C# World.CollisionUpdate方法代码示例

        public void Test_Overlaps()
        {
            var node1 = new Node ("Node1");
            var col1 = new CollisionObject ();
            col1.Shape = new BoxShape (1, 1, 1);
            node1.Attach (col1);

            var node2 = new Node ("Node2");
            var col2 = new CollisionObject ();
            col2.Shape = new BoxShape (1, 1, 1);
            node2.Attach (col2);

            var wld = new World ();
            wld.AddChild (node1);
            wld.AddChild (node2);

            // コリジョン発生
            wld.CollisionUpdate ();

            Assert.AreEqual (1, col1.OverlappingObjectCount);
            Assert.AreEqual (1, col2.OverlappingObjectCount);

            // コリジョン消失
            node2.Translate (10, 0, 0);
            wld.CollisionUpdate ();

            Assert.AreEqual (0, col1.OverlappingObjectCount);
            Assert.AreEqual (0, col2.OverlappingObjectCount);
        }

        public void Test_BoxShape()
        {
            var node = new Node ();

            var col = new CollisionObject ();
            col.Shape = new BoxShape (1, 1, 1);
            col.SetOffset (1, 0, 0);
            node.Attach (col);

            node.Translate (1, 0, 0);
            node.Rotate (45, 0, 0, 1);

            var wld = new World ();
            wld.AddChild (node);

            wld.CollisionUpdate ();

            // (1+1) - 1*√2
            var result = wld.RayCast (new Vector3 (-10, 0, 0), new Vector3 (10, 0, 0)).First ();
            Assert.AreEqual (true, result.Hit);
            Assert.AreEqual (new Vector3 (0.5858f, 0, 0), result.Point);
            Assert.AreEqual (new Vector3 (-1, 0, 0), result.Normal);
            Assert.AreEqual (10.58579f, result.Distance, 0.01f);
            Assert.AreEqual (0.5245f, result.Fraction, 0.01f);

            // (1+1) + 1*√2
            result = wld.RayCast (new Vector3 (10, 0, 0), new Vector3 (-10, 0, 0)).First ();
            Assert.AreEqual (true, result.Hit);
            Assert.AreEqual (new Vector3 (3.4142f, 0, 0), result.Point);
            Assert.AreEqual (new Vector3 (1, 0, 0), result.Normal);
            Assert.AreEqual (6.585786f, result.Distance, 0.01f);
            Assert.AreEqual (0.3225f, result.Fraction, 0.01f);

            wld.Destroy ();
        }

        public void Test_Distance_Box_to_Box()
        {
            var node1 = new Node ("Node1");

            var col1 = new CollisionObject ();
            col1.Shape = new BoxShape (1, 1, 1);
            col1.SetOffset (0, 0, 0);

            node1.Attach (col1);

            var node2 = new Node ("Node2");
            var col2 = new CollisionObject ();
            col2.Shape = new BoxShape (1,1,1);
            col2.SetOffset (0, 10, 0);

            node2.Attach (col2);

            node1.Translate (0, 0, 0);
            node2.Translate (10, 0, 0);

            // 10*√2

            var wld = new World ();
            wld.AddChild (node1);
            wld.AddChild (node2);

            wld.CollisionUpdate ();

            Assert.AreEqual(10*1.4142f - 2*1.4142f, wld.Distance (node1, node2), 0.05f);

            wld.Destroy ();
        }

        public static void Main(string[] args)
        {
            var g2d = DD.Graphics2D.GetInstance ();
            g2d.CreateWindow (800, 600, "こんにちは、世界");

            // ----------------------------------------

            var wld = new World ();

            var node1 = MySender.Create ("Recver1", new Vector3 (100, 250, 0));
            var node2 = MyRecver.Create ("Recver1", new Vector3 (600, 150, 0));
            var node3 = MyRecver.Create ("Recver2", new Vector3 (600, 250, 0));
            var node4 = MyRecver.Create ("Recver3", new Vector3 (600, 350, 0));
            var node5 = MyRecver.Create ("All", new Vector3 (600, 500, 0));
            var node6 = MyButton.Create ("1", "Recver1", new Vector3 (50, 350, 0));
            var node7 = MyButton.Create ("2", "Recver2", new Vector3 (100, 350, 0));
            var node8 = MyButton.Create ("3", "Recver3", new Vector3 (150, 350, 0));
            var node9 = MyButton.Create ("All", "All", new Vector3 (200, 350, 0));

            wld.AddChild (node1);
            wld.AddChild (node2);
            wld.AddChild (node3);
            wld.AddChild (node4);
            wld.AddChild (node5);
            wld.AddChild (node6);
            wld.AddChild (node7);
            wld.AddChild (node8);
            wld.AddChild (node9);

            // ----------------------------------------
            var active = true;

            g2d.OnClosed += delegate (object sender, EventArgs eventArgs) {
                active = false;
            };

            Console.WriteLine ("Start of Main Loop");

            g2d.SetFrameRateLimit (60);

            var watch = new Stopwatch ();
            watch.Start ();

            while (active) {
                var msec = watch.ElapsedMilliseconds;

                g2d.Dispatch (wld);
                wld.Animate (msec, 33);
                wld.CollisionUpdate ();
                wld.Update (msec);
                wld.Deliver ();
                g2d.Draw (wld);
            }

            Console.WriteLine ("End of Game");
        }

        public void Test_BoxShape()
        {
            var node1 = new Node ("Sweeper");

            var col1 = new CollisionObject ();
            col1.Shape = new BoxShape (1, 1, 1);
            col1.SetOffset (0, 1, 0);

            node1.Attach (col1);

            var node2 = new Node ("Target1");
            var col2 = new CollisionObject ();
            col2.Shape = new SphereShape (1);
            col2.SetOffset (0, 1, 0);

            node2.Attach (col2);

            var node3 = new Node ("Target2");
            var col3 = new CollisionObject ();
            col3.Shape = new SphereShape (1);
            col3.SetOffset (0, 1, 0);

            node1.Translate (0, 0, 0);
            node2.Translate (10, 0, 0);
            node3.Translate (20, 0, 0);

            var wld = new World ();
            wld.AddChild (node1);
            wld.AddChild (node2);
            wld.AddChild (node3);

            wld.CollisionUpdate ();

            var result = wld.Sweep (node1, new Vector3 (100, 0, 0));
            Assert.AreEqual (true, result.Hit);
            Assert.AreEqual (new Vector3 (9, 1, 0), result.Point);
            Assert.AreEqual (new Vector3 (-1, 0, 0), result.Normal);
            Assert.AreEqual (8, result.Distance, 0.01f);
            Assert.AreEqual (0.08f, result.Fraction, 0.01f);

            result = wld.Sweep (node1, new Vector3 (0, 100, 0));
            Assert.AreEqual (false, result.Hit);

            result = wld.Sweep (node1, new Vector3 (-100, 100, 0));
            Assert.AreEqual (false, result.Hit);

            wld.Destroy ();
        }

        public void Test_Distance_Invalid_Objects()
        {
            var node1 = new Node ("Node1");
            var node2 = new Node ("Node2");

            var wld = new World ();
            wld.AddChild (node1);
            wld.AddChild (node2);

            wld.CollisionUpdate ();

            var d = wld.Distance (node1, node2);
            Assert.AreEqual (Single.NaN, d);

            wld.Destroy ();
        }

        public static void Main(string[] args)
        {
            var g2d = DD.Graphics2D.GetInstance ();
            g2d.CreateWindow (800, 600, "こんにちは、世界");

            Resource.SetTextureDirectory ("DatabaseSample/Textures/");

            // ----------------------------------------
            var node1 = MyCharacterHolder.Create ();
            var node2 = MyCharacterViewer.Create (new Vector3 (0, 0, 0));
            var node3 = MyCharacterSelector.Create (new Vector3 (0,0,0));

            var wld = new World ();
            wld.AddChild (node1);
            wld.AddChild (node2);
            wld.AddChild (node3);

            // ----------------------------------------
            var active = true;

            g2d.OnClosed += delegate (object sender, EventArgs eventArgs) {
                active = false;
            };

            Console.WriteLine ("Start of Main Loop");

            g2d.SetFrameRateLimit (60);

            var watch = new Stopwatch ();
            watch.Start ();

            while (active) {
                var msec = watch.ElapsedMilliseconds;

                g2d.Dispatch (wld);
                wld.Animate (msec, 33);
                wld.Deliver ();
                wld.CollisionUpdate ();
                wld.Update (msec);
                wld.Purge ();
                g2d.Draw (wld);
            }

            Console.WriteLine ("End of Game");
            wld.Destroy ();
        }

        public void Test_AllNodes()
        {
            var wld = new World ();

            for (var i = 0; i < 10; i++) {
                var node = new Node ("" + i);

                var col = new CollisionObject ();
                col.Shape = new SphereShape (1);
                node.Attach (col);

                node.Translate (i, 0, 0);

                wld.AddChild (node);
            }

            wld.CollisionUpdate ();

            var results = wld.RayCast (new Vector3 (-10, 10, 0), new Vector3 (10, 10, 0));
            Assert.AreEqual (0, results.Count ());

            results = wld.RayCast (new Vector3 (-10, 0, 0), new Vector3 (10, 0, 0));

            Assert.AreEqual (10, results.Count ());
            Assert.AreEqual ("0", results.ElementAt (0).Node.Name);
            Assert.AreEqual ("1", results.ElementAt (1).Node.Name);
            Assert.AreEqual ("2", results.ElementAt (2).Node.Name);
            Assert.AreEqual ("3", results.ElementAt (3).Node.Name);
            Assert.AreEqual ("4", results.ElementAt (4).Node.Name);
            Assert.AreEqual ("5", results.ElementAt (5).Node.Name);
            Assert.AreEqual ("6", results.ElementAt (6).Node.Name);
            Assert.AreEqual ("7", results.ElementAt (7).Node.Name);
            Assert.AreEqual ("8", results.ElementAt (8).Node.Name);
            Assert.AreEqual ("9", results.ElementAt (9).Node.Name);

            wld.Destroy ();
        }

        public void Test_Pick()
        {
            var node1 = new Node ("Node1");
            var col1 = new CollisionObject ();
            col1.Shape = new BoxShape (1, 1, 1);
            node1.Attach (col1);

            var node2 = new Node ("Node2");
            var col2 = new CollisionObject ();
            col2.Shape = new BoxShape (1, 1, 1);
            node2.Attach (col2);

            var wld = new World ();
            wld.AddChild (node1);
            wld.AddChild (node2);

            node1.Translate (1, 0, 0);
            node2.Translate (-1, 0, 0);

            wld.CollisionUpdate ();

            Assert.AreEqual (null, wld.Pick (new Vector3 (3, -10, 0), new Vector3 (3, 10, 0)));
            Assert.AreEqual (node1, wld.Pick (new Vector3 (2, -10, 0), new Vector3 (2, 10, 0)));
            Assert.AreEqual (node1, wld.Pick (new Vector3 (1, -10, 0), new Vector3 (1, 10, 0)));
            Assert.AreEqual (node1, wld.Pick (new Vector3 (0, -10, 0), new Vector3 (0, 10, 0)));
            Assert.AreEqual (node2, wld.Pick (new Vector3 (-1, -10, 0), new Vector3 (-1, 10, 0)));
            Assert.AreEqual (node2, wld.Pick (new Vector3 (-2, -10, 0), new Vector3 (-2, 10, 0)));
            Assert.AreEqual (null, wld.Pick (new Vector3 (-3, -10, 0), new Vector3 (-3, 10, 0)));
        }

        public void Test_OnColisionEnter()
        {
            var node1 = new Node ("Node1");
            var cmp1 = new MyComponent ();
            var col1 = new CollisionObject ();
            col1.Shape = new BoxShape (1, 1, 1);
            node1.Attach (cmp1);
            node1.Attach (col1);

            var node2 = new Node ("Node2");
            var cmp2 = new MyComponent ();
            var col2 = new CollisionObject ();
            col2.Shape = new BoxShape (1, 1, 1);
            node2.Attach (cmp2);
            node2.Attach (col2);

            var wld = new World ();
            wld.AddChild (node1);
            wld.AddChild (node2);

            node1.Translate (1, 0, 0);

            // ここでコリジョン発生
            wld.CollisionUpdate ();

            Assert.AreEqual (true, cmp1.IsCollisionEnterCalled);
            Assert.AreEqual (true, cmp2.IsCollisionEnterCalled);

            // 離れる
            node2.Translate (10, 0, 0);

            // ここでコリジョン消失
            wld.CollisionUpdate ();

            Assert.AreEqual (true, cmp1.IsCollisionExitCalled);
            Assert.AreEqual (true, cmp2.IsCollisionExitCalled);
        }

        public void Test_SyncWithCollisionWorld()
        {
            var node1 = new Node ("Node1");
            node1.Attach (new CollisionObject ());
            node1.CollisionObject.Shape = new BoxShape (1, 1, 1);
            node1.CollisionObject.Offset = new Vector3 (1, 2, 3);

            var node2 = new Node ("Node2");
            node2.Attach (new CollisionObject ());
            node2.CollisionObject.Shape = new BoxShape (1, 1, 1);
            node2.Translate (4, 5, 6);

            var wld = new World ();
            wld.AddChild (node1);
            wld.AddChild (node2);

            // コリジョン ワールドと同期
            wld.CollisionUpdate ();

            // BulletPhysics側ではオフセット込みの座標
            Assert.AreEqual (new Vector3 (1, 2, 3), node1.CollisionObject.Data.WorldTransform.Origin.ToDD());
            Assert.AreEqual (new Vector3 (4, 5, 6), node2.CollisionObject.Data.WorldTransform.Origin.ToDD ());
        }

        public void Test_RegisterCollisionObject()
        {
            var node1 = new Node ("Node1");
            var col1 = new CollisionObject ();
            col1.Shape = new BoxShape (1, 1, 1);
            node1.Attach (col1);

            var node2 = new Node ("Node2");
            var col2 = new CollisionObject ();
            col2.Shape = new BoxShape (1, 1, 1);
            node2.Attach (col2);

            var wld = new World ();
            wld.AddChild (node1);
            wld.AddChild (node2);

            // ここで登録される
            wld.CollisionUpdate ();

            Assert.AreEqual (2, wld.CollisionAnalyzer.CollisionObjectCount);
            Assert.AreEqual (2, wld.CollisionAnalyzer.CollisionObjects.Count ());

            wld.Destroy ();
        }

        public void Test_SphereShape()
        {
            var node = new Node ();

            var col = new CollisionObject ();
            col.Shape = new SphereShape (1);
            col.SetOffset (1, 0, 0);
            node.Attach (col);

            node.Translate (1, 0, 0);
            node.Rotate (45, 0, 0, 1);

            var wld = new World ();
            wld.AddChild (node);

            wld.CollisionUpdate ();

            // (1+1) - 1
            var result = wld.RayCast (new Vector3 (-10, 0, 0), new Vector3 (10, 0, 0)).First ();
            Assert.AreEqual (true, result.Hit);
            Assert.AreEqual (new Vector3 (1, 0, 0), result.Point);
            Assert.AreEqual (new Vector3 (-1, 0, 0), result.Normal);
            Assert.AreEqual (11, result.Distance, 0.01f);
            Assert.AreEqual (0.55f, result.Fraction, 0.01f);

            // (1+1) + 1
            result = wld.RayCast (new Vector3 (10, 0, 0), new Vector3 (-10, 0, 0)).First ();
            Assert.AreEqual (true, result.Hit);
            Assert.AreEqual (new Vector3 (3, 0, 0), result.Point);
            Assert.AreEqual (new Vector3 (1, 0, 0), result.Normal);
            Assert.AreEqual (7, result.Distance, 0.01f);
            Assert.AreEqual (0.35f, result.Fraction, 0.01f);

            wld.Destroy ();
        }

        public void Test_CollideWith()
        {
            var node = new Node ();

            var col = new CollisionObject ();
            col.Shape = new SphereShape (1);
            node.Attach (col);

            node.GroupID = 1 << 1;

            var wld = new World ();
            wld.AddChild (node);

            wld.CollisionUpdate ();

            // 1<<0
            var result = wld.RayCast (new Vector3 (-10, 0, 0), new Vector3 (10, 0, 0), 1 << 0).FirstOrDefault ();
            Assert.AreEqual (false, result.Hit);

            // 1<<1
            result = wld.RayCast (new Vector3 (-10, 0, 0), new Vector3 (10, 0, 0), 1 << 1).FirstOrDefault ();
            Assert.AreEqual (true, result.Hit);

            // 1<<2
            result = wld.RayCast (new Vector3 (-10, 0, 0), new Vector3 (10, 0, 0), 1 << 2).FirstOrDefault ();
            Assert.AreEqual (false, result.Hit);

            // 0
            result = wld.RayCast (new Vector3 (-10, 0, 0), new Vector3 (10, 0, 0), 0).FirstOrDefault ();
            Assert.AreEqual (false, result.Hit);

            // -1
            result = wld.RayCast (new Vector3 (-10, 0, 0), new Vector3 (10, 0, 0), -1).FirstOrDefault ();
            Assert.AreEqual (true, result.Hit);

            wld.Destroy ();
        }

        public void Test_RayCast()
        {
            var node1 = new Node ("Node1");
            var col1 = new CollisionObject ();
            col1.Shape = new BoxShape (1, 1, 1);
            node1.Attach (col1);

            var node2 = new Node ("Node1");
            var col2 = new CollisionObject ();
            col2.Shape = new BoxShape (1, 1, 1);
            node2.Attach (col2);

            var wld = new World ();
            wld.AddChild (node1);
            wld.AddChild (node2);

            node1.Translate (1, 0, 0);
            node2.Translate (-1, 0, 0);

            wld.CollisionUpdate ();

            var start = new Vector3 (10, 0, 0);
            var end = new Vector3 (-10, 0, 0);
            var results = wld.RayCast (start, end).ToArray ();

            Assert.AreEqual (2, results.Count ());
            var result1 = results[0];
            var result2 = results[1];

            Assert.AreEqual (node1, result1.Node);
            Assert.AreEqual (0.39394f, result1.Fraction, 0.01f);
            Assert.AreEqual (new Vector3 (2, 0, 0), result1.Point);

            Assert.AreEqual (node2, result2.Node);
            Assert.AreEqual (0.49495f, result2.Fraction, 0.01f);
            Assert.AreEqual (new Vector3 (0, 0, 0), result2.Point);
        }