From 8c3a48df74dfb7d90b3340c55bdcd0adb402d9b2 Mon Sep 17 00:00:00 2001 From: Henrik Rydgard Date: Sun, 25 Mar 2012 00:13:34 +0100 Subject: [PATCH] Doesn't belong here either --- collision/CMakeLists.txt | 9 -- collision/collision.cpp | 288 --------------------------------------- collision/collision.h | 89 ------------ 3 files changed, 386 deletions(-) delete mode 100644 collision/CMakeLists.txt delete mode 100644 collision/collision.cpp delete mode 100644 collision/collision.h diff --git a/collision/CMakeLists.txt b/collision/CMakeLists.txt deleted file mode 100644 index 00af58df88..0000000000 --- a/collision/CMakeLists.txt +++ /dev/null @@ -1,9 +0,0 @@ -set(SRCS - collision.cpp - ) - -add_library(collision STATIC ${SRCS}) - -if(UNIX) - add_definitions(-fPIC) -endif(UNIX) diff --git a/collision/collision.cpp b/collision/collision.cpp deleted file mode 100644 index d019dd1b78..0000000000 --- a/collision/collision.cpp +++ /dev/null @@ -1,288 +0,0 @@ -#include "base/logging.h" -#include "math/lin/vec3.h" -#include "ray_intersections.h" -#include "collision.h" - -#include - -// #define COLLISION_ENABLE_SCALING - -static std::string V(const Vec3 &v) { - char temp[100]; - sprintf(temp, "(%f %f %f)", v.x, v.y, v.z); - return std::string(temp); -} - -Collidable::Collidable() { -} - -Collidable::~Collidable() { -} - -void Collision::Init(const Vec3 &source, const Vec3 &dest, const Vec3 &size) { - this->size = size; - scale.Set(1.0f / size.x, 1.0f / size.y, 1.0f / size.z); - sourcePoint = source.scaledBy(scale); - - velocity = (dest - source).scaledBy(scale); - velocityLength = velocity.length(); - normalizedVelocity = velocity / velocityLength; - - stuck = false; - foundCollision = false; - nearestDistance = velocityLength; -} - -void Collision::BeginTransform(const Matrix4x4 &inverse, const Matrix4x4 &transform) { - this->transform = &transform; - untransformed_sourcePoint = sourcePoint; - untransformed_velocity = velocity; - - sourcePoint = sourcePoint * inverse; - velocity = velocity.rotatedBy(inverse); - - normalizedVelocity = untransformed_velocity.normalized(); -} - -void Collision::EndTransform() { - sourcePoint = untransformed_sourcePoint; - velocity = untransformed_velocity; - - normalizedVelocity = untransformed_velocity.normalized(); - this->transform = 0; -} - -bool Collision::registerCollision(float t, const Vec3 &polyIPoint) { - // Special handling for multiple contact points - if (t < 0.0f) { - return false; - } - Vec3 ipoint; - if (transform) ipoint = polyIPoint * (*transform); - else ipoint = polyIPoint; - - if (t >= -0.0001 && t <= 0.0001 && num_contact_points < MAX_CONTACT_POINTS) { - for (int i = 0; i < num_contact_points; i++) { - // Check if identical - can happen on dupe edges (which we'll later remove). - // TODO: Let's see if we can get rid of this fuzziness. - if (ipoint.distance2To(contact_points[i]) < 0.00001) - goto skip; - } - contact_points[num_contact_points++] = ipoint; - } -skip: - if ((t >= 0.0) && (t <= velocityLength) && (t <= this->nearestDistance)) { - // If we are hit we have a closest hit so far. We save the information - this->nearestDistance = t; - this->nearestPolygonIntersectionPoint = ipoint; - this->foundCollision = true; - //ILOG("Collision registered, t=%f", t); - return true; - } else { - // Already had a closer collision. - return false; - } -} - -bool Collision::Triangle(Vec3 p1, Vec3 p2, Vec3 p3) { - Vec3 pNormal = (p2 - p1) % (p3 - p1); - pNormal.normalize(); - return Triangle(p1, p2, p3, pNormal); -} - -bool Collision::Triangle(Vec3 p1, Vec3 p2, Vec3 p3, const Vec3 &pNormal) { -#ifdef COLLISION_ENABLE_SCALING - p1.scaleBy(scale); - p2.scaleBy(scale); - p3.scaleBy(scale); -#endif - - // Backface - // Early out optimization, lose a square root - if (dot(velocity, pNormal) >= 0.0f) - return false; - - // ILOG("normal. %s", V(pNormal).c_str()); - // find the plane intersection point - float t; - Vec3 polyIPoint, sIPoint = sourcePoint - pNormal; - if (pointPlaneDistance(sIPoint, p1, pNormal) > 0.0f) { - // Plane is embedded in ellipsoid. - // Find plane intersection point by shooting a ray from the sphere intersection - // point along the plane normal. - t = intersectRayPlanePerp(sIPoint, pNormal, p1); - polyIPoint = sIPoint + pNormal * t; // calculate plane intersection point - } else { - // shoot ray along the velocity vector - t = intersectRayPlane(sIPoint, normalizedVelocity, p1, pNormal); - if (t > velocityLength) { - // Did not hit plane. No point in doing triangle tests. - return false; - } - // calculate plane intersection point - polyIPoint = sIPoint + normalizedVelocity * t; - } - - if (isPointInTriangle(polyIPoint, p1, p2, p3)) { - // ILOG("Hit triangle! %s %s %s %s", V(polyIPoint).c_str(), V(p1).c_str(), V(p2).c_str(), V(p3).c_str()); - float depth2 = (polyIPoint - sourcePoint).length2(); - if (depth2 < 0.9999f) { - // Here we do the error checking to see if we got ourself stuck last frame - ELOG("Stuck in triangle! depth2 = %f", depth2); - // ILOG("%s %s %s", V(p1).c_str(), V(p2).c_str(), V(p3).c_str()); - stuck = true; - } - return registerCollision(t, polyIPoint); - } else { - // ILOG("Missed this triangle - returning"); - return false; - } -} - -bool Collision::EdgeLine(Vec3 p1, Vec3 p2) { - // This ellipsoid scaling stuff will result in the edge not being really cylindric. - // Should work for many purposes though. -#ifdef COLLISION_ENABLE_SCALING - p1.scaleBy(scale); - p2.scaleBy(scale); -#endif - float t = 1000000000.0; - Vec3 polyIPoint; - if (intersectCylinder(sourcePoint, normalizedVelocity, - p1, p2, &t, &polyIPoint)) { - polyIPoint = closestPointOnLine(p1, p2, polyIPoint); - return registerCollision(t, polyIPoint); - } else { - return false; - } -} - -bool Collision::Corner(Vec3 p1) { -#ifdef COLLISION_ENABLE_SCALING - p1.scaleBy(scale); -#endif - float t = intersectRayUnitSphere(sourcePoint, normalizedVelocity, p1); - if (t != -1.0f) { - return registerCollision(t, p1); - } else { - return false; - } -} - -bool Collision::Quad(const Vec3 &o, const Vec3 &dx, const Vec3 &dy) { - bool hit = Triangle(o, o + dx, o + dx + dy); - hit |= Triangle(o + dx + dy, o + dy, o); - return hit; -} - -bool Collide(Collision *collision, Collidable *scene, Vec3 *out) { - bool hit_anything = false; - collision->num_contact_points = 0; - collision->lastSafePosition = collision->sourcePoint; - // Process max 8 slides to have a limit if we get into an impossible situation. - int i = 0; - for (i = 0; i < 4; i++) { - // ILOG("Try %i! %s", i, V(collision->sourcePoint).c_str()); - scene->Collide(collision); - if (!collision->foundCollision) { - // Nothing left to do. - collision->sourcePoint += collision->velocity; - collision->velocity.setZero(); - break; - } - hit_anything = true; - if (collision->nearestDistance < 0.0f) { - ILOG("NegHit! %f %f", collision->velocityLength, collision->nearestDistance); - } else { - // ILOG("Hit! %f %f ", collision->velocityLength, collision->nearestDistance); - } - - Vec3 slidePlaneOrigin; - Vec3 slidePlaneNormal; - Vec3 newSourcePoint = collision->sourcePoint; - - float adjusted_hit_distance = collision->nearestDistance - 0.0001f; - if (adjusted_hit_distance < 0) adjusted_hit_distance = 0; - - // Two cases - one where we have multiple contact points, one where we don't. - if (collision->num_contact_points > 1) { - ILOG("Resolve %i-ary collision, velocityLength = %f", - collision->num_contact_points, collision->velocity.length()); - Vec3 avg_contact(0,0,0); - for (int i = 0; i < collision->num_contact_points; i++) { - ILOG("Contact point %s", V(collision->contact_points[i]).c_str()); - avg_contact += collision->contact_points[i]; - } - avg_contact /= (float)collision->num_contact_points; - - // The average of the contact points should be inside the sphere. - float dist = sqrt(avg_contact.distance2To(collision->sourcePoint)); - if (dist > 1.0) { - ILOG("Bogus contact points, for sure: %s vs %s, dist=%f", V(avg_contact).c_str(), V(collision->sourcePoint).c_str(), dist); - } - - Vec3 avg_contact_dir = avg_contact - collision->sourcePoint; - avg_contact_dir.normalize(); - avg_contact = collision->sourcePoint + avg_contact_dir; - - newSourcePoint += collision->normalizedVelocity * adjusted_hit_distance; - slidePlaneOrigin = avg_contact; - slidePlaneNormal = (newSourcePoint - slidePlaneOrigin).normalized(); - - // Push the ball out a bit along the normal to avoid re-collision. - newSourcePoint += slidePlaneNormal * 0.01f; - //collision->velocity += slidePlaneNormal * 0.01; - - //slidePlaneNormal = avg_contact_dir; - } else { - // LOG(INFO) << "Adjusting newsourcepoint to end of collision"; - newSourcePoint += collision->normalizedVelocity * adjusted_hit_distance; - // LOG(INFO) << "s: " << V(collision->sourcePoint); - // LOG(INFO) << "nsp: " << V(newSourcePoint); - // LOG(INFO) << "ip: " << V(collision->nearestPolygonIntersectionPoint); - - // Now we must calculate the sliding plane - slidePlaneOrigin = collision->nearestPolygonIntersectionPoint; - slidePlaneNormal = (newSourcePoint - slidePlaneOrigin).normalized(); - } - - // We now project the destination point onto the sliding plane - Vec3 destinationPoint = collision->sourcePoint + collision->velocity; - float l = intersectRayPlane(destinationPoint, slidePlaneNormal, - slidePlaneOrigin, -slidePlaneNormal); - - // We can now calculate a new destination point on the sliding plane - Vec3 newDestinationPoint = destinationPoint + slidePlaneNormal * l; - - // now we start over with the new position and velocity - - collision->sourcePoint = newSourcePoint; - // Generate the slide vector, which will become our new velocity vector - Vec3 slide = newDestinationPoint - slidePlaneOrigin; - slide += slidePlaneNormal * 0.0001f; - - // LOG(INFO) << "NDP: " << V(newDestinationPoint); - // ILOG("Slide: %s", V(slide).c_str()); - // Recompute to get ready! - collision->velocity = slide; - collision->velocityLength = collision->velocity.length(); - if (collision->velocityLength <= 0.0002) { - //ILOG("Zero-length velocity vector. Break."); - collision->velocity.setZero(); - break; - } else { - // ILOG("Velocity: %s", V(collision->velocity).c_str()); - } - collision->nearestDistance = collision->velocityLength; - collision->normalizedVelocity = collision->velocity / collision->velocityLength; - } - //ILOG("%i tries", i); - - *out = collision->sourcePoint.scaledBy(collision->size); - if (collision->stuck) { - //ILOG("Stuck - resetting"); - // *out = collision->lastSafePosition.scaledBy(collision->size); - } - return hit_anything; -} - diff --git a/collision/collision.h b/collision/collision.h deleted file mode 100644 index 2ff5ba1d47..0000000000 --- a/collision/collision.h +++ /dev/null @@ -1,89 +0,0 @@ -// Collision detection engine. You pass in a class representing a scene, -// and out comes a nice FPS-like "sliding physics" response. - -// By hrydgard@gmail.com, - - -#ifndef _COLLISION_H -#define _COLLISION_H - -#include "math/lin/vec3.h" -#include "math/lin/matrix4x4.h" - -class Collision; - -class Collidable { - public: - Collidable(); - virtual ~Collidable(); - // Apply the collision functions to collision as appropriate. - virtual void Collide(Collision *collision) = 0; -}; - -class Collision { - public: - void Init(const Vec3 &source, const Vec3 &dest, const Vec3 &size); - - // Collision functions - // These should be called from Collidable::Collide and nowhere else - // except the unit test. - - // To correctly collide with meshes, just apply these in sequence. You MUST - // collide against all external (convex) edges, otherwise you can get - // quite stuck. There's PLENTY of optimization to do here. - - bool Triangle(Vec3 p1, Vec3 p2, Vec3 p3); - bool Triangle(Vec3 p1, Vec3 p2, Vec3 p3, const Vec3 &normal); - bool EdgeLine(Vec3 p1, Vec3 p2); // Cylinder - bool Quad(const Vec3 &origin, const Vec3 &dX, const Vec3 &dY); - bool UnitCube(const Vec3 &origin); - bool Corner(Vec3 p1); // Sphere - bool Corners(Vec3 *p, int count); - - // There's an opportunity to provide hyper optimized versions of - // Edge for axis aligned edges. The cylinder intersection becomes trivial. - - // These cannot be nested! - void BeginTransform(const Matrix4x4 &inverse, const Matrix4x4 &transform); - void EndTransform(); - - private: - bool registerCollision(float t, const Vec3 &polyIPoint); - - public: - Vec3 sourcePoint; - - float velocityLength; - - Vec3 size; - Vec3 scale; - Vec3 velocity; // data about player movement - Vec3 normalizedVelocity; - - Vec3 lastSafePosition; // for error handling - bool stuck; - // data for collision response - bool foundCollision; - float nearestDistance; // nearest distance to hit - Vec3 nearestPolygonIntersectionPoint; // on polygon - - const Matrix4x4 *transform; - - // Saved state during transformed operation - Vec3 untransformed_sourcePoint; - Vec3 untransformed_velocity; - - enum { - MAX_CONTACT_POINTS = 10 - }; - Vec3 contact_points[MAX_CONTACT_POINTS]; - int num_contact_points; -}; - -// Sliding physics. -bool Collide(Collision *collision, Collidable *scene, Vec3 *out); - -// Bouncy physics -// void CollideBouncy( ... ) - -#endif // _COLLISION_H