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Collision detection refactoring and improvements

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This commit is contained in:
dexy 2019-12-10 18:33:45 +11:00
parent 58d2293358
commit d5c0bc2477
7 changed files with 1022 additions and 375 deletions
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754
CodeWalker.Core/GameFiles/Resources/Bounds.cs
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@ -144,6 +144,9 @@ namespace CodeWalker.GameFiles
return n;
}
public Matrix Transform { get; set; } = Matrix.Identity; //when it's the child of a bound composite
public Matrix TransformInv { get; set; } = Matrix.Identity;
/// <summary>
/// Reads the data-block from a stream.
@ -237,7 +240,7 @@ namespace CodeWalker.GameFiles
{
return new SpaceSphereIntersectResult();
}
public virtual SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
public virtual SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue)
{
return new SpaceRayIntersectResult();
}
@ -247,11 +250,33 @@ namespace CodeWalker.GameFiles
{
public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
{
return base.SphereIntersect(ref sph);
var res = new SpaceSphereIntersectResult();
var bsph = new BoundingSphere();
bsph.Center = Center;
bsph.Radius = BoundingSphereRadius;
if (sph.Intersects(ref bsph))
{
res.Hit = true;
res.Normal = Vector3.Normalize(sph.Center - Center);
}
return res;
}
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue)
{
return base.RayIntersect(ref ray, maxdist, itemhitdist);
var res = new SpaceRayIntersectResult();
var bsph = new BoundingSphere();
bsph.Center = Center;
bsph.Radius = BoundingSphereRadius;
float testdist;
if (ray.Intersects(ref bsph, out testdist) && (testdist < maxdist))
{
res.Hit = true;
res.HitDist = testdist;
res.Position = ray.Position + ray.Direction * testdist;
res.Normal = Vector3.Normalize(res.Position - Center);
res.Material.Type = MaterialIndex;
}
return res;
}
}
[TC(typeof(EXP))] public class BoundCapsule : Bounds
@ -267,9 +292,6 @@ namespace CodeWalker.GameFiles
public uint Unknown_78h { get; set; } // 0x00000000
public uint Unknown_7Ch { get; set; } // 0x00000000
/// <summary>
/// Reads the data-block from a stream.
/// </summary>
public override void Read(ResourceDataReader reader, params object[] parameters)
{
base.Read(reader, parameters);
@ -280,10 +302,6 @@ namespace CodeWalker.GameFiles
this.Unknown_78h = reader.ReadUInt32();
this.Unknown_7Ch = reader.ReadUInt32();
}
/// <summary>
/// Writes the data-block to a stream.
/// </summary>
public override void Write(ResourceDataWriter writer, params object[] parameters)
{
base.Write(writer, parameters);
@ -297,22 +315,88 @@ namespace CodeWalker.GameFiles
public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
{
return base.SphereIntersect(ref sph);
var res = new SpaceSphereIntersectResult();
var bcap = new BoundingCapsule();
var extent = new Vector3(0, BoundingSphereRadius - Margin, 0);
bcap.PointA = Center - extent;
bcap.PointB = Center + extent;
bcap.Radius = Margin;
if (sph.Intersects(ref bcap, out res.Normal))
{
res.Hit = true;
}
return res;
}
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue)
{
return base.RayIntersect(ref ray, maxdist, itemhitdist);
var res = new SpaceRayIntersectResult();
var bcap = new BoundingCapsule();
var extent = new Vector3(0, BoundingSphereRadius - Margin, 0);
bcap.PointA = Center - extent;
bcap.PointB = Center + extent;
bcap.Radius = Margin;
float testdist;
if (ray.Intersects(ref bcap, out testdist) && (testdist < maxdist))
{
res.Hit = true;
res.HitDist = testdist;
res.Position = ray.Position + ray.Direction * testdist;
res.Normal = bcap.Normal(ref res.Position);
res.Material.Type = MaterialIndex;
}
return res;
}
}
[TC(typeof(EXP))] public class BoundBox : Bounds
{
public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
{
return base.SphereIntersect(ref sph);
var res = new SpaceSphereIntersectResult();
var bbox = new BoundingBox(BoundingBoxMin, BoundingBoxMax);
if (sph.Intersects(ref bbox))
{
var sphmin = sph.Center - sph.Radius;
var sphmax = sph.Center + sph.Radius;
var n = Vector3.Zero;
float eps = sph.Radius * 0.8f;
if (Math.Abs(sphmax.X - BoundingBoxMin.X) < eps) n -= Vector3.UnitX;
else if (Math.Abs(sphmin.X - BoundingBoxMax.X) < eps) n += Vector3.UnitX;
else if (Math.Abs(sphmax.Y - BoundingBoxMin.Y) < eps) n -= Vector3.UnitY;
else if (Math.Abs(sphmin.Y - BoundingBoxMax.Y) < eps) n += Vector3.UnitY;
else if (Math.Abs(sphmax.Z - BoundingBoxMin.Z) < eps) n -= Vector3.UnitZ;
else if (Math.Abs(sphmin.Z - BoundingBoxMax.Z) < eps) n += Vector3.UnitZ;
else
{ n = Vector3.UnitZ; } //ray starts inside the box...
res.Normal = Vector3.Normalize(n);
res.Hit = true;
}
return res;
}
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue)
{
return base.RayIntersect(ref ray, maxdist, itemhitdist);
var res = new SpaceRayIntersectResult();
var bbox = new BoundingBox(BoundingBoxMin, BoundingBoxMax);
float testdist;
if (ray.Intersects(ref bbox, out testdist) && (testdist < maxdist))
{
const float eps = 0.002f;
var n = Vector3.Zero;
var hpt = ray.Position + ray.Direction * testdist;
if (Math.Abs(hpt.X - BoundingBoxMin.X) < eps) n = -Vector3.UnitX;
else if (Math.Abs(hpt.X - BoundingBoxMax.X) < eps) n = Vector3.UnitX;
else if (Math.Abs(hpt.Y - BoundingBoxMin.Y) < eps) n = -Vector3.UnitY;
else if (Math.Abs(hpt.Y - BoundingBoxMax.Y) < eps) n = Vector3.UnitY;
else if (Math.Abs(hpt.Z - BoundingBoxMin.Z) < eps) n = -Vector3.UnitZ;
else if (Math.Abs(hpt.Z - BoundingBoxMax.Z) < eps) n = Vector3.UnitZ;
else
{ n = Vector3.UnitZ; } //ray starts inside the box...
res.Hit = true;
res.HitDist = testdist;
res.Position = hpt;
res.Normal = n;
res.Material.Type = MaterialIndex;
}
return res;
}
}
[TC(typeof(EXP))] public class BoundDisc : Bounds
@ -328,9 +412,6 @@ namespace CodeWalker.GameFiles
public uint Unknown_78h { get; set; } // 0x00000000
public uint Unknown_7Ch { get; set; } // 0x00000000
/// <summary>
/// Reads the data-block from a stream.
/// </summary>
public override void Read(ResourceDataReader reader, params object[] parameters)
{
base.Read(reader, parameters);
@ -341,10 +422,6 @@ namespace CodeWalker.GameFiles
this.Unknown_78h = reader.ReadUInt32();
this.Unknown_7Ch = reader.ReadUInt32();
}
/// <summary>
/// Writes the data-block to a stream.
/// </summary>
public override void Write(ResourceDataWriter writer, params object[] parameters)
{
base.Write(writer, parameters);
@ -358,11 +435,37 @@ namespace CodeWalker.GameFiles
public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
{
return base.SphereIntersect(ref sph);
//as a temporary hack, just use the sphere-sphere intersection //TODO: sphere-disc intersection
var res = new SpaceSphereIntersectResult();
var bsph = new BoundingSphere();
bsph.Center = Center;
bsph.Radius = BoundingSphereRadius;
if (sph.Intersects(ref bsph))
{
res.Hit = true;
res.Normal = Vector3.Normalize(sph.Center - Center);
}
return res;
}
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue)
{
return base.RayIntersect(ref ray, maxdist, itemhitdist);
var res = new SpaceRayIntersectResult();
var bcyl = new BoundingCylinder();
var size = new Vector3(Margin, 0, 0);
bcyl.PointA = Center - size;
bcyl.PointB = Center + size;
bcyl.Radius = BoundingSphereRadius;
Vector3 n;
float testdist;
if (ray.Intersects(ref bcyl, out testdist, out n) && (testdist < maxdist))
{
res.Hit = true;
res.HitDist = testdist;
res.Position = ray.Position + ray.Direction * testdist;
res.Normal = n;
res.Material.Type = MaterialIndex;
}
return res;
}
}
[TC(typeof(EXP))] public class BoundCylinder : Bounds
@ -378,9 +481,6 @@ namespace CodeWalker.GameFiles
public uint Unknown_78h { get; set; } // 0x00000000
public uint Unknown_7Ch { get; set; } // 0x00000000
/// <summary>
/// Reads the data-block from a stream.
/// </summary>
public override void Read(ResourceDataReader reader, params object[] parameters)
{
base.Read(reader, parameters);
@ -391,10 +491,6 @@ namespace CodeWalker.GameFiles
this.Unknown_78h = reader.ReadUInt32();
this.Unknown_7Ch = reader.ReadUInt32();
}
/// <summary>
/// Writes the data-block to a stream.
/// </summary>
public override void Write(ResourceDataWriter writer, params object[] parameters)
{
base.Write(writer, parameters);
@ -408,11 +504,40 @@ namespace CodeWalker.GameFiles
public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
{
return base.SphereIntersect(ref sph);
//as a temporary hack, just use the sphere-capsule intersection //TODO: sphere-cylinder intersection
var res = new SpaceSphereIntersectResult();
var bcap = new BoundingCapsule();
var extent = (BoundingBoxMax - BoundingBoxMin).Abs();
var size = new Vector3(0, extent.Y * 0.5f, 0);
bcap.PointA = Center - size;
bcap.PointB = Center + size;
bcap.Radius = extent.X * 0.5f;
if (sph.Intersects(ref bcap, out res.Normal))
{
res.Hit = true;
}
return res;
}
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue)
{
return base.RayIntersect(ref ray, maxdist, itemhitdist);
var res = new SpaceRayIntersectResult();
var bcyl = new BoundingCylinder();
var extent = (BoundingBoxMax - BoundingBoxMin).Abs();
var size = new Vector3(0, extent.Y * 0.5f, 0);
bcyl.PointA = Center - size;
bcyl.PointB = Center + size;
bcyl.Radius = extent.X * 0.5f;
Vector3 n;
float testdist;
if (ray.Intersects(ref bcyl, out testdist, out n) && (testdist < maxdist))
{
res.Hit = true;
res.HitDist = testdist;
res.Position = ray.Position + ray.Direction * testdist;
res.Normal = n;
res.Material.Type = MaterialIndex;
}
return res;
}
}
[TC(typeof(EXP))] public class BoundGeometry : Bounds
@ -758,11 +883,255 @@ namespace CodeWalker.GameFiles
public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
{
return base.SphereIntersect(ref sph);
var res = new SpaceSphereIntersectResult();
var box = new BoundingBox();
if (Polygons == null)
{ return res; }
box.Minimum = BoundingBoxMin;
box.Maximum = BoundingBoxMax;
if (!sph.Intersects(ref box))
{ return res; }
SphereIntersectPolygons(ref sph, ref res, 0, Polygons.Length);
return res;
}
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue)
{
return base.RayIntersect(ref ray, maxdist, itemhitdist);
var res = new SpaceRayIntersectResult();
var box = new BoundingBox();
if (Polygons == null)
{ return res; }
box.Minimum = BoundingBoxMin;
box.Maximum = BoundingBoxMax;
float bvhboxhittest;
if (!ray.Intersects(ref box, out bvhboxhittest))
{ return res; }
if (bvhboxhittest > maxdist)
{ return res; } //already a closer hit.
res.HitDist = maxdist;
RayIntersectPolygons(ref ray, ref res, 0, Polygons.Length);
return res;
}
protected void SphereIntersectPolygons(ref BoundingSphere sph, ref SpaceSphereIntersectResult res, int startIndex, int endIndex)
{
var box = new BoundingBox();
var tsph = new BoundingSphere();
var spht = new BoundingSphere();
var sp = sph.Center;
var sr = sph.Radius;
var cg = CenterGeom;
Vector3 p1, p2, p3, p4, a1, a2, a3;
Vector3 n1 = Vector3.Zero;
for (int p = startIndex; p < endIndex; p++)
{
var polygon = Polygons[p];
bool polyhit = false;
switch (polygon.Type)
{
case BoundPolygonType.Triangle:
var ptri = polygon as BoundPolygonTriangle;
p1 = GetVertex(ptri.vertIndex1) + cg;
p2 = GetVertex(ptri.vertIndex2) + cg;
p3 = GetVertex(ptri.vertIndex3) + cg;
polyhit = sph.Intersects(ref p1, ref p2, ref p3);
if (polyhit) n1 = Vector3.Normalize(Vector3.Cross(p2 - p1, p3 - p1));
break;
case BoundPolygonType.Sphere:
var psph = polygon as BoundPolygonSphere;
tsph.Center = GetVertex(psph.sphereIndex) + cg;
tsph.Radius = psph.sphereRadius;
polyhit = sph.Intersects(ref tsph);
if (polyhit) n1 = Vector3.Normalize(sph.Center - tsph.Center);
break;
case BoundPolygonType.Capsule:
var pcap = polygon as BoundPolygonCapsule;
var tcap = new BoundingCapsule();
tcap.PointA = GetVertex(pcap.capsuleIndex1) + cg;
tcap.PointB = GetVertex(pcap.capsuleIndex2) + cg;
tcap.Radius = pcap.capsuleRadius;
polyhit = sph.Intersects(ref tcap, out n1);
break;
case BoundPolygonType.Box:
var pbox = polygon as BoundPolygonBox;
p1 = GetVertex(pbox.boxIndex1);// + cg; //corner
p2 = GetVertex(pbox.boxIndex2);// + cg;
p3 = GetVertex(pbox.boxIndex3);// + cg;
p4 = GetVertex(pbox.boxIndex4);// + cg;
a1 = ((p3 + p4) - (p1 + p2)) * 0.5f;
a2 = p3 - (p1 + a1);
a3 = p4 - (p1 + a1);
Vector3 bs = new Vector3(a1.Length(), a2.Length(), a3.Length());
Vector3 m1 = a1 / bs.X;
Vector3 m2 = a2 / bs.Y;
Vector3 m3 = a3 / bs.Z;
if ((bs.X < bs.Y) && (bs.X < bs.Z)) m1 = Vector3.Cross(m2, m3);
else if (bs.Y < bs.Z) m2 = Vector3.Cross(m3, m1);
else m3 = Vector3.Cross(m1, m2);
Vector3 tp = sp - (p1 + cg);
spht.Center = new Vector3(Vector3.Dot(tp, m1), Vector3.Dot(tp, m2), Vector3.Dot(tp, m3));
spht.Radius = sph.Radius;
box.Minimum = Vector3.Zero;
box.Maximum = bs;
polyhit = spht.Intersects(ref box);
if (polyhit)
{
Vector3 smin = spht.Center - spht.Radius;
Vector3 smax = spht.Center + spht.Radius;
float eps = spht.Radius * 0.8f;
n1 = Vector3.Zero;
if (Math.Abs(smax.X) < eps) n1 -= m1;
else if (Math.Abs(smin.X - bs.X) < eps) n1 += m1;
if (Math.Abs(smax.Y) < eps) n1 -= m2;
else if (Math.Abs(smin.Y - bs.Y) < eps) n1 += m2;
if (Math.Abs(smax.Z) < eps) n1 -= m3;
else if (Math.Abs(smin.Z - bs.Z) < eps) n1 += m3;
float n1l = n1.Length();
if (n1l > 0.0f) n1 = n1 / n1l;
else n1 = Vector3.UnitZ;
}
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);
////////TODO
var ttcap = new BoundingCapsule();//just use the capsule intersection for now...
ttcap.PointA = GetVertex(pcyl.cylinderIndex1) + cg;
ttcap.PointB = GetVertex(pcyl.cylinderIndex2) + cg;
ttcap.Radius = pcyl.cylinderRadius;
polyhit = sph.Intersects(ref ttcap, out n1);
break;
default:
break;
}
if (polyhit) // && (polyhittestdist < itemhitdist) && (polyhittestdist < maxdist))
{
res.HitPolygon = polygon;
//itemhitdist = polyhittestdist;
//ybnhit = true;
res.Hit = true;
res.Normal = n1;
}
res.TestedPolyCount++;
}
}
protected void RayIntersectPolygons(ref Ray ray, ref SpaceRayIntersectResult res, int startIndex, int endIndex)
{
var box = new BoundingBox();
var tsph = new BoundingSphere();
var rayt = new Ray();
var rp = ray.Position;
var rd = ray.Direction;
var cg = CenterGeom;
Vector3 p1, p2, p3, p4, a1, a2, a3;
Vector3 n1 = Vector3.Zero;
for (int p = startIndex; p < endIndex; p++)
{
var polygon = Polygons[p];
float polyhittestdist = float.MaxValue;
bool polyhit = false;
switch (polygon.Type)
{
case BoundPolygonType.Triangle:
var ptri = polygon as BoundPolygonTriangle;
p1 = GetVertex(ptri.vertIndex1) + cg;
p2 = GetVertex(ptri.vertIndex2) + cg;
p3 = GetVertex(ptri.vertIndex3) + cg;
polyhit = ray.Intersects(ref p1, ref p2, ref p3, out polyhittestdist);
if (polyhit) n1 = Vector3.Normalize(Vector3.Cross(p2 - p1, p3 - p1));
break;
case BoundPolygonType.Sphere:
var psph = polygon as BoundPolygonSphere;
tsph.Center = GetVertex(psph.sphereIndex) + cg;
tsph.Radius = psph.sphereRadius;
polyhit = ray.Intersects(ref tsph, out polyhittestdist);
if (polyhit) n1 = Vector3.Normalize((ray.Position + ray.Direction * polyhittestdist) - tsph.Center);
break;
case BoundPolygonType.Capsule:
var pcap = polygon as BoundPolygonCapsule;
var tcap = new BoundingCapsule();
tcap.PointA = GetVertex(pcap.capsuleIndex1) + cg;
tcap.PointB = GetVertex(pcap.capsuleIndex2) + cg;
tcap.Radius = pcap.capsuleRadius;
polyhit = ray.Intersects(ref tcap, out polyhittestdist);
res.Position = (ray.Position + ray.Direction * polyhittestdist);
if (polyhit) n1 = tcap.Normal(ref res.Position);
break;
case BoundPolygonType.Box:
var pbox = polygon as BoundPolygonBox;
p1 = GetVertex(pbox.boxIndex1);// + cg; //corner
p2 = GetVertex(pbox.boxIndex2);// + cg;
p3 = GetVertex(pbox.boxIndex3);// + cg;
p4 = GetVertex(pbox.boxIndex4);// + cg;
a1 = ((p3 + p4) - (p1 + p2)) * 0.5f;
a2 = p3 - (p1 + a1);
a3 = p4 - (p1 + a1);
Vector3 bs = new Vector3(a1.Length(), a2.Length(), a3.Length());
Vector3 m1 = a1 / bs.X;
Vector3 m2 = a2 / bs.Y;
Vector3 m3 = a3 / bs.Z;
if ((bs.X < bs.Y) && (bs.X < bs.Z)) m1 = Vector3.Cross(m2, m3);
else if (bs.Y < bs.Z) m2 = Vector3.Cross(m3, m1);
else m3 = Vector3.Cross(m1, m2);
Vector3 tp = rp - (p1 + cg);
rayt.Position = new Vector3(Vector3.Dot(tp, m1), Vector3.Dot(tp, m2), Vector3.Dot(tp, m3));
rayt.Direction = new Vector3(Vector3.Dot(rd, m1), Vector3.Dot(rd, m2), Vector3.Dot(rd, m3));
box.Minimum = Vector3.Zero;
box.Maximum = bs;
polyhit = rayt.Intersects(ref box, out polyhittestdist);
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);
break;
default:
break;
}
if (polyhit && (polyhittestdist < res.HitDist))
{
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++;
}
}
}
@ -1258,13 +1627,6 @@ namespace CodeWalker.GameFiles
{
var res = new SpaceSphereIntersectResult();
var box = new BoundingBox();
Vector3 p1, p2, p3, p4, a1, a2, a3;
Vector3 n1 = Vector3.Zero;
var tsph = new BoundingSphere();
var spht = new BoundingSphere();
var sp = sph.Center;
var sr = sph.Radius;
if (Polygons == null)
{ return res; }
@ -1278,7 +1640,6 @@ namespace CodeWalker.GameFiles
var q = BVH.Quantum.XYZ();
var c = BVH.BoundingBoxCenter.XYZ();
var cg = CenterGeom;
for (int t = 0; t < BVH.Trees.data_items.Length; t++)
{
var tree = BVH.Trees.data_items[t];
@ -1311,103 +1672,10 @@ namespace CodeWalker.GameFiles
{
if (!nodeskip)
{
var lastp = node.PolyId + node.PolyCount;
lastp = Math.Min(lastp, (int)PolygonsCount);
for (int p = node.PolyId; p < lastp; p++)
{
var polygon = Polygons[p];
bool polyhit = false;
switch (polygon.Type)
{
case BoundPolygonType.Triangle:
var ptri = polygon as BoundPolygonTriangle;
p1 = GetVertex(ptri.vertIndex1) + cg;
p2 = GetVertex(ptri.vertIndex2) + cg;
p3 = GetVertex(ptri.vertIndex3) + cg;
polyhit = sph.Intersects(ref p1, ref p2, ref p3);
if (polyhit) n1 = Vector3.Normalize(Vector3.Cross(p2 - p1, p3 - p1));
break;
case BoundPolygonType.Sphere:
var psph = polygon as BoundPolygonSphere;
tsph.Center = GetVertex(psph.sphereIndex) + cg;
tsph.Radius = psph.sphereRadius;
polyhit = sph.Intersects(ref tsph);
if (polyhit) n1 = Vector3.Normalize(sph.Center - tsph.Center);
break;
case BoundPolygonType.Capsule:
var pcap = polygon as BoundPolygonCapsule;
var tcap = new BoundingCapsule();
tcap.PointA = GetVertex(pcap.capsuleIndex1) + cg;
tcap.PointB = GetVertex(pcap.capsuleIndex2) + cg;
tcap.Radius = pcap.capsuleRadius;
polyhit = sph.Intersects(ref tcap, out n1);
break;
case BoundPolygonType.Box:
var pbox = polygon as BoundPolygonBox;
p1 = GetVertex(pbox.boxIndex1);// + cg; //corner
p2 = GetVertex(pbox.boxIndex2);// + cg;
p3 = GetVertex(pbox.boxIndex3);// + cg;
p4 = GetVertex(pbox.boxIndex4);// + cg;
a1 = ((p3 + p4) - (p1 + p2)) * 0.5f;
a2 = p3 - (p1 + a1);
a3 = p4 - (p1 + a1);
Vector3 bs = new Vector3(a1.Length(), a2.Length(), a3.Length());
Vector3 m1 = a1 / bs.X;
Vector3 m2 = a2 / bs.Y;
Vector3 m3 = a3 / bs.Z;
if ((bs.X < bs.Y) && (bs.X < bs.Z)) m1 = Vector3.Cross(m2, m3);
else if (bs.Y < bs.Z) m2 = Vector3.Cross(m3, m1);
else m3 = Vector3.Cross(m1, m2);
Vector3 tp = sp - (p1 + cg);
spht.Center = new Vector3(Vector3.Dot(tp, m1), Vector3.Dot(tp, m2), Vector3.Dot(tp, m3));
spht.Radius = sph.Radius;
box.Minimum = Vector3.Zero;
box.Maximum = bs;
polyhit = spht.Intersects(ref box);
if (polyhit)
{
Vector3 smin = spht.Center - spht.Radius;
Vector3 smax = spht.Center + spht.Radius;
float eps = spht.Radius * 0.8f;
n1 = Vector3.Zero;
if (Math.Abs(smax.X) < eps) n1 -= m1;
else if (Math.Abs(smin.X - bs.X) < eps) n1 += m1;
if (Math.Abs(smax.Y) < eps) n1 -= m2;
else if (Math.Abs(smin.Y - bs.Y) < eps) n1 += m2;
if (Math.Abs(smax.Z) < eps) n1 -= m3;
else if (Math.Abs(smin.Z - bs.Z) < eps) n1 += m3;
float n1l = n1.Length();
if (n1l > 0.0f) n1 = n1 / n1l;
else n1 = Vector3.UnitZ;
}
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);
////////TODO
var ttcap = new BoundingCapsule();//just use the capsule intersection for now...
ttcap.PointA = GetVertex(pcyl.cylinderIndex1) + cg;
ttcap.PointB = GetVertex(pcyl.cylinderIndex2) + cg;
ttcap.Radius = pcyl.cylinderRadius;
polyhit = sph.Intersects(ref ttcap, out n1);
break;
default:
break;
}
if (polyhit) // && (polyhittestdist < itemhitdist) && (polyhittestdist < maxdist))
{
res.HitPolygon = polygon;
//itemhitdist = polyhittestdist;
//ybnhit = true;
res.Hit = true;
res.Normal = n1;
}
res.TestedPolyCount++;
}
var lastp = Math.Min(node.PolyId + node.PolyCount, (int)PolygonsCount);
SphereIntersectPolygons(ref sph, ref res, node.PolyId, lastp);
}
nodeind++;
}
@ -1418,18 +1686,10 @@ namespace CodeWalker.GameFiles
return res;
}
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue)
{
var res = new SpaceRayIntersectResult();
var box = new BoundingBox();
var tsph = new BoundingSphere();
var rayt = new Ray();
Vector3 p1, p2, p3, p4, a1, a2, a3;
Vector3 n1 = Vector3.Zero;
var rp = ray.Position;
var rd = ray.Direction;
if (Polygons == null)
{ return res; }
@ -1441,14 +1701,13 @@ namespace CodeWalker.GameFiles
float bvhboxhittest;
if (!ray.Intersects(ref box, out bvhboxhittest))
{ return res; }
if (bvhboxhittest > itemhitdist)
if (bvhboxhittest > maxdist)
{ return res; } //already a closer hit.
res.HitDist = itemhitdist;
res.HitDist = maxdist;
var q = BVH.Quantum.XYZ();
var c = BVH.BoundingBoxCenter.XYZ();
var cg = CenterGeom;
for (int t = 0; t < BVH.Trees.data_items.Length; t++)
{
var tree = BVH.Trees.data_items[t];
@ -1458,8 +1717,6 @@ namespace CodeWalker.GameFiles
{ continue; }
if (bvhboxhittest > res.HitDist)
{ continue; } //already a closer hit.
if (bvhboxhittest > maxdist)
{ continue; }
int nodeind = tree.NodeIndex1;
int lastind = tree.NodeIndex2;
@ -1485,101 +1742,10 @@ namespace CodeWalker.GameFiles
{
if (!nodeskip)
{
var lastp = node.PolyId + node.PolyCount;
lastp = Math.Min(lastp, (int)PolygonsCount);
for (int p = node.PolyId; p < lastp; p++)
{
var polygon = Polygons[p];
float polyhittestdist = float.MaxValue;
bool polyhit = false;
switch (polygon.Type)
{
case BoundPolygonType.Triangle:
var ptri = polygon as BoundPolygonTriangle;
p1 = GetVertex(ptri.vertIndex1) + cg;
p2 = GetVertex(ptri.vertIndex2) + cg;
p3 = GetVertex(ptri.vertIndex3) + cg;
polyhit = ray.Intersects(ref p1, ref p2, ref p3, out polyhittestdist);
if (polyhit) n1 = Vector3.Normalize(Vector3.Cross(p2 - p1, p3 - p1));
break;
case BoundPolygonType.Sphere:
var psph = polygon as BoundPolygonSphere;
tsph.Center = GetVertex(psph.sphereIndex) + cg;
tsph.Radius = psph.sphereRadius;
polyhit = ray.Intersects(ref tsph, out polyhittestdist);
if (polyhit) n1 = Vector3.Normalize((ray.Position + ray.Direction * polyhittestdist) - tsph.Center);
break;
case BoundPolygonType.Capsule:
var pcap = polygon as BoundPolygonCapsule;
var tcap = new BoundingCapsule();
tcap.PointA = GetVertex(pcap.capsuleIndex1) + cg;
tcap.PointB = GetVertex(pcap.capsuleIndex2) + cg;
tcap.Radius = pcap.capsuleRadius;
polyhit = ray.Intersects(ref tcap, out polyhittestdist);
res.Position = (ray.Position + ray.Direction * polyhittestdist);
if (polyhit) n1 = tcap.Normal(ref res.Position);
break;
case BoundPolygonType.Box:
var pbox = polygon as BoundPolygonBox;
p1 = GetVertex(pbox.boxIndex1);// + cg; //corner
p2 = GetVertex(pbox.boxIndex2);// + cg;
p3 = GetVertex(pbox.boxIndex3);// + cg;
p4 = GetVertex(pbox.boxIndex4);// + cg;
a1 = ((p3 + p4) - (p1 + p2)) * 0.5f;
a2 = p3 - (p1 + a1);
a3 = p4 - (p1 + a1);
Vector3 bs = new Vector3(a1.Length(), a2.Length(), a3.Length());
Vector3 m1 = a1 / bs.X;
Vector3 m2 = a2 / bs.Y;
Vector3 m3 = a3 / bs.Z;
if ((bs.X < bs.Y) && (bs.X < bs.Z)) m1 = Vector3.Cross(m2, m3);
else if (bs.Y < bs.Z) m2 = Vector3.Cross(m3, m1);
else m3 = Vector3.Cross(m1, m2);
Vector3 tp = rp - (p1 + cg);
rayt.Position = new Vector3(Vector3.Dot(tp, m1), Vector3.Dot(tp, m2), Vector3.Dot(tp, m3));
rayt.Direction = new Vector3(Vector3.Dot(rd, m1), Vector3.Dot(rd, m2), Vector3.Dot(rd, m3));
box.Minimum = Vector3.Zero;
box.Maximum = bs;
polyhit = rayt.Intersects(ref box, out polyhittestdist);
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;
var lastp = Math.Min(node.PolyId + node.PolyCount, (int)PolygonsCount);
RayIntersectPolygons(ref ray, ref res, node.PolyId, lastp);
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++;
}
@ -1653,14 +1819,6 @@ namespace CodeWalker.GameFiles
this.ChildrenCount1
);
if ((Children != null) && (Children.data_items != null))
{
foreach (var child in Children.data_items)
{
if (child != null) child.Parent = this;
}
}
this.ChildrenTransformation1 = reader.ReadStructsAt<Matrix>(this.ChildrenTransformation1Pointer, this.ChildrenCount1);
this.ChildrenTransformation2 = reader.ReadStructsAt<Matrix>(this.ChildrenTransformation2Pointer, this.ChildrenCount1);
this.ChildrenBoundingBoxes = reader.ReadStructsAt<AABB_s>(this.ChildrenBoundingBoxesPointer, this.ChildrenCount1);
@ -1670,6 +1828,29 @@ namespace CodeWalker.GameFiles
this.BVH = reader.ReadBlockAt<BVH>(
this.BVHPointer // offset
);
var childTransforms = ChildrenTransformation1 ?? ChildrenTransformation2;
if ((Children != null) && (Children.data_items != null))
{
for (int i = 0; i < Children.data_items.Length; i++)
{
var child = Children.data_items[i];
if (child != null)
{
child.Parent = this;
var xform = ((childTransforms != null) && (i < childTransforms.Length)) ? childTransforms[i] : Matrix.Identity;
xform.Column4 = new Vector4(0.0f, 0.0f, 0.0f, 1.0f);
child.Transform = xform;
child.TransformInv = Matrix.Invert(xform);
}
}
}
}
/// <summary>
@ -1745,6 +1926,7 @@ namespace CodeWalker.GameFiles
public override SpaceSphereIntersectResult SphereIntersect(ref BoundingSphere sph)
{
var res = new SpaceSphereIntersectResult();
var tsph = sph;
var compchilds = Children?.data_items;
if (compchilds == null)
@ -1753,49 +1935,45 @@ namespace CodeWalker.GameFiles
for (int i = 0; i < compchilds.Length; i++)
{
var c = compchilds[i];
if (c == null) continue;
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;
tsph.Center = c.TransformInv.Multiply(sph.Center);
var chit = c.SphereIntersect(ref tsph);
chit.Normal = c.Transform.MultiplyRot(chit.Normal);
res.TryUpdate(ref chit);
}
res.TestComplete = true;
return res;
}
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue, float itemhitdist = float.MaxValue)
public override SpaceRayIntersectResult RayIntersect(ref Ray ray, float maxdist = float.MaxValue)
{
var res = new SpaceRayIntersectResult();
res.HitDist = itemhitdist;
res.HitDist = maxdist;
var tray = ray;
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 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;
tray.Position = c.TransformInv.Multiply(ray.Position);
tray.Direction = c.TransformInv.MultiplyRot(ray.Direction);
var chit = c.RayIntersect(ref tray, res.HitDist);
chit.Position = c.Transform.Multiply(chit.Position);
chit.Normal = c.Transform.MultiplyRot(chit.Normal);
res.TryUpdate(ref chit);
}
return res;

12
CodeWalker.Core/Utils/Vectors.cs
View File

@ -157,10 +157,10 @@ namespace CodeWalker
}
public static Vector3 Normal(this BoundingCapsule c, ref Vector3 position)
{
Vector3 ba = c.PointB - c.PointA;
Vector3 pa = position - c.PointA;
float h = Math.Min(Math.Max(Vector3.Dot(pa,ba)/Vector3.Dot(ba,ba),0.0f),1.0f);
return (pa - h*ba)/c.Radius;
Vector3 ba = c.PointB - c.PointA;
Vector3 pa = position - c.PointA;
float h = Math.Min(Math.Max(Vector3.Dot(pa, ba) / Vector3.Dot(ba, ba), 0.0f), 1.0f);
return Vector3.Normalize((pa - h * ba) / c.Radius);
}
@ -222,7 +222,7 @@ namespace CodeWalker
if (y > 0.0f && y < baba)
{
dist = t;
norm = (oc + t * r.Direction - ba * y / baba) / cylinder.Radius;
norm = Vector3.Normalize((oc + t * r.Direction - ba * y / baba) / cylinder.Radius);
return true;
}
@ -231,7 +231,7 @@ namespace CodeWalker
if (Math.Abs(k1 + k2 * t) < h)
{
dist = t;
norm = ba * Math.Sign(y) / baba;
norm = Vector3.Normalize(ba * Math.Sign(y) / baba);
return true;
}

2
CodeWalker.Core/World/Entity.cs
View File

@ -31,6 +31,8 @@ namespace CodeWalker.World
public bool EnableCollisions;
public bool Enabled;
public float Lifetime;
public float Age;
//public CollisionShape ..

594
CodeWalker.Core/World/Space.cs
View File

@ -44,7 +44,11 @@ namespace CodeWalker.World
public SpaceNavGrid NavGrid;
public List<SpaceEntityCollision> Collisions = new List<SpaceEntityCollision>();
public List<SpaceEntityCollision> Collisions = new List<SpaceEntityCollision>();
private bool[] CollisionLayers = new[] { true, false, false };
private int CurrentHour;
private MetaHash CurrentWeather;
public void Init(GameFileCache gameFileCache, Action<string> updateStatus)
@ -749,6 +753,7 @@ namespace CodeWalker.World
e.Velocity += dvgrav; //apply gravity
e.Momentum = e.Velocity * e.Mass;
e.Age += elapsed;
e.PreUpdate(elapsed);
@ -831,6 +836,11 @@ namespace CodeWalker.World
}
if ((e.Lifetime > 0.0f) && (e.Age > e.Lifetime))
{
TemporaryEntities.Remove(e);
}
}
@ -856,7 +866,7 @@ namespace CodeWalker.World
BoundingSphere sph = new BoundingSphere(r.HitPos + e.Center, e.Radius);
r.SphereHit = SphereIntersect(sph);
r.SphereHit = SphereIntersect(sph, CollisionLayers);
if (!r.SphereHit.Hit)
{
@ -876,7 +886,7 @@ namespace CodeWalker.World
sph.Center = r.HitPos + e.Center; //this really shouldn't happen... but just in case of glancing hit..
}
r.SphereHit = SphereIntersect(sph); //this really should be a hit!
r.SphereHit = SphereIntersect(sph, CollisionLayers); //this really should be a hit!
}
}
}
@ -891,7 +901,7 @@ namespace CodeWalker.World
while (curiter < maxiter) //iterate to find a closer hit time... improve this!
{
sph.Center = sphpos + disp * curt;
var tcollres = SphereIntersect(sph);
var tcollres = SphereIntersect(sph, CollisionLayers);
if (tcollres.Hit)
{
r.HitT = curt;
@ -977,6 +987,8 @@ namespace CodeWalker.World
{
if (!Inited) return;
if (MapDataStore == null) return;
CurrentHour = hour;
CurrentWeather = weather;
var items = MapDataStore.GetItems(ref cam.Position);
for (int i = 0; i < items.Count; i++)
{
@ -1067,29 +1079,24 @@ namespace CodeWalker.World
var res = new SpaceRayIntersectResult();
if (GameFileCache == null) return res;
bool testcomplete = true;
res.HitDist = float.MaxValue;
res.HitDist = maxdist;
var box = new BoundingBox();
float boxhitdisttest;
if (BoundsStore == null) return res;
var boundslist = BoundsStore.GetItems(ref ray);
if ((BoundsStore == null) || (MapDataStore == null)) return res;
foreach (var bound in boundslist)
var boundslist = BoundsStore.GetItems(ref ray, layers);
var mapdatalist = MapDataStore.GetItems(ref ray);
for (int i = 0; i < boundslist.Count; i++)
{
uint l = bound.Layer;
if ((layers != null) && (l < 3))
{
if (!layers[l]) continue;
}
var bound = boundslist[i];
box.Minimum = bound.Min;
box.Maximum = bound.Max;
float boxhitdisttest;
if (ray.Intersects(ref box, out boxhitdisttest))
{
if (boxhitdisttest > res.HitDist)
{ continue; } //already a closer hit
if (boxhitdisttest > maxdist)
{ continue; }
YbnFile ybn = GameFileCache.GetYbn(bound.Name);
if (ybn == null)
@ -1098,33 +1105,68 @@ namespace CodeWalker.World
{ testcomplete = false; continue; } //ybn not loaded yet...
var b = ybn.Bounds;
//box.Minimum = b.BoundingBoxMin;
//box.Maximum = b.BoundingBoxMax;
//float itemboxhitdisttest;
//if (!ray.Intersects(ref box, out itemboxhitdisttest))
//{ continue; } //ray doesn't hit this ybn
//if (itemboxhitdisttest > res.HitDist)
//{ continue; } //already a closer hit.
//if (itemboxhitdisttest > maxdist)
//{ continue; }
var bhit = b.RayIntersect(ref ray, maxdist, res.HitDist);
if (bhit.Hit)
{
res.Hit = true;
res.HitDist = bhit.HitDist;
res.HitPolygon = bhit.HitPolygon;
res.Material = bhit.Material;
res.Normal = bhit.Normal;
}
res.TestedNodeCount += bhit.TestedNodeCount;
res.TestedPolyCount += bhit.TestedPolyCount;
var bhit = b.RayIntersect(ref ray, res.HitDist);
res.TryUpdate(ref bhit);
}
}
for (int i = 0; i < mapdatalist.Count; i++)
{
var mapdata = mapdatalist[i];
if ((mapdata.ContentFlags & 1) == 0)
{ continue; } //only test HD ymaps
box.Minimum = mapdata.entitiesExtentsMin;
box.Maximum = mapdata.entitiesExtentsMax;
if (ray.Intersects(ref box, out boxhitdisttest))
{
if (boxhitdisttest > res.HitDist)
{ continue; } //already a closer hit
var hash = mapdata.Name;
var ymap = (hash > 0) ? GameFileCache.GetYmap(hash) : null;
if ((ymap != null) && (ymap.Loaded) && (ymap.AllEntities != null))
{
if (!IsYmapAvailable(hash, CurrentHour, CurrentWeather))
{ continue; }
for (int e = 0; e < ymap.AllEntities.Length; e++)
{
var ent = ymap.AllEntities[e];
if (!EntityCollisionsEnabled(ent))
{ continue; }
box.Minimum = ent.BBMin;
box.Maximum = ent.BBMax;
if (ray.Intersects(ref box, out boxhitdisttest))
{
if (boxhitdisttest > res.HitDist)
{ continue; } //already a closer hit
if (ent.IsMlo)
{
var ihit = RayIntersectInterior(ref ray, ent, res.HitDist);
res.TryUpdate(ref ihit);
}
else
{
var ehit = RayIntersectEntity(ref ray, ent, res.HitDist);
res.TryUpdate(ref ehit);
}
}
}
}
else if ((ymap != null) && (!ymap.Loaded))
{
testcomplete = false;
}
}
}
if (res.Hit)
{
res.Position = ray.Position + ray.Direction * res.HitDist;
@ -1134,24 +1176,163 @@ namespace CodeWalker.World
return res;
}
public SpaceRayIntersectResult RayIntersectEntity(ref Ray ray, YmapEntityDef ent, float maxdist = float.MaxValue)
{
var res = new SpaceRayIntersectResult();
res.HitDist = maxdist;
public SpaceSphereIntersectResult SphereIntersect(BoundingSphere sph)
var drawable = GameFileCache.TryGetDrawable(ent.Archetype);
if (drawable != null)
{
var eori = ent.Orientation;
var eorinv = Quaternion.Invert(ent.Orientation);
var eray = new Ray();
eray.Position = eorinv.Multiply(ray.Position - ent.Position);
eray.Direction = eorinv.Multiply(ray.Direction);
if ((drawable is Drawable sdrawable) && (sdrawable.Bound != null))
{
var dhit = sdrawable.Bound.RayIntersect(ref eray, res.HitDist);
if (dhit.Hit)
{
dhit.Position = eori.Multiply(dhit.Position) + ent.Position;
dhit.Normal = eori.Multiply(dhit.Normal);
}
res.TryUpdate(ref dhit);
}
else if (drawable is FragDrawable fdrawable)
{
if (fdrawable.Bound != null)
{
var fhit = fdrawable.Bound.RayIntersect(ref eray, res.HitDist);
if (fhit.Hit)
{
fhit.Position = eori.Multiply(fhit.Position) + ent.Position;
fhit.Normal = eori.Multiply(fhit.Normal);
}
res.TryUpdate(ref fhit);
}
var fbound = fdrawable.OwnerFragment?.PhysicsLODGroup?.PhysicsLOD1?.Bound;
if (fbound != null)
{
var fhit = fbound.RayIntersect(ref eray, res.HitDist);//TODO: these probably have extra transforms..!
if (fhit.Hit)
{
fhit.Position = eori.Multiply(fhit.Position) + ent.Position;
fhit.Normal = eori.Multiply(fhit.Normal);
}
res.TryUpdate(ref fhit);
}
}
}
return res;
}
public SpaceRayIntersectResult RayIntersectInterior(ref Ray ray, YmapEntityDef mlo, float maxdist = float.MaxValue)
{
var res = new SpaceRayIntersectResult();
res.HitDist = maxdist;
if (mlo.Archetype == null)
{ return res; }
var iori = mlo.Orientation;
var iorinv = Quaternion.Invert(mlo.Orientation);
var iray = new Ray();
iray.Position = iorinv.Multiply(ray.Position - mlo.Position);
iray.Direction = iorinv.Multiply(ray.Direction);
var hash = mlo.Archetype.Hash;
var ybn = GameFileCache.GetYbn(hash);
if ((ybn != null) && (ybn.Loaded))
{
var ihit = ybn.Bounds.RayIntersect(ref iray, res.HitDist);
if (ihit.Hit)
{
ihit.Position = iori.Multiply(ihit.Position) + mlo.Position;
ihit.Normal = iori.Multiply(ihit.Normal);
}
res.TryUpdate(ref ihit);
}
var mlodat = mlo.MloInstance;
if (mlodat == null)
{ return res; }
var box = new BoundingBox();
float boxhitdisttest;
if (mlodat.Entities != null)
{
for (int j = 0; j < mlodat.Entities.Length; j++) //should really improve this by using rooms!
{
var intent = mlodat.Entities[j];
if (intent.Archetype == null) continue; //missing archetype...
if (!EntityCollisionsEnabled(intent))
{ continue; }
box.Minimum = intent.BBMin;
box.Maximum = intent.BBMax;
if (ray.Intersects(ref box, out boxhitdisttest))
{
if (boxhitdisttest > res.HitDist)
{ continue; } //already a closer hit
var ehit = RayIntersectEntity(ref ray, intent, res.HitDist);
res.TryUpdate(ref ehit);
}
}
}
if (mlodat.EntitySets != null)
{
foreach (var entitysets in mlodat.EntitySets)
{
var entityset = entitysets.Value;
if (!entityset.Visible) continue;
var entities = entityset.Entities;
for (int i = 0; i < entities.Count; i++) //should really improve this by using rooms!
{
var intent = entities[i];
if (intent.Archetype == null) continue; //missing archetype...
if (!EntityCollisionsEnabled(intent))
{ continue; }
box.Minimum = intent.BBMin;
box.Maximum = intent.BBMax;
if (ray.Intersects(ref box, out boxhitdisttest))
{
if (boxhitdisttest > res.HitDist)
{ continue; } //already a closer hit
var ehit = RayIntersectEntity(ref ray, intent, res.HitDist);
res.TryUpdate(ref ehit);
}
}
}
}
return res;
}
public SpaceSphereIntersectResult SphereIntersect(BoundingSphere sph, bool[] layers = null)
{
var res = new SpaceSphereIntersectResult();
if (GameFileCache == null) return res;
int polytestcount = 0;
int nodetestcount = 0;
bool testcomplete = true;
Vector3 sphmin = sph.Center - sph.Radius;
Vector3 sphmax = sph.Center + sph.Radius;
var box = new BoundingBox();
if (BoundsStore == null) return res;
var boundslist = BoundsStore.GetItems(ref sphmin, ref sphmax);
if ((BoundsStore == null) || (MapDataStore == null)) return res;
var boundslist = BoundsStore.GetItems(ref sphmin, ref sphmax, layers);
var mapdatalist = MapDataStore.GetItems(ref sphmin, ref sphmax);
foreach (var bound in boundslist)
for (int i = 0; i < boundslist.Count; i++)
{
var bound = boundslist[i];
box.Minimum = bound.Min;
box.Maximum = bound.Max;
if (sph.Intersects(ref box))
@ -1163,35 +1344,208 @@ namespace CodeWalker.World
{ testcomplete = false; continue; } //ybn not loaded yet...
var b = ybn.Bounds;
//box.Minimum = b.BoundingBoxMin;
//box.Maximum = b.BoundingBoxMax;
//if (!sph.Intersects(ref box))
//{ continue; } //ray doesn't hit this ybn
var bhit = b.SphereIntersect(ref sph);
if (bhit.Hit)
{
res.Hit = true;
res.HitPolygon = bhit.HitPolygon;
res.Normal = bhit.Normal;
}
polytestcount += bhit.TestedPolyCount;
nodetestcount += bhit.TestedNodeCount;
res.TryUpdate(ref bhit);
}
}
for (int i = 0; i < mapdatalist.Count; i++)
{
var mapdata = mapdatalist[i];
if ((mapdata.ContentFlags & 1) == 0)
{ continue; } //only test HD ymaps
box.Minimum = mapdata.entitiesExtentsMin;
box.Maximum = mapdata.entitiesExtentsMax;
if (sph.Intersects(ref box))
{
var hash = mapdata.Name;
var ymap = (hash > 0) ? GameFileCache.GetYmap(hash) : null;
if ((ymap != null) && (ymap.Loaded) && (ymap.AllEntities != null))
{
if (!IsYmapAvailable(hash, CurrentHour, CurrentWeather))
{ continue; }
for (int e = 0; e < ymap.AllEntities.Length; e++)
{
var ent = ymap.AllEntities[e];
if (!EntityCollisionsEnabled(ent))
{ continue; }
box.Minimum = ent.BBMin;
box.Maximum = ent.BBMax;
if (sph.Intersects(ref box))
{
if (ent.IsMlo)
{
var ihit = SphereIntersectInterior(ref sph, ent);
res.TryUpdate(ref ihit);
}
else
{
var ehit = SphereIntersectEntity(ref sph, ent);
res.TryUpdate(ref ehit);
}
}
}
}
else if ((ymap != null) && (!ymap.Loaded))
{
testcomplete = false;
}
}
}
//if (hit)
//{
// hitpos = ray.Position + ray.Direction * itemhitdist;
//}
res.TestedNodeCount = nodetestcount;
res.TestedPolyCount = polytestcount;
res.TestComplete = testcomplete;
return res;
}
public SpaceSphereIntersectResult SphereIntersectEntity(ref BoundingSphere sph, YmapEntityDef ent)
{
var res = new SpaceSphereIntersectResult();
var drawable = GameFileCache.TryGetDrawable(ent.Archetype);
if (drawable != null)
{
var eori = ent.Orientation;
var eorinv = Quaternion.Invert(ent.Orientation);
var esph = sph;
esph.Center = eorinv.Multiply(sph.Center - ent.Position);
if ((drawable is Drawable sdrawable) && (sdrawable.Bound != null))
{
var dhit = sdrawable.Bound.SphereIntersect(ref esph);
if (dhit.Hit)
{
dhit.Position = eori.Multiply(dhit.Position) + ent.Position;
dhit.Normal = eori.Multiply(dhit.Normal);
}
res.TryUpdate(ref dhit);
}
else if (drawable is FragDrawable fdrawable)
{
if (fdrawable.Bound != null)
{
var fhit = fdrawable.Bound.SphereIntersect(ref esph);
if (fhit.Hit)
{
fhit.Position = eori.Multiply(fhit.Position) + ent.Position;
fhit.Normal = eori.Multiply(fhit.Normal);
}
res.TryUpdate(ref fhit);
}
var fbound = fdrawable.OwnerFragment?.PhysicsLODGroup?.PhysicsLOD1?.Bound;
if (fbound != null)
{
var fhit = fbound.SphereIntersect(ref esph);//TODO: these probably have extra transforms..!
if (fhit.Hit)
{
fhit.Position = eori.Multiply(fhit.Position) + ent.Position;
fhit.Normal = eori.Multiply(fhit.Normal);
}
res.TryUpdate(ref fhit);
}
}
}
return res;
}
public SpaceSphereIntersectResult SphereIntersectInterior(ref BoundingSphere sph, YmapEntityDef mlo)
{
var res = new SpaceSphereIntersectResult();
if (mlo.Archetype == null)
{ return res; }
var iori = mlo.Orientation;
var iorinv = Quaternion.Invert(mlo.Orientation);
var isph = sph;
isph.Center = iorinv.Multiply(sph.Center - mlo.Position);
var hash = mlo.Archetype.Hash;
var ybn = GameFileCache.GetYbn(hash);
if ((ybn != null) && (ybn.Loaded))
{
var ihit = ybn.Bounds.SphereIntersect(ref isph);
if (ihit.Hit)
{
ihit.Position = iori.Multiply(ihit.Position) + mlo.Position;
ihit.Normal = iori.Multiply(ihit.Normal);
}
res.TryUpdate(ref ihit);
}
var mlodat = mlo.MloInstance;
if (mlodat == null)
{ return res; }
var box = new BoundingBox();
if (mlodat.Entities != null)
{
for (int j = 0; j < mlodat.Entities.Length; j++) //should really improve this by using rooms!
{
var intent = mlodat.Entities[j];
if (intent.Archetype == null) continue; //missing archetype...
if (!EntityCollisionsEnabled(intent))
{ continue; }
box.Minimum = intent.BBMin;
box.Maximum = intent.BBMax;
if (sph.Intersects(ref box))
{
var ehit = SphereIntersectEntity(ref sph, intent);
res.TryUpdate(ref ehit);
}
}
}
if (mlodat.EntitySets != null)
{
foreach (var entitysets in mlodat.EntitySets)
{
var entityset = entitysets.Value;
if (!entityset.Visible) continue;
var entities = entityset.Entities;
for (int i = 0; i < entities.Count; i++) //should really improve this by using rooms!
{
var intent = entities[i];
if (intent.Archetype == null) continue; //missing archetype...
if (!EntityCollisionsEnabled(intent))
{ continue; }
box.Minimum = intent.BBMin;
box.Maximum = intent.BBMax;
if (sph.Intersects(ref box))
{
var ehit = SphereIntersectEntity(ref sph, intent);
res.TryUpdate(ref ehit);
}
}
}
}
return res;
}
private bool EntityCollisionsEnabled(YmapEntityDef ent)
{
if ((ent._CEntityDef.lodLevel != rage__eLodType.LODTYPES_DEPTH_ORPHANHD) && (ent._CEntityDef.lodLevel != rage__eLodType.LODTYPES_DEPTH_HD))
{ return false; } //only test HD entities
if ((ent._CEntityDef.flags & 4) > 0)
{ return false; } //embedded collisions disabled
return true;
}
}
@ -1227,7 +1581,7 @@ namespace CodeWalker.World
RootNode.TrySplit(SplitThreshold);
}
public List<MapDataStoreNode> GetItems(ref Vector3 p)
public List<MapDataStoreNode> GetItems(ref Vector3 p) //get items at a point, using the streaming extents
{
VisibleItems.Clear();
@ -1236,6 +1590,28 @@ namespace CodeWalker.World
RootNode.GetItems(ref p, VisibleItems);
}
return VisibleItems;
}
public List<MapDataStoreNode> GetItems(ref Vector3 min, ref Vector3 max) //get items intersecting a box, using the entities extents
{
VisibleItems.Clear();
if (RootNode != null)
{
RootNode.GetItems(ref min, ref max, VisibleItems);
}
return VisibleItems;
}
public List<MapDataStoreNode> GetItems(ref Ray ray) //get items intersecting a ray, using the entities extents
{
VisibleItems.Clear();
if (RootNode != null)
{
RootNode.GetItems(ref ray, VisibleItems);
}
return VisibleItems;
}
}
@ -1312,7 +1688,7 @@ namespace CodeWalker.World
Items = newItems;
}
public void GetItems(ref Vector3 p, List<MapDataStoreNode> items)
public void GetItems(ref Vector3 p, List<MapDataStoreNode> items) //get items at a point, using the streaming extents
{
if ((p.X >= BBMin.X) && (p.X <= BBMax.X) && (p.Y >= BBMin.Y) && (p.Y <= BBMax.Y))
{
@ -1342,6 +1718,67 @@ namespace CodeWalker.World
}
}
}
public void GetItems(ref Vector3 min, ref Vector3 max, List<MapDataStoreNode> items) //get items intersecting a box, using the entities extents
{
if ((max.X >= BBMin.X) && (min.X <= BBMax.X) && (max.Y >= BBMin.Y) && (min.Y <= BBMax.Y))
{
if (Items != null)
{
for (int i = 0; i < Items.Count; i++)
{
var item = Items[i];
var imin = item.entitiesExtentsMin;
var imax = item.entitiesExtentsMax;
if ((max.X >= imin.X) && (min.X <= imax.X) && (max.Y >= imin.Y) && (min.Y <= imax.Y))
{
items.Add(item);
}
}
}
if (Children != null)
{
for (int i = 0; i < 4; i++)
{
var c = Children[i];
if (c != null)
{
c.GetItems(ref min, ref max, items);
}
}
}
}
}
public void GetItems(ref Ray ray, List<MapDataStoreNode> items) //get items intersecting a ray, using the entities extents
{
var bb = new BoundingBox(BBMin, BBMax);
if (ray.Intersects(ref bb))
{
if (Items != null)
{
for (int i = 0; i < Items.Count; i++)
{
var item = Items[i];
bb.Minimum = item.entitiesExtentsMin;
bb.Maximum = item.entitiesExtentsMax;
if (ray.Intersects(ref bb))
{
items.Add(item);
}
}
}
if (Children != null)
{
for (int i = 0; i < 4; i++)
{
var c = Children[i];
if (c != null)
{
c.GetItems(ref ray, items);
}
}
}
}
}
}
@ -1708,6 +2145,21 @@ namespace CodeWalker.World
public int TestedPolyCount;
public bool TestComplete;
public BoundMaterial_s Material;
public void TryUpdate(ref SpaceRayIntersectResult r)
{
if (r.Hit)
{
Hit = true;
HitDist = r.HitDist;
HitPolygon = r.HitPolygon;
Material = r.Material;
Position = r.Position;
Normal = r.Normal;
}
TestedNodeCount += r.TestedNodeCount;
TestedPolyCount += r.TestedPolyCount;
}
}
public struct SpaceSphereIntersectResult
{
@ -1719,6 +2171,18 @@ namespace CodeWalker.World
public int TestedNodeCount;
public int TestedPolyCount;
public bool TestComplete;
public void TryUpdate(ref SpaceSphereIntersectResult r)
{
if (r.Hit)
{
Hit = true;
HitPolygon = r.HitPolygon;
Normal = r.Normal;
}
TestedPolyCount += r.TestedPolyCount;
TestedNodeCount += r.TestedNodeCount;
}
}
public struct SpaceEntityCollision

3
Rendering/Renderable.cs
View File

@ -1899,13 +1899,12 @@ namespace CodeWalker.Rendering
}
RenderableBoundGeometry[] geoms = new RenderableBoundGeometry[bound.Children.data_items.Length];
var childTransforms = bound.ChildrenTransformation1 ?? bound.ChildrenTransformation2;
long dsize = 0;
for (int i = 0; i < bound.Children.data_items.Length; i++)
{
var rgeom = new RenderableBoundGeometry(this);
var child = bound.Children.data_items[i];
var xform = ((childTransforms != null) && (i < childTransforms.Length)) ? childTransforms[i] : Matrix.Identity; xform.Column4 = new Vector4(0.0f, 0.0f, 0.0f, 1.0f);
var xform = (child != null) ? child.Transform : Matrix.Identity;
if (child is BoundGeometry bgeom)
{
rgeom.Init(bgeom);

27
Rendering/Renderer.cs
View File

@ -2804,22 +2804,25 @@ namespace CodeWalker.Rendering
if ((rendercollisionmeshes || (SelectionMode == MapSelectionMode.Collision)) && rendercollisionmeshlayerdrawable)
{
Drawable sdrawable = rndbl.Key as Drawable;
if ((sdrawable != null) && (sdrawable.Bound != null))
if ((entity == null) || ((entity._CEntityDef.flags & 4) == 0)) //skip if entity embedded collisions disabled
{
RenderCollisionMesh(sdrawable.Bound, entity);
}
FragDrawable fdrawable = rndbl.Key as FragDrawable;
if (fdrawable != null)
{
if (fdrawable.Bound != null)
Drawable sdrawable = rndbl.Key as Drawable;
if ((sdrawable != null) && (sdrawable.Bound != null))
{
RenderCollisionMesh(fdrawable.Bound, entity);
RenderCollisionMesh(sdrawable.Bound, entity);
}
var fbound = fdrawable.OwnerFragment?.PhysicsLODGroup?.PhysicsLOD1?.Bound;
if (fbound != null)
FragDrawable fdrawable = rndbl.Key as FragDrawable;
if (fdrawable != null)
{
RenderCollisionMesh(fbound, entity);//TODO: these probably have extra transforms..!
if (fdrawable.Bound != null)
{
RenderCollisionMesh(fdrawable.Bound, entity);
}
var fbound = fdrawable.OwnerFragment?.PhysicsLODGroup?.PhysicsLOD1?.Bound;
if (fbound != null)
{
RenderCollisionMesh(fbound, entity);//TODO: these probably have extra transforms..!
}
}
}
}

5
WorldForm.cs
View File

@ -2119,6 +2119,7 @@ namespace CodeWalker
e.Radius = arch.BSRadius * 0.7f;
e.EnableCollisions = true;
e.Enabled = true;
e.Lifetime = 20.0f;
lock (Renderer.RenderSyncRoot)
{
@ -2238,14 +2239,14 @@ namespace CodeWalker
Ray mray = new Ray();
mray.Position = camera.MouseRay.Position + camera.Position;
mray.Direction = camera.MouseRay.Direction;
return space.RayIntersect(mray);
return space.RayIntersect(mray, float.MaxValue, collisionmeshlayers);
}
return ret;
}
public SpaceRayIntersectResult Raycast(Ray ray)
{
return space.RayIntersect(ray);
return space.RayIntersect(ray, float.MaxValue, collisionmeshlayers);
}
private void UpdateMouseHitsFromRenderer()