protected override bool Interact(bool staticCollision) { if (!staticCollision && GetRigidBody1().IsStatic() && GetRigidBody2().IsStatic()) { return(false); } MyRBSphereElement sphere1 = (MyRBSphereElement)RBElement1; MyRBSphereElement sphere2 = (MyRBSphereElement)RBElement2; Matrix matrix1 = sphere1.GetGlobalTransformation(); Matrix matrix2 = sphere2.GetGlobalTransformation(); Vector3 p1 = matrix1.Translation; Vector3 p2 = matrix2.Translation; Vector3 d = p2 - p1; float length = d.Length(); float contactRadius = sphere1.Radius + sphere2.Radius; float eps = MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon; if (staticCollision) { return(length < contactRadius); } // from now on we handle dynamic collision float dynEps = 0; if (!staticCollision && length > eps) { dynEps = Vector3.Dot(GetRigidBody1().LinearVelocity - GetRigidBody2().LinearVelocity, d) / length * MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep; if (dynEps < 0) { dynEps = 0; } } if (length > MyMwcMathConstants.EPSILON && length < contactRadius + eps + dynEps) { Vector3 n = MyMwcUtils.Normalize(d); Vector3 p = p1 + n * (sphere1.Radius + (length - contactRadius) * 0.5f); float error = length - (contactRadius + 0.5f * eps); MySmallCollPointInfo[] collInfo = MyContactInfoCache.SCPIStackAlloc(); collInfo[0] = new MySmallCollPointInfo(p - matrix1.Translation, p - matrix2.Translation, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, n, error, p); MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collInfo, 1); MyContactInfoCache.FreeStackAlloc(collInfo); return(true); } return(false); }
public MyContactConstraintModule() { m_ActiveContactConstrains.Clear(); m_ContactEventCache.Clear(); m_StartContactEvents.Clear(); m_EndContactEvents.Clear(); m_TouchContactEvents.Clear(); while (m_FreeCc.Count < m_InitialCollisionInfoStack) { m_FreeCc.Push(new MyRBContactConstraint()); } while (m_FreePtInfos.Count < m_InitialCollisionPointInfoStack) { m_FreePtInfos.Push(new MyCollPointInfo()); } m_ContactInfoCache = new MyContactInfoCache(); m_TriangleCache = new MyTriangleCache(); }
protected override bool Interact(bool staticCollision) { if (RBElement1.GetElementType() != MyRBElementType.ET_SPHERE) { SwapElements(); } Matrix matrix0 = RBElement1.GetGlobalTransformation(); Matrix matrix1 = RBElement2.GetGlobalTransformation(); float sphereRadius = ((MyRBSphereElement)RBElement1).Radius; Vector3 body0Pos = matrix0.Translation; // sphere pos Vector3 body1Pos = matrix1.Translation; Matrix tempMat1 = matrix1; Matrix inverseMatrix1 = Matrix.Invert(tempMat1); MyModel model = ((RBElement1.Flags & MyElementFlag.EF_MODEL_PREFER_LOD0) > 0 ? ((MyRBTriangleMeshElement)RBElement2).ModelLOD0 : ((MyRBTriangleMeshElement)RBElement2).Model); if (staticCollision) { BoundingSphere bsphere = new BoundingSphere(body0Pos, sphereRadius); return(model.GetTrianglePruningStructure().GetIntersectionWithSphere(((MinerWars.AppCode.Game.Physics.MyPhysicsBody)RBElement2.GetRigidBody().m_UserData).Entity, ref bsphere)); } else { float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep; float epsilon = MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon; MySmallCollPointInfo[] collPtArray = MyContactInfoCache.SCPIStackAlloc(); int numCollPts = 0; Vector3 collNormal = Vector3.Zero; int optimalIterationCount = (int)(GetRigidBody1().LinearVelocity.Length() * dt / (sphereRadius * 2)) + 1; //PZ: after consultation with petrM 1-4 iteration will be just ok int maxIndex = (int)MathHelper.Min(optimalIterationCount, MAX_AVAILABLE_ITERATION); //float speed = GetRigidBody1().LinearVelocity.Length(); Vector3 velocityAdd = GetRigidBody1().LinearVelocity *dt / (float)maxIndex; float velocityAddLength = velocityAdd.Length(); List <MyTriangle_Vertex_Normal> triangles = MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().GetFreeTriangleList(this); //PZ: we will try to interpolate sphere position during this tick //we have to have at least one iteration for (int index = 0; index < maxIndex; index++) { //PZ: from starting point Vector3 interpolatedPosition = body0Pos + velocityAdd * index; // Deano : get the spheres centers in triangleVertexes mesh space Vector3 newSphereCen = Vector3.Transform(interpolatedPosition, inverseMatrix1); // Transform sphere from world space to object space BoundingSphere newSphereInObjectSpace = new BoundingSphere(newSphereCen, sphereRadius + velocityAddLength + epsilon); BoundingBox newAABBInObjectSpace = BoundingBox.CreateFromSphere(newSphereInObjectSpace); model.GetTrianglePruningStructure().GetTrianglesIntersectingAABB(ref newAABBInObjectSpace, triangles, triangles.Capacity); for (int i = 0; i < triangles.Count; i++) { MyTriangle_Vertex_Normal triangle = triangles[i]; // skip too narrow triangles causing instability /* This must be done in preprocessor! * if ((triangle.Vertexes.Vertex0 - triangle.Vertexes.Vertex1).LengthSquared() < MyPhysicsConfig.TriangleEpsilon) * { * continue; * } * * if ((triangle.Vertexes.Vertex1 - triangle.Vertexes.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon) * { * continue; * } * * if ((triangle.Vertexes.Vertex0 - triangle.Vertexes.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon) * { * continue; * } */ MyPlane plane = new MyPlane(ref triangle.Vertexes); Vector3?pt = MyUtils.GetSphereTriangleIntersection(ref newSphereInObjectSpace, ref plane, ref triangle.Vertexes); if (pt == null) { continue; } pt = Vector3.Transform(pt.Value, matrix1); Vector3 collisionN = -plane.Normal; collisionN = Vector3.TransformNormal(collisionN, matrix1); // skip triangle in case the normal is in wrong dir (narrow walls) Vector3 tempV = (interpolatedPosition - pt.Value); if (Vector3.Dot(collisionN, tempV) >= 0.8f * tempV.Length()) // equivalent to if (Vector3.Dot(collisionN, Vector3.Normalize(tempV)) > 0.8f) { continue; } float depth = Vector3.Distance(pt.Value, interpolatedPosition) - sphereRadius; if (numCollPts < MyPhysicsConfig.MaxContactPoints) { // since impulse get applied at the old position Vector3 p2 = pt.Value; // body0Pos - sphereRadius * 1.1f * collisionN; collPtArray[numCollPts++] = new MySmallCollPointInfo(p2 - interpolatedPosition, p2 - body1Pos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, collisionN, depth, p2); /* * MyDebugDraw.AddDrawTriangle( * Vector3.Transform(triangle.Vertexes.Vertex0, matrix1), * Vector3.Transform(triangle.Vertexes.Vertex1, matrix1), * Vector3.Transform(triangle.Vertexes.Vertex2, matrix1), * Color.Red); */ } collNormal += collisionN; } if (numCollPts > 0) // break if we catch any triangles in this iteration { break; } } if (numCollPts > 0) { MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collPtArray, numCollPts); } MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().PushBackTriangleList(triangles); MyContactInfoCache.FreeStackAlloc(collPtArray); } return(false); }
protected override bool Interact(bool staticCollision) { if (!staticCollision && GetRigidBody1().IsStatic() && GetRigidBody2().IsStatic()) { return(false); } MyRBBoxElement box = null; MyRBSphereElement sphere = null; if (RBElement1.GetElementType() == MyRBElementType.ET_BOX) { SwapElements(); } box = (MyRBBoxElement)RBElement2; sphere = (MyRBSphereElement)RBElement1; Matrix boxMatrix = box.GetGlobalTransformation(); Vector3 sphereCenter = sphere.GetGlobalTransformation().Translation; Matrix invBoxMatrix = Matrix.Invert(boxMatrix); Vector3 boxLocalsphereCenter = Vector3.Transform(sphereCenter, invBoxMatrix); bool penetration = false; Vector3 normal = new Vector3(); Vector3 closestPos = new Vector3(); uint customData = 0; box.GetClosestPoint(boxLocalsphereCenter, ref closestPos, ref normal, ref penetration, ref customData); closestPos = Vector3.Transform(closestPos, boxMatrix); normal = -Vector3.TransformNormal(normal, boxMatrix); normal = MyMwcUtils.Normalize(normal); float vLength = (sphereCenter - closestPos).Length(); if (staticCollision) { return(vLength > 0 && vLength < sphere.Radius); } else { float eps = MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon; float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep; Vector3 pointVelocity1 = new Vector3(); Vector3 pointVelocity2 = new Vector3(); GetRigidBody1().GetGlobalPointVelocity(ref closestPos, out pointVelocity1); GetRigidBody2().GetGlobalPointVelocity(ref closestPos, out pointVelocity2); float dynEps = 0; if (vLength >= eps) { float dot = Vector3.Dot(pointVelocity1 - pointVelocity2, normal) * dt; if (dot >= 0) { dynEps = dot; } } float radius = sphere.Radius; //Second part of condition commented due to 5968: Bug B - rocket passing through prefab //Does not seem to have any reason to be there if (vLength > 0 /*&& vLength < (radius + eps + dynEps)*/) { float error = vLength - (radius + 0.5f * eps); //error = System.Math.Min(error, eps); MySmallCollPointInfo[] collInfo = MyContactInfoCache.SCPIStackAlloc(); collInfo[0] = new MySmallCollPointInfo(closestPos - sphereCenter, closestPos - boxMatrix.Translation, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, normal, error, closestPos); MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collInfo, 1); MyContactInfoCache.FreeStackAlloc(collInfo); } } return(false); }
protected override bool Interact(bool staticCollision) { if (!staticCollision) { MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("BoxBoxInteraction"); } try { MyRBBoxElement rbbox0 = (MyRBBoxElement)RBElement1; MyRBBoxElement rbbox1 = (MyRBBoxElement)RBElement2; MyBox box0 = m_TempBox1; MyBox box1 = m_TempBox2; Matrix matrix0 = rbbox0.GetGlobalTransformation(); Matrix matrix1 = rbbox1.GetGlobalTransformation(); box0.Transform.Orientation = matrix0; box0.Transform.Orientation.Translation = Vector3.Zero; box0.Transform.Position = matrix0.Translation - Vector3.TransformNormal(rbbox0.Size * 0.5f, matrix0); box1.Transform.Orientation = matrix1; box1.Transform.Orientation.Translation = Vector3.Zero; box1.Transform.Position = matrix1.Translation - Vector3.TransformNormal(rbbox1.Size * 0.5f, matrix1); box0.SideLengths = rbbox0.Size; box1.SideLengths = rbbox1.Size; // see if the boxes are separate along any axis, and if not keep a // record of the depths along each axis for (int i = 0; i < 15; ++i) { switch (i) { case 0: seperatingAxes[0] = box0.Orientation.Right; break; case 1: seperatingAxes[1] = box0.Orientation.Up; break; case 2: seperatingAxes[2] = box0.Orientation.Backward; break; case 3: seperatingAxes[3] = box1.Orientation.Right; break; case 4: seperatingAxes[4] = box1.Orientation.Up; break; case 5: seperatingAxes[5] = box1.Orientation.Backward; break; case 6: Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[3], out seperatingAxes[6]); break; case 7: Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[4], out seperatingAxes[7]); break; case 8: Vector3.Cross(ref seperatingAxes[0], ref seperatingAxes[5], out seperatingAxes[8]); break; case 9: Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[3], out seperatingAxes[9]); break; case 10: Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[4], out seperatingAxes[10]); break; case 11: Vector3.Cross(ref seperatingAxes[1], ref seperatingAxes[5], out seperatingAxes[11]); break; case 12: Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[3], out seperatingAxes[12]); break; case 13: Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[4], out seperatingAxes[13]); break; case 14: Vector3.Cross(ref seperatingAxes[2], ref seperatingAxes[5], out seperatingAxes[14]); break; } // If we can't normalise the axis, skip it if (seperatingAxes[i].LengthSquared() < MyPhysicsConfig.CollisionEpsilon) { continue; } overlapDepth[i] = float.MaxValue; if (Disjoint(out overlapDepth[i], ref seperatingAxes[i], box0, box1, MyPhysicsConfig.CollisionEpsilon)) { return(false); } } if (staticCollision) { return(true); // Static collision: we're done. } // Dynamic collision. // The boxes overlap, find the seperation depth closest to 0. float minDepth = float.MaxValue; int minAxis = -1; for (int i = 0; i < 15; ++i) { // If we can't normalise the axis, skip it float l2 = seperatingAxes[i].LengthSquared(); if (l2 < MyPhysicsConfig.CollisionEpsilon) { 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(false); } // 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 contactPts.Clear(); int numPts = contactPts.Count; GetBoxBoxIntersectionPoints(contactPts, box0, box1, combinationDist, MyPhysicsConfig.CollisionEpsilon); numPts = contactPts.Count; MyRigidBody rbo0 = GetRigidBody1(); MyRigidBody rbo1 = GetRigidBody2(); float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep; Vector3 body0OldPos = rbo0.Position; Vector3 body1OldPos = rbo1.Position; Vector3 body0NewPos = (rbo0.Position + rbo0.LinearVelocity * dt); Vector3 body1NewPos = (rbo1.Position + rbo1.LinearVelocity * dt); #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; MySmallCollPointInfo[] collPtArray = MyContactInfoCache.SCPIStackAlloc(); { 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 triangleVertexes 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. int 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; MyPhysicsUtils.MyPhysicsUnsafe.Get(ref box0.Transform.Orientation, ia, out box0Orient); MyPhysicsUtils.MyPhysicsUnsafe.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) < MyPhysicsConfig.CollisionEpsilon) { return(false); } 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: { SATPoint = Vector3.Zero; Debug.Assert(false); break; } } // distribute the depth according to the distance to the SAT point if (numPts > 0) { float minDist = float.MaxValue; float maxDist = float.MinValue; for (int i = 0; i < numPts; ++i) { float dist = MyPhysicsUtils.PointPointDistance(contactPts[i].Pos, SATPoint); if (dist < minDist) { minDist = dist; } if (dist > maxDist) { maxDist = dist; } } // got some intersection points for (int i = 0; i < numPts; ++i) { float minDepthScale = 0.0f; float dist = MyPhysicsUtils.PointPointDistance(contactPts[i].Pos, SATPoint); float safeDivisionDist = (maxDist - minDist); if ((maxDist - minDist) == 0.0f) { safeDivisionDist = MyPhysicsConfig.CollisionEpsilon; } float depthScale = (dist - minDist) / safeDivisionDist; depth = (1.0f - depthScale) * oldDepth + minDepthScale * depthScale * oldDepth; if (numCollPts < MyPhysicsConfig.MaxContactPoints) { collPtArray[numCollPts++] = new MySmallCollPointInfo(contactPts[i].Pos - body0OldPos, contactPts[i].Pos - body1OldPos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, N, depth, contactPts[i].Pos); } } } 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 < MyPhysicsConfig.MaxContactPoints) { collPtArray[numCollPts++] = new MySmallCollPointInfo(cp0, cp1, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, N, oldDepth, SATPoint); } #endregion } // report Collisions MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collPtArray, numCollPts); } MyContactInfoCache.FreeStackAlloc(collPtArray); } catch { throw; } finally { if (!staticCollision) { MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock(); } } return(false); }
protected override bool Interact(bool staticCollision) { if (staticCollision) { //MyCommonDebugUtils.AssertDebug(false, "Sphere-voxel static interaction called! And that's wrong."); } else { MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("SphereVoxelInteraction"); MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("Transformations"); if (RBElement1.GetElementType() != MyRBElementType.ET_SPHERE) { SwapElements(); } Matrix matrix0 = RBElement1.GetGlobalTransformation(); Matrix matrix1 = RBElement2.GetGlobalTransformation(); float sphereRadius = ((MyRBSphereElement)RBElement1).Radius; Vector3 body0Pos = matrix0.Translation; // sphere pos Vector3 body1Pos = matrix1.Translation; float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep; float epsylon = MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon; Vector3 newBody0Pos = matrix0.Translation + GetRigidBody1().LinearVelocity *dt; float sphereTolR = epsylon + sphereRadius; float sphereTolR2 = sphereTolR * sphereTolR; MySmallCollPointInfo[] collPtArray = MyContactInfoCache.SCPIStackAlloc(); int numCollPts = 0; Vector3 collNormal = Vector3.Zero; //var colDetThroughVoxels = MyConstants.SPHERE_VOXELMAP_COLDET_THROUGH_VOXELS; var colDetThroughVoxels = !GetRigidBody1().ReadFlag(RigidBodyFlag.RBF_COLDET_THROUGH_VOXEL_TRIANGLES); MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock(); if (colDetThroughVoxels) { MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("colDetThroughVoxels"); BoundingSphere newSphere; newSphere.Center = newBody0Pos; newSphere.Radius = sphereRadius; MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("PoolList.Get"); using (var voxelMapsFounded = PoolList <MyVoxelMap> .Get()) { MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartNextBlock("GetListOfVoxelMapsWhoseBoundingSphereIntersectsSphere"); MyVoxelMaps.GetListOfVoxelMapsWhoseBoundingSphereIntersectsSphere(ref newSphere, voxelMapsFounded, null); MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartNextBlock("foreach (MyVoxelMap voxelMap in voxelMapsFounded)"); foreach (MyVoxelMap voxelMap in voxelMapsFounded) { if (voxelMap != null) { // We will iterate only voxels contained in the bounding box of new sphere, so here we get min/max corned in voxel units MyMwcVector3Int minCorner = voxelMap.GetVoxelCoordinateFromMeters(new Vector3( newSphere.Center.X - newSphere.Radius, newSphere.Center.Y - newSphere.Radius, newSphere.Center.Z - newSphere.Radius)); MyMwcVector3Int maxCorner = voxelMap.GetVoxelCoordinateFromMeters(new Vector3( newSphere.Center.X + newSphere.Radius, newSphere.Center.Y + newSphere.Radius, newSphere.Center.Z + newSphere.Radius)); voxelMap.FixVoxelCoord(ref minCorner); voxelMap.FixVoxelCoord(ref maxCorner); MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("for loop"); MyMwcVector3Int tempVoxelCoord; for (tempVoxelCoord.X = minCorner.X; tempVoxelCoord.X <= maxCorner.X; tempVoxelCoord.X++) { for (tempVoxelCoord.Y = minCorner.Y; tempVoxelCoord.Y <= maxCorner.Y; tempVoxelCoord.Y++) { for (tempVoxelCoord.Z = minCorner.Z; tempVoxelCoord.Z <= maxCorner.Z; tempVoxelCoord.Z++) { byte voxelContent = voxelMap.GetVoxelContent(ref tempVoxelCoord); // Ignore voxels bellow the ISO value (empty, partialy empty...) if (voxelContent < MyVoxelConstants.VOXEL_ISO_LEVEL) { continue; } Vector3 voxelPosition = voxelMap.GetVoxelCenterPositionAbsolute(ref tempVoxelCoord); //float voxelSize = MyVoxelMaps.GetVoxelContentAsFloat(voxelContent) * MyVoxelConstants.VOXEL_SIZE_IN_METRES_HALF; float voxelSize = MyVoxelMaps.GetVoxelContentAsFloat(voxelContent) * MyVoxelConstants.VOXEL_RADIUS; // If distance to voxel border is less than sphere radius, we have a collision // So now we calculate normal vector and penetration depth but on OLD sphere float newDistanceToVoxel = Vector3.Distance(voxelPosition, newSphere.Center) - voxelSize; if (newDistanceToVoxel < (epsylon + newSphere.Radius)) { Vector3 collisionN = MyMwcUtils.Normalize(voxelPosition - body0Pos); if (numCollPts < MyPhysicsConfig.MaxContactPoints) { // Calculate penetration depth, but from old sphere (not new) float oldDistanceToVoxel = Vector3.Distance(voxelPosition, newSphere.Center) - voxelSize; float oldPenetrationDepth = oldDistanceToVoxel - sphereRadius; // Vector3 pt = body0Pos + sphereRadius * collisionN; Vector3 pt = voxelPosition - collisionN * (voxelSize - epsylon); collPtArray[numCollPts++] = new MySmallCollPointInfo(pt - body0Pos, pt - body1Pos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, collisionN, oldPenetrationDepth, pt); } collNormal -= collisionN; } } } } MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock(); } } MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock(); } MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock(); } else //if (colDetThroughVoxels) { MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("ColDet triangles"); int optimalIterationCount = (int)(GetRigidBody1().LinearVelocity.Length() * dt / sphereRadius); int maxIndex = (int)MathHelper.Min(MathHelper.Max(optimalIterationCount, 1), 16); for (int i = 0; i < maxIndex; i++) { float velocityAdd = GetRigidBody1().LinearVelocity.Length() * dt / (float)maxIndex; Vector3 interpolatedPosition = body0Pos + GetRigidBody1().LinearVelocity *dt *i / (float)maxIndex; BoundingSphere newSphere; newSphere.Center = interpolatedPosition; newSphere.Radius = sphereRadius; int numTriangles; BoundingBox bb = BoundingBox.CreateFromSphere(newSphere); MyVoxelMaps.GetPotentialTrianglesForColDet(out numTriangles, ref bb); for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle) { MyColDetVoxelTriangle meshTriangle = MyVoxelMaps.PotentialColDetTriangles[iTriangle]; // mesh.GetTriangle(potentialTriangles[iTriangle]); MyTriangle_Vertex_Normal triangle = new MyTriangle_Vertex_Normal(); triangle.Vertexes.Vertex0 = meshTriangle.Vertex0; triangle.Vertexes.Vertex1 = meshTriangle.Vertex1; triangle.Vertexes.Vertex2 = meshTriangle.Vertex2; // skip too narrow triangles causing instability if ((triangle.Vertexes.Vertex0 - triangle.Vertexes.Vertex1).LengthSquared() < MyPhysicsConfig.TriangleEpsilon) { continue; } if ((triangle.Vertexes.Vertex1 - triangle.Vertexes.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon) { continue; } if ((triangle.Vertexes.Vertex0 - triangle.Vertexes.Vertex2).LengthSquared() < MyPhysicsConfig.TriangleEpsilon) { continue; } MyPlane plane = new MyPlane(ref triangle.Vertexes); Vector3?pt = MyUtils.GetSphereTriangleIntersection(ref newSphere, ref plane, ref triangle.Vertexes); if (pt == null) { continue; } Vector3 collisionN = plane.Normal; // skip triangle in case the normal is in wrong dir (narrow walls) Vector3 tempV = (newBody0Pos - pt.Value); if (Vector3.Dot(collisionN, tempV) >= 0.8f * tempV.Length()) // equivalent to dot(collisionN, normalize(tempV)) > 0.8f, but works for zero vectors { continue; } float depth = Vector3.Distance(pt.Value, body0Pos) - sphereRadius; if (numCollPts < MyPhysicsConfig.MaxContactPoints) { // since impulse get applied at the old position Vector3 p2 = pt.Value; collPtArray[numCollPts++] = new MySmallCollPointInfo(p2 - body0Pos, p2 - body1Pos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, collisionN, depth, p2); } collNormal += collisionN; } } MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock(); } if (numCollPts > 0) { MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collPtArray, numCollPts); } MyContactInfoCache.FreeStackAlloc(collPtArray); MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock(); } return(false); }
private bool DoOverlapBoxTriangleTest(MyBox box, ref MyColDetVoxelTriangle triangle) { Matrix dirs0 = box.Orientation; Vector3 triEdge0; Vector3 triEdge1; Vector3 triEdge2; triEdge0 = MyMwcUtils.Normalize(triangle.Edge0); triEdge1 = MyMwcUtils.Normalize(triangle.Edge1); triEdge2 = MyMwcUtils.Normalize(triangle.Edge2); Vector3 triNormal = triangle.Plane.Normal; // the 15 potential separating axes (comment by Marek Rosa: note says 15 but code uses 13... I don't know why, mistake in the note??) const int NUM_AXES = 13; MyVector3Array13 axes = new MyVector3Array13(); axes[0] = triNormal; axes[1] = dirs0.Right; axes[2] = dirs0.Up; axes[3] = dirs0.Backward; axes[4] = Vector3.Cross(axes[1], triEdge0); axes[5] = Vector3.Cross(axes[1], triEdge1); axes[6] = Vector3.Cross(axes[1], triEdge2); axes[7] = Vector3.Cross(axes[2], triEdge0); axes[8] = Vector3.Cross(axes[2], triEdge1); axes[9] = Vector3.Cross(axes[2], triEdge2); axes[10] = Vector3.Cross(axes[3], triEdge0); axes[11] = Vector3.Cross(axes[3], triEdge1); axes[12] = Vector3.Cross(axes[3], triEdge2); // the overlap depths along each axis MyFloatArray13 overlapDepths = new MyFloatArray13(); // 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 < NUM_AXES; ++i) { overlapDepths[i] = 1.0f; bool b; overlapDepths[i] = Disjoint(out b, axes[i], box, triangle, MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon); if (b) { return(false); } } // The box overlap, find the separation depth closest to 0. float minDepth = float.MaxValue; int minAxis = -1; for (i = 0; i < NUM_AXES; ++i) { // If we can't normalise the axis, skip it float l2 = axes[i].LengthSquared(); if (l2 < MyPhysicsConfig.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 = box.GetCentre() - triangle.Centre; Vector3 N = axes[minAxis]; float depth = overlapDepths[minAxis]; if (Vector3.Dot(D, N) < 0.0f) { N *= -1; } MyRigidBody rbo0 = GetRigidBody1(); MyRigidBody rbo1 = GetRigidBody2(); float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep; Vector3 boxOldPos = rbo0.Position; Vector3 boxNewPos = rbo0.Position + rbo0.LinearVelocity * dt; Vector3 meshPos = rbo1.Position; m_CPList.Clear(); GetBoxTriangleIntersectionPoints(m_CPList, box, triangle, MyPhysicsConfig.CollisionEpsilon); // adjust the depth #region delta Vector3 delta; Vector3.Subtract(ref boxNewPos, ref boxOldPos, out delta); #endregion // report collisions int numPts = m_CPList.Count; MySmallCollPointInfo[] collPtArray = MyContactInfoCache.SCPIStackAlloc(); { if (numPts > 0) { if (numPts >= MyPhysicsConfig.MaxContactPoints) { numPts = MyPhysicsConfig.MaxContactPoints - 1; } // adjust positions for (i = 0; i < numPts; ++i) { collPtArray[i] = new MySmallCollPointInfo(m_CPList[i].m_Position - boxOldPos, m_CPList[i].m_Position - meshPos, GetRigidBody1().LinearVelocity, GetRigidBody2().LinearVelocity, m_CPList[i].m_Normal, m_CPList[i].m_Depth, m_CPList[i].m_Position); } MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collPtArray, numPts); MyContactInfoCache.FreeStackAlloc(collPtArray); return(true); } else { MyContactInfoCache.FreeStackAlloc(collPtArray); return(false); } } }
protected override bool Interact(bool staticCollision) { try { if (!staticCollision) { TestsCount++; MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("BoxTriangleIntersection"); } if (RBElement1.GetElementType() != MyRBElementType.ET_BOX) { SwapElements(); } var boxElement = (MyRBBoxElement)RBElement1; var triangleMeshElem = (MyRBTriangleMeshElement)RBElement2; MyModel model = ((boxElement.Flags & MyElementFlag.EF_MODEL_PREFER_LOD0) > 0 ? triangleMeshElem.ModelLOD0 : triangleMeshElem.Model); Matrix boxMatrix = boxElement.GetGlobalTransformation(); Matrix triangleMeshMatrix = triangleMeshElem.GetGlobalTransformation(); Matrix newMatrix = boxMatrix; if (!staticCollision) { // MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep newMatrix.Translation = newMatrix.Translation + boxElement.GetRigidBody().LinearVelocity *MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep; } MyBox oldBox = m_tempBox1; MyBox newBox = m_tempBox2; oldBox.Transform.Orientation = boxMatrix; oldBox.Transform.Orientation.Translation = Vector3.Zero; oldBox.Transform.Position = boxMatrix.Translation - Vector3.TransformNormal(boxElement.Size * 0.5f, boxMatrix); newBox.Transform.Orientation = newMatrix; newBox.Transform.Orientation.Translation = Vector3.Zero; newBox.Transform.Position = newMatrix.Translation - Vector3.TransformNormal(boxElement.Size * 0.5f, newMatrix); oldBox.SideLengths = boxElement.Size; newBox.SideLengths = boxElement.Size; 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 = Matrix.Invert(triangleMeshMatrix); Vector3.Transform(ref boxCentre, ref invTransformMatrix, out boxCentre); #endregion BoundingBox bb = boxElement.GetWorldSpaceAABB(); if (staticCollision) { Vector3 bbMin = Vector3.Transform(bb.Min, invTransformMatrix); Vector3 bbMax = Vector3.Transform(bb.Max, invTransformMatrix); BoundingSphere bs = new BoundingSphere((bbMax + bbMin) / 2, Vector3.Distance(bbMin, bbMax)); List <MyTriangle_Vertex_Normal> triangles = MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().GetFreeTriangleList(this); model.GetTrianglePruningStructure().GetTrianglesIntersectingSphere(ref bs, triangles, triangles.Capacity); for (int iTriangle = 0; iTriangle < triangles.Count; iTriangle++) { MyTriangle_Vertex_Normal triangle = triangles[iTriangle]; MyPlane plane = new MyPlane(ref triangle.Vertexes); // quick early test is done in mesh space float dist = MyUtils.GetDistanceFromPointToPlane(ref boxCentre, ref plane); if (dist > boxRadius || dist < -boxRadius) { continue; } Vector3 oldPos = boxMatrix.Translation; Vector3 newPos = newMatrix.Translation; float collisionEpsilon = 0;//pz to test not sure about value if (DoOverlapBoxTriangleStaticTest( oldBox, newBox, triangle, plane, collisionEpsilon, ref triangleMeshMatrix, ref oldPos, ref newPos)) { return(true); } } return(false); } else { bb.Min += boxElement.GetRigidBody().LinearVelocity *MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep; bb.Max += boxElement.GetRigidBody().LinearVelocity *MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep; var boxCenter = bb.GetCenter(); // aabox is done in mesh space and handles the mesh transform correctly //int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb); //boxElement.GetRigidBody().Position = Vector3.Zero; //triangleMeshElem.GetRigidBody().Position = Vector3.Zero; //BoundingSphere bs = new BoundingSphere((bbMax + bbMin) / 2, Vector3.Distance(bbMin, bbMax)); var halfSize = bb.Size() / 2; BoundingBox bb2 = new BoundingBox(boxCentre - halfSize, boxCentre + halfSize); List <MyTriangle_Vertex_Normal> triangles = MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().GetFreeTriangleList(this); MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("PruningStructure"); model.GetTrianglePruningStructure().GetTrianglesIntersectingAABB(ref bb2, triangles, triangles.Capacity); //model.GetTrianglePruningStructure().GetTrianglesIntersectingSphere(ref bs, triangles, triangles.Capacity); MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock(); MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Tests count ", TestsCount); MySmallCollPointInfo[] collPtArray = MyContactInfoCache.SCPIStackAlloc(); int refPointer = 0; m_collPoints.Clear(); MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("Triangles"); for (int iTriangle = 0; iTriangle < triangles.Count; iTriangle++) { MyTriangle_Vertex_Normal triangle = triangles[iTriangle]; //IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]); MyPlane plane = new MyPlane(ref triangle.Vertexes); // quick early test is done in mesh space //float dist = meshTriangle.Plane.DotCoordinate(boxCentre); float dist = MyUtils.GetDistanceFromPointToPlane(ref boxCentre, ref plane); if (dist > boxRadius || dist < -boxRadius) { continue; } Vector3 oldPos = boxMatrix.Translation; Vector3 newPos = newMatrix.Translation; DoOverlapBoxTriangleTest( oldBox, newBox, triangle, plane, MyPhysics.physicsSystem.GetRigidBodyModule().CollisionEpsilon, ref triangleMeshMatrix, ref oldPos, ref newPos, m_collPoints); } MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock(); TrianglesTested += triangles.Count; MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Triangles tested ", TrianglesTested); m_collPoints.Sort(m_colPointComparer); refPointer = 0; foreach (MyCollisionPointStruct collPoint in m_collPoints) { collPtArray[refPointer] = collPoint.CollPointInfo; refPointer++; if (refPointer >= MyPhysicsConfig.MaxContactPoints) { break; } } if (refPointer > 0) { MyPhysics.physicsSystem.GetContactConstraintModule().AddContactConstraint(this, collPtArray, refPointer); } MyContactInfoCache.FreeStackAlloc(collPtArray); MyPhysics.physicsSystem.GetContactConstraintModule().GetTriangleCache().PushBackTriangleList(triangles); } } catch { throw; } finally { if (!staticCollision) { MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock(); } } return(false); }