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More CCD fixes

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This commit is contained in:
RandomityGuy 2021-06-07 21:48:51 +05:30
parent fba3ab55a4
commit 971a397a63
2 changed files with 51 additions and 45 deletions
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29
src/Main.hx
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@ -38,8 +38,8 @@ class Main extends hxd.App {
override function init() {
super.init();
// dtsObj = new SuperSpeed();
// dtsObj.x = -3;
dtsObj = new SuperSpeed();
dtsObj.x = -3;
world = new MarbleWorld(s3d);
@ -89,23 +89,28 @@ class Main extends hxd.App {
// world.addPathedInterior(pi);
// world.addDtsObject(dtsObj);
world.addDtsObject(dtsObj);
// var sj = new SuperJump();
// sj.x = 3;
// world.addDtsObject(sj);
var sj = new SuperJump();
sj.x = 3;
world.addDtsObject(sj);
// var sb = new SuperBounce();
// sb.y = 3;
// world.addDtsObject(sb);
var sj2 = new SuperJump();
sj2.x = 3;
sj2.z = 2;
world.addDtsObject(sj2);
var sb = new SuperBounce();
sb.y = 3;
world.addDtsObject(sb);
var sh = new ShockAbsorber();
sh.y = -3;
world.addDtsObject(sh);
// var he = new Helicopter();
// world.addDtsObject(he);
// sj.setTransform(sj.getTransform());
var he = new Helicopter();
world.addDtsObject(he);
sj.setTransform(sj.getTransform());
// for (i in 0...10) {
// for (j in 0...10) {

67
src/Marble.hx
View file

@ -484,13 +484,13 @@ class Marble extends GameObject {
this._bounceNormal = normal;
}
function getIntersectionTime(dt:Float, velocity:Vector, pathedInteriors:Array<PathedInterior>, collisionWorld:CollisionWorld) {
function getIntersectionTime(dt:Float, velocity:Vector) {
var expandedcollider = new SphereCollisionEntity(cast this);
var position = this.getAbsPos().getPosition();
expandedcollider.transform = Matrix.T(position.x, position.y, position.z);
expandedcollider.radius = this.getAbsPos().getPosition().distance(position) + _radius;
expandedcollider.radius = velocity.multiply(dt).length() + _radius;
var foundObjs = collisionWorld.radiusSearch(position, expandedcollider.radius);
var foundObjs = this.level.collisionWorld.radiusSearch(position, expandedcollider.radius);
function toDifPoint(vec:Vector) {
return new Point3F(vec.x, vec.y, vec.z);
@ -499,47 +499,45 @@ class Marble extends GameObject {
var intersectT = 10e8;
for (obj in foundObjs) {
if (obj.velocity.length() > 0) {
var radius = _radius;
var radius = expandedcollider.radius;
var invMatrix = obj.transform.clone();
invMatrix.invert();
var localpos = position.clone();
localpos.transform(invMatrix);
var surfaces = obj.octree.radiusSearch(localpos, radius * 1.1);
var invMatrix = obj.transform.clone();
invMatrix.invert();
var localpos = position.clone();
localpos.transform(invMatrix);
var surfaces = obj.octree.radiusSearch(localpos, radius * 1.1);
var tform = obj.transform.clone();
var velDir = obj.velocity.normalized();
// tform.setPosition(tform.getPosition().add(velDir.multiply(_radius)));
tform.setPosition(tform.getPosition().add(obj.velocity.multiply(dt)).sub(velDir.multiply(_radius)));
var tform = obj.transform.clone();
var velDir = obj.velocity.normalized();
// tform.setPosition(tform.getPosition().add(velDir.multiply(_radius)));
tform.setPosition(tform.getPosition().add(obj.velocity.multiply(dt)).sub(velDir.multiply(_radius)));
var contacts = [];
var contacts = [];
for (surf in surfaces) {
var surface:CollisionSurface = cast surf;
for (surf in surfaces) {
var surface:CollisionSurface = cast surf;
var i = 0;
while (i < surface.indices.length) {
var v0 = surface.points[surface.indices[i]].transformed(tform);
var v = surface.points[surface.indices[i + 1]].transformed(tform);
var v2 = surface.points[surface.indices[i + 2]].transformed(tform);
var i = 0;
while (i < surface.indices.length) {
var v0 = surface.points[surface.indices[i]].transformed(tform);
var v = surface.points[surface.indices[i + 1]].transformed(tform);
var v2 = surface.points[surface.indices[i + 2]].transformed(tform);
var polyPlane = PlaneF.ThreePoints(toDifPoint(v0), toDifPoint(v), toDifPoint(v2));
var polyPlane = PlaneF.ThreePoints(toDifPoint(v0), toDifPoint(v), toDifPoint(v2));
var surfacenormal = surface.normals[surface.indices[i]].transformed3x3(obj.transform);
var surfacenormal = surface.normals[surface.indices[i]].transformed3x3(obj.transform);
var t = (-position.dot(surfacenormal) - polyPlane.d) / velocity.dot(surfacenormal);
var t = (-position.dot(surfacenormal) - polyPlane.d) / velocity.dot(surfacenormal);
var pt = position.add(velocity.multiply(t));
var pt = position.add(velocity.multiply(t));
if (Collision.PointInTriangle(pt, v0, v, v2)) {
if (t > 0 && t < intersectT) {
intersectT = t;
}
if (Collision.PointInTriangle(pt, v0, v, v2)) {
if (t > 0 && t < intersectT) {
intersectT = t;
}
i += 3;
}
i += 3;
}
}
}
@ -596,13 +594,16 @@ class Marble extends GameObject {
this._contactTime += timeStep;
}
var intersectT = this.getIntersectionTime(timeStep, velocity, pathedInteriors, collisionWorld);
var intersectT = this.getIntersectionTime(timeStep, velocity);
if (intersectT < timeStep) {
intersectT *= 0.8; // We uh tick the shit to not actually at the contact time cause bruh
// intersectT /= 2;
var diff = timeStep - intersectT;
this.velocity = this.velocity.sub(A.multiply(diff));
this.omega = this.omega.sub(a.multiply(diff));
timeStep = intersectT;
trace("CCD");
}
piTime += timeStep;