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Collision detection refactoring and improvements
This commit is contained in:
dexy
@@ -32,11 +32,11 @@ using System.Linq;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading.Tasks;
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using CodeWalker.World;
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using TC = System.ComponentModel.TypeConverterAttribute;
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using EXP = System.ComponentModel.ExpandableObjectConverter;
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namespace CodeWalker.GameFiles
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{
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@@ -231,9 +231,29 @@ namespace CodeWalker.GameFiles
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default: return null; // throw new Exception("Unknown bound type");
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}
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}
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public virtual SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
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{
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return new SpaceSphereIntersectResult();
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}
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public virtual SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
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{
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return new SpaceRayIntersectResult();
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}
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}
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[TC(typeof(EXP))] public class BoundSphere : Bounds
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{ }
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{
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public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
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{
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return base.SphereIntersect(ref sph);
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}
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public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
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{
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return base.RayIntersect(ref ray, maxdist, itemhitdist);
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}
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}
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[TC(typeof(EXP))] public class BoundCapsule : Bounds
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{
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public override long BlockLength
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@@ -274,9 +294,27 @@ namespace CodeWalker.GameFiles
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writer.Write(this.Unknown_78h);
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writer.Write(this.Unknown_7Ch);
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}
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public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
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{
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return base.SphereIntersect(ref sph);
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}
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public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
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{
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return base.RayIntersect(ref ray, maxdist, itemhitdist);
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}
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}
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[TC(typeof(EXP))] public class BoundBox : Bounds
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{ }
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{
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public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
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{
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return base.SphereIntersect(ref sph);
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}
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public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
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{
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return base.RayIntersect(ref ray, maxdist, itemhitdist);
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}
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}
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[TC(typeof(EXP))] public class BoundDisc : Bounds
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{
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public override long BlockLength
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@@ -317,6 +355,15 @@ namespace CodeWalker.GameFiles
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writer.Write(this.Unknown_78h);
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writer.Write(this.Unknown_7Ch);
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}
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public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
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{
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return base.SphereIntersect(ref sph);
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}
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public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
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{
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return base.RayIntersect(ref ray, maxdist, itemhitdist);
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}
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}
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[TC(typeof(EXP))] public class BoundCylinder : Bounds
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{
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@@ -358,6 +405,15 @@ namespace CodeWalker.GameFiles
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writer.Write(this.Unknown_78h);
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writer.Write(this.Unknown_7Ch);
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}
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public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
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{
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return base.SphereIntersect(ref sph);
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}
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public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
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{
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return base.RayIntersect(ref ray, maxdist, itemhitdist);
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}
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}
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[TC(typeof(EXP))] public class BoundGeometry : Bounds
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{
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@@ -699,6 +755,15 @@ namespace CodeWalker.GameFiles
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}
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return list.ToArray();
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}
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public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
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{
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return base.SphereIntersect(ref sph);
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}
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public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
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{
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return base.RayIntersect(ref ray, maxdist, itemhitdist);
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}
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}
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[TC(typeof(EXP))] public class BoundUnknown1 : ResourceSystemBlock
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@@ -1186,6 +1251,345 @@ namespace CodeWalker.GameFiles
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if (BVH != null) list.Add(BVH);
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return list.ToArray();
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}
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public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
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{
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var res = new SpaceSphereIntersectResult();
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var box = new BoundingBox();
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Vector3 p1, p2, p3, p4, a1, a2, a3;
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Vector3 n1 = Vector3.Zero;
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var tsph = new BoundingSphere();
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var spht = new BoundingSphere();
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var sp = sph.Center;
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var sr = sph.Radius;
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if (Polygons == null)
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{ return res; }
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if ((BVH?.Nodes?.data_items == null) || (BVH?.Trees?.data_items == null))
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{ return res; }
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box.Minimum = BoundingBoxMin;
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box.Maximum = BoundingBoxMax;
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if (!sph.Intersects(ref box))
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{ return res; }
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var q = BVH.Quantum.XYZ();
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var c = BVH.BoundingBoxCenter.XYZ();
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var cg = CenterGeom;
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for (int t = 0; t < BVH.Trees.data_items.Length; t++)
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{
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var tree = BVH.Trees.data_items[t];
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box.Minimum = new Vector3(tree.MinX, tree.MinY, tree.MinZ) * q + c;
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box.Maximum = new Vector3(tree.MaxX, tree.MaxY, tree.MaxZ) * q + c;
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if (!sph.Intersects(ref box))
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{ continue; }
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int nodeind = tree.NodeIndex1;
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int lastind = tree.NodeIndex2;
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while (nodeind < lastind)
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{
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var node = BVH.Nodes.data_items[nodeind];
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box.Minimum = new Vector3(node.MinX, node.MinY, node.MinZ) * q + c;
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box.Maximum = new Vector3(node.MaxX, node.MaxY, node.MaxZ) * q + c;
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bool nodehit = sph.Intersects(ref box);
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bool nodeskip = !nodehit;
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if (node.PolyCount <= 0) //intermediate node with child nodes
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{
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if (nodeskip)
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{
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nodeind += node.PolyId; //(child node count)
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}
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else
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{
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nodeind++;
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}
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}
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else //leaf node, with polygons
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{
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if (!nodeskip)
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{
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var lastp = node.PolyId + node.PolyCount;
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lastp = Math.Min(lastp, (int)PolygonsCount);
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for (int p = node.PolyId; p < lastp; p++)
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{
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var polygon = Polygons[p];
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bool polyhit = false;
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switch (polygon.Type)
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{
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case BoundPolygonType.Triangle:
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var ptri = polygon as BoundPolygonTriangle;
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p1 = GetVertex(ptri.vertIndex1) + cg;
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p2 = GetVertex(ptri.vertIndex2) + cg;
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p3 = GetVertex(ptri.vertIndex3) + cg;
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polyhit = sph.Intersects(ref p1, ref p2, ref p3);
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if (polyhit) n1 = Vector3.Normalize(Vector3.Cross(p2 - p1, p3 - p1));
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break;
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case BoundPolygonType.Sphere:
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var psph = polygon as BoundPolygonSphere;
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tsph.Center = GetVertex(psph.sphereIndex) + cg;
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tsph.Radius = psph.sphereRadius;
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polyhit = sph.Intersects(ref tsph);
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if (polyhit) n1 = Vector3.Normalize(sph.Center - tsph.Center);
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break;
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case BoundPolygonType.Capsule:
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var pcap = polygon as BoundPolygonCapsule;
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var tcap = new BoundingCapsule();
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tcap.PointA = GetVertex(pcap.capsuleIndex1) + cg;
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tcap.PointB = GetVertex(pcap.capsuleIndex2) + cg;
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tcap.Radius = pcap.capsuleRadius;
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polyhit = sph.Intersects(ref tcap, out n1);
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break;
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case BoundPolygonType.Box:
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var pbox = polygon as BoundPolygonBox;
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p1 = GetVertex(pbox.boxIndex1);// + cg; //corner
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p2 = GetVertex(pbox.boxIndex2);// + cg;
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p3 = GetVertex(pbox.boxIndex3);// + cg;
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p4 = GetVertex(pbox.boxIndex4);// + cg;
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a1 = ((p3 + p4) - (p1 + p2)) * 0.5f;
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a2 = p3 - (p1 + a1);
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a3 = p4 - (p1 + a1);
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Vector3 bs = new Vector3(a1.Length(), a2.Length(), a3.Length());
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Vector3 m1 = a1 / bs.X;
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Vector3 m2 = a2 / bs.Y;
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Vector3 m3 = a3 / bs.Z;
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if ((bs.X < bs.Y) && (bs.X < bs.Z)) m1 = Vector3.Cross(m2, m3);
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else if (bs.Y < bs.Z) m2 = Vector3.Cross(m3, m1);
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else m3 = Vector3.Cross(m1, m2);
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Vector3 tp = sp - (p1 + cg);
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spht.Center = new Vector3(Vector3.Dot(tp, m1), Vector3.Dot(tp, m2), Vector3.Dot(tp, m3));
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spht.Radius = sph.Radius;
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box.Minimum = Vector3.Zero;
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box.Maximum = bs;
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polyhit = spht.Intersects(ref box);
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if (polyhit)
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{
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Vector3 smin = spht.Center - spht.Radius;
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Vector3 smax = spht.Center + spht.Radius;
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float eps = spht.Radius * 0.8f;
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n1 = Vector3.Zero;
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if (Math.Abs(smax.X) < eps) n1 -= m1;
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else if (Math.Abs(smin.X - bs.X) < eps) n1 += m1;
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if (Math.Abs(smax.Y) < eps) n1 -= m2;
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else if (Math.Abs(smin.Y - bs.Y) < eps) n1 += m2;
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if (Math.Abs(smax.Z) < eps) n1 -= m3;
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else if (Math.Abs(smin.Z - bs.Z) < eps) n1 += m3;
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float n1l = n1.Length();
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if (n1l > 0.0f) n1 = n1 / n1l;
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else n1 = Vector3.UnitZ;
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}
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break;
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case BoundPolygonType.Cylinder:
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var pcyl = polygon as BoundPolygonCylinder;
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//var tcyl = new BoundingCylinder();
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//tcyl.PointA = GetVertex(pcyl.cylinderIndex1) + cg;
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//tcyl.PointB = GetVertex(pcyl.cylinderIndex2) + cg;
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//tcyl.Radius = pcyl.cylinderRadius;
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//////polyhit = ray.Intersects(ref tcyl, out polyhittestdist, out n1);
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////////TODO
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var ttcap = new BoundingCapsule();//just use the capsule intersection for now...
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ttcap.PointA = GetVertex(pcyl.cylinderIndex1) + cg;
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ttcap.PointB = GetVertex(pcyl.cylinderIndex2) + cg;
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ttcap.Radius = pcyl.cylinderRadius;
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polyhit = sph.Intersects(ref ttcap, out n1);
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break;
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default:
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break;
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}
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if (polyhit) // && (polyhittestdist < itemhitdist) && (polyhittestdist < maxdist))
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{
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res.HitPolygon = polygon;
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//itemhitdist = polyhittestdist;
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//ybnhit = true;
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res.Hit = true;
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res.Normal = n1;
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}
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res.TestedPolyCount++;
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}
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}
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nodeind++;
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}
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res.TestedNodeCount++;
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}
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}
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return res;
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}
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public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
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{
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var res = new SpaceRayIntersectResult();
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var box = new BoundingBox();
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var tsph = new BoundingSphere();
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var rayt = new Ray();
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Vector3 p1, p2, p3, p4, a1, a2, a3;
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Vector3 n1 = Vector3.Zero;
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var rp = ray.Position;
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var rd = ray.Direction;
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if (Polygons == null)
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{ return res; }
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if ((BVH?.Nodes?.data_items == null) || (BVH?.Trees?.data_items == null))
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{ return res; }
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box.Minimum = BoundingBoxMin;
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box.Maximum = BoundingBoxMax;
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float bvhboxhittest;
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if (!ray.Intersects(ref box, out bvhboxhittest))
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{ return res; }
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if (bvhboxhittest > itemhitdist)
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{ return res; } //already a closer hit.
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res.HitDist = itemhitdist;
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var q = BVH.Quantum.XYZ();
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var c = BVH.BoundingBoxCenter.XYZ();
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var cg = CenterGeom;
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for (int t = 0; t < BVH.Trees.data_items.Length; t++)
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{
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var tree = BVH.Trees.data_items[t];
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box.Minimum = new Vector3(tree.MinX, tree.MinY, tree.MinZ) * q + c;
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box.Maximum = new Vector3(tree.MaxX, tree.MaxY, tree.MaxZ) * q + c;
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if (!ray.Intersects(ref box, out bvhboxhittest))
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{ continue; }
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if (bvhboxhittest > res.HitDist)
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{ continue; } //already a closer hit.
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if (bvhboxhittest > maxdist)
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{ continue; }
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int nodeind = tree.NodeIndex1;
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int lastind = tree.NodeIndex2;
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while (nodeind < lastind)
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{
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var node = BVH.Nodes.data_items[nodeind];
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box.Minimum = new Vector3(node.MinX, node.MinY, node.MinZ) * q + c;
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box.Maximum = new Vector3(node.MaxX, node.MaxY, node.MaxZ) * q + c;
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bool nodehit = ray.Intersects(ref box, out bvhboxhittest);
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bool nodeskip = !nodehit || (bvhboxhittest > res.HitDist);
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if (node.PolyCount <= 0) //intermediate node with child nodes
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{
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if (nodeskip)
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{
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nodeind += node.PolyId; //(child node count)
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}
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else
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{
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nodeind++;
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}
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}
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else //leaf node, with polygons
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{
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if (!nodeskip)
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{
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var lastp = node.PolyId + node.PolyCount;
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lastp = Math.Min(lastp, (int)PolygonsCount);
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for (int p = node.PolyId; p < lastp; p++)
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{
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var polygon = Polygons[p];
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float polyhittestdist = float.MaxValue;
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bool polyhit = false;
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switch (polygon.Type)
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{
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case BoundPolygonType.Triangle:
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var ptri = polygon as BoundPolygonTriangle;
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p1 = GetVertex(ptri.vertIndex1) + cg;
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p2 = GetVertex(ptri.vertIndex2) + cg;
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p3 = GetVertex(ptri.vertIndex3) + cg;
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polyhit = ray.Intersects(ref p1, ref p2, ref p3, out polyhittestdist);
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if (polyhit) n1 = Vector3.Normalize(Vector3.Cross(p2 - p1, p3 - p1));
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break;
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case BoundPolygonType.Sphere:
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var psph = polygon as BoundPolygonSphere;
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tsph.Center = GetVertex(psph.sphereIndex) + cg;
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tsph.Radius = psph.sphereRadius;
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polyhit = ray.Intersects(ref tsph, out polyhittestdist);
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if (polyhit) n1 = Vector3.Normalize((ray.Position + ray.Direction * polyhittestdist) - tsph.Center);
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break;
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case BoundPolygonType.Capsule:
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var pcap = polygon as BoundPolygonCapsule;
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var tcap = new BoundingCapsule();
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tcap.PointA = GetVertex(pcap.capsuleIndex1) + cg;
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tcap.PointB = GetVertex(pcap.capsuleIndex2) + cg;
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tcap.Radius = pcap.capsuleRadius;
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polyhit = ray.Intersects(ref tcap, out polyhittestdist);
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res.Position = (ray.Position + ray.Direction * polyhittestdist);
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if (polyhit) n1 = tcap.Normal(ref res.Position);
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break;
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case BoundPolygonType.Box:
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var pbox = polygon as BoundPolygonBox;
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p1 = GetVertex(pbox.boxIndex1);// + cg; //corner
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p2 = GetVertex(pbox.boxIndex2);// + cg;
|
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p3 = GetVertex(pbox.boxIndex3);// + cg;
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p4 = GetVertex(pbox.boxIndex4);// + cg;
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a1 = ((p3 + p4) - (p1 + p2)) * 0.5f;
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a2 = p3 - (p1 + a1);
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a3 = p4 - (p1 + a1);
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Vector3 bs = new Vector3(a1.Length(), a2.Length(), a3.Length());
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Vector3 m1 = a1 / bs.X;
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Vector3 m2 = a2 / bs.Y;
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Vector3 m3 = a3 / bs.Z;
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if ((bs.X < bs.Y) && (bs.X < bs.Z)) m1 = Vector3.Cross(m2, m3);
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else if (bs.Y < bs.Z) m2 = Vector3.Cross(m3, m1);
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else m3 = Vector3.Cross(m1, m2);
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Vector3 tp = rp - (p1 + cg);
|
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rayt.Position = new Vector3(Vector3.Dot(tp, m1), Vector3.Dot(tp, m2), Vector3.Dot(tp, m3));
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rayt.Direction = new Vector3(Vector3.Dot(rd, m1), Vector3.Dot(rd, m2), Vector3.Dot(rd, m3));
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box.Minimum = Vector3.Zero;
|
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box.Maximum = bs;
|
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polyhit = rayt.Intersects(ref box, out polyhittestdist);
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if (polyhit)
|
||||
{
|
||||
Vector3 hpt = rayt.Position + rayt.Direction * polyhittestdist;
|
||||
const float eps = 0.002f;
|
||||
if (Math.Abs(hpt.X) < eps) n1 = -m1;
|
||||
else if (Math.Abs(hpt.X - bs.X) < eps) n1 = m1;
|
||||
else if (Math.Abs(hpt.Y) < eps) n1 = -m2;
|
||||
else if (Math.Abs(hpt.Y - bs.Y) < eps) n1 = m2;
|
||||
else if (Math.Abs(hpt.Z) < eps) n1 = -m3;
|
||||
else if (Math.Abs(hpt.Z - bs.Z) < eps) n1 = m3;
|
||||
else
|
||||
{ n1 = Vector3.UnitZ; } //ray starts inside the box...
|
||||
}
|
||||
break;
|
||||
case BoundPolygonType.Cylinder:
|
||||
var pcyl = polygon as BoundPolygonCylinder;
|
||||
var tcyl = new BoundingCylinder();
|
||||
tcyl.PointA = GetVertex(pcyl.cylinderIndex1) + cg;
|
||||
tcyl.PointB = GetVertex(pcyl.cylinderIndex2) + cg;
|
||||
tcyl.Radius = pcyl.cylinderRadius;
|
||||
polyhit = ray.Intersects(ref tcyl, out polyhittestdist, out n1);
|
||||
if (polyhit) n1.Normalize();
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
if (polyhit && (polyhittestdist < res.HitDist) && (polyhittestdist < maxdist))
|
||||
{
|
||||
res.HitDist = polyhittestdist;
|
||||
res.Hit = true;
|
||||
res.Normal = n1;
|
||||
res.HitPolygon = polygon;
|
||||
|
||||
byte matind = ((PolygonMaterialIndices != null) && (p < PolygonMaterialIndices.Length)) ? PolygonMaterialIndices[p] : (byte)0;
|
||||
BoundMaterial_s mat = ((Materials != null) && (matind < Materials.Length)) ? Materials[matind] : new BoundMaterial_s();
|
||||
res.Material = mat;
|
||||
}
|
||||
res.TestedPolyCount++;
|
||||
}
|
||||
}
|
||||
nodeind++;
|
||||
}
|
||||
res.TestedNodeCount++;
|
||||
}
|
||||
}
|
||||
|
||||
return res;
|
||||
}
|
||||
|
||||
}
|
||||
[TC(typeof(EXP))] public class BoundComposite : Bounds
|
||||
{
|
||||
@@ -1334,6 +1738,69 @@ namespace CodeWalker.GameFiles
|
||||
if (BVH != null) list.Add(BVH);
|
||||
return list.ToArray();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
|
||||
{
|
||||
var res = new SpaceSphereIntersectResult();
|
||||
|
||||
var compchilds = Children?.data_items;
|
||||
if (compchilds == null)
|
||||
{ return res; }
|
||||
|
||||
for (int i = 0; i < compchilds.Length; i++)
|
||||
{
|
||||
var c = compchilds[i];
|
||||
|
||||
var chit = c.SphereIntersect(ref sph);
|
||||
if (chit.Hit)
|
||||
{
|
||||
res.Hit = true;
|
||||
res.HitPolygon = chit.HitPolygon;
|
||||
res.Normal = chit.Normal;
|
||||
}
|
||||
res.TestedPolyCount += chit.TestedPolyCount;
|
||||
res.TestedNodeCount += chit.TestedNodeCount;
|
||||
}
|
||||
|
||||
res.TestComplete = true;
|
||||
|
||||
return res;
|
||||
}
|
||||
|
||||
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
|
||||
{
|
||||
var res = new SpaceRayIntersectResult();
|
||||
res.HitDist = itemhitdist;
|
||||
|
||||
var compchilds = Children?.data_items;
|
||||
if (compchilds == null)
|
||||
{ return res; }
|
||||
for (int i = 0; i < compchilds.Length; i++)
|
||||
{
|
||||
Bounds c = compchilds[i];
|
||||
if (c == null)
|
||||
{ continue; }
|
||||
|
||||
var bghit = c.RayIntersect(ref ray, maxdist, res.HitDist);
|
||||
if (bghit.Hit)
|
||||
{
|
||||
res.Hit = true;
|
||||
res.HitDist = bghit.HitDist;
|
||||
res.HitPolygon = bghit.HitPolygon;
|
||||
res.Material = bghit.Material;
|
||||
res.Normal = bghit.Normal;
|
||||
}
|
||||
res.TestedNodeCount += bghit.TestedNodeCount;
|
||||
res.TestedPolyCount += bghit.TestedPolyCount;
|
||||
|
||||
}
|
||||
|
||||
return res;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
[Flags] public enum EBoundCompositeFlags
|
||||
|
||||
Reference in New Issue
Block a user