bool PhysicsEngine::CollisionWithMapSimple(PowerBall* b, Map* map, Vector3 &normalPlane)
{
MaloW::Array<MeshStrip*>* temp = map->GetMesh()->GetStrips();
//int sizeMstrip = temp->size();
int sizeVertexS0 = temp->get(0)->getNrOfVerts();
Vertex* verts;
//Vector3 origin = this->GetPositionVector3();
Vector3 origin = b->GetTempPosition();
Vector3 dir = b->GetVelocity();
Vector3 dirN = dir/dir.GetLength();
verts = temp->get(0)->getVerts();
/*
for(int i = 0;i<sizeMstrip;i++)
{
}
*/
Vector3 p0,p1,p2, normal, v1,v2;
float smalestTime = -1;
bool firstHit = false;
float u, v,t;
float lengthProjN = 0;
Vector3 p0Store, p1Store,p2Store, normalStore;
Vector3 pos = Vector3(map->GetMesh()->GetPosition());
Vector3 posS = b->GetTempPosition();//this->GetPositionVector3();
Vector3 rayDirection;
Vector3 scalingMesh = map->GetMesh()->GetScaling();
D3DXMATRIX quat;
D3DXMatrixRotationQuaternion(&quat, &map->GetMesh()->GetRotation());
Matrix4 rotate(quat);
rotate.TransposeThis();
Matrix4 scaling;
scaling.SetScale(scalingMesh);
Matrix4 translate;
translate.SetTranslate(pos);
Matrix4 world = translate*rotate*scaling;
for(int i =0; i< sizeVertexS0; i+=3)
{
/*
p0 = Vector3(verts[i].pos).GetComponentMultiplication(scalingMesh) + pos;
p1 = Vector3(verts[i+1].pos).GetComponentMultiplication(scalingMesh) +pos;
p2 = Vector3(verts[i+2].pos).GetComponentMultiplication(scalingMesh) + pos;
*/
p0 = world*Vector3(verts[i].pos);
p1 = world*Vector3(verts[i+1].pos);
p2 = world*Vector3(verts[i+2].pos);
v1 = p1-p0;
v2 = p2-p0;
rayDirection = v1.GetCrossProduct(v2);
rayDirection.normalize();
float tempLength;
Vector3 ny;
Vector3 projN;
if(RayTriIntersect(origin , rayDirection, p0, p1, p2, u, v, t) )
{
normal = rayDirection;
ny = origin - p0;
projN = normal*ny.GetDotProduct(normal);
tempLength = projN.GetLength();
if(!firstHit)
{
firstHit = true;
smalestTime = t;
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normal;
}
else
{
if( tempLength < lengthProjN )
{
smalestTime = t;
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normal;
}
}
}
// check agains all edges
Vector3 lineDirection;
float scalarProj;
Vector3 projOnLine;
Vector3 normalToLine;
// edge 1:
ny = origin - p0;
lineDirection = p1 - p0;
scalarProj = (ny.GetDotProduct(lineDirection)/lineDirection.GetLengthSquared());
projOnLine = lineDirection * scalarProj;
if( (scalarProj >= 0.0f) && (scalarProj <= 1) )
{
normalToLine = ny - projOnLine;
tempLength = normalToLine.GetLength();
if(!firstHit)
{
firstHit = true;
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normalToLine;
normalStore.normalize();
}
else
{
if( tempLength < lengthProjN )
{
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normalToLine;
normalStore.normalize();
}
}
}
// edge 2:
ny = origin - p1;
lineDirection = p2 - p1;
scalarProj = (ny.GetDotProduct(lineDirection)/lineDirection.GetLengthSquared());
projOnLine = lineDirection * scalarProj;
if( (scalarProj >= 0.0f) && (scalarProj <= 1) )
{
normalToLine = ny - projOnLine;
tempLength = normalToLine.GetLength();
if(!firstHit)
{
firstHit = true;
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normalToLine;
normalStore.normalize();
}
else
{
if( tempLength < lengthProjN )
{
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normalToLine;
normalStore.normalize();
}
}
}
// edge 3:
ny = origin - p2;
lineDirection = p0 - p2;
scalarProj = (ny.GetDotProduct(lineDirection)/lineDirection.GetLengthSquared());
projOnLine = lineDirection * scalarProj;
if( (scalarProj >= 0.0f) && (scalarProj <= 1) )
{
normalToLine = ny - projOnLine;
tempLength = normalToLine.GetLength();
if(!firstHit)
{
firstHit = true;
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normalToLine;
normalStore.normalize();
}
else
{
if( tempLength < lengthProjN )
{
lengthProjN = tempLength;
p0Store = p0;
p1Store = p1;
p2Store = p2;
normalStore = normal;
}
}
}
}
if(firstHit)
{
// for checking if the ball are in the air not turned on at the moment,
float eps = 0.5f; //0.001
if( (lengthProjN < (b->GetRadius() + eps)) && (lengthProjN > (b->GetRadius() - eps)) )
{
b->SetNormalContact(normalStore);
b->SetHasContact(true);
}
else
{
b->SetNormalContact(normalStore);
b->SetHasContact(false);
}
if( lengthProjN <= b->GetRadius())
{
Vector3 velNorm = b->GetVelocity();
velNorm.normalize();
if(normalStore.GetDotProduct(velNorm) >=0)
return false;
float diff = abs(lengthProjN- b->GetRadius());
//Vector3 newPo = origin -dirN*diff;
//Vector3 projVel = normalStore * this->mVelocity.GetDotProduct(normalStore);
Vector3 newPo = origin + normalStore*diff;
/*
if( projVel.GetDotProduct(normalStore) < 0.0f)
{
newPo = origin - normalStore*diff;
return false;
}
else
newPo = origin + normalStore*diff;
*/
//this->SetPosition(newPo);
b->SetTempPosition(newPo);
normalPlane = normalStore;
//this->mNormalContact = normalPlane;
//this->mHasContact = true;
return true;
}
else
{
normalPlane = Vector3(0,0,0);
//this->mNormalContact = normalPlane;
//this->mHasContact = false;
return false;
}
}
normalPlane = Vector3(0,0,0);
b->SetNormalContact(normalPlane);
//this->mHasContact = false;
return false;
}
//! called during the update of the entity
void KamikazeAttacker::Update()
{
if(m_fHitPoints < 0.0f || !GSETTINGS)
{
return;
}
auto settings = DYNAMIC_CAST(m_Settings, KamikazeAttackerSettings);
switch (m_eState)
{
case KamikazeAttacker::S_Moving:
{
Vector3 vToHQ = m_TargetHQ->GetAbsolutePosition() - GetAbsolutePosition();
bool reachedHQ = false;
if ((int)m_CurrentTarget > (int)m_Path.size() - 3)
{
float fDistToHQSq = vToHQ.GetLengthSquared();
reachedHQ = fDistToHQSq < settings->m_fHQKamikazeRange*settings->m_fHQKamikazeRange;
}
if (reachedHQ)
{
m_fDecelTimer = 0.0f;
m_eState = S_PreparingAttack;
m_bTargetReached = true;
break;
}
if (!m_bTargetReached)
MoveToTarget();
else
SteerToTarget();
LookAtTarget();
}
break;
case S_PreparingAttack:
{
if (m_TargetHQ->GetHitPoints() < 0.0f)
{
if (auto nextTarget = WAVEMGR->GetNextHQ())
{
m_TargetHQ = nextTarget;
m_eState = S_Moving;
}
else
m_eState = S_Idle;
}
else
{
m_vSpeed = Math::Damp(m_vSpeed, Vector3::Zero, g_fDeltaTime, settings->m_fDecelDuration);
m_fDecelTimer += g_fDeltaTime;
if (m_fDecelTimer > settings->m_fDecelDuration)
{
m_eState = S_AttackingHQ;
break;
}
Translate(m_vSpeed * g_fDeltaTime);
auto vToHQ = (m_TargetHQ->GetAbsolutePosition() - GetAbsolutePosition()).Normalized();
m_vLookAt = Math::Damp(m_vLookAt, vToHQ, g_fDeltaTime, 0.1f).Normalized();
LookAt(m_vLookAt);
}
}
break;
case KamikazeAttacker::S_AttackingHQ:
{
Vector3 vToHQ = (m_TargetHQ->GetAbsolutePosition() - GetAbsolutePosition()).Normalized();
Vector3 vAcceleration = vToHQ*settings->m_fKamikazeMaxAccel*g_fDeltaTime;
m_vSpeed += vAcceleration;
m_vSpeed.Limit(settings->m_fKamikazeMaxSpeed);
Translate(m_vSpeed * g_fDeltaTime);
}
break;
}
super::Update();
}
bool PhysicsEngine::CollisionWithSphereSimple(PowerBall* b, PowerBall* b1)
{
Vector3 r = b->GetPositionVector3() - b1->GetPositionVector3();
r = b->GetTempPosition() - b1->GetTempPosition();
float distanceBalls = r.GetLength();
float sumRadius = b->GetRadius() + b1->GetRadius();
if(distanceBalls > sumRadius)
return false;
/* we have collision but we need to move the balls so they are not inside each other
* solve this equation: ((pos1 - t*vel1) - (pos2 - t*vel2)).length = radie1 + radie2
*
* this gives ut the following:
* d = distance = p1-p2
* rV = relative velocity = v2-v1
* sumR = sumRadius = r1 + r2
*
* t = - rV.dot(d)/|rV|^2 +- sqrt( rV.dot(d)^2/|rV|^4 - (sumR^2 - |d|^2) / |rV|^2
*
*/
Vector3 d = b->GetPositionVector3() - b1->GetPositionVector3();
d = b->GetTempPosition() - b1->GetTempPosition();
Vector3 rV = b1->GetVelocity() - b->GetVelocity();
float sumR = b->GetRadius() + b1->GetRadius();
float tempA = rV.GetDotProduct(d) / rV.GetLengthSquared();
float tempB = tempA*tempA;
float tempC = (d.GetLengthSquared() - sumR*sumR) / rV.GetLengthSquared();
float tempSq = tempB - tempC;
if( tempSq < 0) // no real solutions
return false;
else
{
float t1 = - tempA - sqrt(tempSq);
float t2 = - tempA + sqrt(tempSq);
Vector3 newPos1, newPos2;
if(t1 >= 0)
{
/*
newPos1 = this->GetPositionVector3() - this->mVelocity*t1;
newPos2 = b1->GetPositionVector3() - b1->mVelocity*t1;
this->SetPosition(newPos1);
b1->SetPosition(newPos2);
*/
newPos1 = b->GetTempPosition() - b->GetVelocity()*t1;
newPos2 = b1->GetTempPosition() - b1->GetVelocity()*t1;
b->SetTempPosition(newPos1);
b1->SetTempPosition(newPos2);
}
else if(t2 >= 0)
{
/*
newPos1 = this->GetPositionVector3() - this->mVelocity*t2;
newPos2 = b1->GetPositionVector3() - b1->mVelocity*t2;
this->SetPosition(newPos1);
b1->SetPosition(newPos2);
*/
newPos1 = b->GetTempPosition() - b->GetVelocity()*t2;
newPos2 = b1->GetTempPosition() - b1->GetVelocity()*t2;
b->SetTempPosition(newPos1);
b1->SetTempPosition(newPos2);
}
else
return false;
}
return true;
}