void Convex::updateStateList(const MatrixF& mat, const Point3F& scale, const Point3F* displacement)
{
PROFILE_SCOPE( Convex_UpdateStateList );
Box3F box1 = getBoundingBox(mat, scale);
box1.minExtents -= Point3F(1, 1, 1);
box1.maxExtents += Point3F(1, 1, 1);
if (displacement) {
Point3F oldMin = box1.minExtents;
Point3F oldMax = box1.maxExtents;
box1.minExtents.setMin(oldMin + *displacement);
box1.minExtents.setMin(oldMax + *displacement);
box1.maxExtents.setMax(oldMin + *displacement);
box1.maxExtents.setMax(oldMax + *displacement);
}
sTag++;
// Destroy states which are no longer intersecting
for (CollisionStateList* itr = mList.mNext; itr != &mList; itr = itr->mNext) {
Convex* cv = (itr->mState->a == this)? itr->mState->b: itr->mState->a;
cv->mTag = sTag;
if (!box1.isOverlapped(cv->getBoundingBox())) {
CollisionState* cs = itr->mState;
itr = itr->mPrev;
delete cs;
}
}
// Add collision states for new overlapping objects
for (CollisionWorkingList* itr0 = mWorking.wLink.mNext; itr0 != &mWorking; itr0 = itr0->wLink.mNext) {
register Convex* cv = itr0->mConvex;
if (cv->mTag != sTag && box1.isOverlapped(cv->getBoundingBox())) {
CollisionState* state = new GjkCollisionState;
state->set(this,cv,mat,cv->getTransform());
state->mLista->linkAfter(&mList);
state->mListb->linkAfter(&cv->mList);
}
}
}
//-----------------------------------------------------------------------------
//
// VActorPhysicsController::findGroundContact( pContactObject, pContactPoint, pContactNormal );
//
// ...
//
//-----------------------------------------------------------------------------
bool VActorPhysicsController::findGroundContact( SceneObject *&pContactObject, Point3F &pContactPoint, VectorF &pContactNormal )
{
// Setup Collision List.
static CollisionList sCollisionList;
sCollisionList.clear();
static Polyhedron sBoxPolyhedron;
static ExtrudedPolyList sExtrudedPolyList;
// Fetch Max Step Height.
const F32 stepHeight = mObject->getDataBlock()->getMaxStepHeight();
// Determine Positions.
const Point3F preTickPosition = getPosition() + Point3F( 0.f, 0.f, stepHeight );
const VectorF preTickVelocity = getVelocity() + mGravity - VectorF( 0.f, 0.f, stepHeight / TickSec );
const Point3F postTickPosition = preTickPosition + ( preTickVelocity * TickSec );
const VectorF postTickVector = postTickPosition - preTickPosition;
// Construct Scaled Box.
Box3F scaledBox = mObject->getObjBox();
scaledBox.minExtents.convolve( mObject->getScale() );
scaledBox.maxExtents.convolve( mObject->getScale() );
// Setup Polyherdron.
MatrixF collisionMatrix( true );
collisionMatrix.setPosition( preTickPosition );
sBoxPolyhedron.buildBox( collisionMatrix, scaledBox, true );
// Setup Extruded Poly List.
sExtrudedPolyList.extrude( sBoxPolyhedron, postTickVector );
sExtrudedPolyList.setVelocity( preTickVelocity );
sExtrudedPolyList.setCollisionList( &sCollisionList );
// Construct World Convex Box & Adjust for Sweep.
Box3F convexBox = scaledBox;
getTransform().mul( convexBox );
convexBox.minExtents += postTickVector;
convexBox.maxExtents += postTickVector;
// Build List of Contacts.
CollisionWorkingList &rList = mConvex.getWorkingList();
for ( CollisionWorkingList *pList = rList.wLink.mNext; pList != &rList; pList = pList->wLink.mNext )
{
Convex *convexShape = pList->mConvex;
// Ground Object?
if ( !( convexShape->getObject()->getTypeMask() & sGroundCollisionMask ) )
{
// No, Continue.
continue;
}
// Overlap?
const Box3F &collisionConvexBox = convexShape->getBoundingBox();
if ( convexBox.isOverlapped( collisionConvexBox ) )
{
// Build Contact Information.
convexShape->getPolyList( &sExtrudedPolyList );
}
}
// Valid Collision?
if ( sCollisionList.getCount() == 0 || sCollisionList.getTime() < 0.f || sCollisionList.getTime() > 1.f )
{
// No, Quit Now.
return false;
}
// Use First Collision.
Collision *collision = &sCollisionList[0];
// More Collisions?
if ( sCollisionList.getCount() > 1 )
{
// Check for Better Contacts.
for ( Collision *cp = ( collision + 1 ); cp != ( collision + sCollisionList.getCount() ); cp++ )
{
if ( cp->faceDot > collision->faceDot )
{
// Use this One.
collision = cp;
}
}
}
// Set Properties.
pContactObject = collision->object;
//pContactPoint = collision->point;
pContactPoint = ( preTickPosition + ( preTickVelocity * TickSec * sCollisionList.getTime() ) );
pContactNormal = collision->normal;
// Valid Contact.
return true;
}
//-----------------------------------------------------------------------------
//
// VActorPhysicsController::findCollision( pCollision );
//
// ...
//
//-----------------------------------------------------------------------------
bool VActorPhysicsController::findCollision( Collision *&pCollision )
{
// Setup Collision List.
static CollisionList sCollisionList;
sCollisionList.clear();
static Polyhedron sBoxPolyhedron;
static ExtrudedPolyList sExtrudedPolyList;
// Determine Positions.
const Point3F preTickPosition = getPosition();
const VectorF preTickVelocity = getVelocity();
const Point3F postTickPosition = preTickPosition + ( preTickVelocity * TickSec );
const VectorF postTickVector = postTickPosition - preTickPosition;
// Construct Scaled Box.
Box3F scaledBox = mObject->getObjBox();
scaledBox.minExtents.convolve( mObject->getScale() );
scaledBox.maxExtents.convolve( mObject->getScale() );
// Setup Polyherdron.
MatrixF collisionMatrix( true );
collisionMatrix.setPosition( preTickPosition );
sBoxPolyhedron.buildBox( collisionMatrix, scaledBox );
// Setup Extruded Poly List.
sExtrudedPolyList.extrude( sBoxPolyhedron, postTickVector );
sExtrudedPolyList.setVelocity( preTickVelocity );
sExtrudedPolyList.setCollisionList( &sCollisionList );
// Construct World Convex Box & Adjust for Sweep.
Box3F convexBox = scaledBox;
getTransform().mul( convexBox );
convexBox.minExtents += postTickVector;
convexBox.maxExtents += postTickVector;
// Determine the Collision Mask.
const U32 collisionMask = ( isInWater() ) ? ( sGroundCollisionMask | sMoveCollisionMask ) : sMoveCollisionMask;
// Build List of Contacts.
CollisionWorkingList &rList = mConvex.getWorkingList();
for ( CollisionWorkingList *pList = rList.wLink.mNext; pList != &rList; pList = pList->wLink.mNext )
{
Convex *convexShape = pList->mConvex;
// Valid Collision Target?
if ( !( convexShape->getObject()->getTypeMask() & collisionMask ) )
{
// No, Continue.
continue;
}
// Overlap?
const Box3F &collisionConvexBox = convexShape->getBoundingBox();
if ( convexBox.isOverlapped( collisionConvexBox ) )
{
// Build Contact Information.
convexShape->getPolyList( &sExtrudedPolyList );
}
}
// Valid Collision?
if ( sCollisionList.getCount() == 0 || sCollisionList.getTime() > 1.f )
{
// No, Quit Now.
return false;
}
// Use First Collision.
Collision *collision = &sCollisionList[0];
// More Collisions?
if ( sCollisionList.getCount() > 1 )
{
// Check for Better Contacts.
for ( Collision *cp = ( collision + 1 ); cp != ( collision + sCollisionList.getCount() ); cp++ )
{
if ( cp->faceDot > collision->faceDot )
{
// Use this One.
collision = cp;
}
}
}
// Store Reference.
pCollision = collision;
// Valid Collision.
return true;
}
void Etherform::_findContact( SceneObject **contactObject,
VectorF *contactNormal,
Vector<SceneObject*> *outOverlapObjects )
{
Point3F pos;
getTransform().getColumn(3,&pos);
Box3F wBox;
Point3F exp(0,0,sTractionDistance);
wBox.minExtents = pos + mScaledBox.minExtents - exp;
wBox.maxExtents.x = pos.x + mScaledBox.maxExtents.x;
wBox.maxExtents.y = pos.y + mScaledBox.maxExtents.y;
wBox.maxExtents.z = pos.z + mScaledBox.minExtents.z + sTractionDistance;
static ClippedPolyList polyList;
polyList.clear();
polyList.doConstruct();
polyList.mNormal.set(0.0f, 0.0f, 0.0f);
polyList.setInterestNormal(Point3F(0.0f, 0.0f, -1.0f));
polyList.mPlaneList.setSize(6);
polyList.mPlaneList[0].setYZ(wBox.minExtents, -1.0f);
polyList.mPlaneList[1].setXZ(wBox.maxExtents, 1.0f);
polyList.mPlaneList[2].setYZ(wBox.maxExtents, 1.0f);
polyList.mPlaneList[3].setXZ(wBox.minExtents, -1.0f);
polyList.mPlaneList[4].setXY(wBox.minExtents, -1.0f);
polyList.mPlaneList[5].setXY(wBox.maxExtents, 1.0f);
Box3F plistBox = wBox;
// Expand build box as it will be used to collide with items.
// PickupRadius will be at least the size of the box.
F32 pd = 0;
wBox.minExtents.x -= pd; wBox.minExtents.y -= pd;
wBox.maxExtents.x += pd; wBox.maxExtents.y += pd;
wBox.maxExtents.z = pos.z + mScaledBox.maxExtents.z;
// Build list from convex states here...
CollisionWorkingList& rList = mConvex.getWorkingList();
CollisionWorkingList* pList = rList.wLink.mNext;
while (pList != &rList)
{
Convex* pConvex = pList->mConvex;
U32 objectMask = pConvex->getObject()->getTypeMask();
if ( ( objectMask & sCollisionMoveMask ) &&
!( objectMask & PhysicalZoneObjectType ) )
{
Box3F convexBox = pConvex->getBoundingBox();
if (plistBox.isOverlapped(convexBox))
pConvex->getPolyList(&polyList);
}
else
outOverlapObjects->push_back( pConvex->getObject() );
pList = pList->wLink.mNext;
}
if (!polyList.isEmpty())
{
// Pick flattest surface
F32 bestVd = -1.0f;
ClippedPolyList::Poly* poly = polyList.mPolyList.begin();
ClippedPolyList::Poly* end = polyList.mPolyList.end();
for (; poly != end; poly++)
{
F32 vd = poly->plane.z; // i.e. mDot(Point3F(0,0,1), poly->plane);
if (vd > bestVd)
{
bestVd = vd;
*contactObject = poly->object;
*contactNormal = poly->plane;
}
}
}
}
Point3F Etherform::_move( const F32 travelTime, Collision *outCol )
{
// Try and move to new pos
F32 totalMotion = 0.0f;
// TODO: not used?
//F32 initialSpeed = mVelocity.len();
Point3F start;
Point3F initialPosition;
getTransform().getColumn(3,&start);
initialPosition = start;
static CollisionList collisionList;
static CollisionList physZoneCollisionList;
collisionList.clear();
physZoneCollisionList.clear();
MatrixF collisionMatrix(true);
collisionMatrix.setColumn(3, start);
VectorF firstNormal(0.0f, 0.0f, 0.0f);
F32 time = travelTime;
U32 count = 0;
static Polyhedron sBoxPolyhedron;
static ExtrudedPolyList sExtrudedPolyList;
static ExtrudedPolyList sPhysZonePolyList;
for (; count < sMoveRetryCount; count++) {
F32 speed = mVelocity.len();
if(!speed)
break;
Point3F end = start + mVelocity * time;
Point3F distance = end - start;
if (mFabs(distance.x) < mObjBox.len_x() &&
mFabs(distance.y) < mObjBox.len_y() &&
mFabs(distance.z) < mObjBox.len_z())
{
// We can potentially early out of this. If there are no polys in the clipped polylist at our
// end position, then we can bail, and just set start = end;
Box3F wBox = mScaledBox;
wBox.minExtents += end;
wBox.maxExtents += end;
static EarlyOutPolyList eaPolyList;
eaPolyList.clear();
eaPolyList.mNormal.set(0.0f, 0.0f, 0.0f);
eaPolyList.mPlaneList.clear();
eaPolyList.mPlaneList.setSize(6);
eaPolyList.mPlaneList[0].set(wBox.minExtents,VectorF(-1.0f, 0.0f, 0.0f));
eaPolyList.mPlaneList[1].set(wBox.maxExtents,VectorF(0.0f, 1.0f, 0.0f));
eaPolyList.mPlaneList[2].set(wBox.maxExtents,VectorF(1.0f, 0.0f, 0.0f));
eaPolyList.mPlaneList[3].set(wBox.minExtents,VectorF(0.0f, -1.0f, 0.0f));
eaPolyList.mPlaneList[4].set(wBox.minExtents,VectorF(0.0f, 0.0f, -1.0f));
eaPolyList.mPlaneList[5].set(wBox.maxExtents,VectorF(0.0f, 0.0f, 1.0f));
// Build list from convex states here...
CollisionWorkingList& rList = mConvex.getWorkingList();
CollisionWorkingList* pList = rList.wLink.mNext;
while (pList != &rList) {
Convex* pConvex = pList->mConvex;
if (pConvex->getObject()->getTypeMask() & sCollisionMoveMask) {
Box3F convexBox = pConvex->getBoundingBox();
if (wBox.isOverlapped(convexBox))
{
// No need to separate out the physical zones here, we want those
// to cause a fallthrough as well...
pConvex->getPolyList(&eaPolyList);
}
}
pList = pList->wLink.mNext;
}
if (eaPolyList.isEmpty())
{
totalMotion += (end - start).len();
start = end;
break;
}
}
collisionMatrix.setColumn(3, start);
sBoxPolyhedron.buildBox(collisionMatrix, mScaledBox, true);
// Setup the bounding box for the extrudedPolyList
Box3F plistBox = mScaledBox;
collisionMatrix.mul(plistBox);
Point3F oldMin = plistBox.minExtents;
Point3F oldMax = plistBox.maxExtents;
plistBox.minExtents.setMin(oldMin + (mVelocity * time) - Point3F(0.1f, 0.1f, 0.1f));
plistBox.maxExtents.setMax(oldMax + (mVelocity * time) + Point3F(0.1f, 0.1f, 0.1f));
// Build extruded polyList...
VectorF vector = end - start;
sExtrudedPolyList.extrude(sBoxPolyhedron,vector);
sExtrudedPolyList.setVelocity(mVelocity);
sExtrudedPolyList.setCollisionList(&collisionList);
sPhysZonePolyList.extrude(sBoxPolyhedron,vector);
sPhysZonePolyList.setVelocity(mVelocity);
sPhysZonePolyList.setCollisionList(&physZoneCollisionList);
// Build list from convex states here...
CollisionWorkingList& rList = mConvex.getWorkingList();
CollisionWorkingList* pList = rList.wLink.mNext;
while (pList != &rList) {
Convex* pConvex = pList->mConvex;
if (pConvex->getObject()->getTypeMask() & sCollisionMoveMask) {
Box3F convexBox = pConvex->getBoundingBox();
if (plistBox.isOverlapped(convexBox))
{
if (pConvex->getObject()->getTypeMask() & PhysicalZoneObjectType)
pConvex->getPolyList(&sPhysZonePolyList);
else
pConvex->getPolyList(&sExtrudedPolyList);
}
}
pList = pList->wLink.mNext;
}
// Take into account any physical zones...
for (U32 j = 0; j < physZoneCollisionList.getCount(); j++)
{
AssertFatal(dynamic_cast<PhysicalZone*>(physZoneCollisionList[j].object), "Bad phys zone!");
const PhysicalZone* pZone = (PhysicalZone*)physZoneCollisionList[j].object;
if (pZone->isActive())
mVelocity *= pZone->getVelocityMod();
}
if (collisionList.getCount() != 0 && collisionList.getTime() < 1.0f)
{
// Set to collision point
F32 velLen = mVelocity.len();
F32 dt = time * getMin(collisionList.getTime(), 1.0f);
start += mVelocity * dt;
time -= dt;
totalMotion += velLen * dt;
// Back off...
if ( velLen > 0.f ) {
F32 newT = getMin(0.01f / velLen, dt);
start -= mVelocity * newT;
totalMotion -= velLen * newT;
}
// Pick the surface most parallel to the face that was hit.
const Collision *collision = &collisionList[0];
const Collision *cp = collision + 1;
const Collision *ep = collision + collisionList.getCount();
for (; cp != ep; cp++)
{
if (cp->faceDot > collision->faceDot)
collision = cp;
}
F32 bd = -mDot(mVelocity, collision->normal);
// Copy this collision out so
// we can use it to do impacts
// and query collision.
*outCol = *collision;
// Subtract out velocity
VectorF dv = collision->normal * (bd + sNormalElasticity);
mVelocity += dv;
if (count == 0)
{
firstNormal = collision->normal;
}
else
{
if (count == 1)
{
// Re-orient velocity along the crease.
if (mDot(dv,firstNormal) < 0.0f &&
mDot(collision->normal,firstNormal) < 0.0f)
{
VectorF nv;
mCross(collision->normal,firstNormal,&nv);
F32 nvl = nv.len();
if (nvl)
{
if (mDot(nv,mVelocity) < 0.0f)
nvl = -nvl;
nv *= mVelocity.len() / nvl;
mVelocity = nv;
}
}
}
}
}
else
{
totalMotion += (end - start).len();
start = end;
break;
}
}
if (count == sMoveRetryCount)
{
// Failed to move
start = initialPosition;
mVelocity.set(0.0f, 0.0f, 0.0f);
}
return start;
}