/// <summary>
/// Initializes the constraint and creates the guid for contact reporting
/// </summary>
public void Init(MyRBElementInteraction interaction, MySmallCollPointInfo[] pointInfos, int numPointInfos)
{
this.m_Interaction = interaction;
m_Magnitude = 0.0f;
numPointInfos = (numPointInfos > MaxCollisionPoints) ? MaxCollisionPoints : numPointInfos;
m_NumCollPts = 0;
MyContactConstraintModule mod = MyPhysics.physicsSystem.GetContactConstraintModule();
for (int i = 0; i < numPointInfos; ++i)
{
this.m_PointInfo[m_NumCollPts] = mod.PopCollPointInfo();
this.m_PointInfo[m_NumCollPts++].Init(ref pointInfos[i]);
}
uint guid1 = (uint) interaction.RBElement1.GUID;
uint guid2 = (uint) interaction.RBElement2.GUID;
if (guid1 > guid2)
{
uint tm = guid2;
guid2 = guid1;
guid1 = tm;
}
m_Guid = guid1 + (guid2 << 16);
}
public override void DestroyVolume(MyElement element)
{
if (element.ProxyData == MyElement.PROXY_UNASSIGNED)
{
return;
}
m_DAABBTree.RemoveProxy(element.ProxyData);
element.ProxyData = MyElement.PROXY_UNASSIGNED;
if ((element.Flags & MyElementFlag.EF_SENSOR_ELEMENT) > 0)
{
MySensorElement se = (MySensorElement)element;
}
if ((element.Flags & MyElementFlag.EF_RB_ELEMENT) > 0)
{
MyRBElement elm = (MyRBElement)element;
//clear all iterations from me and from objects i iterate with
while (elm.GetRBElementInteractions().Count > 0)
{
MyRBElementInteraction intr = elm.GetRBElementInteractions()[0];
MyPhysics.physicsSystem.GetRBInteractionModule().RemoveRBElementInteraction(intr.RBElement1, intr.RBElement2);
}
elm.GetRBElementInteractions().Clear();
}
}
/// <summary>
/// Initializes the constraint and creates the guid for contact reporting
/// </summary>
public void Init(MyRBElementInteraction interaction, MySmallCollPointInfo[] pointInfos, int numPointInfos)
{
this.m_Interaction = interaction;
m_Magnitude = 0.0f;
numPointInfos = (numPointInfos > MaxCollisionPoints) ? MaxCollisionPoints : numPointInfos;
m_NumCollPts = 0;
MyContactConstraintModule mod = MyPhysics.physicsSystem.GetContactConstraintModule();
for (int i = 0; i < numPointInfos; ++i)
{
this.m_PointInfo[m_NumCollPts] = mod.PopCollPointInfo();
this.m_PointInfo[m_NumCollPts++].Init(ref pointInfos[i]);
}
uint guid1 = (uint)interaction.RBElement1.GUID;
uint guid2 = (uint)interaction.RBElement2.GUID;
if (guid1 > guid2)
{
uint tm = guid2;
guid2 = guid1;
guid1 = tm;
}
m_Guid = guid1 + (guid2 << 16);
}
/// <summary>
/// Registering the interation between 2 rbelement types
/// </summary>
public void RegisterRBElementInteraction(MyRBElementType type1, MyRBElementType type2, MyRBElementInteraction intr)
{
int t1 = (int)type1;
int t2 = (int)type2;
List <MyRBElementInteraction> intrList = null;
if (t1 < t2)
{
intrList = m_IslandsPool[t1, t2];
m_IslandsPoolStatic[t1, t2] = intr.CreateNewInstance();
}
else
{
intrList = m_IslandsPool[t2, t1];
m_IslandsPoolStatic[t2, t1] = intr.CreateNewInstance();
}
intrList.Capacity = m_preAllocCount;
intrList.Add(intr);
for (int i = 1; i < m_preAllocCount; i++)
{
MyRBElementInteraction ins = intr.CreateNewInstance();
intrList.Add(ins);
}
}
/// <summary>
/// Do static Test of intersection
/// </summary>
public bool DoStaticTestInteraction(MyRBElement el1, MyRBElement el2)
{
MyRBElementInteraction myElemInteraction = FindRBElementInteractionForStaticTesting(el1.GetElementType(), el2.GetElementType());
if (myElemInteraction != null)
{
myElemInteraction.RBElement1 = el1;
myElemInteraction.RBElement2 = el2;
return(myElemInteraction.DoStaticInitialTest());
}
return(false);
}
public void AddContactConstraint(MyRBElementInteraction interaction, MySmallCollPointInfo[] pointInfos, int numCollPts)
{
lock (m_Locker)
{
if (m_FreeCc.Count == 0)
{
m_FreeCc.Push(new MyRBContactConstraint());
}
MyRBContactConstraint cc = m_FreeCc.Pop();
cc.Init(interaction, pointInfos, numCollPts);
m_ActiveContactConstrains.Add(cc);
}
}
public void AddContactConstraint(MyRBElementInteraction interaction, MySmallCollPointInfo[] pointInfos, int numCollPts)
{
lock (m_Locker)
{
if (m_FreeCc.Count == 0)
{
m_FreeCc.Push(new MyRBContactConstraint());
}
MyRBContactConstraint cc = m_FreeCc.Pop();
cc.Init(interaction, pointInfos, numCollPts);
m_ActiveContactConstrains.Add(cc);
}
}
public List <MyTriangle_Vertex_Normal> GetFreeTriangleList(MyRBElementInteraction itr)
{
List <MyTriangle_Vertex_Normal> retVal = null;
lock (m_Locker)
{
if (m_Cache.Count == 0)
{
m_Cache.Push(new List <MyTriangle_Vertex_Normal>(TRIANGLES_SIZE));
}
retVal = m_Cache.Pop();
}
return(retVal);
}
/// <summary>
/// Looks if interaction between those elements already exist
/// </summary>
public MyRBElementInteraction FindRBElementInteraction(MyRBElement el1, MyRBElement el2)
{
// look for interaction on element
for (int i = 0; i < el1.GetRBElementInteractions().Count; i++)
{
MyRBElementInteraction intr = el1.GetRBElementInteractions()[i];
if (intr.RBElement1 == el2 || intr.RBElement2 == el2)
{
return(intr);
}
}
return(null);
}
/// <summary>
/// Removes interaction between these 2 elements
/// </summary>
public void RemoveRBElementInteraction(MyRBElement el1, MyRBElement el2)
{
if (el1 != null)
{
// look for interaction on element
for (int i = 0; i < el1.GetRBElementInteractions().Count; i++)
{
MyRBElementInteraction intr = el1.GetRBElementInteractions()[i];
if ((intr.RBElement1 == el1 && intr.RBElement2 == el2) || (intr.RBElement1 == el2 && intr.RBElement2 == el1))
{
// add it back
int t1 = (int)el1.GetElementType();
int t2 = (int)el2.GetElementType();
List <MyRBElementInteraction> intrList = null;
if (t1 < t2)
{
intrList = m_IslandsPool[t1, t2];
}
else
{
intrList = m_IslandsPool[t2, t1];
}
intrList.Add(intr);
el1.GetRBElementInteractions().Remove(intr);
break;
}
}
}
if (el2 != null)
{
for (int i = 0; i < el2.GetRBElementInteractions().Count; i++)
{
MyRBElementInteraction intr = el2.GetRBElementInteractions()[i];
if ((intr.RBElement1 == el1 && intr.RBElement2 == el2) || (intr.RBElement1 == el2 && intr.RBElement2 == el1))
{
intr.RBElement1 = null;
intr.RBElement2 = null;
el2.GetRBElementInteractions().Remove(intr);
break;
}
}
}
}
/// <summary>
/// find interaction method from pool
/// </summary>
public MyRBElementInteraction FindRBElementInteractionForStaticTesting(MyRBElementType type1, MyRBElementType type2)
{
int t1 = (int)type1;
int t2 = (int)type2;
MyRBElementInteraction intrList = null;
if (t1 < t2)
{
intrList = m_IslandsPoolStatic[t1, t2];
}
else
{
intrList = m_IslandsPoolStatic[t2, t1];
}
return(intrList);
}
/// <summary>
/// Adds interaction between 2 given elements
/// </summary>
public MyRBElementInteraction AddRBElementInteraction(MyRBElement el1, MyRBElement el2)
{
// get it
int t1 = (int)el1.GetElementType();
int t2 = (int)el2.GetElementType();
List <MyRBElementInteraction> intrList = null;
if (t1 < t2)
{
intrList = m_IslandsPool[t1, t2];
}
else
{
intrList = m_IslandsPool[t2, t1];
}
//pada to jinak
if (intrList.Count == 0)
{
return(null);
}
MyCommonDebugUtils.AssertDebug(intrList.Count != 0);
if (intrList.Count == 1)
{
MyRBElementInteraction ins = intrList[0].CreateNewInstance();
intrList.Add(ins);
}
MyRBElementInteraction intr = intrList[intrList.Count - 1];
intrList.RemoveAt(intrList.Count - 1);
intr.RBElement1 = el1;
intr.RBElement2 = el2;
el1.GetRBElementInteractions().Add(intr);
el2.GetRBElementInteractions().Add(intr);
return(intr);
}
public override void DoWork()
{
// brute force
MyRBInteractionModule module = MyPhysics.physicsSystem.GetRBInteractionModule();
List <MyRigidBody> activeRigids = MyPhysics.physicsSystem.GetRigidBodyModule().GetActiveRigids();
m_ActiveElements.Clear();
for (int i = 0; i < activeRigids.Count; i++)
{
MyRigidBody rbo = activeRigids[i];
for (int j = 0; j < rbo.GetRBElementList().Count; j++)
{
MyRBElement el = rbo.GetRBElementList()[j];
el.UpdateAABB();
m_ActiveElements.Add(el);
}
}
// parse the elements
BoundingBox bbox;
MyRBElementInteraction interaction = null;
m_InteractionList.Clear();
for (int i = 0; i < m_ActiveElements.Count; i++)
{
MyRBElement testEl = m_ActiveElements[i];
BoundingBox testAABB = testEl.GetWorldSpaceAABB();
for (int j = 0; j < m_Elements.Count; j++)
{
MyRBElement el = m_Elements[j];
interaction = null;
if (el != testEl)
{
if (el.GetRigidBody().IsStatic() && testEl.GetRigidBody().IsStatic())
{
continue;
}
if (el.GetRigidBody().IsKinematic() && testEl.GetRigidBody().IsKinematic())
{
continue;
}
if (el.GetRigidBody() == testEl.GetRigidBody())
{
continue;
}
bbox = el.GetWorldSpaceAABB();
if (bbox.Intersects(testAABB))
{
interaction = module.FindRBElementInteraction(el, testEl);
if (interaction == null)
{
interaction = module.AddRBElementInteraction(el, testEl);
}
}
else
{
interaction = module.FindRBElementInteraction(el, testEl);
if (interaction != null)
{
interaction = null;
module.RemoveRBElementInteraction(el, testEl);
}
}
if (interaction != null)
{
bool iinserted = false;
for (int t = 0; t < m_InteractionList.Count; t++)
{
if (m_InteractionList[t] == interaction)
{
iinserted = true;
break;
}
}
if (!iinserted)
{
m_InteractionList.Add(interaction);
}
}
}
}
}
}
/// <summary>
/// parses all active rigids, updates the aabbs and checks for possible collisions using the DAABB
/// </summary>
public override void DoWork()
{
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("ClearInteractions");
ClearInteractions();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MyRBInteractionModule module = MyPhysics.physicsSystem.GetRBInteractionModule();
HashSet <MyRigidBody> activeRigids = MyPhysics.physicsSystem.GetRigidBodyModule().GetActiveRigids();
float dt = MyPhysics.physicsSystem.GetRigidBodyModule().CurrentTimeStep;
BoundingBox aabb;
//Dictionary<string, int> typeStats = new Dictionary<string, int>();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("MoveProxy");
// A.B. this might be expensive, maybe update separate or move somewhere else like in the solve -> update positions !!
foreach (MyRigidBody rbo in activeRigids)
{
/*
* string ts = ((MinerWars.AppCode.Game.Physics.MyPhysicsBody)rbo.m_UserData).Entity.GetType().Name.ToString();
* if (!typeStats.ContainsKey(ts))
* typeStats.Add(ts, 0);
* typeStats[ts]++;
*/
for (int j = 0; j < rbo.GetRBElementList().Count; j++)
{
MyRBElement el = rbo.GetRBElementList()[j];
el.UpdateAABB();
aabb = el.GetWorldSpaceAABB();
m_DAABBTree.MoveProxy(el.ProxyData, ref aabb, el.GetRigidBody().LinearVelocity *dt);
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("make the AABB test");
// make the AABB test
MyRBElementInteraction interaction = null;
#if RENDER_PROFILING && !MEMORY_PROFILING
int[] heights = new int[activeRigids.Count];
int[] tests = new int[activeRigids.Count];
#endif
int i = 0;
foreach (MyRigidBody rbo in activeRigids)
{
for (int j = 0; j < rbo.GetRBElementList().Count; j++)
{
MyRBElement el = rbo.GetRBElementList()[j];
Vector3 globalPosition = Vector3.Transform(el.LocalPosition, rbo.Matrix);
Vector3 deltaVelocity = rbo.LinearVelocity * dt;
aabb = el.GetWorldSpaceAABB();
if (rbo.ReadFlag(RigidBodyFlag.RBF_COLDET_THROUGH_VOXEL_TRIANGLES) || el is MyRBSphereElement) //because sphere is interpolated for whole path
{
Vector3 v = globalPosition + rbo.LinearVelocity * dt;
//Vector3 v = aabb.GetCenter()+rbo.LinearVelocity * dt;
aabb = aabb.Include(ref v);
}
else
{
aabb.Max += deltaVelocity;
aabb.Min += deltaVelocity;
}
//if (el is MyRBSphereElement)
//{
//MyDebugDraw.AddDrawSphereWireframe(new BoundingSphere(aabb.GetCenter(), (aabb.GetCorners()[0] - aabb.GetCenter()).Length()));
// MyDebugDraw.AddDrawSphereWireframe(new BoundingSphere(aabb.GetCenter()+rbo.LinearVelocity * dt, (aabb.GetCorners()[0] - aabb.GetCenter()).Length()));
//}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("m_DAABBTree.OverlapAllBoundingBox");
#if RENDER_PROFILING && !MEMORY_PROFILING
m_DAABBTree.OverlapAllBoundingBox(ref aabb, m_overlapElementList, 0);
#else
m_DAABBTree.OverlapAllBoundingBox(ref aabb, m_overlapElementList, 0);
#endif
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("Interactions");
foreach (var lEl in m_overlapElementList)
{
if (el == lEl)//optimization?
{
continue;
}
if ((lEl.Flags & MyElementFlag.EF_SENSOR_ELEMENT) > 0)
{
MySensorElement sensorElement = lEl as MySensorElement;
MyRBElement rbElement = el as MyRBElement;
MyPhysics.physicsSystem.GetSensorInteractionModule().AddSensorInteraction(sensorElement, rbElement);
continue;
}
if ((lEl.Flags & MyElementFlag.EF_RB_ELEMENT) > 0)
{
MyRBElement testEl = (MyRBElement)lEl;
if (el.GetRigidBody().IsStatic() && testEl.GetRigidBody().IsStatic())
{
continue;
}
if (el.GetRigidBody().IsKinematic() && testEl.GetRigidBody().IsKinematic())
{
continue;
}
if (el.GetRigidBody().IsKinematic() && testEl.GetRigidBody().IsStatic())
{
continue;
}
if (el.GetRigidBody().IsStatic() && testEl.GetRigidBody().IsKinematic())
{
continue;
}
if (el.GetRigidBody() == testEl.GetRigidBody())
{
continue;
}
if (!MyFiltering.AcceptCollision(el, testEl))
{
continue;
}
interaction = module.FindRBElementInteraction(el, testEl);
if (interaction == null)
{
interaction = module.AddRBElementInteraction(el, testEl);
}
if (interaction != null)
{
bool iinserted = false;
for (int t = 0; t < m_InteractionList.Count; t++)
{
if (m_InteractionList[t] == interaction)
{
iinserted = true;
break;
}
}
if (!iinserted)
{
m_InteractionList.Add(interaction);
}
}
}
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
i++;
}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Active rigids", activeRigids.Count);
#if RENDER_PROFILING && !MEMORY_PROFILING
float averageHeight = 0;
float averageTest = 0;
int maxHeight = 0;
int maxTest = 0;
for (int j = 0; j < activeRigids.Count; j++)
{
averageHeight += heights[j];
averageTest += tests[j];
if (maxHeight < heights[j])
{
maxHeight = heights[j];
}
if (maxTest < tests[j])
{
maxTest = tests[j];
}
}
averageHeight /= activeRigids.Count;
averageTest /= activeRigids.Count;
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Average height", averageHeight);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Average test", averageTest);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Max height", maxHeight);
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().ProfileCustomValue("Max test", maxTest);
#endif
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().StartProfilingBlock("handle active sensors");
List <MySensor> activeSensors = MyPhysics.physicsSystem.GetSensorModule().ActiveSensors;
if (activeSensors.Count > 0)
{
if (m_activeSensorIndex >= activeSensors.Count)
{
m_activeSensorIndex = 0;
}
MySensor activeSensor = activeSensors[m_activeSensorIndex];
activeSensor.PrepareSensorInteractions();
MySensorElement sensorElement = activeSensor.GetElement();
BoundingBox sensorElAABB = sensorElement.GetWorldSpaceAABB();
m_sensorInteractonList.Clear();
m_DAABBTree.OverlapAllBoundingBox(ref sensorElAABB, m_sensorInteractonList, (uint)MyElementFlag.EF_RB_ELEMENT);
foreach (MyRBElement rbElement in m_sensorInteractonList)
{
MyPhysics.physicsSystem.GetSensorInteractionModule().AddSensorInteraction(sensorElement, rbElement);
}
activeSensor.Active = false;
m_activeSensorIndex++;
}
//List<MySensor> activeSensors = MyPhysics.physicsSystem.GetSensorModule().ActiveSensors;
//for (int i = activeSensors.Count - 1; i >= 0; i--)
//{
// MySensorElement sensorElement = activeSensors[i].GetElement();
// BoundingBox sensorElAABB = sensorElement.GetWorldSpaceAABB();
// m_sensorInteractonList.Clear();
// m_DAABBTree.OverlapRBAllBoundingBox(ref sensorElAABB, m_sensorInteractonList);
// foreach (MyRBElement rbElement in m_sensorInteractonList)
// {
// MyPhysics.physicsSystem.GetSensorInteractionModule().AddSensorInteraction(sensorElement, rbElement);
// }
// activeSensors[i].IsActive = false;
// activeSensors.RemoveAt(i);
//}
MinerWars.AppCode.Game.Render.MyRender.GetRenderProfiler().EndProfilingBlock();
}
/// <summary>
/// Adding rigid body recursively to check for constraint connections and make sure that its only in 1 island
/// </summary>
private void AddRigidBody(MyRigidBody rbo, MyRigidBody secondRigidBody, MyRigidBodyIsland addIsland)
{
if (rbo.IsStatic())
{
rbo.PutToSleep();
return;
}
if (!m_proccesedList.Add(rbo))
{
return;
}
// add rigid bodies to island recursively
int numInteractions = 0;
for (int j = 0; j < rbo.GetRBElementList().Count; j++)
{
MyRBElement el = rbo.GetRBElementList()[j];
numInteractions += el.GetRBElementInteractions().Count;
for (int k = 0; k < el.GetRBElementInteractions().Count; k++)
{
if (addIsland == null && !rbo.IsStatic())
{
addIsland = m_islandsPool.Allocate();
addIsland.Clear();
addIsland.IterationCount = 0;
addIsland.AddRigidBody(rbo);
m_islands.Add(addIsland);
}
else
{
if (!rbo.IsStatic())
{
addIsland.AddRigidBody(rbo);
}
}
MyRBElementInteraction intr = el.GetRBElementInteractions()[k];
if (intr.GetRigidBody1() != rbo && intr.GetRigidBody2() != secondRigidBody)
{
AddRigidBody(intr.GetRigidBody1(), rbo, addIsland);
}
if (intr.GetRigidBody2() != rbo && intr.GetRigidBody1() != secondRigidBody)
{
AddRigidBody(intr.GetRigidBody2(), rbo, addIsland);
}
}
}
// isolated rbo
if (numInteractions == 0 && !rbo.IsStatic())
{
MyRigidBodyIsland island = m_islandsPool.Allocate();
island.Clear();
island.IterationCount = 0;
island.AddRigidBody(rbo);
m_islands.Add(island);
}
}
/// <summary>
/// Registering the interation between 2 rbelement types
/// </summary>
public void RegisterRBElementInteraction(MyRBElementType type1, MyRBElementType type2, MyRBElementInteraction intr)
{
int t1 = (int)type1;
int t2 = (int)type2;
List<MyRBElementInteraction> intrList = null;
if (t1 < t2)
{
intrList = m_IslandsPool[t1, t2];
m_IslandsPoolStatic[t1, t2] = intr.CreateNewInstance();
}
else
{
intrList = m_IslandsPool[t2, t1];
m_IslandsPoolStatic[t2, t1] = intr.CreateNewInstance();
}
intrList.Capacity = m_preAllocCount;
intrList.Add(intr);
for (int i = 1; i < m_preAllocCount; i++)
{
MyRBElementInteraction ins = intr.CreateNewInstance();
intrList.Add(ins);
}
}
