public override float CalculateTimeOfImpact(CollisionObject colA, CollisionObject colB, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
//Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
//Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
//col0->m_worldTransform,
float resultFraction = 1f;
float squareMotA = (colA.InterpolationWorldTransform.Translation - colA.WorldTransform.Translation).LengthSquared();
float squareMotB = (colB.InterpolationWorldTransform.Translation - colB.WorldTransform.Translation).LengthSquared();
if (squareMotA < colA.CcdSquareMotionThreshold &&
squareMotB < colB.CcdSquareMotionThreshold)
return resultFraction;
if (DisableCcd)
return 1f;
//An adhoc way of testing the Continuous Collision Detection algorithms
//One object is approximated as a sphere, to simplify things
//Starting in penetration should report no time of impact
//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
// Convex0 against sphere for Convex1
{
ConvexShape convexA = colA.CollisionShape as ConvexShape;
SphereShape sphereB = new SphereShape(colB.CcdSweptSphereRadius); //todo: allow non-zero sphere sizes, for better approximation
CastResult result = new CastResult();
VoronoiSimplexSolver voronoiSimplex = new VoronoiSimplexSolver();
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
//Simplification, one object is simplified as a sphere
GjkConvexCast ccdB = new GjkConvexCast(convexA, sphereB, voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccdB.CalcTimeOfImpact(colA.WorldTransform, colA.InterpolationWorldTransform,
colB.WorldTransform, colB.InterpolationWorldTransform, result))
{
//store result.m_fraction in both bodies
if (colA.HitFraction > result.Fraction)
colA.HitFraction = result.Fraction;
if (colB.HitFraction > result.Fraction)
colB.HitFraction = result.Fraction;
if (resultFraction > result.Fraction)
resultFraction = result.Fraction;
}
}
// Sphere (for convex0) against Convex1
{
ConvexShape convexB = colB.CollisionShape as ConvexShape;
SphereShape sphereA = new SphereShape(colA.CcdSweptSphereRadius); //todo: allow non-zero sphere sizes, for better approximation
CastResult result = new CastResult();
VoronoiSimplexSolver voronoiSimplex = new VoronoiSimplexSolver();
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
GjkConvexCast ccdB = new GjkConvexCast(sphereA, convexB, voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccdB.CalcTimeOfImpact(colA.WorldTransform, colA.InterpolationWorldTransform,
colB.WorldTransform, colB.InterpolationWorldTransform, result))
{
//store result.m_fraction in both bodies
if (colA.HitFraction > result.Fraction)
colA.HitFraction = result.Fraction;
if (colB.HitFraction > result.Fraction)
colB.HitFraction = result.Fraction;
if (resultFraction > result.Fraction)
resultFraction = result.Fraction;
}
}
return resultFraction;
}
public override float CalculateTimeOfImpact(CollisionObject colA, CollisionObject colB, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
//Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
//Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
//col0->m_worldTransform,
float resultFraction = 1f;
float squareMotA = (colA.InterpolationWorldTransform.Translation - colA.WorldTransform.Translation).LengthSquared();
float squareMotB = (colB.InterpolationWorldTransform.Translation - colB.WorldTransform.Translation).LengthSquared();
if (squareMotA < colA.CcdSquareMotionThreshold &&
squareMotB < colB.CcdSquareMotionThreshold)
{
return(resultFraction);
}
if (DisableCcd)
{
return(1f);
}
//An adhoc way of testing the Continuous Collision Detection algorithms
//One object is approximated as a sphere, to simplify things
//Starting in penetration should report no time of impact
//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
// Convex0 against sphere for Convex1
{
ConvexShape convexA = colA.CollisionShape as ConvexShape;
SphereShape sphereB = new SphereShape(colB.CcdSweptSphereRadius); //todo: allow non-zero sphere sizes, for better approximation
CastResult result = new CastResult();
VoronoiSimplexSolver voronoiSimplex = new VoronoiSimplexSolver();
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
//Simplification, one object is simplified as a sphere
GjkConvexCast ccdB = new GjkConvexCast(convexA, sphereB, voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccdB.CalcTimeOfImpact(colA.WorldTransform, colA.InterpolationWorldTransform,
colB.WorldTransform, colB.InterpolationWorldTransform, result))
{
//store result.m_fraction in both bodies
if (colA.HitFraction > result.Fraction)
{
colA.HitFraction = result.Fraction;
}
if (colB.HitFraction > result.Fraction)
{
colB.HitFraction = result.Fraction;
}
if (resultFraction > result.Fraction)
{
resultFraction = result.Fraction;
}
}
}
// Sphere (for convex0) against Convex1
{
ConvexShape convexB = colB.CollisionShape as ConvexShape;
SphereShape sphereA = new SphereShape(colA.CcdSweptSphereRadius); //todo: allow non-zero sphere sizes, for better approximation
CastResult result = new CastResult();
VoronoiSimplexSolver voronoiSimplex = new VoronoiSimplexSolver();
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
GjkConvexCast ccdB = new GjkConvexCast(sphereA, convexB, voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccdB.CalcTimeOfImpact(colA.WorldTransform, colA.InterpolationWorldTransform,
colB.WorldTransform, colB.InterpolationWorldTransform, result))
{
//store result.m_fraction in both bodies
if (colA.HitFraction > result.Fraction)
{
colA.HitFraction = result.Fraction;
}
if (colB.HitFraction > result.Fraction)
{
colB.HitFraction = result.Fraction;
}
if (resultFraction > result.Fraction)
{
resultFraction = result.Fraction;
}
}
}
return(resultFraction);
}
