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Implement box-into-box collision test, and fix a scaling issue with box-into-plane

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This commit is contained in:
rdb 2015-12-05 13:14:27 +01:00
parent f7b61d4fa4
commit fe9e752229
2 changed files with 155 additions and 12 deletions
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151
panda/src/collide/collisionBox.cxx
View File

@ -619,18 +619,161 @@ test_intersection_from_segment(const CollisionEntry &entry) const {
return new_entry;
}
////////////////////////////////////////////////////////////////////
// Function: CollisionBox::test_intersection_from_box
// Access: Public, Virtual
// Description: Double dispatch point for box as a FROM object
// NOT Implemented.
////////////////////////////////////////////////////////////////////
PT(CollisionEntry) CollisionBox::
test_intersection_from_box(const CollisionEntry &entry) const {
return NULL;
}
const CollisionBox *box;
DCAST_INTO_R(box, entry.get_from(), 0);
const LMatrix4 &wrt_mat = entry.get_wrt_mat();
LPoint3 diff = wrt_mat.xform_point_general(box->get_center()) - _center;
LVector3 from_extents = box->get_dimensions() * 0.5f;
LVector3 into_extents = get_dimensions() * 0.5f;
LVecBase3 box_x = wrt_mat.get_row3(0);
LVecBase3 box_y = wrt_mat.get_row3(1);
LVecBase3 box_z = wrt_mat.get_row3(2);
// To make the math simpler, normalize the box basis vectors, instead
// applying the scale to the box dimensions. Note that this doesn't
// work for a non-uniform scales applied after a rotation, since that
// has the possibility of making the box no longer a box.
PN_stdfloat l;
l = box_x.length();
from_extents[0] *= l;
box_x /= l;
l = box_y.length();
from_extents[1] *= l;
box_y /= l;
l = box_z.length();
from_extents[2] *= l;
box_z /= l;
PN_stdfloat r1, r2;
// SAT test for the three axes of the into cube.
r1 = into_extents[0];
r2 = cabs(box_x[0] * from_extents[0]) +
cabs(box_y[0] * from_extents[1]) +
cabs(box_z[0] * from_extents[2]);
if (cabs(diff[0]) > r1 + r2) {
return NULL;
}
r1 = into_extents[1];
r2 = cabs(box_x[1] * from_extents[0]) +
cabs(box_y[1] * from_extents[1]) +
cabs(box_z[1] * from_extents[2]);
if (cabs(diff[1]) > r1 + r2) {
return NULL;
}
r1 = into_extents[2];
r2 = cabs(box_x[2] * from_extents[0]) +
cabs(box_y[2] * from_extents[1]) +
cabs(box_z[2] * from_extents[2]);
if (cabs(diff[2]) > r1 + r2) {
return NULL;
}
// SAT test for the three axes of the from cube.
r1 = cabs(box_x[0] * into_extents[0]) +
cabs(box_x[1] * into_extents[1]) +
cabs(box_x[2] * into_extents[2]);
r2 = from_extents[0];
if (cabs(diff.dot(box_x)) > r1 + r2) {
return NULL;
}
r1 = cabs(box_y[0] * into_extents[0]) +
cabs(box_y[1] * into_extents[1]) +
cabs(box_y[2] * into_extents[2]);
r2 = from_extents[1];
if (cabs(diff.dot(box_y)) > r1 + r2) {
return NULL;
}
r1 = cabs(box_z[0] * into_extents[0]) +
cabs(box_z[1] * into_extents[1]) +
cabs(box_z[2] * into_extents[2]);
r2 = from_extents[2];
if (cabs(diff.dot(box_z)) > r1 + r2) {
return NULL;
}
// SAT test of the nine cross products.
r1 = into_extents[1] * cabs(box_x[2]) + into_extents[2] * cabs(box_x[1]);
r2 = from_extents[1] * cabs(box_z[0]) + from_extents[2] * cabs(box_y[0]);
if (cabs(diff[2] * box_x[1] - diff[1] * box_x[2]) > r1 + r2) {
return NULL;
}
r1 = into_extents[1] * cabs(box_y[2]) + into_extents[2] * cabs(box_y[1]);
r2 = from_extents[0] * cabs(box_z[0]) + from_extents[2] * cabs(box_x[0]);
if (cabs(diff[2] * box_y[1] - diff[1] * box_y[2]) > r1 + r2) {
return NULL;
}
r1 = into_extents[1] * cabs(box_z[2]) + into_extents[2] * cabs(box_z[1]);
r2 = from_extents[0] * cabs(box_y[0]) + from_extents[1] * cabs(box_x[0]);
if (cabs(diff[2] * box_z[1] - diff[1] * box_z[2]) > r1 + r2) {
return NULL;
}
r1 = into_extents[0] * cabs(box_x[2]) + into_extents[2] * cabs(box_x[0]);
r2 = from_extents[1] * cabs(box_z[1]) + from_extents[2] * cabs(box_y[1]);
if (cabs(diff[0] * box_x[2] - diff[2] * box_x[0]) > r1 + r2) {
return NULL;
}
r1 = into_extents[0] * cabs(box_y[2]) + into_extents[2] * cabs(box_y[0]);
r2 = from_extents[0] * cabs(box_z[1]) + from_extents[2] * cabs(box_x[1]);
if (cabs(diff[0] * box_y[2] - diff[2] * box_y[0]) > r1 + r2) {
return NULL;
}
r1 = into_extents[0] * cabs(box_z[2]) + into_extents[2] * cabs(box_z[0]);
r2 = from_extents[0] * cabs(box_y[1]) + from_extents[1] * cabs(box_x[1]);
if (cabs(diff[0] * box_z[2] - diff[2] * box_z[0]) > r1 + r2) {
return NULL;
}
r1 = into_extents[0] * cabs(box_x[1]) + into_extents[1] * cabs(box_x[0]);
r2 = from_extents[1] * cabs(box_z[2]) + from_extents[2] * cabs(box_y[2]);
if (cabs(diff[1] * box_x[0] - diff[0] * box_x[1]) > r1 + r2) {
return NULL;
}
r1 = into_extents[0] * cabs(box_y[1]) + into_extents[1] * cabs(box_y[0]);
r2 = from_extents[0] * cabs(box_z[2]) + from_extents[2] * cabs(box_x[2]);
if (cabs(diff[1] * box_y[0] - diff[0] * box_y[1]) > r1 + r2) {
return NULL;
}
r1 = into_extents[0] * cabs(box_z[1]) + into_extents[1] * cabs(box_z[0]);
r2 = from_extents[0] * cabs(box_y[2]) + from_extents[1] * cabs(box_x[2]);
if (cabs(diff[1] * box_z[0] - diff[0] * box_z[1]) > r1 + r2) {
return NULL;
}
if (collide_cat.is_debug()) {
collide_cat.debug()
<< "intersection detected from " << entry.get_from_node_path()
<< " into " << entry.get_into_node_path() << "\n";
}
PT(CollisionEntry) new_entry = new CollisionEntry(entry);
if (has_effective_normal() && box->get_respect_effective_normal()) {
new_entry->set_surface_normal(get_effective_normal());
}
return new_entry;
}
////////////////////////////////////////////////////////////////////
// Function: CollisionBox::fill_viz_geom

16
panda/src/collide/collisionPlane.cxx
View File

@ -405,17 +405,17 @@ test_intersection_from_box(const CollisionEntry &entry) const {
const LMatrix4 &wrt_mat = entry.get_wrt_mat();
LPoint3 from_center = box->get_center() * wrt_mat;
LVector3 from_extents = box->get_dimensions() * wrt_mat * 0.5;
LVector3 from_extents = box->get_dimensions() * 0.5f;
PN_stdfloat dist = _plane.dist_to_plane(from_center);
LVecBase3 box_x = entry.get_wrt_mat().get_row3(0);
LVecBase3 box_y = entry.get_wrt_mat().get_row3(1);
LVecBase3 box_z = entry.get_wrt_mat().get_row3(2);
LVecBase3 box_x = wrt_mat.get_row3(0);
LVecBase3 box_y = wrt_mat.get_row3(1);
LVecBase3 box_z = wrt_mat.get_row3(2);
if (abs(dist) >
abs(box_x.dot(_plane.get_normal()) * from_extents[0]) +
abs(box_y.dot(_plane.get_normal()) * from_extents[1]) +
abs(box_z.dot(_plane.get_normal()) * from_extents[2])) {
if (cabs(dist) >
cabs(box_x.dot(_plane.get_normal()) * from_extents[0]) +
cabs(box_y.dot(_plane.get_normal()) * from_extents[1]) +
cabs(box_z.dot(_plane.get_normal()) * from_extents[2])) {
// No collision.
return NULL;
}