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WIP (false collisions), collision method expanded, not working.

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This commit is contained in:
William Moberg
2016-01-24 15:32:10 +01:00
parent e6224a4e96
commit 910b3d10e4
2 changed files with 97 additions and 94 deletions
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resources/Schema/Entities/ModelCollisionTest.xml
+3 -4
View File
@@ -27,9 +27,8 @@
<Color A="1" B="1" G="0.392156869" R="0"/>
</c:Model>
<c:Transform>
<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"/>
<Scale X="2" Y="2" Z="0.200000003"/>
<Orientation X="2.70100021" Y="2.37000012" Z="0.266000003"/>
</c:Transform>
</Components>
<Children>
@@ -56,7 +55,7 @@
</c:Model>
<c:Physics/>
<c:Transform>
<Position X="-0.30590561" Y="-0.251752943" Z="2.13862514"/>
<Position X="-1.95333278" Y="0.296304941" Z="2.56487775"/>
</c:Transform>
</Components>
<Children/>
src/Engine/Collision/Collision.cpp
+91 -87
View File
@@ -249,24 +249,70 @@ bool vectorHasLength(const glm::vec3& vec)
return glm::any(glm::greaterThan(glm::abs(vec), glm::vec3(0.0001f, 0.0001f, 0.0001f)));
}
enum BoxTriHit
bool AARectangleVsTriangle(const glm::vec2& boxMin,
const glm::vec2& boxMax,
const std::array<glm::vec2, 3>& triPos)
{
Line0 = 0,
Line1,
Line2,
Ground,
Corner
//Project along box normals (coordinate axes, since it's axis-aligned).
for (int ax = 0; ax < 2; ++ax) {
float minTri = INFINITY;
float maxTri = -INFINITY;
for (const glm::vec2& t : triPos) {
minTri = std::min(t[ax], minTri);
maxTri = std::max(t[ax], maxTri);
}
if (minTri > boxMax[ax] || maxTri < boxMin[ax]) {
return false;
}
}
//Project along triangle normals.
//Put edges into normal vector, make normals in the loop.
std::array<glm::vec2, 3> triNormals = {
triPos[1] - triPos[0],
triPos[2] - triPos[1],
triPos[0] - triPos[2]
};
std::array<glm::vec2, 4> boxPos = {
boxMax,
glm::vec2(boxMax.x, boxMin.y),
glm::vec2(boxMin.x, boxMax.y),
boxMin
};
for (auto& normal : triNormals) {
//Rotate edge to a normal.
normal = glm::vec2(-normal.y, normal.x);
//Project triangle onto the normal.
float minTri = INFINITY;
float maxTri = -INFINITY;
for (const glm::vec2& point : triPos) {
float dot = glm::dot(normal, point);
minTri = std::min(dot, minTri);
maxTri = std::max(dot, maxTri);
}
//Project box onto the normal.
float minBox = INFINITY;
float maxBox = -INFINITY;
for (const glm::vec2& point : boxPos) {
float dot = glm::dot(normal, point);
minBox = std::min(dot, minTri);
maxBox = std::max(dot, maxTri);
}
if (maxBox < minTri || minBox > maxTri) {
return false;
}
}
return true;
}
//An array containing 3 int pairs { 0, 2 }, { 0, 1 }, { 1, 2 }
constexpr std::array<std::pair<int, int>, 3> DimensionPairs({ std::pair<int, int>(0, 2), std::pair<int, int>(0, 1), std::pair<int, int>(1, 2) });
bool AABBvsTriangle(const AABB& box,
const glm::vec3& v0,
const glm::vec3& v1,
const glm::vec3& v2,
glm::vec3& outVector,
BoxTriHit& outHit)
const std::array<glm::vec3, 3>& triPos,
glm::vec3& outVector)
{
//Check so we don't have a zero area triangle when calculating the normal.
glm::vec3 triNormal = glm::cross(v1 - v0, v2 - v0);
glm::vec3 triNormal = glm::cross(triPos[1] - triPos[0], triPos[2] - triPos[0]);
if (!vectorHasLength(triNormal)) {
return false;
}
@@ -275,111 +321,69 @@ bool AABBvsTriangle(const AABB& box,
const glm::vec3& half = box.HalfSize();
const glm::vec3& min = box.MinCorner();
const glm::vec3& max = box.MaxCorner();
const glm::vec3 triPos[] = {
v0, v1, v2
};
for (int axis : {1, 0, 2}) {
glm::tvec3<bool> axisHit(false, false, false);
int i = 0;
for (std::pair<int, int> dim : DimensionPairs) {
//2D Triangle.
//for axis=0,1,2: 2d point takes from xy,xz,yx.
int dim1 = axis == 2 ? 0 : 1; //0,0,1
int dim2 = axis == 0 ? 1 : 2; //1,2,2
glm::vec2 t0(triPos[0][dim1], triPos[0][dim2]);
glm::vec2 t1(triPos[1][dim1], triPos[1][dim2]);
glm::vec2 t2(triPos[2][dim1], triPos[2][dim2]);
//Project tri,
//Project box,
//Project triangle.
std::array<glm::vec2, 3> t2D = {
glm::vec2(triPos[0][dim.first], triPos[0][dim.second]),
glm::vec2(triPos[1][dim.first], triPos[1][dim.second]),
glm::vec2(triPos[2][dim.first], triPos[2][dim.second])
};
//Project box.
glm::vec2 boxMin(min[dim.first], min[dim.second]);
glm::vec2 boxMax(max[dim.first], max[dim.second]);
//if projections don't overlap, return false.
if (!AARectangleVsTriangle(boxMin, boxMax, t2D)) {
//return false;
} else {
axisHit[i] = true;
ImGui::Text("Triangle collision: Box axis %s", i == 0 ? "y" : i == 1 ? "z" : "x");
}
++i;
}
//If the polygon does intersect any of the cube diagonals, it will
//If the triangle does intersect any of the cube diagonals, it will
//intersect the cube diagonal that comes
//closest to being perpendicular to the plane of the polygon.
//closest to being perpendicular to the plane of the triangle.
triNormal = glm::normalize(triNormal);
glm::vec3 diagonal = -signNonZero(triNormal) * half;
//The triangle plane contains all points P in dot(triNormal, P) == dot(triNormal, v0)
//The diagonal line contains all points P in P = origin + diagonal * t.
float t = glm::dot(triNormal, v0 - origin) / glm::dot(triNormal, diagonal);
float t = glm::dot(triNormal, triPos[0] - origin) / glm::dot(triNormal, diagonal);
//If intersection point between plane and diagonal is within the box.
if (glm::abs(t) > 1) {
return false;
} else {
ImGui::Text("Triangle collision: Triangle axis.");
return glm::all(axisHit);
}
//TODO: Resolve it.
outVector = glm::vec3(0.f);
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)
{
AABB newBox = box;
struct Triangle
{
glm::vec3 v0, v1, v2;
};
bool hit = false;
bool cornerHitTODO = false;
outResolutionVector = glm::vec3(0.f);
std::vector<Triangle> hitTriangles;
std::vector<glm::vec3> hitNormals;
for (int i = 0; i < modelIndices.size(); ) {
std::array<glm::vec3, 3> triVertices = {
Transform::TransformPoint(modelVertices[modelIndices[i++]].Position, modelMatrix),
Transform::TransformPoint(modelVertices[modelIndices[i++]].Position, modelMatrix),
Transform::TransformPoint(modelVertices[modelIndices[i++]].Position, modelMatrix)
};
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);
BoxTriHit hitCase;
if (AABBvsTriangle(newBox, v0, v1, v2, outVec, hitCase)) {
if (AABBvsTriangle(newBox, triVertices, outVec)) {
ImGui::Text("Triangle collision: True.");
hit = true;
switch (hitCase) {
case Collision::Line0:
case Collision::Line1:
case Collision::Line2:
//TODO: Resolve.
//const glm::vec3 triPos[] = {
// v0, v1, v2
//};
//glm::vec3 edge = triPos[(hitCase + 1) % 3] - triPos[hitCase];
hitTriangles.push_back({ v0, v1, v2 });
hitNormals.push_back(outVec);
ImGui::Text("triangle edge collision.");
break;
case Collision::Corner:
//TODO: We might be able to return here instead, having only convex geometry.
cornerHitTODO = true;
//outResolutionVector += outVec;
//return true;
ImGui::Text("triangle corner collision.");
outResolutionVector += outVec;
newBox = AABB::FromOriginSize(newBox.Origin() + outVec, newBox.Size());
break;
case Collision::Ground:
default:
outResolutionVector += outVec;
newBox = AABB::FromOriginSize(newBox.Origin() + outVec, newBox.Size());
ImGui::Text("triangle ground collision.");
break;
}
}
}
if (hitTriangles.size() > 0) {
if (cornerHitTODO) {
ImGui::Text("Both edges and corners was hit on the same model.");
return true;
}
glm::vec3 lineResolve(0.f);
for (const glm::vec3& norm : hitNormals) {
lineResolve += norm;
}
//Normalize.
lineResolve /= hitNormals.size();
const glm::vec3& origin = newBox.Origin();
const glm::vec3& half = newBox.HalfSize();
float maxDist = -10;
for (const Triangle& tri : hitTriangles) {
float d = glm::dot(lineResolve, 0.333f * (tri.v0 + tri.v1 + tri.v2) - origin);
maxDist = std::max(maxDist, d);
}
glm::vec3 tmp = glm::clamp(2.0f * lineResolve, glm::vec3(-1, -1, -1), glm::vec3(1, 1, 1));
outResolutionVector += lineResolve * (maxDist + glm::length(tmp * half));
}
return hit;
}