mirror of https://github.com/AxioDL/metaforce.git
300 lines
10 KiB
C++
300 lines
10 KiB
C++
#include "CCollidableSphere.hpp"
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#include "CCollisionInfoList.hpp"
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#include "CCollidableAABox.hpp"
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#include "CollisionUtil.hpp"
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namespace urde
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{
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const CCollisionPrimitive::Type CCollidableSphere::sType(CCollidableSphere::SetStaticTableIndex, "CCollidableSphere");
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u32 CCollidableSphere::sTableIndex = -1;
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namespace Collide
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{
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bool Sphere_AABox(const CInternalCollisionStructure& collision, CCollisionInfoList& list)
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{
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const CCollidableSphere& p0 = static_cast<const CCollidableSphere&>(collision.GetLeft().GetPrim());
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const CCollidableAABox& 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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{
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if (s0.position[i] < b1.min[i])
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{
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if (s0.position[i] + s0.radius >= b1.min[i])
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{
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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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}
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else
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{
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return false;
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}
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}
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else if (s0.position[i] > b1.max[i])
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{
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if (s0.position[i] - s0.radius <= b1.max[i])
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{
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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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}
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else
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{
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return false;
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}
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}
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}
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if (!flags)
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{
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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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zeus::CVector3f point;
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switch (flags)
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{
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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: 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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{
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const CCollidableSphere& p0 = static_cast<const CCollidableSphere&>(collision.GetLeft().GetPrim());
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const CCollidableAABox& 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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{
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const CCollidableSphere& p0 = static_cast<const CCollidableSphere&>(collision.GetLeft().GetPrim());
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const CCollidableSphere& 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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{
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zeus::CVector3f deltaNorm = delta.canBeNormalized() ?
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(1.f / std::sqrt(deltaMagSq)) * delta : zeus::CVector3f::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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{
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const CCollidableSphere& p0 = static_cast<const CCollidableSphere&>(collision.GetLeft().GetPrim());
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const CCollidableSphere& 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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}
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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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{
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}
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const zeus::CSphere& CCollidableSphere::GetSphere() const { return x10_sphere; }
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void CCollidableSphere::SetSphereCenter(const zeus::CVector3f&)
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{
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}
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zeus::CSphere CCollidableSphere::Transform(const zeus::CTransform& xf) const
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{
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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&) const { return {}; }
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zeus::CAABox CCollidableSphere::CalculateLocalAABox() const { return {}; }
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FourCC CCollidableSphere::GetPrimType() const { return SBIG('SPHR'); }
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CRayCastResult CCollidableSphere::CastRayInternal(const CInternalRayCastStructure&) const { return {}; }
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const CCollisionPrimitive::Type& CCollidableSphere::GetType() { return sType; }
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void CCollidableSphere::SetStaticTableIndex(u32 index) { sTableIndex = index; }
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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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{
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const CCollidableSphere& p0 = static_cast<const CCollidableSphere&>(collision.GetLeft().GetPrim());
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const CCollidableAABox& 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, normal;
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if (CollisionUtil::MovingSphereAABox(s0, b1, dir, d, point, normal) && d < dOut)
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{
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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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{
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const CCollidableSphere& p0 = static_cast<const CCollidableSphere&>(collision.GetLeft().GetPrim());
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const CCollidableSphere& 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),
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s0.position, dir, d) && d >= 0.0 && d < dOut)
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{
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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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{
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float mag = 0.f;
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for (int i=0 ; i<3 ; ++i)
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{
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if (sphere.position[i] < aabb.min[i])
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{
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float tmp = sphere.position[i] - aabb.min[i];
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mag += tmp * tmp;
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}
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else if (sphere.position[i] > aabb.max[i])
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{
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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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}
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