350 lines
11 KiB
C++
350 lines
11 KiB
C++
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/*
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** Command & Conquer Renegade(tm)
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** Copyright 2025 Electronic Arts Inc.
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**
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** This program is free software: you can redistribute it and/or modify
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** it under the terms of the GNU General Public License as published by
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** the Free Software Foundation, either version 3 of the License, or
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** (at your option) any later version.
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**
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** This program is distributed in the hope that it will be useful,
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** but WITHOUT ANY WARRANTY; without even the implied warranty of
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** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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** GNU General Public License for more details.
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**
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** You should have received a copy of the GNU General Public License
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** along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/***********************************************************************************************
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*** C O N F I D E N T I A L --- W E S T W O O D S T U D I O S ***
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***********************************************************************************************
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* *
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* Project Name : WWPhys *
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* *
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* $Archive:: /Commando/Code/wwphys/octbox.cpp $*
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* *
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* Original Author:: Greg Hjelstrom *
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* *
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* $Author:: Greg_h $*
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* *
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* $Modtime:: 11/21/01 2:54p $*
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* *
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* $Revision:: 20 $*
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* *
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*---------------------------------------------------------------------------------------------*
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* Functions: *
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* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
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#include "octbox.h"
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#include "pscene.h"
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#include "physcoltest.h"
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#include "physinttest.h"
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#include "physcon.h"
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#define SHOW_CONTACT_DETECTORS 0
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const float DEFAULT_STIFFNESS = 5.0f;
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const float DEFAULT_DAMPING = 0.1f;
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const float DEFAULT_THICKNESS = 0.1f;
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const float CONTACT_GRAVITY_MULTIPLIER = 2.0f; // maximum contact force is multiplier * gravity.
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const float CONTACT_DAMPING_FACTOR = 0.33f; // ratio of damping / (critical damping) (less than zero is underdamped)
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OctBoxClass::OctBoxClass
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(
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RigidBodyClass & parent,
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const OBBoxClass & box
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) :
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Parent(parent),
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InnerBox(box),
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Thickness(DEFAULT_THICKNESS),
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Stiffness(DEFAULT_STIFFNESS),
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Damping(DEFAULT_DAMPING)
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{
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Set_Thickness(Thickness);
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}
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OctBoxClass::~OctBoxClass(void)
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{
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}
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void OctBoxClass::Set_Thickness(float thickness)
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{
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Thickness = thickness;
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// Outer corner of the "octant boxes" should be at the corner of the box
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// Inner corner of the "octant boxes" should be overlapping the neighbor boxes by 'thickness'
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Vector3 octant_max = InnerBox.Extent;
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Vector3 octant_min(-Thickness,-Thickness,-Thickness);
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OctantExtent = (octant_max - octant_min) / 2.0f;
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OctantCenter = (octant_max + octant_min) / 2.0f;
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}
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void OctBoxClass::Update_Contact_Parameters(void)
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{
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float mass = Parent.Get_Mass();
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// Make the contact force have a maximum of MULTIPLIER * gravity
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Stiffness = mass * WWMath::Fabs(PhysicsConstants::GravityAcceleration.Z);
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Stiffness *= CONTACT_GRAVITY_MULTIPLIER;
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// Compute critical damping, achieve equilibrium in minimum time.
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Damping = 2.0f * mass * WWMath::Sqrt(Stiffness / mass);
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// Critical damping seems to be too stiff so reduce it
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Damping *= CONTACT_DAMPING_FACTOR;
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}
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void OctBoxClass::Get_Outer_Bounds(AABoxClass * set_bounds)
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{
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WWASSERT(set_bounds != NULL);
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OBBoxClass wrld_outer_box;
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wrld_outer_box = WrldInnerBox;
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wrld_outer_box.Extent += Vector3(Thickness,Thickness,Thickness);
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set_bounds->Center = wrld_outer_box.Center;
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wrld_outer_box.Compute_Axis_Aligned_Extent(&(set_bounds->Extent));
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}
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bool OctBoxClass::Is_Intersecting(NonRefPhysListClass * result_list,bool check_static_objs,bool check_dyn_objs)
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{
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PhysicsSceneClass * the_scene = PhysicsSceneClass::Get_Instance();
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WWASSERT(the_scene != NULL);
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/*
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** Test inner box for intersection
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*/
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PhysOBBoxIntersectionTestClass test(WrldInnerBox,
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Parent.Get_Collision_Group(),
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COLLISION_TYPE_PHYSICAL | COLLISION_TYPE_VEHICLE,
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result_list);
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test.CheckStaticObjs = check_static_objs;
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test.CheckDynamicObjs = check_dyn_objs;
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Parent.Inc_Ignore_Counter ();
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bool intersect = PhysicsSceneClass::Get_Instance ()->Intersection_Test(test);
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Parent.Dec_Ignore_Counter ();
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return intersect;
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}
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bool OctBoxClass::Is_In_Contact_Zone(void)
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{
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PhysicsSceneClass * the_scene = PhysicsSceneClass::Get_Instance();
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WWASSERT(the_scene != NULL);
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/*
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** Test outer box for intersection
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*/
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OBBoxClass wrld_outer_box = WrldInnerBox;
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wrld_outer_box.Extent += Vector3(Thickness,Thickness,Thickness);
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int colgroup = Parent.Get_Collision_Group();
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int coltype = COLLISION_TYPE_PHYSICAL | COLLISION_TYPE_VEHICLE;
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return the_scene->Intersection_Test(wrld_outer_box,colgroup,coltype,true);
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}
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OctBoxClass::CollisionResult
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OctBoxClass::Compute_Contacts(bool lock_to_centroids)
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{
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Parent.Inc_Ignore_Counter();
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CollisionResult result = Internal_Compute_Contacts(lock_to_centroids);
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Parent.Dec_Ignore_Counter();
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return result;
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}
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OctBoxClass::CollisionResult
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OctBoxClass::Internal_Compute_Contacts(bool lock_to_centroids)
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{
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/*
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** Algorithm:
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** Quick Rejection:
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** - Try to quick reject the entire collision by checking the outer box
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** - Check if we're going to have to search for TOC by checking the inner box
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** Find Contacts:
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** - For each octant (total of 8)
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** - Sweep the octant along the diagonal and record the contact point (if any)
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*/
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PhysicsSceneClass * the_scene = PhysicsSceneClass::Get_Instance();
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WWASSERT(the_scene != NULL);
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Reset_Contacts();
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/*
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** compute the outer box in WS
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*/
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OBBoxClass wrld_outer_box;
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wrld_outer_box = WrldInnerBox;
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wrld_outer_box.Extent += Vector3(Thickness,Thickness,Thickness);
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/*
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** Check for quick-rejection (intersection or completely separated)
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*/
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int colgroup = Parent.Get_Collision_Group();
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int coltype = COLLISION_TYPE_PHYSICAL | COLLISION_TYPE_VEHICLE;
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if (!the_scene->Intersection_Test(wrld_outer_box,colgroup,coltype,true)) {
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//Parent.Add_Debug_OBBox(wrld_outer_box,Vector3(0,1,0));
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return RESULT_NO_COLLISION;
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}
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if (the_scene->Intersection_Test(WrldInnerBox,colgroup,coltype,true)) {
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//Parent.Add_Debug_OBBox(wrld_outer_box,Vector3(1,0,0));
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return RESULT_INTERSECTION;
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}
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/*
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** Check the octants for contact
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*/
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for (int i=0; i<8; i++) {
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Compute_Octant_Contact(i,lock_to_centroids);
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}
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return RESULT_CONTACT;
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}
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void OctBoxClass::Compute_Octant_Contact(int oi,bool lock_to_centroids)
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{
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static Vector3 _octant_offset[8] =
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{
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Vector3( 1, 1, 1),
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Vector3(-1, 1, 1),
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Vector3(-1,-1, 1),
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Vector3( 1,-1, 1),
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Vector3( 1, 1,-1),
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Vector3(-1, 1,-1),
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Vector3(-1,-1,-1),
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Vector3( 1,-1,-1),
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};
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/*
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** Compute the corner contact "hair" which doubles as the
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** move vector for the octant box.
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*/
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CastResultStruct corner_result;
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corner_result.ComputeContactPoint = true;
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Vector3 corner = _octant_offset[oi];
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corner.X *= WrldInnerBox.Extent.X;
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corner.Y *= WrldInnerBox.Extent.Y;
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corner.Z *= WrldInnerBox.Extent.Z;
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Matrix3::Rotate_Vector(WrldInnerBox.Basis,corner,&corner);
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corner += WrldInnerBox.Center;
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Vector3 corner_move = Thickness * _octant_offset[oi];
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Matrix3::Rotate_Vector(WrldInnerBox.Basis,corner_move,&corner_move);
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/*
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** Collision detect for the corner line-segment
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*/
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LineSegClass ray(corner,corner + corner_move);
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WWASSERT(corner_move.Length2() <= ((3*Thickness*Thickness) + 0.01f));
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WWASSERT(ray.Get_DP().Length2() <= ((3*Thickness*Thickness) + 0.01f));
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PhysRayCollisionTestClass raytest( ray,
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&corner_result,
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Parent.Get_Collision_Group(),
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COLLISION_TYPE_PHYSICAL | COLLISION_TYPE_VEHICLE);
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PhysicsSceneClass::Get_Instance()->Cast_Ray(raytest,true);
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#ifdef WWDEBUG
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#if SHOW_CONTACT_DETECTORS
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Parent.Add_Debug_Vector(corner,corner_move,Vector3(0,1,0));
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#endif
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#endif
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/*
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** Compute the contact for this octant-box.
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*/
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OBBoxClass octbox = WrldInnerBox;
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octbox.Extent = OctantExtent;
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Vector3 dc = _octant_offset[oi];
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dc.X *= OctantCenter.X;
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dc.Y *= OctantCenter.Y;
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dc.Z *= OctantCenter.Z;
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Matrix3::Rotate_Vector(WrldInnerBox.Basis,dc,&dc);
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octbox.Center += dc;
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/*
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** Collision detect with this octant box
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*/
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CastResultStruct octant_result;
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octant_result.ComputeContactPoint = true;
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PhysOBBoxCollisionTestClass boxtest( octbox,
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corner_move,
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&octant_result,
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Parent.Get_Collision_Group(),
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COLLISION_TYPE_PHYSICAL | COLLISION_TYPE_VEHICLE);
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PhysicsSceneClass::Get_Instance()->Cast_OBBox(boxtest,true);
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/*
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** Wake up any vehicle in contact with us
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*/
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if ((boxtest.CollidedPhysObj != NULL) && (boxtest.CollidedPhysObj->As_RigidBodyClass() != NULL)) {
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boxtest.CollidedPhysObj->Force_Awake();
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}
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/*
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** Display the octant box
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*/
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#ifdef WWDEBUG
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#if SHOW_CONTACT_DETECTORS
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static Vector3 _oct_colors[8] = {
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Vector3(1,0,0),Vector3(0,1,0),Vector3(0,0,1),Vector3(1,1,1),
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Vector3(1,1,1),Vector3(0,0,1),Vector3(0,1,0),Vector3(1,0,0)
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};
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octbox.Center += octant_result.Fraction * corner_move;
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//Parent.Add_Debug_OBBox(octbox,_oct_colors[oi]);
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//Parent.Add_Debug_Vector(result.Point,result.Normal,Vector3(0,1,0));
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#endif
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#endif
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/*
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** Now, decide which (if any) contact to use. We prefer the
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** corners but have to use the box's contact if it is significantly
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** closer. If neither hits anything, just bail out of this routine.
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*/
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if ((corner_result.Fraction >= 1.0f) && (octant_result.Fraction >= 1.0f)) {
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return;
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}
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/*
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** If the corner is within 'CORNER_BIAS' of the result of the octant
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** then use its result
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*/
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const float CORNER_BIAS = 0.25f;
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if ((corner_result.Fraction < 1.0f) && (corner_result.Fraction - CORNER_BIAS < octant_result.Fraction)) {
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if (corner_result.Normal.Length2() > 0.0f) { // the normal will be 0,0,0 when we hit a backside
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Add_Contact(corner_result,raytest.CollidedPhysObj);
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}
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} else {
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if ((octant_result.Fraction < 1.0f) && (!octant_result.StartBad)) {
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if (octant_result.Normal.Length2() > 0.0f) { // the normal will be 0,0,0 when we hit a backside
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Add_Contact(octant_result,boxtest.CollidedPhysObj);
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}
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}
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if (corner_result.Fraction < 1.0f) {
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// also add the corner contact!
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if (corner_result.Normal.Length2() > 0.0f) { // the normal will be 0,0,0 when we hit a backside
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Add_Contact(corner_result,raytest.CollidedPhysObj);
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}
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}
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}
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}
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