dir = oldSphere.Position - oldBox.GetCentre();
JiggleMath.NormalizeSafe(ref dir);
}
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(oldBoxPoint - body0Pos,
oldBoxPoint - body1Pos, oldDepth);
collisionFunctor.CollisionNotify(ref info, ref dir, &collInfo, 1);
}
}
#endregion
}
/// <summary>
/// Detects all collisions between the body and all the registered
/// collision skins (which should have already had their
/// positions/bounding volumes etc updated). For each potential
/// pair of skins then the predicate (if it exists) will be called
/// to see whether or not to continue. If the skins are closer
/// than collTolerance (+ve value means report objects that aren't
/// quite colliding) then the functor will get called.
/// You can't just loop over all your bodies calling this, because
/// that will double-detect collisions. Use DetectAllCollisions for
/// that.
/// </summary>
public abstract void DetectCollisions(Body body, CollisionFunctor collisionFunctor,
CollisionSkinPredicate2 collisionPredicate, float collTolerance);
public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
var oldCapsule = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
var newCapsule = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
var oldHeightmap = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as CubeHeightmapCollisionShape;
var newHeightmap = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as CubeHeightmapCollisionShape;
Vector3[] oldPoints = new Vector3[2];
Vector3[] newPoints = new Vector3[2];
oldPoints[0] = oldCapsule.Position;
oldPoints[1] = oldCapsule.GetEnd();
newPoints[0] = newCapsule.Position;
newPoints[1] = newCapsule.GetEnd();
if (capsuleBoxDetectFunctor == null)
{
capsuleBoxDetectFunctor = PhysicsSystem.CurrentPhysicsSystem.CollisionSystem.GetCollDetectFunctor(
(int) PrimitiveType.Capsule, (int) PrimitiveType.Box);
}
oldHeightmap.GetMapPositions(oldPoints, oldMapPositions);
newHeightmap.GetMapPositions(newPoints, newMapPositions);
// TODO: needed ?
foreach (var oldMapPosition in oldMapPositions)
{
if (!newMapPositions.Contains(oldMapPosition))
{
newMapPositions.Add(oldMapPosition);
}
}
bool sameHeight = true;
float prevHeight = newHeightmap.GetHeight(newMapPositions[0]);
for (int i = 1; i < newMapPositions.Count; i++)
{
if (prevHeight != newHeightmap.GetHeight(newMapPositions[i]))
{
sameHeight = false;
break;
}
}
#region As plane
if (sameHeight)
{
virtualPlaneSkin.SetMaterialProperties(0, info.Skin1.GetMaterialProperties(info.IndexPrim1));
var vcdi = new CollDetectInfo()
{
Skin0 = info.Skin0,
Skin1 = virtualPlaneSkin,
IndexPrim0 = info.IndexPrim0,
IndexPrim1 = 0
};
virtualCollisionFunctor.CollisionFunctorEntity = collisionFunctor;
virtualCollisionFunctor.CollDetectInfoEntity = info;
var oldPlane = virtualPlaneSkin.GetPrimitiveOldWorld(0) as JPlane;
var newPlane = virtualPlaneSkin.GetPrimitiveNewWorld(0) as JPlane;
oldHeightmap.PrepareVirtualPlane(newMapPositions[0], oldPlane);
newHeightmap.PrepareVirtualPlane(newMapPositions[0], newPlane);
if (capsulePlaneDetectFunctor == null)
{
var collisionSystem = PhysicsSystem.CurrentPhysicsSystem.CollisionSystem;
capsulePlaneDetectFunctor = collisionSystem.GetCollDetectFunctor(
(int) PrimitiveType.Capsule,
(int) PrimitiveType.Plane);
}
virtualCollisionFunctor.CollisionFunctorEntity = collisionFunctor;
virtualCollisionFunctor.CollDetectInfoEntity = info;
capsulePlaneDetectFunctor.CollDetect(vcdi, collTolerance, virtualCollisionFunctor);
return;
}
#endregion
#region As boxes
virtualBoxSkin.SetMaterialProperties(0, info.Skin1.GetMaterialProperties(info.IndexPrim1));
CollDetectInfo virtualCollDetectInfo = new CollDetectInfo()
{
Skin0 = info.Skin0,
Skin1 = virtualBoxSkin,
IndexPrim0 = info.IndexPrim0,
IndexPrim1 = 0
};
virtualCollisionFunctor.CollisionFunctorEntity = collisionFunctor;
virtualCollisionFunctor.CollDetectInfoEntity = info;
foreach (var newMapPosition in newMapPositions)
{
var oldPrimitive = virtualBoxSkin.GetPrimitiveOldWorld(0) as Box;
var newPrimitive = virtualBoxSkin.GetPrimitiveNewWorld(0) as Box;
oldHeightmap.PrepareVirtualBox(newMapPosition, oldPrimitive);
newHeightmap.PrepareVirtualBox(newMapPosition, newPrimitive);
capsuleBoxDetectFunctor.CollDetect(virtualCollDetectInfo, collTolerance, virtualCollisionFunctor);
}
#endregion
}
/// <summary>
///
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Sphere oldSphere = (Sphere)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
Sphere newSphere = (Sphere)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
Heightmap oldHeightmap = (Heightmap)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
Heightmap newHeightmap = (Heightmap)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
float newDist;
Vector3 normal;
newHeightmap.GetHeightAndNormal(out newDist, out normal, newSphere.Position);
if (newDist < collTolerance + newSphere.Radius)
{
float oldDist = oldHeightmap.GetHeight(oldSphere.Position);
float depth = oldSphere.Radius - oldDist;
// calc the world position when it just hit
Vector3 oldPt = oldSphere.Position - oldSphere.Radius * normal;
unsafe
{
SmallCollPointInfo ptInfo = new SmallCollPointInfo(oldPt - body0Pos, oldPt - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref normal, &ptInfo, 1);
}
}
}
/// <summary>
/// CollDetectCapsulseStaticMeshSweep
/// </summary>
/// <param name="oldCapsule"></param>
/// <param name="newCapsule"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
private void CollDetectCapsulseStaticMeshSweep(Capsule oldCapsule, Capsule newCapsule,
TriangleMesh mesh, CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// really use a swept test - or overlap?
Vector3 delta = newCapsule.Position - oldCapsule.Position;
if (delta.LengthSquared < (0.25f * newCapsule.Radius * newCapsule.Radius))
{
CollDetectCapsuleStaticMeshOverlap(oldCapsule, newCapsule, mesh, info, collTolerance, collisionFunctor);
}
else
{
float capsuleLen = oldCapsule.Length;
float capsuleRadius = oldCapsule.Radius;
int nSpheres = 2 + (int)(capsuleLen / (2.0f * oldCapsule.Radius));
for (int iSphere = 0; iSphere < nSpheres; ++iSphere)
{
float offset = ((float)iSphere) * capsuleLen / ((float)nSpheres - 1.0f);
BoundingSphere oldSphere = new BoundingSphere(oldCapsule.Position + oldCapsule.Orientation.Backward() * offset, capsuleRadius);
BoundingSphere newSphere = new BoundingSphere(newCapsule.Position + newCapsule.Orientation.Backward() * offset, capsuleRadius);
CollDetectSphereStaticMesh.CollDetectSphereStaticMeshSweep(oldSphere, newSphere, mesh, info, collTolerance, collisionFunctor);
}
}
}
/// <summary>
/// Detect BoxHeightmap Collisions.
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
Heightmap oldHeightmap = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Heightmap;
Heightmap newHeightmap = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Heightmap;
Vector3[] oldPts, newPts;
oldBox.GetCornerPoints(out oldPts);
newBox.GetCornerPoints(out newPts);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
#endif
{
int numCollPts = 0;
Vector3 collNormal = Vector3.Zero;
for (int i = 0; i < 8; ++i)
{
Vector3 newPt = newPts[i];
float newDist;
Vector3 normal;
newHeightmap.GetHeightAndNormal(out newDist, out normal, newPt);
if (newDist < collTolerance)
{
Vector3 oldPt = oldPts[i];
float oldDist = oldHeightmap.GetHeight(oldPt);
#region REFERENCE: collPts.Add(new CollPointInfo(oldPt - body0Pos, oldPt - body1Pos, -oldDist));
Vector3 pt0;
Vector3 pt1;
Vector3.Subtract(ref oldPt, ref body0Pos, out pt0);
Vector3.Subtract(ref oldPt, ref body1Pos, out pt1);
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(ref pt0, ref pt1, -oldDist);
}
#endregion
#region REFERENCE: collNormal += normal;
Vector3.Add(ref collNormal, ref normal, out collNormal);
#endregion
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
}
}
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
/// DetectAllCollisions
/// </summary>
/// <param name="bodies"></param>
/// <param name="collisionFunctor"></param>
/// <param name="collisionPredicate"></param>
/// <param name="collTolerance"></param>
public override void DetectAllCollisions(List<Body> bodies, CollisionFunctor collisionFunctor, CollisionSkinPredicate2 collisionPredicate, float collTolerance)
{
int numSkins = skins.Count;
int numBodies = bodies.Count;
CollDetectInfo info = new CollDetectInfo();
for (int ibody = 0; ibody < numBodies; ++ibody)
{
Body body = bodies[ibody];
if(!body.IsActive)
continue;
info.Skin0 = body.CollisionSkin;
if (info.Skin0 == null)
continue;
for (int skin = 0; skin < numSkins; ++skin)
{
info.Skin1 = skins[skin];
if (info.Skin0 == info.Skin1)
continue;
// CHANGE
if (info.Skin1 == null)
continue;
bool skinSleeping = true;
if (info.Skin1.Owner != null && info.Skin1.Owner.IsActive)
skinSleeping = false;
if ((skinSleeping == false) && (info.Skin1.ID < info.Skin0.ID))
continue;
if((collisionPredicate != null) &&
collisionPredicate.ConsiderSkinPair(info.Skin0,info.Skin1) == false)
continue;
// basic bbox test
if(BoundingBoxHelper.OverlapTest(ref info.Skin0.WorldBoundingBox,
ref info.Skin1.WorldBoundingBox,collTolerance))
{
if (CheckCollidables(info.Skin0,info.Skin1))
{
int bodyPrimitives = info.Skin0.NumPrimitives;
int primitves = info.Skin1.NumPrimitives;
for(info.IndexPrim0 = 0; info.IndexPrim0 < bodyPrimitives; ++info.IndexPrim0)
{
for (info.IndexPrim1 = 0; info.IndexPrim1 < primitves; ++info.IndexPrim1)
{
DetectFunctor f = GetCollDetectFunctor(info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0).Type,
info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1).Type);
if (f != null)
f.CollDetect(info, collTolerance, collisionFunctor);
}
}
}
} // overlapt test
} // loop over skins
} // loop over bodies
}
/// <summary>
/// DoOverlapBoxTriangleTest
/// </summary>
/// <param name="oldBox"></param>
/// <param name="newBox"></param>
/// <param name="triangle"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
/// <returns>bool</returns>
private static bool DoOverlapBoxTriangleTest(Box oldBox, Box newBox,
ref IndexedTriangle triangle, TriangleMesh mesh,
ref CollDetectInfo info, float collTolerance,
CollisionFunctor collisionFunctor)
{
Matrix4 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
Matrix4 transformMatrix = mesh.TransformMatrix;
Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0);
Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
Vector3.Transform(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();
// BEN-OPTIMISATION: Replaced loops with code that requires no looping.
// The new code is faster, has less allocations and math especially
// since the method returns as soon as it finds a non-overlapping axis,
// i.e. Before irreleveat allocations occur.
#region "Old (less efficient) code"
/*Vector3 triNormal = triangle.Plane.Normal;
// the 15 potential separating axes
const int numAxes = 13;
Vector3[] axes = new Vector3[numAxes];
axes[0] = triNormal;
axes[1] = dirs0.Right;
axes[2] = dirs0.Up;
axes[3] = dirs0.Backward;
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];*/
#endregion
#region "Optimised code"
Vector3 triNormal = triangle.Plane.Normal;
Vector3 right = dirs0.Right();
Vector3 up = dirs0.Up();
Vector3 backward = dirs0.Backward();
float testDepth;
if (Disjoint(out testDepth, ref triNormal, newBox, ref tri, collTolerance))
return (false);
float depth = testDepth;
Vector3 N = triNormal;
if (Disjoint(out testDepth, ref right, newBox, ref tri, collTolerance))
return (false);
if (testDepth < depth)
{
depth = testDepth;
N = right;
}
if (Disjoint(out testDepth, ref up, newBox, ref tri, collTolerance))
return (false);
if (testDepth < depth)
{
depth = testDepth;
N = up;
}
if (Disjoint(out testDepth, ref backward, newBox, ref tri, collTolerance))
return (false);
if (testDepth < depth)
{
depth = testDepth;
N = backward;
}
Vector3 axis;
Vector3.Cross(ref right, ref triEdge0, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref right, ref triEdge1, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref right, ref triEdge2, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref up, ref triEdge0, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref up, ref triEdge1, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref up, ref triEdge2, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref backward, ref triEdge0, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref backward, ref triEdge1, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref backward, ref triEdge2, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
/*if (N == Vector3.Zero)
return (false);*/
Vector3 D = newBox.GetCentre() - tri.Centre;
N.Normalize();
int i;
#endregion
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(ref delta, ref N, out oldDepth);
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)
{
// BEN-OPTIMISATION: Reused existing SmallCollPointInfo and inlined vector substraction.
collPts[i].R0.X = pts[i].X - boxNewPos.X;
collPts[i].R0.Y = pts[i].Y - boxNewPos.Y;
collPts[i].R0.Z = pts[i].Z - boxNewPos.Z;
collPts[i].R1.X = pts[i].X - meshPos.X;
collPts[i].R1.Y = pts[i].Y - meshPos.Y;
collPts[i].R1.Z = pts[i].Z - meshPos.Z;
collPts[i].InitialPenetration = 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;
}
}
}
}
public static void CollDetectSphereStaticMeshOverlap(BoundingSphere oldSphere, BoundingSphere newSphere,
TriangleMesh mesh, CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
float sphereTolR = collTolerance + newSphere.Radius;
float sphereTolR2 = sphereTolR * sphereTolR;
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
int* potentialTriangles = stackalloc int[MaxLocalStackTris];
{
{
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
{
int[] potTriArray = IntStackAlloc();
fixed( int* potentialTriangles = potTriArray)
{
#endif
int numCollPts = 0;
Vector3 collNormal = Vector3.Zero;
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddSphere(newSphere, ref bb);
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
// Deano : get the spheres centers in triangle mesh space
Vector3 newSphereCen = Vector3.Transform(newSphere.Center, mesh.InverseTransformMatrix);
Vector3 oldSphereCen = Vector3.Transform(oldSphere.Center, mesh.InverseTransformMatrix);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
float distToCentre = meshTriangle.Plane.DotCoordinate(newSphereCen);
if (distToCentre <= 0.0f)
continue;
if (distToCentre >= sphereTolR)
continue;
int i0, i1, i2;
meshTriangle.GetVertexIndices(out i0, out i1, out i2);
Triangle triangle = new Triangle(mesh.GetVertex(i0), mesh.GetVertex(i1), mesh.GetVertex(i2));
float s, t;
float newD2 = Distance.PointTriangleDistanceSq(out s, out t, newSphereCen, triangle);
if (newD2 < sphereTolR2)
{
// have overlap - but actually report the old intersection
float oldD2 = Distance.PointTriangleDistanceSq(out s, out t, oldSphereCen, triangle);
float dist = (float)System.Math.Sqrt((float)oldD2);
float depth = oldSphere.Radius - dist;
Vector3 triPointSTNorm = oldSphereCen - triangle.GetPoint(s, t);
JiggleMath.NormalizeSafe(ref triPointSTNorm);
Vector3 collisionN = (dist > float.Epsilon) ? triPointSTNorm : triangle.Normal;
// since impulse get applied at the old position
Vector3 pt = oldSphere.Center - oldSphere.Radius * collisionN;
if (numCollPts < MaxLocalStackSCPI)
{
collPts[numCollPts++] = new SmallCollPointInfo(pt - body0Pos, pt - body1Pos, depth);
}
collNormal += collisionN;
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
}
#if USE_STACKALLOC
}
}
#else
FreeStackAlloc(potTriArray);
}
FreeStackAlloc(collPtArray);
}
#endif
}
}
/// <summary>
/// CollDetectOverlap
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
private void CollDetectOverlap(ref CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// note - mesh is static and its triangles are in world space
TriangleMesh mesh = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as TriangleMesh;
Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
CollDetectBoxStaticMeshOverlap(oldBox, newBox, mesh, ref info, collTolerance, collisionFunctor);
}
/// <summary>
/// CollDetectCapsuleStaticMeshOverlap
/// </summary>
/// <param name="oldCapsule"></param>
/// <param name="newCapsule"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
private void CollDetectCapsuleStaticMeshOverlap(Capsule oldCapsule, Capsule newCapsule,
TriangleMesh mesh, CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
float capsuleTolR = collTolerance + newCapsule.Radius;
float capsuleTolR2 = capsuleTolR * capsuleTolR;
Vector3 collNormal = Vector3.Zero;
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddCapsule(newCapsule, ref bb);
unsafe
{
#if USE_STACKALLOC
SmallCollPointInfo *collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
int *potentialTriangles = stackalloc int[MaxLocalStackTris];
{
{
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed(SmallCollPointInfo *collPts = collPtArray)
{
int[] potTriArray = IntStackAlloc();
fixed(int *potentialTriangles = potTriArray)
{
#endif
int numCollPts = 0;
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
Vector3 capsuleStart = newCapsule.Position;
Vector3 capsuleEnd = newCapsule.GetEnd();
Matrix meshInvTransform = mesh.InverseTransformMatrix;
Vector3 meshSpaceCapsuleStart = Vector3.Transform(capsuleStart, meshInvTransform);
Vector3 meshSpaceCapsuleEnd = Vector3.Transform(capsuleEnd, meshInvTransform);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
// we do the plane test using the capsule in mesh space
float distToStart = meshTriangle.Plane.DotCoordinate(meshSpaceCapsuleStart);
float distToEnd = meshTriangle.Plane.DotCoordinate(meshSpaceCapsuleEnd);
// BEN-BUG-FIX: Fixed by replacing 0.0F with -capsuleTolR.
if ((distToStart > capsuleTolR && distToEnd > capsuleTolR) ||
(distToStart < -capsuleTolR && distToEnd < -capsuleTolR))
{
continue;
}
// we now transform the triangle into world space (we could keep leave the mesh alone
// but at this point 3 vector transforms is probably not a major slow down)
int i0, i1, i2;
meshTriangle.GetVertexIndices(out i0, out i1, out i2);
Vector3 triVec0;
Vector3 triVec1;
Vector3 triVec2;
mesh.GetVertex(i0, out triVec0);
mesh.GetVertex(i1, out triVec1);
mesh.GetVertex(i2, out triVec2);
// Deano move tri into world space
Matrix transformMatrix = mesh.TransformMatrix;
Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0);
Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2);
Triangle triangle = new Triangle(ref triVec0, ref triVec1, ref triVec2);
Segment seg = new Segment(capsuleStart, capsuleEnd - capsuleStart);
float tS, tT0, tT1;
float d2 = Distance.SegmentTriangleDistanceSq(out tS, out tT0, out tT1, seg, triangle);
if (d2 < capsuleTolR2)
{
Vector3 oldCapsuleStart = oldCapsule.Position;
Vector3 oldCapsuleEnd = oldCapsule.GetEnd();
Segment oldSeg = new Segment(oldCapsuleStart, oldCapsuleEnd - oldCapsuleStart);
d2 = Distance.SegmentTriangleDistanceSq(out tS, out tT0, out tT1, oldSeg, triangle);
// report result from old position
float dist = (float)System.Math.Sqrt(d2);
float depth = oldCapsule.Radius - dist;
Vector3 pt = triangle.GetPoint(tT0, tT1);
Vector3 collisionN = (d2 > JiggleMath.Epsilon) ? JiggleMath.NormalizeSafe(oldSeg.GetPoint(tS) - pt) :
meshTriangle.Plane.Normal;
if (numCollPts < MaxLocalStackSCPI)
{
// BEN-OPTIMISATION: Reused existing collPts.
collPts[numCollPts].R0 = pt - body0Pos;
collPts[numCollPts].R1 = pt - body1Pos;
collPts[numCollPts++].InitialPenetration = depth;
}
collNormal += collisionN;
}
}
if (numCollPts > 0)
{
JiggleMath.NormalizeSafe(ref collNormal);
collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
}
#if USE_STACKALLOC
}
}
#else
}
FreeStackAlloc(potTriArray);
}
FreeStackAlloc(collPtArray);
#endif
}
}
/// <summary>
/// CollDetectBoxStaticMeshOverlap
/// </summary>
/// <param name="oldBox"></param>
/// <param name="newBox"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
/// <returns>bool</returns>
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
Matrix4 invTransformMatrix = mesh.InverseTransformMatrix;
Vector3.Transform(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 = meshTriangle.Plane.DotCoordinate(boxCentre);
// BEN-BUG-FIX: Fixed by chaning 0.0F to -boxRadius.
if (dist > boxRadius || dist < -boxRadius)
continue;
if (DoOverlapBoxTriangleTest(
oldBox, newBox,
ref meshTriangle,
mesh,
ref info,
collTolerance,
collisionFunctor))
{
collision = true;
}
}
#if USE_STACKALLOC
}
#else
}
FreeStackAlloc(potTriArray);
#endif
return collision;
}
}
/// <summary>
/// CollDetect
/// </summary>
/// <param name="infoOrig"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
{
// get the skins in the order that we're expectiing
CollDetectInfo info = infoOrig;
if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
{
CollisionSkin skinSwap = info.Skin0;
info.Skin0 = info.Skin1;
info.Skin1 = skinSwap;
int primSwap = info.IndexPrim0;
info.IndexPrim0 = info.IndexPrim1;
info.IndexPrim1 = primSwap;
}
Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
// todo - proper swept test
Capsule oldCapsule = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
Capsule newCapsule = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
Segment oldSeg = new Segment(oldCapsule.Position, oldCapsule.Length * oldCapsule.Orientation.Backward);
Segment newSeg = new Segment(newCapsule.Position, newCapsule.Length * newCapsule.Orientation.Backward);
float radius = oldCapsule.Radius;
Box oldBox = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Box;
Box newBox = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Box;
float oldSegT;
float oldBoxT0, oldBoxT1, oldBoxT2;
float oldDistSq = Distance.SegmentBoxDistanceSq(out oldSegT, out oldBoxT0, out oldBoxT1, out oldBoxT2,oldSeg, oldBox);
float newSegT;
float newBoxT0, newBoxT1, newBoxT2;
float newDistSq = Distance.SegmentBoxDistanceSq(out newSegT, out newBoxT0, out newBoxT1, out newBoxT2,newSeg, newBox);
if (MathHelper.Min(oldDistSq, newDistSq) < ((radius + collTolerance) * (radius + collTolerance)))
{
Vector3 segPos = oldSeg.GetPoint(oldSegT);
Vector3 boxPos = oldBox.GetCentre() + oldBoxT0 * oldBox.Orientation.Right +
oldBoxT1 * oldBox.Orientation.Up + oldBoxT2 * oldBox.Orientation.Backward;
float dist = (float)System.Math.Sqrt((float)oldDistSq);
float depth = radius - dist;
Vector3 dir;
if (dist > JiggleMath.Epsilon)
{
dir = segPos - boxPos;
JiggleMath.NormalizeSafe(ref dir);
}
else if ((segPos - oldBox.GetCentre()).LengthSquared() > JiggleMath.Epsilon)
{
dir = segPos - oldBox.GetCentre();
JiggleMath.NormalizeSafe(ref dir);
}
else
{
// todo - make this not random
dir = Vector3.Transform(Vector3.Backward, Matrix.CreateFromAxisAngle(Vector3.Up, MathHelper.ToRadians(random.Next(360))));
}
unsafe
{
SmallCollPointInfo collInfo = new SmallCollPointInfo(boxPos - body0Pos, boxPos - body1Pos, depth);
collisionFunctor.CollisionNotify(ref info, ref dir, &collInfo, 1);
}
}
}
