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WIP triangles vs. AABB.

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This commit is contained in:
William Moberg
2016-01-20 16:43:09 +01:00
parent dfa96f74e1
commit 4d5b835352
3 changed files with 166 additions and 45 deletions
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resources/Schema/Entities/ModelCollisionTest.xml
+49
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@@ -0,0 +1,49 @@
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<Entity xmlns:c="components" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../Types/Entity.xsd">
<Components>
<c:Transform/>
</Components>
<Children>
<Entity>
<Components>
<c:Camera/>
<c:Listener/>
<c:Transform>
<Position X="5.59488058" Y="4.13046598" Z="6.74478388"/>
<Orientation X="-0.383969575" Y="0.802773356" Z="1.33006881e-06"/>
</c:Transform>
</Components>
<Children/>
</Entity>
<Entity>
<Components>
<c:Collidable/>
<c:Model>
<Resource>../assets/Models/Core/UnitCube.obj</Resource>
</c:Model>
<c:Transform>
<Position X="0" Y="-0.665447116" Z="0"/>
<Scale X="1" Y="0.200000003" Z="1"/>
</c:Transform>
</Components>
<Children/>
</Entity>
<Entity>
<Components>
<c:AABB/>
<c:Collidable/>
<c:Physics/>
<c:Model>
<Resource>../assets/Models/Core/UnitCube.obj</Resource>
</c:Model>
<c:Transform>
<Position X="2.27028751" Y="0.393286705" Z="-2.67389679"/>
</c:Transform>
</Components>
<Children/>
</Entity>
</Children>
</Entity>
src/Engine/Collision/Collision.cpp
+83 -14
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@@ -199,30 +199,93 @@ bool RayVsModel(const Ray& ray,
return hit;
}
bool AABBvsTriangles(const AABB& box, const std::vector<RawModel::Vertex>& modelVertices, const std::vector<unsigned int>& modelIndices, const glm::mat4& modelMatrix, glm::vec3& outResolutionVector)
bool AABBvsTriangle(const AABB& box, const glm::vec3& v0, const glm::vec3& v1, const glm::vec3& v2, glm::vec3& outResolutionVector)
{
bool hit = false;
const glm::vec3& origin = box.Origin();
const glm::vec3& min = box.MinCorner();
const glm::vec3& max = box.MaxCorner();
const glm::vec3& half = box.HalfSize();
outResolutionVector.x = INFINITY;
const glm::vec3 triPos[] = {
v0, v1, v2
};
for (int i = 0; i < modelIndices.size(); ++i) {
glm::vec3 p = modelVertices[i].Position;
for (int ax = 0; ax < 3; ++ax) {
auto outsideMinPlane = glm::tvec3<bool>(false);
auto outsideMaxPlane = glm::tvec3<bool>(false);
for (int pos = 0; pos < 3; ++pos) {
outsideMinPlane[pos] = (min[ax] > triPos[pos][ax]);
outsideMaxPlane[pos] = (triPos[pos][ax] > max[ax]);
}
if (glm::all(outsideMinPlane) || glm::all(outsideMaxPlane)) {
return false;
}
}
return true;
}
bool AABBvsTriangles(const AABB& box, const std::vector<RawModel::Vertex>& modelVertices, const std::vector<unsigned int>& modelIndices, const glm::mat4& modelMatrix, glm::vec3& outResolutionVector)
{
bool hit = false;
for (int i = 0; i < modelIndices.size(); i += 3) {
glm::vec3 resVec;
hit = AABBvsTriangle(
box,
modelVertices[modelIndices[i]].Position,
modelVertices[modelIndices[i + 1]].Position,
modelVertices[modelIndices[i + 2]].Position,
resVec
);
if (hit) {
break;
}
}
return hit;
//TODO: Remove old code.
/*
auto hit = glm::tvec3<bool>(false);
const glm::vec3& origin = box.Origin();
const glm::vec3& min = box.MinCorner();
const glm::vec3& max = box.MaxCorner();
const glm::vec3& half = box.HalfSize();
float minResolution = INFINITY;
outResolutionVector = glm::vec3(0.f);
//TODO: Don't need indices? Remove?
for (const auto& v : modelVertices) {
glm::vec3 p = v.Position;
p = glm::vec3(modelMatrix * glm::vec4(p.x, p.y, p.z, 1));
float distFromOrigin = glm::abs(origin.x - p.x);
float penetration = box.HalfSize().x - distFromOrigin;
if (penetration > 0 && penetration < glm::abs(outResolutionVector.x)) {
if (p.x > origin.x) {
outResolutionVector.x = -penetration;
const glm::vec3 diffO = origin - p;
const glm::vec3 distO = glm::abs(diffO);
for (int axis = 0; axis < 3; ++axis) {
float penetration = half[axis] - distO[axis];
if (penetration > 0){
if (penetration < minResolution) {
minResolution = penetration;
outResolutionVector = glm::vec3(0.f);
if (p[axis] > origin[axis]) {
outResolutionVector[axis] = -penetration;
} else {
outResolutionVector.x = penetration;
outResolutionVector[axis] = penetration;
}
hit = true;
}
hit[axis] = true;
}
}
//float distFromOrigin = glm::abs(origin.x - p.x);
//float penetration = box.HalfSize().x - distFromOrigin;
//if (penetration > 0 && penetration < glm::abs(outResolutionVector.x)) {
// if (p.x > origin.x) {
// outResolutionVector.x = -penetration;
// } else {
// outResolutionVector.x = penetration;
// }
// hit = true;
//}
//glm::vec3 pLocal = origin - p;
//for (int axis = 0; axis < 3; ++axis) {
// if (p[axis] < min[axis] || p[axis] > max[axis]) {
@@ -236,7 +299,13 @@ bool AABBvsTriangles(const AABB& box, const std::vector<RawModel::Vertex>& model
//}
}
return hit;
//for (int axis = 0; axis < 3; ++axis) {
// if (glm::isinf(outResolutionVector[axis])) {
// outResolutionVector[axis] = 0.f;
// }
//}
return glm::all(hit);*/
}
bool IsSameBoxProbably(const AABB& first, const AABB& second, const float epsilon)
src/Engine/Collision/CollisionSystem.cpp
+33 -30
View File
@@ -1,6 +1,7 @@
#include "Collision/Collision.h"
#include "Collision/CollisionSystem.h"
#include "Core/AABB.h"
#include "Rendering/Model.h"
void CollisionSystem::UpdateComponent(World* world, EntityWrapper& entity, ComponentWrapper& component, double dt)
{
@@ -22,40 +23,42 @@ void CollisionSystem::UpdateComponent(World* world, EntityWrapper& entity, Compo
}
// Collide against octree
std::vector<AABB> octreeResult;
m_Octree->BoxesInSameRegion(*boundingBox, octreeResult);
for (auto& boxB : octreeResult) {
glm::vec3 resolutionVector;
if (Collision::IsSameBoxProbably(boxA, boxB)) {
continue;
}
if (Collision::AABBVsAABB(boxA, boxB, resolutionVector)) {
(glm::vec3&)cTransform["Position"] += resolutionVector;
cPhysics["Velocity"] = glm::vec3(0, 0, 0);
}
}
// HACK: Temporarily collide against all collidable models since they're not in the octree yet
//auto otherCollidables = world->GetComponents("Model");
//for (auto& cModel : *otherCollidables) {
// if (cModel.EntityID == entity) {
// continue;
// }
// if (!world->HasComponent(cModel.EntityID, "Collidable")) {
// continue;
// }
// auto absPosition = RenderQueueFactory::AbsolutePosition(world, cModel.EntityID);
// auto absOrientation = RenderQueueFactory::AbsoluteOrientation(world, cModel.EntityID);
// auto absScale = RenderQueueFactory::AbsoluteScale(world, cModel.EntityID);
// glm::mat4 modelMatrix = glm::translate(absPosition); // *glm::toMat4(absOrientation) * glm::scale(absScale);
// auto model = ResourceManager::Load<Model>(cModel["Resource"]);
//std::vector<AABB> octreeResult;
//m_Octree->BoxesInSameRegion(*boundingBox, octreeResult);
//for (auto& boxB : octreeResult) {
// glm::vec3 resolutionVector;
// if (Collision::AABBvsTriangles(boxA, model->m_Vertices, model->m_Indices, modelMatrix, resolutionVector)) {
// if (Collision::IsSameBoxProbably(boxA, boxB)) {
// continue;
// }
// if (Collision::AABBVsAABB(boxA, boxB, resolutionVector)) {
// (glm::vec3&)cTransform["Position"] += resolutionVector;
// cPhysics["Velocity"] = glm::vec3(0, 0, 0);
// }
//}
// HACK: Temporarily collide against all collidable models since they're not in the octree yet
auto otherCollidables = world->GetComponents("Model");
for (auto& cModel : *otherCollidables) {
if (cModel.EntityID == EntityID(entity)) {
continue;
}
if (!world->HasComponent(cModel.EntityID, "Collidable")) {
continue;
}
auto absPosition = Transform::AbsolutePosition(world, cModel.EntityID);
auto absOrientation = Transform::AbsoluteOrientation(world, cModel.EntityID);
auto absScale = Transform::AbsoluteScale(world, cModel.EntityID);
glm::mat4 modelMatrix = glm::translate(absPosition); // *glm::toMat4(absOrientation) * glm::scale(absScale);
RawModel* model = ResourceManager::Load<RawModel>(cModel["Resource"]);
glm::vec3 resolutionVector;
if (Collision::AABBvsTriangles(boxA, model->m_Vertices, model->m_Indices, modelMatrix, resolutionVector)) {
//TODO: remove Temp.
(glm::vec3&)cTransform["Position"] = glm::vec3(2, 2, 2);
//(glm::vec3&)cTransform["Position"] += resolutionVector;
}
}
}
bool CollisionSystem::OnKeyUp(const Events::KeyUp & event)