एक मोबाइल PvP शूटर के लिए भौतिकी, या कैसे हम एक त्रि-आयामी में दो-आयामी गेम को याद करते हैं

using System; using System.Collections.Generic; using System.Numerics; namespace Prototype.Common.Physics { public interface IPhysicsWorld : IDisposable { bool HasBody(uint id); void SetCurrentSimulationTick(int tick); void Update(); RayCastHit RayCast(Vector3 origin, Vector3 direction, float distance, CollisionLayer layer, int ticksBehind = 0, List<uint> ignoreIds = null); RayCastHit SphereCast(Vector3 origin, Vector3 direction, float distance, float radius, CollisionLayer layer, int ticksBehind = 0, List<uint> ignoreIds = null); RayCastHit CapsuleCast(Vector3 origin, Vector3 direction, float distance, float radius, float height, CollisionLayer layer, int ticksBehind = 0, List<uint> ignoreIds = null); void CapsuleOverlap(Vector3 origin, float radius, float height, BodyMobilityField bodyMobilityField, CollisionLayer layer, List<Overlap> overlaps, int ticksBehind = 0); void RemoveOrphanedDynamicBodies(WorldState.TableSet currentWorld); void UpdateBody(uint id, Vector3 position, float angle); void CreateStaticCapsule(Vector3 origin, Quaternion rotation, float radius, float height, uint id, CollisionLayer layer); void CreateDynamicCapsule(Vector3 origin, Quaternion rotation, float radius, float height, uint id, CollisionLayer layer); void CreateStaticBox(Vector3 origin, Quaternion rotation, Vector3 size, uint id, CollisionLayer layer); void CreateDynamicBox(Vector3 origin, Quaternion rotation, Vector3 size, uint id, CollisionLayer layer); } } 

 public void RestoreBodiesFromPreviousTick(SimulationSlice previous) { var oldStaticCount = previous._staticIds.Count; // add created static objects for (int i = 0; i < oldStaticCount; i++) { var oldId = previous._staticIds[i]; if (!_staticIds.Contains(oldId)) { var oldHandler = previous._staticIdToHandler[oldId]; var oldBody = previous._staticHandlerToBody[oldHandler]; if (oldBody.IsCapsule) { var handler = CreateStatic(oldBody.Capsule, oldBody.Description.Pose, true, oldId, oldBody.CollisionLayer); var body = _staticHandlerToBody[handler]; body.Capsule = oldBody.Capsule; _staticHandlerToBody[handler] = body; } else { var handler = CreateStatic(oldBody.Box, oldBody.Description.Pose, false, oldId, oldBody.CollisionLayer); var body = _staticHandlerToBody[handler]; body.Box = oldBody.Box; _staticHandlerToBody[handler] = body; } } } // delete not existing dynamic objects var newDynamicCount = _dynamicIds.Count; var idsToDel = stackalloc uint[_dynamicIds.Count]; int delIndex = 0; for (int i = 0; i < newDynamicCount; i++) { var newId = _dynamicIds[i]; if (!previous._dynamicIds.Contains(newId)) { idsToDel[delIndex] = newId; delIndex++; } } for (int i = 0; i < delIndex; i++) { var id = idsToDel[i]; var handler = _dynamicIdToHandler[id]; _simulation.Bodies.Remove(handler); _dynamicHandlerToBody.Remove(handler); _dynamicIds.Remove(id); _dynamicIdToHandler.Remove(id); } // add created dynamic objects var oldDynamicCount = previous._dynamicIds.Count; for (int i = 0; i < oldDynamicCount; i++) { var oldId = previous._dynamicIds[i]; if (!_dynamicIds.Contains(oldId)) { var oldHandler = previous._dynamicIdToHandler[oldId]; var oldBody = previous._dynamicHandlerToBody[oldHandler]; if (oldBody.IsCapsule) { var handler = CreateDynamic(oldBody.Capsule, oldBody.BodyReference.Pose, true, oldId, oldBody.CollisionLayer); var body = _dynamicHandlerToBody[handler]; body.Capsule = oldBody.Capsule; _dynamicHandlerToBody[handler] = body; } else { var handler = CreateDynamic(oldBody.Box, oldBody.BodyReference.Pose, false, oldId, oldBody.CollisionLayer); var body = _dynamicHandlerToBody[handler]; body.Box = oldBody.Box; _dynamicHandlerToBody[handler] = body; } } } } 

 using System; using System.Collections.Generic; using System.Numerics; using BepuPhysics; using BepuPhysics.Collidables; using BepuUtilities.Memory; using Quaternion = BepuUtilities.Quaternion; namespace Prototype.Physics { public partial class BepupPhysicsWorld { private unsafe partial class SimulationSlice : IDisposable { private readonly Dictionary<int, StaticBody> _staticHandlerToBody = new Dictionary<int, StaticBody>(); private readonly Dictionary<int, DynamicBody> _dynamicHandlerToBody = new Dictionary<int, DynamicBody>(); private readonly Dictionary<uint, int> _staticIdToHandler = new Dictionary<uint, int>(); private readonly Dictionary<uint, int> _dynamicIdToHandler = new Dictionary<uint, int>(); private readonly List<uint> _staticIds = new List<uint>(); private readonly List<uint> _dynamicIds = new List<uint>(); private readonly BufferPool _bufferPool; private readonly Simulation _simulation; public SimulationSlice(BufferPool bufferPool) { _bufferPool = bufferPool; _simulation = Simulation.Create(_bufferPool, new NarrowPhaseCallbacks(), new PoseIntegratorCallbacks(new Vector3(0, -9.81f, 0))); } public RayCastHit RayCast(Vector3 origin, Vector3 direction, float distance, CollisionLayer layer, List<uint> ignoreIds=null) { direction = direction.Normalized(); BepupRayCastHitHandler handler = new BepupRayCastHitHandler(_staticHandlerToBody, _dynamicHandlerToBody, layer, ignoreIds); _simulation.RayCast(origin, direction, distance, ref handler); var result = handler.RayCastHit; if (result.IsValid) { var collidableReference = handler.CollidableReference; if (handler.CollidableReference.Mobility == CollidableMobility.Static) { _simulation.Statics.GetDescription(collidableReference.Handle, out var description); result.HitEntityId = _staticHandlerToBody[collidableReference.Handle].Id; result.CollidableCenter = description.Pose.Position; } else { _simulation.Bodies.GetDescription(collidableReference.Handle, out var description); result.HitEntityId = _dynamicHandlerToBody[collidableReference.Handle].Id; result.CollidableCenter = description.Pose.Position; } } return result; } public RayCastHit SphereCast(Vector3 origin, Vector3 direction, float distance, float radius, CollisionLayer layer, List<uint> ignoreIds = null) { direction = direction.Normalized(); SweepCastHitHandler handler = new SweepCastHitHandler(_staticHandlerToBody, _dynamicHandlerToBody, layer, ignoreIds); _simulation.Sweep(new Sphere(radius), new RigidPose(origin, Quaternion.Identity), new BodyVelocity(direction.Normalized()), distance, _bufferPool, ref handler); var result = handler.RayCastHit; if (result.IsValid) { var collidableReference = handler.CollidableReference; if (handler.CollidableReference.Mobility == CollidableMobility.Static) { _simulation.Statics.GetDescription(collidableReference.Handle, out var description); result.HitEntityId = _staticHandlerToBody[collidableReference.Handle].Id; result.CollidableCenter = description.Pose.Position; } else { var reference = new BodyReference(collidableReference.Handle, _simulation.Bodies); result.HitEntityId = _dynamicHandlerToBody[collidableReference.Handle].Id; result.CollidableCenter = reference.Pose.Position; } } return result; } public RayCastHit CapsuleCast(Vector3 origin, Vector3 direction, float distance, float radius, float height, CollisionLayer layer, List<uint> ignoreIds = null) { direction = direction.Normalized(); var length = height - 2 * radius; SweepCastHitHandler handler = new SweepCastHitHandler(_staticHandlerToBody, _dynamicHandlerToBody, layer, ignoreIds); _simulation.Sweep(new Capsule(radius, length), new RigidPose(origin, Quaternion.Identity), new BodyVelocity(direction.Normalized()), distance, _bufferPool, ref handler); var result = handler.RayCastHit; if (result.IsValid) { var collidableReference = handler.CollidableReference; if (handler.CollidableReference.Mobility == CollidableMobility.Static) { _simulation.Statics.GetDescription(collidableReference.Handle, out var description); result.HitEntityId = _staticHandlerToBody[collidableReference.Handle].Id; result.CollidableCenter = description.Pose.Position; } else { var reference = new BodyReference(collidableReference.Handle, _simulation.Bodies); result.HitEntityId = _dynamicHandlerToBody[collidableReference.Handle].Id; result.CollidableCenter = reference.Pose.Position; } } return result; } public void CapsuleOverlap(Vector3 origin, float radius, float height, BodyMobilityField bodyMobilityField, CollisionLayer layer, List<Overlap> overlaps) { var length = height - 2 * radius; var handler = new BepupOverlapHitHandler( bodyMobilityField, layer, _staticHandlerToBody, _dynamicHandlerToBody, overlaps); _simulation.Sweep( new Capsule(radius, length), new RigidPose(origin, Quaternion.Identity), new BodyVelocity(Vector3.Zero), 0, _bufferPool, ref handler); } public void CreateDynamicBox(Vector3 origin, Quaternion rotation, Vector3 size, uint id, CollisionLayer layer) { var shape = new Box(size.X, size.Y, size.Z); var pose = new RigidPose() { Position = origin, Orientation = rotation }; var handler = CreateDynamic(shape, pose, false, id, layer); var body = _dynamicHandlerToBody[handler]; body.Box = shape; _dynamicHandlerToBody[handler] = body; } public void CreateStaticBox(Vector3 origin, Quaternion rotation, Vector3 size, uint id, CollisionLayer layer) { var shape = new Box(size.X, size.Y, size.Z); var pose = new RigidPose() { Position = origin, Orientation = rotation }; var handler =CreateStatic(shape, pose, false, id, layer); var body = _staticHandlerToBody[handler]; body.Box = shape; _staticHandlerToBody[handler] = body; } public void CreateStaticCapsule(Vector3 origin, Quaternion rotation, float radius, float height, uint id, CollisionLayer layer) { var length = height - 2 * radius; var shape = new Capsule(radius, length); var pose = new RigidPose() { Position = origin, Orientation = rotation }; var handler =CreateStatic(shape, pose, true, id, layer); var body = _staticHandlerToBody[handler]; body.Capsule = shape; _staticHandlerToBody[handler] = body; } public void CreateDynamicCapsule(Vector3 origin, Quaternion rotation, float radius, float height, uint id, CollisionLayer layer) { var length = height - 2 * radius; var shape = new Capsule(radius, length); var pose = new RigidPose() { Position = origin, Orientation = rotation }; var handler = CreateDynamic(shape, pose, true, id, layer); var body = _dynamicHandlerToBody[handler]; body.Capsule = shape; _dynamicHandlerToBody[handler] = body; } private int CreateDynamic<TShape>(TShape shape, RigidPose pose, bool isCapsule, uint id, CollisionLayer collisionLayer) where TShape : struct, IShape { var activity = new BodyActivityDescription() { SleepThreshold = -1 }; var collidable = new CollidableDescription() { Shape = _simulation.Shapes.Add(shape), SpeculativeMargin = 0.1f, }; var capsuleDescription = BodyDescription.CreateKinematic(pose, collidable, activity); var handler = _simulation.Bodies.Add(capsuleDescription); _dynamicIds.Add(id); _dynamicIdToHandler.Add(id, handler); _dynamicHandlerToBody.Add(handler, new DynamicBody { BodyReference = new BodyReference(handler, _simulation.Bodies), Id = id, IsCapsule = isCapsule, CollisionLayer = collisionLayer }); return handler; } private int CreateStatic<TShape>(TShape shape, RigidPose pose, bool isCapsule, uint id, CollisionLayer collisionLayer) where TShape : struct, IShape { var capsuleDescription = new StaticDescription() { Pose = pose, Collidable = new CollidableDescription() { Shape = _simulation.Shapes.Add(shape), SpeculativeMargin = 0.1f, } }; var handler = _simulation.Statics.Add(capsuleDescription); _staticIds.Add(id); _staticIdToHandler.Add(id, handler); _staticHandlerToBody.Add(handler, new StaticBody { Description = capsuleDescription, Id = id, IsCapsule = isCapsule, CollisionLayer = collisionLayer }); return handler; } public void RemoveOrphanedDynamicBodies(TableSet currentWorld) { var toDel = stackalloc uint[_dynamicIds.Count]; var toDelIndex = 0; foreach (var i in _dynamicIdToHandler) { if (currentWorld.DynamicPhysicsBody.HasCmp(i.Key)) { continue; } toDel[toDelIndex] = i.Key; toDelIndex++; } for (int i = 0; i < toDelIndex; i++) { var id = toDel[i]; var handler = _dynamicIdToHandler[id]; _simulation.Bodies.Remove(handler); _dynamicHandlerToBody.Remove(handler); _dynamicIds.Remove(id); _dynamicIdToHandler.Remove(id); } } public bool HasBody(uint id) { return _staticIdToHandler.ContainsKey(id) || _dynamicIdToHandler.ContainsKey(id); } public void RestoreBodiesFromPreviousTick(SimulationSlice previous) { var oldStaticCount = previous._staticIds.Count; // add created static objects for (int i = 0; i < oldStaticCount; i++) { var oldId = previous._staticIds[i]; if (!_staticIds.Contains(oldId)) { var oldHandler = previous._staticIdToHandler[oldId]; var oldBody = previous._staticHandlerToBody[oldHandler]; if (oldBody.IsCapsule) { var handler = CreateStatic(oldBody.Capsule, oldBody.Description.Pose, true, oldId, oldBody.CollisionLayer); var body = _staticHandlerToBody[handler]; body.Capsule = oldBody.Capsule; _staticHandlerToBody[handler] = body; } else { var handler = CreateStatic(oldBody.Box, oldBody.Description.Pose, false, oldId, oldBody.CollisionLayer); var body = _staticHandlerToBody[handler]; body.Box = oldBody.Box; _staticHandlerToBody[handler] = body; } } } // delete not existing dynamic objects var newDynamicCount = _dynamicIds.Count; var idsToDel = stackalloc uint[_dynamicIds.Count]; int delIndex = 0; for (int i = 0; i < newDynamicCount; i++) { var newId = _dynamicIds[i]; if (!previous._dynamicIds.Contains(newId)) { idsToDel[delIndex] = newId; delIndex++; } } for (int i = 0; i < delIndex; i++) { var id = idsToDel[i]; var handler = _dynamicIdToHandler[id]; _simulation.Bodies.Remove(handler); _dynamicHandlerToBody.Remove(handler); _dynamicIds.Remove(id); _dynamicIdToHandler.Remove(id); } // add created dynamic objects var oldDynamicCount = previous._dynamicIds.Count; for (int i = 0; i < oldDynamicCount; i++) { var oldId = previous._dynamicIds[i]; if (!_dynamicIds.Contains(oldId)) { var oldHandler = previous._dynamicIdToHandler[oldId]; var oldBody = previous._dynamicHandlerToBody[oldHandler]; if (oldBody.IsCapsule) { var handler = CreateDynamic(oldBody.Capsule, oldBody.BodyReference.Pose, true, oldId, oldBody.CollisionLayer); var body = _dynamicHandlerToBody[handler]; body.Capsule = oldBody.Capsule; _dynamicHandlerToBody[handler] = body; } else { var handler = CreateDynamic(oldBody.Box, oldBody.BodyReference.Pose, false, oldId, oldBody.CollisionLayer); var body = _dynamicHandlerToBody[handler]; body.Box = oldBody.Box; _dynamicHandlerToBody[handler] = body; } } } } public void Update() { _simulation.Timestep(GameState.TickDurationSec); } public void UpdateBody(uint id, Vector3 position, float angle) { if (_staticIdToHandler.TryGetValue(id, out var handler)) { _simulation.Statics.GetDescription(handler, out var staticDescription); staticDescription.Pose.Position = position; staticDescription.Pose.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), angle); _simulation.Statics.ApplyDescription(handler, staticDescription); } else if(_dynamicIdToHandler.TryGetValue(id, out handler)) { BodyReference reference = new BodyReference(handler, _simulation.Bodies); reference.Pose.Position = position; reference.Pose.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), angle); } } public void Dispose() { _simulation.Clear(); } } public void Dispose() { _bufferPool.Clear(); } } } 

 MethodInfo raycastMethod = typeof(Physics).GetMethod("Internal_SphereCast", BindingFlags.NonPublic | BindingFlags.Static); var sphereCast = (SphereCastDelegate) Delegate.CreateDelegate(typeof(SphereCastDelegate), raycastMethod); MethodInfo overlapSphereMethod = typeof(Physics).GetMethod("OverlapSphereNonAlloc_Internal", BindingFlags.NonPublic | BindingFlags.Static); var overlapSphere = (OverlapSphereNonAlloc) Delegate.CreateDelegate(typeof(OverlapSphereNonAlloc), overlapSphereMethod); MethodInfo capsuleCastMethod = typeof(Physics).GetMethod("Internal_CapsuleCast", BindingFlags.NonPublic | BindingFlags.Static); var capsuleCast = (CapsuleCastDelegate) Delegate.CreateDelegate(typeof(CapsuleCastDelegate), capsuleCastMethod); MethodInfo overlapCapsuleMethod = typeof(Physics).GetMethod("OverlapCapsuleNonAlloc_Internal", BindingFlags.NonPublic | BindingFlags.Static); var overlapCapsule = (OverlapCapsuleNonAlloc) Delegate.CreateDelegate(typeof(OverlapCapsuleNonAlloc), overlapCapsuleMethod);