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attempt improve CCD
This commit is contained in:
RandomityGuy
parent
e78343ce39
commit
f5b5729972
2 changed files with 236 additions and 206 deletions
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@ -577,6 +577,7 @@ class DtsObject extends GameObject {
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hs.generateBoundingBox();
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hs.generateBoundingBox();
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chull.addSurface(hs);
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chull.addSurface(hs);
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chull.generateBoundingBox();
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chull.generateBoundingBox();
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chull.finalize();
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hulls.push(chull);
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hulls.push(chull);
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}
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}
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return hulls;
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return hulls;
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441
src/Marble.hx
441
src/Marble.hx
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@ -1,5 +1,6 @@
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package src;
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package src;
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import collision.CollisionHull;
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import dif.Plane;
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import dif.Plane;
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import shaders.marble.ClassicGlass;
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import shaders.marble.ClassicGlass;
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import shaders.marble.ClassicMetal;
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import shaders.marble.ClassicMetal;
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@ -1027,174 +1028,246 @@ class Marble extends GameObject {
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+ relLocalVel.z * deltaT * 5,
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+ relLocalVel.z * deltaT * 5,
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Math.max(Math.max(sphereRadius.x, sphereRadius.y), sphereRadius.z) * 2);
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Math.max(Math.max(sphereRadius.x, sphereRadius.y), sphereRadius.z) * 2);
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var surfaces = obj.bvh == null ? obj.octree.boundingSearch(boundThing).map(x -> cast x) : obj.bvh.boundingSearch(boundThing);
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var currentFinalPos = position.add(relVel.multiply(finalT)); // localpos.add(relLocalVel.multiply(finalT));
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for (surf in surfaces) {
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if (obj.go is DtsObject) {
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var surface:CollisionSurface = cast surf;
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var chull = cast(obj, CollisionHull);
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var rayisecs = chull.rayCast(position, velocity);
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var currentFinalPos = position.add(relVel.multiply(finalT)); // localpos.add(relLocalVel.multiply(finalT));
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if (rayisecs.length != 0) {
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var raymax = rayisecs[0];
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var i = 0;
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var mindist = raymax.point.distanceSq(position);
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while (i < surface.indices.length) {
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if (rayisecs.length > 1) {
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var verts = surface.transformTriangle(i, obj.transform, invTform, @:privateAccess obj._transformKey);
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for (i in 0...rayisecs.length) {
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// var v0 = surface.points[surface.indices[i]].transformed(tform);
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var dd = rayisecs[i].point.distanceSq(position);
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// var v = surface.points[surface.indices[i + 1]].transformed(tform);
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if (dd < mindist) {
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// var v2 = surface.points[surface.indices[i + 2]].transformed(tform);
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mindist = dd;
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var v0 = verts.v1;
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raymax = rayisecs[i];
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var v = verts.v2;
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}
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var v2 = verts.v3;
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}
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// var v0 = surface.points[surface.indices[i]].transformed(obj.transform);
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// var v = surface.points[surface.indices[i + 1]].transformed(obj.transform);
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// var v2 = surface.points[surface.indices[i + 2]].transformed(obj.transform);
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var triangleVerts = [v0, v, v2];
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var surfaceNormal = verts.n; // surface.normals[surface.indices[i]].transformed3x3(obj.transform).normalized();
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var surfaceD = -surfaceNormal.dot(v0);
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// If we're going the wrong direction or not going to touch the plane, ignore...
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if (surfaceNormal.dot(relVel) > -0.001 || surfaceNormal.dot(currentFinalPos) + surfaceD > radius) {
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i += 3;
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continue;
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}
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}
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var collidePoint = raymax.point;
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var collideT = (collidePoint.sub(velocity.normalized().multiply(radius)).sub(position).length()) / velocity.length();
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if (collideT < finalT && collideT > 0.0001) {
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finalT = collideT;
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currentFinalPos = position.add(relVel.multiply(finalT));
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}
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}
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} else {
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var surfaces = obj.bvh == null ? obj.octree.boundingSearch(boundThing).map(x -> cast x) : obj.bvh.boundingSearch(boundThing);
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// var v0T = v0.transformed(obj.transform);
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for (surf in surfaces) {
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// var vT = v.transformed(obj.transform);
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var surface:CollisionSurface = cast surf;
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// var v2T = v2.transformed(obj.transform);
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// var vN = surfaceNormal.transformed3x3(obj.transform);
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testTriangles.push({
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v: [v0, v, v2],
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n: surfaceNormal,
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edge: surf.edgeData != null ? surf.edgeData[Math.floor(i / 3)] : 0,
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concavity: surface.edgeConcavities != null ? surface.edgeConcavities.slice(Math.floor(i / 3),
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Math.floor(i / 3) + 3) : [false, false, false],
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});
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// Time until collision with the plane
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currentFinalPos = position.add(relVel.multiply(finalT));
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var collisionTime = (radius - position.dot(surfaceNormal) - surfaceD) / surfaceNormal.dot(relVel);
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// Are we going to touch the plane during this time step?
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var i = 0;
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if (collisionTime >= 0.000001 && finalT >= collisionTime) {
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while (i < surface.indices.length) {
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var collisionPoint = position.add(relVel.multiply(collisionTime));
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var verts = surface.transformTriangle(i, obj.transform, invTform, @:privateAccess obj._transformKey);
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// var lastPoint = v2;
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// var v0 = surface.points[surface.indices[i]].transformed(tform);
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// var j = 0;
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// var v = surface.points[surface.indices[i + 1]].transformed(tform);
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// while (j < 3) {
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// var v2 = surface.points[surface.indices[i + 2]].transformed(tform);
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// var testPoint = surface.points[surface.indices[i + j]];
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var v0 = verts.v1;
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// if (testPoint != lastPoint) {
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var v = verts.v2;
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// var a = surfaceNormal;
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var v2 = verts.v3;
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// var b = lastPoint.sub(testPoint);
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// var v0 = surface.points[surface.indices[i]].transformed(obj.transform);
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// var planeNorm = b.cross(a);
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// var v = surface.points[surface.indices[i + 1]].transformed(obj.transform);
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// var planeD = -planeNorm.dot(testPoint);
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// var v2 = surface.points[surface.indices[i + 2]].transformed(obj.transform);
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// lastPoint = testPoint;
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// // if we are on the far side of the edge
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var triangleVerts = [v0, v, v2];
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// if (planeNorm.dot(collisionPoint) + planeD >= 0.0)
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// break;
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var surfaceNormal = verts.n; // surface.normals[surface.indices[i]].transformed3x3(obj.transform).normalized();
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// }
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if (obj is DtsObject)
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// j++;
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surfaceNormal.multiply(-1);
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// }
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var surfaceD = -surfaceNormal.dot(v0);
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// If we're inside the poly, just get the position
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if (Collision.PointInTriangle(collisionPoint, v0, v, v2)) {
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// If we're going the wrong direction or not going to touch the plane, ignore...
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finalT = collisionTime;
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if (surfaceNormal.dot(relVel) > -0.001 || surfaceNormal.dot(currentFinalPos) + surfaceD > radius) {
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currentFinalPos = position.add(relVel.multiply(finalT));
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found = true;
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// iterationFound = true;
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i += 3;
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i += 3;
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continue;
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continue;
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}
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}
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}
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// We *might* be colliding with an edge
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var lastVert = v2;
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// var v0T = v0.transformed(obj.transform);
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// var vT = v.transformed(obj.transform);
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// var v2T = v2.transformed(obj.transform);
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// var vN = surfaceNormal.transformed3x3(obj.transform);
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testTriangles.push({
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v: [v0, v, v2],
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n: surfaceNormal,
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edge: surf.edgeData != null ? surf.edgeData[Math.floor(i / 3)] : 0,
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concavity: surface.edgeConcavities != null ? surface.edgeConcavities.slice(Math.floor(i / 3),
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Math.floor(i / 3) + 3) : [false, false, false],
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});
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var radSq = radius * radius;
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// Time until collision with the plane
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for (iter in 0...3) {
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var collisionTime = (radius - position.dot(surfaceNormal) - surfaceD) / surfaceNormal.dot(relVel);
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var thisVert = triangleVerts[iter];
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var vertDiff = lastVert.sub(thisVert);
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// Are we going to touch the plane during this time step?
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var posDiff = position.sub(thisVert);
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if (collisionTime >= 0.000001 && finalT >= collisionTime) {
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var collisionPoint = position.add(relVel.multiply(collisionTime));
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var velRejection = vertDiff.cross(relVel);
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// var lastPoint = v2;
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var posRejection = vertDiff.cross(posDiff);
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// var j = 0;
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// while (j < 3) {
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// Build a quadratic equation to solve for the collision time
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// var testPoint = surface.points[surface.indices[i + j]];
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var a = velRejection.lengthSq();
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// if (testPoint != lastPoint) {
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var b = 2 * posRejection.dot(velRejection);
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// var a = surfaceNormal;
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var c = (posRejection.lengthSq() - vertDiff.lengthSq() * radSq);
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// var b = lastPoint.sub(testPoint);
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// var planeNorm = b.cross(a);
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var discriminant = b * b - (4 * a * c);
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// var planeD = -planeNorm.dot(testPoint);
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// lastPoint = testPoint;
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// If it's not quadratic or has no solution, ignore this edge.
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// // if we are on the far side of the edge
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if (a == 0.0 || discriminant < 0.0) {
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// if (planeNorm.dot(collisionPoint) + planeD >= 0.0)
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lastVert = thisVert;
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// break;
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continue;
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// }
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}
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// j++;
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var oneOverTwoA = 0.5 / a;
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var discriminantSqrt = Math.sqrt(discriminant);
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// Solve using the quadratic formula
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var edgeCollisionTime = (-b + discriminantSqrt) * oneOverTwoA;
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var edgeCollisionTime2 = (-b - discriminantSqrt) * oneOverTwoA;
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// Make sure the 2 times are in ascending order
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if (edgeCollisionTime2 < edgeCollisionTime) {
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var temp = edgeCollisionTime2;
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edgeCollisionTime2 = edgeCollisionTime;
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edgeCollisionTime = temp;
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}
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// If the collision doesn't happen on this time step, ignore this edge.
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if (edgeCollisionTime2 <= 0.0001 || finalT <= edgeCollisionTime) {
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lastVert = thisVert;
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continue;
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}
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// Check if the collision hasn't already happened
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if (edgeCollisionTime >= 0.000001) {
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// if (edgeCollisionTime < 0.000001) {
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// edgeCollisionTime = edgeCollisionTime2;
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// }
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// }
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// if (edgeCollisionTime < 0.00001)
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// If we're inside the poly, just get the position
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// continue;
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if (Collision.PointInTriangle(collisionPoint, v0, v, v2)) {
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// if (edgeCollisionTime > finalT)
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finalT = collisionTime;
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// continue;
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var edgeLen = vertDiff.length();
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var relativeCollisionPos = position.add(relVel.multiply(edgeCollisionTime)).sub(thisVert);
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var distanceAlongEdge = relativeCollisionPos.dot(vertDiff) / edgeLen;
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// If the collision happens outside the boundaries of the edge, ignore this edge.
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if (-radius > distanceAlongEdge || edgeLen + radius < distanceAlongEdge) {
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lastVert = thisVert;
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continue;
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}
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// If the collision is within the edge, resolve the collision and continue.
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if (distanceAlongEdge >= 0.0 && distanceAlongEdge <= edgeLen) {
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finalT = edgeCollisionTime;
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currentFinalPos = position.add(relVel.multiply(finalT));
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currentFinalPos = position.add(relVel.multiply(finalT));
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lastContactPos = vertDiff.multiply(distanceAlongEdge / edgeLen).add(thisVert);
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lastVert = thisVert;
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found = true;
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found = true;
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// iterationFound = true;
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// iterationFound = true;
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i += 3;
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continue;
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continue;
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}
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}
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}
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}
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// We *might* be colliding with an edge
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// This is what happens when we collide with a corner
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var lastVert = v2;
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a = relVel.lengthSq();
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var radSq = radius * radius;
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for (iter in 0...3) {
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var thisVert = triangleVerts[iter];
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// Build a quadratic equation to solve for the collision time
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var vertDiff = lastVert.sub(thisVert);
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var posVertDiff = position.sub(thisVert);
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var posDiff = position.sub(thisVert);
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b = 2 * posVertDiff.dot(relVel);
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c = posVertDiff.lengthSq() - radSq;
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var velRejection = vertDiff.cross(relVel);
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discriminant = b * b - (4 * a * c);
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var posRejection = vertDiff.cross(posDiff);
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// Build a quadratic equation to solve for the collision time
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var a = velRejection.lengthSq();
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var b = 2 * posRejection.dot(velRejection);
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var c = (posRejection.lengthSq() - vertDiff.lengthSq() * radSq);
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var discriminant = b * b - (4 * a * c);
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// If it's not quadratic or has no solution, ignore this edge.
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if (a == 0.0 || discriminant < 0.0) {
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lastVert = thisVert;
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continue;
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}
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var oneOverTwoA = 0.5 / a;
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var discriminantSqrt = Math.sqrt(discriminant);
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// Solve using the quadratic formula
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var edgeCollisionTime = (-b + discriminantSqrt) * oneOverTwoA;
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var edgeCollisionTime2 = (-b - discriminantSqrt) * oneOverTwoA;
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// Make sure the 2 times are in ascending order
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if (edgeCollisionTime2 < edgeCollisionTime) {
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var temp = edgeCollisionTime2;
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edgeCollisionTime2 = edgeCollisionTime;
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edgeCollisionTime = temp;
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}
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// If the collision doesn't happen on this time step, ignore this edge.
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if (edgeCollisionTime2 <= 0.0001 || finalT <= edgeCollisionTime) {
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lastVert = thisVert;
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continue;
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}
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// Check if the collision hasn't already happened
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if (edgeCollisionTime >= 0.000001) {
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// if (edgeCollisionTime < 0.000001) {
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// edgeCollisionTime = edgeCollisionTime2;
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// }
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// if (edgeCollisionTime < 0.00001)
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// continue;
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// if (edgeCollisionTime > finalT)
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// continue;
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var edgeLen = vertDiff.length();
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var relativeCollisionPos = position.add(relVel.multiply(edgeCollisionTime)).sub(thisVert);
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var distanceAlongEdge = relativeCollisionPos.dot(vertDiff) / edgeLen;
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// If the collision happens outside the boundaries of the edge, ignore this edge.
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if (-radius > distanceAlongEdge || edgeLen + radius < distanceAlongEdge) {
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lastVert = thisVert;
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continue;
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}
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// If the collision is within the edge, resolve the collision and continue.
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if (distanceAlongEdge >= 0.0 && distanceAlongEdge <= edgeLen) {
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finalT = edgeCollisionTime;
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currentFinalPos = position.add(relVel.multiply(finalT));
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lastContactPos = vertDiff.multiply(distanceAlongEdge / edgeLen).add(thisVert);
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lastVert = thisVert;
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found = true;
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// iterationFound = true;
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continue;
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}
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}
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// This is what happens when we collide with a corner
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a = relVel.lengthSq();
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// Build a quadratic equation to solve for the collision time
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var posVertDiff = position.sub(thisVert);
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b = 2 * posVertDiff.dot(relVel);
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c = posVertDiff.lengthSq() - radSq;
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discriminant = b * b - (4 * a * c);
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// If it's quadratic and has a solution ...
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if (a != 0.0 && discriminant >= 0.0) {
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oneOverTwoA = 0.5 / a;
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discriminantSqrt = Math.sqrt(discriminant);
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// Solve using the quadratic formula
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edgeCollisionTime = (-b + discriminantSqrt) * oneOverTwoA;
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edgeCollisionTime2 = (-b - discriminantSqrt) * oneOverTwoA;
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// Make sure the 2 times are in ascending order
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if (edgeCollisionTime2 < edgeCollisionTime) {
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var temp = edgeCollisionTime2;
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edgeCollisionTime2 = edgeCollisionTime;
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edgeCollisionTime = temp;
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}
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// If the collision doesn't happen on this time step, ignore this corner
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if (edgeCollisionTime2 > 0.0001 && finalT > edgeCollisionTime) {
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// Adjust to make sure very small negative times are counted as zero
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if (edgeCollisionTime <= 0.0 && edgeCollisionTime > -0.0001)
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||||||
|
edgeCollisionTime = 0.0;
|
||||||
|
|
||||||
|
// Check if the collision hasn't already happened
|
||||||
|
if (edgeCollisionTime >= 0.000001) {
|
||||||
|
// Resolve it and continue
|
||||||
|
finalT = edgeCollisionTime;
|
||||||
|
currentFinalPos = position.add(relVel.multiply(finalT));
|
||||||
|
lastContactPos = thisVert;
|
||||||
|
found = true;
|
||||||
|
// iterationFound = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// We still need to check the other corner ...
|
||||||
|
// Build one last quadratic equation to solve for the collision time
|
||||||
|
posVertDiff = position.sub(lastVert);
|
||||||
|
b = 2 * posVertDiff.dot(relVel);
|
||||||
|
c = posVertDiff.lengthSq() - radSq;
|
||||||
|
discriminant = b * b - (4 * a * c);
|
||||||
|
|
||||||
|
// If it's not quadratic or has no solution, then skip this corner
|
||||||
|
if (a == 0.0 || discriminant < 0.0) {
|
||||||
|
lastVert = thisVert;
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
// If it's quadratic and has a solution ...
|
|
||||||
if (a != 0.0 && discriminant >= 0.0) {
|
|
||||||
oneOverTwoA = 0.5 / a;
|
oneOverTwoA = 0.5 / a;
|
||||||
discriminantSqrt = Math.sqrt(discriminant);
|
discriminantSqrt = Math.sqrt(discriminant);
|
||||||
|
|
||||||
|
|
@ -1209,73 +1282,29 @@ class Marble extends GameObject {
|
||||||
edgeCollisionTime = temp;
|
edgeCollisionTime = temp;
|
||||||
}
|
}
|
||||||
|
|
||||||
// If the collision doesn't happen on this time step, ignore this corner
|
if (edgeCollisionTime2 <= 0.0001 || finalT <= edgeCollisionTime) {
|
||||||
if (edgeCollisionTime2 > 0.0001 && finalT > edgeCollisionTime) {
|
lastVert = thisVert;
|
||||||
// Adjust to make sure very small negative times are counted as zero
|
continue;
|
||||||
if (edgeCollisionTime <= 0.0 && edgeCollisionTime > -0.0001)
|
|
||||||
edgeCollisionTime = 0.0;
|
|
||||||
|
|
||||||
// Check if the collision hasn't already happened
|
|
||||||
if (edgeCollisionTime >= 0.000001) {
|
|
||||||
// Resolve it and continue
|
|
||||||
finalT = edgeCollisionTime;
|
|
||||||
currentFinalPos = position.add(relVel.multiply(finalT));
|
|
||||||
lastContactPos = thisVert;
|
|
||||||
found = true;
|
|
||||||
// iterationFound = true;
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
}
|
|
||||||
|
|
||||||
// We still need to check the other corner ...
|
if (edgeCollisionTime <= 0.0 && edgeCollisionTime > -0.0001)
|
||||||
// Build one last quadratic equation to solve for the collision time
|
edgeCollisionTime = 0;
|
||||||
posVertDiff = position.sub(lastVert);
|
|
||||||
b = 2 * posVertDiff.dot(relVel);
|
if (edgeCollisionTime < 0.000001) {
|
||||||
c = posVertDiff.lengthSq() - radSq;
|
lastVert = thisVert;
|
||||||
discriminant = b * b - (4 * a * c);
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
finalT = edgeCollisionTime;
|
||||||
|
currentFinalPos = position.add(relVel.multiply(finalT));
|
||||||
|
|
||||||
// If it's not quadratic or has no solution, then skip this corner
|
|
||||||
if (a == 0.0 || discriminant < 0.0) {
|
|
||||||
lastVert = thisVert;
|
lastVert = thisVert;
|
||||||
continue;
|
found = true;
|
||||||
|
// iterationFound = true;
|
||||||
}
|
}
|
||||||
|
|
||||||
oneOverTwoA = 0.5 / a;
|
i += 3;
|
||||||
discriminantSqrt = Math.sqrt(discriminant);
|
|
||||||
|
|
||||||
// Solve using the quadratic formula
|
|
||||||
edgeCollisionTime = (-b + discriminantSqrt) * oneOverTwoA;
|
|
||||||
edgeCollisionTime2 = (-b - discriminantSqrt) * oneOverTwoA;
|
|
||||||
|
|
||||||
// Make sure the 2 times are in ascending order
|
|
||||||
if (edgeCollisionTime2 < edgeCollisionTime) {
|
|
||||||
var temp = edgeCollisionTime2;
|
|
||||||
edgeCollisionTime2 = edgeCollisionTime;
|
|
||||||
edgeCollisionTime = temp;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (edgeCollisionTime2 <= 0.0001 || finalT <= edgeCollisionTime) {
|
|
||||||
lastVert = thisVert;
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (edgeCollisionTime <= 0.0 && edgeCollisionTime > -0.0001)
|
|
||||||
edgeCollisionTime = 0;
|
|
||||||
|
|
||||||
if (edgeCollisionTime < 0.000001) {
|
|
||||||
lastVert = thisVert;
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
|
|
||||||
finalT = edgeCollisionTime;
|
|
||||||
currentFinalPos = position.add(relVel.multiply(finalT));
|
|
||||||
|
|
||||||
lastVert = thisVert;
|
|
||||||
found = true;
|
|
||||||
// iterationFound = true;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
i += 3;
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
||||||
Loading…
Add table
Reference in a new issue