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try make ccd better?

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RandomityGuy 2022-07-29 21:55:20 +05:30
parent 2603538dba
commit 71dca08a7d
1 changed files with 55 additions and 9 deletions
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64
src/Marble.hx
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@ -1,5 +1,7 @@
package src; package src;
import collision.gjk.GJK;
import collision.gjk.ConvexHull;
import hxd.snd.effect.Pitch; import hxd.snd.effect.Pitch;
import hxd.snd.effect.Spatialization; import hxd.snd.effect.Spatialization;
import hxd.snd.Channel; import hxd.snd.Channel;
@ -741,12 +743,16 @@ class Marble extends GameObject {
return new Point3F(vec.x, vec.y, vec.z); return new Point3F(vec.x, vec.y, vec.z);
} }
var intersectT = 10e8; var maxIntersectDist = 0.0;
var contactNorm = new Vector();
var contactPt = null;
var traceinfo = new TraceInfo(); var traceinfo = new TraceInfo();
traceinfo.resetTrace(position.clone(), position.add(velocity.multiply(dt)), this._radius); traceinfo.resetTrace(position.clone(), position.add(velocity.multiply(dt)), this._radius);
var foundTriangles = [];
for (obj in foundObjs) { for (obj in foundObjs) {
var radius = _radius; var radius = _radius;
@ -784,7 +790,27 @@ class Marble extends GameObject {
var surfacenormal = surface.normals[surface.indices[i]].transformed3x3(obj.transform); var surfacenormal = surface.normals[surface.indices[i]].transformed3x3(obj.transform);
traceinfo.traceSphereTriangle(v0, v, v2); foundTriangles.push(v0);
foundTriangles.push(v);
foundTriangles.push(v2);
// foundTriangles.push(surfacenormal);
traceinfo.resetTrace(position.clone(), position.add(velocity.multiply(dt)), this._radius);
traceinfo.traceSphereTriangle(v2, v, v0);
if (traceinfo.collision) {
var tcolpos = traceinfo.getTraceEndpoint();
var closest = Collision.ClosestPtPointTriangle(tcolpos, _radius, v2, v, v0, surfacenormal);
if (closest != null) {
var dist = tcolpos.sub(closest);
var distlen = dist.length();
if (maxIntersectDist < distlen && distlen < _radius) {
maxIntersectDist = distlen;
contactNorm = dist.normalized();
contactPt = closest;
}
}
}
// var closest = Collision.IntersectTriangleCapsule(position, position.add(relVelocity.multiply(dt)), _radius, v0, v, v2, surfacenormal); // var closest = Collision.IntersectTriangleCapsule(position, position.add(relVelocity.multiply(dt)), _radius, v0, v, v2, surfacenormal);
// var closest = Collision.IntersectTriangleSphere(v0, v, v2, surfacenormal, position, radius); // var closest = Collision.IntersectTriangleSphere(v0, v, v2, surfacenormal, position, radius);
@ -808,17 +834,37 @@ class Marble extends GameObject {
} }
} }
if (traceinfo.collision) { if (maxIntersectDist > 0) {
var traceDist = traceinfo.getTraceDistance(); var finalPos = contactPt.add(contactNorm.multiply(_radius));
var t = traceDist / velocity.length();
if (t < intersectT) { // Nudge the finalPos to the surface of the object
intersectT = t;
} var chull = new ConvexHull(foundTriangles);
var sph = new collision.gjk.Sphere();
sph.position = finalPos;
sph.radius = _radius;
var pt = GJK.gjk(sph, chull);
if (pt != null) {
finalPos = finalPos.sub(pt);
} }
var colpos = finalPos;
var msh = new h3d.prim.Sphere();
var prim = new h3d.scene.Mesh(msh);
msh.addNormals();
prim.setTransform(Matrix.T(colpos.x, colpos.y, colpos.z));
prim.setScale(this._radius);
this.level.scene.addChild(prim);
var intersectT = finalPos.sub(position).length() / velocity.length();
return intersectT; return intersectT;
} }
return 10e8;
}
function advancePhysics(timeState:TimeState, m:Move, collisionWorld:CollisionWorld, pathedInteriors:Array<PathedInterior>) { function advancePhysics(timeState:TimeState, m:Move, collisionWorld:CollisionWorld, pathedInteriors:Array<PathedInterior>) {
var timeRemaining = timeState.dt; var timeRemaining = timeState.dt;
var it = 0; var it = 0;
@ -855,7 +901,7 @@ class Marble extends GameObject {
var intersectT = this.getIntersectionTime(timeStep, velocity); var intersectT = this.getIntersectionTime(timeStep, velocity);
if (intersectT < timeStep && intersectT >= 0.00001) { if (intersectT < timeStep && intersectT >= 0.00001) {
trace('CCD AT t = ${intersectT}'); // trace('CCD AT t = ${intersectT}');
intersectT *= 0.8; // We uh tick the shit to not actually at the contact time cause bruh intersectT *= 0.8; // We uh tick the shit to not actually at the contact time cause bruh
// intersectT /= 2; // intersectT /= 2;
var diff = timeStep - intersectT; var diff = timeStep - intersectT;