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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
Unverified
parent 58d2293358
commit d5c0bc2477
7 changed files with 1022 additions and 375 deletions
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CodeWalker.Core/GameFiles/Resources/Bounds.cs
+466 -288
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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;