Adding more bounds overlap tests.
This commit is contained in:
Бранимир Караџић
parent
01a5acaca6
commit
649033599b
@ -667,7 +667,8 @@ public:
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);
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constexpr uint32_t kSelected = 0xff80ffff;
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constexpr uint32_t kOverlap = 0xff0000ff;
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constexpr uint32_t kOverlapA = 0xff0000ff;
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constexpr uint32_t kOverlapB = 0xff8080ff;
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DebugDrawEncoder dde;
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@ -883,11 +884,11 @@ public:
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Sphere sphereB = { { xx+kStepX*0.0f, yy, zz+kStepZ*0.0f }, 0.5f };
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olp = overlap(sphereA, sphereB);;
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(sphereA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.draw(sphereB);
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}
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@ -898,11 +899,11 @@ public:
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toAabb(aabbB, { xx+kStepX*1.0f, yy, zz+kStepZ*0.0f }, { 0.5f, 0.5f, 0.5f });
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olp = overlap(sphereA, aabbB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(sphereA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.draw(aabbB);
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}
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@ -920,11 +921,11 @@ public:
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olp = overlap(sphereA, triangleB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(sphereA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.draw(triangleB);
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}
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@ -945,11 +946,11 @@ public:
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olp = overlap(sphereA, planeB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(sphereA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.drawGrid(planeB.normal, triangleB.v0, 10, 0.3f);
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}
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@ -972,11 +973,11 @@ public:
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olp = overlap(sphereA, diskB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(sphereA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.draw(diskB);
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}
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@ -999,11 +1000,11 @@ public:
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olp = overlap(sphereA, obbB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(sphereA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.draw(obbB);
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}
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@ -1020,11 +1021,11 @@ public:
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olp = overlap(sphereA, capsuleB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(sphereA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.draw(capsuleB);
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}
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@ -1041,11 +1042,11 @@ public:
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olp = overlap(sphereA, cylinderB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(sphereA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.draw(cylinderB);
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}
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@ -1062,11 +1063,11 @@ public:
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olp = overlap(sphereA, coneB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(sphereA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.draw(coneB);
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}
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@ -1078,11 +1079,11 @@ public:
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toAabb(aabbB, { xx+kStepX*1.0f, yy, zz+kStepZ*1.0f }, { 0.5f, 0.5f, 0.5f });
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olp = overlap(aabbA, aabbB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(aabbA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.draw(aabbB);
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}
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@ -1101,11 +1102,11 @@ public:
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olp = overlap(aabbA, triangleB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(aabbA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.draw(triangleB);
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}
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@ -1127,11 +1128,11 @@ public:
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olp = overlap(aabbA, planeB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(aabbA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.drawGrid(planeB.normal, triangleB.v0, 10, 0.3f);
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}
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@ -1155,11 +1156,11 @@ public:
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olp = overlap(aabbA, diskB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(aabbA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.draw(diskB);
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}
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@ -1186,11 +1187,11 @@ public:
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olp = overlap(triangleA, triangleB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(triangleA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.draw(triangleB);
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}
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@ -1219,11 +1220,11 @@ public:
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olp = overlap(triangleA, planeB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(triangleA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.drawGrid(planeB.normal, triangleB.v0, 10, 0.3f);
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}
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@ -1254,14 +1255,41 @@ public:
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olp = overlap(triangleA, diskB);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(triangleA);
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dde.setColor(olp ? kOverlap : 0xffffffff);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.draw(diskB);
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}
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// Capsule ---
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{
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Capsule capsuleA =
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{
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{ px+kStepX*6.0f, py-1.0f, pz+kStepZ*3.0f },
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{ px+kStepX*6.0f, py+1.0f, pz+kStepZ*3.0f },
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0.5f,
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};
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Capsule capsuleB =
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{
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{ xx+kStepX*5.9f, yy-1.0f, zz+kStepZ*3.0f+0.1f },
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{ xx+kStepX*6.0f, yy+1.0f, zz+kStepZ*3.0f },
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0.2f,
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};
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olp = overlap(capsuleA, capsuleB);
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dde.setColor(olp ? kOverlapA : 0xffffffff);
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dde.setWireframe(false);
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dde.draw(capsuleA);
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dde.setColor(olp ? kOverlapB : 0xffffffff);
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dde.setWireframe(true);
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dde.draw(capsuleB);
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}
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}
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dde.pop();
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@ -3,7 +3,6 @@
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* License: https://github.com/bkaradzic/bgfx#license-bsd-2-clause
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*/
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#include <bx/debug.h>
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#include <bx/rng.h>
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#include <bx/math.h>
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#include "bounds.h"
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@ -1024,6 +1023,58 @@ struct LineSegment
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Vec3 end;
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};
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bool nearZero(float _v)
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{
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return bx::abs(_v) < 0.0001f;
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}
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bool nearZero(const Vec3& _v)
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{
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return nearZero(dot(_v, _v) );
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}
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bool intersect(float& _outTa, float& _outTb, const LineSegment& _a, const LineSegment _b)
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{
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// Reference(s):
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//
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// - The shortest line between two lines in 3D
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// https://web.archive.org/web/20120309093234/http://paulbourke.net/geometry/lineline3d/
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const Vec3 bd = sub(_b.end, _b.pos);
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if (nearZero(bd) )
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{
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return false;
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}
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const Vec3 ad = sub(_a.end, _a.pos);
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if (nearZero(ad) )
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{
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return false;
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}
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const Vec3 ab = sub(_a.pos, _b.pos);
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const float d0 = projectToAxis(ab, bd);
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const float d1 = projectToAxis(ad, bd);
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const float d2 = projectToAxis(ab, ad);
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const float d3 = projectToAxis(bd, bd);
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const float d4 = projectToAxis(ad, ad);
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const float denom = d4*d3 - square(d1);
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float ta = 0.0f;
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if (!nearZero(denom) )
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{
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ta = (d0*d1 - d2*d3)/denom;
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}
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_outTa = ta;
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_outTb = (d0+d1*ta)/d3;
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return true;
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}
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Vec3 closestPoint(const LineSegment& _line, const Vec3& _point, float& _outT)
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{
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const Vec3 axis = sub(_line.end, _line.pos);
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@ -1320,6 +1371,128 @@ bool overlap(const Aabb& _aabb, const Obb& _obb)
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return false;
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}
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bool overlap(const Capsule& _capsule, const bx::Vec3& _pos)
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{
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const Vec3 pos = closestPoint(LineSegment{_capsule.pos, _capsule.end}, _pos);
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return overlap(Sphere{pos, _capsule.radius}, _pos);
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}
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bool overlap(const Capsule& _capsule, const Sphere& _sphere)
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{
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return overlap(_sphere, _capsule);
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}
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bool overlap(const Capsule& _capsule, const Aabb& _aabb)
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{
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return overlap(_aabb, _capsule);
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}
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bool overlap(const Capsule& _capsule, const bx::Plane& _plane)
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{
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BX_UNUSED(_capsule, _plane);
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return false;
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}
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bool overlap(const Capsule& _capsule, const Triangle& _triangle)
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{
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return overlap(_triangle, _capsule);
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}
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bool overlap(const Capsule& _capsule, const Cylinder& _cylinder)
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{
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BX_UNUSED(_capsule, _cylinder);
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return false;
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}
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bool overlap(const Capsule& _capsuleA, const Capsule& _capsuleB)
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{
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float ta, tb;
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if (!intersect(ta, tb, {_capsuleA.pos, _capsuleA.end}, {_capsuleB.pos, _capsuleB.end}) )
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{
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return false;
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}
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if (0.0f <= ta
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&& 1.0f >= ta
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&& 0.0f <= tb
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&& 1.0f >= tb)
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{
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const Vec3 ad = sub(_capsuleA.end, _capsuleA.pos);
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const Vec3 bd = sub(_capsuleB.end, _capsuleB.pos);
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return overlap(
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Sphere{mad(ad, ta, _capsuleA.pos), _capsuleA.radius}
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, Sphere{mad(bd, tb, _capsuleB.pos), _capsuleB.radius}
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);
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}
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if (0.0f <= ta
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&& 1.0f >= ta)
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{
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Sphere sphereB;
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sphereB.radius = _capsuleB.radius;
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if (0.0f >= tb)
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{
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sphereB.center = _capsuleB.pos;
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}
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else
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{
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sphereB.center = _capsuleB.end;
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}
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return overlap(_capsuleA, sphereB);
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}
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if (0.0f <= tb
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&& 1.0f >= tb)
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{
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Sphere sphereA;
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sphereA.radius = _capsuleA.radius;
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if (0.0f >= ta)
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{
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sphereA.center = _capsuleA.pos;
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}
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else
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{
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sphereA.center = _capsuleA.end;
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}
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return overlap(_capsuleB, sphereA);
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}
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const Vec3 pa = 0.0f > ta ? _capsuleA.pos : _capsuleA.end;
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const Vec3 pb = 0.0f > tb ? _capsuleB.pos : _capsuleB.end;
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const Vec3 closestA = closestPoint(LineSegment{_capsuleA.pos, _capsuleA.end}, pb);
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const Vec3 closestB = closestPoint(LineSegment{_capsuleB.pos, _capsuleB.end}, pa);
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if (dot(closestA, pb) <= dot(closestB, pa) )
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{
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return overlap(_capsuleA, Sphere{closestB, _capsuleB.radius});
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}
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return overlap(_capsuleB, Sphere{closestA, _capsuleA.radius});
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}
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bool overlap(const Capsule& _capsule, const Cone& _cone)
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{
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BX_UNUSED(_capsule, _cone);
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return false;
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}
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bool overlap(const Capsule& _capsule, const Disk& _disk)
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{
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BX_UNUSED(_capsule, _disk);
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return false;
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}
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bool overlap(const Capsule& _capsule, const Obb& _obb)
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{
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BX_UNUSED(_capsule, _obb);
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return false;
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}
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bool overlap(const Triangle& _triangle, const Vec3& _pos)
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{
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const Vec3 uvw = barycentric(_triangle, _pos);
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@ -225,6 +225,36 @@ bool overlap(const Aabb& _aabb, const Disk& _disk);
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///
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bool overlap(const Aabb& _aabb, const Obb& _obb);
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///
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bool overlap(const Capsule& _capsule, const bx::Vec3& _pos);
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///
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bool overlap(const Capsule& _capsule, const Sphere& _sphere);
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///
|
||||
bool overlap(const Capsule& _capsule, const Aabb& _aabb);
|
||||
|
||||
///
|
||||
bool overlap(const Capsule& _capsule, const bx::Plane& _plane);
|
||||
|
||||
///
|
||||
bool overlap(const Capsule& _capsule, const Triangle& _triangle);
|
||||
|
||||
///
|
||||
bool overlap(const Capsule& _capsule, const Cylinder& _cylinder);
|
||||
|
||||
///
|
||||
bool overlap(const Capsule& _capsuleA, const Capsule& _capsuleB);
|
||||
|
||||
///
|
||||
bool overlap(const Capsule& _capsule, const Cone& _cone);
|
||||
|
||||
///
|
||||
bool overlap(const Capsule& _capsule, const Disk& _disk);
|
||||
|
||||
///
|
||||
bool overlap(const Capsule& _capsule, const Obb& _obb);
|
||||
|
||||
///
|
||||
bool overlap(const Triangle& _triangle, const bx::Vec3& _pos);
|
||||
|
||||
|
||||
@ -2578,3 +2578,14 @@ void DebugDrawEncoder::drawOrb(float _x, float _y, float _z, float _radius, Axis
|
||||
{
|
||||
DEBUG_DRAW_ENCODER(drawOrb(_x, _y, _z, _radius, _highlight) );
|
||||
}
|
||||
|
||||
DebugDrawEncoderScopePush::DebugDrawEncoderScopePush(DebugDrawEncoder& _dde)
|
||||
: m_dde(_dde)
|
||||
{
|
||||
m_dde.push();
|
||||
}
|
||||
|
||||
DebugDrawEncoderScopePush::~DebugDrawEncoderScopePush()
|
||||
{
|
||||
m_dde.pop();
|
||||
}
|
||||
|
||||
@ -7,6 +7,7 @@
|
||||
#define DEBUGDRAW_H_HEADER_GUARD
|
||||
|
||||
#include <bx/allocator.h>
|
||||
#include <bgfx/bgfx.h>
|
||||
#include "../bounds.h"
|
||||
|
||||
struct Axis
|
||||
@ -50,7 +51,7 @@ GeometryHandle ddCreateGeometry(uint32_t _numVertices, const DdVertex* _vertices
|
||||
///
|
||||
void ddDestroy(GeometryHandle _handle);
|
||||
|
||||
|
||||
///
|
||||
struct DebugDrawEncoder
|
||||
{
|
||||
///
|
||||
@ -197,4 +198,18 @@ struct DebugDrawEncoder
|
||||
BX_ALIGN_DECL_CACHE_LINE(uint8_t) m_internal[50<<10];
|
||||
};
|
||||
|
||||
///
|
||||
class DebugDrawEncoderScopePush
|
||||
{
|
||||
public:
|
||||
///
|
||||
DebugDrawEncoderScopePush(DebugDrawEncoder& _dde);
|
||||
|
||||
///
|
||||
~DebugDrawEncoderScopePush();
|
||||
|
||||
private:
|
||||
DebugDrawEncoder& m_dde;
|
||||
};
|
||||
|
||||
#endif // DEBUGDRAW_H_HEADER_GUARD
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user