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collision fixes

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This commit is contained in:
aap
2020-07-27 15:38:12 +02:00
parent e2d56f00dd
commit 2e8048d0fe
6 changed files with 142 additions and 101 deletions
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174
src/core/Collision.cpp
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@@ -395,7 +395,7 @@ CCollision::TestVerticalLineBox(const CColLine &line, const CColBox &box)
}
bool
CCollision::TestLineTriangle(const CColLine &line, const CVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane)
CCollision::TestLineTriangle(const CColLine &line, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane)
{
float t;
CVector normal;
@@ -410,9 +410,9 @@ CCollision::TestLineTriangle(const CColLine &line, const CVector *verts, const C
// find point of intersection
CVector p = line.p0 + (line.p1-line.p0)*t;
const CVector &va = verts[tri.a];
const CVector &vb = verts[tri.b];
const CVector &vc = verts[tri.c];
const CVector &va = verts[tri.a].Get();
const CVector &vb = verts[tri.b].Get();
const CVector &vc = verts[tri.c].Get();
CVector2D vec1, vec2, vec3, vect;
// We do the test in 2D. With the plane direction we
@@ -505,15 +505,16 @@ CCollision::TestLineSphere(const CColLine &line, const CColSphere &sph)
bool
CCollision::TestSphereTriangle(const CColSphere &sphere,
const CVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane)
const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane)
{
// If sphere and plane don't intersect, no collision
if(Abs(plane.CalcPoint(sphere.center)) > sphere.radius)
float planedist = plane.CalcPoint(sphere.center);
if(Abs(planedist) > sphere.radius)
return false;
const CVector &va = verts[tri.a];
const CVector &vb = verts[tri.b];
const CVector &vc = verts[tri.c];
const CVector &va = verts[tri.a].Get();
const CVector &vb = verts[tri.b].Get();
const CVector &vc = verts[tri.c].Get();
// calculate two orthogonal basis vectors for the triangle
CVector vec2 = vb - va;
@@ -537,23 +538,29 @@ CCollision::TestSphereTriangle(const CColSphere &sphere,
int testcase = insideAB + insideAC + insideBC;
float dist = 0.0f;
if(testcase == 1){
switch(testcase){
case 1:
// closest to a vertex
if(insideAB) dist = (sphere.center - vc).Magnitude();
else if(insideAC) dist = (sphere.center - vb).Magnitude();
else if(insideBC) dist = (sphere.center - va).Magnitude();
else assert(0);
}else if(testcase == 2){
break;
case 2:
// closest to an edge
// looks like original game as DistToLine manually inlined
if(!insideAB) dist = DistToLine(&va, &vb, &sphere.center);
else if(!insideAC) dist = DistToLine(&va, &vc, &sphere.center);
else if(!insideBC) dist = DistToLine(&vb, &vc, &sphere.center);
else assert(0);
}else if(testcase == 3){
break;
case 3:
// center is in triangle
return true;
}else
assert(0); // front fell off
dist = Abs(planedist);
break;
default:
assert(0);
}
return dist < sphere.radius;
}
@@ -572,21 +579,24 @@ CCollision::TestLineOfSight(const CColLine &line, const CMatrix &matrix, CColMod
if(!TestLineBox(newline, model.boundingBox))
return false;
for(i = 0; i < model.numSpheres; i++)
if(!ignoreSeeThrough || model.spheres[i].surface != SURFACE_GLASS && model.spheres[i].surface != SURFACE_TRANSPARENT_CLOTH)
if(TestLineSphere(newline, model.spheres[i]))
return true;
for(i = 0; i < model.numSpheres; i++){
if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue;
if(TestLineSphere(newline, model.spheres[i]))
return true;
}
for(i = 0; i < model.numBoxes; i++)
if(!ignoreSeeThrough || model.boxes[i].surface != SURFACE_GLASS && model.boxes[i].surface != SURFACE_TRANSPARENT_CLOTH)
if(TestLineBox(newline, model.boxes[i]))
return true;
for(i = 0; i < model.numBoxes; i++){
if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue;
if(TestLineBox(newline, model.boxes[i]))
return true;
}
CalculateTrianglePlanes(&model);
for(i = 0; i < model.numTriangles; i++)
if(!ignoreSeeThrough || model.triangles[i].surface != SURFACE_GLASS && model.triangles[i].surface != SURFACE_TRANSPARENT_CLOTH)
if(TestLineTriangle(newline, model.vertices, model.triangles[i], model.trianglePlanes[i]))
return true;
for(i = 0; i < model.numTriangles; i++){
if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue;
if(TestLineTriangle(newline, model.vertices, model.triangles[i], model.trianglePlanes[i]))
return true;
}
return false;
}
@@ -861,16 +871,16 @@ CCollision::ProcessLineSphere(const CColLine &line, const CColSphere &sphere, CC
bool
CCollision::ProcessVerticalLineTriangle(const CColLine &line,
const CVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane,
const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane,
CColPoint &point, float &mindist, CStoredCollPoly *poly)
{
float t;
CVector normal;
const CVector &p0 = line.p0;
const CVector &va = verts[tri.a];
const CVector &vb = verts[tri.b];
const CVector &vc = verts[tri.c];
const CVector &va = verts[tri.a].Get();
const CVector &vb = verts[tri.b].Get();
const CVector &vc = verts[tri.c].Get();
// early out bound rect test
if(p0.x < va.x && p0.x < vb.x && p0.x < vc.x) return false;
@@ -935,6 +945,7 @@ CCollision::ProcessVerticalLineTriangle(const CColLine &line,
if(CrossProduct2D(vec2-vec1, vect-vec1) < 0.0f) return false;
if(CrossProduct2D(vec3-vec1, vect-vec1) > 0.0f) return false;
if(CrossProduct2D(vec3-vec2, vect-vec2) < 0.0f) return false;
if(t >= mindist) return false;
point.point = p;
point.normal = normal;
point.surfaceA = 0;
@@ -960,16 +971,12 @@ CCollision::IsStoredPolyStillValidVerticalLine(const CVector &pos, float z, CCol
return false;
// maybe inlined?
CColTriangle tri;
tri.a = 0;
tri.b = 1;
tri.c = 2;
CColTrianglePlane plane;
plane.Set(poly->verts, tri);
plane.Set(poly->verts[0], poly->verts[1], poly->verts[2]);
const CVector &va = poly->verts[tri.a];
const CVector &vb = poly->verts[tri.b];
const CVector &vc = poly->verts[tri.c];
const CVector &va = poly->verts[0];
const CVector &vb = poly->verts[1];
const CVector &vc = poly->verts[2];
CVector p0 = pos;
CVector p1(pos.x, pos.y, z);
@@ -1034,7 +1041,7 @@ CCollision::IsStoredPolyStillValidVerticalLine(const CVector &pos, float z, CCol
bool
CCollision::ProcessLineTriangle(const CColLine &line ,
const CVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane,
const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane,
CColPoint &point, float &mindist)
{
float t;
@@ -1053,9 +1060,9 @@ CCollision::ProcessLineTriangle(const CColLine &line ,
// find point of intersection
CVector p = line.p0 + (line.p1-line.p0)*t;
const CVector &va = verts[tri.a];
const CVector &vb = verts[tri.b];
const CVector &vc = verts[tri.c];
const CVector &va = verts[tri.a].Get();
const CVector &vb = verts[tri.b].Get();
const CVector &vc = verts[tri.c].Get();
CVector2D vec1, vec2, vec3, vect;
switch(plane.dir){
@@ -1101,6 +1108,7 @@ CCollision::ProcessLineTriangle(const CColLine &line ,
if(CrossProduct2D(vec2-vec1, vect-vec1) < 0.0f) return false;
if(CrossProduct2D(vec3-vec1, vect-vec1) > 0.0f) return false;
if(CrossProduct2D(vec3-vec2, vect-vec2) < 0.0f) return false;
if(t >= mindist) return false;
point.point = p;
point.normal = normal;
point.surfaceA = 0;
@@ -1113,7 +1121,7 @@ CCollision::ProcessLineTriangle(const CColLine &line ,
bool
CCollision::ProcessSphereTriangle(const CColSphere &sphere,
const CVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane,
const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane,
CColPoint &point, float &mindistsq)
{
// If sphere and plane don't intersect, no collision
@@ -1122,9 +1130,9 @@ CCollision::ProcessSphereTriangle(const CColSphere &sphere,
if(Abs(planedist) > sphere.radius || distsq > mindistsq)
return false;
const CVector &va = verts[tri.a];
const CVector &vb = verts[tri.b];
const CVector &vc = verts[tri.c];
const CVector &va = verts[tri.a].Get();
const CVector &vb = verts[tri.b].Get();
const CVector &vc = verts[tri.c].Get();
// calculate two orthogonal basis vectors for the triangle
CVector normal;
@@ -1151,25 +1159,31 @@ CCollision::ProcessSphereTriangle(const CColSphere &sphere,
int testcase = insideAB + insideAC + insideBC;
float dist = 0.0f;
CVector p;
if(testcase == 1){
switch(testcase){
case 1:
// closest to a vertex
if(insideAB) p = vc;
else if(insideAC) p = vb;
else if(insideBC) p = va;
else assert(0);
dist = (sphere.center - p).Magnitude();
}else if(testcase == 2){
break;
case 2:
// closest to an edge
// looks like original game as DistToLine manually inlined
if(!insideAB) dist = DistToLine(&va, &vb, &sphere.center, p);
else if(!insideAC) dist = DistToLine(&va, &vc, &sphere.center, p);
else if(!insideBC) dist = DistToLine(&vb, &vc, &sphere.center, p);
else assert(0);
}else if(testcase == 3){
break;
case 3:
// center is in triangle
dist = Abs(planedist);
p = sphere.center - normal*planedist;
}else
assert(0); // front fell off
break;
default:
assert(0);
}
if(dist >= sphere.radius || dist*dist >= mindistsq)
return false;
@@ -1203,18 +1217,21 @@ CCollision::ProcessLineOfSight(const CColLine &line,
return false;
float coldist = mindist;
for(i = 0; i < model.numSpheres; i++)
if(!ignoreSeeThrough || model.spheres[i].surface != SURFACE_GLASS && model.spheres[i].surface != SURFACE_TRANSPARENT_CLOTH)
ProcessLineSphere(newline, model.spheres[i], point, coldist);
for(i = 0; i < model.numSpheres; i++){
if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue;
ProcessLineSphere(newline, model.spheres[i], point, coldist);
}
for(i = 0; i < model.numBoxes; i++)
if(!ignoreSeeThrough || model.boxes[i].surface != SURFACE_GLASS && model.boxes[i].surface != SURFACE_TRANSPARENT_CLOTH)
ProcessLineBox(newline, model.boxes[i], point, coldist);
for(i = 0; i < model.numBoxes; i++){
if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue;
ProcessLineBox(newline, model.boxes[i], point, coldist);
}
CalculateTrianglePlanes(&model);
for(i = 0; i < model.numTriangles; i++)
if(!ignoreSeeThrough || model.triangles[i].surface != SURFACE_GLASS && model.triangles[i].surface != SURFACE_TRANSPARENT_CLOTH)
ProcessLineTriangle(newline, model.vertices, model.triangles[i], model.trianglePlanes[i], point, coldist);
for(i = 0; i < model.numTriangles; i++){
if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue;
ProcessLineTriangle(newline, model.vertices, model.triangles[i], model.trianglePlanes[i], point, coldist);
}
if(coldist < mindist){
point.point = matrix * point.point;
@@ -1243,24 +1260,27 @@ CCollision::ProcessVerticalLine(const CColLine &line,
return false;
float coldist = mindist;
for(i = 0; i < model.numSpheres; i++)
if(!ignoreSeeThrough || model.spheres[i].surface != SURFACE_GLASS && model.spheres[i].surface != SURFACE_TRANSPARENT_CLOTH)
ProcessLineSphere(newline, model.spheres[i], point, coldist);
for(i = 0; i < model.numSpheres; i++){
if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue;
ProcessLineSphere(newline, model.spheres[i], point, coldist);
}
for(i = 0; i < model.numBoxes; i++)
if(!ignoreSeeThrough || model.boxes[i].surface != SURFACE_GLASS && model.boxes[i].surface != SURFACE_TRANSPARENT_CLOTH)
ProcessLineBox(newline, model.boxes[i], point, coldist);
for(i = 0; i < model.numBoxes; i++){
if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue;
ProcessLineBox(newline, model.boxes[i], point, coldist);
}
CalculateTrianglePlanes(&model);
TempStoredPoly.valid = false;
for(i = 0; i < model.numTriangles; i++)
if(!ignoreSeeThrough || model.triangles[i].surface != SURFACE_GLASS && model.triangles[i].surface != SURFACE_TRANSPARENT_CLOTH)
ProcessVerticalLineTriangle(newline, model.vertices, model.triangles[i], model.trianglePlanes[i], point, coldist, &TempStoredPoly);
for(i = 0; i < model.numTriangles; i++){
if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue;
ProcessVerticalLineTriangle(newline, model.vertices, model.triangles[i], model.trianglePlanes[i], point, coldist, &TempStoredPoly);
}
if(coldist < mindist){
point.point = matrix * point.point;
point.normal = Multiply3x3(matrix, point.normal);
if(poly && TempStoredPoly.valid){
if(TempStoredPoly.valid && poly){
*poly = TempStoredPoly;
poly->verts[0] = matrix * poly->verts[0];
poly->verts[1] = matrix * poly->verts[1];
@@ -1959,7 +1979,7 @@ CColLine::Set(const CVector &p0, const CVector &p1)
}
void
CColTriangle::Set(const CVector *, int a, int b, int c, uint8 surf, uint8 piece)
CColTriangle::Set(const CompressedVector *, int a, int b, int c, uint8 surf, uint8 piece)
{
this->a = a;
this->b = b;
@@ -1968,12 +1988,8 @@ CColTriangle::Set(const CVector *, int a, int b, int c, uint8 surf, uint8 piece)
}
void
CColTrianglePlane::Set(const CVector *v, CColTriangle &tri)
CColTrianglePlane::Set(const CVector &va, const CVector &vb, const CVector &vc)
{
const CVector &va = v[tri.a];
const CVector &vb = v[tri.b];
const CVector &vc = v[tri.c];
normal = CrossProduct(vc-va, vb-va);
normal.Normalise();
dist = DotProduct(normal, va);
@@ -2063,7 +2079,7 @@ CColModel::GetLinkPtr(void)
void
CColModel::GetTrianglePoint(CVector &v, int i) const
{
v = vertices[i];
v = vertices[i].Get();
}
CColModel&
@@ -2142,7 +2158,7 @@ CColModel::operator=(const CColModel &other)
if(vertices)
RwFree(vertices);
if(numVerts){
vertices = (CVector*)RwMalloc(numVerts*sizeof(CVector));
vertices = (CompressedVector*)RwMalloc(numVerts*sizeof(CompressedVector));
for(i = 0; i < numVerts; i++)
vertices[i] = other.vertices[i];
}