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CGameCollision: Add AvoidStaticCollisionWithinRadius

This commit is contained in:
Luke Street 2020-04-06 16:53:54 -04:00
parent cfa6299704
commit 9dd77d6a10
2 changed files with 43 additions and 3 deletions
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44
Runtime/Collision/CGameCollision.cpp
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@ -874,9 +874,10 @@ void CGameCollision::CollisionFailsafe(const CStateManager& mgr, CAreaCollisionC
} }
} }
std::optional<zeus::CVector3f> CGameCollision::FindNonIntersectingVector( std::optional<zeus::CVector3f>
const CStateManager& mgr, CAreaCollisionCache& cache, CPhysicsActor& actor, const CCollisionPrimitive& prim, CGameCollision::FindNonIntersectingVector(const CStateManager& mgr, CAreaCollisionCache& cache, CPhysicsActor& actor,
const rstl::reserved_vector<TUniqueId, 1024>& nearList) { const CCollisionPrimitive& prim,
const rstl::reserved_vector<TUniqueId, 1024>& nearList) {
zeus::CTransform xf = actor.GetPrimitiveTransform(); zeus::CTransform xf = actor.GetPrimitiveTransform();
zeus::CVector3f origOrigin = xf.origin; zeus::CVector3f origOrigin = xf.origin;
zeus::CVector3f center = prim.CalculateAABox(xf).center(); zeus::CVector3f center = prim.CalculateAABox(xf).center();
@ -981,4 +982,41 @@ std::optional<zeus::CVector3f> CGameCollision::FindNonIntersectingVector(
return {}; return {};
} }
void CGameCollision::AvoidStaticCollisionWithinRadius(const CStateManager& mgr, CPhysicsActor& actor, u32 iterations,
float dt, float height, float size, float mass, float radius) {
const zeus::CVector3f& actorPos = actor.GetTranslation();
const zeus::CVector3f pos = actorPos + zeus::CVector3f{0.f, 0.f, height};
const float largeRadius = 1.2f * radius;
const zeus::CVector3f diff{size + largeRadius, size + largeRadius, largeRadius};
const zeus::CAABox aabb{pos - diff, pos + diff};
CAreaCollisionCache cache{aabb};
BuildAreaCollisionCache(mgr, cache);
const CCollidableSphere prim{{pos, radius}, {EMaterialTypes::Solid}};
if (!DetectStaticCollisionBoolean_Cached(mgr, cache, prim, {}, CMaterialFilter::MakeExclude(EMaterialTypes::Floor))) {
zeus::CVector3f velocity = zeus::skZero3f;
float seg = zeus::degToRad(360.f) / iterations;
for (u32 i = 0; i < iterations; ++i) {
const float angle = seg * i;
const zeus::CVector3f vec{std::sin(angle), std::cos(angle), 0.f};
double out = size;
CCollisionInfo info{};
if (cache.HasCacheOverflowed()) {
cache.ClearCache();
zeus::CAABox aabb2{pos, pos};
aabb2.accumulateBounds(actorPos + (size * vec));
cache.SetCacheBounds(zeus::CAABox{aabb2.min - radius, aabb2.max + radius});
BuildAreaCollisionCache(mgr, cache);
}
if (DetectStaticCollision_Cached_Moving(mgr, cache, prim, {}, CMaterialFilter::MakeExclude(EMaterialTypes::Floor),
vec, info, out)) {
float force = static_cast<float>((size - out) / size) / iterations;
velocity -= force * vec;
}
}
actor.SetVelocityWR(actor.GetVelocity() + (dt * (mass * velocity)));
}
}
} // namespace urde } // namespace urde

2
Runtime/Collision/CGameCollision.hpp
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@ -119,5 +119,7 @@ public:
static std::optional<zeus::CVector3f> static std::optional<zeus::CVector3f>
FindNonIntersectingVector(const CStateManager& mgr, CAreaCollisionCache& cache, CPhysicsActor& actor, FindNonIntersectingVector(const CStateManager& mgr, CAreaCollisionCache& cache, CPhysicsActor& actor,
const CCollisionPrimitive& prim, const rstl::reserved_vector<TUniqueId, 1024>& nearList); const CCollisionPrimitive& prim, const rstl::reserved_vector<TUniqueId, 1024>& nearList);
static void AvoidStaticCollisionWithinRadius(const CStateManager& mgr, CPhysicsActor& actor, u32 iterations, float dt,
float height, float size, float mass, float radius);
}; };
} // namespace urde } // namespace urde