/PhysicsEngines/JigLib/JigLibPhysics.cs

using System.Collections.Generic;

using Delta.PhysicsEngines.Enums;

using Delta.Utilities;

using Delta.Utilities.Datatypes;

using JigLibX.Collision;

using JigLibX.Geometry;

using JigLibX.Physics;

using NUnit.Framework;

using Ray = Delta.Utilities.Datatypes.Ray;

using XnaVector3 = Microsoft.Xna.Framework.Vector3;



namespace Delta.PhysicsEngines.JigLib

{

	/// <summary>

	/// JigLib carries out all the requested functionality from the interface 

	/// IPhysic3D. At this point we can see in detail the whole engine without 

	/// restriction but is not visible for the user since the design is based on 

	/// using a common and friendly interface accessible to the user who doesn't 

	/// have to know any implementation detail of the physic engines

	/// </summary>

	public class JigLibPhysics : Physics

	{

		#region GatherObjectsPredicate Class

		/// <summary>

		/// Gather object predicate

		/// </summary>

		private class GatherObjectsPredicate : CollisionSkinPredicate1

		{

			#region Internal



			#region SkinsToIgnore (Internal)

			/// <summary>

			/// Skins to ignore

			/// </summary>

			internal readonly List<CollisionSkin> SkinsToIgnore =

				new List<CollisionSkin>();

			#endregion



			#endregion



			#region ConsiderSkin (Public)

			/// <summary>

			/// This method is used internally by Delta.PhysicsEngines.JigLib to determine if the ray

			/// should "stop" at this object or not. Here we use it to add the object

			/// in our list and continue looking for more objects.

			/// </summary>

			/// <param name="skin0">Skin to check against.</param>

			/// <returns>True if skin is on list to be ignored.</returns>

			public override bool ConsiderSkin(CollisionSkin skin0)

			{

				foreach (CollisionSkin skin in SkinsToIgnore)

				{

					if (skin0 == skin)

					{

						return false;

					}

				}



				return true;

			}

			#endregion



			#region Methods (Private)



			#region Clear

			/// <summary>

			/// Clear objet list

			/// </summary>

			internal void Clear()

			{

				SkinsToIgnore.Clear();

			}

			#endregion



			#endregion

		}

		#endregion



		#region Constants

		/// <summary>

		/// Ray predicate

		/// </summary>

		private static readonly GatherObjectsPredicate rayPredicate =

			new GatherObjectsPredicate();



		// MaximumDeltaTime



		private const float PlaneHeight = 1.0f;

		#endregion



		#region MaximumDeltaTime (Public)

		/// <summary>

		/// The maximum allowed delta time value for updating the physics module.

		/// This variable is needed since large delta values due to other reasons

		/// (content loading, etc) can cause considerable instabilities to the

		/// physics system

		/// </summary>

		/// <value>

		/// The maximum delta time.

		/// </value>

		public float MaximumDeltaTime

		{

			get;

			set;

		}

		#endregion



		#region Internal



		#region jigLibPhysicsSimulator (Internal)

		/// <summary>

		/// Delta.PhysicsEngines.JigLib Physics Simulator

		/// </summary>

		internal PhysicsSystem jigLibPhysicsSimulator;

		#endregion



		#region skinBodiesMap (Internal)

		internal Dictionary<CollisionSkin, PhysicsBody> skinBodiesMap =

			new Dictionary<CollisionSkin, PhysicsBody>();

		#endregion



		#endregion



		#region Constructors

		/// <summary>

		/// Create a JiglibPhysics object

		/// </summary>

		public JigLibPhysics()

			// Use time as the parent module to make sure the Time.Delta can be

			// used for the current frame (Time is always the first module to

			// be created and has IApplication as its parent).

			: base(false, "JigLib")

		{

			Initialize();



			// set maximum acceptable value

			MaximumDeltaTime = 0.05f;

		}

		#endregion



		#region IsShapeSupported (Public)

		/// <summary>

		/// Gets whether the current physics module supports given shape type.

		/// </summary>

		/// <param name="shapeType">Type of the shape.</param>

		/// <returns>

		///   <c>true</c> if [is shape supported] [the specified shape type]; otherwise, <c>false</c>.

		/// </returns>

		public override bool IsShapeSupported(ShapeType shapeType)

		{

			switch (shapeType)

			{

				case ShapeType.Box:

				case ShapeType.Sphere:

				case ShapeType.Capsule:

				case ShapeType.Triangle:

					return true;

			}



			return false;

		}

		#endregion



		#region IsJointSupported (Public)

		/// <summary>

		/// Gets whether the current physics module supports given joint type.

		/// </summary>

		/// <param name="jointType">Type of the shape.</param>

		/// <returns>

		///   <c>true</c> if the specified shape type is supported, <c>false</c> otherwise.

		/// </returns>

		public override bool IsJointSupported(JointType shapeType)

		{

			switch (shapeType)

			{

				case JointType.PointOnPoint:

					return true;

			}



			return false;

		}

		#endregion



		#region IsFeatureSupported (Public)

		/// <summary>

		/// Gets whether the current physics module supports given feature.

		/// </summary>

		/// <param name="support">The support.</param>

		/// <returns>

		///   <c>true</c> if [is feature supported] [the specified support]; otherwise, <c>false</c>.

		/// </returns>

		public override bool IsFeatureSupported(FeatureSupport support)

		{

			switch (support)

			{

				case FeatureSupport.Joint:

				case FeatureSupport.Controller:

					return true;

			}



			return false;

		}

		#endregion



		#region SetGroundPlane (Public)

		/// <summary>

		/// Implementation of SetGroundPlane

		/// </summary>

		/// <param name="enable">True to enable plane, false otherwise.</param>

		/// <param name="height">Plane height.</param>

		public override void SetGroundPlane(bool enable, float height)

		{

			Vector position = new Vector(0, 0, height);

			if (groundBody == null)

			{

				groundBody = new JigLibBody(this);

				groundBody.IsStatic = true;

			}



			groundBody.Position = position;

			Body jigLibBody = ((JigLibBody)groundBody).Body;

			// Check if we need to add it

			if (enable)

			{

				jigLibBody.EnableBody();

			}

			else

			{

				jigLibBody.DisableBody();

			}

		}

		#endregion



		#region Methods (Private)



		#region CreateGroundBody

		/// <summary>

		/// Create the body that will be used as ground.

		/// </summary>

		private void CreateGroundBody()

		{

			groundBody = new JigLibBody(this);

		}

		#endregion



		#region Initialize

		/// <summary>

		/// Initialize the physic simulator and apply default gravity (zero)

		/// </summary>

		private void Initialize()

		{

			// create the physics system

			jigLibPhysicsSimulator = new PhysicsSystem();



			// set up the physic simulator to be working with SAP broad phase

			jigLibPhysicsSimulator.CollisionSystem = new CollisionSystemSAP();



			// use sweep collision tests

			// NOTE: Delta.PhysicsEngines.JigLib does not support "real" sweep tests however it is

			// still an improvement over static tests

			jigLibPhysicsSimulator.CollisionSystem.UseSweepTests = true;



			// disable object freezing (i.e. disabling of objects that have not 

			// changed position for some time)

			// in general freezing is quite useful for performance, however it causes

			// some problems at startup and it is more advisable to disable it for now

			jigLibPhysicsSimulator.EnableFreezing = false;



			// setup the numerical solver and the respective parameters

			jigLibPhysicsSimulator.SolverType = PhysicsSystem.Solver.Normal;

			jigLibPhysicsSimulator.NumCollisionIterations = 8;

			jigLibPhysicsSimulator.NumContactIterations = 8;

			jigLibPhysicsSimulator.NumPenetrationRelaxtionTimesteps = 12;



			// Set initial gravity

			jigLibPhysicsSimulator.Gravity = new XnaVector3(DefaultGravity.X,

				DefaultGravity.Y, DefaultGravity.Z);

		}

		#endregion



		#region CreateBody

		protected override PhysicsBody CreateBody(bool is2DBody,

			PhysicsShape shape, Vector initialPosition)

		{

			if (is2DBody)

			{

				Log.Warning("JibLibX does not support 2D bodies.");

				return null;

			}



			PhysicsBody body = new JigLibBody(this, shape, initialPosition);

			bodies.Add(body);

			return body;

		}

		#endregion



		#region CreateJoint

		public override PhysicsJoint CreateJoint(

			JointType jointType,

			PhysicsBody bodyA,

			PhysicsBody bodyB,

			object[] args)

		{

			if (IsJointSupported(jointType) == false)

			{

				Log.Warning("Current module does not support " +

				            "the type of joint " + jointType);

				return null;

			}



			PhysicsJoint joint = new JitterJoint(this, jointType, bodyA, bodyB, args);

			if (joint != null)

			{

				joints.Add(joint);

			}

			return joint;

		}

		#endregion



		#region CreateControllerImpl

		protected override IController CreateControllerImpl(

			PhysicsBody controlledObject,

			float setMoveSpeed, float setJumpStrength, float allowedGroundDistance)

		{

			return new JigLibController(

				this,

				controlledObject as JigLibBody,

				setMoveSpeed, setJumpStrength, allowedGroundDistance);

		}

		#endregion



		#region RemoveBodyImpl

		protected override void RemoveBodyImpl(PhysicsBody body)

		{

			jigLibPhysicsSimulator.RemoveBody(

				(body as JigLibBody).Body

				);

		}

		#endregion



		#region RemoveJointImpl

		protected override void RemoveJointImpl(PhysicsJoint joint)

		{

		}

		#endregion



		#region GetTotalPhysicsTime

		protected override double GetTotalPhysicsTime()

		{

			return 0.0;

		}

		#endregion



		#region SetMultithreading

		protected override void SetMultithreading(bool enable)

		{

			// Not supported

			if (enable)

			{

				Log.Warning("JigLibX does not support multi-threading yet!");

			}

		}

		#endregion



		#region SetGravity

		/// <summary>

		/// Set Gravity

		/// </summary>

		protected override void SetGravity(Vector gravity)

		{

			jigLibPhysicsSimulator.Gravity =

				JigLibDatatypesMapping.Convert(ref gravity);

		}

		#endregion



		#region UpdateSimulation

		/// <summary>

		/// Update a physic3D system. The engine carries out the simulation of our 

		/// defined system each tick.

		/// </summary>

		protected override void UpdateSimulation(float timeStep)

		{

			if (IsPaused == false)

			{

				jigLibPhysicsSimulator.Integrate(timeStep);

			}

		}

		#endregion



		#region RayCastImpl

		/// <summary>

		/// FindRay cast implementation

		/// </summary>

		/// <param name="ray">The ray to perform.</param>

		/// <param name="checkGround">Whether to check agains ground too.</param>

		/// <param name="foundBody">PhysicsBody or null if no intersection happen.</param>

		/// <param name="surfaceNormal">

		/// The normals of the surfaces in the intersection points.

		/// </param>

		/// <param name="fraction">

		/// Intersection fraction value or zero if no intersection.

		/// </param>

		/// <param name="userData">Optional user data.</param>

		/// <returns>True if any intersection happen, false otherwise.</returns>

		protected override bool RayCastImpl(Ray ray, bool checkGround,

			out PhysicsBody foundBody, out Vector surfaceNormal, out float fraction,

			out object userData)

		{

			foundBody = null;

			fraction = 0.0f;

			surfaceNormal = Vector.Zero;

			userData = null;



			// create a line segment in JigLib format

			Segment seg = new Segment(

				JigLibDatatypesMapping.Convert(ref ray.Position),

				JigLibDatatypesMapping.Convert(ref ray.Direction) * 100000);



			// list with intersection points

			List<float> fractionList = new List<float>();

			List<Vector> intersectList = new List<Vector>();

			List<Vector> normalsList = new List<Vector>();



			// jiglib ray casting information

			CollisionSkin skin;

			XnaVector3 pos, normal;



			// reset variables for ray cast checks

			rayPredicate.Clear();

			bool continueSearching = true;



			// start casting as rays in necessary the ray

			while (continueSearching)

			{

				jigLibPhysicsSimulator.CollisionSystem.SegmentIntersect(

					out fraction, out skin, out pos, out normal, seg, rayPredicate);



				fractionList.Add(fraction);

				Vector tempVector;

				JigLibDatatypesMapping.Convert(ref normal, out tempVector);

				normalsList.Add(tempVector);

				JigLibDatatypesMapping.Convert(ref pos, out tempVector);

				intersectList.Add(tempVector);



				if (skin != null)

				{

					rayPredicate.SkinsToIgnore.Add(skin);

				}

				else

				{

					continueSearching = false;

				}

			}



			if (fractionList.Count == 0)

			{

				return false;

			}



			fraction = fractionList[0];

			surfaceNormal = normalsList[0];

			userData = intersectList.ToArray();



			// if at least 1 object intersects with the ray...

			if (rayPredicate.SkinsToIgnore.Count > 0)

			{

				// find the IPhysics3DObjects that corresponds to the collided skins

				for (int i = 0; i < rayPredicate.SkinsToIgnore.Count; i++)

				{

					skin = rayPredicate.SkinsToIgnore[i];



					// find the physics object with this skin

					foreach (JigLibBody jigBody in bodies)

					{

						if (jigBody.Skin == skin)

						{

							foundBody = jigBody;

							break;

						}

					}

				}



				return true;

			}



			return false;

		}

		#endregion



		#endregion



		/// <summary>

		/// Tests

		/// </summary>

		internal class JigLibPhysicsTests

		{

			#region TestInitialization (LongRunning)

			/// <summary>

			/// Test whether initialization has been done.

			/// </summary>

			[Test, Category("LongRunning")]

			public static void TestInitialization()

			{

				// check that everything has been OK with Physics initiallization

				Assert.NotNull(Bodies);

			}

			#endregion



			#region TestCreate3DBodyWithShape (LongRunning)

			/// <summary>

			/// Test creation of 3 body with shape.

			/// </summary>

			[Test, Category("LongRunning")]

			public static void TestCreate3DBodyWithShape()

			{

				PhysicsBody body = CreateBox(Vector.Zero,

					2.0f, 3.0f, 1.0f);

				Assert.NotNull(body);

				Assert.NotNull(body.Shape);

			}

			#endregion



			#region TestFeatureSupport (LongRunning)

			/// <summary>

			/// Test whether given feature is supoorted.

			/// </summary>

			[Test, Category("LongRunning")]

			public static void TestFeatureSupport()

			{

				// JigLib support controllers. 

				bool isSupported = Instance.IsFeatureSupported(

					FeatureSupport.Controller);



				Assert.True(isSupported);

			}

			#endregion



			#region TestShapeSupport (LongRunning)

			/// <summary>

			/// Test whether given shape is supoorted.

			/// </summary>

			[Test, Category("LongRunning")]

			public static void TestShapeSupport()

			{

				// JigLib does not support cone shape. 

				bool isSupported = Instance.IsShapeSupported(

					ShapeType.Cone);



				Assert.False(isSupported);

			}

			#endregion

		}

	}

}