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WIP on ModelBoxCollision. Octree works in Release mode.

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This commit is contained in:
William Moberg
2016-01-23 10:45:50 +01:00
parent 1670fb4e48
commit 3974c649ab
6 changed files with 64 additions and 55 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/Engine/Collision/CollisionSystem.h
-7
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@@ -17,20 +17,13 @@ public:
: System(world, eventBroker)
, PureSystem("Collidable")
, m_Octree(octree)
, zPress(false)
{
//TODO: Debug stuff, remove later.
EVENT_SUBSCRIBE_MEMBER(m_EKeyUp, &CollisionSystem::OnKeyUp);
}
virtual void UpdateComponent(EntityWrapper& entity, ComponentWrapper& component, double dt) override;
private:
Octree<AABB>* m_Octree;
bool zPress;
EventRelay<CollisionSystem, Events::KeyUp> m_EKeyUp;
bool OnKeyUp(const Events::KeyUp &event);
};
#endif
include/Engine/Core/Octree.h
+1 -1
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@@ -111,7 +111,7 @@ struct Child
std::vector<ContainedObject>& m_StaticObjectsRef;
std::vector<ContainedObject>& m_DynamicObjectsRef;
inline bool hasChildren() const;
inline bool hasChildren() const { return m_Children[0] != nullptr; }
int childIndexContainingPoint(const glm::vec3& point) const;
std::vector<int> childIndicesContainingBox(const AABB& box) const;
};
resources/Schema/Entities/ModelCollisionTest.xml
+3 -3
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@@ -23,7 +23,7 @@
<Components>
<c:Collidable/>
<c:Model>
<Resource>../assets/Models/Core/UnitQuad.obj</Resource>
<Resource>../assets/Models/Core/Tri.obj</Resource>
<Color A="1" B="1" G="0.392156869" R="0"/>
</c:Model>
<c:Transform>
@@ -36,11 +36,11 @@
<Entity>
<Components>
<c:Model>
<Resource>../assets/Models/Core/UnitQuad.obj</Resource>
<Resource>../assets/Models/Core/Tri.obj</Resource>
<Color A="1" B="0" G="0" R="1"/>
</c:Model>
<c:Transform>
<Orientation X="0" Y="3.1415927" Z="4.71238898"/>
<Orientation X="0" Y="3.14159274" Z="4.71238899"/>
</c:Transform>
</Components>
<Children/>
src/Engine/Collision/Collision.cpp
+60 -26
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@@ -248,7 +248,12 @@ bool vectorHasLength(const glm::vec3& vec)
return glm::any(glm::greaterThan(glm::abs(vec), glm::vec3(0.0001f, 0.0001f, 0.0001f)));
}
bool AABBvsTriangle(const AABB& box, const glm::vec3& v0, const glm::vec3& v1, const glm::vec3& v2, glm::vec3& outResolutionVector)
bool AABBvsTriangle(const AABB& box,
const glm::vec3& v0,
const glm::vec3& v1,
const glm::vec3& v2,
glm::vec3& outVector,
int& lineHit)
{
//Check so we don't have a zero area triangle when calculating the normal.
glm::vec3 triNormal = glm::cross(v1 - v0, v2 - v0);
@@ -283,23 +288,22 @@ bool AABBvsTriangle(const AABB& box, const glm::vec3& v0, const glm::vec3& v1, c
insideAllPlanes[ax] = glm::all(insidePlanes);
}
if (glm::all(insideAllPlanes)) {
outResolutionVector = glm::vec3(0.f);
LOG_DEBUG("Triangle collision inside");
return true; //TODO: Resolve.
return false; //If a triangle is completely inside the box, we call it a non-intersection.
}
triNormal = glm::normalize(triNormal);
Ray ray;
//All triangle lines.
//Check if each line on the triangle intersects any plane on the box.
//All triangle edges.
//Check if any edge on the triangle intersects the box.
for (int l = 0; l < 3; ++l) {
glm::vec3 edge = triPos[(l + 1) % 3] - triPos[l];
ray.SetOrigin(triPos[l]);
ray.SetDirection(edge);
float dist;
if (RayVsAABB(ray, box, dist) && dist <= glm::length(edge)) {
outResolutionVector = glm::vec3(0.f);
LOG_DEBUG("Triangle collision lines");
return true; //TODO: Resolve.
outVector = triNormal;
lineHit = l;
return true;
}
}
@@ -309,7 +313,6 @@ bool AABBvsTriangle(const AABB& box, const glm::vec3& v0, const glm::vec3& v1, c
//intersect the cube diagonal that comes
//closest to being perpendicular to the plane of the polygon.
triNormal = glm::normalize(triNormal);
glm::vec3 diagonal = -signNonZero(triNormal) * half;
#define EARLY_OUT_OR_MAYBE_JUST_EXTRA_WORK //TODO: We should probably performance test with this on/off.
#ifdef EARLY_OUT_OR_MAYBE_JUST_EXTRA_WORK
@@ -337,7 +340,7 @@ bool AABBvsTriangle(const AABB& box, const glm::vec3& v0, const glm::vec3& v1, c
#endif
//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;
outVector = -glm::dot(triNormal, origin + diagonal - v0) * triNormal;
return true;
}
return false;
@@ -345,28 +348,59 @@ bool AABBvsTriangle(const AABB& box, const glm::vec3& v0, const glm::vec3& v1, c
bool AABBvsTriangles(const AABB& box, const std::vector<RawModel::Vertex>& modelVertices, const std::vector<unsigned int>& modelIndices, const glm::mat4& modelMatrix, glm::vec3& outResolutionVector)
{
struct Triangle
{
glm::vec3 v0, v1, v2;
};
bool hit = false;
outResolutionVector = glm::vec3(INFINITY);
bool cornerHitTODO = false;
outResolutionVector = glm::vec3(0.f);
std::vector<Triangle> hitTriangles;
std::vector<glm::vec3> hitNormals;
for (int i = 0; i < modelIndices.size(); i += 3) {
glm::vec3 resVec;
if (AABBvsTriangle(
box,
Transform::TransformPoint(modelVertices[modelIndices[i]].Position, modelMatrix),
Transform::TransformPoint(modelVertices[modelIndices[i + 1]].Position, modelMatrix),
Transform::TransformPoint(modelVertices[modelIndices[i + 2]].Position, modelMatrix),
resVec
))
glm::vec3 outVec;
glm::vec3 v0 = Transform::TransformPoint(modelVertices[modelIndices[i++]].Position, modelMatrix);
glm::vec3 v1 = Transform::TransformPoint(modelVertices[modelIndices[i++]].Position, modelMatrix);
glm::vec3 v2 = Transform::TransformPoint(modelVertices[modelIndices[i++]].Position, modelMatrix);
int lineHit = -1;
if (AABBvsTriangle(box, v0, v1, v2, outVec, lineHit))
{
hit = true;
//If resolution distance is smaller than previous, and is non-zero.
if (glm::length(resVec) < glm::length(outResolutionVector) && vectorHasLength(resVec)) {
outResolutionVector = resVec;
if (lineHit == -1) {
outResolutionVector += outVec;
//TODO: We might be able to return here instead, having only convex geometry.
cornerHitTODO = true;
//return true;
}
else {
const glm::vec3 triPos[] = {
v0, v1, v2
};
glm::vec3 edge = triPos[(lineHit + 1) % 3] - triPos[lineHit];
hitTriangles.push_back({v0, v1, v2});
hitNormals.push_back(outVec);
}
}
}
//TODO: Unnecessary later, remove it.
if (glm::any(glm::isinf(outResolutionVector))) {
outResolutionVector = glm::vec3(0, 0, 0);
if (hitTriangles.size() > 0) {
if (cornerHitTODO) {
LOG_DEBUG("Both edges and corners was hit on the same model.");
return true;
}
for (const glm::vec3& norm : hitNormals) {
outResolutionVector += norm;
}
//Normalize.
outResolutionVector /= hitNormals.size();
const glm::vec3& origin = box.Origin();
const glm::vec3& half = box.HalfSize();
float maxDist = -10;
for (const Triangle& tri : hitTriangles) {
float d = glm::dot(outResolutionVector, 0.333f * (tri.v0 + tri.v1 + tri.v2) - origin);
maxDist = std::max(maxDist, d);
}
glm::vec3 tmp = glm::clamp(2.0f * outResolutionVector, glm::vec3(-1, -1, -1), glm::vec3(1, 1, 1));
outResolutionVector *= maxDist + glm::length(tmp * half);
}
return hit;
}
src/Engine/Collision/CollisionSystem.cpp
-13
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@@ -17,11 +17,6 @@ void CollisionSystem::UpdateComponent(EntityWrapper& entity, ComponentWrapper& c
ComponentWrapper& cTransform = entity["Transform"];
AABB& boxA = *boundingBox;
//Press 'Z' to enable/disable collision.
if (zPress) {
return;
}
// Collide against octree
//std::vector<AABB> octreeResult;
//m_Octree->ObjectsInSameRegion(*boundingBox, octreeResult);
@@ -64,11 +59,3 @@ void CollisionSystem::UpdateComponent(EntityWrapper& entity, ComponentWrapper& c
}
}
}
bool CollisionSystem::OnKeyUp(const Events::KeyUp & event)
{
if (event.KeyCode == GLFW_KEY_Z) {
zPress = !zPress;
}
return false;
}
src/Engine/Core/Octree.cpp
-5
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@@ -276,9 +276,4 @@ std::vector<int> Child::childIndicesContainingBox(const AABB& box) const
}
}
inline bool Child::hasChildren() const
{
return m_Children[0] != nullptr;
}
}