bool PhysicsEngine::CollisionWithMapSimple(PowerBall* b, Map* map, Vector3 &normalPlane)
{
MaloW::Array<MeshStrip*>* temp = map->GetMesh()->GetStrips();
//int sizeMstrip = temp->size();
int sizeVertexS0 = temp->get(0)->getNrOfVerts();
Vertex* verts;
//Vector3 origin = this->GetPositionVector3();
Vector3 origin = b->GetTempPosition();
Vector3 dir = b->GetVelocity();
Vector3 dirN = dir/dir.GetLength();
verts = temp->get(0)->getVerts();
/*
for(int i = 0;i<sizeMstrip;i++)
{
}
*/
Vector3 p0,p1,p2, normal, v1,v2;
float smalestTime = -1;
bool firstHit = false;
float u, v,t;
float lengthProjN = 0;
Vector3 p0Store, p1Store,p2Store, normalStore;
Vector3 pos = Vector3(map->GetMesh()->GetPosition());
Vector3 posS = b->GetTempPosition();//this->GetPositionVector3();
Vector3 rayDirection;
Vector3 scalingMesh = map->GetMesh()->GetScaling();
D3DXMATRIX quat;
D3DXMatrixRotationQuaternion(&quat, &map->GetMesh()->GetRotation());
Matrix4 rotate(quat);
rotate.TransposeThis();
Matrix4 scaling;
scaling.SetScale(scalingMesh);
Matrix4 translate;
translate.SetTranslate(pos);
Matrix4 world = translate*rotate*scaling;
for(int i =0; i< sizeVertexS0; i+=3)
{
/*
p0 = Vector3(verts[i].pos).GetComponentMultiplication(scalingMesh) + pos;
p1 = Vector3(verts[i+1].pos).GetComponentMultiplication(scalingMesh) +pos;
p2 = Vector3(verts[i+2].pos).GetComponentMultiplication(scalingMesh) + pos;
*/
p0 = world*Vector3(verts[i].pos);
p1 = world*Vector3(verts[i+1].pos);
p2 = world*Vector3(verts[i+2].pos);
v1 = p1-p0;
v2 = p2-p0;
rayDirection = v1.GetCrossProduct(v2);
rayDirection.normalize();
float tempLength;
Vector3 ny;
Vector3 projN;
if(RayTriIntersect(origin , rayDirection, p0, p1, p2, u, v, t) )
{
normal = rayDirection;
ny = origin - p0;
projN = normal*ny.GetDotProduct(normal);
tempLength = projN.GetLength();
if(!firstHit)
{
firstHit = true;
smalestTime = t;
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normal;
}
else
{
if( tempLength < lengthProjN )
{
smalestTime = t;
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normal;
}
}
}
// check agains all edges
Vector3 lineDirection;
float scalarProj;
Vector3 projOnLine;
Vector3 normalToLine;
// edge 1:
ny = origin - p0;
lineDirection = p1 - p0;
scalarProj = (ny.GetDotProduct(lineDirection)/lineDirection.GetLengthSquared());
projOnLine = lineDirection * scalarProj;
if( (scalarProj >= 0.0f) && (scalarProj <= 1) )
{
normalToLine = ny - projOnLine;
tempLength = normalToLine.GetLength();
if(!firstHit)
{
firstHit = true;
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normalToLine;
normalStore.normalize();
}
else
{
if( tempLength < lengthProjN )
{
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normalToLine;
normalStore.normalize();
}
}
}
// edge 2:
ny = origin - p1;
lineDirection = p2 - p1;
scalarProj = (ny.GetDotProduct(lineDirection)/lineDirection.GetLengthSquared());
projOnLine = lineDirection * scalarProj;
if( (scalarProj >= 0.0f) && (scalarProj <= 1) )
{
normalToLine = ny - projOnLine;
tempLength = normalToLine.GetLength();
if(!firstHit)
{
firstHit = true;
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normalToLine;
normalStore.normalize();
}
else
{
if( tempLength < lengthProjN )
{
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normalToLine;
normalStore.normalize();
}
}
}
// edge 3:
ny = origin - p2;
lineDirection = p0 - p2;
scalarProj = (ny.GetDotProduct(lineDirection)/lineDirection.GetLengthSquared());
projOnLine = lineDirection * scalarProj;
if( (scalarProj >= 0.0f) && (scalarProj <= 1) )
{
normalToLine = ny - projOnLine;
tempLength = normalToLine.GetLength();
if(!firstHit)
{
firstHit = true;
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normalToLine;
normalStore.normalize();
}
else
{
if( tempLength < lengthProjN )
{
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normal;
}
}
}
}
if(firstHit)
{
// for checking if the ball are in the air not turned on at the moment,
float eps = 0.5f; //0.001
if( (lengthProjN < (b->GetRadius() + eps)) && (lengthProjN > (b->GetRadius() - eps)) )
{
b->SetNormalContact(normalStore);
b->SetHasContact(true);
}
else
{
b->SetNormalContact(normalStore);
b->SetHasContact(false);
}
if( lengthProjN <= b->GetRadius())
{
Vector3 velNorm = b->GetVelocity();
velNorm.normalize();
if(normalStore.GetDotProduct(velNorm) >=0)
return false;
float diff = abs(lengthProjN- b->GetRadius());
//Vector3 newPo = origin -dirN*diff;
//Vector3 projVel = normalStore * this->mVelocity.GetDotProduct(normalStore);
Vector3 newPo = origin + normalStore*diff;
/*
if( projVel.GetDotProduct(normalStore) < 0.0f)
{
newPo = origin - normalStore*diff;
return false;
}
else
newPo = origin + normalStore*diff;
*/
//this->SetPosition(newPo);
b->SetTempPosition(newPo);
normalPlane = normalStore;
//this->mNormalContact = normalPlane;
//this->mHasContact = true;
return true;
}
else
{
normalPlane = Vector3(0,0,0);
//this->mNormalContact = normalPlane;
//this->mHasContact = false;
return false;
}
}
normalPlane = Vector3(0,0,0);
b->SetNormalContact(normalPlane);
//this->mHasContact = false;
return false;
}
void Map::Update(const float dt)
{
if(this->mIsRotating)
{
float angle;
float speed = PI/26.0f;
if(this->mTargetAngleX <0)
angle = -speed*dt*0.001f;
else
angle = speed*dt*0.001f;
Matrix3 temp;
temp.SetRotationZ(this->mAngleZ);
Vector3 xA = Vector3(1,0,0);
Vector3 xAnew = temp * xA;
this->mAngleX += angle;
this->mMesh->RotateAxis(xAnew.GetD3DVec(), angle);
if(this->mTargetAngleZ <0)
angle = -speed*dt*0.001f;
else
angle = speed*dt*0.001f;
this->mAngleZ += angle;
this->mMesh->RotateAxis(D3DXVECTOR3(0,0,1), angle);
}
if(this->mMeshHotZone)
{
Vector3 scalingMesh = this->mMesh->GetScaling();
Vector3 pos = this->mMesh->GetPosition();
D3DXMATRIX quat;
D3DXMatrixRotationQuaternion(&quat, &this->mMesh->GetRotation());
Matrix4 rotate(quat);
rotate.TransposeThis();
Matrix4 scaling;
scaling.SetScale(scalingMesh);
Matrix4 translate;
translate.SetTranslate(pos);
Matrix4 rotateY;
rotateY.SetRotationY(dt*0.001f*(PI/2.0f));
Matrix4 newRotate = rotateY*rotate;
Matrix4 world = translate*rotate*scaling;
Vector3 posHotZone = Vector3(13.5f,2.5,13.5f);
Vector3 newPos4HotZoneMesh = world * posHotZone;
Vector4 newYrot = rotate*Vector4(0,1,0,0);
Vector3 newYrot2 = Vector3(newYrot.x, newYrot.y, newYrot.z);
D3DXQUATERNION q = this->mMesh->GetRotation();
this->mMeshHotZone->SetQuaternion(this->mMesh->GetRotation());
this->mAngleY += dt*0.001f*(PI/2.0f);
this->mMeshHotZone->SetQuaternion(q);
this->mMeshHotZone->SetPosition(newPos4HotZoneMesh.GetD3DVec());
this->mMeshHotZone->RotateAxis(newYrot2.GetD3DVec(), this->mAngleY);
Vector3 hotPos = Vector3(13.5f,4.5,13.5f);
Vector3 newHotPos = world * hotPos;
/* test to see that the flag mesh is not straight and thats true. */
//this->mMeshHotZone->RotateAxis(D3DXVECTOR3(0,1,0), dt*0.001f*(PI/2.0f));
this->mHotZonePosition = newHotPos;
}
float newdt = dt * 0.001f;
float fraction = 1.0f - this->mShrink * newdt;
this->mMesh->Scale(D3DXVECTOR3(fraction,1,fraction));
this->mScaledRadius *= fraction;//this->mScaledRadius/this->mRadius;
}
//---------------------------------
//
//---------------------------------
void Matrix4::Scale(const Vector3& scale)
{
Matrix4 scaleMatrix;
scaleMatrix.SetScale( scale );
*this *= scaleMatrix;
}