[Add] Initial non-accelerating collision space.

src/collider/Makefile.am

@@ -1,5 +1,5 @@
 noinst_LIBRARIES = libcollider.a
-libcollider_a_SOURCES = geom_tree.cpp
+libcollider_a_SOURCES = geom_tree.cpp geom.cpp collision_space.cpp
 
-include_HEADERS = geom_tree.h
+include_HEADERS = geom_tree.h geom.h collision_space.h
 

src/collider/collision_space.cpp

@@ -0,0 +1,29 @@
+#include "collision_space.h"
+#include "geom.h"
+#include "geom_tree.h"
+
+CollisionSpace::CollisionSpace(void) {
+
+}
+
+void CollisionSpace::AddGeom(Geom* geom) {
+  m_geoms.push_back(geom);
+}
+
+void CollisionSpace::RemoveGeom(Geom* geom) {
+  m_geoms.remove(geom);
+}
+
+void CollisionSpace::TraceRay(const vector3d& start, const vector3d& dir, isect_t* isect) {
+  for(std::list<Geom*>::iterator i = m_geoms.begin(); i != m_geoms.end(); ++i) {
+    if((*i)->IsEnabled()) {
+      const matrix4x4d& invTrans = (*i)->GetInvTransform();
+      vector3d ms = invTrans * start;
+      vector3d md = invTrans.ApplyRotationOnly(dir);
+      vector3f modelStart = vector3f(ms.x, ms.y, ms.z);
+      vector3f modelDir = vector3f(md.x, md.y, md.z);
+      (*i)->GetGeomTree()->TraceRay(modelStart, modelDir, isect);
+    }
+  }
+}
+

src/collider/collision_space.h

@@ -0,0 +1,17 @@
+#pragma once
+#include <list>
+#include "../vector3.h"
+
+class Geom;
+struct isect_t;
+
+class CollisionSpace {
+public:
+  CollisionSpace(void);
+  void AddGeom(Geom*);
+  void RemoveGeom(Geom*);
+  void TraceRay(const vector3d& start, const vector3d& dir, isect_t* isect);
+private:
+  std::list<Geom*> m_geoms;
+};
+

src/collider/geom.cpp

@@ -0,0 +1,29 @@
+#include "geom.h"
+
+Geom::Geom(GeomTree* geomtree) {
+  m_geomtree = geomtree;
+  m_orient = matrix4x4d::Identity();
+  m_invOrient = matrix4x4d::Identity();
+  m_active = true;
+}
+
+void Geom::SetPosition(vector3d pos) {
+  m_orient[12] = pos.x;
+  m_orient[13] = pos.y;
+  m_orient[14] = pos.z;
+  m_invOrient = m_orient.InverseOf();
+}
+
+void Geom::SetOrientation(const matrix4x4d& rot) {
+  m_orient[0] = rot[0];
+  m_orient[1] = rot[1];
+  m_orient[2] = rot[2];
+  m_orient[4] = rot[4];
+  m_orient[5] = rot[5];
+  m_orient[6] = rot[6];
+  m_orient[8] = rot[8];
+  m_orient[9] = rot[9];
+  m_orient[10] = rot[10];
+  m_invOrient = m_orient.InverseOf();
+}
+

src/collider/geom.h

@@ -0,0 +1,22 @@
+#pragma once
+#include "../matrix4x4.h"
+#include "../vector3.h"
+
+class GeomTree;
+
+class Geom {
+public:
+  Geom(GeomTree*);
+  void SetPosition(vector3d pos);
+  void SetOrientation(const matrix4x4d& rot);
+  const matrix4x4d& GetInvTransform(void) { return m_invOrient; }
+  void Enable(void) { m_active = true; }
+  void Disable(void) {m_active = false; }
+  bool IsEnabled(void) { return m_active; }
+  GeomTree* GetGeomTree(void) { return m_geomtree; }
+private:
+  matrix4x4d m_orient, m_invOrient;
+  bool m_active;
+  GeomTree* m_geomtree;
+};
+

src/collider/geom_tree.cpp

@@ -18,7 +18,6 @@
 #include "../aabb.h"
 #include "geom_tree.h"
 
-#define DEBUG
 #define MIN(a,b) ((a)<(b) ? (a) : (b))
 #define MAX(a,b) ((a)>(b) ? (a) : (b))
 
@@ -38,8 +37,6 @@ public:
     SetList(tri);
   }
 
-  float FindNiceSplitPos(int splitAxis, int* numPoints, int* numPrims);
-  void Dump(int depth, Aabb& box);
   void SetAxis(int axis)                { m_axis = axis; }
   int GetAxis(void) const               { return m_axis; }
   void SetSplitPos1(float p)            { splitPos1 = p; }
@@ -258,8 +255,6 @@ void GeomTree::BihTreeGhBuild(BIHNode* a_node, Aabb& a_box, Aabb& a_splitBox, in
   else right->SetLeaf(true);
 }
 
-#define SIGN_OF(f) (*((unsigned int*)(&f)) >> 31)
-
 void GeomTree::TraceRay(vector3f& start, vector3f& dir, isect_t* isect) {
   float len = dir.Length();
   isect->dist = len;
@@ -272,9 +267,6 @@ void GeomTree::TraverseRay(vector3f& a_origin, vector3f& a_dir, isect_t* isect)
   float entry_t = 0, exit_t = isect->dist;
   vector3f rcpD = vector3f(1.0f/a_dir.x, 1.0f/a_dir.y, 1.0f/a_dir.z);
   int Dneg[3];
-#ifdef DEBUG
-  int num_raytri_tests = 0;
-#endif
 
   Dneg[0] = (a_dir.x < 0 ? 1 : 0);
   Dneg[1] = (a_dir.y < 0 ? 1 : 0);
@@ -328,9 +320,6 @@ void GeomTree::TraverseRay(vector3f& a_origin, vector3f& a_dir, isect_t* isect)
   /* Traverse bih-tree. */
   while(currnode) {
     while (!currnode->IsLeaf()) {
-#ifdef DEBUG
-      //m_stats.treeNodeTraversals++;
-#endif
       const int axis = currnode->GetAxis();
 
       float d[2];
@@ -371,9 +360,6 @@ void GeomTree::TraverseRay(vector3f& a_origin, vector3f& a_dir, isect_t* isect)
 
     /* Woop, we are a leaf node. */
     for(tri_t* p = currnode->GetList(); p != NULL; p = p->next) {
-#ifdef DEBUG
-      num_raytri_tests++;
-#endif
       RayTriIntersect(a_origin, a_dir, p->triIdx, isect);
     }
 

src/matrix4x4.h

@@ -180,7 +180,8 @@ public:
     cell[14] = 0;
   }
   
-  T& operator[] (const int i) { return cell[i]; }
+  T& operator[] (const size_t i) { return cell[i]; }
+  const T& operator[] (const size_t i) const { return cell[i]; }
   friend matrix4x4 operator+(const matrix4x4& a, const matrix4x4& b) {
     matrix4x4 m;
     for(int i = 0; i < 16; i++) m.cell[i] = a.cell[i] + b.cell[i];

src/sbre_viewer.cpp

@@ -3,6 +3,8 @@
 #include "glfreetype.h"
 #include "gui.h"
 #include "collider/geom_tree.h"
+#include "collider/collision_space.h"
+#include "collider/geom.h"
 
 static SDL_Surface* g_screen;
 static int g_width, g_height;
@@ -53,7 +55,7 @@ static void PollEvents(void) {
 
 static int    g_wheelMoveDir    = -1;
 static float  g_wheelPos        = 0;
-static bool   g_renderCollMesh  = false;
+static int    g_renderType      = 0;
 static float  lightCol[4]       = { 1, 1, 1, 0 };
 static float  lightDir[4]       = { 0, 1, 0, 0 };
 static float  g_frameTime;
@@ -100,11 +102,11 @@ public:
     Gui::Screen::AddBaseWidget(this, 0, 0);
     SetTransparency(true);
     {
-      Gui::ToggleButton* b = new Gui::ToggleButton();
+      Gui::Button* b = new Gui::SolidButton();
       b->SetShortcut(SDLK_c, KMOD_NONE);
-      b->onChange.connect(sigc::mem_fun(*this, &Viewer::OnToggleCollMesh));
+      b->onClick.connect(sigc::mem_fun(*this, &Viewer::OnClickChangeView));
       Add(b, 10, 10);
-      Add(new Gui::Label("[c] Show collision mesh."), 30, 10);
+      Add(new Gui::Label("[c] Change view (normal, collision mesh, raytraced collision mesh)"), 30, 10);
     }
     {
       Gui::Button* b = new Gui::SolidButton();
@@ -123,8 +125,9 @@ public:
     else g_wheelMoveDir = -1;
   }
 
-  void OnToggleCollMesh(Gui::ToggleButton* b, bool state) {
+  void OnClickChangeView(void) {
-    g_renderCollMesh = state;
+    g_renderType++;
+    if(g_renderType > 2) g_renderType = 0;
   }
 
   void MainLoop();
@@ -136,8 +139,8 @@ static void render_coll_mesh(const CollMesh* m) {
   glBegin(GL_TRIANGLES);
   glDepthRange(0.0+g_zbias, 1.0);
   for(int i = 0; i < m->ni; i += 3) {
-    glVertex3fv(&m->pVertex[3*m->pIndex[i+1]]);
     glVertex3fv(&m->pVertex[3*m->pIndex[i]]);
+    glVertex3fv(&m->pVertex[3*m->pIndex[i+1]]);
     glVertex3fv(&m->pVertex[3*m->pIndex[i+2]]);
   }
   glEnd();
@@ -157,14 +160,14 @@ static void render_coll_mesh(const CollMesh* m) {
 float foo[512][512];
 float aspectRatio = 1.0;
 float camera_zoom = 1.0;
-static void raytraceCollMesh(vector3f camPos, vector3f camera_up, vector3f camera_forward, GeomTree* geomtree) {
+static void raytraceCollMesh(vector3d camPos, vector3d camera_up, vector3d camera_forward, CollisionSpace* space) {
   memset(foo, 0, sizeof(float)*512*512);
 
-  vector3f toPoint, xMov, yMov;
+  vector3d toPoint, xMov, yMov;
 
-  vector3f topLeft, topRight, botRight, cross;
+  vector3d topLeft, topRight, botRight, cross;
   topLeft = topRight = botRight = camera_forward + camera_zoom;
-  cross = vector3f::Cross (camera_forward, camera_up) * aspectRatio;
+  cross = vector3d::Cross (camera_forward, camera_up) * aspectRatio;
   topLeft = topLeft + camera_up - cross;
   topRight = topRight + camera_up + cross;
   botRight = botRight - camera_up + cross;
@@ -185,7 +188,7 @@ static void raytraceCollMesh(vector3f camPos, vector3f camera_up, vector3f camer
       toPoint *= 10000;
 
       isect_t isect;
-      geomtree->TraceRay(camPos, toPoint, &isect);
+      space->TraceRay(camPos, toPoint, &isect);
 
       if(isect.triIdx != -1) {
         foo[x][y] = 10.0/isect.dist;
@@ -213,17 +216,19 @@ static void raytraceCollMesh(vector3f camPos, vector3f camera_up, vector3f camer
   glBindTexture(GL_TEXTURE_2D, mytexture);
   glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE);
   glBegin(GL_TRIANGLE_FAN);
-    glTexCoord2i(1,1);
-    glVertex3f(1,1,0);
     glTexCoord2i(0,1);
-    glVertex3f(0,1,0);
+    glVertex3f(1,1,0);
+
     glTexCoord2i(0,0);
-    glVertex3f(0,0,0);
+    glVertex3f(0,1,0);
+
     glTexCoord2i(1,0);
+    glVertex3f(0,0,0);
+
+    glTexCoord2i(1,1);
     glVertex3f(1,0,0);
   glEnd();
   glDisable(GL_TEXTURE_2D);
-  printf("done..\n");
 }
 
 void Viewer::MainLoop(void) {
@@ -234,9 +239,18 @@ void Viewer::MainLoop(void) {
   CollMesh* cmesh = (CollMesh*)calloc(1, sizeof(CollMesh));
   sbreGenCollMesh(cmesh, g_model, &params, 1.0f);
 
+  /* TODO: Flip Z & X because sbre is in magicspace. */
+  for(int i = 0; i < 3*cmesh->nv; i+=3) {
+    cmesh->pVertex[i] = -cmesh->pVertex[i];
+    cmesh->pVertex[i+2] = -cmesh->pVertex[i+2];
+  }
+
   Uint32 t= SDL_GetTicks();
   GeomTree* geomtree = new GeomTree(cmesh->ni/3, cmesh->pVertex, cmesh->pIndex);
   printf("Geom tree build in $dms\n", SDL_GetTicks() -t);
+  Geom* geom = new Geom(geomtree);
+  CollisionSpace* space = new CollisionSpace();
+  space->AddGeom(geom);
 
   for(;;) {
     PollEvents();
@@ -248,8 +262,8 @@ void Viewer::MainLoop(void) {
     if(g_keyState[SDLK_EQUALS]) distance *= pow(0.5, g_frameTime);
     if(g_keyState[SDLK_MINUS])  distance *= pow(2.0, g_frameTime);
     if(g_mouseButton[1] || g_mouseButton[3]) {
-      float rx = 0.01*g_mouseMotion[1];
+      float rx = -0.01*g_mouseMotion[1];
-      float ry = 0.01*g_mouseMotion[0];
+      float ry = -0.01*g_mouseMotion[0];
       rot = matrix4x4d::RotateXMatrix(rx) * rot;
       rot = matrix4x4d::RotateYMatrix(ry) * rot;
     }
@@ -263,37 +277,34 @@ void Viewer::MainLoop(void) {
     glClearColor(0,0,0,0);
     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 
-    glPushAttrib(GL_ALL_ATTRIB_BITS);
+    if(g_renderType == 0) {
-    if(!g_renderCollMesh) {
+      glPushAttrib(GL_ALL_ATTRIB_BITS);
-    SetSbreParams();
+      SetSbreParams();
-    sbreSetViewport(g_width, g_height, g_width*0.5, 1.0f, 10000.0f, 0.0f, 1.0f);
+      sbreSetViewport(g_width, g_height, g_width*0.5, 1.0f, 10000.0f, 0.0f, 1.0f);
-    sbreSetDirLight(lightCol, lightDir);
+      sbreSetDirLight(lightCol, lightDir);
 
-    Matrix m;
+      Matrix m;
-    Vector p;
+      Vector p;
-    m.x1 = rot[0]; m.x2 = rot[4]; m.x3 = rot[ 8];
+      m.x1 = rot[0]; m.x2 = rot[4]; m.x3 = -rot[8];
-    m.y1 = rot[1]; m.y2 = rot[5]; m.y3 = rot[ 9];
+      m.y1 = rot[1]; m.y2 = rot[5]; m.y3 = -rot[9];
-    m.z1 = rot[2]; m.z2 = rot[6]; m.z3 = rot[10];
+      m.z1 = -rot[2]; m.z2 = -rot[6]; m.z3 = rot[10];
-    p.x = 0; p.y = 0; p.z = distance;
+      p.x = 0; p.y = 0; p.z = distance;
-    if(g_renderCollMesh) {
+      sbreRenderModel(&p, &m, g_model, &params);
+      glPopAttrib();
+    } else if(g_renderType == 1) {
       glPushMatrix();
-      glTranslatef(p.x, p.y, p.z);
+      glTranslatef(0, 0, -distance);
       glMultMatrixd(&rot[0]);
       render_coll_mesh(cmesh);
       glPopMatrix();
       //sbreRenderCollMesh(cmesh, &p, &m);
-    }
-    else sbreRenderModel(&p, &m, g_model, &params);
-
     } else {
-      vector3d _p = rot * vector3d(0,0,-distance);
+      geom->SetOrientation(rot);
-      vector3f camPos(_p.x, _p.y, _p.z);
+      vector3d camPos   = vector3d(0, 0, distance);
-      vector3f forward = -vector3f::Normalize(camPos);
+      vector3d forward  = vector3d(0,0,-1);
-      vector3f up = vector3f::Cross(vector3f(0,1,0), forward);
+      vector3d up       = vector3d(0, 1, 0);
-      up.Normalize();
+      raytraceCollMesh(camPos, up, forward, space);
-      raytraceCollMesh(camPos, up, forward, geomtree);
     }
-    glPopAttrib();
 
     Gui::Draw();
 

src/vector3.h

@@ -12,7 +12,8 @@ public:
   vector3(const double vals[3]): x(vals[0]), y(vals[1]), z(vals[2])   { }
   vector3(const float vals[3]) : x(vals[0]), y(vals[1]), z(vals[2])   { }
 
-  T&        operator[]        (const int i) { return ((T*)this)[i]; }
+  const T&  operator[]        (const size_t i)  const { return ((const T*)this)[i]; }
+  T&        operator[]        (const size_t i)        { return ((T*)this)[i]; }
   vector3   operator+         (const vector3 a) const { return vector3 (a.x+x, a.y+y, a.z+z); }
   vector3&  operator+=        (const vector3 a) { x+=a.x; y+=a.y; z+=a.z; return *this; }
   vector3&  operator-=        (const vector3 a) { x-=a.x; y-=a.y; z-=a.z; return *this; }