Exemplo n.º 1
0
    void csBulletCollider::FillWithColliderGeometry (
        csRef<iGeneralFactoryState> genmesh_fact)
    {
        // @@@ TODO
#if 0
        switch (geomType)
        {
        case BOX_COLLIDER_GEOMETRY:
        {
            SimdTransform trans;
            SimdVector3 max;
            SimdVector3 min;
            BoxShape*  b = (BoxShape*)pc->GetRigidBody ()->GetCollisionShape ();

            csBox3 box;
            for (int i = 0; i < b->GetNumVertices (); i++)
            {
                SimdVector3 vtx;
                b->GetVertex (i, vtx);
                box.AddBoundingVertexTest (csVector3 (vtx[0], vtx[1], vtx[2]));
            }
            genmesh_fact->GenerateBox (box);
            genmesh_fact->CalculateNormals ();
        }
        break;
        default:
            break;
        }
#endif
    }
Exemplo n.º 2
0
    size_t collide(CircleShape &circle, BoxShape &box, float dt, Contact *pxContacts, size_t numMaxContacts)
    {
        dt, pxContacts, numMaxContacts;
        const Point2f &p1 = circle.body.getPosition();
        const Point2f &p2 = box.body.getPosition();

        // work in the box's coordinate system
        const Point2f kDiff = p1 - p2;

        // compute squared distance and closest point on box
        float fSqrDistance = 0.0f, fDelta;
        Point2f kClosest(kDiff * box.GetDir(0), kDiff * box.GetDir(1));
        const Point2f &extents = box.GetExtents();
        if (kClosest.x < -extents.x)
        {
            fDelta = kClosest.x + extents.x;
            fSqrDistance += fDelta*fDelta;
            kClosest.x = -extents.x;
        }
        else if (kClosest.x > extents.x)
        {
            fDelta = kClosest.x - extents.x;
            fSqrDistance += fDelta*fDelta;
            kClosest.x = extents.x;
        }
        if (kClosest.y < -extents.y)
        {
            fDelta = kClosest.y + extents.y;
            fSqrDistance += fDelta*fDelta;
            kClosest.y = -extents.y;
        }
        else if (kClosest.y > extents.y)
        {
            fDelta = kClosest.y - extents.y;
            fSqrDistance += fDelta*fDelta;
            kClosest.y = extents.y;
        }
        if (fSqrDistance > circle.GetRadius() * circle.GetRadius())
        {
            return 0;
        }
        Point2f d = p2 + kClosest - p1;
        d.Normalize();

        pxContacts[0] = Contact(p1 + d * circle.GetRadius(), p2 + kClosest, &circle.body, &box.body);
        return 1;
    }
Exemplo n.º 3
0
/*
==========
Frustum::BoxInFrustum

	Checks if a box is in the frustum.
==========
*/
FrustumResult::Value Frustum::BoxInFrustum( const BoxShape& box ) const {

	glm::vec3 positiveVertex, negativeVertex;

	FrustumResult::Value ret = FrustumResult::INSIDE;

	for ( int i = 0; i < 6; ++i ) {
		negativeVertex = box.GetNegativeVertex( glm::vec3( m_planes[i] ) );
		positiveVertex = box.GetPositiveVertex( glm::vec3( m_planes[i] )  );

		if ( glm::dot( glm::vec3( m_planes[i] ), positiveVertex ) + m_planes[i].w < 0 ) {
	 		return FrustumResult::OUTSIDE;
		} else if ( glm::dot( glm::vec3( m_planes[i] ), negativeVertex ) + m_planes[i].w < 0 ) {
			ret = FrustumResult::INTERSECT;
		}
	}

	return ret;

	/*
	glm::vec3 positiveVertex;
		glm::vec3 negativeVertex;

		const Transform& boxTransform = box.GetImmutableTransform();

		if ( std::abs( boxTransform.GetRotation().y ) < 0.001f ) {
			positiveVertex = box.GetPositiveVertex( m_planes[i].GetNormal() );
			negativeVertex = box.GetNegativeVertex( m_planes[i].GetNormal() );
		} else {
			glm::vec3 normalBox( glm::dot( boxTransform.GetRight(), m_planes[i].GetNormal() ),
								 glm::dot( boxTransform.GetUp(), m_planes[i].GetNormal() ),
								 glm::dot( boxTransform .GetForward(), m_planes[i].GetNormal() ) );

			positiveVertex = box.GetPositiveVertex( normalBox );
			negativeVertex = box.GetNegativeVertex( normalBox );
		}

		if ( m_planes[i].Distance( positiveVertex ) < 0 ) {
			return FrustumResult::OUTSIDE;
		} else if ( m_planes[i].Distance( negativeVertex ) < 0 ) {
			return FrustumResult::INTERSECT;
		}
	}
	*/
}
Exemplo n.º 4
0
bool testOBBPlane( RigidBody& box, RigidBody& plane)
{
	BoxShape boxs = (BoxShape&)box.getShapeReference();
	float d = ((PlaneShape&)plane.getShapeReference()).getDistance();
	Mat<float> n( ((PlaneShape&)plane.getShapeReference()).getNormal());
	
	Mat<float> e((float)0,3,3);
	for(int i=1;i<=3;i++)	e.set(1.0f, i,i);
	//identity matrix to be rotated in order to have the basis related to the coordinate frame of the box :
	e = extract( box.getTransformation(), 1,1, 3,3) * e;
	
	float r = boxs.getHeight()*fabs_( dotProduct( Cola(e,1), n) ) + boxs.getWidth()*fabs_( dotProduct( Cola(e,2), n) ) + boxs.getDepth()*fabs_( dotProduct( Cola(e,3), n) );
	
	float s = dotProduct( n, box.getPosition()) - d;
	
	return fabs_(s) <= r;
	
}
Exemplo n.º 5
0
    bool IntervalIntersect(const Point2f& xAxis, const BoxShape& box1, const BoxShape& box2, float& depth)
    {
        float min0, max0;
        float min1, max1;

        box1.GetInterval(xAxis, min0, max0);
        box2.GetInterval(xAxis, min1, max1);

        if (min0 > max1 || min1 > max0) return false;

        float d0 = max1 - min0;
        float d1 = max0 - min1;

        if (d0 < d1)
            depth = d0;
        else
            depth = d1;

        return true;
    }
Exemplo n.º 6
0
int main(int argc,char** argv)
{
	raytracePicture = new RenderTexture(screenWidth,screenHeight);

	myBox.SetMargin(0.02f);
	myCone.SetMargin(0.2f);

	simplex.SetSimplexSolver(&simplexSolver);
	simplex.AddVertex(SimdPoint3(-1,0,-1));
	simplex.AddVertex(SimdPoint3(1,0,-1));
	simplex.AddVertex(SimdPoint3(0,0,1));
	simplex.AddVertex(SimdPoint3(0,1,0));
	
	
	/// convex hull of 5 spheres
#define NUM_SPHERES 5
	SimdVector3 inertiaHalfExtents(10.f,10.f,10.f);
	SimdVector3 positions[NUM_SPHERES] = {
		SimdVector3(-1.2f,	-0.3f,	0.f),
		SimdVector3(0.8f,	-0.3f,	0.f),
		SimdVector3(0.5f,	0.6f,	0.f),
		SimdVector3(-0.5f,	0.6f,	0.f),
		SimdVector3(0.f,	0.f,	0.f)
	};
	SimdScalar radi[NUM_SPHERES] = { 0.35f,0.35f,0.45f,0.40f,0.40f };

	MultiSphereShape multiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);

	ConvexHullShape convexHullShape(positions,3);


	//choose shape
	shapePtr[0] = &myCone;
	shapePtr[1] =&simplex;
	shapePtr[2] =&convexHullShape;
	shapePtr[3] =&myMink;//myBox;

	simplex.SetMargin(0.3f);

	setCameraDistance(6.f);

	return glutmain(argc, argv,screenWidth,screenHeight,"Minkowski-Sum Raytracer Demo");
}
Exemplo n.º 7
0
void	Raytracer::initPhysics()
{
	raytracePicture = new RenderTexture(screenWidth,screenHeight);

	myBox.SetMargin(0.02f);
	myCone.SetMargin(0.2f);

	simplex.SetSimplexSolver(&simplexSolver);
	simplex.AddVertex(SimdPoint3(-1,0,-1));
	simplex.AddVertex(SimdPoint3(1,0,-1));
	simplex.AddVertex(SimdPoint3(0,0,1));
	simplex.AddVertex(SimdPoint3(0,1,0));
	
	
	/// convex hull of 5 spheres
#define NUM_SPHERES 5
	SimdVector3 inertiaHalfExtents(10.f,10.f,10.f);
	SimdVector3 positions[NUM_SPHERES] = {
		SimdVector3(-1.2f,	-0.3f,	0.f),
		SimdVector3(0.8f,	-0.3f,	0.f),
		SimdVector3(0.5f,	0.6f,	0.f),
		SimdVector3(-0.5f,	0.6f,	0.f),
		SimdVector3(0.f,	0.f,	0.f)
	};

	// MultiSphereShape* multiSphereShape = new MultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
	ConvexHullShape* convexHullShape = new ConvexHullShape(positions,3);


	//choose shape
	shapePtr[0] = &myCone;
	shapePtr[1] =&simplex;
	shapePtr[2] =convexHullShape;
	shapePtr[3] =&myMink;//myBox;//multiSphereShape

	simplex.SetMargin(0.3f);


}
Exemplo n.º 8
0
    size_t collide(BoxShape &box1, BoxShape &box2, float dt, Contact *pxContacts, size_t numMaxContacts)
    {
        dt;

        Point2f xAxis [4];
        float  fDepth[4];

        xAxis[0] = box1.GetDir(0);
        if (!IntervalIntersect(xAxis[0], box1, box2, fDepth[0])) return 0;

        xAxis[1] = box1.GetDir(1);
        if (!IntervalIntersect(xAxis[1], box1, box2, fDepth[1])) return 0;

        xAxis[2] = box2.GetDir(0);
        if (!IntervalIntersect(xAxis[2], box1, box2, fDepth[2])) return 0;

        xAxis[3] = box2.GetDir(1);
        if (!IntervalIntersect(xAxis[3], box1, box2, fDepth[3])) return 0;

        float dcoll;
        Point2f Ncoll;
        if (!FindCollisionPlane(xAxis, fDepth, Ncoll, dcoll)) return 0;

        Point2f D = box1.body.getPosition() - box2.body.getPosition();

        if (D * Ncoll < 0.0f)
            Ncoll *= -1.0f;

        Point2f xPoints0[4];
        Point2f xPoints1[4];
        size_t numPoints0;
        size_t numPoints1;

        numPoints0 = box1.FindSupportPoints( Ncoll, xPoints0);
        numPoints1 = box2.FindSupportPoints(-Ncoll, xPoints1);

        if (!ConvertSupportPointsToContacts(box1, box2, Ncoll, xPoints0, numPoints0, xPoints1, numPoints1, pxContacts, numMaxContacts))
            return 0;
        return numMaxContacts;
    }
Exemplo n.º 9
0
/*
==========
CylinderShape::UpdateBoundingDimensions

	Updates the bounding dimensions of the cylinder.
==========
*/
void CylinderShape::UpdateBoundingDimensions( void ) {
	//Convert it to a box and use that
	BoxShape* box = BoxShape::CreateFromCylinder( *this );
	m_boundingDimensions = box->GetBoundingDimensions();
	delete box;
}