mirror of https://github.com/AxioDL/metaforce.git
287 lines
10 KiB
C++
287 lines
10 KiB
C++
#include "Runtime/Collision/CCollidableSphere.hpp"
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#include "Runtime/Collision/CCollidableAABox.hpp"
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#include "Runtime/Collision/CCollisionInfoList.hpp"
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#include "Runtime/Collision/CInternalRayCastStructure.hpp"
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#include "Runtime/Collision/CollisionUtil.hpp"
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namespace metaforce {
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constexpr CCollisionPrimitive::Type sType(CCollidableSphere::SetStaticTableIndex, "CCollidableSphere");
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namespace Collide {
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bool Sphere_AABox(const CInternalCollisionStructure& collision, CCollisionInfoList& list) {
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const auto& p0 = static_cast<const CCollidableSphere&>(collision.GetLeft().GetPrim());
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const auto& p1 = static_cast<const CCollidableAABox&>(collision.GetRight().GetPrim());
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zeus::CSphere s0 = p0.Transform(collision.GetLeft().GetTransform());
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zeus::CAABox b1 = p1.Transform(collision.GetRight().GetTransform());
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float distSq = 0.f;
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int flags = 0;
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for (int i = 0; i < 3; ++i) {
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if (s0.position[i] < b1.min[i]) {
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if (s0.position[i] + s0.radius >= b1.min[i]) {
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float dist = s0.position[i] - b1.min[i];
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distSq += dist * dist;
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flags |= 1 << (2 * i);
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} else {
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return false;
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}
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} else if (s0.position[i] > b1.max[i]) {
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if (s0.position[i] - s0.radius <= b1.max[i]) {
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float dist = s0.position[i] - b1.max[i];
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distSq += dist * dist;
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flags |= 1 << (2 * i + 1);
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} else {
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return false;
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}
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}
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}
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if (flags == 0) {
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zeus::CVector3f normal = (s0.position - b1.center()).normalized();
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zeus::CVector3f point = s0.position + normal * s0.radius;
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CCollisionInfo info(point, p0.GetMaterial(), p1.GetMaterial(), normal);
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list.Add(info, false);
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return true;
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}
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if (distSq > s0.radius * s0.radius) {
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return false;
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}
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zeus::CVector3f point;
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switch (flags) {
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case 0x1a:
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point = zeus::CVector3f(b1.max.x(), b1.max.y(), b1.min.z());
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break;
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case 0x19:
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point = zeus::CVector3f(b1.min.x(), b1.max.y(), b1.min.z());
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break;
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case 0x16:
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point = zeus::CVector3f(b1.max.x(), b1.min.y(), b1.min.z());
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break;
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case 0x15:
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point = zeus::CVector3f(b1.min.x(), b1.min.y(), b1.min.z());
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break;
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case 0x2a:
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point = zeus::CVector3f(b1.max.x(), b1.max.y(), b1.max.z());
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break;
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case 0x29:
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point = zeus::CVector3f(b1.min.x(), b1.max.y(), b1.max.z());
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break;
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case 0x26:
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point = zeus::CVector3f(b1.max.x(), b1.min.y(), b1.max.z());
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break;
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case 0x25:
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point = zeus::CVector3f(b1.min.x(), b1.min.y(), b1.max.z());
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break;
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case 0x11:
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point = zeus::CVector3f(b1.min.x(), s0.position.y(), b1.min.z());
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break;
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case 0x12:
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point = zeus::CVector3f(b1.max.x(), s0.position.y(), b1.min.z());
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break;
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case 0x14:
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point = zeus::CVector3f(s0.position.x(), b1.min.y(), b1.min.z());
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break;
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case 0x18:
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point = zeus::CVector3f(s0.position.x(), b1.max.y(), b1.min.z());
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break;
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case 0x5:
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point = zeus::CVector3f(b1.min.x(), b1.min.y(), s0.position.z());
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break;
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case 0x6:
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point = zeus::CVector3f(b1.max.x(), b1.min.y(), s0.position.z());
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break;
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case 0x9:
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point = zeus::CVector3f(b1.min.x(), b1.max.y(), s0.position.z());
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break;
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case 0xa:
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point = zeus::CVector3f(b1.max.x(), b1.max.y(), s0.position.z());
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break;
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case 0x21:
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point = zeus::CVector3f(b1.min.x(), s0.position.y(), b1.max.z());
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break;
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case 0x22:
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point = zeus::CVector3f(b1.max.x(), s0.position.y(), b1.max.z());
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break;
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case 0x24:
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point = zeus::CVector3f(s0.position.x(), b1.min.y(), b1.max.z());
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break;
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case 0x28:
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point = zeus::CVector3f(s0.position.x(), b1.max.y(), b1.max.z());
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break;
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case 0x1:
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point = zeus::CVector3f(b1.min.x(), s0.position.y(), s0.position.z());
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break;
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case 0x2:
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point = zeus::CVector3f(b1.max.x(), s0.position.y(), s0.position.z());
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break;
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case 0x4:
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point = zeus::CVector3f(s0.position.x(), b1.min.y(), s0.position.z());
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break;
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case 0x8:
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point = zeus::CVector3f(s0.position.x(), b1.max.y(), s0.position.z());
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break;
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case 0x10:
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point = zeus::CVector3f(s0.position.x(), s0.position.y(), b1.min.z());
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break;
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case 0x20:
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point = zeus::CVector3f(s0.position.x(), s0.position.y(), b1.max.z());
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break;
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default:
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break;
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}
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CCollisionInfo info(point, p0.GetMaterial(), p1.GetMaterial(), (s0.position - point).normalized());
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list.Add(info, false);
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return true;
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}
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bool Sphere_AABox_Bool(const CInternalCollisionStructure& collision) {
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const auto& p0 = static_cast<const CCollidableSphere&>(collision.GetLeft().GetPrim());
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const auto& p1 = static_cast<const CCollidableAABox&>(collision.GetRight().GetPrim());
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zeus::CSphere s0 = p0.Transform(collision.GetLeft().GetTransform());
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zeus::CAABox b1 = p1.Transform(collision.GetRight().GetTransform());
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return CCollidableSphere::Sphere_AABox_Bool(s0, b1);
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}
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bool Sphere_Sphere(const CInternalCollisionStructure& collision, CCollisionInfoList& list) {
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const auto& p0 = static_cast<const CCollidableSphere&>(collision.GetLeft().GetPrim());
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const auto& p1 = static_cast<const CCollidableSphere&>(collision.GetRight().GetPrim());
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zeus::CSphere s0 = p0.Transform(collision.GetLeft().GetTransform());
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zeus::CSphere s1 = p1.Transform(collision.GetRight().GetTransform());
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float radiusSum = s0.radius + s1.radius;
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zeus::CVector3f delta = s0.position - s1.position;
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float deltaMagSq = delta.magSquared();
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if (deltaMagSq <= radiusSum * radiusSum) {
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zeus::CVector3f deltaNorm = delta.canBeNormalized() ? (1.f / std::sqrt(deltaMagSq)) * delta : zeus::skRight;
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zeus::CVector3f collisionPoint = deltaNorm * s1.radius + s1.position;
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CCollisionInfo info(collisionPoint, p0.GetMaterial(), p1.GetMaterial(), deltaNorm);
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list.Add(info, false);
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return true;
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}
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return false;
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}
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bool Sphere_Sphere_Bool(const CInternalCollisionStructure& collision) {
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const auto& p0 = static_cast<const CCollidableSphere&>(collision.GetLeft().GetPrim());
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const auto& p1 = static_cast<const CCollidableSphere&>(collision.GetRight().GetPrim());
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zeus::CSphere s0 = p0.Transform(collision.GetLeft().GetTransform());
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zeus::CSphere s1 = p1.Transform(collision.GetRight().GetTransform());
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float radiusSum = s0.radius + s1.radius;
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return (s0.position - s1.position).magSquared() <= radiusSum * radiusSum;
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}
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} // namespace Collide
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CCollidableSphere::CCollidableSphere(const zeus::CSphere& sphere, const CMaterialList& list)
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: CCollisionPrimitive(list), x10_sphere(sphere) {}
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zeus::CSphere CCollidableSphere::Transform(const zeus::CTransform& xf) const {
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return zeus::CSphere(xf * x10_sphere.position, x10_sphere.radius);
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}
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u32 CCollidableSphere::GetTableIndex() const { return sTableIndex; }
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zeus::CAABox CCollidableSphere::CalculateAABox(const zeus::CTransform& xf) const {
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zeus::CVector3f xfPos = xf * x10_sphere.position;
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return {xfPos - x10_sphere.radius, xfPos + x10_sphere.radius};
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}
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zeus::CAABox CCollidableSphere::CalculateLocalAABox() const {
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return {x10_sphere.position - x10_sphere.radius, x10_sphere.position + x10_sphere.radius};
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}
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FourCC CCollidableSphere::GetPrimType() const { return SBIG('SPHR'); }
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CRayCastResult CCollidableSphere::CastRayInternal(const CInternalRayCastStructure& rayCast) const {
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if (!rayCast.GetFilter().Passes(GetMaterial())) {
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return {};
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}
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zeus::CSphere xfSphere = Transform(rayCast.GetTransform());
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float t = 0.f;
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zeus::CVector3f point;
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if (CollisionUtil::RaySphereIntersection(xfSphere, rayCast.GetRay().start, rayCast.GetRay().dir, rayCast.GetMaxTime(),
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t, point)) {
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zeus::CVector3f delta = point - xfSphere.position;
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float deltaMag = delta.magnitude();
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zeus::CUnitVector3f planeNormal = (deltaMag > 0.01f) ? delta * (1.f / deltaMag) : rayCast.GetRay().dir;
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float planeD = point.dot(planeNormal);
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return CRayCastResult(t, point, zeus::CPlane(planeNormal, planeD), GetMaterial());
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}
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return {};
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}
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const CCollisionPrimitive::Type& CCollidableSphere::GetType() { return sType; }
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bool CCollidableSphere::CollideMovingAABox(const CInternalCollisionStructure& collision, const zeus::CVector3f& dir,
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double& dOut, CCollisionInfo& infoOut) {
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const auto& p0 = static_cast<const CCollidableSphere&>(collision.GetLeft().GetPrim());
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const auto& p1 = static_cast<const CCollidableAABox&>(collision.GetRight().GetPrim());
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zeus::CSphere s0 = p0.Transform(collision.GetLeft().GetTransform());
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zeus::CAABox b1 = p1.CalculateAABox(collision.GetRight().GetTransform());
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double d = dOut;
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zeus::CVector3f point;
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zeus::CVector3f normal;
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if (CollisionUtil::MovingSphereAABox(s0, b1, dir, d, point, normal) && d < dOut) {
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dOut = d;
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infoOut = CCollisionInfo(point, p0.GetMaterial(), p1.GetMaterial(), normal);
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return true;
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}
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return false;
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}
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bool CCollidableSphere::CollideMovingSphere(const CInternalCollisionStructure& collision, const zeus::CVector3f& dir,
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double& dOut, CCollisionInfo& infoOut) {
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const auto& p0 = static_cast<const CCollidableSphere&>(collision.GetLeft().GetPrim());
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const auto& p1 = static_cast<const CCollidableSphere&>(collision.GetRight().GetPrim());
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zeus::CSphere s0 = p0.Transform(collision.GetLeft().GetTransform());
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zeus::CSphere s1 = p1.Transform(collision.GetRight().GetTransform());
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double d = dOut;
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if (CollisionUtil::RaySphereIntersection_Double(zeus::CSphere(s1.position, s0.radius + s1.radius), s0.position, dir,
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d) &&
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d >= 0.0 && d < dOut) {
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dOut = d;
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zeus::CVector3f normal = (s0.position + float(d) * dir - s1.position).normalized();
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infoOut = CCollisionInfo(s1.position + s1.radius * normal, p0.GetMaterial(), p1.GetMaterial(), normal);
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return true;
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}
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return false;
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}
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bool CCollidableSphere::Sphere_AABox_Bool(const zeus::CSphere& sphere, const zeus::CAABox& aabb) {
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float mag = 0.f;
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for (int i = 0; i < 3; ++i) {
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if (sphere.position[i] < aabb.min[i]) {
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float tmp = sphere.position[i] - aabb.min[i];
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mag += tmp * tmp;
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} else if (sphere.position[i] > aabb.max[i]) {
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float tmp = sphere.position[i] - aabb.max[i];
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mag += tmp * tmp;
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}
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}
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return mag <= sphere.radius * sphere.radius;
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}
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} // namespace metaforce
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