450 lines
13 KiB
C++
450 lines
13 KiB
C++
/*************************************************************************/
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/* test_misc.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "test_misc.h"
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#include "math_funcs.h"
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#include "os/main_loop.h"
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#include "print_string.h"
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#include "servers/visual_server.h"
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namespace TestMisc {
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struct ConvexTestResult {
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Vector3 edgeA[2];
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Vector3 edgeB[2];
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bool valid;
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Vector3 contactA;
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Vector3 contactB;
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Vector3 contactNormal;
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float depth;
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/*
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Vector3 contactA;
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Vector3 contactB;
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Vector3 contactNormal;
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Vector3 contactX;
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Vector3 contactY;
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Vector3 edgeA[2];
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Vector3 edgeB[2];
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float depth;
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bool valid;
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bool isEdgeEdge;
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bool needTransform;
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neBool ComputerEdgeContactPoint(ConvexTestResult & res);
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neBool ComputerEdgeContactPoint2(float & au, float & bu);
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void Reverse()
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{
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neSwap(contactA, contactB);
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contactNormal *= -1.0f;
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}*/
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bool ComputerEdgeContactPoint2(float &au, float &bu);
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};
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bool ConvexTestResult::ComputerEdgeContactPoint2(float &au, float &bu) {
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float d1343, d4321, d1321, d4343, d2121;
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float numer, denom;
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Vector3 p13;
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Vector3 p43;
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Vector3 p21;
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Vector3 diff;
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p13 = (edgeA[0]) - (edgeB[0]);
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p43 = (edgeB[1]) - (edgeB[0]);
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if (p43.length_squared() < CMP_EPSILON2) {
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valid = false;
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goto ComputerEdgeContactPoint2_Exit;
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}
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p21 = (edgeA[1]) - (edgeA[0]);
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if (p21.length_squared() < CMP_EPSILON2) {
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valid = false;
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goto ComputerEdgeContactPoint2_Exit;
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}
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d1343 = p13.dot(p43);
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d4321 = p43.dot(p21);
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d1321 = p13.dot(p21);
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d4343 = p43.dot(p43);
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d2121 = p21.dot(p21);
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denom = d2121 * d4343 - d4321 * d4321;
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if (ABS(denom) < CMP_EPSILON) {
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valid = false;
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goto ComputerEdgeContactPoint2_Exit;
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}
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numer = d1343 * d4321 - d1321 * d4343;
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au = numer / denom;
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bu = (d1343 + d4321 * (au)) / d4343;
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if (au < 0.0f || au >= 1.0f) {
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valid = false;
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} else if (bu < 0.0f || bu >= 1.0f) {
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valid = false;
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} else {
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valid = true;
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}
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{
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Vector3 tmpv;
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tmpv = p21 * au;
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contactA = (edgeA[0]) + tmpv;
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tmpv = p43 * bu;
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contactB = (edgeB[0]) + tmpv;
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}
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diff = contactA - contactB;
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depth = Math::sqrt(diff.dot(diff));
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return true;
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ComputerEdgeContactPoint2_Exit:
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return false;
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}
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struct neCollisionResult {
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float depth;
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bool penetrate;
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Matrix3 collisionFrame;
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Vector3 contactA;
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Vector3 contactB;
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};
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struct TConvex {
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float radius;
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float half_height;
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float CylinderRadius() const { return radius; }
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float CylinderHalfHeight() const { return half_height; }
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};
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float GetDistanceFromLine2(Vector3 v, Vector3 &project, const Vector3 &pointA, const Vector3 &pointB) {
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Vector3 ba = pointB - pointA;
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float len = ba.length();
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if (len < CMP_EPSILON)
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ba = Vector3();
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else
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ba *= 1.0f / len;
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Vector3 pa = v - pointA;
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float k = pa.dot(ba);
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project = pointA + ba * k;
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Vector3 diff = v - project;
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return diff.length();
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}
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void TestCylinderVertEdge(neCollisionResult &result, Vector3 &edgeA1, Vector3 &edgeA2, Vector3 &vertB,
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TConvex &cA, TConvex &cB, Transform &transA, Transform &transB, bool flip) {
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Vector3 project;
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float dist = GetDistanceFromLine2(vertB, project, edgeA1, edgeA2);
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float depth = cA.CylinderRadius() + cB.CylinderRadius() - dist;
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if (depth <= 0.0f)
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return;
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if (depth <= result.depth)
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return;
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result.penetrate = true;
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result.depth = depth;
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if (!flip) {
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result.collisionFrame.set_axis(2, (project - vertB).normalized());
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result.contactA = project - result.collisionFrame.get_axis(2) * cA.CylinderRadius();
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result.contactB = vertB + result.collisionFrame.get_axis(2) * cB.CylinderRadius();
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} else {
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result.collisionFrame.set_axis(2, (vertB - project).normalized());
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result.contactA = vertB - result.collisionFrame.get_axis(2) * cB.CylinderRadius();
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result.contactB = project + result.collisionFrame.get_axis(2) * cA.CylinderRadius();
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}
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}
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void TestCylinderVertVert(neCollisionResult &result, Vector3 &vertA, Vector3 &vertB,
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TConvex &cA, TConvex &cB, Transform &transA, Transform &transB) {
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Vector3 diff = vertA - vertB;
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float dist = diff.length();
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float depth = cA.CylinderRadius() + cB.CylinderRadius() - dist;
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if (depth <= 0.0f)
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return;
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if (depth <= result.depth)
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return;
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result.penetrate = true;
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result.depth = depth;
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result.collisionFrame.set_axis(2, diff * (1.0f / dist));
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result.contactA = vertA - result.collisionFrame.get_axis(2) * cA.CylinderRadius();
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result.contactB = vertB + result.collisionFrame.get_axis(2) * cB.CylinderRadius();
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}
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void Cylinder2CylinderTest(neCollisionResult &result, TConvex &cA, Transform &transA, TConvex &cB, Transform &transB) {
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result.penetrate = false;
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Vector3 dir = transA.basis.get_axis(1).cross(transB.basis.get_axis(1));
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float len = dir.length();
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// bool isParallel = len<CMP_EPSILON;
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// int doVertCheck = 0;
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ConvexTestResult cr;
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cr.edgeA[0] = transA.origin + transA.basis.get_axis(1) * cA.CylinderHalfHeight();
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cr.edgeA[1] = transA.origin - transA.basis.get_axis(1) * cA.CylinderHalfHeight();
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cr.edgeB[0] = transB.origin + transB.basis.get_axis(1) * cB.CylinderHalfHeight();
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cr.edgeB[1] = transB.origin - transB.basis.get_axis(1) * cB.CylinderHalfHeight();
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// float dot = transA.basis.get_axis(1).dot(transB.basis.get_axis(1));
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if (len > CMP_EPSILON) {
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float au, bu;
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cr.ComputerEdgeContactPoint2(au, bu);
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if (cr.valid) {
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float depth = cA.CylinderRadius() + cB.CylinderRadius() - cr.depth;
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if (depth <= 0.0f)
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return;
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result.depth = depth;
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result.penetrate = true;
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result.collisionFrame.set_axis(2, (cr.contactA - cr.contactB) * (1.0f / cr.depth));
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result.contactA = cr.contactA - result.collisionFrame.get_axis(2) * cA.CylinderRadius();
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result.contactB = cr.contactB + result.collisionFrame.get_axis(2) * cB.CylinderRadius();
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return;
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}
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}
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result.depth = -1.0e6f;
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int i;
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for (i = 0; i < 2; i++) {
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//project onto edge b
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Vector3 diff = cr.edgeA[i] - cr.edgeB[1];
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float dot = diff.dot(transB.basis.get_axis(1));
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if (dot < 0.0f) {
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TestCylinderVertVert(result, cr.edgeA[i], cr.edgeB[1], cA, cB, transA, transB);
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} else if (dot > (2.0f * cB.CylinderHalfHeight())) {
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TestCylinderVertVert(result, cr.edgeA[i], cr.edgeB[0], cA, cB, transA, transB);
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} else {
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TestCylinderVertEdge(result, cr.edgeB[0], cr.edgeB[1], cr.edgeA[i], cB, cA, transB, transA, true);
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}
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}
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for (i = 0; i < 2; i++) {
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//project onto edge b
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Vector3 diff = cr.edgeB[i] - cr.edgeA[1];
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float dot = diff.dot(transA.basis.get_axis(1));
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if (dot < 0.0f) {
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TestCylinderVertVert(result, cr.edgeB[i], cr.edgeA[1], cA, cB, transA, transB);
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} else if (dot > (2.0f * cB.CylinderHalfHeight())) {
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TestCylinderVertVert(result, cr.edgeB[i], cr.edgeA[0], cA, cB, transA, transB);
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} else {
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TestCylinderVertEdge(result, cr.edgeA[0], cr.edgeA[1], cr.edgeB[i], cA, cB, transA, transB, false);
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}
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}
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}
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class TestMainLoop : public MainLoop {
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RID meshA;
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RID meshB;
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RID poly;
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RID instance;
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RID camera;
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RID viewport;
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RID boxA;
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RID boxB;
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RID scenario;
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Transform rot_a;
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Transform rot_b;
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bool quit;
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public:
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virtual void input_event(const InputEvent &p_event) {
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if (p_event.type == InputEvent::MOUSE_MOTION && p_event.mouse_motion.button_mask & BUTTON_MASK_LEFT) {
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rot_b.origin.y += -p_event.mouse_motion.relative_y / 100.0;
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rot_b.origin.x += p_event.mouse_motion.relative_x / 100.0;
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}
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if (p_event.type == InputEvent::MOUSE_MOTION && p_event.mouse_motion.button_mask & BUTTON_MASK_MIDDLE) {
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//rot_b.origin.x+=-p_event.mouse_motion.relative_y/100.0;
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rot_b.origin.z += p_event.mouse_motion.relative_x / 100.0;
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}
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if (p_event.type == InputEvent::MOUSE_MOTION && p_event.mouse_motion.button_mask & BUTTON_MASK_RIGHT) {
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float rot_x = -p_event.mouse_motion.relative_y / 100.0;
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float rot_y = p_event.mouse_motion.relative_x / 100.0;
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rot_b.basis = rot_b.basis * Matrix3(Vector3(1, 0, 0), rot_x) * Matrix3(Vector3(0, 1, 0), rot_y);
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}
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}
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virtual void request_quit() {
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quit = true;
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}
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virtual void init() {
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VisualServer *vs = VisualServer::get_singleton();
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camera = vs->camera_create();
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viewport = vs->viewport_create();
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vs->viewport_attach_to_screen(viewport);
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vs->viewport_attach_camera(viewport, camera);
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vs->camera_set_transform(camera, Transform(Matrix3(), Vector3(0, 0, 3)));
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/* CONVEX SHAPE */
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DVector<Plane> cylinder_planes = Geometry::build_cylinder_planes(0.5, 2, 9, Vector3::AXIS_Y);
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RID cylinder_material = vs->fixed_material_create();
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vs->fixed_material_set_param(cylinder_material, VisualServer::FIXED_MATERIAL_PARAM_DIFFUSE, Color(0.8, 0.2, 0.9));
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vs->material_set_flag(cylinder_material, VisualServer::MATERIAL_FLAG_ONTOP, true);
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//vs->material_set_flag( cylinder_material, VisualServer::MATERIAL_FLAG_WIREFRAME,true);
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vs->material_set_flag(cylinder_material, VisualServer::MATERIAL_FLAG_DOUBLE_SIDED, true);
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vs->material_set_flag(cylinder_material, VisualServer::MATERIAL_FLAG_UNSHADED, true);
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RID cylinder_mesh = vs->mesh_create();
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Geometry::MeshData cylinder_data = Geometry::build_convex_mesh(cylinder_planes);
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vs->mesh_add_surface_from_mesh_data(cylinder_mesh, cylinder_data);
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vs->mesh_surface_set_material(cylinder_mesh, 0, cylinder_material);
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meshA = vs->instance_create2(cylinder_mesh, scenario);
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meshB = vs->instance_create2(cylinder_mesh, scenario);
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boxA = vs->instance_create2(vs->get_test_cube(), scenario);
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boxB = vs->instance_create2(vs->get_test_cube(), scenario);
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/*
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RID lightaux = vs->light_create( VisualServer::LIGHT_OMNI );
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vs->light_set_var( lightaux, VisualServer::LIGHT_VAR_RADIUS, 80 );
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vs->light_set_var( lightaux, VisualServer::LIGHT_VAR_ATTENUATION, 1 );
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vs->light_set_var( lightaux, VisualServer::LIGHT_VAR_ENERGY, 1.5 );
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light = vs->instance_create2( lightaux );
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*/
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RID lightaux = vs->light_create(VisualServer::LIGHT_DIRECTIONAL);
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//vs->light_set_color( lightaux, VisualServer::LIGHT_COLOR_AMBIENT, Color(0.0,0.0,0.0) );
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//vs->light_set_shadow( lightaux, true );
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RID light = vs->instance_create2(lightaux, scenario);
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//rot_a=Transform(Matrix3(Vector3(1,0,0),Math_PI/2.0),Vector3());
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rot_b = Transform(Matrix3(), Vector3(2, 0, 0));
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//rot_x=0;
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//rot_y=0;
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quit = false;
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}
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virtual bool idle(float p_time) {
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VisualServer *vs = VisualServer::get_singleton();
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vs->instance_set_transform(meshA, rot_a);
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vs->instance_set_transform(meshB, rot_b);
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neCollisionResult res;
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TConvex a;
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a.radius = 0.5;
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a.half_height = 1;
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Cylinder2CylinderTest(res, a, rot_a, a, rot_b);
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if (res.penetrate) {
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Matrix3 scale;
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scale.scale(Vector3(0.1, 0.1, 0.1));
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vs->instance_set_transform(boxA, Transform(scale, res.contactA));
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vs->instance_set_transform(boxB, Transform(scale, res.contactB));
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print_line("depth: " + rtos(res.depth));
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} else {
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Matrix3 scale;
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scale.scale(Vector3());
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vs->instance_set_transform(boxA, Transform(scale, res.contactA));
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vs->instance_set_transform(boxB, Transform(scale, res.contactB));
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}
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print_line("collided: " + itos(res.penetrate));
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return false;
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}
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virtual bool iteration(float p_time) {
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return quit;
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}
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virtual void finish() {
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}
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};
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MainLoop *test() {
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return memnew(TestMainLoop);
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}
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}
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