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Updated the BoxVsBox collision alghorithm 

and added overloaded
This commit is contained in:
Dander7BD 2013-12-17 12:27:23 +01:00
parent a03568e19e
commit 632570f66b
2 changed files with 34 additions and 22 deletions
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55
Code/OysterPhysics3D/OysterCollision3D.cpp
View File

@ -81,7 +81,7 @@ namespace Oyster { namespace Collision3D { namespace Utility
centerDistance = box.center.Dot(plane.normal) + plane.phasing; // distance between box center and plane
}
bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float3 &boundingOffsetA, const Float3 &boundingOffsetB, const Float4x4 &rotationB, const Float3 &worldOffset )
bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float3 &boundingOffsetA, const Float3 &boundingOffsetB, const Float4x4 &rotationB, const Float4 &worldOffset )
{ // by Dan Andersson
/*****************************************************************
@ -121,19 +121,19 @@ namespace Oyster { namespace Collision3D { namespace Utility
}
// s = RB.v[0].xyz
if( Abs(worldOffset.Dot(rotationB.v[0].xyz)) > boundingOffsetA.Dot(absRotationB.v[0].xyz) + boundingOffsetB.x )
if( Abs(worldOffset.Dot(rotationB.v[0])) > boundingOffsetA.Dot(absRotationB.v[0].xyz) + boundingOffsetB.x )
{ // |t dot s| > hA dot |s| + hB dot |s * RB| -->> |t dot s| > hA dot |s| + hB dot |{1, 0, 0}| -->> |t dot s| > hA dot |s| + hB.x
return false;
}
// s = RB.v[1].xyz
if( Abs(worldOffset.Dot(rotationB.v[1].xyz)) > boundingOffsetA.Dot(absRotationB.v[1].xyz) + boundingOffsetB.y )
if( Abs(worldOffset.Dot(rotationB.v[1])) > boundingOffsetA.Dot(absRotationB.v[1].xyz) + boundingOffsetB.y )
{ // |t dot s| > hA dot |s| + hB.y
return false;
}
// s = RB.v[2].xyz
if( Abs(worldOffset.Dot(rotationB.v[2].xyz)) > boundingOffsetA.Dot(absRotationB.v[2].xyz) + boundingOffsetB.z )
if( Abs(worldOffset.Dot(rotationB.v[2])) > boundingOffsetA.Dot(absRotationB.v[2].xyz) + boundingOffsetB.z )
{ // |t dot s| > hA dot |s| + hB.z
return false;
}
@ -204,7 +204,7 @@ namespace Oyster { namespace Collision3D { namespace Utility
return true;
}
bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float3 &boundingOffsetA, const Float3 &boundingOffsetB, const Float4x4 &rotationB, const Float3 &worldOffset, Float3 &worldPointOfContact )
bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float3 &boundingOffsetA, const Float3 &boundingOffsetB, const Float4x4 &rotationB, const Float4 &worldOffset, Float4 &worldPointOfContact )
{ // by Dan Andersson
/*****************************************************************
@ -229,8 +229,8 @@ namespace Oyster { namespace Collision3D { namespace Utility
* = ( p1 + p2 + ... + p5 + p6 ) / 2
*****************************************************************/
Float4 t = Float4( worldOffset, 0.0f ),
s = Float4::standard_unit_x,
const Float4 &t = worldOffset;
Float4 s = Float4::standard_unit_x,
hA = Float4( boundingOffsetA, 0.0f ),
hB = Float4( boundingOffsetB, 0.0f );
Float centerSeperation = t.Dot(s),
@ -240,7 +240,7 @@ namespace Oyster { namespace Collision3D { namespace Utility
{ // no intersection
return false;
}
Float4 sumPoints = s * ( centerSeperation * eA / edgeSeperation );
worldPointOfContact = s * ( centerSeperation * eA / edgeSeperation );
s = Float4::standard_unit_y;
centerSeperation = t.Dot(s);
@ -250,7 +250,7 @@ namespace Oyster { namespace Collision3D { namespace Utility
{ // no intersection
return false;
}
sumPoints += s * ( centerSeperation * eA / edgeSeperation );
worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation );
s = Float4::standard_unit_z;
centerSeperation = t.Dot(s);
@ -260,7 +260,7 @@ namespace Oyster { namespace Collision3D { namespace Utility
{ // no intersection
return false;
}
sumPoints += s * ( centerSeperation * eA / edgeSeperation );
worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation );
s = rotationB.v[0];
centerSeperation = t.Dot(s);
@ -270,7 +270,7 @@ namespace Oyster { namespace Collision3D { namespace Utility
{ // no intersection
return false;
}
sumPoints += s * ( centerSeperation * eA / edgeSeperation );
worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation );
s = rotationB.v[1];
centerSeperation = t.Dot(s);
@ -280,7 +280,7 @@ namespace Oyster { namespace Collision3D { namespace Utility
{ // no intersection
return false;
}
sumPoints += s * ( centerSeperation * eA / edgeSeperation );
worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation );
s = rotationB.v[2];
centerSeperation = t.Dot(s);
@ -290,7 +290,7 @@ namespace Oyster { namespace Collision3D { namespace Utility
{ // no intersection
return false;
}
sumPoints += s * ( centerSeperation * eA / edgeSeperation ); // enough point of contact data gathered for approximative result.
worldPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); // enough point of contact data gathered for approximative result.
s = Float4( Float3::standard_unit_x.Cross(rotationB.v[0].xyz), 0.0f );
centerSeperation = t.Dot(s);
@ -373,7 +373,7 @@ namespace Oyster { namespace Collision3D { namespace Utility
return false;
}
worldPointOfContact = (0.5f * sumPoints).xyz;
worldPointOfContact *= 0.5f;
return true;
}
}
@ -791,20 +791,31 @@ namespace Oyster { namespace Collision3D { namespace Utility
bool Intersect( const Box &boxA, const BoxAxisAligned &boxB )
{ // by Dan Andersson
Float3 alignedOffsetBoundaries = (boxB.maxVertex - boxB.minVertex) * 0.5f,
offset = boxA.center - Average( boxB.minVertex, boxB.maxVertex );
return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries, boxA.boundingOffset, boxA.rotation, offset );
Float4 alignedOffsetBoundaries = (Float4(boxB.maxVertex, 1.0f) - Float4(boxB.minVertex, 1.0f)) * 0.5f,
offset = Float4(boxA.center, 1.0f) - Average( Float4(boxB.maxVertex, 1.0f), Float4(boxB.minVertex, 1.0f) );
return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries.xyz, boxA.boundingOffset, boxA.rotation, offset );
}
bool Intersect( const Box &boxA, const Box &boxB )
{ // by Dan Andersson
Float4x4 orientationA = OrientationMatrix(boxA.rotation, boxA.center),
orientationB = OrientationMatrix(boxB.rotation, boxB.center),
invOrientationA = InverseOrientationMatrix( orientationA );
Float4x4 rotationB = TransformMatrix( InverseRotationMatrix(boxA.rotation), boxB.rotation );
Float4 posB = boxB.center - boxA.center;
orientationB = TransformMatrix( invOrientationA, orientationB );
return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( boxA.boundingOffset, boxB.boundingOffset, rotationB, posB );
}
return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( boxA.boundingOffset, boxB.boundingOffset, ExtractRotationMatrix(orientationB), orientationB.v[3].xyz );
bool Intersect( const Box &boxA, const Box &boxB, Float3 &worldPointOfContact )
{
Float4x4 rotationB = TransformMatrix( InverseRotationMatrix(boxA.rotation), boxB.rotation );
Float4 posB = boxB.center - boxA.center;
Float4 pointOfContact;
if( Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( boxA.boundingOffset, boxB.boundingOffset, rotationB, posB, pointOfContact ) )
{
TransformVector( boxA.rotation, pointOfContact, pointOfContact );
return true;
}
else return false;
}
bool Intersect( const Frustrum &frustrum, const Point &point )

1
Code/OysterPhysics3D/OysterCollision3D.h
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@ -76,6 +76,7 @@ namespace Oyster { namespace Collision3D { namespace Utility
// bool Intersect( const Box &box, const Triangle &triangle, ? );
bool Intersect( const Box &boxA, const BoxAxisAligned &boxB );
bool Intersect( const Box &boxA, const Box &boxB );
bool Intersect( const Box &boxA, const Box &boxB, ::Oyster::Math::Float3 &worldPointOfContact );
bool Intersect( const Frustrum &frustrum, const Point &point );
bool Intersect( const Frustrum &frustrum, const Ray &ray, ::Oyster::Math::Float &connectDistance );