/**<Summary>
* Calculate the extent of the passed GamedObject
* in the calling GameObject Coordinate System
* </Summary>
*/
Vector3D GameObject::getTransformedExtents(SharedPointer<GameObject> i_other)
{
Vector3D i_otherExtentInThis;
Matrix4x4 i_otherCentrePositionInThis = Matrix4x4(getTranslatedPosition(i_other->getPosition()));
//Tranforming the Extents coordinate of passed gameObject in calling gameObject coordinate system
Vector3D i_otherXExtentPositionInThis = getTranslatedPosition(i_other->getPosition() + Vector3D(i_other->mCollidingBox->getExtendX(), 0, 0));
Vector3D i_otherYExtentPositionInThis = getTranslatedPosition(i_other->getPosition() + Vector3D(0, i_other->mCollidingBox->getExtendY(), 0));
Vector3D i_otherZExtentPositionInThis = getTranslatedPosition(i_other->getPosition() + Vector3D(0, 0, i_other->mCollidingBox->getExtendZ()));
Vector3D i_otherXExtentVectorInThis = i_otherXExtentPositionInThis - i_otherCentrePositionInThis.getPositionFromMatrix4x4();
Vector3D i_otherYExtentVectorInThis = i_otherYExtentPositionInThis - i_otherCentrePositionInThis.getPositionFromMatrix4x4();
Vector3D i_otherZExtentVectorInThis = i_otherZExtentPositionInThis - i_otherCentrePositionInThis.getPositionFromMatrix4x4();
//Creating the passed gameObject extent Vectors in calling gameObject coordinate system
i_otherExtentInThis.setX(abs(
i_otherXExtentVectorInThis.dotProduct(Vector3D(1.0f, 0.0f, 0.0f)) +
i_otherYExtentVectorInThis.dotProduct(Vector3D(1.0f, 0.0f, 0.0f)) +
i_otherZExtentVectorInThis.dotProduct(Vector3D(1.0f, 0.0f, 0.0f))
));
i_otherExtentInThis.setY(abs(
i_otherXExtentVectorInThis.dotProduct(Vector3D(0.0f, 1.0f, 0.0f)) +
i_otherYExtentVectorInThis.dotProduct(Vector3D(0.0f, 1.0f, 0.0f)) +
i_otherZExtentVectorInThis.dotProduct(Vector3D(0.0f, 1.0f, 0.0f))
));
i_otherExtentInThis.setZ(abs(
i_otherXExtentVectorInThis.dotProduct(Vector3D(0.0f, 0.0f, 1.0f)) +
i_otherYExtentVectorInThis.dotProduct(Vector3D(0.0f, 0.0f, 1.0f)) +
i_otherZExtentVectorInThis.dotProduct(Vector3D(0.0f, 0.0f, 1.0f))
));
//returning the extent of passed gameObject in calling gameObject coordinate system
return i_otherExtentInThis;
}
void PhysicsEngine::collisionTestFastParticles() {
raySphereRelative.resizeToSizeIfRequiredWithBatchSize(fastParticles.getCount(), SphereRayHelper::batchSize);
Array<int> collisionTestResult;
collisionTestResult.setNumberOfElements(fastParticles.getCount(), false);
for( int index = 0; index < physicsBodies.getCount(); index++ ) {
SharedPointer<PhysicsBody> currentBody = physicsBodies[index];
float collisionSphereRadius = currentBody->boundingSphereRadius;
SphereRayHelper::transferFastParticlesToRaySphereSoa(fastParticles, collisionSphereRadius, currentBody->getPosition(), raySphereRelative);
SphereRayHelper::doBatchedCollisionTests(raySphereRelative);
SphereRayHelper::checkForCollisions(raySphereRelative, fastParticles, collisionTestResult);
// process the collision test result
for( int collisionTestResultIndex = 0; collisionTestResultIndex < fastParticles.getCount(); collisionTestResultIndex++ ) {
if( collisionTestResult[collisionTestResultIndex] != 0 ) {
fastParticles[collisionTestResultIndex]->nextHitAnything = true;
fastParticles[collisionTestResultIndex]->nextHitBody = currentBody;
// NOTE< for now just against/for the bounding sphere >
// TODO< calculate the hit position? >
}
}
}
}
/**
*<summary>
* Check separation Axis test between passed GameObject(A) and calling GameObject(B)
* You may need to call it twice - for checking collision of B in A's coordinate system
*</Summary>
*/
bool GameObject::separationAxisTest(SharedPointer<GameObject> i_other, float& o_collisionTime, float & o_separationTime, myEngine::typedefs::Axis &o_collisionAxis) //Move to Collsion System to make it better - To-Do
{
bool isColliding = false;
float tCollisionInX = 0.0f;
float tSeparationInX = 0.0f;
float tCollisionInY = 0.0f;
float tSeparationInY = 0.0f;
float tCollisionInZ = 0.0f;
float tSeparationInZ = 0.0f;
//Position of other GameObject in this
Vector3D i_otherCenterPositionInThis = getTranslatedPosition(i_other->getPosition());
//Extent of other gameObject in this
Vector3D i_otherExtentInThis = getTransformedExtents(i_other);
//Transformed velocity of calling gamobject in its own coordiante system
Vector3D thisVelocityInThis = getTranslationMatrix() *physicsComponent->getCurrentVelocity();
//Velocity of other GameObject in calling gameObject coordinate system
Vector3D i_otherVelocityInThis = getTranslationMatrix() * i_other->physicsComponent->getCurrentVelocity();
//Relative velocity of other gamObject in freezed gameObject coordinate system i.e. in calling gameObject coordiante system
Vector3D i_otherChangedVelocityInThis = i_otherVelocityInThis - thisVelocityInThis;
//Expanding the extents of calling gameObject
float thisChangedXExtent = getCollider()->getExtendX() + i_otherExtentInThis.getX();
float thisChangedYExtent = getCollider()->getExtendY() + i_otherExtentInThis.getY();
float thisChangedZExtent = getCollider()->getExtendZ() + i_otherExtentInThis.getZ();
bool finalCollisionTimeInitialized = false;
//Swept collision for each axes
//Checking in X-Axis
switch (i_otherCenterPositionInThis.getX() >= 0 )
{
case true:
if (i_otherCenterPositionInThis.getX() <= thisChangedXExtent)
{
//To-Do - time of collision - Done but need testing
if (i_otherChangedVelocityInThis.getX() != 0)
{
tCollisionInX = abs(((0 + thisChangedXExtent) - i_otherCenterPositionInThis.getX()) / i_otherChangedVelocityInThis.getX());
tSeparationInX = abs((i_otherCenterPositionInThis.getX() - (0 - thisChangedXExtent)) / i_otherChangedVelocityInThis.getX());
o_collisionTime = tCollisionInX;
o_separationTime = tSeparationInX;
o_collisionAxis = myEngine::typedefs::XAxis;
finalCollisionTimeInitialized = true;
}
}
else return false;
break;
case false:
if (abs(i_otherCenterPositionInThis.getX()) <= thisChangedXExtent)
{
//To-Do - time of collision - Done but need testing
if (i_otherChangedVelocityInThis.getX() != 0)
{
tCollisionInX = abs((i_otherCenterPositionInThis.getX() - (0 - thisChangedXExtent)) / i_otherChangedVelocityInThis.getX());
tSeparationInX = abs(((0 + thisChangedXExtent) - i_otherCenterPositionInThis.getX()) / i_otherChangedVelocityInThis.getX());
o_collisionTime = tCollisionInX;
o_separationTime = tSeparationInX;
o_collisionAxis = myEngine::typedefs::XAxis;
finalCollisionTimeInitialized = true;
}
}
else return false;
break;
}
//Check in Y-axis in case X-Axis collision is true
switch (i_otherCenterPositionInThis.getY() >= 0)
{
case true:
if (i_otherCenterPositionInThis.getY() <= thisChangedYExtent)
{
//To-Do - time of collision -Done but need testing
if (i_otherChangedVelocityInThis.getY() != 0)
{
tCollisionInY = abs(((0 + thisChangedYExtent) - i_otherCenterPositionInThis.getY()) / i_otherChangedVelocityInThis.getY());
tSeparationInY = abs((i_otherCenterPositionInThis.getY() - (0 - thisChangedYExtent)) / i_otherChangedVelocityInThis.getY());
if (!finalCollisionTimeInitialized)
{
o_collisionTime = tCollisionInY;
o_separationTime = tSeparationInY;
o_collisionAxis = myEngine::typedefs::YAxis;
}
else
{
if (tCollisionInY < o_collisionTime)
{
o_collisionTime = tCollisionInY;
o_collisionAxis = myEngine::typedefs::YAxis;
}
if (tSeparationInY < o_separationTime)
o_separationTime = tSeparationInY;
}
}
}
else return false;
break;
case false:
if (abs(i_otherCenterPositionInThis.getY()) <= thisChangedYExtent)
{
//To-Do - time of collision - Done but need testing
if (i_otherChangedVelocityInThis.getY() != 0)
{
tCollisionInY = abs((i_otherCenterPositionInThis.getY() - (0 - thisChangedYExtent)) / i_otherChangedVelocityInThis.getY());
tSeparationInY = abs(((0 + thisChangedYExtent) - i_otherCenterPositionInThis.getY()) / i_otherChangedVelocityInThis.getY());
if (!finalCollisionTimeInitialized)
{
o_collisionTime = tCollisionInY;
o_separationTime = tSeparationInY;
o_collisionAxis = myEngine::typedefs::YAxis;
}
else
{
if (tCollisionInY < o_collisionTime)
{
o_collisionTime = tCollisionInY;
o_collisionAxis = myEngine::typedefs::YAxis;
}
if (tSeparationInY < o_separationTime)
o_separationTime = tSeparationInY;
}
}
}
else return false;
break;
}
//Check in Z-axis in case X-Axis and Y-Axis collision is true
switch (i_otherCenterPositionInThis.getZ() >= 0)
{
case true:
if (i_otherCenterPositionInThis.getZ() <= thisChangedZExtent)
{
//To-Do - time of collision - Done but need testing
if (i_otherChangedVelocityInThis.getZ() != 0)
{
tCollisionInZ = abs(((0 + thisChangedZExtent) - i_otherCenterPositionInThis.getZ()) / i_otherChangedVelocityInThis.getZ());
tSeparationInZ = abs((i_otherCenterPositionInThis.getZ() - (0 - thisChangedZExtent)) / i_otherChangedVelocityInThis.getZ());
if (!finalCollisionTimeInitialized)
{
o_collisionTime = tCollisionInZ;
o_separationTime = tSeparationInZ;
o_collisionAxis = myEngine::typedefs::ZAxis;
}
else
{
if (tCollisionInY < o_collisionTime)
{
o_collisionTime = tCollisionInZ;
o_collisionAxis = myEngine::typedefs::ZAxis;
}
if (tSeparationInY < o_separationTime)
o_separationTime = tSeparationInZ;
}
}
}
else return false;
break;
case false:
if (abs(i_otherCenterPositionInThis.getZ()) <= thisChangedZExtent)
{
//To-Do - time of collision - Done but need testing
if (i_otherChangedVelocityInThis.getZ() != 0)
{
tCollisionInZ = abs((i_otherCenterPositionInThis.getZ() - (0 - thisChangedZExtent)) / i_otherChangedVelocityInThis.getZ());
tSeparationInZ = abs(((0 + thisChangedZExtent) - i_otherCenterPositionInThis.getZ()) / i_otherChangedVelocityInThis.getZ());
if (!finalCollisionTimeInitialized)
{
o_collisionTime = tCollisionInZ;
o_separationTime = tSeparationInZ;
o_collisionAxis = myEngine::typedefs::ZAxis;
}
else
{
if (tCollisionInY < o_collisionTime)
{
o_collisionTime = tCollisionInZ;
o_collisionAxis = myEngine::typedefs::ZAxis;
}
if (tSeparationInY < o_separationTime)
o_separationTime = tSeparationInZ;
}
}
}
else return false;
break;
}
//returning if all if's are false i.e. collsion occured in this coordinate system
return true;
}
