C++ (Cpp) collideWithWorld Examples

Example #1

File: CSceneCollisionManager.cpp Project: jivibounty/irrlicht

//! Collides a moving ellipsoid with a 3d world with gravity and returns
//! the resulting new position of the ellipsoid.
core::vector3df CSceneCollisionManager::collideEllipsoidWithWorld(
	ITriangleSelector* selector, const core::vector3df &position,
	const core::vector3df& radius,  const core::vector3df& velocity,
	f32 slidingSpeed,
	const core::vector3df& gravity,
	core::triangle3df& triout, bool& outFalling)
{
	if (!selector || radius.X == 0.0f || radius.Y == 0.0f || radius.Z == 0.0f)
		return position;

	// This code is based on the paper "Improved Collision detection and Response"
	// by Kasper Fauerby, but some parts are modified.

	SCollisionData colData;
	colData.R3Position = position;
	colData.R3Velocity = velocity;
	colData.eRadius = radius;
	colData.nearestDistance = 9999999999999.0f;
	colData.selector = selector;
	colData.slidingSpeed = slidingSpeed;
	colData.triangleHits = 0;

	core::vector3df eSpacePosition = colData.R3Position / colData.eRadius;
	core::vector3df eSpaceVelocity = colData.R3Velocity / colData.eRadius;

	// iterate until we have our final position

	core::vector3df finalPos = collideWithWorld(
		0, colData, eSpacePosition, eSpaceVelocity);

	outFalling = false;

	// add gravity

	if (gravity != core::vector3df(0,0,0))
	{
		colData.R3Position = finalPos * colData.eRadius;
		colData.R3Velocity = gravity;
		colData.triangleHits = 0;

		eSpaceVelocity = gravity/colData.eRadius;

		finalPos = collideWithWorld(0, colData,
			finalPos, eSpaceVelocity);

		outFalling = (colData.triangleHits == 0);
	}

	if (colData.triangleHits)
	{
		triout = colData.intersectionTriangle;
		triout.pointA *= colData.eRadius;
		triout.pointB *= colData.eRadius;
		triout.pointC *= colData.eRadius;
	}

	finalPos *= colData.eRadius;
	return finalPos;
}

Example #2

File: Bullet.cpp Project: SimpleManGames/ZombieGame

bool Bullet::Update(const std::vector<std::string>& levelData, float deltaTime) {
	_position += _direction * _speed * deltaTime;
	return collideWithWorld(levelData);
}

Example #3

File: CSceneCollisionManager.cpp Project: jivibounty/irrlicht

core::vector3df CSceneCollisionManager::collideWithWorld(s32 recursionDepth,
	SCollisionData &colData, core::vector3df pos, core::vector3df vel)
{
	f32 veryCloseDistance = colData.slidingSpeed;

	if (recursionDepth > 5)
		return pos;

	colData.velocity = vel;
	colData.normalizedVelocity = vel;
	colData.normalizedVelocity.normalize();
	colData.basePoint = pos;
	colData.foundCollision = false;
	colData.nearestDistance = 9999999999999.0f;

	//------------------ collide with world

	// get all triangles with which we might collide
	core::aabbox3d<f32> box(colData.R3Position);
	box.addInternalPoint(colData.R3Position + colData.R3Velocity);
	box.MinEdge -= colData.eRadius;
	box.MaxEdge += colData.eRadius;

	s32 totalTriangleCnt = colData.selector->getTriangleCount();
	Triangles.set_used(totalTriangleCnt);

	core::matrix4 scaleMatrix;
	scaleMatrix.setScale(
		core::vector3df(1.0f / colData.eRadius.X, 
						1.0f / colData.eRadius.Y,
						1.0f / colData.eRadius.Z)
					);

	s32 triangleCnt = 0;
	colData.selector->getTriangles(Triangles.pointer(), totalTriangleCnt, triangleCnt, box, &scaleMatrix);
	//colData.selector->getTriangles(Triangles.pointer(), totalTriangleCnt, triangleCnt, &scaleMatrix);

	for (s32 i=0; i<triangleCnt; ++i)
		testTriangleIntersection(&colData, Triangles[i]);

	//---------------- end collide with world

	if (!colData.foundCollision)
		return pos + vel;

	// original destination point
	core::vector3df destinationPoint = pos + vel;
	core::vector3df newBasePoint = pos;

	// only update if we are not already very close
	// and if so only move very close to intersection, not to the
	// exact point
	if (colData.nearestDistance >= veryCloseDistance)
	{
		core::vector3df v = vel;
		v.setLength( colData.nearestDistance - veryCloseDistance );
		newBasePoint = colData.basePoint + v;

		v.normalize();
		colData.intersectionPoint -= (v * veryCloseDistance);
	}

	// calculate sliding plane

	core::vector3df slidePlaneOrigin = colData.intersectionPoint;
	core::vector3df slidePlaneNormal = newBasePoint - colData.intersectionPoint;
	slidePlaneNormal.normalize();
	core::plane3d<f32> slidingPlane(slidePlaneOrigin, slidePlaneNormal);

	core::vector3df newDestinationPoint =
		destinationPoint -
		(slidePlaneNormal * slidingPlane.getDistanceTo(destinationPoint));

	// generate slide vector

	core::vector3df newVelocityVector = newDestinationPoint -
		colData.intersectionPoint;

	if (newVelocityVector.getLength() < veryCloseDistance)
		return newBasePoint;

	return collideWithWorld(recursionDepth+1, colData,
		newBasePoint, newVelocityVector);
}