/// <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);
}
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 void Init(ref MySmallCollPointInfo m_Info)
{
this.m_Info = m_Info;
this.m_Denominator = 0.0f;
this.m_AccumulatedNormalImpulse = 0.0f;
this.m_AccumulatedNormalImpulseAux = 0.0f;
this.m_AccumulatedFrictionImpulse = Vector3.Zero;
this.m_Position = Vector3.Zero;
this.m_MinSeparationVel = 0.0f;
}
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);
}
}
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;
}
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) 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;
}
public static void FreeStackAlloc(MySmallCollPointInfo[] alloced)
{
lock (m_Locker)
{
m_cache.Push(alloced);
}
}
public void Init(ref MySmallCollPointInfo m_Info)
{
this.m_Info = m_Info;
this.m_Denominator = 0.0f;
this.m_AccumulatedNormalImpulse = 0.0f;
this.m_AccumulatedNormalImpulseAux = 0.0f;
this.m_AccumulatedFrictionImpulse = Vector3.Zero;
this.m_Position = Vector3.Zero;
this.m_MinSeparationVel = 0.0f;
}
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);
}
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;
}
}
}
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);
}
}
}
public MyCollisionPointStruct(float oldDepth, MySmallCollPointInfo collPointInfo)
{
OldDepth = oldDepth;
CollPointInfo = collPointInfo;
}
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;
}
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)
{
//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);
}
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;
}
