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fix wrong TRS order

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RandomityGuy 2023-02-11 00:38:35 +05:30
parent 7ffd63f47c
commit b98a3f9cd8
6 changed files with 77 additions and 28 deletions
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17
src/Marble.hx
View file

@ -779,13 +779,16 @@ class Marble extends GameObject {
var relVel = velocity.sub(obj.velocity);
var relLocalVel = relVel.transformed3x3(invMatrix);
var invScale = invMatrix.getScale();
var sphereRadius = new Vector(radius * invScale.x, radius * invScale.y, radius * invScale.z);
var boundThing = new Bounds();
boundThing.addSpherePos(localpos.x, localpos.y, localpos.z, radius * 2);
boundThing.addSpherePos(localpos.x
+ relLocalVel.x * deltaT * 5, localpos.y
+ relLocalVel.y * deltaT * 5, localpos.z
+ relLocalVel.z * deltaT * 5,
radius * 2);
Math.max(Math.max(sphereRadius.x, sphereRadius.y), sphereRadius.z) * 2);
var currentFinalPos = position.add(relVel.multiply(finalT)); // localpos.add(relLocalVel.multiply(finalT));
@ -1367,8 +1370,8 @@ class Marble extends GameObject {
tdiff = diff;
}
var expectedPos = finalPosData.position;
// var newPos = expectedPos;
var newPos = nudgeToContacts(expectedPos, _radius, finalPosData.foundContacts);
var newPos = expectedPos;
// var newPos = nudgeToContacts(expectedPos, _radius, finalPosData.foundContacts);
if (this.velocity.lengthSq() > 1e-8) {
var posDiff = newPos.sub(expectedPos);
@ -1378,10 +1381,12 @@ class Marble extends GameObject {
var updatedTimestep = expectedProjPos.sub(pos).length() / velocity.length();
var tDiff = updatedTimestep - timeStep;
this.velocity = this.velocity.sub(A.multiply(tDiff));
this.omega = this.omega.sub(a.multiply(tDiff));
if (tDiff > 0) {
this.velocity = this.velocity.sub(A.multiply(tDiff));
this.omega = this.omega.sub(a.multiply(tDiff));
timeStep = updatedTimestep;
timeStep = updatedTimestep;
}
}
}

25
src/MarbleWorld.hx
View file

@ -555,9 +555,10 @@ class MarbleWorld extends Scheduler {
if (interiorScale.z == 0)
interiorScale.z = 0.0001;
var mat = new Matrix();
interiorRotation.toMatrix(mat);
mat.scale(interiorScale.x, interiorScale.y, interiorScale.z);
var mat = Matrix.S(interiorScale.x, interiorScale.y, interiorScale.z);
var tmp = new Matrix();
interiorRotation.toMatrix(tmp);
mat.multiply3x4(mat, tmp);
mat.setPosition(interiorPosition);
interior.setTransform(mat);
@ -642,8 +643,10 @@ class MarbleWorld extends Scheduler {
if (shapeScale.z == 0)
shapeScale.z = 0.0001;
var mat = shapeRotation.toMatrix();
mat.scale(shapeScale.x, shapeScale.y, shapeScale.z);
var mat = Matrix.S(shapeScale.x, shapeScale.y, shapeScale.z);
var tmp = new Matrix();
shapeRotation.toMatrix(tmp);
mat.multiply3x4(mat, tmp);
mat.setPosition(shapePosition);
this.addDtsObject(shape, () -> {
@ -720,8 +723,10 @@ class MarbleWorld extends Scheduler {
if (shapeScale.z == 0)
shapeScale.z = 0.0001;
var mat = shapeRotation.toMatrix();
mat.scale(shapeScale.x, shapeScale.y, shapeScale.z);
var mat = Matrix.S(shapeScale.x, shapeScale.y, shapeScale.z);
var tmp = new Matrix();
shapeRotation.toMatrix(tmp);
mat.multiply3x4(mat, tmp);
mat.setPosition(shapePosition);
this.addDtsObject(shape, () -> {
@ -776,8 +781,10 @@ class MarbleWorld extends Scheduler {
if (shapeScale.z == 0)
shapeScale.z = 0.0001;
var mat = shapeRotation.toMatrix();
mat.scale(shapeScale.x, shapeScale.y, shapeScale.z);
var mat = Matrix.S(shapeScale.x, shapeScale.y, shapeScale.z);
var tmp = new Matrix();
shapeRotation.toMatrix(tmp);
mat.multiply3x4(mat, tmp);
mat.setPosition(shapePosition);
this.addDtsObject(tsShape, () -> {

8
src/collision/BoxCollisionEntity.hx
View file

@ -14,8 +14,6 @@ import h3d.col.Bounds;
class BoxCollisionEntity extends CollisionEntity implements IBVHObject {
var bounds:Bounds;
var _dbgEntity:h3d.scene.Object;
public function new(bounds:Bounds, go:GameObject) {
super(go);
this.bounds = bounds;
@ -26,11 +24,11 @@ class BoxCollisionEntity extends CollisionEntity implements IBVHObject {
this.boundingBox = bounds.clone();
this.boundingBox.transform(this.transform);
// if (_dbgEntity == null) {
// _dbgEntity = this.boundingBox.makeDebugObj();
// _dbgEntity = cast this.boundingBox.makeDebugObj();
// _dbgEntity.getMaterials()[0].mainPass.wireframe = true;
// MarbleGame.instance.scene.addChild(_dbgEntity);
// } else {
// _dbgEntity = this.boundingBox.makeDebugObj();
// _dbgEntity = cast this.boundingBox.makeDebugObj();
// _dbgEntity.getMaterials()[0].mainPass.wireframe = true;
// MarbleGame.instance.scene.addChild(_dbgEntity);
// }
@ -39,7 +37,7 @@ class BoxCollisionEntity extends CollisionEntity implements IBVHObject {
public override function setTransform(transform:Matrix) {
super.setTransform(transform);
// if (_dbgEntity != null) {
// _dbgEntity = this.boundingBox.makeDebugObj();
// _dbgEntity = cast this.boundingBox.makeDebugObj();
// _dbgEntity.getMaterials()[0].mainPass.wireframe = true;
// MarbleGame.instance.scene.addChild(_dbgEntity);
// }

20
src/collision/CollisionEntity.hx
View file

@ -14,6 +14,8 @@ import h3d.Matrix;
import h3d.col.Bounds;
import src.PathedInterior;
import src.Util;
import src.Debug;
import src.MarbleGame;
class CollisionEntity implements IOctreeObject implements IBVHObject {
public var boundingBox:Bounds;
@ -40,6 +42,8 @@ class CollisionEntity implements IOctreeObject implements IBVHObject {
var _transformKey:Int = 0;
var _dbgEntity:h3d.scene.Mesh;
public function new(go:GameObject) {
this.go = go;
this.octree = new Octree();
@ -100,6 +104,18 @@ class CollisionEntity implements IOctreeObject implements IBVHObject {
boundingBox.add(tform);
}
this.boundingBox = boundingBox;
if (Debug.drawBounds) {
if (_dbgEntity == null) {
_dbgEntity = cast this.boundingBox.makeDebugObj();
_dbgEntity.getMaterials()[0].mainPass.wireframe = true;
MarbleGame.instance.scene.addChild(_dbgEntity);
} else {
_dbgEntity.remove();
_dbgEntity = cast this.boundingBox.makeDebugObj();
_dbgEntity.getMaterials()[0].mainPass.wireframe = true;
MarbleGame.instance.scene.addChild(_dbgEntity);
}
}
}
public function rayCast(rayOrigin:Vector, rayDirection:Vector):Array<RayIntersectionData> {
@ -149,7 +165,9 @@ class CollisionEntity implements IOctreeObject implements IBVHObject {
localPos.transform(invMatrix);
// sphereBounds.addSpherePos(position.x, position.y, position.z, radius * 1.1);
// sphereBounds.transform(invMatrix);
sphereBounds.addSpherePos(localPos.x, localPos.y, localPos.z, radius * 1.1);
var invScale = invMatrix.getScale();
var sphereRadius = new Vector(radius * invScale.x, radius * invScale.y, radius * invScale.z);
sphereBounds.addSpherePos(localPos.x, localPos.y, localPos.z, Math.max(Math.max(sphereRadius.x, sphereRadius.y), sphereRadius.z) * 1.1);
var surfaces = bvh == null ? octree.boundingSearch(sphereBounds).map(x -> cast x) : bvh.boundingSearch(sphereBounds);
var tform = transform.clone();

1
src/collision/SphereCollisionEntity.hx
View file

@ -13,7 +13,6 @@ class SphereCollisionEntity extends CollisionEntity {
public var radius:Float;
public var marble:Marble;
var _dbgEntity:h3d.scene.Mesh;
var _dbgEntity2:h3d.scene.Mesh;
public function new(marble:Marble) {

34
src/octree/Octree.hx
View file

@ -31,8 +31,6 @@ class Octree {
return; // Don't insert if already contained in the tree
while (!this.root.largerThan(object) || !this.root.containsCenter(object)) {
// The root node does not fit the object; we need to grow the tree.
var a = this.root.largerThan(object);
var b = this.root.containsCenter(object);
if (this.root.depth == -32) {
return;
}
@ -55,8 +53,15 @@ class Octree {
/** Updates an object in the tree whose bounding box has changed. */
public function update(object:IOctreeObject) {
this.remove(object);
this.insert(object);
if (!this.objectToNode.exists(object)) {
this.insert(object);
return;
}
var success = this.objectToNode.get(object).update(object);
if (!success) {
this.objectToNode.remove(object);
this.insert(object);
}
}
/** Expand the octree towards an object that doesn't fit in it. */
@ -112,8 +117,25 @@ class Octree {
this.root.depth = 0;
return;
}
if (this.root.octants == null)
return;
if (this.root.octants == null) {
this.root.createOctants();
var fittingOctant:OctreeNode = null;
for (obj in this.root.objects) {
if (this.root.octants[0].largerThan(obj)) {
for (i in 0...8) {
var octant = this.root.octants[i];
if (octant.containsCenter(obj)) {
if (fittingOctant != null && fittingOctant != octant)
return;
fittingOctant = octant;
}
}
} else {
return;
}
}
}
// Find the only non-empty octant
var nonEmptyOctant:OctreeNode = null;
for (i in 0...8) {