AxioDL/metaforce
2
0
Fork 0
mirror of https://github.com/AxioDL/metaforce.git synced 2025-12-08 21:07:42 +00:00
Code Issues Projects Releases Wiki Activity

Finish CMetroidAreaCollider

Browse Source
This commit is contained in:
Jack Andersen
2017-06-29 15:39:34 -10:00
parent ec7ac212ef
commit ff15bfbec3
10 changed files with 685 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

278
Runtime/Collision/CollisionUtil.cpp
View File

@@ -212,9 +212,24 @@ u32 RayAABoxIntersection_Double(const zeus::CMRay& ray, const zeus::CAABox& aabb
return 2;
}
u32 RaySphereIntersection_Double(const zeus::CSphere&, const zeus::CVector3f &, const zeus::CVector3f &, double &)
bool RaySphereIntersection_Double(const zeus::CSphere& sphere, const zeus::CVector3f& pos,
const zeus::CVector3f& dir, double& T)
{
return 0;
zeus::CVector3d sPosD = sphere.position;
zeus::CVector3d posD = pos;
zeus::CVector3d sphereToPos = posD - sPosD;
double f30 = sphereToPos.dot(zeus::CVector3d(dir)) * 2.0;
double f1 = f30 * f30 - 4.0 * (sphereToPos.magSquared() - sphere.radius * sphere.radius);
if (f1 >= 0.0)
{
double intersectT = 0.5 * (-f30 - std::sqrt(f1));
if (T == 0 || intersectT < T)
{
T = intersectT;
return true;
}
}
return false;
}
bool RaySphereIntersection(const zeus::CSphere& sphere, const zeus::CVector3f& pos, const zeus::CVector3f& dir,
@@ -502,5 +517,264 @@ bool TriBoxOverlap(const zeus::CVector3f& boxcenter, const zeus::CVector3f& boxh
return true; /* box and triangle overlaps */
}
double TriPointSqrDist(const zeus::CVector3f& point,
const zeus::CVector3f& trivert0, const zeus::CVector3f& trivert1,
const zeus::CVector3f& trivert2, float* baryX, float* baryY)
{
zeus::CVector3d A = trivert0 - point;
zeus::CVector3d B = trivert1 - trivert0;
zeus::CVector3d C = trivert2 - trivert0;
double bMag = B.magSquared();
double cMag = C.magSquared();
double bDotC = B.dot(C);
double aDotB = A.dot(B);
double aDotC = A.dot(C);
double ret = A.magSquared();
double rej = std::fabs(bMag * cMag - bDotC * bDotC);
double retB = bDotC * aDotC - cMag * aDotB;
double retA = bDotC * aDotB - bMag * aDotC;
if (retB + retA <= rej)
{
if (retB < 0.0)
{
if (retA < 0.0)
{
if (aDotB < 0.0)
{
retA = 0.0;
if (-aDotB >= bMag)
{
retB = 1.0;
ret += 2.0 * aDotB + bMag;
}
else
{
retB = -aDotB / bMag;
ret += aDotB * retB;
}
}
else
{
retB = 0.0;
if (aDotC >= 0.0)
{
retA = 0.0;
}
else if (-aDotC >= cMag)
{
retA = 1.0;
ret += 2.0 * aDotC + cMag;
}
else
{
retA = -aDotC / cMag;
ret += aDotC * retA;
}
}
}
else
{
retB = 0.0;
if (aDotC >= 0.0)
{
retA = 0.0;
}
else if (-aDotC >= cMag)
{
retA = 1.0;
ret += 2.0 * aDotC + cMag;
}
else
{
retA = -aDotC / cMag;
ret += aDotC * retA;
}
}
}
else if (retA < 0.0)
{
retA = 0.0;
if (aDotB >= 0.0)
{
retB = 0.0;
}
else if (-aDotB >= bMag)
{
retB = 1.0;
ret += 2.0 * aDotB + bMag;
}
else
{
retB = -aDotB / bMag;
ret += aDotB * retB;
}
}
else
{
float f3 = 1.0 / rej;
retA *= f3;
retB *= f3;
ret += retB * (2.0 * aDotB + (bMag * retB + bDotC * retA)) +
retA * (2.0 * aDotC + (bDotC * retB + cMag * retA));
}
}
else if (retB < 0.0)
{
retB = bDotC + aDotB;
retA = cMag + aDotC;
if (retA > retB)
{
retA -= retB;
retB = bMag - 2.0 * bDotC;
retB += cMag;
if (retA >= retB)
{
retB = 1.0;
retA = 0.0;
ret += 2.0 * aDotB + bMag;
}
else
{
retB = retA / retB;
retA = 1.0 - retB;
ret += retB * (2.0 * aDotB + (bMag * retB + bDotC * retA)) +
retA * (2.0 * aDotC + (bDotC * retB + cMag * retA));
}
}
else
{
retB = 0.0;
if (retA <= 0.0)
{
retA = 1.0;
ret += 2.0 * aDotC + cMag;
}
else if (aDotC >= 0.0)
{
retA = 0.0;
}
else
{
retA = -aDotC / cMag;
ret += aDotC * retA;
}
}
}
else
{
if (retA < 0.0)
{
retB = bDotC + aDotC;
retA = bMag + aDotB;
if (retA > retB)
{
retA -= retB;
retB = bMag - 2.0 * bDotC;
retB += cMag;
if (retA >= retB)
{
retA = 1.0;
retB = 0.0;
ret += 2.0 * aDotC + cMag;
}
else
{
retA /= retB;
retB = 1.0 - retA;
ret += retB * (2.0 * aDotB + (bMag * retB + bDotC * retA)) +
retA * (2.0 * aDotC + (bDotC * retB + cMag * retA));
}
}
else
{
retA = 0.0;
if (retA <= 0.0)
{
retB = 1.0;
ret += 2.0 * aDotB + bMag;
}
else if (aDotB >= 0.0)
{
retB = 0.0;
}
else
{
retB = -aDotB / bMag;
ret += aDotB * retB;
}
}
}
else
{
retB = cMag + aDotC;
retB -= bDotC;
retA = retB - aDotB;
if (retA <= 0.0)
{
retB = 0.0;
retA = 1.0;
ret += 2.0 * aDotC + cMag;
}
else
{
retB = bMag - 2.0 * bDotC;
retB += cMag;
if (retA >= retB)
{
retB = 1.0;
retA = 0.0;
ret += 2.0 * aDotB + bMag;
}
else
{
retB = retA / retB;
retA = 1.0 - retB;
ret += retB * (2.0 * aDotB + (bMag * retB + bDotC * retA)) +
retA * (2.0 * aDotC + (bDotC * retB + cMag * retA));
}
}
}
}
if (baryX)
*baryX = retA;
if (baryY)
*baryY = retB;
return ret;
}
bool TriSphereOverlap(const zeus::CSphere& sphere,
const zeus::CVector3f& trivert0, const zeus::CVector3f& trivert1,
const zeus::CVector3f& trivert2)
{
return TriPointSqrDist(sphere.position, trivert0, trivert1, trivert2, nullptr, nullptr) <=
sphere.radius * sphere.radius;
}
bool TriSphereIntersection(const zeus::CSphere& sphere,
const zeus::CVector3f& trivert0, const zeus::CVector3f& trivert1,
const zeus::CVector3f& trivert2, zeus::CVector3f& point, zeus::CVector3f& normal)
{
float baryX, baryY;
if (TriPointSqrDist(sphere.position, trivert0, trivert1, trivert2, &baryX, &baryY) >
sphere.radius * sphere.radius)
return false;
zeus::CVector3f barys(baryX, baryY, 1.f - (baryX + baryY));
point = zeus::baryToWorld(trivert2, trivert1, trivert0, barys);
if (baryX == 0.f || baryX == 1.f || baryY == 0.f || baryY == 1.f ||
barys.z == 0.f || barys.z == 1.f)
normal = -sphere.getSurfaceNormal(point);
else
normal = (trivert1 - trivert0).cross(trivert2 - trivert0).normalized();
return true;
}
}
}