From 2e8048d0feacbfb5a8e3d75be8d00b3f8d45c3be Mon Sep 17 00:00:00 2001 From: aap Date: Mon, 27 Jul 2020 15:38:12 +0200 Subject: collision fixes --- src/core/Collision.cpp | 174 +++++++++++++++++++++++++++---------------------- 1 file changed, 95 insertions(+), 79 deletions(-) (limited to 'src/core/Collision.cpp') diff --git a/src/core/Collision.cpp b/src/core/Collision.cpp index 3244d0b9..99be816f 100644 --- a/src/core/Collision.cpp +++ b/src/core/Collision.cpp @@ -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]; } -- cgit v1.2.3