public static void processCollision(CollisionObject col0, CollisionObject col1, DispatcherInfo dispatchInfo,
PersistentManifold resultOut)
{
SphereShape sphere0 = (SphereShape)col0.getCollisionShape();
SphereShape sphere1 = (SphereShape)col1.getCollisionShape();
VInt3 diff = col0.getWorldTransform().position - col1.getWorldTransform().position;
VFixedPoint len = diff.magnitude;
VFixedPoint radius0 = sphere0.getRadius();
VFixedPoint radius1 = sphere1.getRadius();
// if distance positive, don't generate a new contact
if (len > (radius0 + radius1))
{
return;
}
// distance (negative means penetration)
VFixedPoint dist = len - (radius0 + radius1);
VInt3 normalOnSurfaceB = VInt3.zero;
if (dist < Globals.EPS)
{
normalOnSurfaceB = diff / len;
}
// report a contact. internally this will be kept persistent, and contact reduction is done
ManifoldPoint contactPoint = new ManifoldPoint(col0.getWorldTransform().position - normalOnSurfaceB * radius0, col1.getWorldTransform().position + normalOnSurfaceB * radius1, normalOnSurfaceB, dist);
resultOut.addManifoldPoint(contactPoint);
}
public static void processCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, PersistentManifold resultOut)
{
bool needSwap = body0.getCollisionShape() is CapsuleShape;
CollisionObject sphereObject = needSwap ? body1 : body0;
CollisionObject capsuleObject = needSwap ? body0 : body1;
SphereShape sphere = (SphereShape)sphereObject.getCollisionShape();
CapsuleShape capsule = (CapsuleShape)capsuleObject.getCollisionShape();
VInt3 spherePos = sphereObject.getWorldTransform().position;
VIntTransform capsuleTransform = capsuleObject.getWorldTransform();
VInt3 p0 = capsuleTransform.TransformPoint(capsule.getUpAxis() * capsule.getHalfHeight());
VInt3 p1 = capsuleTransform.TransformPoint(capsule.getUpAxis() * -capsule.getHalfHeight());
VFixedPoint param = VFixedPoint.Zero;
VFixedPoint dist2 = Distance.distancePointSegmentSquared(p0, p1, spherePos, ref param);
VFixedPoint dist = FMath.Sqrt(dist2);
VFixedPoint penetration = dist - (sphere.getRadius() + capsule.getRadius());
if (penetration > Globals.getContactBreakingThreshold())
{
return;
}
VInt3 lineWorldPos = p0 * (VFixedPoint.One - param) + p1 * param;
VInt3 diff = (spherePos - lineWorldPos) / dist;
VInt3 sphereWorldPos = spherePos - diff * sphere.getRadius();
VInt3 capsuleWorldPos = lineWorldPos + diff * capsule.getRadius();
ManifoldPoint contractPoint = new ManifoldPoint(needSwap ? capsuleWorldPos : sphereWorldPos, needSwap ? sphereWorldPos: capsuleWorldPos, diff * (needSwap ? -1 : 1), penetration);
resultOut.addManifoldPoint(contractPoint);
}
public PersistentManifold()
{
for (int i = 0; i < pointCache.Length; i++)
{
pointCache[i] = new ManifoldPoint();
}
}
protected bool recoverFromPenetration(CollisionWorld collisionWorld)
{
bool penetration = false;
manifolds.Clear();
collisionWorld.OverlapTest(me, manifolds);
for (int i = 0; i < manifolds.Count; i++)
{
PersistentManifold aresult = manifolds[i];
int directionSign = aresult.body0 == me ? 1 : -1;
for (int j = 0; j < aresult.getContactPointsNum(); j++)
{
ManifoldPoint apoint = aresult.getManifoldPoint(j);
VFixedPoint pen = apoint.distance;
if (pen >= VFixedPoint.Zero)
{
continue;
}
currentPosition += apoint.normalWorldOnB * directionSign * pen * alpha;
penetration = true;
}
}
return(penetration);
}
public static void processCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, PersistentManifold resultOut)
{
CapsuleShape capsule0 = (CapsuleShape)body0.getCollisionShape();
CapsuleShape capsule1 = (CapsuleShape)body1.getCollisionShape();
VIntTransform transform0 = body0.getWorldTransform();
VIntTransform transform1 = body1.getWorldTransform();
VInt3 p00 = transform0.TransformPoint(capsule0.getUpAxis() * capsule0.getHalfHeight());
VInt3 p01 = transform0.TransformPoint(capsule0.getUpAxis() * -capsule0.getHalfHeight());
VInt3 p10 = transform1.TransformPoint(capsule1.getUpAxis() * capsule1.getHalfHeight());
VInt3 p11 = transform1.TransformPoint(capsule1.getUpAxis() * -capsule1.getHalfHeight());
VInt3 x, y;
VFixedPoint dist2 = Distance.SegmentSegmentDist2(p00, p01 - p00, p10, p11 - p10, out x, out y);
VFixedPoint dist = FMath.Sqrt(dist2);
VFixedPoint penetration = dist - (capsule0.getRadius() + capsule1.getRadius());
if (penetration > Globals.getContactBreakingThreshold())
{
return;
}
VInt3 diff = (x - y) / dist;
VInt3 posWorldOnA = x - diff * capsule0.getRadius();
VInt3 posWorldOnB = y + diff * capsule1.getRadius();
ManifoldPoint contractPoint = new ManifoldPoint(posWorldOnA, posWorldOnB, diff, penetration);
resultOut.addManifoldPoint(contractPoint);
}
public static void processCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, PersistentManifold resultOut)
{
bool needSwap = body0.getCollisionShape() is CapsuleShape;
CollisionObject boxObject = needSwap ? body1 : body0;
CollisionObject capsuleObject = needSwap ? body0 : body1;
BoxShape boxShape = (BoxShape)boxObject.getCollisionShape();
CapsuleShape capsuleShape = (CapsuleShape)capsuleObject.getCollisionShape();
VIntTransform boxTransform = boxObject.getWorldTransform();
VIntTransform capsuleTransform = capsuleObject.getWorldTransform();
VInt3 p0 = capsuleTransform.TransformPoint(capsuleShape.getUpAxis() * capsuleShape.getHalfHeight()), p1 = capsuleTransform.TransformPoint(capsuleShape.getUpAxis() * -capsuleShape.getHalfHeight());
VFixedPoint lParam = VFixedPoint.Zero; VInt3 closestPointBoxLS = VInt3.zero;
VFixedPoint distSq = SegmentBoxDistance.distanceSegmentBoxSquared(p0, p1, boxShape.getHalfExtent(), boxTransform, ref lParam, ref closestPointBoxLS);
VInt3 closestPointBoxWS = boxTransform.TransformPoint(closestPointBoxLS);
VInt3 closestPointLineWS = p0 * (VFixedPoint.One - lParam) + p1 * lParam;
VFixedPoint dist = FMath.Sqrt(distSq) - capsuleShape.getRadius();
if (dist > VFixedPoint.Zero)
{
return;
}
if ((closestPointBoxWS - closestPointLineWS).sqrMagnitude > Globals.EPS2)
{
VInt3 normalOnBoxWS = (closestPointLineWS - closestPointBoxWS).Normalize();
ManifoldPoint contactPoint = new ManifoldPoint(needSwap ? closestPointLineWS - normalOnBoxWS * capsuleShape.getRadius() : closestPointBoxWS,
!needSwap ? closestPointLineWS - normalOnBoxWS * capsuleShape.getRadius() : closestPointBoxWS,
normalOnBoxWS * (needSwap ? 1 : -1), dist);
resultOut.addManifoldPoint(contactPoint);
}
else //box and line are intersected
{
//EPA
LineShape coreShape = new LineShape(capsuleShape);
VInt3 pa = VInt3.zero, pb = VInt3.zero, normal = VInt3.zero;
VFixedPoint depth = VFixedPoint.Zero;
PxGJKStatus result = EpaSolver.calcPenDepth(coreShape, boxShape, capsuleTransform, boxTransform, ref pa, ref pb, ref normal, ref depth);
if (result == PxGJKStatus.EPA_CONTACT)
{
ManifoldPoint contactPoint = new ManifoldPoint(needSwap ? pa - normal * capsuleShape.getRadius() : pb, !needSwap ? pa - normal * capsuleShape.getRadius() : pb, needSwap ? normal : -normal, depth - capsuleShape.getRadius());
resultOut.addManifoldPoint(contactPoint);
}
}
}
public int addManifoldPoint(ManifoldPoint newPoint)
{
int insertIndex = cachedPoints;
if (insertIndex == MANIFOLD_CACHE_SIZE)
{
insertIndex = 0;
}
else
{
cachedPoints++;
}
newPoint.localPointA = body0.getWorldTransform().InverseTransformPoint(newPoint.positionWorldOnA);
newPoint.localPointB = body1.getWorldTransform().InverseTransformPoint(newPoint.positionWorldOnB);
pointCache[insertIndex] = newPoint;
return(insertIndex);
}
public static void processCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, PersistentManifold resultOut)
{
bool isSwapped = body1.getCollisionShape() is SphereShape;
CollisionObject sphereObj = isSwapped ? body1 : body0;
CollisionObject boxObj = isSwapped ? body0 : body1;
VInt3 normalOnSurfaceB;
VFixedPoint penetrationDepth;
VInt3 sphereCenter = sphereObj.getWorldTransform().position;
SphereShape sphere0 = (SphereShape)sphereObj.getCollisionShape();
VFixedPoint radius = sphere0.getRadius();
if (getSphereDistance((BoxShape)boxObj.getCollisionShape(), boxObj.getWorldTransform(), sphereCenter, radius, out normalOnSurfaceB, out penetrationDepth))
{
VInt3 worldPosOnSphere = sphereCenter - normalOnSurfaceB * radius;
VInt3 worldPosOnBox = worldPosOnSphere - normalOnSurfaceB * penetrationDepth;
ManifoldPoint contactPoint = new ManifoldPoint(isSwapped ? worldPosOnBox : worldPosOnSphere, isSwapped ? worldPosOnSphere : worldPosOnBox, normalOnSurfaceB * (isSwapped ? -1 : 1), penetrationDepth);
resultOut.addManifoldPoint(contactPoint);
}
}
public void refreshContactPoints(VIntTransform trA, VIntTransform trB)
{
VInt3 tmp = VInt3.zero;
for (int i = cachedPoints - 1; i >= 0; i--)
{
ManifoldPoint manifoldPoint = pointCache[i];
manifoldPoint.positionWorldOnA = trA.TransformPoint(manifoldPoint.localPointA);
manifoldPoint.positionWorldOnB = trB.TransformPoint(manifoldPoint.localPointB);
manifoldPoint.distance = VInt3.Dot(manifoldPoint.normalWorldOnB, manifoldPoint.positionWorldOnA - manifoldPoint.positionWorldOnB);
}
VFixedPoint distance2d = VFixedPoint.Zero;
VInt3 projectedDifference = VInt3.zero, projectedPoint = VInt3.zero;
for (int i = cachedPoints - 1; i >= 0; i--)
{
ManifoldPoint manifoldPoint = pointCache[i];
if (!validContactDistance(manifoldPoint))
{
removeContactPoint(i);
}
}
}
public static void processCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, PersistentManifold resultOut)
{
BoxShape box0 = (BoxShape)body0.getCollisionShape();
BoxShape box1 = (BoxShape)body1.getCollisionShape();
VIntTransform transform0 = body0.getWorldTransform();
VIntTransform transform1 = body1.getWorldTransform();
VInt3 box0Extent = box0.getHalfExtent();
VInt3 box1Extent = box1.getHalfExtent();
doBoxBoxGenerateContacts(box0Extent, box1Extent, transform0, transform1, resultOut);
if (resultOut.getContactPointsNum() == 0)
{
VInt3 pa = VInt3.zero, pb = VInt3.zero, normal = VInt3.zero;
VFixedPoint depth = VFixedPoint.Zero;
PxGJKStatus result = EpaSolver.calcPenDepth(box0, box1, transform0, transform1, ref pa, ref pb, ref normal, ref depth);
if (result == PxGJKStatus.EPA_CONTACT)
{
ManifoldPoint contactPoint = new ManifoldPoint(pa, pb, normal, depth);
resultOut.addManifoldPoint(contactPoint);
}
}
}
bool validContactDistance(ManifoldPoint pt)
{
return(pt.distance <= getContactBreakingThreshold());
}
static void calculateContacts(VFixedPoint extentX, VFixedPoint extentY, VFixedPoint extentZ, VInt3[] pts,
VInt3 incidentfaceNormalInNew, VInt3 localNormal, VFixedPoint contactDist, VIntTransform transformNew,
PersistentManifold resultOut, bool flip)
{
localNormal = transformNew.TransformDirection(localNormal);
VFixedPoint nExtentX = -extentX;
VFixedPoint nExtentY = -extentY;
bool[] penetration = new bool[4];
bool[] area = new bool[4];
VInt3 bmin = new VInt3(VFixedPoint.MaxValue, VFixedPoint.MaxValue, VFixedPoint.MaxValue);
VInt3 bmax = new VInt3(VFixedPoint.MinValue, VFixedPoint.MinValue, VFixedPoint.MinValue);
VInt3 bound = new VInt3(extentX, extentY, VFixedPoint.MaxValue);
for (int i = 0; i < 4; i++)
{
bmin = VInt3.Min(bmin, pts[i]);
bmax = VInt3.Max(bmax, pts[i]);
VFixedPoint z = -pts[i].z;
if (contactDist > z)
{
penetration[i] = true;
VInt3 absPt = pts[i].Abs();
bool con = bound >= absPt;
if (con)
{
area[i] = true;
VInt3 localPointA = pts[i]; localPointA.z = VFixedPoint.Zero; localPointA = transformNew.TransformPoint(localPointA);
VInt3 localPointB = pts[i]; localPointB = transformNew.TransformPoint(localPointB);
ManifoldPoint contactPoint = new ManifoldPoint(flip ? localPointB : localPointA, flip ? localPointA : localPointB, localNormal, z);
resultOut.addManifoldPoint(contactPoint);
}
else
{
area[i] = false;
}
}
else
{
penetration[i] = false;
area[i] = false;
}
}
if (resultOut.getContactPointsNum() == PersistentManifold.MANIFOLD_CACHE_SIZE)
{
return;
}
{
{
VFixedPoint denom = incidentfaceNormalInNew.z;
{
VInt3 q0 = new VInt3(extentX, extentY, VFixedPoint.Zero);
if (contains(pts, q0, bmin, bmax))
{
VFixedPoint nom = VInt3.Dot(incidentfaceNormalInNew, pts[0] - q0);
VFixedPoint t = nom / denom;
VFixedPoint pen = -t;
if (contactDist > pen)
{
VInt3 localPointA = q0; localPointA = transformNew.TransformPoint(localPointA);
VInt3 localPointB = q0; localPointB.z = t; localPointB = transformNew.TransformPoint(localPointB);
ManifoldPoint contactPoint = new ManifoldPoint(flip ? localPointB : localPointA, flip ? localPointA : localPointB, localNormal, pen);
resultOut.addManifoldPoint(contactPoint);
}
}
}
{
VInt3 q0 = new VInt3(extentX, nExtentY, VFixedPoint.Zero);
if (contains(pts, q0, bmin, bmax))
{
VFixedPoint nom = VInt3.Dot(incidentfaceNormalInNew, pts[0] - q0);
VFixedPoint t = nom / denom;
VFixedPoint pen = -t;
if (contactDist > pen)
{
VInt3 localPointA = q0; localPointA = transformNew.TransformPoint(localPointA);
VInt3 localPointB = q0; localPointB.z = t; localPointB = transformNew.TransformPoint(localPointB);
ManifoldPoint contactPoint = new ManifoldPoint(flip ? localPointB : localPointA, flip ? localPointA : localPointB, localNormal, pen);
resultOut.addManifoldPoint(contactPoint);
}
}
}
{
VInt3 q0 = new VInt3(nExtentX, extentY, VFixedPoint.Zero);
if (contains(pts, q0, bmin, bmax))
{
VFixedPoint nom = VInt3.Dot(incidentfaceNormalInNew, pts[0] - q0);
VFixedPoint t = nom / denom;
VFixedPoint pen = -t;
if (contactDist > pen)
{
VInt3 localPointA = q0; localPointA = transformNew.TransformPoint(localPointA);
VInt3 localPointB = q0; localPointB.z = t; localPointB = transformNew.TransformPoint(localPointB);
ManifoldPoint contactPoint = new ManifoldPoint(flip ? localPointB : localPointA, flip ? localPointA : localPointB, localNormal, pen);
resultOut.addManifoldPoint(contactPoint);
}
}
}
{
VInt3 q0 = new VInt3(nExtentX, nExtentY, VFixedPoint.Zero);
if (contains(pts, q0, bmin, bmax))
{
VFixedPoint nom = VInt3.Dot(incidentfaceNormalInNew, pts[0] - q0);
VFixedPoint t = nom / denom;
VFixedPoint pen = -t;
if (contactDist > pen)
{
VInt3 localPointA = q0; localPointA = transformNew.TransformPoint(localPointA);
VInt3 localPointB = q0; localPointB.z = t; localPointB = transformNew.TransformPoint(localPointB);
ManifoldPoint contactPoint = new ManifoldPoint(flip ? localPointB : localPointA, flip ? localPointA : localPointB, localNormal, pen);
resultOut.addManifoldPoint(contactPoint);
}
}
}
}
}
VInt3 ext = new VInt3(extentX, extentY, extentZ * VFixedPoint.Two);
VInt3 negExt = new VInt3(nExtentX, nExtentY, -(contactDist + Globals.EPS));
for (int start = 0, end = 3; start < 4; end = start++)
{
VInt3 p0 = pts[start];
VInt3 p1 = pts[end];
if (!penetration[start] && !penetration[end])
{
continue;
}
bool con0 = penetration[start] && area[start];
bool con1 = penetration[end] && area[end];
if (con0 && con1)
{
continue;
}
VFixedPoint tmin = VFixedPoint.Zero, tmax = VFixedPoint.Zero;
if (AabbUtils.RayAabb2(p0, p1, negExt, ext, ref tmin, ref tmax))
{
if (!con0 && tmin > VFixedPoint.Zero)
{
VInt3 intersectP = p0 * (VFixedPoint.One - tmin) + p1 * tmin;
VInt3 localPointA = intersectP; localPointA.z = VFixedPoint.Zero; localPointA = transformNew.TransformPoint(localPointA);
VInt3 localPointB = intersectP; localPointB = transformNew.TransformPoint(localPointB);
ManifoldPoint contactPoint = new ManifoldPoint(flip ? localPointB : localPointA, flip ? localPointA : localPointB, localNormal, -intersectP.z);
resultOut.addManifoldPoint(contactPoint);
}
if (!con1 && tmax < VFixedPoint.One)
{
VInt3 intersectP = p0 * (VFixedPoint.One - tmax) + p1 * tmax;
VInt3 localPointA = intersectP; localPointA.z = VFixedPoint.Zero; localPointA = transformNew.TransformPoint(localPointA);
VInt3 localPointB = intersectP; localPointB = transformNew.TransformPoint(localPointB);
ManifoldPoint contactPoint = new ManifoldPoint(flip ? localPointB : localPointA, flip ? localPointA : localPointB, localNormal, -intersectP.z);
resultOut.addManifoldPoint(contactPoint);
}
}
}
}
