984 lines
30 KiB
C++
984 lines
30 KiB
C++
// Copyright (C) 2002-2012 Nikolaus Gebhardt
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// This file is part of the "Irrlicht Engine".
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// For conditions of distribution and use, see copyright notice in irrlicht.h
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#include "CSceneCollisionManager.h"
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#include "ISceneNode.h"
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#include "ICameraSceneNode.h"
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#include "ITriangleSelector.h"
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#include "SViewFrustum.h"
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#include "os.h"
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#include "irrMath.h"
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namespace irr
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{
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namespace scene
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{
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//! constructor
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CSceneCollisionManager::CSceneCollisionManager(ISceneManager* smanager, video::IVideoDriver* driver)
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: SceneManager(smanager), Driver(driver)
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{
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#ifdef _DEBUG
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setDebugName("CSceneCollisionManager");
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#endif
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if (Driver)
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Driver->grab();
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}
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//! destructor
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CSceneCollisionManager::~CSceneCollisionManager()
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{
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if (Driver)
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Driver->drop();
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}
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//! Returns the scene node, which is currently visible at the given
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//! screen coordinates, viewed from the currently active camera.
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ISceneNode* CSceneCollisionManager::getSceneNodeFromScreenCoordinatesBB(
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const core::position2d<s32>& pos, s32 idBitMask, bool noDebugObjects, scene::ISceneNode* root)
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{
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const core::line3d<f32> ln = getRayFromScreenCoordinates(pos, 0);
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if ( ln.start == ln.end )
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return 0;
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return getSceneNodeFromRayBB(ln, idBitMask, noDebugObjects, root);
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}
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//! Returns the nearest scene node which collides with a 3d ray and
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//! which id matches a bitmask.
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ISceneNode* CSceneCollisionManager::getSceneNodeFromRayBB(
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const core::line3d<f32>& ray,
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s32 idBitMask, bool noDebugObjects, scene::ISceneNode* root)
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{
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ISceneNode* best = 0;
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f32 dist = FLT_MAX;
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core::line3d<f32> truncatableRay(ray);
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getPickedNodeBB((root==0)?SceneManager->getRootSceneNode():root, truncatableRay,
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idBitMask, noDebugObjects, dist, best);
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return best;
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}
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//! recursive method for going through all scene nodes
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void CSceneCollisionManager::getPickedNodeBB(ISceneNode* root,
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core::line3df& ray, s32 bits, bool noDebugObjects,
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f32& outbestdistance, ISceneNode*& outbestnode)
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{
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const ISceneNodeList& children = root->getChildren();
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const core::vector3df rayVector = ray.getVector().normalize();
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ISceneNodeList::ConstIterator it = children.begin();
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for (; it != children.end(); ++it)
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{
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ISceneNode* current = *it;
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if (current->isVisible())
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{
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if((noDebugObjects ? !current->isDebugObject() : true) &&
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(bits==0 || (bits != 0 && (current->getID() & bits))))
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{
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// Assume that single-point bounding-boxes are not meant for collision
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const core::aabbox3df & objectBox = current->getBoundingBox();
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if ( objectBox.isEmpty() )
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continue;
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// get world to object space transform
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core::matrix4 worldToObject;
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if (!current->getAbsoluteTransformation().getInverse(worldToObject))
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continue;
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// transform vector from world space to object space
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core::line3df objectRay(ray);
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worldToObject.transformVect(objectRay.start);
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worldToObject.transformVect(objectRay.end);
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// Do the initial intersection test in object space, since the
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// object space box test is more accurate.
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if(objectBox.isPointInside(objectRay.start))
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{
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// use fast bbox intersection to find distance to hitpoint
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// algorithm from Kay et al., code from gamedev.net
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const core::vector3df dir = (objectRay.end-objectRay.start).normalize();
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const core::vector3df minDist = (objectBox.MinEdge - objectRay.start)/dir;
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const core::vector3df maxDist = (objectBox.MaxEdge - objectRay.start)/dir;
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const core::vector3df realMin(core::min_(minDist.X, maxDist.X),core::min_(minDist.Y, maxDist.Y),core::min_(minDist.Z, maxDist.Z));
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const core::vector3df realMax(core::max_(minDist.X, maxDist.X),core::max_(minDist.Y, maxDist.Y),core::max_(minDist.Z, maxDist.Z));
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const f32 minmax = core::min_(realMax.X, realMax.Y, realMax.Z);
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// nearest distance to intersection
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const f32 maxmin = core::max_(realMin.X, realMin.Y, realMin.Z);
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const f32 toIntersectionSq = (maxmin>0?maxmin*maxmin:minmax*minmax);
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if (toIntersectionSq < outbestdistance)
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{
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outbestdistance = toIntersectionSq;
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outbestnode = current;
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// And we can truncate the ray to stop us hitting further nodes.
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ray.end = ray.start + (rayVector * sqrtf(toIntersectionSq));
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}
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}
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else
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if (objectBox.intersectsWithLine(objectRay))
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{
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// Now transform into world space, since we need to use world space
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// scales and distances.
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core::aabbox3df worldBox(objectBox);
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current->getAbsoluteTransformation().transformBoxEx(worldBox);
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core::vector3df edges[8];
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worldBox.getEdges(edges);
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/* We need to check against each of 6 faces, composed of these corners:
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/3--------/7
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/ | / |
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/ | / |
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1---------5 |
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| 2- - -| -6
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| / | /
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|/ | /
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0---------4/
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Note that we define them as opposite pairs of faces.
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*/
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static const s32 faceEdges[6][3] =
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{
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{ 0, 1, 5 }, // Front
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{ 6, 7, 3 }, // Back
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{ 2, 3, 1 }, // Left
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{ 4, 5, 7 }, // Right
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{ 1, 3, 7 }, // Top
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{ 2, 0, 4 } // Bottom
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};
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core::vector3df intersection;
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core::plane3df facePlane;
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f32 bestDistToBoxBorder = FLT_MAX;
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f32 bestToIntersectionSq = FLT_MAX;
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for(s32 face = 0; face < 6; ++face)
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{
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facePlane.setPlane(edges[faceEdges[face][0]],
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edges[faceEdges[face][1]],
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edges[faceEdges[face][2]]);
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// Only consider lines that might be entering through this face, since we
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// already know that the start point is outside the box.
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if(facePlane.classifyPointRelation(ray.start) != core::ISREL3D_FRONT)
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continue;
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// Don't bother using a limited ray, since we already know that it should be long
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// enough to intersect with the box.
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if(facePlane.getIntersectionWithLine(ray.start, rayVector, intersection))
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{
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const f32 toIntersectionSq = ray.start.getDistanceFromSQ(intersection);
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if(toIntersectionSq < outbestdistance)
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{
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// We have to check that the intersection with this plane is actually
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// on the box, so need to go back to object space again.
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worldToObject.transformVect(intersection);
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// find the closest point on the box borders. Have to do this as exact checks will fail due to floating point problems.
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f32 distToBorder = core::max_ ( core::min_ (core::abs_(objectBox.MinEdge.X-intersection.X), core::abs_(objectBox.MaxEdge.X-intersection.X)),
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core::min_ (core::abs_(objectBox.MinEdge.Y-intersection.Y), core::abs_(objectBox.MaxEdge.Y-intersection.Y)),
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core::min_ (core::abs_(objectBox.MinEdge.Z-intersection.Z), core::abs_(objectBox.MaxEdge.Z-intersection.Z)) );
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if ( distToBorder < bestDistToBoxBorder )
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{
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bestDistToBoxBorder = distToBorder;
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bestToIntersectionSq = toIntersectionSq;
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}
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}
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}
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// If the ray could be entering through the first face of a pair, then it can't
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// also be entering through the opposite face, and so we can skip that face.
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if (!(face & 0x01))
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++face;
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}
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if ( bestDistToBoxBorder < FLT_MAX )
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{
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outbestdistance = bestToIntersectionSq;
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outbestnode = current;
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// If we got a hit, we can now truncate the ray to stop us hitting further nodes.
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ray.end = ray.start + (rayVector * sqrtf(outbestdistance));
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}
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}
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}
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// Only check the children if this node is visible.
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getPickedNodeBB(current, ray, bits, noDebugObjects, outbestdistance, outbestnode);
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}
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}
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}
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ISceneNode* CSceneCollisionManager::getSceneNodeAndCollisionPointFromRay(
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SCollisionHit& hitResult,
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const core::line3df& ray,
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s32 idBitMask,
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ISceneNode * collisionRootNode,
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bool noDebugObjects)
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{
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if(0 == collisionRootNode)
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collisionRootNode = SceneManager->getRootSceneNode();
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// We don't try to do anything too clever, like sorting the candidate
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// nodes by distance to bounding-box. In the example below, we could do the
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// triangle collision check with node A first, but we'd have to check node B
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// anyway, as the actual collision point could be (and is) closer than the
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// collision point in node A.
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//
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// ray end
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// |
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// AAAAAAAAAA
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// A |
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// A | B
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// A | B
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// A BBBBB
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// A |
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// A |
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// |
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// |
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// ray start
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//
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// We therefore have to do a full BB and triangle collision on every scene
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// node in order to find the nearest collision point, so sorting them by
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// bounding box would be pointless.
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f32 bestDistanceSquared = FLT_MAX;
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core::line3df rayRest(ray);
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getPickedNodeFromBBAndSelector(hitResult, collisionRootNode, rayRest, idBitMask,
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noDebugObjects, bestDistanceSquared);
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return hitResult.Node;
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}
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void CSceneCollisionManager::getPickedNodeFromBBAndSelector(
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SCollisionHit& hitResult,
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ISceneNode * root,
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core::line3df & ray,
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s32 bits,
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bool noDebugObjects,
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f32 & outBestDistanceSquared)
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{
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const ISceneNodeList& children = root->getChildren();
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ISceneNodeList::ConstIterator it = children.begin();
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for (; it != children.end(); ++it)
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{
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ISceneNode* current = *it;
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ITriangleSelector * selector = current->getTriangleSelector();
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if (selector && current->isVisible() &&
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(noDebugObjects ? !current->isDebugObject() : true) &&
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(bits==0 || (bits != 0 && (current->getID() & bits))))
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{
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// get world to object space transform
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core::matrix4 mat;
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if (!current->getAbsoluteTransformation().getInverse(mat))
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continue;
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// transform vector from world space to object space
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core::line3df line(ray);
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mat.transformVect(line.start);
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mat.transformVect(line.end);
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const core::aabbox3df& box = current->getBoundingBox();
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SCollisionHit candidateHitResult;
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// do intersection test in object space
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if (box.intersectsWithLine(line) &&
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getCollisionPoint(candidateHitResult, ray, selector))
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{
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const f32 distanceSquared = (candidateHitResult.Intersection - ray.start).getLengthSQ();
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if(distanceSquared < outBestDistanceSquared)
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{
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outBestDistanceSquared = distanceSquared;
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hitResult = candidateHitResult;
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const core::vector3df rayVector = ray.getVector().normalize();
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ray.end = ray.start + (rayVector * sqrtf(distanceSquared));
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}
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}
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}
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getPickedNodeFromBBAndSelector(hitResult, current, ray, bits, noDebugObjects,
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outBestDistanceSquared);
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}
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}
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//! Returns the scene node, at which the given camera is looking at and
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//! which id matches the bitmask.
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ISceneNode* CSceneCollisionManager::getSceneNodeFromCameraBB(
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const ICameraSceneNode* camera, s32 idBitMask, bool noDebugObjects)
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{
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if (!camera)
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return 0;
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const core::vector3df start = camera->getAbsolutePosition();
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core::vector3df end = camera->getTarget();
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end = start + ((end - start).normalize() * camera->getFarValue());
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return getSceneNodeFromRayBB(core::line3d<f32>(start, end), idBitMask, noDebugObjects);
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}
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bool CSceneCollisionManager::getCollisionPoint(SCollisionHit& hitResult, const core::line3d<f32>& ray, ITriangleSelector* selector)
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{
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if (!selector)
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{
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return false;
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}
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s32 totalcnt = selector->getTriangleCount();
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if ( totalcnt <= 0 )
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return false;
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Triangles.set_used(totalcnt);
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s32 cnt = 0;
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irr::core::array<SCollisionTriangleRange> outTriangleInfo;
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selector->getTriangles(Triangles.pointer(), totalcnt, cnt, ray, 0, true, &outTriangleInfo);
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const core::vector3df linevect = ray.getVector().normalize();
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core::vector3df intersection;
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f32 nearest = FLT_MAX;
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irr::s32 foundIndex = -1;
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const f32 raylength = ray.getLengthSQ();
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const f32 minX = core::min_(ray.start.X, ray.end.X);
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const f32 maxX = core::max_(ray.start.X, ray.end.X);
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const f32 minY = core::min_(ray.start.Y, ray.end.Y);
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const f32 maxY = core::max_(ray.start.Y, ray.end.Y);
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const f32 minZ = core::min_(ray.start.Z, ray.end.Z);
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const f32 maxZ = core::max_(ray.start.Z, ray.end.Z);
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for (s32 i=0; i<cnt; ++i)
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{
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const core::triangle3df & triangle = Triangles[i];
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if(minX > triangle.pointA.X && minX > triangle.pointB.X && minX > triangle.pointC.X)
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continue;
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if(maxX < triangle.pointA.X && maxX < triangle.pointB.X && maxX < triangle.pointC.X)
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continue;
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if(minY > triangle.pointA.Y && minY > triangle.pointB.Y && minY > triangle.pointC.Y)
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continue;
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if(maxY < triangle.pointA.Y && maxY < triangle.pointB.Y && maxY < triangle.pointC.Y)
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continue;
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if(minZ > triangle.pointA.Z && minZ > triangle.pointB.Z && minZ > triangle.pointC.Z)
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continue;
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if(maxZ < triangle.pointA.Z && maxZ < triangle.pointB.Z && maxZ < triangle.pointC.Z)
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continue;
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if (triangle.getIntersectionWithLine(ray.start, linevect, intersection))
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{
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const f32 tmp = intersection.getDistanceFromSQ(ray.start);
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const f32 tmp2 = intersection.getDistanceFromSQ(ray.end);
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if (tmp < raylength && tmp2 < raylength && tmp < nearest)
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{
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nearest = tmp;
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hitResult.Triangle = triangle;
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hitResult.Intersection = intersection;
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foundIndex = i;
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}
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}
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}
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if ( foundIndex >= 0 )
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{
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for ( irr::u32 t=0; t<outTriangleInfo.size(); ++t )
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{
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if ( outTriangleInfo[t].isIndexInRange(foundIndex) )
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{
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hitResult.Node = outTriangleInfo[t].SceneNode;
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hitResult.MeshBuffer = outTriangleInfo[t].MeshBuffer;
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hitResult.MaterialIndex = outTriangleInfo[t].MaterialIndex;
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hitResult.TriangleSelector = outTriangleInfo[t].Selector;
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break;
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}
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}
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return true;
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}
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return false;
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}
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//! Collides a moving ellipsoid with a 3d world with gravity and returns
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//! the resulting new position of the ellipsoid.
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core::vector3df CSceneCollisionManager::getCollisionResultPosition(
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ITriangleSelector* selector,
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const core::vector3df &position, const core::vector3df& radius,
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const core::vector3df& direction,
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core::triangle3df& triout,
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core::vector3df& hitPosition,
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bool& outFalling,
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ISceneNode*& outNode,
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f32 slidingSpeed,
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const core::vector3df& gravity)
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{
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return collideEllipsoidWithWorld(selector, position,
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radius, direction, slidingSpeed, gravity, triout, hitPosition, outFalling, outNode);
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}
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bool CSceneCollisionManager::testTriangleIntersection(SCollisionData* colData,
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const core::triangle3df& triangle)
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{
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const core::plane3d<f32> trianglePlane = triangle.getPlane();
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// only check front facing polygons
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if ( !trianglePlane.isFrontFacing(colData->normalizedVelocity) )
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return false;
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// get interval of plane intersection
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f32 t1, t0;
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bool embeddedInPlane = false;
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// calculate signed distance from sphere position to triangle plane
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f32 signedDistToTrianglePlane = trianglePlane.getDistanceTo(
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colData->basePoint);
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f32 normalDotVelocity =
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trianglePlane.Normal.dotProduct(colData->velocity);
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if ( core::iszero ( normalDotVelocity ) )
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{
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// sphere is traveling parallel to plane
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if (fabs(signedDistToTrianglePlane) >= 1.0f)
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return false; // no collision possible
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else
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{
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// sphere is embedded in plane
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embeddedInPlane = true;
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t0 = 0.0;
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t1 = 1.0;
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}
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}
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else
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{
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normalDotVelocity = core::reciprocal ( normalDotVelocity );
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// N.D is not 0. Calculate intersection interval
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t0 = (-1.f - signedDistToTrianglePlane) * normalDotVelocity;
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t1 = (1.f - signedDistToTrianglePlane) * normalDotVelocity;
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// Swap so t0 < t1
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if (t0 > t1) { f32 tmp = t1; t1 = t0; t0 = tmp; }
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// check if at least one value is within the range
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if (t0 > 1.0f || t1 < 0.0f)
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return false; // both t values are outside 1 and 0, no collision possible
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// clamp to 0 and 1
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t0 = core::clamp ( t0, 0.f, 1.f );
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t1 = core::clamp ( t1, 0.f, 1.f );
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}
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// at this point we have t0 and t1, if there is any intersection, it
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// is between this interval
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core::vector3df collisionPoint;
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bool foundCollision = false;
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f32 t = 1.0f;
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// first check the easy case: Collision within the triangle;
|
|
// if this happens, it must be at t0 and this is when the sphere
|
|
// rests on the front side of the triangle plane. This can only happen
|
|
// if the sphere is not embedded in the triangle plane.
|
|
|
|
if (!embeddedInPlane)
|
|
{
|
|
core::vector3df planeIntersectionPoint =
|
|
(colData->basePoint - trianglePlane.Normal)
|
|
+ (colData->velocity * t0);
|
|
|
|
if (triangle.isPointInside(planeIntersectionPoint))
|
|
{
|
|
foundCollision = true;
|
|
t = t0;
|
|
collisionPoint = planeIntersectionPoint;
|
|
}
|
|
}
|
|
|
|
// if we haven't found a collision already we will have to sweep
|
|
// the sphere against points and edges of the triangle. Note: A
|
|
// collision inside the triangle will always happen before a
|
|
// vertex or edge collision.
|
|
|
|
if (!foundCollision)
|
|
{
|
|
core::vector3df velocity = colData->velocity;
|
|
core::vector3df base = colData->basePoint;
|
|
|
|
f32 velocitySqaredLength = velocity.getLengthSQ();
|
|
f32 a,b,c;
|
|
f32 newT;
|
|
|
|
// for each edge or vertex a quadratic equation has to be solved:
|
|
// a*t^2 + b*t + c = 0. We calculate a,b, and c for each test.
|
|
|
|
// check against points
|
|
a = velocitySqaredLength;
|
|
|
|
// p1
|
|
b = 2.0f * (velocity.dotProduct(base - triangle.pointA));
|
|
c = (triangle.pointA-base).getLengthSQ() - 1.f;
|
|
if (getLowestRoot(a,b,c,t, &newT))
|
|
{
|
|
t = newT;
|
|
foundCollision = true;
|
|
collisionPoint = triangle.pointA;
|
|
}
|
|
|
|
// p2
|
|
if (!foundCollision)
|
|
{
|
|
b = 2.0f * (velocity.dotProduct(base - triangle.pointB));
|
|
c = (triangle.pointB-base).getLengthSQ() - 1.f;
|
|
if (getLowestRoot(a,b,c,t, &newT))
|
|
{
|
|
t = newT;
|
|
foundCollision = true;
|
|
collisionPoint = triangle.pointB;
|
|
}
|
|
}
|
|
|
|
// p3
|
|
if (!foundCollision)
|
|
{
|
|
b = 2.0f * (velocity.dotProduct(base - triangle.pointC));
|
|
c = (triangle.pointC-base).getLengthSQ() - 1.f;
|
|
if (getLowestRoot(a,b,c,t, &newT))
|
|
{
|
|
t = newT;
|
|
foundCollision = true;
|
|
collisionPoint = triangle.pointC;
|
|
}
|
|
}
|
|
|
|
// check against edges:
|
|
|
|
// p1 --- p2
|
|
core::vector3df edge = triangle.pointB - triangle.pointA;
|
|
core::vector3df baseToVertex = triangle.pointA - base;
|
|
f32 edgeSqaredLength = edge.getLengthSQ();
|
|
f32 edgeDotVelocity = edge.dotProduct(velocity);
|
|
f32 edgeDotBaseToVertex = edge.dotProduct(baseToVertex);
|
|
|
|
// calculate parameters for equation
|
|
a = edgeSqaredLength* -velocitySqaredLength +
|
|
edgeDotVelocity*edgeDotVelocity;
|
|
b = edgeSqaredLength* (2.f *velocity.dotProduct(baseToVertex)) -
|
|
2.0f*edgeDotVelocity*edgeDotBaseToVertex;
|
|
c = edgeSqaredLength* (1.f -baseToVertex.getLengthSQ()) +
|
|
edgeDotBaseToVertex*edgeDotBaseToVertex;
|
|
|
|
// does the swept sphere collide against infinite edge?
|
|
if (getLowestRoot(a,b,c,t,&newT))
|
|
{
|
|
f32 f = (edgeDotVelocity*newT - edgeDotBaseToVertex) / edgeSqaredLength;
|
|
if (f >=0.0f && f <= 1.0f)
|
|
{
|
|
// intersection took place within segment
|
|
t = newT;
|
|
foundCollision = true;
|
|
collisionPoint = triangle.pointA + (edge*f);
|
|
}
|
|
}
|
|
|
|
// p2 --- p3
|
|
edge = triangle.pointC-triangle.pointB;
|
|
baseToVertex = triangle.pointB - base;
|
|
edgeSqaredLength = edge.getLengthSQ();
|
|
edgeDotVelocity = edge.dotProduct(velocity);
|
|
edgeDotBaseToVertex = edge.dotProduct(baseToVertex);
|
|
|
|
// calculate parameters for equation
|
|
a = edgeSqaredLength* -velocitySqaredLength +
|
|
edgeDotVelocity*edgeDotVelocity;
|
|
b = edgeSqaredLength* (2*velocity.dotProduct(baseToVertex)) -
|
|
2.0f*edgeDotVelocity*edgeDotBaseToVertex;
|
|
c = edgeSqaredLength* (1-baseToVertex.getLengthSQ()) +
|
|
edgeDotBaseToVertex*edgeDotBaseToVertex;
|
|
|
|
// does the swept sphere collide against infinite edge?
|
|
if (getLowestRoot(a,b,c,t,&newT))
|
|
{
|
|
f32 f = (edgeDotVelocity*newT-edgeDotBaseToVertex) /
|
|
edgeSqaredLength;
|
|
if (f >=0.0f && f <= 1.0f)
|
|
{
|
|
// intersection took place within segment
|
|
t = newT;
|
|
foundCollision = true;
|
|
collisionPoint = triangle.pointB + (edge*f);
|
|
}
|
|
}
|
|
|
|
|
|
// p3 --- p1
|
|
edge = triangle.pointA-triangle.pointC;
|
|
baseToVertex = triangle.pointC - base;
|
|
edgeSqaredLength = edge.getLengthSQ();
|
|
edgeDotVelocity = edge.dotProduct(velocity);
|
|
edgeDotBaseToVertex = edge.dotProduct(baseToVertex);
|
|
|
|
// calculate parameters for equation
|
|
a = edgeSqaredLength* -velocitySqaredLength +
|
|
edgeDotVelocity*edgeDotVelocity;
|
|
b = edgeSqaredLength* (2*velocity.dotProduct(baseToVertex)) -
|
|
2.0f*edgeDotVelocity*edgeDotBaseToVertex;
|
|
c = edgeSqaredLength* (1-baseToVertex.getLengthSQ()) +
|
|
edgeDotBaseToVertex*edgeDotBaseToVertex;
|
|
|
|
// does the swept sphere collide against infinite edge?
|
|
if (getLowestRoot(a,b,c,t,&newT))
|
|
{
|
|
f32 f = (edgeDotVelocity*newT-edgeDotBaseToVertex) /
|
|
edgeSqaredLength;
|
|
if (f >=0.0f && f <= 1.0f)
|
|
{
|
|
// intersection took place within segment
|
|
t = newT;
|
|
foundCollision = true;
|
|
collisionPoint = triangle.pointC + (edge*f);
|
|
}
|
|
}
|
|
}// end no collision found
|
|
|
|
// set result:
|
|
if (foundCollision)
|
|
{
|
|
++colData->triangleHits;
|
|
|
|
// distance to collision is t
|
|
f32 distToCollision = t*colData->velocity.getLength();
|
|
|
|
// does this triangle qualify for closest hit?
|
|
if (!colData->foundCollision ||
|
|
distToCollision < colData->nearestDistance)
|
|
{
|
|
colData->nearestDistance = distToCollision;
|
|
colData->intersectionPoint = collisionPoint;
|
|
colData->foundCollision = true;
|
|
colData->intersectionTriangle = triangle;
|
|
return true;
|
|
}
|
|
}// end found collision
|
|
|
|
return false;
|
|
}
|
|
|
|
|
|
//! Collides a moving ellipsoid with a 3d world with gravity and returns
|
|
//! the resulting new position of the ellipsoid.
|
|
core::vector3df CSceneCollisionManager::collideEllipsoidWithWorld(
|
|
ITriangleSelector* selector, const core::vector3df &position,
|
|
const core::vector3df& radius, const core::vector3df& velocity,
|
|
f32 slidingSpeed,
|
|
const core::vector3df& gravity,
|
|
core::triangle3df& triout,
|
|
core::vector3df& hitPosition,
|
|
bool& outFalling,
|
|
ISceneNode*& outNode)
|
|
{
|
|
if (!selector || radius.X == 0.0f || radius.Y == 0.0f || radius.Z == 0.0f)
|
|
return position;
|
|
|
|
// This code is based on the paper "Improved Collision detection and Response"
|
|
// by Kasper Fauerby, but some parts are modified.
|
|
|
|
SCollisionData colData;
|
|
colData.R3Position = position;
|
|
colData.R3Velocity = velocity;
|
|
colData.eRadius = radius;
|
|
colData.nearestDistance = FLT_MAX;
|
|
colData.selector = selector;
|
|
colData.slidingSpeed = slidingSpeed;
|
|
colData.triangleHits = 0;
|
|
colData.node = 0;
|
|
|
|
core::vector3df eSpacePosition = colData.R3Position / colData.eRadius;
|
|
core::vector3df eSpaceVelocity = colData.R3Velocity / colData.eRadius;
|
|
|
|
// iterate until we have our final position
|
|
|
|
core::vector3df finalPos = collideWithWorld(
|
|
0, colData, eSpacePosition, eSpaceVelocity);
|
|
|
|
outFalling = false;
|
|
|
|
// add gravity
|
|
|
|
if (gravity != core::vector3df(0,0,0))
|
|
{
|
|
colData.R3Position = finalPos * colData.eRadius;
|
|
colData.R3Velocity = gravity;
|
|
colData.triangleHits = 0;
|
|
|
|
eSpaceVelocity = gravity/colData.eRadius;
|
|
|
|
finalPos = collideWithWorld(0, colData,
|
|
finalPos, eSpaceVelocity);
|
|
|
|
outFalling = (colData.triangleHits == 0);
|
|
}
|
|
|
|
if (colData.triangleHits)
|
|
{
|
|
triout = colData.intersectionTriangle;
|
|
triout.pointA *= colData.eRadius;
|
|
triout.pointB *= colData.eRadius;
|
|
triout.pointC *= colData.eRadius;
|
|
outNode = colData.node;
|
|
}
|
|
|
|
finalPos *= colData.eRadius;
|
|
hitPosition = colData.intersectionPoint * colData.eRadius;
|
|
return finalPos;
|
|
}
|
|
|
|
|
|
core::vector3df CSceneCollisionManager::collideWithWorld(s32 recursionDepth,
|
|
SCollisionData &colData, const core::vector3df& pos, const core::vector3df& vel)
|
|
{
|
|
f32 veryCloseDistance = colData.slidingSpeed;
|
|
|
|
if (recursionDepth > 5)
|
|
return pos;
|
|
|
|
colData.velocity = vel;
|
|
colData.normalizedVelocity = vel;
|
|
colData.normalizedVelocity.normalize();
|
|
colData.basePoint = pos;
|
|
colData.foundCollision = false;
|
|
colData.nearestDistance = FLT_MAX;
|
|
|
|
//------------------ collide with world
|
|
|
|
// get all triangles with which we might collide
|
|
core::aabbox3d<f32> box(colData.R3Position);
|
|
box.addInternalPoint(colData.R3Position + colData.R3Velocity);
|
|
box.MinEdge -= colData.eRadius;
|
|
box.MaxEdge += colData.eRadius;
|
|
|
|
s32 totalTriangleCnt = colData.selector->getTriangleCount();
|
|
Triangles.set_used(totalTriangleCnt);
|
|
|
|
core::matrix4 scaleMatrix;
|
|
scaleMatrix.setScale(
|
|
core::vector3df(1.0f / colData.eRadius.X,
|
|
1.0f / colData.eRadius.Y,
|
|
1.0f / colData.eRadius.Z));
|
|
|
|
irr::core::array<SCollisionTriangleRange> outTriangleInfo;
|
|
s32 triangleCnt = 0;
|
|
colData.selector->getTriangles(Triangles.pointer(), totalTriangleCnt, triangleCnt, box, &scaleMatrix, true, &outTriangleInfo);
|
|
|
|
// Find closest intersection
|
|
irr::s32 nearestTriangleIndex = -1;
|
|
for (s32 i=0; i<triangleCnt; ++i)
|
|
{
|
|
if(testTriangleIntersection(&colData, Triangles[i]))
|
|
{
|
|
nearestTriangleIndex = i;
|
|
}
|
|
}
|
|
if ( nearestTriangleIndex >= 0 )
|
|
{
|
|
for ( irr::u32 t=0; t<outTriangleInfo.size(); ++t )
|
|
{
|
|
if ( outTriangleInfo[t].isIndexInRange(nearestTriangleIndex) )
|
|
{
|
|
colData.node = outTriangleInfo[t].SceneNode;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
//---------------- end collide with world
|
|
|
|
if (!colData.foundCollision)
|
|
return pos + vel;
|
|
|
|
// original destination point
|
|
const core::vector3df destinationPoint = pos + vel;
|
|
core::vector3df newBasePoint = pos;
|
|
|
|
// only update if we are not already very close
|
|
// and if so only move very close to intersection, not to the
|
|
// exact point
|
|
if (colData.nearestDistance >= veryCloseDistance)
|
|
{
|
|
core::vector3df v = vel;
|
|
v.setLength( colData.nearestDistance - veryCloseDistance );
|
|
newBasePoint = colData.basePoint + v;
|
|
|
|
v.normalize();
|
|
colData.intersectionPoint -= (v * veryCloseDistance);
|
|
}
|
|
|
|
// calculate sliding plane
|
|
|
|
const core::vector3df slidePlaneOrigin = colData.intersectionPoint;
|
|
const core::vector3df slidePlaneNormal = (newBasePoint - colData.intersectionPoint).normalize();
|
|
core::plane3d<f32> slidingPlane(slidePlaneOrigin, slidePlaneNormal);
|
|
|
|
core::vector3df newDestinationPoint =
|
|
destinationPoint -
|
|
(slidePlaneNormal * slidingPlane.getDistanceTo(destinationPoint));
|
|
|
|
// generate slide vector
|
|
|
|
const core::vector3df newVelocityVector = newDestinationPoint -
|
|
colData.intersectionPoint;
|
|
|
|
if (newVelocityVector.getLength() < veryCloseDistance)
|
|
return newBasePoint;
|
|
|
|
return collideWithWorld(recursionDepth+1, colData,
|
|
newBasePoint, newVelocityVector);
|
|
}
|
|
|
|
|
|
//! Returns a 3d ray which would go through the 2d screen coordinates.
|
|
core::line3d<f32> CSceneCollisionManager::getRayFromScreenCoordinates(
|
|
const core::position2d<s32> & pos, const ICameraSceneNode* camera)
|
|
{
|
|
core::line3d<f32> ln(0,0,0,0,0,0);
|
|
|
|
if (!SceneManager)
|
|
return ln;
|
|
|
|
if (!camera)
|
|
camera = SceneManager->getActiveCamera();
|
|
|
|
if (!camera)
|
|
return ln;
|
|
|
|
const scene::SViewFrustum* f = camera->getViewFrustum();
|
|
|
|
core::vector3df farLeftUp = f->getFarLeftUp();
|
|
core::vector3df lefttoright = f->getFarRightUp() - farLeftUp;
|
|
core::vector3df uptodown = f->getFarLeftDown() - farLeftUp;
|
|
|
|
const core::rect<s32>& viewPort = Driver->getViewPort();
|
|
core::dimension2d<u32> screenSize(viewPort.getWidth(), viewPort.getHeight());
|
|
|
|
f32 dx = pos.X / (f32)screenSize.Width;
|
|
f32 dy = pos.Y / (f32)screenSize.Height;
|
|
|
|
if (camera->isOrthogonal())
|
|
ln.start = f->cameraPosition + (lefttoright * (dx-0.5f)) + (uptodown * (dy-0.5f));
|
|
else
|
|
ln.start = f->cameraPosition;
|
|
|
|
ln.end = farLeftUp + (lefttoright * dx) + (uptodown * dy);
|
|
|
|
return ln;
|
|
}
|
|
|
|
|
|
//! Calculates 2d screen position from a 3d position.
|
|
core::position2d<s32> CSceneCollisionManager::getScreenCoordinatesFrom3DPosition(
|
|
const core::vector3df & pos3d, const ICameraSceneNode* camera, bool useViewPort)
|
|
{
|
|
if (!SceneManager || !Driver)
|
|
return core::position2d<s32>(-1000,-1000);
|
|
|
|
if (!camera)
|
|
camera = SceneManager->getActiveCamera();
|
|
|
|
if (!camera)
|
|
return core::position2d<s32>(-1000,-1000);
|
|
|
|
core::dimension2d<u32> dim;
|
|
if (useViewPort)
|
|
dim.set(Driver->getViewPort().getWidth(), Driver->getViewPort().getHeight());
|
|
else
|
|
dim=(Driver->getCurrentRenderTargetSize());
|
|
|
|
dim.Width /= 2;
|
|
dim.Height /= 2;
|
|
|
|
core::matrix4 trans = camera->getProjectionMatrix();
|
|
trans *= camera->getViewMatrix();
|
|
|
|
f32 transformedPos[4] = { pos3d.X, pos3d.Y, pos3d.Z, 1.0f };
|
|
|
|
trans.multiplyWith1x4Matrix(transformedPos);
|
|
|
|
if (transformedPos[3] < 0)
|
|
return core::position2d<s32>(-10000,-10000);
|
|
|
|
const f32 zDiv = transformedPos[3] == 0.0f ? 1.0f :
|
|
core::reciprocal(transformedPos[3]);
|
|
|
|
return core::position2d<s32>(
|
|
dim.Width + core::round32(dim.Width * (transformedPos[0] * zDiv)),
|
|
dim.Height - core::round32(dim.Height * (transformedPos[1] * zDiv)));
|
|
}
|
|
|
|
|
|
inline bool CSceneCollisionManager::getLowestRoot(f32 a, f32 b, f32 c, f32 maxR, f32* root) const
|
|
{
|
|
// check if solution exists
|
|
const f32 determinant = b*b - 4.0f*a*c;
|
|
|
|
// if determinant is negative, no solution
|
|
if (determinant < 0.0f || a == 0.f )
|
|
return false;
|
|
|
|
// calculate two roots: (if det==0 then x1==x2
|
|
// but lets disregard that slight optimization)
|
|
|
|
const f32 sqrtD = sqrtf(determinant);
|
|
const f32 invDA = core::reciprocal(2*a);
|
|
f32 r1 = (-b - sqrtD) * invDA;
|
|
f32 r2 = (-b + sqrtD) * invDA;
|
|
|
|
// sort so x1 <= x2
|
|
if (r1 > r2)
|
|
core::swap(r1,r2);
|
|
|
|
// get lowest root
|
|
if (r1 > 0 && r1 < maxR)
|
|
{
|
|
*root = r1;
|
|
return true;
|
|
}
|
|
|
|
// its possible that we want x2, this can happen if x1 < 0
|
|
if (r2 > 0 && r2 < maxR)
|
|
{
|
|
*root = r2;
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
|
|
} // end namespace scene
|
|
} // end namespace irr
|
|
|