BTH/axyz
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Can resolve collision when AABB corners cut through triangle.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
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">
<Components>
<c:Transform/>
<c:Transform>
<Position X="0" Y="0" Z="-0.313012958"/>
</c:Transform>
</Components>
<Children>
@@ -11,8 +13,8 @@
<c:Camera/>
<c:Listener/>
<c:Transform>
<Position X="5.01875639" Y="2.58534265" Z="3.01552486"/>
<Orientation X="-0.331608921" Y="1.01212442" Z="1.23717996e-06"/>
<Position X="2.56531811" Y="0.637967348" Z="0.202344239"/>
<Orientation X="2.68780756" Y="1.36143553" Z="3.14159179"/>
</c:Transform>
</Components>
<Children/>
@@ -21,25 +23,40 @@
<Components>
<c:Collidable/>
<c:Model>
<Resource>../assets/Models/Core/UnitCube.obj</Resource>
<Color A="1" B="0" G="0" R="1"/>
<Resource>../assets/Models/Core/UnitQuad.obj</Resource>
<Color A="1" B="1" G="0.392156869" R="0"/>
</c:Model>
<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>
</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>
<Components>
<c:AABB/>
<c:Collidable/>
<c:Physics/>
<c:Model>
<Resource>../assets/Models/Core/UnitCube.obj</Resource>
</c:Model>
<c:Physics/>
<c:Transform>
<Position X="1.96935618" Y="1.31790924" Z="-1.02448177"/>
<Position X="-0.30590561" Y="-0.251752943" Z="2.13862514"/>
</c:Transform>
</Components>
<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.
triNormal = glm::normalize(triNormal);
glm::vec3 diagonal = signNonZero(triNormal) * half;
glm::vec3 diagonal = -signNonZero(triNormal) * half;
#define 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)
@@ -323,9 +323,9 @@ bool AABBvsTriangle(const AABB& box, const glm::vec3& v0, const glm::vec3& v1, c
return false;
}
#endif
float dist = glm::dot(triNormal, origin + diagonal - v0);
outResolutionVector = dist * triNormal;
LOG_DEBUG("Triangle collision corner");
//Distance between triangle plane, and the diagonal corner, multiplied by the normal.
//Signed distance, positive if on the same side as the normal.
outResolutionVector = -glm::dot(triNormal, origin + diagonal - v0) * triNormal;
return true;
}
return false;
src/Engine/Collision/CollisionSystem.cpp
+7 -1
View File
@@ -51,7 +51,13 @@ void CollisionSystem::UpdateComponent(EntityWrapper& entity, ComponentWrapper& c
auto absScale = Transform::AbsoluteScale(m_World, cModel.EntityID);
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;
if (Collision::AABBvsTriangles(boxA, model->m_Vertices, model->m_Indices, modelMatrix, resolutionVector)) {
(glm::vec3&)cTransform["Position"] += resolutionVector;