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Several collision fixes

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This commit is contained in:
Jack Andersen
2017-12-17 16:54:50 -10:00
parent 2a8edf9da8
commit 73ae278c87
29 changed files with 114 additions and 110 deletions
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40
Runtime/Collision/CMetroidAreaCollider.cpp
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@@ -36,9 +36,9 @@ CBooleanSphereAreaCache::CBooleanSphereAreaCache(const zeus::CAABox& aabb, const
{}
SBoxEdge::SBoxEdge(const zeus::CAABox& aabb, int idx, const zeus::CVector3f& dir)
: x0_seg(aabb.getEdge(zeus::CAABox::EBoxEdgeId(idx))), x28_dir(x0_seg.dir), x40_end(x0_seg.end),
x58_start(x40_end - x28_dir), x70_coDir(x58_start.cross(dir).asNormalized()),
x88_dirCoDirDot(x28_dir.dot(x70_coDir))
: x0_seg(aabb.getEdge(zeus::CAABox::EBoxEdgeId(idx))), x28_start(x0_seg.x0_start), x40_end(x0_seg.x18_end),
x58_delta(x40_end - x28_start), x70_coDir(x58_delta.cross(dir).asNormalized()),
x88_dirCoDirDot(x28_start.dot(x70_coDir))
{}
static void FlagEdgeIndicesForFace(int face, bool edgeFlags[12])
@@ -148,7 +148,8 @@ CMovingAABoxComponents::CMovingAABoxComponents(const zeus::CAABox& aabb, const z
}
for (int i=0 ; i<12 ; ++i)
x0_edges.push_back(SBoxEdge(aabb, i, dir));
if (edgeFlags[i])
x0_edges.push_back(SBoxEdge(aabb, i, dir));
for (int i=0 ; i<8 ; ++i)
if (vertFlags[i])
@@ -701,12 +702,12 @@ bool CMetroidAreaCollider::MovingAABoxCollisionCheck_Edge(const zeus::CVector3f&
{
zeus::CVector3d ev0d = ev0;
zeus::CVector3d ev1d = ev1;
if ((edge.x70_coDir.dot(ev0d) >= edge.x88_dirCoDirDot) !=
(edge.x70_coDir.dot(ev1d) >= edge.x88_dirCoDirDot))
if ((edge.x70_coDir.dot(ev1d) >= edge.x88_dirCoDirDot) !=
(edge.x70_coDir.dot(ev0d) >= edge.x88_dirCoDirDot))
{
zeus::CVector3d delta = ev0d - ev1d;
zeus::CVector3d cross0 = edge.x58_start.cross(delta);
if (cross0.magSquared() > DBL_EPSILON)
zeus::CVector3d cross0 = edge.x58_delta.cross(delta);
if (cross0.magSquared() >= DBL_EPSILON)
{
zeus::CVector3d cross0Norm = cross0.asNormalized();
if (cross0Norm.dot(dir) >= 0.0)
@@ -714,11 +715,11 @@ bool CMetroidAreaCollider::MovingAABoxCollisionCheck_Edge(const zeus::CVector3f&
ev1d = ev0;
ev0d = ev1;
delta = ev0d - ev1d;
cross0Norm = edge.x58_start.cross(delta).asNormalized();
cross0Norm = edge.x58_delta.cross(delta).asNormalized();
}
zeus::CVector3d clipped = ev0d + -(ev0d.dot(edge.x70_coDir) - edge.x88_dirCoDirDot) /
delta.dot(edge.x70_coDir) * delta;
zeus::CVector3d clipped = ev0d + (-(ev0d.dot(edge.x70_coDir) - edge.x88_dirCoDirDot) /
delta.dot(edge.x70_coDir)) * delta;
int maxCompIdx = (std::fabs(edge.x70_coDir.x) > std::fabs(edge.x70_coDir.y)) ? 0 : 1;
if (std::fabs(edge.x70_coDir[maxCompIdx]) < std::fabs(edge.x70_coDir.z))
maxCompIdx = 2;
@@ -740,15 +741,16 @@ bool CMetroidAreaCollider::MovingAABoxCollisionCheck_Edge(const zeus::CVector3f&
break;
}
double mag = edge.x58_start[ci0] * (clipped[ci1] - edge.x28_dir[ci1]) -
edge.x58_start[ci1] * (clipped[ci0] - edge.x28_dir[ci0]) /
edge.x58_start[ci0] * dir[ci1] - edge.x58_start[ci1] * dir[ci0];
if (mag > 0.0 && mag < d)
double mag = (edge.x58_delta[ci0] * (clipped[ci1] - edge.x28_start[ci1]) -
edge.x58_delta[ci1] * (clipped[ci0] - edge.x28_start[ci0])) /
(edge.x58_delta[ci0] * dir[ci1] - edge.x58_delta[ci1] * dir[ci0]);
if (mag >= 0.0 && mag < d)
{
zeus::CVector3d clippedMag = clipped - mag * zeus::CVector3d(dir);
if ((edge.x28_dir.x - clippedMag).dot(edge.x40_end.x - clippedMag) < 0.0)
if ((edge.x28_start - clippedMag).dot(edge.x40_end - clippedMag) < 0.0 && mag < d)
{
normal = cross0Norm.asCVector3f();
d = mag;
point = clipped.asCVector3f();
ret = true;
}
@@ -848,7 +850,7 @@ bool CMetroidAreaCollider::MovingAABoxCollisionCheck_Cached(const COctreeLeafCac
{
g_DupEdgeList[edgeIdx] = g_DupPrimitiveCheckCount;
CMaterialList edgeMat(node.GetOwner().GetEdgeMaterial(edgeIdx));
if (!edgeMat.HasMaterial(EMaterialTypes::TwentyFour))
if (!edgeMat.HasMaterial(EMaterialTypes::NoEdgeCollision))
{
d = dOut;
const CCollisionEdge& edge = node.GetOwner().GetEdge(edgeIdx);
@@ -971,12 +973,12 @@ bool CMetroidAreaCollider::MovingSphereCollisionCheck_Cached(const COctreeLeafCa
{
g_DupEdgeList[edgeIdx] = g_DupPrimitiveCheckCount;
CMaterialList edgeMat(node.GetOwner().GetEdgeMaterial(edgeIdx));
if (!edgeMat.HasMaterial(EMaterialTypes::TwentyFour))
if (!edgeMat.HasMaterial(EMaterialTypes::NoEdgeCollision))
{
int nextIdx = (k + 1) % 3;
zeus::CVector3f edgeVec = surf.GetVert(nextIdx) - surf.GetVert(k);
float edgeVecMag = edgeVec.magnitude();
edgeVec *= (1.f / edgeVecMag);
edgeVec *= zeus::CVector3f(1.f / edgeVecMag);
float dirDotEdge = dir.dot(edgeVec);
zeus::CVector3f edgeRej = dir - dirDotEdge * edgeVec;
float edgeRejMagSq = edgeRej.magSquared();