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PlaneConvex

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Working example of a plane convex type, now groundplane does not need to create a box for its collisions.
This commit is contained in:
marauder2k7 2024-05-19 01:18:50 +01:00
parent b7c04c5734
commit 2d2d3c7560
4 changed files with 130 additions and 16 deletions
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97
Engine/source/collision/boxConvex.cpp
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@ -215,3 +215,100 @@ const MatrixF& OrthoBoxConvex::getTransform() const
return mOrthoMatrixCache;
}
Point3F PlaneConvex::getVertex(S32 v)
{
Point3F p = mCenter;
p.x += (v & 1) ? mSize.x : -mSize.x;
p.y += (v & 2) ? mSize.y : -mSize.y;
return p;
}
void PlaneConvex::emitEdge(S32 v1, S32 v2, const MatrixF& mat, ConvexFeature* cf)
{
S32 vc = cf->mVertexList.size();
cf->mVertexList.increment(2);
Point3F* vp = cf->mVertexList.begin();
mat.mulP(getVertex(v1), &vp[vc]);
mat.mulP(getVertex(v2), &vp[vc + 1]);
cf->mEdgeList.increment();
ConvexFeature::Edge& edge = cf->mEdgeList.last();
edge.vertex[0] = vc;
edge.vertex[1] = vc + 1;
}
void PlaneConvex::emitFace(const MatrixF& mat, ConvexFeature* cf) {
// Assuming sFace contains a single face definition for the plane
Face& face = sFace[4];
// Emit vertices
S32 vc = cf->mVertexList.size();
cf->mVertexList.increment(4);
Point3F* vp = cf->mVertexList.begin();
for (S32 v = 0; v < 4; v++) {
mat.mulP(getVertex(face.vertex[v]), &vp[vc + v]);
}
// Emit edges
cf->mEdgeList.increment(4);
ConvexFeature::Edge* edge = cf->mEdgeList.end() - 4;
for (S32 e = 0; e < 4; e++) {
edge[e].vertex[0] = vc + e;
edge[e].vertex[1] = vc + ((e + 1) & 3);
}
// Emit 2 triangle faces
cf->mFaceList.increment(2);
ConvexFeature::Face* ef = cf->mFaceList.end() - 2;
mat.getColumn(face.axis, &ef->normal);
ef[1].normal = ef[0].normal;
ef[1].vertex[0] = ef[0].vertex[0] = vc;
ef[1].vertex[1] = ef[0].vertex[2] = vc + 2;
ef[0].vertex[1] = vc + 1;
ef[1].vertex[2] = vc + 3;
}
Point3F PlaneConvex::support(const VectorF& v) const {
Point3F p = mCenter;
p.x += (v.x >= 0) ? mSize.x : -mSize.x;
p.y += (v.y >= 0) ? mSize.y : -mSize.y;
return p;
}
void PlaneConvex::getFeatures(const MatrixF& mat, const VectorF& n, ConvexFeature* cf)
{
cf->material = 0;
cf->mObject = mObject;
// Emit edges
for (S32 i = 0; i < 4; ++i) {
S32 next = (i + 1) % 4;
emitEdge(i, next, mat, cf);
}
emitFace(mat, cf);
}
void PlaneConvex::getPolyList(AbstractPolyList* list)
{
list->setTransform(&getTransform(), getScale());
list->setObject(getObject());
U32 base = list->addPoint(mCenter + Point3F(-mSize.x, -mSize.y, -mSize.z));
list->addPoint(mCenter + Point3F(mSize.x, -mSize.y, -mSize.z));
list->addPoint(mCenter + Point3F(-mSize.x, mSize.y, -mSize.z));
list->addPoint(mCenter + Point3F(mSize.x, mSize.y, -mSize.z));
list->begin(0, 0);
list->vertex(base + sFace[4].vertex[3]);
list->vertex(base + sFace[4].vertex[2]);
list->vertex(base + sFace[4].vertex[1]);
list->vertex(base + sFace[4].vertex[0]);
list->plane(base + sFace[4].vertex[2],
base + sFace[4].vertex[1],
base + sFace[4].vertex[0]);
list->end();
}