void ResolveInterActorCollisions(const float dt, PointColDetector &interPointCD,
const int free_collcab, int collcabs[], int cabs[],
collcab_rate_t inter_collcabrate[], node_t nodes[],
const float collrange,
ground_model_t &submesh_ground_model)
{
Actor** actor_slots = RoR::App::GetSimController()->GetBeamFactory()->GetInternalActorSlots();
for (int i=0; i<free_collcab; i++)
{
if (inter_collcabrate[i].rate > 0)
{
inter_collcabrate[i].distance++;
inter_collcabrate[i].rate--;
continue;
}
inter_collcabrate[i].rate = std::min(inter_collcabrate[i].distance, 12);
inter_collcabrate[i].distance = 0;
int tmpv = collcabs[i]*3;
const auto no = &nodes[cabs[tmpv]];
const auto na = &nodes[cabs[tmpv+1]];
const auto nb = &nodes[cabs[tmpv+2]];
interPointCD.query(no->AbsPosition
, na->AbsPosition
, nb->AbsPosition, collrange);
if (interPointCD.hit_count > 0)
{
// setup transformation of points to triangle local coordinates
const Triangle triangle(na->AbsPosition, nb->AbsPosition, no->AbsPosition);
const CartesianToTriangleTransform transform(triangle);
for (int h=0; h<interPointCD.hit_count; h++)
{
const auto hitnodeid = interPointCD.hit_list[h]->node_id;
const auto hit_actor_id = interPointCD.hit_list[h]->actor_id;
const auto hitnode = &actor_slots[hit_actor_id]->ar_nodes[hitnodeid];
const Actor* hit_actor = actor_slots[hit_actor_id];
// transform point to triangle local coordinates
const auto local_point = transform(hitnode->AbsPosition);
// collision test
const bool is_colliding = InsideTriangleTest(local_point, collrange);
if (is_colliding)
{
inter_collcabrate[i].rate = 0;
const auto coord = local_point.barycentric;
auto distance = local_point.distance;
auto normal = triangle.normal();
// adapt in case the collision is occuring on the backface of the triangle
const auto neighbour_node_ids = hit_actor->ar_node_to_node_connections[hitnodeid];
const bool is_backface = BackfaceCollisionTest(distance, normal, *no, neighbour_node_ids, hit_actor->ar_nodes);
if (is_backface)
{
// flip surface normal and distance to triangle plane
normal = -normal;
distance = -distance;
}
const auto penetration_depth = collrange - distance;
ResolveCollisionForces(penetration_depth, *hitnode, *na, *nb, *no, coord.alpha,
coord.beta, coord.gamma, normal, dt, submesh_ground_model);
}
}
}
else
{
inter_collcabrate[i].rate++;
}
}
}
void ResolveIntraActorCollisions(const float dt, PointColDetector &intraPointCD,
const int free_collcab, int collcabs[], int cabs[],
collcab_rate_t intra_collcabrate[], node_t nodes[],
const float collrange,
ground_model_t &submesh_ground_model)
{
for (int i=0; i<free_collcab; i++)
{
if (intra_collcabrate[i].rate > 0)
{
intra_collcabrate[i].distance++;
intra_collcabrate[i].rate--;
continue;
}
if (intra_collcabrate[i].distance > 0)
{
intra_collcabrate[i].rate = std::min(intra_collcabrate[i].distance, 12);
intra_collcabrate[i].distance = 0;
}
int tmpv = collcabs[i]*3;
const auto no = &nodes[cabs[tmpv]];
const auto na = &nodes[cabs[tmpv+1]];
const auto nb = &nodes[cabs[tmpv+2]];
intraPointCD.query(no->AbsPosition
, na->AbsPosition
, nb->AbsPosition, collrange);
bool collision = false;
if (intraPointCD.hit_count > 0)
{
// setup transformation of points to triangle local coordinates
const Triangle triangle(na->AbsPosition, nb->AbsPosition, no->AbsPosition);
const CartesianToTriangleTransform transform(triangle);
for (int h=0; h<intraPointCD.hit_count; h++)
{
const auto hitnodeid = intraPointCD.hit_list[h]->node_id;
const auto hitnode = &nodes[hitnodeid];
//ignore wheel/chassis self contact
if (hitnode->iswheel) continue;
if (no == hitnode || na == hitnode || nb == hitnode) continue;
// transform point to triangle local coordinates
const auto local_point = transform(hitnode->AbsPosition);
// collision test
const bool is_colliding = InsideTriangleTest(local_point, collrange);
if (is_colliding)
{
collision = true;
const auto coord = local_point.barycentric;
auto distance = local_point.distance;
auto normal = triangle.normal();
// adapt in case the collision is occuring on the backface of the triangle
if (distance < 0)
{
// flip surface normal and distance to triangle plane
normal = -normal;
distance = -distance;
}
const auto penetration_depth = collrange - distance;
ResolveCollisionForces(penetration_depth, *hitnode, *na, *nb, *no, coord.alpha,
coord.beta, coord.gamma, normal, dt, submesh_ground_model);
}
}
}
if (collision)
{
intra_collcabrate[i].rate = -20000;
}
else
{
intra_collcabrate[i].rate++;
}
}
}
void ResolveInterActorCollisions(const float dt, PointColDetector &interPointCD,
const int free_collcab, int collcabs[], int cabs[],
collcab_rate_t inter_collcabrate[], node_t nodes[],
const float collrange,
ground_model_t &submesh_ground_model)
{
for (int i=0; i<free_collcab; i++)
{
if (inter_collcabrate[i].rate > 0)
{
inter_collcabrate[i].distance++;
inter_collcabrate[i].rate--;
continue;
}
inter_collcabrate[i].rate = std::min(inter_collcabrate[i].distance, 12);
inter_collcabrate[i].distance = 0;
int tmpv = collcabs[i]*3;
const auto no = &nodes[cabs[tmpv]];
const auto na = &nodes[cabs[tmpv+1]];
const auto nb = &nodes[cabs[tmpv+2]];
interPointCD.query(no->AbsPosition
, na->AbsPosition
, nb->AbsPosition, collrange);
if (!interPointCD.hit_list.empty())
{
// setup transformation of points to triangle local coordinates
const Triangle triangle(na->AbsPosition, nb->AbsPosition, no->AbsPosition);
const CartesianToTriangleTransform transform(triangle);
for (auto h : interPointCD.hit_list)
{
const auto hit_actor = h->actor;
const auto hitnode = &hit_actor->ar_nodes[h->node_id];
// transform point to triangle local coordinates
const auto local_point = transform(hitnode->AbsPosition);
// collision test
const bool is_colliding = InsideTriangleTest(local_point, collrange);
if (is_colliding)
{
inter_collcabrate[i].rate = 0;
const auto coord = local_point.barycentric;
auto distance = local_point.distance;
auto normal = triangle.normal();
// adapt in case the collision is occuring on the backface of the triangle
const auto neighbour_node_ids = hit_actor->ar_node_to_node_connections[h->node_id];
const bool is_backface = BackfaceCollisionTest(distance, normal, *no, neighbour_node_ids, hit_actor->ar_nodes);
if (is_backface)
{
// flip surface normal and distance to triangle plane
normal = -normal;
distance = -distance;
}
const auto penetration_depth = collrange - distance;
const bool remote = (hit_actor->ar_sim_state == Actor::SimState::NETWORKED_OK);
ResolveCollisionForces(penetration_depth, *hitnode, *na, *nb, *no, coord.alpha,
coord.beta, coord.gamma, normal, dt, remote, submesh_ground_model);
hitnode->nd_last_collision_gm = &submesh_ground_model;
hitnode->nd_has_mesh_contact = true;
na->nd_has_mesh_contact = true;
nb->nd_has_mesh_contact = true;
no->nd_has_mesh_contact = true;
}
}
}
else
{
inter_collcabrate[i].rate++;
}
}
}
