Initial commit: ROW Client source code
Game client codebase including: - CharacterActionControl: Character and creature management - GlobalScript: Network, items, skills, quests, utilities - RYLClient: Main client application with GUI and event handlers - Engine: 3D rendering engine (RYLGL) - MemoryManager: Custom memory allocation - Library: Third-party dependencies (DirectX, boost, etc.) - Tools: Development utilities 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <noreply@anthropic.com>
This commit is contained in:
56
Engine/CrossM/Src/CollisionEllipsoidHelper.cpp
Normal file
56
Engine/CrossM/Src/CollisionEllipsoidHelper.cpp
Normal file
@@ -0,0 +1,56 @@
|
||||
#include "../Include/CollisionEllipsoidHelper.h"
|
||||
|
||||
|
||||
namespace CrossM{
|
||||
namespace Scene{
|
||||
|
||||
CCollisionEllipsoidHelper::CCollisionEllipsoidHelper()
|
||||
{
|
||||
m_vEllipoidCenter.SetValue(0,0,0);
|
||||
m_vEllipsoidRaius.SetValue(1,1,1);
|
||||
|
||||
m_fHeightBias = 0.0f;
|
||||
}
|
||||
|
||||
CCollisionEllipsoidHelper::~CCollisionEllipsoidHelper()
|
||||
{
|
||||
}
|
||||
|
||||
void CCollisionEllipsoidHelper::SetEllipsoidRadius(const Math::VECTOR3& vRadius)
|
||||
{
|
||||
m_vEllipsoidRaius = vRadius;
|
||||
}
|
||||
|
||||
void CCollisionEllipsoidHelper::SetHeightBias(float f)
|
||||
{
|
||||
m_fHeightBias = f;
|
||||
}
|
||||
|
||||
void CCollisionEllipsoidHelper::SetEllipsoidCenter(const Math::VECTOR3& vCenter)
|
||||
{
|
||||
m_vEllipoidCenter = vCenter;
|
||||
}
|
||||
|
||||
void CCollisionEllipsoidHelper::SetPosition(const Math::VECTOR3& vPos)
|
||||
{
|
||||
m_vEllipoidCenter.SetValue(vPos.x, vPos.y-m_fHeightBias, vPos.z);
|
||||
}
|
||||
|
||||
const Math::VECTOR3& CCollisionEllipsoidHelper::GetEllipsoidRadius()
|
||||
{
|
||||
return m_vEllipsoidRaius;
|
||||
}
|
||||
|
||||
const Math::VECTOR3& CCollisionEllipsoidHelper::GetEllipsoidCenter()
|
||||
{
|
||||
return m_vEllipoidCenter;
|
||||
}
|
||||
|
||||
|
||||
Math::VECTOR3 CCollisionEllipsoidHelper::GetPosition()
|
||||
{
|
||||
return Math::VECTOR3(m_vEllipoidCenter.x, m_vEllipoidCenter.y+m_fHeightBias, m_vEllipoidCenter.z);
|
||||
}
|
||||
|
||||
|
||||
}}
|
||||
419
Engine/CrossM/Src/MathUtil.cpp
Normal file
419
Engine/CrossM/Src/MathUtil.cpp
Normal file
@@ -0,0 +1,419 @@
|
||||
#include "../Include/MathUtil.h"
|
||||
|
||||
#include <algorithm>
|
||||
|
||||
namespace CrossM{
|
||||
namespace Math{
|
||||
|
||||
|
||||
// <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> AABB <20>ȿ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ԵǴ<D4B5><C7B4><EFBFBD> <20>˻<EFBFBD>
|
||||
bool IsTriangleInAabb(const VECTOR3& vAabbMin, const VECTOR3& vAabbMax, const VECTOR3& vTri0, const VECTOR3& vTri1, const VECTOR3& vTri2)
|
||||
{
|
||||
if (vAabbMin.x <= vTri0.x && vTri0.x <= vAabbMax.x &&
|
||||
vAabbMin.y <= vTri0.y && vTri0.y <= vAabbMax.y &&
|
||||
vAabbMin.z <= vTri0.z && vTri0.z <= vAabbMax.z &&
|
||||
vAabbMin.x <= vTri1.x && vTri1.x <= vAabbMax.x &&
|
||||
vAabbMin.y <= vTri1.y && vTri1.y <= vAabbMax.y &&
|
||||
vAabbMin.z <= vTri1.z && vTri1.z <= vAabbMax.z &&
|
||||
vAabbMin.x <= vTri2.x && vTri2.x <= vAabbMax.x &&
|
||||
vAabbMin.y <= vTri2.y && vTri2.y <= vAabbMax.y &&
|
||||
vAabbMin.z <= vTri2.z && vTri2.z <= vAabbMax.z)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
// <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> AABB <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>˻<EFBFBD>
|
||||
bool CheckAabbTriangleIntersection(const VECTOR3& vAabbMin, const VECTOR3& vAabbMax, const VECTOR3& vTri0, const VECTOR3& vTri1, const VECTOR3& vTri2)
|
||||
{
|
||||
// Separation of Axes <20><> <20><><EFBFBD><EFBFBD> AABB - triangle intersection test <20><><EFBFBD><EFBFBD>
|
||||
|
||||
// 6 <20> <20><><EFBFBD><EFBFBD> AABB <20><> <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> projection <20><> <20><>, <20><><EFBFBD><EFBFBD> <20><>ġ<EFBFBD><C4A1><EFBFBD><EFBFBD> <20><><EFBFBD>θ<EFBFBD> Ȯ<><C8AE><EFBFBD>Ѵ<EFBFBD>
|
||||
// <20><><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD> <20><>ġ<EFBFBD><C4A1> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>°<EFBFBD><C2B0>̰<EFBFBD>, <20><> <20> <20><><EFBFBD>ؼ<EFBFBD><D8BC><EFBFBD><EFBFBD><EFBFBD> <20><>ġ<EFBFBD><C4A1> <20>ʴ´ٸ<C2B4> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ʴ<EFBFBD> <20><><EFBFBD>̴<EFBFBD>
|
||||
|
||||
float fBoxProjectionMin, fBoxProjectionMax;
|
||||
float fTriProjectionMin, fTriProjectionMax;
|
||||
|
||||
// AABB <20><> <20><> <20> <20><><EFBFBD><EFBFBD> projection <20><> <20>˻<EFBFBD>
|
||||
|
||||
// X <20><>
|
||||
fBoxProjectionMin = vAabbMin.x;
|
||||
fBoxProjectionMax = vAabbMax.x;
|
||||
fTriProjectionMin = std::min(vTri0.x, std::min(vTri1.x, vTri2.x));
|
||||
fTriProjectionMax = std::max(vTri0.x, std::max(vTri1.x, vTri2.x));
|
||||
if (false == IsRangeOverlap(fTriProjectionMin, fTriProjectionMax, fBoxProjectionMin, fBoxProjectionMax))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
// Y <20><>
|
||||
fBoxProjectionMin = vAabbMin.y;
|
||||
fBoxProjectionMax = vAabbMax.y;
|
||||
fTriProjectionMin = std::min(vTri0.y, std::min(vTri1.y, vTri2.y));
|
||||
fTriProjectionMax = std::max(vTri0.y, std::max(vTri1.y, vTri2.y));
|
||||
if (false == IsRangeOverlap(fTriProjectionMin, fTriProjectionMax, fBoxProjectionMin, fBoxProjectionMax))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
// Z <20><>
|
||||
fBoxProjectionMin = vAabbMin.z;
|
||||
fBoxProjectionMax = vAabbMax.z;
|
||||
fTriProjectionMin = std::min(vTri0.z, std::min(vTri1.z, vTri2.z));
|
||||
fTriProjectionMax = std::max(vTri0.z, std::max(vTri1.z, vTri2.z));
|
||||
if (false == IsRangeOverlap(fTriProjectionMin, fTriProjectionMax, fBoxProjectionMin, fBoxProjectionMax))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
// <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> <20><> <20><> <20> <20><><EFBFBD><EFBFBD> projection <20><> <20>˻<EFBFBD>
|
||||
VECTOR3 avAxis[3]; // <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> <20><> <20><EFBFBD>
|
||||
Math::Subtract(avAxis[0], vTri1, vTri0);
|
||||
Math::Subtract(avAxis[1], vTri2, vTri0);
|
||||
Math::Subtract(avAxis[2], vTri2, vTri1);
|
||||
|
||||
// <20>ﰢ<EFBFBD><EFB0A2> <20><> <20><><EFBFBD><EFBFBD> <20> projection <20><> <20><>
|
||||
float fProjectionTri0, fProjectionTri1, fProjectionTri2;
|
||||
|
||||
for (int i = 0; i < 3; ++i)
|
||||
{
|
||||
VECTOR3& vAxis = avAxis[i];
|
||||
|
||||
// AABB <20><> max/min <20><><EFBFBD><EFBFBD> xyz <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ִ<EFBFBD>/<2F>ּҰ<D6BC><D2B0>̹Ƿ<CCB9>,
|
||||
// axis <20><> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ʈ<EFBFBD><C6AE> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ִ밪<D6B4><EBB0AA> <20><><EFBFBD>Ϸ<EFBFBD><CFB7><EFBFBD>
|
||||
// x,y,z <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> ū <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ϸ<EFBFBD> <20>ȴ<EFBFBD>.
|
||||
// (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> AABB <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> xyz <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ִ<EFBFBD>/<2F>ּҰ<D6BC><D2B0><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>̹Ƿ<CCB9>,
|
||||
// x,y,z <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD>Ƿ<EFBFBD> <20>ִ<EFBFBD>/<2F>ּҸ<D6BC> <20><><EFBFBD><EFBFBD><EFBFBD>Ѵ<EFBFBD> <20>ص<EFBFBD> <20><><EFBFBD>h <20><> <20>ȿ<EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD>ԵǴ<D4B5> <20><><EFBFBD><EFBFBD><EFBFBD>̴<EFBFBD>.)
|
||||
|
||||
fBoxProjectionMin =
|
||||
((vAxis.x > 0) ? vAabbMin.x : vAabbMax.x) * vAxis.x +
|
||||
((vAxis.y > 0) ? vAabbMin.y : vAabbMax.y) * vAxis.y +
|
||||
((vAxis.z > 0) ? vAabbMin.z : vAabbMax.z) * vAxis.z;
|
||||
|
||||
fBoxProjectionMax =
|
||||
((vAxis.x > 0) ? vAabbMax.x : vAabbMin.x) * vAxis.x +
|
||||
((vAxis.y > 0) ? vAabbMax.y : vAabbMin.y) * vAxis.y +
|
||||
((vAxis.z > 0) ? vAabbMax.z : vAabbMin.z) * vAxis.z;
|
||||
|
||||
fProjectionTri0 = Math::DotProduct(vTri0, vAxis);
|
||||
fProjectionTri1 = Math::DotProduct(vTri1, vAxis);
|
||||
fProjectionTri2 = Math::DotProduct(vTri2, vAxis);
|
||||
|
||||
fTriProjectionMin = std::min(fProjectionTri0, std::min(fProjectionTri1, fProjectionTri2));
|
||||
fTriProjectionMax = std::max(fProjectionTri0, std::max(fProjectionTri1, fProjectionTri2));
|
||||
|
||||
if (false == IsRangeOverlap(fTriProjectionMin, fTriProjectionMax, fBoxProjectionMin, fBoxProjectionMax))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// <20><> AABB <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>˻<EFBFBD>
|
||||
bool CheckAabbAabbIntersection(const VECTOR3& vAabb1Min, const VECTOR3& vAabb1Max, const VECTOR3& vAabb2Min, const VECTOR3& vAabb2Max)
|
||||
{
|
||||
if (false ==IsRangeOverlap(vAabb1Min.x, vAabb1Max.x, vAabb2Min.x, vAabb2Max.x)) return false;
|
||||
if (false ==IsRangeOverlap(vAabb1Min.y, vAabb1Max.y, vAabb2Min.y, vAabb2Max.y)) return false;
|
||||
if (false ==IsRangeOverlap(vAabb1Min.z, vAabb1Max.z, vAabb2Min.z, vAabb2Max.z)) return false;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// CheckTriangleSweepingSphereCollision <20><> <20>μ<EFBFBD> <20>Լ<EFBFBD>.
|
||||
// ax^2 + bx + c <20><> <20><> <20><> min~max <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20>ظ<EFBFBD> <20><>ȯ<EFBFBD>Ѵ<EFBFBD>. <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD> <20>ذ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> false <20><>ȯ
|
||||
static bool GetLowestRootInRange(const float a, const float b, const float c, const float fMinRoot, const float fMaxRoot, float& fRoot)
|
||||
{
|
||||
// <20>Ǽ<EFBFBD><C7BC>ذ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD><CFB4><EFBFBD> <20>Ǻ<EFBFBD><C7BA><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
float fDeterminant = b*b - 4.0f*a*c;
|
||||
|
||||
// <20>Ǽ<EFBFBD><C7BC>ذ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD>
|
||||
if (fDeterminant < 0.0f) return false;
|
||||
|
||||
// <20>ΰ<EFBFBD><CEB0><EFBFBD> <20>ظ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>Ѵ<EFBFBD>
|
||||
float fSqrtD = sqrtf(fDeterminant);
|
||||
float r1 = (-b - fSqrtD) / (2*a);
|
||||
float r2 = (-b + fSqrtD) / (2*a);
|
||||
|
||||
// r1 < r2 <20><> ũ<>Ⱑ <20>ǵ<EFBFBD><C7B5><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
if (r1 > r2) std::swap(r1, r2);
|
||||
|
||||
// <20><><EFBFBD><EFBFBD><EFBFBD>ʺ<EFBFBD><CABA><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>Ǻ<EFBFBD><C7BA><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϰ<EFBFBD><CFB0><EFBFBD> <20>طμ<D8B7> <20><><EFBFBD><EFBFBD>
|
||||
if (r1 > fMinRoot && r1 < fMaxRoot)
|
||||
{
|
||||
fRoot = r1;
|
||||
return true;
|
||||
}
|
||||
|
||||
// <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, ū <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>˻<EFBFBD><CBBB>Ѵ<EFBFBD>
|
||||
if (r2 > fMinRoot && r2 < fMaxRoot)
|
||||
{
|
||||
fRoot = r2;
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
bool CheckTriangleSweepingSphereCollision(float &fOutT, VECTOR3& vOutContactPoint, bool& bOutContactInsideTriangle, const TriangSweepingSphere& triAndSphere)
|
||||
{
|
||||
// <20>ణ<EFBFBD><E0B0A3> alias
|
||||
const Math::VECTOR3 &vBasePoint = triAndSphere.m_vSphereSweepStart;
|
||||
const Math::VECTOR3 &vTri0 = triAndSphere.m_vTri0;
|
||||
const Math::VECTOR3 &vTri1 = triAndSphere.m_vTri1;
|
||||
const Math::VECTOR3 &vTri2 = triAndSphere.m_vTri2;
|
||||
const Math::VECTOR3 &vPath = triAndSphere.m_vSphereSweepPath;
|
||||
|
||||
// <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> <20><> <20><EFBFBD>
|
||||
Math::VECTOR3 vTriEdge01, vTriEdge02, vTriEdge12;
|
||||
|
||||
// <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD> <20><><EFBFBD><EFBFBD>. <20><><EFBFBD><EFBFBD> plane Ŭ<><C5AC><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><>
|
||||
Math::VECTOR3 vTriPlaneNormal;
|
||||
float fTriPlaneConstant;
|
||||
|
||||
// <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> <20><> <20><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD>ϰ<EFBFBD>..
|
||||
Math::Subtract(vTriEdge01, vTri1, vTri0);
|
||||
Math::Subtract(vTriEdge02, vTri2, vTri0);
|
||||
Math::Subtract(vTriEdge12, vTri2, vTri1);
|
||||
|
||||
// <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> <20><><EFBFBD>Ե<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>Ķ<EFBFBD><C4B6><EFBFBD><EFBFBD>͵<EFBFBD><CDB5><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
Math::CrossProduct(vTriPlaneNormal, vTriEdge01, vTriEdge02);
|
||||
Math::Normalize(vTriPlaneNormal, vTriPlaneNormal);
|
||||
fTriPlaneConstant = -Math::DotProduct(vTriPlaneNormal, vTri0);
|
||||
|
||||
// sweeping path <20><> <20>浹<EFBFBD><E6B5B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
float fNormalDotPath = Math::DotProduct(vTriPlaneNormal, vPath);
|
||||
|
||||
// sphere <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD≯<EFBFBD> üũ<C3BC><C5A9><EFBFBD><EFBFBD>
|
||||
if (fNormalDotPath > 0.0f)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
float t0, t1;
|
||||
bool bEmbededInPlane = false;
|
||||
|
||||
float fSignedDistBaseToTriPlane = Math::DotProduct(vTriPlaneNormal, vBasePoint) + fTriPlaneConstant;
|
||||
|
||||
if (0.0f == fNormalDotPath)
|
||||
{
|
||||
// sphere <20><> <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ϰ<EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
|
||||
if (fabs(fSignedDistBaseToTriPlane) >= triAndSphere.m_fSphereRadius)
|
||||
{
|
||||
return false; // <20>ﰢ<EFBFBD><EFB0A2><EFBFBD>鿡<EFBFBD><E9BFA1> <20>ָ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>̵<EFBFBD><CCB5><EFBFBD>
|
||||
}
|
||||
else
|
||||
{
|
||||
bEmbededInPlane = true;
|
||||
t0 = 0.0f;
|
||||
t1 = 1.0f;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
t0 = (-triAndSphere.m_fSphereRadius-fSignedDistBaseToTriPlane)/fNormalDotPath;
|
||||
t1 = (triAndSphere.m_fSphereRadius-fSignedDistBaseToTriPlane)/fNormalDotPath;
|
||||
|
||||
// t0 < t1 <20><><EFBFBD><EFBFBD> <20><>Ʈ
|
||||
if (t0 > t1)
|
||||
{
|
||||
std::swap(t0, t1);
|
||||
}
|
||||
|
||||
// t <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> sphere <20>̵<EFBFBD><CCB5><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20>ʴ<EFBFBD>
|
||||
if (t0 > 1.0f || t1 <0.0f)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
// t <20><><EFBFBD><EFBFBD> 0~1 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Ŭ<><C5AC><EFBFBD><EFBFBD>
|
||||
t0 = std::max(t0, 0.0f);
|
||||
t1 = std::min(t1, 1.0f);
|
||||
}
|
||||
|
||||
VECTOR3 vContactPoint;
|
||||
bool bFoundCollision = false;
|
||||
float t = 1.0f;
|
||||
|
||||
// <20>ﰢ<EFBFBD><EFB0A2> <20><><EFBFBD>ο<EFBFBD> üũ
|
||||
if (!bEmbededInPlane)
|
||||
{
|
||||
vContactPoint = vBasePoint + (vPath*t0) - vTriPlaneNormal;
|
||||
|
||||
if (IsPointInTriangle(vContactPoint, vTri0, vTri1, vTri2))
|
||||
{
|
||||
bFoundCollision = true;
|
||||
t = t0;
|
||||
}
|
||||
}
|
||||
|
||||
// <20><><EFBFBD><EFBFBD> <20>浹<EFBFBD><E6B5B9><EFBFBD><EFBFBD> ã<><C3A3> <20><><EFBFBD>ߴٸ<DFB4> <20><EFBFBD><F0BCADB8><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><EFBFBD>Ʈ<EFBFBD><C6AE> <20>ؾ<EFBFBD><D8BE>Ѵ<EFBFBD>
|
||||
if (!bFoundCollision)
|
||||
{
|
||||
float fSQuaredPathLength = GetSquaredLength(vPath);
|
||||
float a, b, c;
|
||||
float newT;
|
||||
float fSquaredRadius = triAndSphere.m_fSphereRadius*triAndSphere.m_fSphereRadius;
|
||||
|
||||
a = fSQuaredPathLength;
|
||||
|
||||
// vTri0
|
||||
b = 2.0f * (DotProduct(vPath, vBasePoint - vTri0));
|
||||
c = (Math::GetSquaredLength(vTri0 - vBasePoint) - fSquaredRadius);
|
||||
if (GetLowestRootInRange(a, b, c, 0.0f, t, newT))
|
||||
{
|
||||
t = newT;
|
||||
bFoundCollision = true;
|
||||
vContactPoint = vTri0;
|
||||
}
|
||||
|
||||
// vTri1
|
||||
if (bFoundCollision)
|
||||
{
|
||||
b = 2.0f * (DotProduct(vPath, vBasePoint - vTri1));
|
||||
c = (Math::GetSquaredLength(vTri1 - vBasePoint) - fSquaredRadius);
|
||||
if (GetLowestRootInRange(a, b, c, 0.0f, t, newT))
|
||||
{
|
||||
t = newT;
|
||||
bFoundCollision = true;
|
||||
vContactPoint = vTri1;
|
||||
}
|
||||
}
|
||||
|
||||
// vTri2
|
||||
if (bFoundCollision)
|
||||
{
|
||||
b = 2.0f * (DotProduct(vPath, vBasePoint - vTri2));
|
||||
c = (Math::GetSquaredLength(vTri2 - vBasePoint) - fSquaredRadius);
|
||||
if (GetLowestRootInRange(a, b, c, 0.0f, t, newT))
|
||||
{
|
||||
t = newT;
|
||||
bFoundCollision = true;
|
||||
vContactPoint = vTri0;
|
||||
}
|
||||
}
|
||||
|
||||
// <20><EFBFBD><F0BCADB8><EFBFBD> <20><><EFBFBD><EFBFBD> <20><EFBFBD>Ʈ
|
||||
VECTOR3 vBaseToVertex;
|
||||
float fEdgeSquaredLength;
|
||||
float fEdgeDotPath;
|
||||
float fEdgeDotBaseToVertex;
|
||||
|
||||
// vTri0 ~ vTri1
|
||||
vBaseToVertex = vTri0 - vBasePoint;
|
||||
fEdgeSquaredLength = GetSquaredLength(vTriEdge01);
|
||||
fEdgeDotPath = DotProduct(vTriEdge01, vPath);
|
||||
fEdgeDotBaseToVertex = DotProduct(vTriEdge01, vBaseToVertex);
|
||||
|
||||
a = fEdgeSquaredLength* -fSQuaredPathLength +
|
||||
fEdgeDotPath*fEdgeDotPath;
|
||||
b = fEdgeSquaredLength* (2.0f*Math::DotProduct(vPath, vBaseToVertex)) -
|
||||
2.0f*fEdgeDotPath*fEdgeDotBaseToVertex;
|
||||
c = (fEdgeSquaredLength* (1.0f - Math::GetSquaredLength(vBaseToVertex)) +
|
||||
fEdgeDotBaseToVertex*fEdgeDotBaseToVertex);
|
||||
|
||||
if (GetLowestRootInRange(a, b, c, 0.0f, t, newT))
|
||||
{
|
||||
float f = (fEdgeDotPath*t - fEdgeDotBaseToVertex) / fEdgeSquaredLength;
|
||||
if (f >= 0.0f && f <= 1.0f)
|
||||
{
|
||||
t = newT;
|
||||
bFoundCollision = true;
|
||||
vContactPoint = vTri0 + vTriEdge01*f;
|
||||
}
|
||||
}
|
||||
|
||||
// vTri0 ~ vTri2
|
||||
vBaseToVertex = vTri0 - vBasePoint;
|
||||
fEdgeSquaredLength = GetSquaredLength(vTriEdge02);
|
||||
fEdgeDotPath = DotProduct(vTriEdge02, vPath);
|
||||
fEdgeDotBaseToVertex = DotProduct(vTriEdge02, vBaseToVertex);
|
||||
|
||||
a = fEdgeSquaredLength* -fSQuaredPathLength +
|
||||
fEdgeDotPath*fEdgeDotPath;
|
||||
b = fEdgeSquaredLength* (2.0f*Math::DotProduct(vPath, vBaseToVertex)) -
|
||||
2.0f*fEdgeDotPath*fEdgeDotBaseToVertex;
|
||||
c = (fEdgeSquaredLength* (1.0f - Math::GetSquaredLength(vBaseToVertex)) +
|
||||
fEdgeDotBaseToVertex*fEdgeDotBaseToVertex);
|
||||
|
||||
if (GetLowestRootInRange(a, b, c, 0.0f, t, newT))
|
||||
{
|
||||
float f = (fEdgeDotPath*t - fEdgeDotBaseToVertex) / fEdgeSquaredLength;
|
||||
if (f >= 0.0f && f <= 1.0f)
|
||||
{
|
||||
t = newT;
|
||||
bFoundCollision = true;
|
||||
vContactPoint = vTri0 + vTriEdge02*f;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// vTri1 ~ vTri2
|
||||
vBaseToVertex = vTri1 - vBasePoint;
|
||||
fEdgeSquaredLength = GetSquaredLength(vTriEdge12);
|
||||
fEdgeDotPath = DotProduct(vTriEdge12, vPath);
|
||||
fEdgeDotBaseToVertex = DotProduct(vTriEdge12, vBaseToVertex);
|
||||
|
||||
a = fEdgeSquaredLength* -fSQuaredPathLength +
|
||||
fEdgeDotPath*fEdgeDotPath;
|
||||
b = fEdgeSquaredLength* (2.0f*Math::DotProduct(vPath, vBaseToVertex)) -
|
||||
2.0f*fEdgeDotPath*fEdgeDotBaseToVertex;
|
||||
c = (fEdgeSquaredLength* (1.0f - Math::GetSquaredLength(vBaseToVertex)) +
|
||||
fEdgeDotBaseToVertex*fEdgeDotBaseToVertex);
|
||||
|
||||
if (GetLowestRootInRange(a, b, c, 0.0f, t, newT))
|
||||
{
|
||||
float f = (fEdgeDotPath*t - fEdgeDotBaseToVertex) / fEdgeSquaredLength;
|
||||
if (f >= 0.0f && f <= 1.0f)
|
||||
{
|
||||
t = newT;
|
||||
bFoundCollision = true;
|
||||
vContactPoint = vTri1 + vTriEdge12*f;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (bFoundCollision)
|
||||
{
|
||||
fOutT = t;
|
||||
vOutContactPoint = vContactPoint;
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20>ﰢ<EFBFBD><EFB0A2> <20><><EFBFBD><EFBFBD> <20><><EFBFBD>ԵǴ<D4B5><C7B4><EFBFBD> Ȯ<><C8AE><EFBFBD>ϴ<EFBFBD> <20>ڵ<EFBFBD>
|
||||
// Fauerby <20><> <20>ۿ<EFBFBD> Keidy <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ƾ<EFBFBD>̶<EFBFBD><CCB6><EFBFBD> <20>Ѵ<EFBFBD>
|
||||
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.. <20>ڴ<F0B8A3B0>-_- <20>ϴ<EFBFBD> <20>̿<EFBFBD>
|
||||
bool IsPointInTriangle(const VECTOR3& p, const VECTOR3& vTri0, const VECTOR3& vTri1, const VECTOR3& vTri2)
|
||||
{
|
||||
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><> <20>ﰢ<EFBFBD><EFB0A2> <20><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> p <20><> <20><>ġ<EFBFBD><C4A1><EFBFBD><EFBFBD>
|
||||
VECTOR3 vEdge1, vEdge2, pTri;
|
||||
|
||||
Math::Subtract(vEdge1, vTri1, vTri0);
|
||||
Math::Subtract(vEdge2, vTri2, vTri0);
|
||||
Math::Subtract(pTri, p, vTri0);
|
||||
|
||||
float a = Math::DotProduct(vEdge1, vEdge1);
|
||||
float b = Math::DotProduct(vEdge1, vEdge2);
|
||||
float c = Math::DotProduct(vEdge2, vEdge2);
|
||||
float d = Math::DotProduct(pTri, vEdge1);
|
||||
float e = Math::DotProduct(pTri, vEdge2);
|
||||
|
||||
float x = d*c - e*b;
|
||||
float y = e*a - d*b;
|
||||
float z = x + y - (a*c - b*b);
|
||||
|
||||
return ( ((unsigned int&)z) & ~ ( ((unsigned int&)x) | ((unsigned int&)y) ) & 0x80000000) != 0 ? true : false;
|
||||
}
|
||||
|
||||
|
||||
}}
|
||||
541
Engine/CrossM/Src/OctreeCollider.cpp
Normal file
541
Engine/CrossM/Src/OctreeCollider.cpp
Normal file
@@ -0,0 +1,541 @@
|
||||
#include "../Include/OctreeCollider.h"
|
||||
#include "../Include/MathUtil.h"
|
||||
|
||||
#include <algorithm>
|
||||
|
||||
|
||||
|
||||
#include <windows.h>
|
||||
#include <d3d8.h>
|
||||
#include <d3dx8.h>
|
||||
|
||||
|
||||
namespace CrossM{
|
||||
namespace Scene{
|
||||
|
||||
|
||||
|
||||
COctreeCollisionNode::COctreeCollisionNode()
|
||||
{
|
||||
for (int i = 0; i < 8; ++i)
|
||||
{
|
||||
m_apSubNode[i] = NULL;
|
||||
}
|
||||
|
||||
m_vBoundingMin.SetValue(0,0,0);
|
||||
m_vBoundingMax.SetValue(0,0,0);
|
||||
}
|
||||
|
||||
COctreeCollisionNode::~COctreeCollisionNode()
|
||||
{
|
||||
ReleaseSubNode();
|
||||
}
|
||||
|
||||
void COctreeCollisionNode::ReleaseSubNode()
|
||||
{
|
||||
for (int i = 0; i < 8; ++i)
|
||||
{
|
||||
if (NULL != m_apSubNode[i])
|
||||
{
|
||||
delete m_apSubNode[i];
|
||||
m_apSubNode[i] = NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// <20>ڽij<DABD><C4B3>尡 <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
bool COctreeCollisionNode::IsLeafNode()
|
||||
{
|
||||
for (int i = 0; i < 8; ++i)
|
||||
{
|
||||
if (NULL != m_apSubNode[i])
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
void COctreeCollisionNode::BuildSubNode(
|
||||
const std::vector< CollisionTriangleInfo >& vecTriangle,
|
||||
const size_t nMaximumRecursion, const size_t nMinPolyCount,
|
||||
size_t nCurrentRecursionLevel)
|
||||
{
|
||||
static size_t nProcessedTri = 0;
|
||||
|
||||
unsigned int i, j;
|
||||
|
||||
// recursion level <20><> <20>ʹ<EFBFBD> <20><><EFBFBD>ų<EFBFBD>, <20><><EFBFBD>Ե<EFBFBD> face <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͺ<EFBFBD><CDBA><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
// <20><><EFBFBD>̻<EFBFBD> sub node <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ʴ´<CAB4> (<28><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>)
|
||||
if (nCurrentRecursionLevel >= nMaximumRecursion ||
|
||||
m_vecTriangleIndex.size() <= nMinPolyCount)
|
||||
{
|
||||
nProcessedTri += m_vecTriangleIndex.size();
|
||||
printf("\r%d / %d", nProcessedTri, vecTriangle.size());
|
||||
return;
|
||||
}
|
||||
|
||||
// <20>ڽ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> bounding box min/max
|
||||
Math::VECTOR3 aSubNodeBoundingMin[8];
|
||||
Math::VECTOR3 aSubNodeBoundingMax[8];
|
||||
|
||||
Math::VECTOR3 vMedian = (m_vBoundingMin + m_vBoundingMax)/2.0f;
|
||||
|
||||
// <20>ٿ<EFBFBD><D9BF><EFBFBD> <20>ڽ<EFBFBD> <20><> <20><><EFBFBD><EFBFBD>
|
||||
for (i = 0; i < 8; ++i)
|
||||
{
|
||||
if (0 == (i & 1))
|
||||
{
|
||||
aSubNodeBoundingMin[i].x = m_vBoundingMin.x;
|
||||
aSubNodeBoundingMax[i].x = vMedian.x;
|
||||
}
|
||||
else
|
||||
{
|
||||
aSubNodeBoundingMin[i].x = vMedian.x;
|
||||
aSubNodeBoundingMax[i].x = m_vBoundingMax.x;
|
||||
}
|
||||
if (0 == (i & 2))
|
||||
{
|
||||
aSubNodeBoundingMin[i].y = m_vBoundingMin.y;
|
||||
aSubNodeBoundingMax[i].y = vMedian.y;
|
||||
}
|
||||
else
|
||||
{
|
||||
aSubNodeBoundingMin[i].y = vMedian.y;
|
||||
aSubNodeBoundingMax[i].y = m_vBoundingMax.y;
|
||||
}
|
||||
if (0 == (i & 4))
|
||||
{
|
||||
aSubNodeBoundingMin[i].z = m_vBoundingMin.z;
|
||||
aSubNodeBoundingMax[i].z = vMedian.z;
|
||||
}
|
||||
else
|
||||
{
|
||||
aSubNodeBoundingMin[i].z = vMedian.z;
|
||||
aSubNodeBoundingMax[i].z = m_vBoundingMax.z;
|
||||
}
|
||||
}
|
||||
|
||||
// <20>Ѱܹ<D1B0><DCB9><EFBFBD> <20>ﰢ<EFBFBD><EFB0A2> <20>ε<EFBFBD><CEB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>Ϻ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><CDB5><EFBFBD> <20><> <20><><EFBFBD>忡 <20><><EFBFBD><EFBFBD><EFBFBD>ɰ͵<C9B0><CDB5><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>س<EFBFBD><D8B3><EFBFBD>
|
||||
for (j = 0; j < m_vecTriangleIndex.size(); ++j)
|
||||
{
|
||||
// <20>ﰢ<EFBFBD><EFB0A2> <20><> <20><> <20><><EFBFBD><EFBFBD>
|
||||
const CollisionTriangleInfo &tri = vecTriangle[ m_vecTriangleIndex[j] ];
|
||||
const Math::VECTOR3 &vTri0 = tri.m_avVertex[0];
|
||||
const Math::VECTOR3 &vTri1 = tri.m_avVertex[1];
|
||||
const Math::VECTOR3 &vTri2 = tri.m_avVertex[2];
|
||||
|
||||
// <20><> <20>ڽij<DABD><C4B3><EFBFBD><EFBFBD>鿡 <20><><EFBFBD><EFBFBD> <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> <20><><EFBFBD>ԵǴ<D4B5><C7B4><EFBFBD> üũ<C3BC>Ѵ<EFBFBD>
|
||||
bool bIncludedInSubNode = false; // <20>ڽ<EFBFBD> <20><><EFBFBD>忡 <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> <20><><EFBFBD>ԵǴ<D4B5><C7B4><EFBFBD> <20><><EFBFBD>θ<EFBFBD> <20><>Ÿ<EFBFBD><C5B8><EFBFBD><EFBFBD> <20>÷<EFBFBD><C3B7><EFBFBD>
|
||||
for (i = 0; i < 8; ++i)
|
||||
{
|
||||
if (Math::IsTriangleInAabb(aSubNodeBoundingMin[i], aSubNodeBoundingMax[i], vTri0, vTri1, vTri2))
|
||||
{
|
||||
// <20><><EFBFBD>尡 <20>Ҵ<EFBFBD><D2B4><EFBFBD><EFBFBD><EFBFBD> <20>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD> <20>Ҵ<EFBFBD>
|
||||
COctreeCollisionNode* &pNode = m_apSubNode[i];
|
||||
if (NULL == pNode)
|
||||
{
|
||||
pNode = new COctreeCollisionNode;
|
||||
pNode->m_vBoundingMin = aSubNodeBoundingMin[i];
|
||||
pNode->m_vBoundingMax = aSubNodeBoundingMax[i];
|
||||
}
|
||||
|
||||
// <20>ڽij<DABD><C4B3>忡 <20>Ѱ<EFBFBD><D1B0><EFBFBD> <20>ﰢ<EFBFBD><EFB0A2> <20>ε<EFBFBD><CEB5><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
pNode->m_vecTriangleIndex.push_back(m_vecTriangleIndex[j]);
|
||||
bIncludedInSubNode = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (!bIncludedInSubNode)
|
||||
{
|
||||
// <20><> <20><><EFBFBD>忡 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ԵǴ°<C7B4><C2B0><EFBFBD> <20>ƴ϶<C6B4> <20>ټ<EFBFBD> <20><><EFBFBD>尣<EFBFBD><E5B0A3> <20><>ġ<EFBFBD><C4A1> <20>ﰢ<EFBFBD><EFB0A2><EFBFBD>̹Ƿ<CCB9>,
|
||||
// triangle - AABB intersection <20><EFBFBD>Ʈ<EFBFBD><C6AE> <20>Ѵ<EFBFBD>
|
||||
for (i = 0; i < 8; ++i)
|
||||
{
|
||||
if (Math::CheckAabbTriangleIntersection(aSubNodeBoundingMin[i], aSubNodeBoundingMax[i], vTri0, vTri1, vTri2))
|
||||
{
|
||||
// <20><><EFBFBD>尡 <20>Ҵ<EFBFBD><D2B4><EFBFBD><EFBFBD><EFBFBD> <20>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD> <20>Ҵ<EFBFBD>
|
||||
COctreeCollisionNode* &pNode = m_apSubNode[i];
|
||||
if (NULL == pNode)
|
||||
{
|
||||
pNode = new COctreeCollisionNode;
|
||||
pNode->m_vBoundingMin = aSubNodeBoundingMin[i];
|
||||
pNode->m_vBoundingMax = aSubNodeBoundingMax[i];
|
||||
}
|
||||
|
||||
// <20>ڽij<DABD><C4B3>忡 <20>Ѱ<EFBFBD><D1B0><EFBFBD> <20>ﰢ<EFBFBD><EFB0A2> <20>ε<EFBFBD><CEB5><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
pNode->m_vecTriangleIndex.push_back(m_vecTriangleIndex[j]);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// <20>ﰢ<EFBFBD><EFB0A2> <20>ε<EFBFBD><CEB5><EFBFBD><EFBFBD><EFBFBD> <20>ڽ<EFBFBD> <20><><EFBFBD>忡 <20><><EFBFBD><EFBFBD> <20>Ѱ<EFBFBD><D1B0>־<EFBFBD><D6BE><EFBFBD><EFBFBD>Ƿ<EFBFBD> <20><> <20>̻<EFBFBD> <20>ε<EFBFBD><CEB5><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20>ʿ䰡 <20><><EFBFBD><EFBFBD>
|
||||
m_vecTriangleIndex.clear();
|
||||
|
||||
// <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> <20>ִ<EFBFBD> <20>ڽ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> BuildSubNode <20><> ȣ<><C8A3><EFBFBD>Ѵ<EFBFBD>
|
||||
for (i = 0; i < 8; ++i)
|
||||
{
|
||||
if (NULL != m_apSubNode[i])
|
||||
{
|
||||
m_apSubNode[i]->BuildSubNode(vecTriangle, nMaximumRecursion, nMinPolyCount, nCurrentRecursionLevel+1);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void COctreeCollisionNode::CollectCollidableNodes(
|
||||
const Math::VECTOR3& vSweptVolumeMin, const Math::VECTOR3& vSweptVolumeMax,
|
||||
std::vector< COctreeCollisionNode* >& vecCollidableNode)
|
||||
{
|
||||
if(!Math::CheckAabbAabbIntersection(vSweptVolumeMin, vSweptVolumeMax, m_vBoundingMin, m_vBoundingMax))
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
if (IsLeafNode())
|
||||
{
|
||||
vecCollidableNode.push_back(this);
|
||||
}
|
||||
else
|
||||
{
|
||||
for (int i = 0; i < 8; ++i)
|
||||
{
|
||||
if (NULL != m_apSubNode[i])
|
||||
{
|
||||
m_apSubNode[i]->CollectCollidableNodes(vSweptVolumeMin, vSweptVolumeMax, vecCollidableNode);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////
|
||||
|
||||
COctreeCollider::COctreeCollider()
|
||||
{
|
||||
m_nColTriIndex = 0;
|
||||
}
|
||||
|
||||
COctreeCollider::~COctreeCollider()
|
||||
{
|
||||
}
|
||||
|
||||
void COctreeCollider::SetTriangleCount(unsigned int uiTriangleCount)
|
||||
{
|
||||
m_vecCollisionTriangle.resize(uiTriangleCount);
|
||||
}
|
||||
|
||||
void COctreeCollider::GetTriangleDataPtr(CollisionTriangleInfo*& pTriangleData)
|
||||
{
|
||||
if (m_vecCollisionTriangle.size() > 0)
|
||||
{
|
||||
pTriangleData = &(m_vecCollisionTriangle[0]);
|
||||
}
|
||||
else
|
||||
{
|
||||
pTriangleData = NULL;
|
||||
}
|
||||
}
|
||||
|
||||
bool COctreeCollider::BuildOctree(const size_t nMaximumRecursion, const size_t nMinPolyCount)
|
||||
{
|
||||
unsigned int i, j;
|
||||
|
||||
if (0 == m_vecCollisionTriangle.size())
|
||||
{
|
||||
m_vCollisionBoundingMin.SetValue(0,0,0);
|
||||
m_vCollisionBoundingMax.SetValue(0,0,0);
|
||||
|
||||
return true; // <20><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>Ͱ<EFBFBD> <20><><EFBFBD><EFBFBD> <20>־ <20>ϴ<EFBFBD><CFB4><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>..
|
||||
}
|
||||
|
||||
// <20>ϴ<EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
m_octreeRootNode.ReleaseSubNode();
|
||||
|
||||
// bounding min/max <20><><EFBFBD>ϱ<EFBFBD>
|
||||
m_vCollisionBoundingMin = m_vecCollisionTriangle[0].m_avVertex[0];
|
||||
m_vCollisionBoundingMax = m_vecCollisionTriangle[0].m_avVertex[0];
|
||||
|
||||
for (i = 0; i < m_vecCollisionTriangle.size(); ++i)
|
||||
{
|
||||
for (j = 0; j < 3; ++j)
|
||||
{
|
||||
CrossM::Math::VECTOR3& v = m_vecCollisionTriangle[i].m_avVertex[j];
|
||||
|
||||
if (v.x < m_vCollisionBoundingMin.x) m_vCollisionBoundingMin.x = v.x;
|
||||
if (v.y < m_vCollisionBoundingMin.y) m_vCollisionBoundingMin.y = v.y;
|
||||
if (v.z < m_vCollisionBoundingMin.z) m_vCollisionBoundingMin.z = v.z;
|
||||
|
||||
if (v.x > m_vCollisionBoundingMax.x) m_vCollisionBoundingMax.x = v.x;
|
||||
if (v.y > m_vCollisionBoundingMax.y) m_vCollisionBoundingMax.y = v.y;
|
||||
if (v.z > m_vCollisionBoundingMax.z) m_vCollisionBoundingMax.z = v.z;
|
||||
}
|
||||
}
|
||||
|
||||
// octree root node <20><> <20>ٿ<EFBFBD><D9BF><EFBFBD> <20>ڽ<EFBFBD> <20><> <20><><EFBFBD><EFBFBD>
|
||||
m_octreeRootNode.m_vBoundingMin = m_vCollisionBoundingMin;
|
||||
m_octreeRootNode.m_vBoundingMax = m_vCollisionBoundingMax;
|
||||
|
||||
// octree root node <20><> <20><><EFBFBD>Ե<EFBFBD> <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> <20>ε<EFBFBD><CEB5><EFBFBD>(<28><>ü)<29><> <20><><EFBFBD><EFBFBD>
|
||||
m_octreeRootNode.m_vecTriangleIndex.resize(m_vecCollisionTriangle.size());
|
||||
for (i = 0; i < m_octreeRootNode.m_vecTriangleIndex.size(); ++i)
|
||||
{
|
||||
m_octreeRootNode.m_vecTriangleIndex[i] = i;
|
||||
}
|
||||
|
||||
// DWORD dwTime = timeGetTime();
|
||||
// for (i = 0; i < m_vecCollisionTriangle.size(); ++i)
|
||||
// {
|
||||
// CollisionTriangleInfo& tri = m_vecCollisionTriangle[i];
|
||||
// Math::VECTOR3& vTri0 = m_vecCollisionVertex[ tri.m_lIndex[0] ];
|
||||
// Math::VECTOR3& vTri1 = m_vecCollisionVertex[ tri.m_lIndex[1] ];
|
||||
// Math::VECTOR3& vTri2 = m_vecCollisionVertex[ tri.m_lIndex[2] ];
|
||||
//
|
||||
// Math::CheckAabbTriangleIntersection(m_vCollisionBoundingMin, m_vCollisionBoundingMax, vTri0, vTri1, vTri2);
|
||||
// }
|
||||
// DWORD dwElapsed = timeGetTime() - dwTime;
|
||||
//
|
||||
// dwTime = timeGetTime();
|
||||
// for (i = 0; i < m_vecCollisionTriangle.size(); ++i)
|
||||
// {
|
||||
// CollisionTriangleInfo& tri = m_vecCollisionTriangle[i];
|
||||
// Math::VECTOR3& vTri0 = m_vecCollisionVertex[ tri.m_lIndex[0] ];
|
||||
// Math::VECTOR3& vTri1 = m_vecCollisionVertex[ tri.m_lIndex[1] ];
|
||||
// Math::VECTOR3& vTri2 = m_vecCollisionVertex[ tri.m_lIndex[2] ];
|
||||
//
|
||||
// Math::IsTriangleInAabb(m_vCollisionBoundingMin, m_vCollisionBoundingMax, vTri0, vTri1, vTri2);
|
||||
// }
|
||||
// DWORD dwElapsed2 = timeGetTime() - dwTime;
|
||||
|
||||
// <20>Ϻ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
m_octreeRootNode.BuildSubNode(m_vecCollisionTriangle, nMaximumRecursion, nMinPolyCount, 0);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void COctreeCollider::GetCollisionRespondingPosition(
|
||||
Math::VECTOR3& vOutRespondingPos,
|
||||
const Math::VECTOR3& vPrevPos, const Math::VECTOR3& vNewPos,
|
||||
const Math::VECTOR3& vEllipsoidRadius,
|
||||
const unsigned int nRecursionLevel)
|
||||
{
|
||||
size_t i, j, nMinCollisionTriangleIndex;
|
||||
|
||||
// ellipsoid <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Ŀ<><C4BF><EFBFBD>ϴ<EFBFBD> <20>簢<EFBFBD><E7B0A2>(AABB)<29><> min/max <20><>
|
||||
Math::VECTOR3 vSweptVolumeMin, vSweptVolumeMax;
|
||||
|
||||
vSweptVolumeMin.x = min(vPrevPos.x, vNewPos.x) - vEllipsoidRadius.x;
|
||||
vSweptVolumeMax.x = max(vPrevPos.x, vNewPos.x) + vEllipsoidRadius.x;
|
||||
vSweptVolumeMin.y = min(vPrevPos.y, vNewPos.y) - vEllipsoidRadius.y;
|
||||
vSweptVolumeMax.y = max(vPrevPos.y, vNewPos.y) + vEllipsoidRadius.y;
|
||||
vSweptVolumeMin.z = min(vPrevPos.z, vNewPos.z) - vEllipsoidRadius.z;
|
||||
vSweptVolumeMax.z = max(vPrevPos.z, vNewPos.z) + vEllipsoidRadius.z;
|
||||
|
||||
m_vecpCollidableNode.clear();
|
||||
m_octreeRootNode.CollectCollidableNodes(vSweptVolumeMin, vSweptVolumeMax, m_vecpCollidableNode);
|
||||
|
||||
if (0 == m_vecpCollidableNode.size())
|
||||
{
|
||||
// <20>浹 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ִ<EFBFBD> <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
vOutRespondingPos = vNewPos;
|
||||
return;
|
||||
}
|
||||
|
||||
// ellipsoid <20><>ǥ<EFBFBD><C7A5> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>. sweep <20><><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> sweep <20><><EFBFBD>⺤<EFBFBD><E2BAA4>, sweep <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
Math::VECTOR3 vESweepStart, vESweepEnd, vESweepPath;
|
||||
float fESweepLength;
|
||||
|
||||
vESweepStart.SetValue(vPrevPos.x/vEllipsoidRadius.x, vPrevPos.y/vEllipsoidRadius.y, vPrevPos.z/vEllipsoidRadius.z);
|
||||
vESweepEnd.SetValue(vNewPos.x/vEllipsoidRadius.x, vNewPos.y/vEllipsoidRadius.y, vNewPos.z/vEllipsoidRadius.z);
|
||||
Math::Subtract(vESweepPath, vESweepEnd, vESweepStart);
|
||||
fESweepLength = Math::GetLength(vESweepPath);
|
||||
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
if (fESweepLength < Math::F_EPSILON)
|
||||
{
|
||||
vOutRespondingPos = vPrevPos;
|
||||
return;
|
||||
}
|
||||
|
||||
// sweeping sphere <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
Math::TriangSweepingSphere triAndSphere;
|
||||
triAndSphere.m_vSphereSweepStart = vESweepStart;
|
||||
triAndSphere.m_vSphereSweepPath = vESweepPath;
|
||||
triAndSphere.m_fSphereRadius = 1.0f; // ellipsoid <20><>ǥ<EFBFBD><C7A5><EFBFBD>̹Ƿ<CCB9> <20>浹Ÿ<E6B5B9><C5B8>ü<EFBFBD><C3BC> <20><><EFBFBD><EFBFBD> <20><>ü<EFBFBD><C3BC> <20><>ȯ<EFBFBD>Ǿ<EFBFBD><C7BE><EFBFBD>
|
||||
|
||||
bool bCollision = false; // <20><><EFBFBD>õ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>鿡<EFBFBD><E9BFA1> <20>浹<EFBFBD><E6B5B9> <20>Ͼ <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> <20>ִ<EFBFBD><D6B4><EFBFBD> <20><><EFBFBD>θ<EFBFBD> <20><>Ÿ<EFBFBD><C5B8><EFBFBD><EFBFBD> <20>÷<EFBFBD><C3B7><EFBFBD>
|
||||
float fMinCollisionDistFactor = 9999.0f;// collision <20><> <20>Ͼ <20><><EFBFBD><EFBFBD> sweeping path <20><> <20><><EFBFBD><EFBFBD> <20><>ġ<EFBFBD><C4A1><EFBFBD><EFBFBD> <20><>Ÿ<EFBFBD><C5B8><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
// 0 <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 1 <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
Math::VECTOR3 vMinContactPoint; // fMinCollisionDistFactor <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ǥ. ellipsoid <20><>ǥ<EFBFBD><C7A5><EFBFBD><EFBFBD>
|
||||
bool bMinContactInsideTriangle; // fMinCollisionDistFactor <20><><EFBFBD><EFBFBD> <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ﰢ<EFBFBD><EFB0A2> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><EFBFBD><F0BCADB8><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ƴ<EFBFBD>) <20><>Ÿ<EFBFBD><C5B8><EFBFBD><EFBFBD> <20>÷<EFBFBD><C3B7><EFBFBD>
|
||||
for (i = 0; i < m_vecpCollidableNode.size(); ++i)
|
||||
{
|
||||
COctreeCollisionNode& node = *(m_vecpCollidableNode[i]);
|
||||
for (j = 0; j < node.m_vecTriangleIndex.size(); ++j)
|
||||
{
|
||||
CollisionTriangleInfo& tri = m_vecCollisionTriangle[ node.m_vecTriangleIndex[j] ];
|
||||
|
||||
// <20>ﰢ<EFBFBD><EFB0A2> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
Math::VECTOR3& vTri0 = tri.m_avVertex[0];
|
||||
Math::VECTOR3& vTri1 = tri.m_avVertex[1];
|
||||
Math::VECTOR3& vTri2 = tri.m_avVertex[2];
|
||||
// <20>ﰢ<EFBFBD><EFB0A2> <20><><EFBFBD><EFBFBD> ellipsoid <20><>ǥ<EFBFBD><C7A5><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><>-
|
||||
triAndSphere.m_vTri0.SetValue(vTri0.x/vEllipsoidRadius.x, vTri0.y/vEllipsoidRadius.y, vTri0.z/vEllipsoidRadius.z);
|
||||
triAndSphere.m_vTri1.SetValue(vTri1.x/vEllipsoidRadius.x, vTri1.y/vEllipsoidRadius.y, vTri1.z/vEllipsoidRadius.z);
|
||||
triAndSphere.m_vTri2.SetValue(vTri2.x/vEllipsoidRadius.x, vTri2.y/vEllipsoidRadius.y, vTri2.z/vEllipsoidRadius.z);
|
||||
|
||||
float fCollisionDistFactor;
|
||||
Math::VECTOR3 vContactPoint;
|
||||
bool bContactInside;
|
||||
// <20>ﰢ<EFBFBD><EFB0A2> - sweeping sphere <20>浹 <20>˻<EFBFBD>
|
||||
if (Math::CheckTriangleSweepingSphereCollision(fCollisionDistFactor, vContactPoint, bContactInside, triAndSphere))
|
||||
{
|
||||
// <20>浹<EFBFBD≯<EFBFBD>
|
||||
bCollision = true;
|
||||
|
||||
if(fCollisionDistFactor < fMinCollisionDistFactor)
|
||||
{
|
||||
vMinContactPoint = vContactPoint;
|
||||
fMinCollisionDistFactor = fCollisionDistFactor;
|
||||
nMinCollisionTriangleIndex = node.m_vecTriangleIndex[j];
|
||||
bMinContactInsideTriangle = bContactInside;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (!bCollision)
|
||||
{
|
||||
// <20>浹 <20><><EFBFBD><EFBFBD>
|
||||
vOutRespondingPos = vNewPos;
|
||||
return;
|
||||
}
|
||||
|
||||
m_nColTriIndex = nMinCollisionTriangleIndex;
|
||||
|
||||
// collision response phase
|
||||
Math::VECTOR3 vMovedPos; // <20>ϴ<EFBFBD> <20>浹<EFBFBD><E6B5B9> <20>Ͼ<CFBE><EEB3AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>̵<EFBFBD><CCB5><EFBFBD> <20><>ġ
|
||||
Math::Lerp(vMovedPos, vPrevPos, vNewPos, fMinCollisionDistFactor); // <20>ϴ<EFBFBD> <20>̵<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ġ<EFBFBD><C4A1> <20>Űܳ<C5B0><DCB3><EFBFBD> <20><>..
|
||||
|
||||
// <20><><EFBFBD><EFBFBD> <20>̵<EFBFBD><CCB5>Ϸ<EFBFBD><CFB7><EFBFBD> <20>Ÿ<EFBFBD><C5B8><EFBFBD> 90% <20>̻<EFBFBD><CCBB><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>߰ų<DFB0>, recursion <20><> 4<><34> <20><><EFBFBD><EFBFBD><EFBFBD>Ǿ<EFBFBD><C7BE><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>Ѵ<EFBFBD>.
|
||||
if (fMinCollisionDistFactor > 0.9f || nRecursionLevel >= 4)
|
||||
{
|
||||
vOutRespondingPos = vMovedPos;
|
||||
return;
|
||||
}
|
||||
|
||||
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ǥ<EFBFBD><C7A5> ellipsoid <20><>ǥ<EFBFBD>迡<EFBFBD><E8BFA1> <20><><EFBFBD><EFBFBD> <20><>ǥ<EFBFBD><C7A5><EFBFBD><EFBFBD> ȯ<><C8AF>
|
||||
vMinContactPoint.x *= vEllipsoidRadius.x;
|
||||
vMinContactPoint.y *= vEllipsoidRadius.y;
|
||||
vMinContactPoint.z *= vEllipsoidRadius.z;
|
||||
|
||||
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
Math::VECTOR3 vTangentPlaneNormal;
|
||||
if (bMinContactInsideTriangle)
|
||||
{
|
||||
// <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20>浹<EFBFBD><E6B5B9> <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> normal <20><> <20>״<EFBFBD><D7B4><EFBFBD> <20>̿<EFBFBD><CCBF>Ѵ<EFBFBD>
|
||||
CollisionTriangleInfo& colTriInfo = m_vecCollisionTriangle[nMinCollisionTriangleIndex];
|
||||
Math::VECTOR3& vCollTri0 = colTriInfo.m_avVertex[0];
|
||||
Math::VECTOR3& vCollTri1 = colTriInfo.m_avVertex[1];
|
||||
Math::VECTOR3& vCollTri2 = colTriInfo.m_avVertex[2];
|
||||
vTangentPlaneNormal = ((vCollTri1 - vCollTri0) ^ (vCollTri2 - vCollTri0));
|
||||
}
|
||||
else
|
||||
{
|
||||
// <20><EFBFBD><F0BCADB8><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>浹<EFBFBD><E6B5B9> <20><><EFBFBD><EFBFBD>, Ÿ<><C5B8>ü<EFBFBD><C3BC> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ϴ<EFBFBD> <20><><EFBFBD><EFBFBD> <20>̿<EFBFBD><CCBF><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> normal <20><> <20><><EFBFBD>Ѵ<EFBFBD>
|
||||
Math::Subtract(vTangentPlaneNormal, vMovedPos, vMinContactPoint);
|
||||
vTangentPlaneNormal.x /= (vEllipsoidRadius.x*vEllipsoidRadius.x);
|
||||
vTangentPlaneNormal.y /= (vEllipsoidRadius.y*vEllipsoidRadius.y);
|
||||
vTangentPlaneNormal.z /= (vEllipsoidRadius.z*vEllipsoidRadius.z);
|
||||
Math::Normalize(vTangentPlaneNormal, vTangentPlaneNormal);
|
||||
}
|
||||
Math::Normalize(vTangentPlaneNormal, vTangentPlaneNormal);
|
||||
|
||||
// <20>浹<EFBFBD><E6B5B9> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ϰ<EFBFBD> <20><><EFBFBD><EFBFBD> <20>̵<EFBFBD><CCB5><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
Math::VECTOR3 vRemainder;
|
||||
Math::Subtract(vRemainder, vNewPos, vMovedPos);
|
||||
|
||||
// <20>浹<EFBFBD><E6B5B9> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ϼ<EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>Ǵ<EFBFBD> <20>̵<EFBFBD><CCB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
float fVanishingComponentFactor = Math::DotProduct(vTangentPlaneNormal, vRemainder);
|
||||
Math::VECTOR3 vVanishingComponent;
|
||||
Math::Scale(vVanishingComponent, vTangentPlaneNormal, fVanishingComponentFactor);
|
||||
|
||||
// <20><><EFBFBD><EFBFBD> <20>̵<EFBFBD><CCB5><EFBFBD><EFBFBD>п<EFBFBD><D0BF><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ϼ<EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
Math::Subtract(vRemainder, vRemainder, vVanishingComponent);
|
||||
|
||||
// <20><><EFBFBD><EFBFBD> <20>̵<EFBFBD><CCB5><EFBFBD><EFBFBD><EFBFBD>ŭ<EFBFBD><C5AD> <20>̵<EFBFBD><CCB5><EFBFBD> <20><><EFBFBD><EFBFBD> <20>浹üũ <20><><EFBFBD><EFBFBD>ȣ<EFBFBD><C8A3>
|
||||
GetCollisionRespondingPosition(vOutRespondingPos, vMovedPos, vMovedPos+vRemainder, vEllipsoidRadius, nRecursionLevel+1);
|
||||
}
|
||||
|
||||
|
||||
void COctreeCollider::RenderCollidableNodeTriangles(IDirect3DDevice8* pDevice)
|
||||
{
|
||||
size_t nRenderTriCount; //j, i, nTriFilled;
|
||||
|
||||
if (0 == m_vecpCollidableNode.size())
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
// // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ﰢ<EFBFBD><EFB0A2><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
|
||||
// nRenderTriCount = 0;
|
||||
// for (i = 0; i < m_vecpCollidableNode.size(); ++i)
|
||||
// {
|
||||
// nRenderTriCount += m_vecpCollidableNode[i]->m_vecTriangleIndex.size();
|
||||
// }
|
||||
//
|
||||
// // <20><><EFBFBD>ؽ<EFBFBD> <20><><EFBFBD><EFBFBD> Ȯ<><C8AE>
|
||||
// m_vecRenderVertex.resize(nRenderTriCount*3);
|
||||
//
|
||||
// nTriFilled = 0;
|
||||
// for (i = 0; i < m_vecpCollidableNode.size(); ++i)
|
||||
// {
|
||||
// COctreeCollisionNode& node = *(m_vecpCollidableNode[i]);
|
||||
//
|
||||
// for (j = 0; j < node.m_vecTriangleIndex.size(); ++j)
|
||||
// {
|
||||
// size_t nTriIndex = node.m_vecTriangleIndex[j];
|
||||
// CollisionTriangleInfo& tri = m_vecCollisionTriangle[nTriIndex];
|
||||
//
|
||||
// m_vecRenderVertex[nTriFilled*3] = tri.m_avVertex[0];
|
||||
// m_vecRenderVertex[nTriFilled*3 + 1] = tri.m_avVertex[1];
|
||||
// m_vecRenderVertex[nTriFilled*3 + 2] = tri.m_avVertex[2];
|
||||
// ++nTriFilled;
|
||||
// }
|
||||
// }
|
||||
|
||||
nRenderTriCount = 1; // <20>浹<EFBFBD>ﰢ<EFBFBD><EFB0A2> 1<><31><EFBFBD><EFBFBD>
|
||||
m_vecRenderVertex.resize(nRenderTriCount*3);
|
||||
CollisionTriangleInfo& tri = m_vecCollisionTriangle[m_nColTriIndex];
|
||||
|
||||
m_vecRenderVertex[0] = tri.m_avVertex[0];
|
||||
m_vecRenderVertex[1] = tri.m_avVertex[1];
|
||||
m_vecRenderVertex[2] = tri.m_avVertex[2];
|
||||
|
||||
D3DXMATRIX mTmp;
|
||||
D3DXMatrixIdentity(&mTmp);
|
||||
pDevice->SetTransform(D3DTS_WORLD, &mTmp);
|
||||
|
||||
DWORD dwFillMode, dwZFunc;
|
||||
pDevice->GetRenderState(D3DRS_FILLMODE, &dwFillMode);
|
||||
pDevice->GetRenderState(D3DRS_ZFUNC, &dwZFunc);
|
||||
pDevice->SetRenderState(D3DRS_FILLMODE, D3DFILL_SOLID);
|
||||
pDevice->SetRenderState(D3DRS_ZFUNC, D3DCMP_ALWAYS);
|
||||
pDevice->SetVertexShader(D3DFVF_XYZ);
|
||||
pDevice->DrawPrimitiveUP(D3DPT_TRIANGLELIST, (UINT)nRenderTriCount, &(m_vecRenderVertex[0]), sizeof(Math::VECTOR3));
|
||||
pDevice->SetRenderState(D3DRS_FILLMODE, dwFillMode);
|
||||
pDevice->SetRenderState(D3DRS_ZFUNC, dwZFunc);
|
||||
}
|
||||
|
||||
|
||||
}}
|
||||
Reference in New Issue
Block a user