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sap test
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RandomityGuy
parent
e1bae46adb
commit
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2 changed files with 212 additions and 24 deletions
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@ -8,12 +8,20 @@ import h3d.col.Sphere;
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import h3d.Vector;
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import octree.Octree;
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@:structInit
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@:publicFields
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class SphereIntersectionResult {
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var foundEntities:Array<CollisionEntity>;
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var contacts:Array<CollisionInfo>;
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}
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class CollisionWorld {
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public var staticWorld:CollisionEntity;
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public var octree:Octree;
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public var entities:Array<CollisionEntity> = [];
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public var dynamicEntities:Array<CollisionEntity> = [];
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public var dynamicOctree:Octree;
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public var sap:SAP;
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public var marbleEntities:Array<SphereCollisionEntity> = [];
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@ -23,9 +31,10 @@ class CollisionWorld {
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this.octree = new Octree();
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this.dynamicOctree = new Octree();
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this.staticWorld = new CollisionEntity(null);
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this.sap = new SAP();
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}
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public function sphereIntersection(spherecollision:SphereCollisionEntity, timeState:TimeState) {
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public function sphereIntersection(spherecollision:SphereCollisionEntity, timeState:TimeState):SphereIntersectionResult {
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var position = spherecollision.transform.getPosition();
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var radius = spherecollision.radius;
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// var velocity = spherecollision.velocity;
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@ -37,42 +46,50 @@ class CollisionWorld {
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box.transform(rotQuat.toMatrix());
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box.offset(position.x, position.y, position.z);
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// box.addSpherePos(position.x + velocity.x * timeState.dt, position.y + velocity.y * timeState.dt, position.z + velocity.z * timeState.dt, radius);
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var intersections = this.octree.boundingSearch(box);
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// var intersections = this.octree.boundingSearch(box);
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// var intersections = this.rtree.search([box.xMin, box.yMax, box.zMin], [box.xSize, box.ySize, box.zSize]);
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var contacts = [];
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var foundEntities = [];
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for (obj in intersections) {
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var entity:CollisionEntity = cast obj;
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// for (obj in intersections) {
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// var entity:CollisionEntity = cast obj;
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foundEntities.push(entity);
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if (entity.go.isCollideable) {
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contacts = contacts.concat(entity.sphereIntersection(spherecollision, timeState));
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// foundEntities.push(entity);
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// if (entity.go.isCollideable) {
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// contacts = contacts.concat(entity.sphereIntersection(spherecollision, timeState));
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// }
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// }
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sap.recompute();
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var sapCollisions = sap.getIntersections(spherecollision);
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for (obj in sapCollisions) {
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if (obj.boundingBox.collide(box) && obj.go.isCollideable) {
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contacts = contacts.concat(obj.sphereIntersection(spherecollision, timeState));
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}
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}
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// contacts = contacts.concat(this.staticWorld.sphereIntersection(spherecollision, timeState));
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var dynSearch = dynamicOctree.boundingSearch(box).map(x -> cast(x, CollisionEntity));
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for (obj in dynSearch) {
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if (obj != spherecollision) {
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if (obj.boundingBox.collide(box) && obj.go.isCollideable)
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contacts = contacts.concat(obj.sphereIntersection(spherecollision, timeState));
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}
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}
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// var dynSearch = dynamicOctree.boundingSearch(box).map(x -> cast(x, CollisionEntity));
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// for (obj in dynSearch) {
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// if (obj != spherecollision) {
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// if (obj.boundingBox.collide(box) && obj.go.isCollideable)
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// contacts = contacts.concat(obj.sphereIntersection(spherecollision, timeState));
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// }
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// }
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for (marb in marbleEntities) {
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if (marb != spherecollision) {
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if (spherecollision.go.isCollideable) {
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var isecs = marb.sphereIntersection(spherecollision, timeState);
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if (isecs.length > 0)
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foundEntities.push(marb);
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contacts = contacts.concat(isecs);
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}
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}
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}
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// for (marb in marbleEntities) {
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// if (marb != spherecollision) {
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// if (spherecollision.go.isCollideable) {
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// var isecs = marb.sphereIntersection(spherecollision, timeState);
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// if (isecs.length > 0)
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// foundEntities.push(marb);
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// contacts = contacts.concat(isecs);
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// }
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// }
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// }
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return {foundEntities: foundEntities, contacts: contacts};
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}
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@ -128,6 +145,7 @@ class CollisionWorld {
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public function addEntity(entity:CollisionEntity) {
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this.octree.insert(entity);
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this.entities.push(entity);
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this.sap.addEntity(entity);
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// this.rtree.insert([entity.boundingBox.xMin, entity.boundingBox.yMin, entity.boundingBox.zMin],
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// [entity.boundingBox.xSize, entity.boundingBox.ySize, entity.boundingBox.zSize], entity);
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@ -145,6 +163,7 @@ class CollisionWorld {
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this.dynamicEntities.push(entity);
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this.dynamicOctree.insert(entity);
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this.dynamicEntitySet.set(entity, true);
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this.sap.addEntity(entity);
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}
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public function removeMovingEntity(entity:CollisionEntity) {
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@ -152,6 +171,7 @@ class CollisionWorld {
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}
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public function updateTransform(entity:CollisionEntity) {
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this.sap.update(entity);
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if (!dynamicEntitySet.exists(entity)) {
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this.octree.update(entity);
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} else {
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168
src/collision/SAP.hx
Normal file
168
src/collision/SAP.hx
Normal file
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@ -0,0 +1,168 @@
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package collision;
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@:structInit
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@:publicFields
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class SAPProxy {
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var object:CollisionEntity;
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var flags:Int;
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var intersections:Array<CollisionEntity>;
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var positions:Array<Int>;
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}
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class SAP {
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var dimXEdges:Array<Float> = [];
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var dimXEdgeLefts:Array<Bool> = [];
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var dimXEdgeOwner:Array<Int> = [];
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var dimYEdges:Array<Float> = [];
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var dimYEdgeLefts:Array<Bool> = [];
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var dimYEdgeOwner:Array<Int> = [];
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var dimZEdges:Array<Float> = [];
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var dimZEdgeLefts:Array<Bool> = [];
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var dimZEdgeOwner:Array<Int> = [];
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var objects:Array<SAPProxy> = [];
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var objToProxy:Map<CollisionEntity, SAPProxy> = [];
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var needsSort = true;
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public function new() {}
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public function addEntity(obj:CollisionEntity) {
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needsSort = true;
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var edgeLen = dimXEdges.length;
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var proxy:SAPProxy = {
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object: obj,
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intersections: [],
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flags: 0,
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positions: [edgeLen, edgeLen + 1, edgeLen, edgeLen + 1, edgeLen, edgeLen + 1]
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};
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var idx = objects.length;
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objects.push(proxy);
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dimXEdges.push(obj.boundingBox.xMin);
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dimXEdges.push(obj.boundingBox.xMax);
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dimYEdges.push(obj.boundingBox.yMin);
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dimYEdges.push(obj.boundingBox.yMax);
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dimZEdges.push(obj.boundingBox.zMin);
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dimZEdges.push(obj.boundingBox.zMax);
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dimXEdgeLefts.push(true);
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dimXEdgeLefts.push(false);
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dimYEdgeLefts.push(true);
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dimYEdgeLefts.push(false);
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dimZEdgeLefts.push(true);
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dimZEdgeLefts.push(false);
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dimXEdgeOwner.push(idx);
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dimXEdgeOwner.push(idx);
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dimYEdgeOwner.push(idx);
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dimYEdgeOwner.push(idx);
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dimZEdgeOwner.push(idx);
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dimZEdgeOwner.push(idx);
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objToProxy.set(obj, proxy);
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}
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public function update(obj:CollisionEntity) {
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if (!objToProxy.exists(obj))
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addEntity(obj);
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needsSort = true;
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var proxy = objToProxy.get(obj);
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proxy.object = obj;
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proxy.intersections = [];
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proxy.flags = 0;
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dimXEdges[proxy.positions[0]] = obj.boundingBox.xMin;
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dimXEdges[proxy.positions[1]] = obj.boundingBox.xMax;
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dimYEdges[proxy.positions[2]] = obj.boundingBox.yMin;
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dimYEdges[proxy.positions[3]] = obj.boundingBox.yMax;
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dimZEdges[proxy.positions[4]] = obj.boundingBox.zMin;
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dimZEdges[proxy.positions[5]] = obj.boundingBox.zMax;
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}
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public function sort(dim:Int) {
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var edges;
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var edgeLefts;
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var edgeOwner;
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if (dim == 0) {
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edges = dimXEdges;
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edgeLefts = this.dimXEdgeLefts;
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edgeOwner = this.dimXEdgeOwner;
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} else if (dim == 1) {
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edges = dimYEdges;
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edgeLefts = this.dimYEdgeLefts;
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edgeOwner = this.dimYEdgeOwner;
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} else {
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edges = dimZEdges;
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edgeLefts = this.dimZEdgeLefts;
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edgeOwner = this.dimZEdgeOwner;
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}
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for (i in 0...edges.length) {
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var j = i - 1;
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while (j >= 0) {
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if (edges[j] < edges[j + 1])
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break;
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// Swap
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var edge1Owner = objects[edgeOwner[j]];
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var edge2Owner = objects[edgeOwner[j + 1]];
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var edge1Left = edgeLefts[j];
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var edge2Left = edgeLefts[j + 1];
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edge1Owner.positions[2 * dim + (edge1Left ? 1 : 0)] = j + 1;
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edge2Owner.positions[2 * dim + (edge2Left ? 1 : 0)] = j;
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var tmp = edges[j];
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edges[j] = edges[j + 1];
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edges[j + 1] = tmp;
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var tmp2 = edgeLefts[j];
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edgeLefts[j] = edgeLefts[j + 1];
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edgeLefts[j + 1] = tmp2;
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var tmp3 = edgeOwner[j];
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edgeOwner[j] = edgeOwner[j + 1];
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edgeOwner[j + 1] = tmp3;
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// Sweep
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var edge1 = j;
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var edge2 = j + 1;
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if (edgeLefts[edge1] && !edgeLefts[edge2]) {
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var obj1 = edgeOwner[edge1];
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var obj2 = edgeOwner[edge2];
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objects[obj1].flags |= (1 << dim);
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objects[obj2].flags |= (1 << dim);
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if (objects[obj1].flags == 7 && objects[obj2].flags == 7) {
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objects[obj1].intersections.push(objects[obj2].object);
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objects[obj2].intersections.push(objects[obj1].object);
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}
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} else if (!edgeLefts[edge1] && edgeLefts[edge2]) {
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var obj1 = edgeOwner[edge2];
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var obj2 = edgeOwner[edge1];
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if (objects[obj1].flags == 7) {
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objects[obj1].intersections.remove(objects[obj2].object);
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}
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if (objects[obj2].flags == 7) {
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objects[obj2].intersections.remove(objects[obj1].object);
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}
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objects[obj1].flags &= ~(1 << dim);
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objects[obj2].flags &= ~(1 << dim);
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}
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j--;
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}
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}
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}
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public function recompute() {
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if (needsSort) {
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this.sort(0);
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this.sort(1);
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this.sort(2);
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needsSort = false;
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}
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}
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public function getIntersections(obj:CollisionEntity):Array<CollisionEntity> {
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return objToProxy[obj].intersections;
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}
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}
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