From b738fb63e1659903ab11529572610b02eb9c20e4 Mon Sep 17 00:00:00 2001
From: Rtch90 <ritchie.cunningham@protonmail.com>
Date: Wed, 21 Mar 2018 20:43:52 +0000
Subject: [PATCH] [Add] Planet sphere geom in new collider. A little suspect..
---
src/collider/collider.h | 3 ++-
src/collider/collision_space.cpp | 37 ++++++++++++++++++++++++-
src/collider/collision_space.h | 15 +++++++++++
src/collider/geom.cpp | 46 ++++++++++++++++++++++++++++++--
src/collider/geom.h | 2 ++
src/collider/geom_tree.cpp | 15 +++++++----
src/collider/geom_tree.h | 1 +
src/frame.cpp | 4 +++
src/frame.h | 1 +
src/planet.cpp | 10 +++++--
src/sbre_viewer.cpp | 5 +++-
src/space.cpp | 15 +++++++++--
12 files changed, 140 insertions(+), 14 deletions(-)
diff --git a/src/collider/collider.h b/src/collider/collider.h
index fd09cfc..e983e41 100644
--- a/src/collider/collider.h
+++ b/src/collider/collider.h
@@ -11,6 +11,7 @@ struct CollisionContact {
vector3d normal;
double depth;
int triIdx;
- Geom* g1, *g2;
+ void* userData1, *userData2;
+ int geomFlag;
};
diff --git a/src/collider/collision_space.cpp b/src/collider/collision_space.cpp
index 7377489..dac128e 100644
--- a/src/collider/collision_space.cpp
+++ b/src/collider/collision_space.cpp
@@ -3,7 +3,7 @@
#include "geom_tree.h"
CollisionSpace::CollisionSpace(void) {
-
+ sphere.radius = 0;
}
void CollisionSpace::AddGeom(Geom* geom) {
@@ -15,6 +15,35 @@ void CollisionSpace::RemoveGeom(Geom* geom) {
m_geoms.remove(geom);
}
+void CollisionSpace::CollideRaySphere(const vector3d& start, const vector3d& dir, isect_t* isect) {
+ if(sphere.radius != 0) {
+ /* Collide with lovely sphere! */
+ const vector3d v = start - sphere.pos;
+ const double b = -vector3d::Dot(v, dir);
+ double det = (b*b) - vector3d::Dot(v, v) + (sphere.radius*sphere.radius);
+ if(det > 0) {
+ det = sqrt(det);
+ const double i1 = b - det;
+ const double i2 = b + det;
+ if(i2 > 0) {
+ /*if(i1 < 0) {
+ if(i2 < *dist) {
+ *dist = i2;
+ //retval = INPRIM;
+ retval = true;
+ }
+ }*/
+ if(i2 > 0) {
+ if(i1 < isect->dist) {
+ isect->dist = i1;
+ isect->triIdx = 0;
+ }
+ }
+ }
+ }
+ }
+}
+
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()) {
@@ -26,6 +55,7 @@ void CollisionSpace::TraceRay(const vector3d& start, const vector3d& dir, isect_
(*i)->GetGeomTree()->TraceRay(modelStart, modelDir, isect);
}
}
+ CollideRaySphere(start, dir, isect);
}
void CollisionSpace::CollideGeoms(Geom* a, void (*callback)(CollisionContact*)) {
@@ -36,6 +66,11 @@ void CollisionSpace::CollideGeoms(Geom* a, void (*callback)(CollisionContact*))
bigAabb.min += pos;
bigAabb.max += pos;
+ /* First test this reested sh*t against the planet sphere thing. */
+ if(sphere.radius != 0) {
+ a->CollideSphere(sphere, callback);
+ }
+
for(std::list<Geom*>::iterator i = m_geoms.begin(); i != m_geoms.end(); ++i) {
if((*i) != a) {
Aabb bigAabb2;
diff --git a/src/collider/collision_space.h b/src/collider/collision_space.h
index 33216db..a9203d7 100644
--- a/src/collider/collision_space.h
+++ b/src/collider/collision_space.h
@@ -6,6 +6,14 @@ class Geom;
struct isect_t;
class CollisionContact;
+struct Sphere {
+ vector3d pos;
+ double radius;
+ void* userData;
+};
+
+/* Collision spaces have a bunch of geoms and at most one sphere (for a planet). */
+
class CollisionSpace {
public:
CollisionSpace(void);
@@ -13,8 +21,15 @@ public:
void RemoveGeom(Geom*);
void TraceRay(const vector3d& start, const vector3d& dir, isect_t* isect);
void Collide(void (*callback)(CollisionContact*));
+ void SetSphere(const vector3d& pos, double radius, void* user_data) {
+ sphere.pos = pos; sphere.radius = radius; sphere.userData = user_data;
+ }
+
private:
void CollideGeoms(Geom* a, void (*callback)(CollisionContact*));
+ void CollideRaySphere(const vector3d& start, const vector3d& dir, isect_t* isect);
std::list<Geom*> m_geoms;
+
+ Sphere sphere;
};
diff --git a/src/collider/geom.cpp b/src/collider/geom.cpp
index 9a59778..a6fb7c6 100644
--- a/src/collider/geom.cpp
+++ b/src/collider/geom.cpp
@@ -36,6 +36,47 @@ vector3d Geom::GetPosition(void) const {
m_orient[m_orientIdx][14]);
}
+void Geom::CollideSphere(Sphere& sphere, void(*callback)(CollisionContact*)) {
+ for(int i = 0; i < m_geomtree->m_numVertices; i++) {
+ vector3d vtx(&m_geomtree->m_vertices[3*i]);
+ vector3d from = m_orient[!m_orientIdx] * vtx;
+ vector3d to = m_orient[m_orientIdx] * vtx;
+ vector3d dir = to - from;
+ const double len = dir.Length();
+ dir *= 1.0f/len;
+
+ vector3d _from(from.x, from.y, from.z);
+ vector3d _dir(dir.x, dir.y, dir.z);
+
+ _dir.Normalize();
+
+ /* Collide with lovely sphere! */
+ const vector3d v = _from - sphere.pos;
+ const double b = -vector3d::Dot(v, dir);
+ double det = (b*b) - vector3d::Dot(v,v) + (sphere.radius*sphere.radius);
+ if(det > 0) {
+ det = sqrt(det);
+ const double i1 = b - det;
+ const double i2 = b + det;
+ if(i2 > 0) {
+ if(i1 > 0) {
+ if(i1 < len) {
+ CollisionContact c;
+ c.pos = _from + _dir*i1;
+ c.normal = vector3d::Normalize(v);
+ c.depth = len - i1;
+ c.triIdx = 0;
+ c.userData1 = this->m_data;
+ c.userData2 = sphere.userData;
+ c.geomFlag = 0;
+ (*callback)(&c);
+ }
+ }
+ }
+ }
+ }
+}
+
void Geom::Collide(Geom* b, void(*callback)(CollisionContact*)) {
m_moved = false;
for(int i = 0; i < m_geomtree->m_numVertices; i++) {
@@ -66,8 +107,9 @@ void Geom::Collide(Geom* b, void(*callback)(CollisionContact*)) {
c.depth = len - isect.dist;
c.triIdx = isect.triIdx;
- c.g1 = this;
- c.g2 = b;
+ c.userData1 = m_data;
+ c.userData2 = b->m_data;
+ c.geomFlag = b->m_geomtree->GetTriFlag(isect.triIdx);
(*callback)(&c);
}
}
diff --git a/src/collider/geom.h b/src/collider/geom.h
index 36b0767..c6d8ebd 100644
--- a/src/collider/geom.h
+++ b/src/collider/geom.h
@@ -5,6 +5,7 @@
class GeomTree;
class isect_t;
class CollisionContact;
+class Sphere;
class Geom {
public:
@@ -20,6 +21,7 @@ public:
bool HasMoved(void) { return m_moved; }
GeomTree* GetGeomTree(void) { return m_geomtree; }
void Collide(Geom* b, void(*callback)(CollisionContact*));
+ void CollideSphere(Sphere& sphere, void (*callback)(CollisionContact*));
void SetUserData(void* d) { m_data = d; }
void* GetUserData(void) { return m_data; }
private:
diff --git a/src/collider/geom_tree.cpp b/src/collider/geom_tree.cpp
index 3350eb1..cbf5c10 100644
--- a/src/collider/geom_tree.cpp
+++ b/src/collider/geom_tree.cpp
@@ -7,10 +7,12 @@
* You don't need a 'mailbox' as objects only appear once in the hierarchy.
* single ray traversal performance is comparable to kd-tree and way faster than bvh.
*/
-#define MAX_LEAF_PRIMS 2
+#define MAX_LEAF_PRIMS 1
#define MAX_DEPTH 20
#define MAX_SPLITPOS_RETRIES 32
-#define MIN_SPACE_CUTOFF 0.33
+#define MIN_SPACE_CUTOFF 0.5
+//#define DO_SPACE_CUTOFF
+#define NODE_ALLOC_MULT 8
#define EPSILON 0.00001
#include <float.h>
@@ -24,6 +26,7 @@
#define MAX(a,b) ((a)>(b) ? (a) : (b))
class DisplayList;
+int GeomTree::stats_rayTriIntersections;
struct tri_t {
int triIdx;
@@ -120,8 +123,8 @@ GeomTree::GeomTree(int numVerts, int numTris, float* vertices, int* indices,
m_maxAabb.max.x,
m_maxAabb.max.y,
m_maxAabb.max.z);
- m_nodes = new BIHNode[numTris*4];
- m_nodesAllocSize = numTris*4;
+ m_nodes = new BIHNode[numTris*NODE_ALLOC_MULT];
+ m_nodesAllocSize = numTris*NODE_ALLOC_MULT;
m_nodesAllocPos = 0;
m_triAllocPos = 0;
@@ -153,6 +156,7 @@ void GeomTree::BihTreeGhBuild(BIHNode* a_node, Aabb& a_box, Aabb& a_splitBox, in
int s1count, s2count, splitAxis, attempt;
attempt = 0;
+#ifdef DO_SPACE_CUTOFF
Aabb realAabb;
realAabb.min = vector3d(FLT_MAX, FLT_MAX, FLT_MAX);
realAabb.max = vector3d(-FLT_MAX, -FLT_MAX, -FLT_MAX);
@@ -227,7 +231,7 @@ void GeomTree::BihTreeGhBuild(BIHNode* a_node, Aabb& a_box, Aabb& a_splitBox, in
return;
}
}
-
+#endif /* DO_SPACE_CUTOFF */
for(;;) {
splitAxis = 0;
vector3d splitBoxSize = a_splitBox.max - a_splitBox.min;
@@ -468,6 +472,7 @@ pop_bstack:
}
void GeomTree::RayTriIntersect(const vector3f& origin, const vector3f& dir, int triIdx, isect_t* isect) {
+ stats_rayTriIntersections++;
const vector3f a(&m_vertices[3*m_indices[triIdx]]);
const vector3f b(&m_vertices[3*m_indices[triIdx+1]]);
const vector3f c(&m_vertices[3*m_indices[triIdx+2]]);
diff --git a/src/collider/geom_tree.h b/src/collider/geom_tree.h
index 40ab24a..764e62f 100644
--- a/src/collider/geom_tree.h
+++ b/src/collider/geom_tree.h
@@ -27,6 +27,7 @@ public:
const int m_numVertices;
const float* m_vertices;
+ static int stats_rayTriIntersections;
private:
friend class BIHNode;
diff --git a/src/frame.cpp b/src/frame.cpp
index 7d26ba5..561dc98 100644
--- a/src/frame.cpp
+++ b/src/frame.cpp
@@ -91,6 +91,10 @@ Frame::~Frame(void) {
void Frame::AddGeom(Geom* g) { m_collisionSpace->AddGeom(g); }
void Frame::RemoveGeom(Geom* g) { m_collisionSpace->RemoveGeom(g); }
+void Frame::SetPlanetGeom(double radius, Body* obj) {
+ m_collisionSpace->SetSphere(vector3d(0,0,0), radius, static_cast<void*>(obj));
+}
+
void Frame::ApplyLeavingTransform(matrix4x4d& m) const {
m = matrix4x4d::Translation(m_pos) * m_orient * m;
}
diff --git a/src/frame.h b/src/frame.h
index a21fe52..7020cea 100644
--- a/src/frame.h
+++ b/src/frame.h
@@ -36,6 +36,7 @@ public:
void _RemoveGeom(dGeomID g) { dSpaceRemove(m_dSpaceID, g); }
void AddGeom(Geom*);
void RemoveGeom(Geom*);
+ void SetPlanetGeom(double radius, Body*);
dSpaceID GetSpaceID(void) const { return m_dSpaceID; }
CollisionSpace* GetCollisionSpace(void) const { return m_collisionSpace; }
void RotateInTimestep(double step);
diff --git a/src/planet.cpp b/src/planet.cpp
index 887a804..c3cf32c 100644
--- a/src/planet.cpp
+++ b/src/planet.cpp
@@ -911,8 +911,14 @@ void Planet::Render(const Frame* a_camFrame) {
}
void Planet::SetFrame(Frame* f) {
- if(GetFrame()) GetFrame()->_RemoveGeom(geom);
+ if(GetFrame()) {
+ GetFrame()->_RemoveGeom(geom);
+ GetFrame()->SetPlanetGeom(0,0);
+ }
Body::SetFrame(f);
- if(f) f->_AddGeom(geom);
+ if(f) {
+ f->_AddGeom(geom);
+ GetFrame()->SetPlanetGeom(GetRadius(), this);
+ }
}
diff --git a/src/sbre_viewer.cpp b/src/sbre_viewer.cpp
index 783880f..aeb09d1 100644
--- a/src/sbre_viewer.cpp
+++ b/src/sbre_viewer.cpp
@@ -160,6 +160,7 @@ float foo[TEXSIZE][TEXSIZE];
float aspectRatio = 1.0;
float camera_zoom = 1.0;
float distance = 100;
+extern int stat_rayTriIntersections;
static void raytraceCollMesh(vector3d camPos, vector3d camera_up, vector3d camera_forward, CollisionSpace* space) {
memset(foo, 0, sizeof(float)*TEXSIZE*TEXSIZE);
@@ -178,6 +179,7 @@ static void raytraceCollMesh(vector3d camPos, vector3d camera_up, vector3d camer
float ystep = 1.0f / TEXSIZE;
float xpos, ypos;
ypos = 0.0f;
+ GeomTree::stats_rayTriIntersections = 0;
Uint32 t = SDL_GetTicks();
for(int y = 0; y < TEXSIZE; y++, ypos += ystep) {
@@ -198,7 +200,8 @@ static void raytraceCollMesh(vector3d camPos, vector3d camera_up, vector3d camer
}
}
}
- printf("%3f million rays/sec\n", (TEXSIZE*TEXSIZE)/(1000.0*(SDL_GetTicks()-t)));
+ printf("%.3f million rays/sec, %.2f tri isect tests per ray\n", (TEXSIZE*TEXSIZE)/(1000.0*(SDL_GetTicks()-t)),
+ GeomTree::stats_rayTriIntersections/(float)(TEXSIZE*TEXSIZE));
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, TEXSIZE, TEXSIZE, 0, GL_LUMINANCE, GL_FLOAT, foo);
glDisable(GL_DEPTH_TEST);
diff --git a/src/space.cpp b/src/space.cpp
index 2320ad1..867c4af 100644
--- a/src/space.cpp
+++ b/src/space.cpp
@@ -326,7 +326,7 @@ static void dump_contact(const dContact* c) {
static bool _OnCollision2(Object* o1, Object* o2, CollisionContact* c) {
Body* pb1, *pb2;
- int flags = c->g2->GetGeomTree()->GetTriFlag(c->triIdx);
+ int flags = c->geomFlag;
//printf("Collision flags %x (triIdx %d)\n", flags, c->triIdx);
/* Geom bodies point to their parents. */
if(o1->IsType(Object::GEOM)) {
@@ -369,8 +369,19 @@ static void hitCallback(CollisionContact* c) {
contact.fdir1[1] = 0;
contact.fdir1[2] = 0;
+ Object* po1 = static_cast<Object*>(c->userData1);
+ Object* po2 = static_cast<Object*>(c->userData2);
+
+ if(!_OnCollision2(po1, po2, c)) return;
+
+ dBodyID b1 = 0;
+ dBodyID b2 = 0;
+ /* Get the dynamics body for each geom. */
+ if(po1->IsType(Object::DYNAMICBODY)) b1 = static_cast<DynamicBody*>(po1)->m_body;
+ if(po2->IsType(Object::DYNAMICBODY)) b2 = static_cast<DynamicBody*>(po2)->m_body;
+
dJointID j = dJointCreateContact(Space::world, _contactgroup, &contact);
- dJointAttach(j, (dBodyID)c->g1->GetUserData(), (dBodyID)c->g2->GetUserData());
+ dJointAttach(j, b1, b2);
}
#if 0