//-----------------------------------------------------------------------------
// Computes the spheremap color at a particular (x,y) texcoord
//-----------------------------------------------------------------------------
static void CalcSphereColor( SphereCalc_t *pCalc, float x, float y )
{
Vector normal;
float flRadiusSq = x*x + y*y;
if (flRadiusSq > pCalc->m_flRadiusSq)
{
// Force a glancing reflection
normal.Init( 0, 1, 0 );
}
else
{
// Compute the z distance based on x*x + y*y + z*z = r*r
float z = sqrt( pCalc->m_flRadiusSq - flRadiusSq );
// Here's the untransformed surface normal
normal.Init( x, y, z );
normal *= pCalc->m_flOORadius;
}
// Transform the normal based on the actual view direction
TransformNormal( pCalc, normal );
// Compute the reflection vector (full spheremap solution)
// R = 2 * (N dot L)N - L
Vector vecReflect;
float nDotL = DotProduct( normal, pCalc->m_vecLookDir );
VectorMA( pCalc->m_vecLookDir, -2.0f * nDotL, normal, vecReflect );
vecReflect *= -1.0f;
int iFace = CalcFaceIndex( vecReflect );
CalcColor( pCalc, iFace, vecReflect, pCalc->m_pColor );
}
void Transformation(const Real O[restrict], const Real scale[restrict], const Real angle[restrict],
const Real offset[restrict], Polyhedron *poly)
{
const RealVec Sin = {sin(angle[X]), sin(angle[Y]), sin(angle[Z])};
const RealVec Cos = {cos(angle[X]), cos(angle[Y]), cos(angle[Z])};
const Real rotate[DIMS][DIMS] = { /* point rotation matrix */
{Cos[Y]*Cos[Z], -Cos[X]*Sin[Z]+Sin[X]*Sin[Y]*Cos[Z], Sin[X]*Sin[Z]+Cos[X]*Sin[Y]*Cos[Z]},
{Cos[Y]*Sin[Z], Cos[X]*Cos[Z]+Sin[X]*Sin[Y]*Sin[Z], -Sin[X]*Cos[Z]+Cos[X]*Sin[Y]*Sin[Z]},
{-Sin[Y], Sin[X]*Cos[Y], Cos[X]*Cos[Y]}};
const Real invrot[DIMS][DIMS] = { /* inverse rotation matrix */
{rotate[0][0], rotate[1][0], rotate[2][0]},
{rotate[0][1], rotate[1][1], rotate[2][1]},
{rotate[0][2], rotate[1][2], rotate[2][2]}};
const Real num = 1.0 / sqrt(2.0);
const Real axe[6][DIMS] = { /* direction vector of axis xx, yy, zz, xy, yz, zx */
{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, 1.0},
{num, num, 0.0}, {0.0, num, num}, {num, 0.0, num}};
RealVec axis = {0.0}; /* direction vector of axis in rotated frame */
Real I[6] = {0.0}; /* inertia tensor after rotation */
/* transforming vertex and build the new bounding box */
for (int s = 0; s < DIMS; ++s) {
poly->box[s][MIN] = FLT_MAX;
poly->box[s][MAX] = FLT_MIN;
}
TransformVertex(O, scale, rotate, offset, poly->box, poly->vertN, poly->v);
/* transforming normal assuming pure rotation and translation */
TransformNormal(rotate, poly->faceN, poly->Nf);
TransformNormal(rotate, poly->edgeN, poly->Ne);
TransformNormal(rotate, poly->vertN, poly->Nv);
/* transform inertial tensor */
for (int n = 0; n < 6; ++n) {
axis[X] = Dot(invrot[X], axe[n]);
axis[Y] = Dot(invrot[Y], axe[n]);
axis[Z] = Dot(invrot[Z], axe[n]);
I[n] = TransformInertia(axis, poly->I);
}
poly->I[X][X] = I[0]; poly->I[X][Y] = -I[3]; poly->I[X][Z] = -I[5];
poly->I[Y][X] = -I[3]; poly->I[Y][Y] = I[1]; poly->I[Y][Z] = -I[4];
poly->I[Z][X] = -I[5]; poly->I[Z][Y] = -I[4]; poly->I[Z][Z] = I[2];
/* centroid should be transformed at last */
Real Oc[1][DIMS] = {{poly->O[X], poly->O[Y], poly->O[Z]}};
TransformVertex(O, scale, rotate, offset, poly->box, 1, Oc);
poly->O[X] = Oc[0][X];
poly->O[Y] = Oc[0][Y];
poly->O[Z] = Oc[0][Z];
return;
}
float Trans_Mesh::Ray_Tri_Intersect(const vec3& rayorig, const vec3& raydir, mat4& world, uint16_t startindex, uint16_t numindices) const{
world.inverse();
vec3 org(rayorig*world), di(raydir);// transform these to the mesh's space so the checks are in object space, not world space
TransformNormal(di, world);
// do all checks in OBJECT SPACE!!!
di*=20000.0f;//make sure the ray is long enough
return RayTriangleIntersect(org, di, &Vertices[0], &Indices[startindex],numindices);
}
float Animated_Mesh::Ray_BV_Intersect(const vec3& rayorig, const vec3& raydir) {
mat4 inverseW(GetWorld());
inverseW.inverse();
vec3 org(rayorig*inverseW), di(raydir);// transform these to the mesh's space so the checks are in object space, not world space
TransformNormal(di, inverseW);
// do all checks in OBJECT SPACE!!!
di*=20000.0f;//make sure the ray is long enough
return Bounding_Volume.RayIntersect(org, di);
}
float Animated_Mesh::Ray_Tri_Intersect(const vec3& rayorig, const vec3& raydir) {
mat4 inverseW(GetWorld());
inverseW.inverse();
vec3 org(rayorig*inverseW), di(raydir);// transform these to the mesh's space so the checks are in object space, not world space
TransformNormal(di, inverseW);
// do all checks in OBJECT SPACE!!!
di*=20000.0f;//make sure the ray is long enough
if(Bounding_Volume.RayIntersect(org, di) == INFINITY) return INFINITY;// did not hit the aabb, therefore, we did not hit the object
if(IB.Stride == 4){
return RayTriangleIntersect(org, di, &Vertices[0], reinterpret_cast<const uint32_t*>(&Indices[0]),Indices.size()/2);
} else {
return RayTriangleIntersect(org, di, &Vertices[0],&Indices[0],Indices.size());
}
}
bool Unit::InsideCollideTree( Unit *smaller,
QVector &bigpos,
Vector &bigNormal,
QVector &smallpos,
Vector &smallNormal,
bool bigasteroid,
bool smallasteroid )
{
if (smaller->colTrees == NULL || this->colTrees == NULL)
return false;
if (hull < 0) return false;
if (smaller->colTrees->usingColTree() == false || this->colTrees->usingColTree() == false)
return false;
csOPCODECollider::ResetCollisionPairs();
Unit *bigger = this;
csReversibleTransform bigtransform( bigger->cumulative_transformation_matrix );
csReversibleTransform smalltransform( smaller->cumulative_transformation_matrix );
smalltransform.SetO2TTranslation( csVector3( smaller->cumulative_transformation_matrix.p
-bigger->cumulative_transformation_matrix.p ) );
bigtransform.SetO2TTranslation( csVector3( 0, 0, 0 ) );
//we're only gonna lerp the positions for speed here... gahh!
// Check for shield collisions here prior to checking for mesh on mesh or ray collisions below.
csOPCODECollider *tmpCol = smaller->colTrees->colTree( smaller, bigger->GetWarpVelocity() );
if ( tmpCol
&& ( tmpCol->Collide( *bigger->colTrees->colTree( bigger,
smaller->GetWarpVelocity() ), &smalltransform, &bigtransform ) ) ) {
csCollisionPair *mycollide = csOPCODECollider::GetCollisions();
unsigned int numHits = csOPCODECollider::GetCollisionPairCount();
if (numHits) {
smallpos.Set( (mycollide[0].a1.x+mycollide[0].b1.x+mycollide[0].c1.x)/3.0f,
(mycollide[0].a1.y+mycollide[0].b1.y+mycollide[0].c1.y)/3.0f,
(mycollide[0].a1.z+mycollide[0].b1.z+mycollide[0].c1.z)/3.0f );
smallpos = Transform( smaller->cumulative_transformation_matrix, smallpos );
bigpos.Set( (mycollide[0].a2.x+mycollide[0].b2.x+mycollide[0].c2.x)/3.0f,
(mycollide[0].a2.y+mycollide[0].b2.y+mycollide[0].c2.y)/3.0f,
(mycollide[0].a2.z+mycollide[0].b2.z+mycollide[0].c2.z)/3.0f );
bigpos = Transform( bigger->cumulative_transformation_matrix, bigpos );
csVector3 sn, bn;
sn.Cross( mycollide[0].b1-mycollide[0].a1, mycollide[0].c1-mycollide[0].a1 );
bn.Cross( mycollide[0].b2-mycollide[0].a2, mycollide[0].c2-mycollide[0].a2 );
sn.Normalize();
bn.Normalize();
smallNormal.Set( sn.x, sn.y, sn.z );
bigNormal.Set( bn.x, bn.y, bn.z );
smallNormal = TransformNormal( smaller->cumulative_transformation_matrix, smallNormal );
bigNormal = TransformNormal( bigger->cumulative_transformation_matrix, bigNormal );
return true;
}
}
un_iter i;
static float rsizelim = XMLSupport::parse_float( vs_config->getVariable( "physics", "smallest_subunit_to_collide", ".2" ) );
clsptr bigtype = bigasteroid ? ASTEROIDPTR : bigger->isUnit();
clsptr smalltype = smallasteroid ? ASTEROIDPTR : smaller->isUnit();
if ( bigger->SubUnits.empty() == false
&& (bigger->graphicOptions.RecurseIntoSubUnitsOnCollision == true || bigtype == ASTEROIDPTR) ) {
i = bigger->getSubUnits();
float rad = smaller->rSize();
for (Unit *un; (un = *i); ++i) {
float subrad = un->rSize();
if ( (bigtype != ASTEROIDPTR) && (subrad/bigger->rSize() < rsizelim) ) {
break;
}
if ( ( un->Position()-smaller->Position() ).Magnitude() <= subrad+rad ) {
if ( ( un->InsideCollideTree( smaller, bigpos, bigNormal, smallpos, smallNormal, bigtype == ASTEROIDPTR,
smalltype == ASTEROIDPTR ) ) )
return true;
}
}
}
if ( smaller->SubUnits.empty() == false
&& (smaller->graphicOptions.RecurseIntoSubUnitsOnCollision == true || smalltype == ASTEROIDPTR) ) {
i = smaller->getSubUnits();
float rad = bigger->rSize();
for (Unit *un; (un = *i); ++i) {
float subrad = un->rSize();
if ( (smalltype != ASTEROIDPTR) && (subrad/smaller->rSize() < rsizelim) )
break;
if ( ( un->Position()-bigger->Position() ).Magnitude() <= subrad+rad ) {
if ( ( bigger->InsideCollideTree( un, bigpos, bigNormal, smallpos, smallNormal, bigtype == ASTEROIDPTR,
smalltype == ASTEROIDPTR ) ) )
return true;
}
}
}
//FIXME
//doesn't check all i*j options of subunits vs subunits
return false;
}
void GameUnit<UnitType>::UpdatePhysics2 (const Transformation &trans, const Transformation & old_physical_state, const Vector & accel, float difficulty, const Matrix &transmat, const Vector & cum_vel, bool lastframe, UnitCollection *uc) {
int player = -1;
UnitType::UpdatePhysics2( trans, old_physical_state, accel, difficulty, transmat, cum_vel, lastframe, uc);
// Here send (new position + direction = curr_physical_state.position and .orientation)
// + speed to server (which velocity is to consider ?)
// + maybe Angular velocity to anticipate rotations in the other network clients
if( Network!=NULL)
{
//cout<<"SEND UPDATE"<<endl;
// Check if this is a player, because in network mode we should only send updates of our moves
player= _Universe->whichPlayerStarship( this);
if( player>=0 /* && this->networked */ )
{
if (Network[0].isTime()) {
//cout<<"Player number : "<<player<<endl;
// (NetForce + Transform (ship_matrix,NetLocalForce) )/mass = GLOBAL ACCELERATION
//curr_physical_state.position = curr_physical_state.position + (Velocity*SIMULATION_ATOM*difficulty).Cast();
// If we want to inter(extra)polate sent position, DO IT HERE
// if( !(old_physical_state.position == this->curr_physical_state.position && old_physical_state.orientation == this->curr_physical_state.orientation) )
// We moved so update
{
/* If you're going to send an alive message, you might as well send your position while you're at it. */
ClientState cstmp( this->serial, this->curr_physical_state, this->Velocity, accel, this->AngularVelocity, 0);
Network[player].sendPosition( &cstmp);
}
// else
// {
// // Say we are still alive
// Network[player].sendAlive();
// }
}
this->AddVelocity(difficulty);
}
else
{
// Not a player so update the unit's position and stuff with the last received snapshot from the server
// This may be be a bot or a unit controlled by the server
if( !this->networked)
// Case it is a local unit
this->AddVelocity(difficulty);
else
{
// Networked unit so interpolate its position
this->AddVelocity(difficulty);
this->curr_physical_state = Network[0].Interpolate( this, SIMULATION_ATOM);
}
}
}
else
{
this->AddVelocity(difficulty);
}
#ifdef DEPRECATEDPLANETSTUFF
if (planet) {
Matrix basis;
curr_physical_state.to_matrix (this->cumulative_transformation_matrix);
Vector p,q,r,c;
MatrixToVectors (this->cumulative_transformation_matrix,p,q,r,c);
planet->trans->InvTransformBasis (this->cumulative_transformation_matrix,p,q,r,c);
planet->cps=Transformation::from_matrix (this->cumulative_transformation_matrix);
}
#endif
this->cumulative_transformation = this->curr_physical_state;
this->cumulative_transformation.Compose (trans,transmat);
this->cumulative_transformation.to_matrix (this->cumulative_transformation_matrix);
this->cumulative_velocity = TransformNormal (transmat,this->Velocity)+cum_vel;
Transformation * ct;
Matrix * ctm=NULL;
unsigned int i;
if (lastframe) {
char tmp=0;
double blah=queryTime();
for (i=0;i<this->meshdata.size();i++) {
if (!this->meshdata[i])
continue;
tmp |=this->meshdata[i]->HasBeenDrawn();
if (!this->meshdata[i]->HasBeenDrawn()) {
this->meshdata[i]->UpdateFX(SIMULATION_ATOM);
}
this->meshdata[i]->UnDraw();
}
double blah1=queryTime();
if (!tmp&&this->hull<0) {
Explode(false,SIMULATION_ATOM);
}
double blah2=queryTime();
if (blah2-blah1>.001||blah1-blah>.001) {
//printf ("Too much time in physics: fx: %f exp: %f \n",blah1-blah,blah2-blah1);
}
}
//UnitType::UpdatePhysics2 (trans,old_physical_state,accel,difficulty,transmat, cum_vel, lastframe,uc);
}
Vector3 CVector3::TransformNormal(Vector3 normal, Matrix matrix)
{
TransformNormal(normal, matrix, normal);
return normal;
}
