201 lines
No EOL
7.2 KiB
C++
201 lines
No EOL
7.2 KiB
C++
/*
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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.h $*
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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 2:48p $*
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* *
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* $Revision:: 14 $*
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* *
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*---------------------------------------------------------------------------------------------*
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* Functions: *
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* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
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#if defined(_MSC_VER)
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#pragma once
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#endif
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#ifndef OCTBOX_H
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#define OCTBOX_H
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#include "always.h"
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#include "obbox.h"
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#include "rbody.h"
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/**
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** OctBoxClass
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** This class encapsulates the collision detection algorithms used by Renegade's "rigid-body"
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** physics. It basically acts like rigid box with a contact zone around it. Contacts are detected
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** when geometry is within "thickness" distance of the rigid box.
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*/
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class OctBoxClass
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{
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public:
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OctBoxClass(RigidBodyClass & parent,const OBBoxClass & box);
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~OctBoxClass(void);
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void Set_Stiffness(float stiffness) { Stiffness = stiffness; }
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float Get_Stiffness(void) const { return Stiffness; }
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void Set_Damping(float damping) { Damping = damping; }
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float Get_Damping(void) const { return Damping; }
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void Set_Thickness(float thickness);
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float Get_Thickness(void) { return Thickness; }
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void Update_Contact_Parameters(void);
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enum CollisionResult
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{
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RESULT_NO_COLLISION = 0, // this object isn't touching anything
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RESULT_INTERSECTION, // this object has penetrated another, have to back up
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RESULT_CONTACT, // no penetration but there is contact.
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};
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void Set_Transform(const Matrix3D & tm);
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void Set_Transform(const Quaternion & q,const Vector3 & p);
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bool Is_Intersecting(NonRefPhysListClass * result_list = NULL,bool check_static_objs = true,bool check_dyn_objs = true);
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bool Is_In_Contact_Zone(void);
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CollisionResult Compute_Contacts(bool lock_to_centroids = false);
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int Get_Contact_Count(void);
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const CastResultStruct &Get_Contact(int index);
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PhysClass * Peek_Contacted_Object(int index);
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void Get_Outer_Bounds(AABoxClass * set_bounds);
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void Get_Outer_Box(OBBoxClass * set_box) { *set_box = Get_World_Inner_Box(); }
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void Get_Inner_Box(OBBoxClass * set_box) { *set_box = Get_World_Inner_Box(); set_box->Extent += Vector3(Thickness,Thickness,Thickness); }
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void Get_Inner_Box(OBBoxClass * set_box, const Quaternion & q, const Vector3 & p);
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float Get_Extent_Length2() { return InnerBox.Extent.Length2(); }
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public: //protected:
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CollisionResult Internal_Compute_Contacts(bool lock_to_centroids);
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void Compute_Octant_Contact(int oi,bool lock_to_centroids);
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void Transform_To_World_Space(const Matrix3D & tm);
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void Transform_To_World_Space(const Quaternion & q,const Vector3 & p);
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void Reset_Contacts(void);
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void Add_Contact(const CastResultStruct & res,PhysClass * other_obj);
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const OBBoxClass & Get_World_Inner_Box(void) { return WrldInnerBox; }
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/*
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** Properties
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*/
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RigidBodyClass & Parent; // parent object this OctBox is working for
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OBBoxClass InnerBox; // OBBox for the parent when parent's TM is I
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float Thickness; // thickness of the "squishy zone"
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float Stiffness; // spring stiffness to use
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float Damping; // damping coefficient to use
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Vector3 OctantCenter; // offest to center of octant0 in InnerBox's coord system
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Vector3 OctantExtent; // extent of the octant boxes
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/*
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** Current State
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*/
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OBBoxClass WrldInnerBox;
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/*
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** Contact Accumulation
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*/
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enum { MAX_CONTACTS = 16 };
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int ContactCount;
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CastResultStruct Contacts[MAX_CONTACTS];
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PhysClass * ContactedObject[MAX_CONTACTS];
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};
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inline void OctBoxClass::Set_Transform(const Matrix3D & tm)
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{
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Transform_To_World_Space(tm);
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}
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inline void OctBoxClass::Set_Transform(const Quaternion & q,const Vector3 & p)
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{
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Transform_To_World_Space(q,p);
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}
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inline int OctBoxClass::Get_Contact_Count(void)
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{
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return ContactCount;
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}
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inline const CastResultStruct & OctBoxClass::Get_Contact(int index)
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{
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static CastResultStruct _no_result;
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if ((index >= 0) && (index < ContactCount)) {
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return Contacts[index];
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} else {
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return _no_result;
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}
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}
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inline PhysClass * OctBoxClass::Peek_Contacted_Object(int index)
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{
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if ((index >= 0) && (index < ContactCount)) {
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return ContactedObject[index];
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} else {
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return NULL;
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}
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}
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inline void OctBoxClass::Transform_To_World_Space(const Matrix3D & tm)
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{
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OBBoxClass::Transform(tm,InnerBox,&WrldInnerBox);
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}
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inline void OctBoxClass::Transform_To_World_Space(const Quaternion & q,const Vector3 & p)
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{
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Matrix3D tm(q,p);
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OBBoxClass::Transform(tm,InnerBox,&WrldInnerBox);
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}
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inline void OctBoxClass::Reset_Contacts(void)
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{
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ContactCount = 0;
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}
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inline void OctBoxClass::Add_Contact(const CastResultStruct & res,PhysClass * other_obj)
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{
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WWASSERT(ContactCount < MAX_CONTACTS);
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Contacts[ContactCount] = res;
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ContactedObject[ContactCount] = other_obj;
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ContactCount++;
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}
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inline void OctBoxClass::Get_Inner_Box(OBBoxClass * set_box, const Quaternion & q, const Vector3 & p)
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{
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Matrix3D tm(q,p);
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OBBoxClass::Transform(tm,InnerBox,set_box);
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}
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#endif |