mirror of
https://github.com/RandomityGuy/MBHaxe.git
synced 2025-10-30 08:11:25 +00:00
improve gjk a bit to reduce some lag
This commit is contained in:
RandomityGuy
parent
81bf76bfb2
commit
97d9db8295
7 changed files with 113 additions and 56 deletions
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@ -916,7 +916,7 @@ class Marble extends GameObject {
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rollVolume = 0;
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var slipVolume = 0.0;
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if (slipAmount > 0) {
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if (slipAmount > 1e-4) {
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slipVolume = slipAmount / 5;
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if (slipVolume > 1)
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slipVolume = 1;
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@ -1337,7 +1337,7 @@ class Marble extends GameObject {
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sph.position = finalPos;
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sph.radius = _radius;
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var pt = GJK.gjk(sph, chull);
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var pt = GJK.gjk(sph, chull).epa;
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while (pt != null) {
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if (pt.lengthSq() < 0.0001) {
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@ -1346,7 +1346,7 @@ class Marble extends GameObject {
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trace('Separating Vector Len: ${pt.length()}');
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finalPos = finalPos.sub(pt);
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sph.position = finalPos;
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pt = GJK.gjk(sph, chull);
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pt = GJK.gjk(sph, chull).epa;
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}
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// if (pt != null) {
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@ -1518,7 +1518,7 @@ class MarbleWorld extends Scheduler {
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if (this.finishTime == null) {
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if (spherebounds.collide(this.endPad.finishBounds)) {
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if (collision.gjk.GJK.gjk(gjkSphere, this.endPad.finishCollider) != null) {
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if (collision.gjk.GJK.gjk(gjkSphere, this.endPad.finishCollider, false) != null) {
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if (!endPad.inFinish) {
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touchFinish();
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endPad.inFinish = true;
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@ -1527,6 +1527,9 @@ class MarbleWorld extends Scheduler {
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if (endPad.inFinish)
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endPad.inFinish = false;
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}
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} else {
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if (endPad.inFinish)
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endPad.inFinish = false;
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}
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}
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}
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@ -38,7 +38,7 @@ class CollisionHull extends CollisionEntity {
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newTform.setPosition(newpos);
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hull.setTransform(newTform);
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var pt = GJK.gjk(sph, this.hull);
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var pt = GJK.gjk(sph, this.hull).epa;
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if (pt != null) {
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var cinfo = new CollisionInfo();
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cinfo.normal = pt.normalized();
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23
src/collision/gjk/Cylinder.hx
Normal file
23
src/collision/gjk/Cylinder.hx
Normal file
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@ -0,0 +1,23 @@
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package collision.gjk;
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import h3d.Vector;
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@:publicFields
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class Cylinder implements GJKShape {
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var p1:Vector;
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var p2:Vector;
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var radius:Float;
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public function new() {}
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public function getCenter():Vector {
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return p1.add(p2).multiply(0.5);
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}
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public function support(dir:Vector) {
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var axis = p2.sub(p1);
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var v = axis.dot(dir) > 0 ? p2 : p1;
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var rejection = dir.sub(axis.multiply(dir.dot(axis) / (axis.dot(axis) * dir.dot(dir)))).normalized().multiply(radius);
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return v.add(rejection);
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}
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}
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@ -10,7 +10,10 @@ class GJK {
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public static var maxEpaLooseEdges = 64;
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public static var maxEpaIterations = 64;
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public static function gjk(s1:GJKShape, s2:GJKShape) {
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static var epaFaces:Array<Array<Vector>>;
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static var loose_edges:Array<Array<Vector>>;
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public static function gjk(s1:GJKShape, s2:GJKShape, doEpa:Bool = true) {
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var searchDir = s1.getCenter().sub(s2.getCenter());
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var a = new Vector();
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var b = new Vector();
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@ -21,7 +24,10 @@ class GJK {
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searchDir = c.multiply(-1);
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b = s2.support(searchDir).sub(s1.support(searchDir.multiply(-1)));
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if (b.dot(searchDir) < 0)
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return null;
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return {
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result: false,
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epa: null
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};
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searchDir = c.sub(b).cross(b.multiply(-1)).cross(c.sub(b));
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if (searchDir.length() == 0) {
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@ -35,7 +41,10 @@ class GJK {
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for (i in 0...maxIterations) {
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a = s2.support(searchDir).sub(s1.support(searchDir.multiply(-1)));
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if (a.dot(searchDir) < 0) {
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return null;
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return {
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result: false,
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epa: null
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};
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}
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simpDim++;
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@ -83,44 +92,57 @@ class GJK {
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b = a;
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searchDir = adb;
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} else {
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return epa(a, b, c, d, s1, s2);
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if (doEpa)
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return {
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result: true,
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epa: epa(a, b, c, d, s1, s2)
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};
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return {
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result: true,
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epa: null
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};
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}
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}
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}
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return null;
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return {
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result: false,
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epa: null
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};
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}
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public static function epa(a:Vector, b:Vector, c:Vector, d:Vector, s1:GJKShape, s2:GJKShape) {
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var faces = [];
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for (i in 0...maxEpaFaces)
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faces.push([new Vector(), new Vector(), new Vector(), new Vector()]);
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if (epaFaces == null) {
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epaFaces = [];
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for (i in 0...maxEpaFaces)
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epaFaces.push([new Vector(), new Vector(), new Vector(), new Vector()]);
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}
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faces[0][0] = a;
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faces[0][1] = b;
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faces[0][2] = c;
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faces[0][3] = b.sub(a).cross(c.sub(a)).normalized(); // ABC
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faces[1][0] = a;
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faces[1][1] = c;
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faces[1][2] = d;
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faces[1][3] = c.sub(a).cross(d.sub(a)).normalized();
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faces[2][0] = a;
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faces[2][1] = d;
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faces[2][2] = b;
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faces[2][3] = d.sub(a).cross(b.sub(a)).normalized();
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faces[3][0] = b;
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faces[3][1] = d;
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faces[3][2] = c;
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faces[3][3] = d.sub(b).cross(c.sub(b)).normalized();
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epaFaces[0][0] = a;
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epaFaces[0][1] = b;
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epaFaces[0][2] = c;
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epaFaces[0][3] = b.sub(a).cross(c.sub(a)).normalized(); // ABC
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epaFaces[1][0] = a;
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epaFaces[1][1] = c;
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epaFaces[1][2] = d;
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epaFaces[1][3] = c.sub(a).cross(d.sub(a)).normalized();
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epaFaces[2][0] = a;
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epaFaces[2][1] = d;
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epaFaces[2][2] = b;
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epaFaces[2][3] = d.sub(a).cross(b.sub(a)).normalized();
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epaFaces[3][0] = b;
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epaFaces[3][1] = d;
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epaFaces[3][2] = c;
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epaFaces[3][3] = d.sub(b).cross(c.sub(b)).normalized();
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var numFaces = 4;
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var closestFace = 0;
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for (iteration in 0...maxEpaIterations) {
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// Find face that's closest to origin
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var min_dist = faces[0][0].dot(faces[0][3]);
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var min_dist = epaFaces[0][0].dot(epaFaces[0][3]);
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closestFace = 0;
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for (i in 1...numFaces) {
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var dist = faces[i][0].dot(faces[i][3]);
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var dist = epaFaces[i][0].dot(epaFaces[i][3]);
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if (dist < min_dist) {
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min_dist = dist;
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closestFace = i;
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@ -128,28 +150,30 @@ class GJK {
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}
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// search normal to face that's closest to origin
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var search_dir = faces[closestFace][3];
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var search_dir = epaFaces[closestFace][3];
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var p = s2.support(search_dir).sub(s1.support(search_dir.multiply(-1)));
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if (p.dot(search_dir) - min_dist < epaTolerance) {
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// Convergence (new point is not significantly further from origin)
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return faces[closestFace][3].multiply(p.dot(search_dir)); // dot vertex with normal to resolve collision along normal!
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return epaFaces[closestFace][3].multiply(p.dot(search_dir)); // dot vertex with normal to resolve collision along normal!
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}
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if (loose_edges == null) {
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loose_edges = [];
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for (i in 0...maxEpaLooseEdges)
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loose_edges.push([new Vector(), new Vector()]);
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}
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var loose_edges = [];
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for (i in 0...maxEpaLooseEdges)
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loose_edges.push([new Vector(), new Vector()]);
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var num_loose_edges = 0;
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// Find all triangles that are facing p
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var i = 0;
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while (i < numFaces) {
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if (faces[i][3].dot(p.sub(faces[i][0])) > 0) // triangle i faces p, remove it
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if (epaFaces[i][3].dot(p.sub(epaFaces[i][0])) > 0) // triangle i faces p, remove it
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{
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// Add removed triangle's edges to loose edge list.
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// If it's already there, remove it (both triangles it belonged to are gone)
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for (j in 0...3) // Three edges per face
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{
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var current_edge = [faces[i][j], faces[i][(j + 1) % 3]];
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var current_edge = [epaFaces[i][j], epaFaces[i][(j + 1) % 3]];
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var found_edge = false;
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for (k in 0...num_loose_edges) // Check if current edge is already in list
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{
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@ -178,10 +202,10 @@ class GJK {
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}
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// Remove triangle i from list
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faces[i][0] = faces[numFaces - 1][0];
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faces[i][1] = faces[numFaces - 1][1];
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faces[i][2] = faces[numFaces - 1][2];
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faces[i][3] = faces[numFaces - 1][3];
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epaFaces[i][0] = epaFaces[numFaces - 1][0];
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epaFaces[i][1] = epaFaces[numFaces - 1][1];
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epaFaces[i][2] = epaFaces[numFaces - 1][2];
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epaFaces[i][3] = epaFaces[numFaces - 1][3];
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numFaces--;
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i--;
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} // endif p can see triangle i
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@ -194,22 +218,22 @@ class GJK {
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// assert(num_faces<EPA_MAX_NUM_FACES);
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if (numFaces >= maxEpaFaces)
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break;
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faces[numFaces][0] = loose_edges[i][0];
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faces[numFaces][1] = loose_edges[i][1];
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faces[numFaces][2] = p;
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faces[numFaces][3] = loose_edges[i][0].sub(loose_edges[i][1]).cross(loose_edges[i][0].sub(p)).normalized();
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epaFaces[numFaces][0] = loose_edges[i][0];
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epaFaces[numFaces][1] = loose_edges[i][1];
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epaFaces[numFaces][2] = p;
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epaFaces[numFaces][3] = loose_edges[i][0].sub(loose_edges[i][1]).cross(loose_edges[i][0].sub(p)).normalized();
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// Check for wrong normal to maintain CCW winding
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var bias = 0.000001; // in case dot result is only slightly < 0 (because origin is on face)
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if (faces[numFaces][0].dot(faces[numFaces][3]) + bias < 0) {
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var temp = faces[numFaces][0];
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faces[numFaces][0] = faces[numFaces][1];
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faces[numFaces][1] = temp;
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faces[numFaces][3] = faces[numFaces][3].multiply(-1);
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if (epaFaces[numFaces][0].dot(epaFaces[numFaces][3]) + bias < 0) {
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var temp = epaFaces[numFaces][0];
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epaFaces[numFaces][0] = epaFaces[numFaces][1];
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epaFaces[numFaces][1] = temp;
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epaFaces[numFaces][3] = epaFaces[numFaces][3].multiply(-1);
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}
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numFaces++;
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}
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}
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return faces[closestFace][3].multiply(faces[closestFace][0].dot(faces[closestFace][3]));
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return epaFaces[closestFace][3].multiply(epaFaces[closestFace][0].dot(epaFaces[closestFace][3]));
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}
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}
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@ -82,7 +82,7 @@ class EnterNameDlg extends GuiControl {
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enterNameText.position = new Vector(37, 23);
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enterNameText.extent = new Vector(345, 85);
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// enterNameText.justify = Center;
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enterNameText.text.text = '<font face="Arial14"><br/></font><p align="center"><font face="DomCasual48">Well Done!<br/></font><font face="DomCasual32">You have the${["", " second", " third", " fourth", "fifth"][place]} top time!</font></p>';
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enterNameText.text.text = '<font face="Arial14"><br/></font><p align="center"><font face="DomCasual48">Well Done!<br/></font><font face="DomCasual32">You have the${["", " second", " third", " fourth", " fifth"][place]} top time!</font></p>';
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dlg.addChild(enterNameText);
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dlg.addChild(enterNameEdit);
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@ -1,5 +1,7 @@
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package shapes;
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import src.MarbleGame;
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import collision.gjk.Cylinder;
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import src.AudioManager;
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import h3d.Quat;
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import h3d.mat.Material;
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@ -25,7 +27,7 @@ import h3d.mat.Texture;
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class EndPad extends DtsObject {
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var fireworks:Array<Firework> = [];
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var finishCollider:ConvexHull;
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var finishCollider:Cylinder;
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var finishBounds:Bounds;
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var inFinish:Bool = false;
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@ -72,7 +74,12 @@ class EndPad extends DtsObject {
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vertices.push(new Vector(x * radius * this.scaleX, (i != 0 ? 4.8 : 0) * 1, z * radius * this.scaleY));
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}
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}
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finishCollider = new ConvexHull(vertices);
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finishCollider = new Cylinder();
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finishCollider.p1 = this.getAbsPos().getPosition();
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finishCollider.p2 = finishCollider.p1.clone();
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var vertDir = this.getAbsPos().up();
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finishCollider.p2 = finishCollider.p2.add(vertDir.multiply(height));
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finishCollider.radius = radius * this.scaleY;
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finishBounds = new Bounds();
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for (vert in vertices)
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@ -85,7 +92,7 @@ class EndPad extends DtsObject {
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var tform = this.getAbsPos().clone();
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tform.prependRotation(Math.PI / 2, 0, 0);
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finishCollider.transform = tform;
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// finishCollider.transform = tform;
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finishBounds.transform(tform);
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