Serious-Engine/Sources/Engine/Entities/EntityCollision.cpp

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2016-03-11 14:57:17 +01:00
/* Copyright (c) 2002-2012 Croteam Ltd. All rights reserved. */
#include "Engine/StdH.h"
2016-03-11 14:57:17 +01:00
#include <Engine/Entities/Entity.h>
#include <Engine/Entities/EntityCollision.h>
#include <Engine/Base/ListIterator.inl>
#include <Engine/Math/Geometry.inl>
#include <Engine/Math/Clipping.inl>
#include <Engine/Brushes/Brush.h>
#include <Engine/Templates/DynamicArray.cpp>
#include <Engine/Templates/StaticArray.cpp>
#include <Engine/Network/Network.h>
#include <Engine/Network/SessionState.h>
class CClipTest {
public:
CEntity *ct_penEntity; // the entity
CEntity *ct_penObstacle; // obstacle entity (if cannot change)
INDEX ct_iNewCollisionBox; // index of new collision box to set
CCollisionInfo ct_ciNew; // collision info with new box
FLOATaabbox3D ct_boxTotal; // union box for old and new in absolute coordinates
CListHead ct_lhActiveSectors; // sectors that may be of interest
BOOL PointTouchesSphere(
const FLOAT3D &vPoint,
const FLOAT3D &vSphereCenter,
const FLOAT fSphereRadius);
BOOL PointTouchesCylinder(
const FLOAT3D &vPoint,
const FLOAT3D &vCylinderBottomCenter,
const FLOAT3D &vCylinderTopCenter,
const FLOAT fCylinderRadius);
// project spheres of a collision info to given placement
void ProjectSpheresToPlacement(CCollisionInfo &ci,
FLOAT3D &vPosition, FLOATmatrix3D &mRotation);
// test if a sphere touches brush polygon
BOOL SphereTouchesBrushPolygon(const CMovingSphere &msMoving,
CBrushPolygon *pbpoPolygon);
// test if entity touches brush polygon
BOOL EntityTouchesBrushPolygon(CBrushPolygon *pbpoPolygon);
// test if an entity can change to a new collision box without intersecting anything
BOOL CanChange(CEntity *pen, INDEX iNewCollisionBox);
~CClipTest(void);
};
// test if an entity can change to a new collision box without intersecting anything
BOOL CanEntityChangeCollisionBox(CEntity *pen, INDEX iNewCollisionBox, CEntity **ppenObstacle)
{
// if the entity is not linked to any sectors
if (pen->en_rdSectors.IsEmpty()) {
// make sure that the classification is ok
pen->FindSectorsAroundEntity();
}
CClipTest ct;
BOOL bCan = ct.CanChange(pen, iNewCollisionBox);
*ppenObstacle = ct.ct_penObstacle;
return bCan;
}
// project spheres of a collision info to given placement
void CClipTest::ProjectSpheresToPlacement(CCollisionInfo &ci,
FLOAT3D &vPosition, FLOATmatrix3D &mRotation)
{
// for each sphere
FOREACHINSTATICARRAY(ci.ci_absSpheres, CMovingSphere, itms) {
// project it in start point
itms->ms_vRelativeCenter0 = itms->ms_vCenter*mRotation+vPosition;
}
}
// test point to a sphere
BOOL CClipTest::PointTouchesSphere(
const FLOAT3D &vPoint,
const FLOAT3D &vSphereCenter,
const FLOAT fSphereRadius)
{
FLOAT fD = (vSphereCenter-vPoint).Length();
return fD<fSphereRadius;
}
// test sphere to the edge (point to the edge cylinder)
BOOL CClipTest::PointTouchesCylinder(
const FLOAT3D &vPoint,
const FLOAT3D &vCylinderBottomCenter,
const FLOAT3D &vCylinderTopCenter,
const FLOAT fCylinderRadius)
{
const FLOAT3D vCylinderBottomToTop = vCylinderTopCenter - vCylinderBottomCenter;
const FLOAT fCylinderBottomToTopLength = vCylinderBottomToTop.Length();
const FLOAT3D vCylinderDirection = vCylinderBottomToTop/fCylinderBottomToTopLength;
FLOAT3D vBottomToPoint = vPoint-vCylinderBottomCenter;
FLOAT fPointL = vBottomToPoint%vCylinderDirection;
// if not between top and bottom
if (fPointL<0 || fPointL>fCylinderBottomToTopLength) {
// doesn't touch
return FALSE;
}
// find distance from point to cylinder axis
FLOAT fD = (vBottomToPoint-vCylinderDirection*fPointL).Length();
return fD<fCylinderRadius;
}
// test if a sphere touches brush polygon
BOOL CClipTest::SphereTouchesBrushPolygon(const CMovingSphere &msMoving,
CBrushPolygon *pbpoPolygon)
{
const FLOATplane3D &plPolygon = pbpoPolygon->bpo_pbplPlane->bpl_plAbsolute;
// calculate point distance from polygon plane
FLOAT fDistance = plPolygon.PointDistance(msMoving.ms_vRelativeCenter0);
// if is further away than sphere radius
if (fDistance>msMoving.ms_fR || fDistance<-msMoving.ms_fR) {
// no collision
return FALSE;
}
// calculate coordinate projected to the polygon plane
FLOAT3D vPosMid = msMoving.ms_vRelativeCenter0;
FLOAT3D vHitPoint = plPolygon.ProjectPoint(vPosMid);
// find major axes of the polygon plane
INDEX iMajorAxis1, iMajorAxis2;
GetMajorAxesForPlane(plPolygon, iMajorAxis1, iMajorAxis2);
// create an intersector
CIntersector isIntersector(vHitPoint(iMajorAxis1), vHitPoint(iMajorAxis2));
// for all edges in the polygon
FOREACHINSTATICARRAY(pbpoPolygon->bpo_abpePolygonEdges, CBrushPolygonEdge,
itbpePolygonEdge) {
// get edge vertices (edge direction is irrelevant here!)
const FLOAT3D &vVertex0 = itbpePolygonEdge->bpe_pbedEdge->bed_pbvxVertex0->bvx_vAbsolute;
const FLOAT3D &vVertex1 = itbpePolygonEdge->bpe_pbedEdge->bed_pbvxVertex1->bvx_vAbsolute;
// pass the edge to the intersector
isIntersector.AddEdge(
vVertex0(iMajorAxis1), vVertex0(iMajorAxis2),
vVertex1(iMajorAxis1), vVertex1(iMajorAxis2));
}
// if the polygon is intersected by the ray
if (isIntersector.IsIntersecting()) {
return TRUE;
}
// for each edge in polygon
FOREACHINSTATICARRAY(pbpoPolygon->bpo_abpePolygonEdges, CBrushPolygonEdge, itbpe) {
// get edge vertices (edge direction is important here!)
FLOAT3D vVertex0, vVertex1;
itbpe->GetVertexCoordinatesAbsolute(vVertex0, vVertex1);
// test sphere to the edge (point to the edge cylinder)
if (PointTouchesCylinder(
msMoving.ms_vRelativeCenter0, // point,
vVertex0, // cylinder bottom center,
vVertex1, // cylinder top center,
msMoving.ms_fR // cylinder radius
)) {
return TRUE;
}
// test sphere to the first vertex
// NOTE: using point to sphere collision
if (PointTouchesSphere(
msMoving.ms_vRelativeCenter0, // pount
vVertex0, // sphere center
msMoving.ms_fR // sphere radius
)) {
return TRUE;
}
}
return FALSE;
}
// test if entity touches brush polygon
BOOL CClipTest::EntityTouchesBrushPolygon(CBrushPolygon *pbpoPolygon)
{
// for each sphere
FOREACHINSTATICARRAY(ct_ciNew.ci_absSpheres, CMovingSphere, itms) {
// if it touches
if (SphereTouchesBrushPolygon(*itms, pbpoPolygon)) {
return TRUE;
}
}
return FALSE;
}
// test if an entity can change to a new collision box without intersecting anything
BOOL CClipTest::CanChange(CEntity *pen, INDEX iNewCollisionBox)
{
// can be used only for models
ASSERT(
pen->en_RenderType==CEntity::RT_MODEL ||
pen->en_RenderType==CEntity::RT_EDITORMODEL ||
pen->en_RenderType==CEntity::RT_SKAMODEL ||
pen->en_RenderType==CEntity::RT_SKAEDITORMODEL);
// safety check
if (pen->en_pciCollisionInfo==NULL) {
return FALSE;
}
// remember parameters
ct_penEntity = pen;
ct_iNewCollisionBox = iNewCollisionBox;
ct_penObstacle = NULL;
// create new temporary collision info
ct_ciNew.FromModel(pen, iNewCollisionBox);
// project it to entity placement
ProjectSpheresToPlacement(ct_ciNew,
pen->en_plPlacement.pl_PositionVector, pen->en_mRotation);
// get total bounding box encompassing both old and new collision boxes
FLOATaabbox3D boxOld, boxNew;
ASSERT(ct_penEntity->en_pciCollisionInfo!=NULL);
CCollisionInfo &ciOld = *ct_penEntity->en_pciCollisionInfo;
ciOld.MakeBoxAtPlacement(ct_penEntity->en_plPlacement.pl_PositionVector,
ct_penEntity->en_mRotation, boxOld);
ct_ciNew.MakeBoxAtPlacement(ct_penEntity->en_plPlacement.pl_PositionVector,
ct_penEntity->en_mRotation, boxNew);
ct_boxTotal = boxOld;
ct_boxTotal |= boxNew;
// for each zoning sector that this entity is in
{FOREACHSRCOFDST(ct_penEntity->en_rdSectors, CBrushSector, bsc_rsEntities, pbsc)
// add it to list of active sectors
ct_lhActiveSectors.AddTail(pbsc->bsc_lnInActiveSectors);
ENDFOR}
// for each active sector
FOREACHINLIST(CBrushSector, bsc_lnInActiveSectors, ct_lhActiveSectors, itbsc) {
// for non-zoning brush entities in the sector
{FOREACHDSTOFSRC(itbsc->bsc_rsEntities, CEntity, en_rdSectors, pen)
if (pen->en_RenderType!=CEntity::RT_BRUSH&&
(_pNetwork->ga_ulDemoMinorVersion<=4 || pen->en_RenderType!=CEntity::RT_FIELDBRUSH)) {
break; // brushes are sorted first in list
}
// get first mip
CBrushMip *pbm = pen->en_pbrBrush->GetFirstMip();
// if brush mip exists for that mip factor
if (pbm!=NULL) {
// for each sector in the mip
{FOREACHINDYNAMICARRAY(pbm->bm_abscSectors, CBrushSector, itbscNonZoning) {
CBrushSector &bscNonZoning = *itbscNonZoning;
// add it to list of active sectors
if(!bscNonZoning.bsc_lnInActiveSectors.IsLinked()) {
ct_lhActiveSectors.AddTail(bscNonZoning.bsc_lnInActiveSectors);
}
}}
}
ENDFOR}
// if the sector's brush doesn't have collision
CEntity *penSectorBrush = itbsc->bsc_pbmBrushMip->bm_pbrBrush->br_penEntity;
if (penSectorBrush->en_ulCollisionFlags==0 ||
(_pNetwork->ga_ulDemoMinorVersion>2 && penSectorBrush->en_RenderType!=CEntity::RT_BRUSH) ) {
// skip it
continue;
}
// for each polygon in the sector
FOREACHINSTATICARRAY(itbsc->bsc_abpoPolygons, CBrushPolygon, itbpo) {
CBrushPolygon *pbpo = itbpo;
// if its bbox has no contact with bbox to test
if (!pbpo->bpo_boxBoundingBox.HasContactWith(ct_boxTotal) ) {
// skip it
continue;
}
// if it is passable
if (pbpo->bpo_ulFlags&BPOF_PASSABLE) {
// for each sector related to the portal
{FOREACHDSTOFSRC(pbpo->bpo_rsOtherSideSectors, CBrushSector, bsc_rdOtherSidePortals, pbscRelated)
// if the sector is not active
if (!pbscRelated->bsc_lnInActiveSectors.IsLinked()) {
// add it to active list
ct_lhActiveSectors.AddTail(pbscRelated->bsc_lnInActiveSectors);
}
ENDFOR}
// if it is not passable
} else {
// if entity touches it
if (EntityTouchesBrushPolygon(pbpo)) {
// test fails
ct_penObstacle = pbpo->bpo_pbscSector->bsc_pbmBrushMip->bm_pbrBrush->br_penEntity;
return FALSE;
}
}
}
}
return TRUE;
}
CClipTest::~CClipTest(void)
{
// clear list of active sectors
{FORDELETELIST(CBrushSector, bsc_lnInActiveSectors, ct_lhActiveSectors, itbsc) {
itbsc->bsc_lnInActiveSectors.Remove();
}}
}