/// <summary>
/// <para>Casts a convex shape against the space.</para>
/// <para>Convex casts are sensitive to length; avoid extremely long convex casts for better stability and performance.</para>
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape. Avoid extremely long convex casts for better stability and performance.</param>
/// <param name="filter">Delegate to prune out hit candidates before performing a cast against them. Return true from the filter to process an entry or false to ignore the entry.</param>
/// <param name="castResult">Hit data, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public bool ConvexCast(ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweep, Func <BroadPhaseEntry, bool> filter, out RayCastResult castResult)
{
var castResults = PhysicsResources.GetRayCastResultList();
bool didHit = ConvexCast(castShape, ref startingTransform, ref sweep, filter, castResults);
castResult = castResults.Elements[0];
for (int i = 1; i < castResults.Count; i++)
{
RayCastResult candidate = castResults.Elements[i];
if (candidate.HitData.T < castResult.HitData.T)
{
castResult = candidate;
}
}
PhysicsResources.GiveBack(castResults);
return(didHit);
}
/// <summary>
/// Tests a ray against the space.
/// </summary>
/// <param name="ray">Ray to test.</param>
/// <param name="maximumLength">Maximum length of the ray in units of the ray direction's length.</param>
/// <param name="filter">Delegate to prune out hit candidates before performing a ray cast against them. Return true from the filter to process an entry or false to ignore the entry.</param>
/// <param name="result">Hit data of the ray, if any.</param>
/// <returns>Whether or not the ray hit anything.</returns>
public bool RayCast(Ray ray, float maximumLength, Func <BroadPhaseEntry, bool> filter, out RayCastResult result)
{
var resultsList = PhysicsResources.GetRayCastResultList();
bool didHit = RayCast(ray, maximumLength, filter, resultsList);
result = resultsList.Elements[0];
for (int i = 1; i < resultsList.Count; i++)
{
RayCastResult candidate = resultsList.Elements[i];
if (candidate.HitData.T < result.HitData.T)
{
result = candidate;
}
}
PhysicsResources.GiveBack(resultsList);
return(didHit);
}
/// <summary>
/// Tests a ray against the space, possibly returning multiple hits.
/// </summary>
/// <param name="ray">Ray to test.</param>
/// <param name="maximumLength">Maximum length of the ray in units of the ray direction's length.</param>
/// <param name="filter">Delegate to prune out hit candidates before performing a cast against them. Return true from the filter to process an entry or false to ignore the entry.</param>
/// <param name="outputRayCastResults">Hit data of the ray, if any.</param>
/// <returns>Whether or not the ray hit anything.</returns>
public bool RayCast(Ray ray, float maximumLength, Func <BroadPhaseEntry, bool> filter, IList <RayCastResult> outputRayCastResults)
{
var outputIntersections = PhysicsResources.GetBroadPhaseEntryList();
if (BroadPhase.QueryAccelerator.RayCast(ray, maximumLength, outputIntersections))
{
for (int i = 0; i < outputIntersections.Count; i++)
{
RayHit rayHit;
BroadPhaseEntry candidate = outputIntersections.Elements[i];
if (candidate.RayCast(ray, maximumLength, filter, out rayHit))
{
outputRayCastResults.Add(new RayCastResult(rayHit, candidate));
}
}
}
PhysicsResources.GiveBack(outputIntersections);
return(outputRayCastResults.Count > 0);
}
void UpdateConnectedMembers()
{
//Since we're about to change this updateable's connections, make sure the
//simulation islands hear about it. This is NOT thread safe.
var deactivationManager = simulationIslandConnection.DeactivationManager;
//Orphan the simulation island connection since it's about to get replaced.
//There's three possible situations here:
//1) We belong to the DeactivationManager.
//2) We don't belong to a DeactivationManager and the connection is slated for removal (we were in the deactivation manager before).
// This can happen when a solver updateable associated with a pair gets removed and cleaned up.
//3) We don't belong to a DeactivationManager and the connection is not slated for removal (we weren't in a deactivation manager before).
//In Case #1, all we have to do is orphan the connection and remove it from the manager. This performs any splits necessary. The replacement connection will force any necessary merges.
//In Case #2, we were just removed but the connection is still considered to have an owner.
//It won't get cleaned up by the removal, and doing it here would be premature: orphan the connection so the next deactivation manager splits flush cleans it up!
//In Case #3, we have full control over the simulation island connection because there is no interaction with a deactivation manager. We can just get rid of it directly.
simulationIslandConnection.Owner = null;
if (deactivationManager != null)
{
deactivationManager.Remove(simulationIslandConnection);
}
else if (!simulationIslandConnection.SlatedForRemoval) //If it's already been removed, cleaning it ourselves would prevent proper simulation island splits in the deactivation manager split flush.
{
PhysicsResources.GiveBack(simulationIslandConnection); //Well, since we're going to orphan the connection, we'll need to take care of its trash.
}
//The SimulationIslandConnection is immutable.
//So create a new one!
//Assume we've already dealt with the old connection.
simulationIslandConnection = PhysicsResources.GetSimulationIslandConnection();
for (int i = 0; i < involvedEntities.Count; i++)
{
simulationIslandConnection.Add(involvedEntities.Elements[i].activityInformation);
}
simulationIslandConnection.Owner = this;
//Add the new reference back.
if (deactivationManager != null)
{
deactivationManager.Add(simulationIslandConnection);
}
}
/// <summary>
/// <para>Casts a convex shape against the space.</para>
/// <para>Convex casts are sensitive to length; avoid extremely long convex casts for better stability and performance.</para>
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape. Avoid extremely long convex casts for better stability and performance.</param>
/// <param name="filter">Delegate to prune out hit candidates before performing a cast against them. Return true from the filter to process an entry or false to ignore the entry.</param>
/// <param name="outputCastResults">Hit data, if any.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public bool ConvexCast(ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweep, Func <BroadPhaseEntry, bool> filter, IList <RayCastResult> outputCastResults)
{
var overlappedElements = PhysicsResources.GetBroadPhaseEntryList();
BoundingBox boundingBox;
castShape.GetSweptBoundingBox(ref startingTransform, ref sweep, out boundingBox);
BroadPhase.QueryAccelerator.GetEntries(boundingBox, overlappedElements);
for (int i = 0; i < overlappedElements.Count; ++i)
{
RayHit hit;
if (overlappedElements.Elements[i].ConvexCast(castShape, ref startingTransform, ref sweep, filter, out hit))
{
outputCastResults.Add(new RayCastResult {
HitData = hit, HitObject = overlappedElements.Elements[i]
});
}
}
PhysicsResources.GiveBack(overlappedElements);
return(outputCastResults.Count > 0);
}
void FlushSplits()
{
//Only do a portion of the total splits.
int maxAttempts = Math.Max(minimumSplitAttempts, (int)(splitAttempts.Count * maximumSplitAttemptsFraction));
int attempts = 0;
SimulationIslandConnection attempt;
while (attempts < maxAttempts && splitAttempts.TryUnsafeDequeueFirst(out attempt))
{
if (attempt.SlatedForRemoval) //If it was re-added, don't split!
{
attempt.SlatedForRemoval = false; //Reset the removal state so that future adds will add back references, since we're about to remove them.
attempt.RemoveReferencesFromConnectedMembers();
bool triedToSplit = false;
for (int i = 0; i < attempt.entries.Count; i++)
{
for (int j = i + 1; j < attempt.entries.Count; j++)
{
triedToSplit |= TryToSplit(attempt.entries.Elements[i].Member, attempt.entries.Elements[j].Member);
}
}
//Only count the split if it does any work.
if (triedToSplit)
{
attempts++;
}
if (attempt.Owner == null)
{
//It's an orphan connection. No one owns it, and now that it's been dequeued from the deactivation manager,
//it has no home at all.
//Don't let it rot- return it to the pool!
PhysicsResources.GiveBack(attempt);
//This occurs when a constraint changes members.
//Because connections need to be immutable for this scheme to work,
//the old connection is orphaned and put into the deactivation manager's removal queue
//while a new one from the pool takes its place.
}
}
}
}
/// <summary>
/// Tests a ray against the collidable.
/// </summary>
/// <param name="ray">Ray to test.</param>
/// <param name="maximumLength">Maximum length, in units of the ray's direction's length, to test.</param>
/// <param name="result">Hit data, if any.</param>
/// <returns>Whether or not the ray hit the entry.</returns>
public bool RayCast(Ray ray, float maximumLength, out RayCastResult result)
{
var outputOverlappedElements = PhysicsResources.GetCollidableList();
CollidableTree.GetOverlaps(ray, maximumLength, outputOverlappedElements);
result = new RayCastResult();
result.HitData.T = float.MaxValue;
for (int i = 0; i < outputOverlappedElements.Count; ++i)
{
RayHit hit;
if (outputOverlappedElements.Elements[i].RayCast(ray, maximumLength, out hit))
{
if (hit.T < result.HitData.T)
{
result.HitData = hit;
result.HitObject = outputOverlappedElements.Elements[i];
}
}
}
PhysicsResources.GiveBack(outputOverlappedElements);
return(result.HitData.T < float.MaxValue);
}
protected override TriangleCollidable GetOpposingCollidable(int index)
{
//Construct a TriangleCollidable from the static mesh.
var toReturn = PhysicsResources.GetTriangleCollidable();
Vector3 terrainUp = new Vector3(mesh.worldTransform.LinearTransform.M21, mesh.worldTransform.LinearTransform.M22, mesh.worldTransform.LinearTransform.M23);
float dot;
Vector3 AB, AC, normal;
var shape = toReturn.Shape;
mesh.Shape.GetTriangle(index, ref mesh.worldTransform, out shape.vA, out shape.vB, out shape.vC);
Vector3 center;
Vector3.Add(ref shape.vA, ref shape.vB, out center);
Vector3.Add(ref center, ref shape.vC, out center);
Vector3.Multiply(ref center, 1 / 3f, out center);
Vector3.Subtract(ref shape.vA, ref center, out shape.vA);
Vector3.Subtract(ref shape.vB, ref center, out shape.vB);
Vector3.Subtract(ref shape.vC, ref center, out shape.vC);
//The bounding box doesn't update by itself.
toReturn.worldTransform.Position = center;
toReturn.worldTransform.Orientation = Quaternion.Identity;
toReturn.UpdateBoundingBoxInternal(0);
Vector3.Subtract(ref shape.vB, ref shape.vA, out AB);
Vector3.Subtract(ref shape.vC, ref shape.vA, out AC);
Vector3.Cross(ref AB, ref AC, out normal);
Vector3.Dot(ref terrainUp, ref normal, out dot);
if (dot > 0)
{
shape.sidedness = TriangleSidedness.Clockwise;
}
else
{
shape.sidedness = TriangleSidedness.Counterclockwise;
}
shape.collisionMargin = mobileMesh.Shape.MeshCollisionMargin;
return(toReturn);
}
protected override TriangleCollidable GetOpposingCollidable(int index)
{
//Construct a TriangleCollidable from the static mesh.
var toReturn = PhysicsResources.GetTriangleCollidable();
var shape = toReturn.Shape;
mesh.Mesh.Data.GetTriangle(index, out shape.vA, out shape.vB, out shape.vC);
Vector3 center;
Vector3.Add(ref shape.vA, ref shape.vB, out center);
Vector3.Add(ref center, ref shape.vC, out center);
Vector3.Multiply(ref center, 1 / 3f, out center);
Vector3.Subtract(ref shape.vA, ref center, out shape.vA);
Vector3.Subtract(ref shape.vB, ref center, out shape.vB);
Vector3.Subtract(ref shape.vC, ref center, out shape.vC);
//The bounding box doesn't update by itself.
toReturn.worldTransform.Position = center;
toReturn.worldTransform.Orientation = Quaternion.Identity;
toReturn.UpdateBoundingBoxInternal(0);
shape.sidedness = mesh.sidedness;
shape.collisionMargin = mobileMesh.Shape.MeshCollisionMargin;
return(toReturn);
}
/// <summary>
/// Cleans up the collidable.
/// </summary>
/// <param name="collidable">Collidable to clean up.</param>
protected virtual void CleanUpCollidable(TriangleCollidable collidable)
{
PhysicsResources.GiveBack(collidable);
}
