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Can resolve collision when AABB corners cut through triangle.

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At least two more cases left to resolve.
This commit is contained in:
William Moberg
2016-01-22 13:46:09 +01:00
parent d25804e6f8
commit 3955e1d60c
3 changed files with 37 additions and 14 deletions
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resources/Schema/Entities/ModelCollisionTest.xml
+26 -9
View File
@@ -2,7 +2,9 @@
<Entity xmlns:c="components" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../Types/Entity.xsd"> <Entity xmlns:c="components" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../Types/Entity.xsd">
<Components> <Components>
<c:Transform/> <c:Transform>
<Position X="0" Y="0" Z="-0.313012958"/>
</c:Transform>
</Components> </Components>
<Children> <Children>
@@ -11,8 +13,8 @@
<c:Camera/> <c:Camera/>
<c:Listener/> <c:Listener/>
<c:Transform> <c:Transform>
<Position X="5.01875639" Y="2.58534265" Z="3.01552486"/> <Position X="2.56531811" Y="0.637967348" Z="0.202344239"/>
<Orientation X="-0.331608921" Y="1.01212442" Z="1.23717996e-06"/> <Orientation X="2.68780756" Y="1.36143553" Z="3.14159179"/>
</c:Transform> </c:Transform>
</Components> </Components>
<Children/> <Children/>
@@ -21,25 +23,40 @@
<Components> <Components>
<c:Collidable/> <c:Collidable/>
<c:Model> <c:Model>
<Resource>../assets/Models/Core/UnitCube.obj</Resource> <Resource>../assets/Models/Core/UnitQuad.obj</Resource>
<Color A="1" B="0" G="0" R="1"/> <Color A="1" B="1" G="0.392156869" R="0"/>
</c:Model> </c:Model>
<c:Transform> <c:Transform>
<Scale X="0.200000003" Y="0.200000003" Z="0.200000003"/> <Position X="-0.941270411" Y="-0.594426811" Z="2.90833044"/>
<Scale X="1.10000002" Y="1" Z="0.200000003"/>
<Orientation X="5.78700018" Y="2.59000015" Z="0"/>
</c:Transform> </c:Transform>
</Components> </Components>
<Children/> <Children>
<Entity>
<Components>
<c:Model>
<Resource>../assets/Models/Core/UnitQuad.obj</Resource>
<Color A="1" B="0" G="0" R="1"/>
</c:Model>
<c:Transform>
<Orientation X="0" Y="3.1415927" Z="4.71238898"/>
</c:Transform>
</Components>
<Children/>
</Entity>
</Children>
</Entity> </Entity>
<Entity> <Entity>
<Components> <Components>
<c:AABB/> <c:AABB/>
<c:Collidable/> <c:Collidable/>
<c:Physics/>
<c:Model> <c:Model>
<Resource>../assets/Models/Core/UnitCube.obj</Resource> <Resource>../assets/Models/Core/UnitCube.obj</Resource>
</c:Model> </c:Model>
<c:Physics/>
<c:Transform> <c:Transform>
<Position X="1.96935618" Y="1.31790924" Z="-1.02448177"/> <Position X="-0.30590561" Y="-0.251752943" Z="2.13862514"/>
</c:Transform> </c:Transform>
</Components> </Components>
<Children/> <Children/>
src/Engine/Collision/Collision.cpp
+4 -4
View File
@@ -299,7 +299,7 @@ bool AABBvsTriangle(const AABB& box, const glm::vec3& v0, const glm::vec3& v1, c
//closest to being perpendicular to the plane of the polygon. //closest to being perpendicular to the plane of the polygon.
triNormal = glm::normalize(triNormal); triNormal = glm::normalize(triNormal);
glm::vec3 diagonal = signNonZero(triNormal) * half; glm::vec3 diagonal = -signNonZero(triNormal) * half;
#define EARLY_OUT_OR_MAYBE_JUST_EXTRA_WORK #define EARLY_OUT_OR_MAYBE_JUST_EXTRA_WORK
#ifdef EARLY_OUT_OR_MAYBE_JUST_EXTRA_WORK #ifdef EARLY_OUT_OR_MAYBE_JUST_EXTRA_WORK
//The triangle plane contains all points P in dot(triNormal, P) == dot(triNormal, v0) //The triangle plane contains all points P in dot(triNormal, P) == dot(triNormal, v0)
@@ -323,9 +323,9 @@ bool AABBvsTriangle(const AABB& box, const glm::vec3& v0, const glm::vec3& v1, c
return false; return false;
} }
#endif #endif
float dist = glm::dot(triNormal, origin + diagonal - v0); //Distance between triangle plane, and the diagonal corner, multiplied by the normal.
outResolutionVector = dist * triNormal; //Signed distance, positive if on the same side as the normal.
LOG_DEBUG("Triangle collision corner"); outResolutionVector = -glm::dot(triNormal, origin + diagonal - v0) * triNormal;
return true; return true;
} }
return false; return false;
src/Engine/Collision/CollisionSystem.cpp
+7 -1
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@@ -51,7 +51,13 @@ void CollisionSystem::UpdateComponent(EntityWrapper& entity, ComponentWrapper& c
auto absScale = Transform::AbsoluteScale(m_World, cModel.EntityID); auto absScale = Transform::AbsoluteScale(m_World, cModel.EntityID);
glm::mat4 modelMatrix = glm::translate(absPosition) * glm::toMat4(absOrientation) * glm::scale(absScale); glm::mat4 modelMatrix = glm::translate(absPosition) * glm::toMat4(absOrientation) * glm::scale(absScale);
RawModel* model = ResourceManager::Load<RawModel>(cModel["Resource"]); RawModel* model;
try {
model = ResourceManager::Load<RawModel, true>(cModel["Resource"]);
} catch (const std::exception&) {
continue;
}
glm::vec3 resolutionVector; glm::vec3 resolutionVector;
if (Collision::AABBvsTriangles(boxA, model->m_Vertices, model->m_Indices, modelMatrix, resolutionVector)) { if (Collision::AABBvsTriangles(boxA, model->m_Vertices, model->m_Indices, modelMatrix, resolutionVector)) {
(glm::vec3&)cTransform["Position"] += resolutionVector; (glm::vec3&)cTransform["Position"] += resolutionVector;