[...] Bunch of collision work, pretty much broke planet landing and some

other stuff. Don't worry about it.

src/aabb.h

@@ -12,5 +12,16 @@ struct Aabb {
     if(min.y > p.y) min.y = p.y;
     if(min.z > p.z) min.z = p.z;
   }
+  template<typename T>
+  bool IsIn(const vector3<T> p) const {
+    return ((p.x >= min.x) && (p.x <= max.x) &&
+        (p.y >= min.y) && (p.y <= max.y) &&
+        (p.z >= min.z) && (p.z <= max.z));
+  }
+  bool Intersects(const Aabb& o) const {
+    return (min.x < o.max.x) && (max.x > o.min.x) &&
+      (min.y < o.max.y) && (max.y > o.min.y) &&
+      (min.z < o.max.z) && (max.z > o.min.z);
+  }
 };
 

src/collider/collision_space.cpp

@@ -28,17 +28,33 @@ void CollisionSpace::TraceRay(const vector3d& start, const vector3d& dir, isect_
   }
 }
 
-void CollisionSpace::CollideGeoms(Geom* a, Geom* b, void (*callback)(CollisionContact*)) {
+void CollisionSpace::CollideGeoms(Geom* a, void (*callback)(CollisionContact*)) {
-  a->Collide(b, callback);
+  /* Our big Aabb. */
-  b->Collide(a, callback);
+  vector3d pos = a->GetPosition();
+  Aabb bigAabb;
+  bigAabb = a->GetGeomTree()->GetMaxAabb();
+  bigAabb.min += pos;
+  bigAabb.max += pos;
+
+  for(std::list<Geom*>::iterator i = m_geoms.begin(); i != m_geoms.end(); ++i) {
+    if((*i) != a) {
+      Aabb bigAabb2;
+      bigAabb2 = (*i)->GetGeomTree()->GetMaxAabb();
+      vector3d pos2 = (*i)->GetPosition();
+      bigAabb2.min += pos2;
+      bigAabb2.max += pos2;
+      if(bigAabb.Intersects(bigAabb2)) {
+        a->Collide(*i, callback);
+        if(!(*i)->HasMoved()) (*i)->Collide(a, callback);
+      }
+    }
+  }
 }
 
 void CollisionSpace::Collide(void (*callback)(CollisionContact*)) {
   /* For now, do a totally stupid intersection of every body on every other. */
   for(std::list<Geom*>::iterator i = m_geoms.begin(); i != m_geoms.end(); ++i) {
-    for(std::list<Geom*>::iterator j = m_geoms.begin(); j != m_geoms.end(); ++j) {
+    if((*i)->HasMoved()) CollideGeoms(*i, callback);
-      if((*i) != (*j))CollideGeoms(*i, *j, callback);
-    }
   }
 }
 

src/collider/collision_space.h

@@ -14,7 +14,7 @@ public:
   void TraceRay(const vector3d& start, const vector3d& dir, isect_t* isect);
   void Collide(void (*callback)(CollisionContact*));
 private:
-  void CollideGeoms(Geom* a, Geom* b, void (*callback)(CollisionContact*));
+  void CollideGeoms(Geom* a, void (*callback)(CollisionContact*));
   std::list<Geom*> m_geoms;
 };
 

src/collider/geom.cpp

@@ -10,6 +10,7 @@ Geom::Geom(GeomTree* geomtree) {
   m_invOrient = matrix4x4d::Identity();
   m_orientIdx = 0;
   m_active = true;
+  m_moved = false;
   m_data = 0;
 }
 
@@ -17,6 +18,7 @@ void Geom::MoveTo(const matrix4x4d& m) {
   m_orientIdx = !m_orientIdx;
   m_orient[m_orientIdx] = m;
   m_invOrient = m.InverseOf();
+  m_moved = true;
 }
 
 void Geom::MoveTo(const matrix4x4d& m, const vector3d pos) {
@@ -28,7 +30,14 @@ void Geom::MoveTo(const matrix4x4d& m, const vector3d pos) {
   m_invOrient = m_orient[m_orientIdx].InverseOf();
 }
 
+vector3d Geom::GetPosition(void) const {
+  return vector3d(m_orient[m_orientIdx][12],
+      m_orient[m_orientIdx][13],
+      m_orient[m_orientIdx][14]);
+}
+
 void Geom::Collide(Geom* b, void(*callback)(CollisionContact*)) {
+  m_moved = false;
   for(int i = 0; i < m_geomtree->m_numVertices; i++) {
     vector3d v(&m_geomtree->m_vertices[3*i]);
     vector3d from = m_orient[!m_orientIdx] * v;

src/collider/geom.h

@@ -13,9 +13,11 @@ public:
   void MoveTo(const matrix4x4d& m, const vector3d pos);
   const matrix4x4d& GetInvTransform(void) { return m_invOrient; }
   const matrix4x4d& GetTransform(void) { return m_orient[m_orientIdx]; }
+  vector3d GetPosition(void) const;
   void Enable(void) { m_active = true; }
   void Disable(void) {m_active = false; }
   bool IsEnabled(void) { return m_active; }
+  bool HasMoved(void)  { return m_moved; }
   GeomTree* GetGeomTree(void) { return m_geomtree; }
   void Collide(Geom* b, void(*callback)(CollisionContact*));
   void SetUserData(void* d) { m_data = d; }
@@ -25,6 +27,7 @@ private:
   matrix4x4d m_orient[2], m_invOrient;
   int m_orientIdx;
   bool m_active;
+  bool m_moved;
   GeomTree* m_geomtree;
   void* m_data;
 };

src/collider/geom_tree.cpp

@@ -80,9 +80,11 @@ GeomTree::~GeomTree(void) {
   delete [] m_triAlloc;
 }
 
-GeomTree::GeomTree(int numVerts, int numTris, float* vertices, int* indices) : m_numVertices(numVerts) {
+GeomTree::GeomTree(int numVerts, int numTris, float* vertices, int* indices,
+    int* triflags) : m_numVertices(numVerts) {
   m_vertices = vertices;
   m_indices = indices;
+  m_triFlags = triflags;
   m_aabb.min = vector3d(FLT_MAX, FLT_MAX, FLT_MAX);
   m_aabb.max = vector3d(FLT_MAX, FLT_MAX, FLT_MAX);
 
@@ -94,6 +96,15 @@ GeomTree::GeomTree(int numVerts, int numTris, float* vertices, int* indices) : m
   }
   m_triAlloc[numTris-1].next = 0;
 
+  /* Make big rotation aabb. */
+  {
+    vector3d cent = 0.5*(m_aabb.min+m_aabb.max);
+    double mdim = (cent - m_aabb.min).Length();
+    mdim = MAX(mdim,(m_aabb.max - cent).Length());
+    m_maxAabb.min = vector3d(cent.x - mdim, cent.y - mdim, cent.z - mdim);
+    m_maxAabb.max = vector3d(cent.x + mdim, cent.y + mdim, cent.z + mdim);
+  }
+
   printf("Building BIHTree of %d triangles\n", numTris);
   printf("Aabb: %f,%f,%f -> %f,%f,%f\n",
       m_aabb.min.x,
@@ -102,6 +113,13 @@ GeomTree::GeomTree(int numVerts, int numTris, float* vertices, int* indices) : m
       m_aabb.max.x,
       m_aabb.max.y,
       m_aabb.max.z);
+  printf("MaxAabb: %f,%f,%f -> %f,%f,%f\n",
+      m_maxAabb.min.x,
+      m_maxAabb.min.y,
+      m_maxAabb.min.z,
+      m_maxAabb.max.x,
+      m_maxAabb.max.y,
+      m_maxAabb.max.z);
   m_nodes = new BIHNode[numTris*4];
   m_nodesAllocSize = numTris*4;
   m_nodesAllocPos = 0;
@@ -183,7 +201,6 @@ void GeomTree::BihTreeGhBuild(BIHNode* a_node, Aabb& a_box, Aabb& a_splitBox, in
     //if(axis != -1) printf("Best is axis %d on %s (cost %f%%)\n", axis, (isTop ? "top" : "botton"), bestCost*100);
     /* Cut off whitespace. */
     if((bestCost > MIN_SPACE_CUTOFF) && (bestCost < 1.0f)) {
-      printf("Clicing off %f%%\n", bestCost*100);
       a_node->SetLeaf(false);
       a_node->SetAxis(axis);
 
@@ -465,21 +482,22 @@ void GeomTree::RayTriIntersect(const vector3f& origin, const vector3f& dir, int
   const float v1d = vector3f::Dot(v1_cross,dir);
   const float v2d = vector3f::Dot(v2_cross,dir);
 
-  if((v0d > 0) && (v1d > 0) && (v2d > 0)) {
+  if(((v0d > 0) && (v1d > 0) && (v2d > 0)) ||
+    ((v0d < 0) && (v1d < 0) && (v2d < 0))) {
     const vector3f n = vector3f::Cross(c-a, b-a);
     const float nominator = vector3f::Dot(n, (a-origin));
     const float dist = nominator / vector3f::Dot(dir, n);
     if((dist > EPSILON) && (dist < isect->dist)) {
       isect->dist = dist;
-      isect->triIdx = triIdx;
+      isect->triIdx = triIdx/3;
     }
   }
 }
 
 vector3f GeomTree::GetTriNormal(int triIdx) const {
-  const vector3f a(&m_vertices[3*m_indices[triIdx]]);
+  const vector3f a(&m_vertices[3*m_indices[3*triIdx]]);
-  const vector3f b(&m_vertices[3*m_indices[triIdx+1]]);
+  const vector3f b(&m_vertices[3*m_indices[3*triIdx+1]]);
-  const vector3f c(&m_vertices[3*m_indices[triIdx+2]]);
+  const vector3f c(&m_vertices[3*m_indices[3*triIdx+2]]);
 
   return vector3f::Normalize(vector3f::Cross(b-a, c-a));
 }

src/collider/geom_tree.h

@@ -12,9 +12,10 @@ struct isect_t {
 
 class GeomTree {
 public:
-  GeomTree(int numVerts, int numTris, float* vertices, int* indices);
+  GeomTree(int numVerts, int numTris, float* vertices, int* indices, int* triflags);
   ~GeomTree(void);
-  Aabb GetAabb(void) { return m_aabb; }
+  const Aabb& GetAabb(void) { return m_aabb; }
+  const Aabb& GetMaxAabb(void) { return m_maxAabb; }
   /*
    * dir should be unit length,
    * isect.dist should be ray length.
@@ -22,6 +23,7 @@ public:
    */
   void TraceRay(const vector3f& start, const vector3f& dir, isect_t* isect);
   vector3f GetTriNormal(int triIdx) const;
+  int GetTriFlag(int triIdx) const { return m_triFlags[triIdx]; }
 
   const int m_numVertices;
   const float* m_vertices;
@@ -34,6 +36,7 @@ private:
   void BihTreeGhBuild(BIHNode* a_node, Aabb& a_box, Aabb& a_splitBox, int a_depth, int a_prims);
 
   Aabb m_aabb;
+  Aabb m_maxAabb; /* An aabb that still contains the object regardless of rotation. */
   BIHNode* m_nodes;
   int m_nodesAllocPos;
   int m_nodesAllocSize;
@@ -42,5 +45,6 @@ private:
   int m_triAllocSize;
 
   const int* m_indices;
+  const int* m_triFlags;
 };
 

src/main.cpp

@@ -168,18 +168,17 @@ void L3D::HandleEvents(void) {
 #ifdef DEBUG
       if(event.key.keysym.sym == SDLK_F12) {
         /* Add test object. */
-        Ship* body = new Ship(ShipType::LADYBIRD);
+        /*Ship* body = new Ship(ShipType::LADYBIRD);
         body->SetLabel("A friend");
         body->SetFrame(L3D::player->GetFrame());
         body->SetPosition(L3D::player->GetPosition()+vector3d(0,0,-1000));
-        Space::AddBody(body);
+        Space::AddBody(body);*/
-#if 0
         SpaceStation* station = new SpaceStation(SpaceStation::JJHOOP);
         station->SetLabel("Poemi-chan's Folly");
         station->SetFrame(L3D::player->GetFrame());
-        station->SetPosition(L3D::player->GetPosition()+vector3d(0,0,-1000));
+        station->SetRotMatrix(matrix4x4d::RotateZMatrix(M_PI));
+        station->SetPosition(L3D::player->GetPosition() + vector3d(0, 0, -5000));
         Space::AddBody(station);
-#endif
       }
 #endif
       if(event.key.keysym.sym == SDLK_F11) SDL_WM_ToggleFullScreen(L3D::scrSurface);
@@ -394,12 +393,14 @@ void L3D::MainLoop(void) {
 
     time_before_frame = SDL_GetTicks();
     /* Fixed 62.5hz physics. */
+    int num_steps = 0;
     while(time_before_frame - last_phys_update > 16) {
       last_phys_update += 16;
       const float step = L3D::GetTimeStep();
       if(step) Space::TimeStep(step);
       gameTime += step;
       phys_stat++;
+      if(++num_steps > 3) break;
     }
     currentView->Update();
 

src/model_body.cpp

@@ -60,6 +60,7 @@ void ModelBody::SetModel(int sbreModel) {
   CollMeshSet* mset = GetModelCollMeshSet(sbreModel);
 
   m_geom = new Geom(mset->m_geomTree);
+  m_geom->SetUserData((void*)this);
 
   geomColl.resize(mset->numMeshParts);
   geoms.resize(mset->numMeshParts);
@@ -77,6 +78,7 @@ void ModelBody::SetPosition(vector3d p) {
   matrix4x4d m;
   GetRotMatrix(m);
   m_geom->MoveTo(m, p);
+  m_geom->MoveTo(m, p);
 
   for(unsigned int i = 0; i < geoms.size(); i++) {
     dGeomSetPosition(geoms[i], p.x, p.y, p.z);
@@ -120,6 +122,9 @@ void ModelBody::SetRotMatrix(const matrix4x4d& r) {
   for(unsigned int i = 0; i < geoms.size(); i++) {
     dGeomSetRotation(geoms[i], _m);
   }
+  vector3d pos = m_geom->GetPosition();
+  m_geom->MoveTo(r, pos);
+  m_geom->MoveTo(r, pos);
 }
 
 void ModelBody::GetRotMatrix(matrix4x4d& m) const {
@@ -172,7 +177,6 @@ void ModelBody::TriMeshUpdateLastPos(void) {
   matrix4x4d wtf;
   memcpy(&wtf[0], t, 16*sizeof(double));
   m_geom->MoveTo(wtf);
-  m_geom->SetUserData(dGeomGetBody(geoms[0]));
 
   m_triMeshLastMatrixIndex = !m_triMeshLastMatrixIndex;
   for(unsigned int i = 0; i < geoms.size(); i++) {

src/model_coll_mesh_data.cpp

@@ -82,7 +82,8 @@ CollMeshSet::CollMeshSet(int sbreModel) {
         aabb.max[a] = sbreCollMesh->pVertex[i+a];
     }
   }
-  m_geomTree = new GeomTree(sbreCollMesh->nv, sbreCollMesh->ni/3, sbreCollMesh->pVertex, sbreCollMesh->pIndex);
+  m_geomTree = new GeomTree(sbreCollMesh->nv, sbreCollMesh->ni/3,
+      sbreCollMesh->pVertex, sbreCollMesh->pIndex, sbreCollMesh->pFlag);
 
   triIndices = new coltri_t[sbreCollMesh->ni/3];
   int tidx = 0;

src/sbre_viewer.cpp

@@ -159,6 +159,7 @@ static void render_coll_mesh(const CollMesh* m) {
 float foo[TEXSIZE][TEXSIZE];
 float aspectRatio = 1.0;
 float camera_zoom = 1.0;
+float distance = 100;
 static void raytraceCollMesh(vector3d camPos, vector3d camera_up, vector3d camera_forward, CollisionSpace* space) {
   memset(foo, 0, sizeof(float)*TEXSIZE*TEXSIZE);
 
@@ -191,7 +192,7 @@ static void raytraceCollMesh(vector3d camPos, vector3d camera_up, vector3d camer
       space->TraceRay(camPos, toPoint, &isect);
 
       if(isect.triIdx != -1) {
-        foo[x][y] = 10.0/isect.dist;
+        foo[x][y] = distance/(10*isect.dist);
       } else {
         foo[x][y] = 0;
       }
@@ -238,7 +239,6 @@ static void onCollision(CollisionContact* c) {
 
 void Viewer::MainLoop(void) {
   matrix4x4d rot = matrix4x4d::Identity();
-  float distance = 100;
   Uint32 lastFoo = SDL_GetTicks();
 
   CollMesh* cmesh = (CollMesh*)calloc(1, sizeof(CollMesh));
@@ -251,15 +251,16 @@ void Viewer::MainLoop(void) {
   }
 
   Uint32 t= SDL_GetTicks();
-  GeomTree* geomtree = new GeomTree(cmesh->nv, cmesh->ni/3, cmesh->pVertex, cmesh->pIndex);
+  GeomTree* geomtree = new GeomTree(cmesh->nv, cmesh->ni/3, cmesh->pVertex,
+      cmesh->pIndex, cmesh->pFlag);
   printf("Geom tree build in $dms\n", SDL_GetTicks() -t);
   Geom* geom = new Geom(geomtree);
-  Geom* geom2 = new Geom(geomtree);
+  //Geom* geom2 = new Geom(geomtree);
   CollisionSpace* space = new CollisionSpace();
-  space->AddGeom(geom2);
+  //space->AddGeom(geom2);
   space->AddGeom(geom);
-  geom2->MoveTo(rot, vector3d(80,0,0));
+  //geom2->MoveTo(rot, vector3d(80,0,0));
-  geom2->MoveTo(rot, vector3d(80,0,0));
+  //geom2->MoveTo(rot, vector3d(80,0,0));
 
   for(;;) {
     PollEvents();

src/space.cpp

@@ -324,6 +324,24 @@ static void dump_contact(const dContact* c) {
   printf("fdir1 %f,%f,%f\n", c->fdir1[0], c->fdir1[1], c->fdir1[2]);
 }
 
+static bool _OnCollision2(Object* o1, Object* o2, CollisionContact* c) {
+  Body* pb1, *pb2;
+  int flags = c->g2->GetGeomTree()->GetTriFlag(c->triIdx);
+  //printf("Collision flags %x (triIdx %d)\n", flags, c->triIdx);
+  /* Geom bodies point to their parents. */
+  if(o1->IsType(Object::GEOM)) {
+    pb1 = static_cast<ModelBody::GeomBit*>(o1)->parent;
+    flags |= static_cast<ModelBody::GeomBit*>(o1)->flags;
+  } else pb1 = static_cast<Body*>(o1);
+  if(o2->IsType(Object::GEOM)) {
+      pb2 = static_cast<ModelBody::GeomBit*>(o2)->parent;
+      flags |= static_cast<ModelBody::GeomBit*>(o2)->flags;
+  } else pb2 = static_cast<Body*>(o2);
+
+  if((pb1 && !pb1->OnCollision(pb2, flags)) || (pb2 && !pb2->OnCollision(pb1, flags))) return false;
+  return true;
+}
+
 #define MAX_CONTACTS 10
 static int contact_num;
 static void hitCallback(CollisionContact* c) {