Michael Fabian 'Xaymar' Dirks
363 lines
8.4 KiB
C++
363 lines
8.4 KiB
C++
#include "collision.hpp"
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#include <gxruntime.hpp>
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const float COLLISION_FLT_EPSILON = .001f;
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/*
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//
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// OLD VERSION
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//
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bool Collision::sphereCollide( const Line &line,float radius,const Vector &dest,float dest_radius ){
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radius+=dest_radius;
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Line l( line.o-dest,line.d );
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float a=l.d.dot(l.d);
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if( !a ) return false;
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float b=l.o.dot(l.d)*2;
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float c=l.o.dot(l.o)-radius*radius;
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float d=b*b-4*a*c;
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if( d<0 ) return false;
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float t1=(-b+sqrt(d))/(2*a);
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float t2=(-b-sqrt(d))/(2*a);
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float t=t1<t2 ? t1 : t2;
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if( t<0 || t>=time ) return false;
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time=t;
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normal=(l*t).normalized();
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return true;
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}
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bool Collision::sphereCollide( const Line &line,float radius,const Vector &dest,const Vector &radii ){
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radius+=radii.x;
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Line l( line.o-dest,line.d );
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// float y_scale=1;
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// if( radii.x!=radii.y ){
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// y_scale=radii.x/radii.y;
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// l.o.y*=y_scale;
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// l.d.y*=y_scale;
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// }
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float a=l.d.dot(l.d);
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if( !a ) return false;
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float b=l.o.dot(l.d)*2;
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float c=l.o.dot(l.o)-radius*radius;
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float d=b*b-4*a*c;
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if( d<0 ) return false;
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float t1=(-b+sqrt(d))/(2*a);
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float t2=(-b-sqrt(d))/(2*a);
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float t=t1<t2 ? t1 : t2;
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if( t<0 || t>=time ) return false;
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time=t;
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normal=(l*t).normalized();
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return true;
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}
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//v0,v1 = edge verts
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//pn = poly normal
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//en = edge normal
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static bool edgeTest( const Vector &v0,const Vector &v1,const Vector &pn,const Vector &en,const Line &line,float radius,Collision *curr_coll ){
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Matrix tm=~Matrix( en,(v1-v0).normalized(),pn );
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Vector sv=tm*(line.o-v0),dv=tm*(line.o+line.d-v0);
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Line l( sv,dv-sv );
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//do cylinder test...
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float a,b,c,d,t1,t2,t;
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a=(l.d.x*l.d.x+l.d.z*l.d.z);
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if( !a ) return false; //ray parallel to cylinder
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b=(l.o.x*l.d.x+l.o.z*l.d.z)*2;
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c=(l.o.x*l.o.x+l.o.z*l.o.z)-radius*radius;
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d=b*b-4*a*c;
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if( d<0 ) return false; //ray misses cylinder
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t1=(-b+sqrt(d))/(2*a);
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t2=(-b-sqrt(d))/(2*a);
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t=t1<t2 ? t1 : t2;
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if( t>curr_coll->time ) return false; //intersects too far away
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Vector i=l*t,p;
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if( i.y>v0.distance(v1) ) return false; //intersection above cylinder
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if( i.y>=0 ){
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if( t<0 ) return false;
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p.y=i.y;
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}else{
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//below bottom of cylinder...do sphere test...
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a=l.d.dot(l.d);
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if( !a ) return false; //ray parallel to sphere
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b=l.o.dot(l.d)*2;
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c=l.o.dot(l.o)-radius*radius;
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d=b*b-4*a*c;
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if( d<0 ) return false; //ray misses sphere
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t1=(-b+sqrt(d))/(2*a);
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t2=(-b-sqrt(d))/(2*a);
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t=t1<t2 ? t1 : t2;
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if( t<0 || t>curr_coll->time ) return false; //intersects behind or too far away
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i=l*t;
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}
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curr_coll->time=t;
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curr_coll->normal=~tm*(i-p);
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curr_coll->normal.normalize();
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return true;
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}
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bool Collision::triangleCollide( const Line &line,float radius,const Vector &v0,const Vector &v1,const Vector &v2 ){
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//triangle plane
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Plane p( v0,v1,v2 );
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if( p.n.dot( line.d )>=0 ) return false;
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//intersection time
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Plane tp=p;tp.d-=radius;
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float t=tp.t_intersect( line );
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if( t>time ) return false;
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//intersection point
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Plane p0( v0+p.n,v1,v0 ),p1( v1+p.n,v2,v1 ),p2( v2+p.n,v0,v2 );
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if( t>=0 ){
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Vector i=line*t;
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if( p0.distance(i)>=0 && p1.distance(i)>=0 && p2.distance(i)>=0 ){
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time=t;
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normal=p.n;
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return true;
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}
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}
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if( radius<=0 ) return false;
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return
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edgeTest( v0,v1,p.n,p0.n,line,radius,this )|
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edgeTest( v1,v2,p.n,p1.n,line,radius,this )|
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edgeTest( v2,v0,p.n,p2.n,line,radius,this );
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}
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bool Collision::boxCollide( const Line &line,float radius,const Box &box ){
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static int quads[]={
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2,3,1,0,
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3,7,5,1,
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7,6,4,5,
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6,2,0,4,
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6,7,3,2,
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0,1,5,4
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};
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bool hit=false;
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for( int n=0;n<24;n+=4 ){
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Vector
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v0( box.corner( quads[n] ) ),
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v1( box.corner( quads[n+1] ) ),
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v2( box.corner( quads[n+2] ) ),
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v3( box.corner( quads[n+3] ) );
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//quad plane
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Plane p( v0,v1,v2 );
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if( p.n.dot( line.d )>=0 ) continue;
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p.d-=radius;
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float t=p.t_intersect( line );
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if( t>time ) continue;
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//intersection point
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Plane
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p0( v0+p.n,v1,v0 ),
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p1( v1+p.n,v2,v1 ),
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p2( v2+p.n,v3,v2 ),
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p3( v3+p.n,v0,v3 );
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if( t>=0 ){
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Vector i=line*t;
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if( p0.distance(i)>=0 && p1.distance(i)>=0 && p2.distance(i)>=0 && p3.distance(i)>=0 ){
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time=t;
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normal=p.n;
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hit=true;
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continue;
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}
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}
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if( radius<=0 ) continue;
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hit|=
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edgeTest( v0,v1,p.n,p0.n,line,radius,this )|
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edgeTest( v1,v2,p.n,p1.n,line,radius,this )|
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edgeTest( v2,v3,p.n,p2.n,line,radius,this )|
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edgeTest( v3,v0,p.n,p3.n,line,radius,this );
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}
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return hit;
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}
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*/
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bool Collision::update(const Line& line, float t, const Vector& n)
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{
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// if( t<0 || t>time ) return false;
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if (t > time)
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return false;
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Plane p(line * t, n);
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if (p.n.dot(line.d) >= 0)
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return false;
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if (p.distance(line.o) < -COLLISION_FLT_EPSILON)
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return false;
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time = t;
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normal = n;
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return true;
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}
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//
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// NEW VERSION
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//
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extern gxRuntime* gx_runtime;
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bool Collision::sphereCollide(const Line& line, float radius, const Vector& dest, float dest_radius)
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{
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radius += dest_radius;
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Line l(line.o - dest, line.d);
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float a = l.d.dot(l.d);
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if (!a)
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return false;
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float b = l.o.dot(l.d) * 2;
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float c = l.o.dot(l.o) - radius * radius;
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float d = b * b - 4 * a * c;
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if (d < 0)
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return false;
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float t1 = (-b + sqrt(d)) / (2 * a);
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float t2 = (-b - sqrt(d)) / (2 * a);
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float t = t1 < t2 ? t1 : t2;
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if (t > time)
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return false;
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return update(line, t, (l * t).normalized());
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}
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//v0,v1 = edge verts
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//pn = poly normal
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//en = edge normal
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static bool edgeTest(const Vector& v0, const Vector& v1, const Vector& pn, const Vector& en, const Line& line,
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float radius, Collision* curr_coll)
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{
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Matrix tm = ~Matrix(en, (v1 - v0).normalized(), pn);
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Vector sv = tm * (line.o - v0), dv = tm * (line.o + line.d - v0);
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Line l(sv, dv - sv);
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//do cylinder test...
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float a, b, c, d, t1, t2, t;
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a = (l.d.x * l.d.x + l.d.z * l.d.z);
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if (!a)
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return false; //ray parallel to cylinder
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b = (l.o.x * l.d.x + l.o.z * l.d.z) * 2;
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c = (l.o.x * l.o.x + l.o.z * l.o.z) - radius * radius;
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d = b * b - 4 * a * c;
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if (d < 0)
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return false; //ray misses cylinder
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t1 = (-b + sqrt(d)) / (2 * a);
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t2 = (-b - sqrt(d)) / (2 * a);
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t = t1 < t2 ? t1 : t2;
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if (t > curr_coll->time)
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return false; //intersects too far away
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Vector i = l * t, p;
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if (i.y > v0.distance(v1))
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return false; //intersection above cylinder
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if (i.y >= 0) {
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p.y = i.y;
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} else {
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//below bottom of cylinder...do sphere test...
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a = l.d.dot(l.d);
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if (!a)
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return false; //ray parallel to sphere
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b = l.o.dot(l.d) * 2;
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c = l.o.dot(l.o) - radius * radius;
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d = b * b - 4 * a * c;
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if (d < 0)
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return false; //ray misses sphere
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t1 = (-b + sqrt(d)) / (2 * a);
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t2 = (-b - sqrt(d)) / (2 * a);
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t = t1 < t2 ? t1 : t2;
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if (t > curr_coll->time)
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return false;
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i = l * t;
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}
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return curr_coll->update(line, t, (~tm * (i - p)).normalized());
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}
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bool Collision::triangleCollide(const Line& line, float radius, const Vector& v0, const Vector& v1, const Vector& v2)
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{
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//triangle plane
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Plane p(v0, v1, v2);
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if (p.n.dot(line.d) >= 0)
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return false;
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//move plane out
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p.d -= radius;
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float t = p.t_intersect(line);
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if (t > time)
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return false;
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//edge planes
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Plane p0(v0 + p.n, v1, v0), p1(v1 + p.n, v2, v1), p2(v2 + p.n, v0, v2);
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//intersects triangle?
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Vector i = line * t;
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if (p0.distance(i) >= 0 && p1.distance(i) >= 0 && p2.distance(i) >= 0) {
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return update(line, t, p.n);
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}
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if (radius <= 0)
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return false;
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return edgeTest(v0, v1, p.n, p0.n, line, radius, this) | edgeTest(v1, v2, p.n, p1.n, line, radius, this)
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| edgeTest(v2, v0, p.n, p2.n, line, radius, this);
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}
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bool Collision::boxCollide(const Line& line, float radius, const Box& box)
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{
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static int quads[] = {2, 3, 1, 0, 3, 7, 5, 1, 7, 6, 4, 5, 6, 2, 0, 4, 6, 7, 3, 2, 0, 1, 5, 4};
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bool hit = false;
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for (int n = 0; n < 24; n += 4) {
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Vector v0(box.corner(quads[n])), v1(box.corner(quads[n + 1])), v2(box.corner(quads[n + 2])),
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v3(box.corner(quads[n + 3]));
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//quad plane
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Plane p(v0, v1, v2);
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if (p.n.dot(line.d) >= 0)
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continue;
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//move plane out
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p.d -= radius;
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float t = p.t_intersect(line);
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if (t > time)
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return false;
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//edge planes
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Plane p0(v0 + p.n, v1, v0), p1(v1 + p.n, v2, v1), p2(v2 + p.n, v3, v2), p3(v3 + p.n, v0, v3);
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//intersects triangle?
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Vector i = line * t;
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if (p0.distance(i) >= 0 && p1.distance(i) >= 0 && p2.distance(i) >= 0 && p3.distance(i) >= 0) {
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hit |= update(line, t, p.n);
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continue;
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}
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if (radius <= 0)
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continue;
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hit |= edgeTest(v0, v1, p.n, p0.n, line, radius, this) | edgeTest(v1, v2, p.n, p1.n, line, radius, this)
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| edgeTest(v2, v3, p.n, p2.n, line, radius, this) | edgeTest(v3, v0, p.n, p3.n, line, radius, this);
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}
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return hit;
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}
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