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Implemented KRTriangle3 class.

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Implemented swept sphere - mesh intersection testing / sphereCast functionality. - Not yet fully tested or optimized.

--HG--
branch : nfb
This commit is contained in:
Kearwood Gilbert
2014-02-13 00:36:54 -08:00
parent d05b6c434c
commit 877b4b9bb7
17 changed files with 634 additions and 100 deletions
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47
KREngine/kraken/KRCollider.cpp
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@@ -99,14 +99,17 @@ bool KRCollider::lineCast(const KRVector3 &v0, const KRVector3 &v1, KRHitInfo &h
loadModel();
if(m_models.size()) {
if(getBounds().intersectsLine(v0, v1)) {
KRHitInfo hitinfo_model_space;
if(hitinfo.didHit()) {
hitinfo_model_space = KRHitInfo(KRMat4::Dot(getInverseModelMatrix(), hitinfo.getPosition()), KRMat4::DotNoTranslate(getInverseModelMatrix(), hitinfo.getNormal()), hitinfo.getNode());
}
KRVector3 v0_model_space = KRMat4::Dot(getInverseModelMatrix(), v0);
KRVector3 v1_model_space = KRMat4::Dot(getInverseModelMatrix(), v1);
KRHitInfo hitinfo_model_space;
if(hitinfo.didHit()) {
KRVector3 hit_position_model_space = KRMat4::Dot(getInverseModelMatrix(), hitinfo.getPosition());
hitinfo_model_space = KRHitInfo(hit_position_model_space, KRMat4::DotNoTranslate(getInverseModelMatrix(), hitinfo.getNormal()), (hit_position_model_space - v0_model_space).magnitude(), hitinfo.getNode());
}
if(m_models[0]->lineCast(v0_model_space, v1_model_space, hitinfo_model_space)) {
hitinfo = KRHitInfo(KRMat4::Dot(getModelMatrix(), hitinfo_model_space.getPosition()), KRVector3::Normalize(KRMat4::DotNoTranslate(getModelMatrix(), hitinfo_model_space.getNormal())), this);
KRVector3 hit_position_world_space = KRMat4::Dot(getModelMatrix(), hitinfo_model_space.getPosition());
hitinfo = KRHitInfo(hit_position_world_space, KRVector3::Normalize(KRMat4::DotNoTranslate(getModelMatrix(), hitinfo_model_space.getNormal())), (hit_position_world_space - v0).magnitude(), this);
return true;
}
}
@@ -121,14 +124,38 @@ bool KRCollider::rayCast(const KRVector3 &v0, const KRVector3 &dir, KRHitInfo &h
loadModel();
if(m_models.size()) {
if(getBounds().intersectsRay(v0, dir)) {
KRHitInfo hitinfo_model_space;
if(hitinfo.didHit()) {
hitinfo_model_space = KRHitInfo(KRMat4::Dot(getInverseModelMatrix(), hitinfo.getPosition()), KRVector3::Normalize(KRMat4::DotNoTranslate(getInverseModelMatrix(), hitinfo.getNormal())), hitinfo.getNode());
}
KRVector3 v0_model_space = KRMat4::Dot(getInverseModelMatrix(), v0);
KRVector3 dir_model_space = KRVector3::Normalize(KRMat4::DotNoTranslate(getInverseModelMatrix(), dir));
KRHitInfo hitinfo_model_space;
if(hitinfo.didHit()) {
KRVector3 hit_position_model_space = KRMat4::Dot(getInverseModelMatrix(), hitinfo.getPosition());
hitinfo_model_space = KRHitInfo(KRMat4::Dot(getInverseModelMatrix(), hitinfo.getPosition()), KRVector3::Normalize(KRMat4::DotNoTranslate(getInverseModelMatrix(), hitinfo.getNormal())), (hit_position_model_space - v0_model_space).magnitude(), hitinfo.getNode());
}
if(m_models[0]->rayCast(v0_model_space, dir_model_space, hitinfo_model_space)) {
hitinfo = KRHitInfo(KRMat4::Dot(getModelMatrix(), hitinfo_model_space.getPosition()), KRVector3::Normalize(KRMat4::DotNoTranslate(getModelMatrix(), hitinfo_model_space.getNormal())), this);
KRVector3 hit_position_world_space = KRMat4::Dot(getModelMatrix(), hitinfo_model_space.getPosition());
hitinfo = KRHitInfo(hit_position_world_space, KRVector3::Normalize(KRMat4::DotNoTranslate(getModelMatrix(), hitinfo_model_space.getNormal())), (hit_position_world_space - v0).magnitude(), this);
return true;
}
}
}
}
return false;
}
bool KRCollider::sphereCast(const KRVector3 &v0, const KRVector3 &v1, float radius, KRHitInfo &hitinfo, unsigned int layer_mask)
{
if(layer_mask & m_layer_mask) { // Only test if layer masks have a common bit set
loadModel();
if(m_models.size()) {
KRAABB sphereCastBounds = KRAABB(
KRVector3(KRMIN(v0.x, v1.x) - radius, KRMIN(v0.y, v1.y) - radius, KRMIN(v0.z, v1.z) - radius),
KRVector3(KRMAX(v0.x, v1.x) + radius, KRMAX(v0.y, v1.y) + radius, KRMAX(v0.z, v1.z) + radius)
);
if(getBounds().intersects(sphereCastBounds)) {
if(m_models[0]->sphereCast(getModelMatrix(), v0, v1, radius, hitinfo)) {
hitinfo = KRHitInfo(hitinfo.getPosition(), hitinfo.getNormal(), hitinfo.getDistance(), this);
return true;
}
}