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Finish AABB area colliders

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This commit is contained in:
Jack Andersen
2017-06-25 15:36:31 -10:00
parent 458cde358c
commit ec7ac212ef
12 changed files with 926 additions and 26 deletions
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224
Runtime/Collision/CollisionUtil.cpp
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@@ -9,15 +9,207 @@ namespace CollisionUtil
bool LineIntersectsOBBox(const zeus::COBBox& obb, const zeus::CMRay& ray, float& d)
{
const zeus::CVector3f transXf = obb.transform.toMatrix4f().vec[0].toVec3f();
zeus::CVector3f norm;
return RayAABoxIntersection(ray.getInvUnscaledTransformRay(obb.transform), {-obb.extents, obb.extents},
transXf, d);
norm, d);
}
u32 RayAABoxIntersection(const zeus::CMRay& ray, const zeus::CAABox& box, const zeus::CVector3f&, float& d)
u32 RayAABoxIntersection(const zeus::CMRay& ray, const zeus::CAABox& aabb,
zeus::CVector3f& norm, float& d)
{
int sign[] = {2, 2, 2};
bool bad = true;
zeus::CVector3f rayStart = ray.start;
zeus::CVector3f rayDelta = ray.delta;
zeus::CVector3f aabbMin = aabb.min;
zeus::CVector3f aabbMax = aabb.max;
return 0;
zeus::CVector3f vec0 = {-1.f, -1.f, -1.f};
zeus::CVector3f vec1;
if (rayDelta.x != 0.f && rayDelta.y != 0.f && rayDelta.z != 0.f)
{
for (int i=0 ; i<3 ; ++i)
{
if (rayStart[i] < aabbMin[i])
{
sign[i] = 1;
bad = false;
vec0[i] = (aabbMin[i] - rayStart[i]) / rayDelta[i];
}
else if (rayStart[i] > aabbMax[i])
{
sign[i] = 0;
bad = false;
vec0[i] = (aabbMax[i] - rayStart[i]) / rayDelta[i];
}
}
if (bad)
{
d = 0.f;
return 1;
}
}
else
{
zeus::CVector3f end;
for (int i=0 ; i<3 ; ++i)
{
if (rayStart[i] < aabbMin[i])
{
sign[i] = 1;
bad = false;
end[i] = aabbMin[i];
}
else if (rayStart[i] > aabbMax[i])
{
sign[i] = 0;
bad = false;
end[i] = aabbMax[i];
}
}
if (bad)
{
d = 0.f;
return 1;
}
for (int i=0 ; i<3 ; ++i)
if (sign[i] != 2 && rayDelta[i] != 0.f)
vec0[i] = (end[i] - rayStart[i]) / rayDelta[i];
}
float maxComp = vec0.x;
int maxCompIdx = 0;
if (maxComp < vec0.y)
{
maxComp = vec0.y;
maxCompIdx = 1;
}
if (maxComp < vec0.z)
{
maxComp = vec0.z;
maxCompIdx = 2;
}
if (maxComp < 0.f || maxComp > 1.f)
return 0;
for (int i=0 ; i<3 ; ++i)
{
if (maxCompIdx != i)
{
vec1[i] = maxComp * rayDelta[i] + rayStart[i];
if (vec1[i] > aabbMax[i])
return 0;
}
}
d = maxComp;
norm = zeus::CVector3f::skZero;
norm[maxCompIdx] = (sign[maxCompIdx] == 1) ? -1.f : 1.f;
return 2;
}
u32 RayAABoxIntersection_Double(const zeus::CMRay& ray, const zeus::CAABox& aabb,
zeus::CVector3f& norm, double& d)
{
int sign[] = {2, 2, 2};
bool bad = true;
zeus::CVector3d rayStart = ray.start;
zeus::CVector3d rayDelta = ray.delta;
zeus::CVector3d aabbMin = aabb.min;
zeus::CVector3d aabbMax = aabb.max;
zeus::CVector3d vec0 = {-1.0, -1.0, -1.0};
zeus::CVector3d vec1;
if (rayDelta.x != 0.0 && rayDelta.y != 0.0 && rayDelta.z != 0.0)
{
for (int i=0 ; i<3 ; ++i)
{
if (rayStart[i] < aabbMin[i])
{
sign[i] = 1;
bad = false;
vec0[i] = (aabbMin[i] - rayStart[i]) / rayDelta[i];
}
else if (rayStart[i] > aabbMax[i])
{
sign[i] = 0;
bad = false;
vec0[i] = (aabbMax[i] - rayStart[i]) / rayDelta[i];
}
}
if (bad)
{
d = 0.0;
return 1;
}
}
else
{
zeus::CVector3d end;
for (int i=0 ; i<3 ; ++i)
{
if (rayStart[i] < aabbMin[i])
{
sign[i] = 1;
bad = false;
end[i] = aabbMin[i];
}
else if (rayStart[i] > aabbMax[i])
{
sign[i] = 0;
bad = false;
end[i] = aabbMax[i];
}
}
if (bad)
{
d = 0.0;
return 1;
}
for (int i=0 ; i<3 ; ++i)
if (sign[i] != 2 && rayDelta[i] != 0.0)
vec0[i] = (end[i] - rayStart[i]) / rayDelta[i];
}
double maxComp = vec0.x;
int maxCompIdx = 0;
if (maxComp < vec0.y)
{
maxComp = vec0.y;
maxCompIdx = 1;
}
if (maxComp < vec0.z)
{
maxComp = vec0.z;
maxCompIdx = 2;
}
if (maxComp < 0.0 || maxComp > 1.0)
return 0;
for (int i=0 ; i<3 ; ++i)
{
if (maxCompIdx != i)
{
vec1[i] = maxComp * rayDelta[i] + rayStart[i];
if (vec1[i] > aabbMax[i])
return 0;
}
}
d = maxComp;
norm = zeus::CVector3f::skZero;
norm[maxCompIdx] = (sign[maxCompIdx] == 1) ? -1.0 : 1.0;
return 2;
}
u32 RaySphereIntersection_Double(const zeus::CSphere&, const zeus::CVector3f &, const zeus::CVector3f &, double &)
@@ -46,6 +238,30 @@ bool RaySphereIntersection(const zeus::CSphere& sphere, const zeus::CVector3f& p
return false;
}
bool RayTriangleIntersection_Double(const zeus::CVector3f& point, const zeus::CVector3f& dir,
const zeus::CVector3f* verts, double& d)
{
zeus::CVector3d v0tov1 = verts[1] - verts[0];
zeus::CVector3d v0tov2 = verts[2] - verts[0];
zeus::CVector3d cross0 = zeus::CVector3d(dir).cross(v0tov2);
double dot0 = v0tov1.dot(cross0);
if (dot0 < DBL_EPSILON)
return false;
zeus::CVector3d v0toPoint = point - verts[0];
double dot1 = v0toPoint.dot(cross0);
if (dot1 < 0.0 || dot1 > dot0)
return false;
zeus::CVector3d cross1 = v0toPoint.cross(v0tov1);
double dot2 = cross1.dot(dir);
if (dot2 < 0.0 || dot1 + dot2 > dot0)
return false;
double final = 1.0 / dot0 * cross1.dot(v0tov2);
if (final < 0.0 || final >= d)
return false;
d = final;
return true;
}
void FilterOutBackfaces(const zeus::CVector3f& vec, const CCollisionInfoList& in, CCollisionInfoList& out)
{
if (vec.canBeNormalized())