void btGImpactMeshShapePart::processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom, const btVector3& rayTo) const
{
lockChildShapes();
btAlignedObjectArray<int> collided;
btVector3 rayDir(rayTo - rayFrom);
rayDir.normalize();
m_box_set.rayQuery(rayDir, rayFrom, collided);
if(collided.size()==0)
{
unlockChildShapes();
return;
}
int part = (int)getPart();
btPrimitiveTriangle triangle;
int i = collided.size();
while(i--)
{
getPrimitiveTriangle(collided[i],triangle);
callback->processTriangle(triangle.m_vertices,part,collided[i]);
}
unlockChildShapes();
}
void Physics::update(Game *game)
{
// Prepare for simulation. Typically we use a time step of 1/60 of a
// second (60Hz) and 10 iterations. This provides a high quality simulation
// in most game scenarios.
float32 timeStep = 1.0f / 60.0f;
int32 velocityIterations = 6;
int32 positionIterations = 2;
// This is our little game loop.
for (int32 i = 0; i < 60; ++i)
{
// Instruct the world to perform a single step of simulation.
// It is generally best to keep the time step and iterations fixed.
box2DWorld->Step(timeStep, velocityIterations, positionIterations);
}
list<b2Body*>::iterator bodiesIterator;
bodiesIterator = bodiesToDestroy.begin();
while (bodiesIterator != bodiesToDestroy.end())
{
b2Body* body = *bodiesIterator;
bodiesIterator++;
box2DWorld->DestroyBody(body);
}
bodiesToDestroy.clear();
if(explosionThisFrame)
{
list<Explosion*>::iterator explosionsIterator;
explosionsIterator = explosions.begin();
while (explosionsIterator != explosions.end())
{
Explosion* explosion = *explosionsIterator;
explosionsIterator++;
int numRays = explosion->numOfRays;
b2Vec2 center = explosion->explosionEpicenter;
float blastRadius = explosion->blastRadius;
for (int i = 0; i < numRays; i++)
{
float angle = (i / (float)numRays) * 360 * DEGTORAD;
b2Vec2 rayDir( sinf(angle), cosf(angle) );
b2Vec2 rayEnd = center + pixelsToMeters(blastRadius) * rayDir;
//check what this ray hits
ExplosionCallback callback;//basic callback to record body and hit point
box2DWorld->RayCast(&callback, center, rayEnd);
if ( callback.getClosestFixture() )
applyBlastImpulse(callback.getClosestFixture()->GetBody(), center, callback.getImplusePoint(), (explosion->blastPower / (float)numRays));
}
}
explosions.clear();
explosionThisFrame = false;
}
}
//----------------------------------------------------------------------------------------------------------------------
ngl::Vec3 NGLDraw::getWorldSpace(const int _x, const int _y)
{
ngl::Mat4 m;
m = m*m_mouseGlobalTX;
ngl::Mat4 t=m_cam->getProjectionMatrix();
ngl::Mat4 v=m_cam->getViewMatrix();
// as ngl:: and OpenGL use different formats need to transpose the matrix.
t.transpose();
v.transpose();
m.transpose();
ngl::Mat4 inverse=(t*v*m).inverse();
ngl::Vec4 tmp(0,0,-1.0f,1.0f);
// convert into NDC
tmp.m_x=(2.0f * _x) / m_width- 1.0f;
tmp.m_y=1.0f - (2.0f * _y) / m_height;
// scale by inverse MV * Project transform
ngl::Vec4 near(tmp.m_x,tmp.m_y,-1.0f,1.0f);
ngl::Vec4 far(tmp.m_x,tmp.m_y,1.0f,1.0f);
//get world point on near and far clipping planes
ngl::Vec4 obj_near=inverse*near;
ngl::Vec4 obj_far=inverse*far;
// Scale by w
obj_near/=obj_near.m_w;
obj_far/=obj_far.m_w;
ngl::Vec3 nearPoint(obj_near.m_x,obj_near.m_y,obj_near.m_z);
ngl::Vec3 farPoint(obj_far.m_x,obj_far.m_y,obj_far.m_z);
//create ray
ngl::Vec3 rayDir(farPoint-nearPoint);
if(rayDir.lengthSquared() == 0.0f)
{
std::cout<<"Ray Direction in getWorldSpace equals zero, can't normalise"<<std::endl;
}
else
{
rayDir.normalize();
}
//calculate distance to zx plane
float dist = (-nearPoint.m_y)/rayDir.m_y;
//set world space coordinate where y = 0
ngl::Vec3 obj(nearPoint.m_x + (dist*rayDir.m_x),nearPoint.m_y + (dist*rayDir.m_y),nearPoint.m_z + (dist*rayDir.m_z));
obj.m_y = 0.0;
return obj;
}
/**
* Picks a single scene object from the scene. If the object has a mesh collider, the picker will calculate the
* texture coordinates and barycentric coordinates of the corresponding hit-point. Note that this will do nothing
* if the scene object doesn't have a collider.
*/
void Picker::pickSceneObject(const SceneObject *scene_object, float ox, float oy, float oz, float dx, float dy, float dz, ColliderData &colliderData){
Collider* collider = scene_object->collider();
if(collider == nullptr){
return;
}
else if (collider->enabled() && scene_object->enabled()) {
glm::vec3 rayStart(ox, oy, oz);
glm::vec3 rayDir(dx, dy, dz);
colliderData = collider->isHit(rayStart, rayDir);
}
}
static Eigen::Vector3d mapToSphere(
Eigen::Matrix4d invProjMatrix,
Eigen::Vector2d const p,
Eigen::Vector3d viewSphereCenter,
double viewSpaceRadius) {
Eigen::Vector4d viewP = invProjMatrix * Eigen::Vector4d(p(0), p(1), -1.0, 1.0);
//viewP(0) /= viewP(3);
//viewP(1) /= viewP(3);
//viewP(2) /= viewP(3);
Eigen::Vector3d rayOrigin(0.0, 0.0, 0.0);
Eigen::Vector3d rayDir(viewP(0), viewP(1), viewP(2));
rayDir.normalize();
Eigen::Vector3d CO = rayOrigin - viewSphereCenter;
double a = 1.0;
double bPrime = CO.dot(rayDir);
double c = CO.dot(CO) - viewSpaceRadius * viewSpaceRadius;
double delta = bPrime * bPrime - a * c;
if (delta < 0.0) {
double t = -CO.z() / rayDir.z();
Eigen::Vector3d point = rayOrigin + t * rayDir;
Eigen::Vector3d dir = point - viewSphereCenter;
dir.normalize();
return viewSphereCenter + dir * viewSpaceRadius;
}
double root[2] = { (-bPrime - sqrt(delta)) / a, (-bPrime + sqrt(delta)) / a };
if (root[0] >= 0.0) {
Eigen::Vector3d intersectionPoint = rayOrigin + root[0] * rayDir;
return intersectionPoint;
}
else if (root[1] >= 0.0) {
Eigen::Vector3d intersectionPoint = rayOrigin + root[1] * rayDir;
return intersectionPoint;
}
else {
double t = -CO.z() / rayDir.z();
Eigen::Vector3d point = rayOrigin + t * rayDir;
Eigen::Vector3d dir = point - viewSphereCenter;
dir.normalize();
return viewSphereCenter + dir * viewSpaceRadius;
}
}
std::vector<vec3> Orthographic::render(std::vector<std::unique_ptr<WorldObject>> &objects,
std::vector<std::unique_ptr<Light>> &lights,
vec2 imageSize, double imageAspectRatio, int aaDepth) {
std::vector<vec3> frameBuffer;
for (int y = 0; y < imageSize.y; y++) {
for (int x = 0; x < imageSize.x; x++) {
vec3 pixel;
std::vector<vec3> aaData;
for (int aay = 0; aay < aaDepth; aay++) {
for (int aax = 0; aax < aaDepth; aax++) {
// normalize ray pos (-> NDC)
// add 0.5 so that the final ray passes through the middle of the pixel
pixel.x = (x + ((1.0 / (aaDepth - 1.0)) * aax)) / imageSize.x;
pixel.y = (y + ((1.0 / (aaDepth - 1.0)) * aay)) / imageSize.y;
// map from [0;1] to [-imageAspectRatio;imageAspectRatio]
pixel.x = 2.0 * pixel.x - 1.0;
pixel.x *= imageAspectRatio;
pixel.y = 1.0 - 2.0 * pixel.y;
double scale = tan(MyMath::degToRad(fov / 2.0));
pixel.x *= scale;
pixel.y *= scale;
vec3 rayOrig(-pixel.x, -pixel.y, 0.0f);
vec3 rayDir(0.0f, 0.0f, -1.0f);
rayDir -= rayOrig;
rayDir = rayDir.normalize();
Ray ray(rayOrig, rayDir);
aaData.push_back(ray.cast(objects, lights, 3));
}
}
vec3 sum;
for (vec3 color : aaData) {
sum += color;
}
sum = sum / aaData.size();
frameBuffer.push_back(sum);
}
}
return frameBuffer;
}
/*
* Pick against the scene bounding box.
* The input ray is in world coordinates.
* To pick against the bounding box, we create a bounding box mesh
* from the original mesh. This new mesh is in mesh coordinates
* so we must apply the inverse of the model matrix from the scene object
* to the ray to put it into mesh coordinates.
*/
glm::vec3 Picker::pickSceneObjectAgainstBoundingBox(const SceneObject* scene_object, float ox, float oy, float oz, float dx, float dy, float dz) {
RenderData* rd = scene_object->render_data();
if ((rd == NULL) || (rd->mesh() == NULL)) {
return glm::vec3(std::numeric_limits<float>::infinity());
}
glm::mat4 model_inverse = glm::affineInverse(scene_object->transform()->getModelMatrix());
const BoundingVolume& bounds = rd->mesh()->getBoundingVolume();
glm::vec3 rayStart(ox, oy, oz);
glm::vec3 rayDir(dx, dy, dz);
glm::normalize(rayDir);
Collider::transformRay(model_inverse, rayStart, rayDir);
ColliderData data = MeshCollider::isHit(bounds, rayStart, rayDir);
if (data.IsHit) {
return data.HitPosition;
}
return glm::vec3(std::numeric_limits<float>::infinity());
}
DecoColor Shading(const vector3& realIntersectPt, const vector3& norm, const vector3& lightPos, const vector3& viewPos,
const vector3& lightDiffuse, const vector3& lightSpecular, const vector3& lightAmbient,
const vector3& matDiffuse, const vector3& matSpecular, const vector3&matAmbient)
{
vector3 col(0, 0, 0);
vector3 rayDir(lightPos - realIntersectPt);
vector3 viewDir(viewPos - realIntersectPt);
vector3 normal = norm;
viewDir.normalize();
rayDir.normalize();
normal.normalize();
vector3 halfDir = (viewDir + rayDir) / 2;
halfDir.normalize();
col += vector3(lightDiffuse.x * matDiffuse.x, lightDiffuse.y * matDiffuse.y, lightDiffuse.z * matDiffuse.z) * max(0.0, DotProduct(normal, rayDir));
//col += vector3(lightAmbient.x * matAmbient.x, lightAmbient.y * matAmbient.y, lightAmbient.z * matAmbient.z);
DOUBLE dotHalfAngle = max(0.0, DotProduct(halfDir, normal));
col += vector3(lightSpecular.x * matSpecular.x, lightSpecular.y * matSpecular.y, lightSpecular.z * matSpecular.z) * dotHalfAngle * dotHalfAngle;
return DecoColor(vector4(col.x, col.y, col.z, 1));
}
bool ComTerrain::GetHeight(float & height, const D3DXVECTOR3 & pos)
{
D3DXVECTOR3 rayPos(pos.x, pos.y + m_rayDistance, pos.z);
D3DXVECTOR3 rayDir(0, -1, 0);
float distance = 0.0f;
for (int i = 0; i < m_vecIndices.size(); i += 3)
{
D3DXVECTOR3 v1 = m_vecVertices[m_vecIndices[i]].p;
D3DXVECTOR3 v2 = m_vecVertices[m_vecIndices[i + 1]].p;
D3DXVECTOR3 v3 = m_vecVertices[m_vecIndices[i + 2]].p;
if (D3DXIntersectTri(&v1, &v2, &v3, &rayPos, &rayDir, NULL, NULL, &distance))
{
height = rayPos.y - distance;
return true;
}
}
return false;
}
void Bomb::explode() {
if (exploded == false) {
exploded = true;
b2Vec2 center = bodies[0].body_ptr->GetPosition();
float power = 300;
float blast_radius = 15;
//apply impulse to bodies
size_t rays = 50;
for (size_t i = 0; i < rays; i++) {
float angle = (i / (float)rays) * 6.282;
b2Vec2 rayDir( sinf(angle), cosf(angle) );
b2Vec2 rayEnd = center + blast_radius * rayDir;
//check what this ray hits
RayCastClosestCallback callback;
world.RayCast(&callback, center, rayEnd);
if ( callback.m_body ) {
applyImpulse(callback.m_body, center, callback.m_point, power);
}
}
}
}
bool ConvexShape::castRay( const Point3F &start, const Point3F &end, RayInfo *info )
{
if ( mPlanes.empty() )
return false;
const Vector< PlaneF > &planeList = mPlanes;
const U32 planeCount = planeList.size();
F32 t;
F32 tmin = F32_MAX;
S32 hitFace = -1;
Point3F hitPnt, pnt;
VectorF rayDir( end - start );
rayDir.normalizeSafe();
if ( false )
{
PlaneF plane( Point3F(0,0,0), Point3F(0,0,1) );
Point3F sp( 0,0,-1 );
Point3F ep( 0,0,1 );
F32 t = plane.intersect( sp, ep );
Point3F hitPnt;
hitPnt.interpolate( sp, ep, t );
}
for ( S32 i = 0; i < planeCount; i++ )
{
// Don't hit the back-side of planes.
if ( mDot( rayDir, planeList[i] ) >= 0.0f )
continue;
t = planeList[i].intersect( start, end );
if ( t >= 0.0f && t <= 1.0f && t < tmin )
{
pnt.interpolate( start, end, t );
S32 j = 0;
for ( ; j < planeCount; j++ )
{
if ( i == j )
continue;
F32 dist = planeList[j].distToPlane( pnt );
if ( dist > 1.0e-004f )
break;
}
if ( j == planeCount )
{
tmin = t;
hitFace = i;
}
}
}
if ( hitFace == -1 )
return false;
info->face = hitFace;
info->material = mMaterialInst;
info->normal = planeList[ hitFace ];
info->object = this;
info->t = tmin;
//mObjToWorld.mulV( info->normal );
return true;
}
void PhysicalCamera::grasp()
{
if (!mGraspedObject)
{
// Fire a ray into the scene to find an object to grasp. If
// an object is found, attach it to the grasping Motor and,
// if using long range grasping mode, store the intersection
// position relative to the camera as the grasp offset.
// First update the ray casting Sensor's ray.
Ogre::Vector3 camForward = mOgreCamera->getDerivedDirection();
if (0 != camForward.squaredLength())
{
camForward.normalise();
}
opal::Vec3r rayDir(camForward[0], camForward[1],
camForward[2]);
if (PHYSICAL == mType)
{
// The ray's origin will be updated automatically since
// it is attached to the camera's Solid. Its direction
// should be set manually here because we constantly
// reset the camera's orientation.
opal::Point3r dummyPoint;
opal::Rayr r(dummyPoint, rayDir);
mGraspingSensor->setRay(r);
}
else
{
// The ray should start at the camera's position and fire
// straight forward into the scene.
Ogre::Vector3 ogreCamPos = mOgreCamera->getDerivedPosition();
opal::Point3r opalCamPos(ogreCamPos[0], ogreCamPos[1],
ogreCamPos[2]);
opal::Rayr r(opalCamPos, rayDir);
mGraspingSensor->setRay(r);
}
// Fire the ray.
opal::RaycastResult result =
mGraspingSensor->fireRay(mMaxReach);
if (result.solid) // && !result.solid->isStatic())
{
// Store the grasped object.
mGraspedObject = result.solid;
// Initialize the grasping Motor with the new data.
opal::SpringMotorData data;
data.solid = result.solid;
data.mode = mGraspingMotorMode;
data.linearKs = mGraspingLinearKs;
data.linearKd = mGraspingLinearKd;
data.angularKs = mGraspingAngularKs;
data.angularKd = mGraspingAngularKd;
opal::Matrix44r solidTransform = result.solid->getTransform();
//data.desiredUp = solidTransform.getUp();
//data.desiredForward = solidTransform.getForward();
//data.desiredRight = solidTransform.getRight();
// Desired position will be updated in the "update"
// function.
mGraspingMotor->init(data);
if (PHYSICAL == mType)
{
//// Grab it where the ray intersected it.
//mGraspingMotor->setGlobalAttachPoint(result.intersection);
// Just grab it in the middle.
mGraspingMotor->setGlobalAttachPoint(result.solid->
getPosition());
}
else
{
mGraspingMotor->setGlobalAttachPoint(result.intersection);
// Set the offset (from the camera) to be the same distance
// as when it was grasped.
mPhysicalGraspOffset.set(0, 0, -result.distance);
}
// Compute the grasped object's offset transform from the camera
// which is only used for desired orientation.
Ogre::Matrix4 ogreMat;
mOgreCamera->getParentSceneNode()->getWorldTransforms(&ogreMat);
opal::Matrix44r camTransform(
ogreMat[0][0], ogreMat[1][0], ogreMat[2][0], ogreMat[3][0],
ogreMat[0][1], ogreMat[1][1], ogreMat[2][1], ogreMat[3][1],
ogreMat[0][2], ogreMat[1][2], ogreMat[2][2], ogreMat[3][2],
ogreMat[0][3], ogreMat[1][3], ogreMat[2][3], ogreMat[3][3]);
camTransform.invert();
opal::Matrix44r objTransInv = mGraspedObject->getTransform();
objTransInv.invert();
mGraspedObjectOffsetTransform = objTransInv * camTransform;
// Set the desired transform for orientation only (the position
// part should be overwritten below).
opal::Matrix44r desiredObjTransform = mGraspedObjectOffsetTransform *
camTransform;
desiredObjTransform.invert();
mGraspingMotor->setDesiredTransform(desiredObjTransform);
// Update the the desired position.
mGraspingMotor->setDesiredPosition(getGraspGlobalPos());
// Apply extra angular damping.
result.solid->setAngularDamping(3);
}
}
}
