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Correções em collision.hpp

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This commit is contained in:
Danilo 2024-11-10 21:44:36 -03:00
parent e539dde3bd
commit 488e0a513e
2 changed files with 72 additions and 63 deletions
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121
includes/xna/common/collision.hpp
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@ -13,7 +13,7 @@ namespace xna {
struct BoundingFrustum;
struct BoundingBox;
struct BoundingSphere;
struct Ray;
struct Ray;
class Gjk {
public:
@ -104,12 +104,12 @@ namespace xna {
float D{ 0 };
constexpr Plane() = default;
constexpr Plane(float a, float b, float c, float d):
Normal({a,b,c}), D(d){}
constexpr Plane(Vector3 const& normal, float d):
Normal(normal), D(d){}
constexpr Plane(Vector4 const& value):
Normal({value.X, value.Y, value.Z}), D(value.W){}
constexpr Plane(float a, float b, float c, float d) :
Normal({ a,b,c }), D(d) {}
constexpr Plane(Vector3 const& normal, float d) :
Normal(normal), D(d) {}
constexpr Plane(Vector4 const& value) :
Normal({ value.X, value.Y, value.Z }), D(value.W) {}
Plane(Vector3 const& point1, Vector3 const& point2, Vector3 const& point3);
@ -146,8 +146,8 @@ namespace xna {
//Defines a frustum and helps determine whether forms intersect with it.
struct BoundingFrustum {
inline static constexpr int CornerCount = 8;
inline static constexpr int PlaneCount = 6;
static constexpr int CornerCount = 8;
static constexpr int PlaneCount = 6;
constexpr BoundingFrustum() = default;
constexpr BoundingFrustum(Matrix const& matrix) {
@ -203,12 +203,12 @@ namespace xna {
//Checks whether the current BoundingFrustum contains a specified bounding volume.
constexpr ContainmentType Contains(BoundingSphere const& box) const;
constexpr void SupportMapping(Vector3 const& v, Vector3& result) const;
constexpr void SupportMapping(Vector3 const& v, Vector3& result) const;
public:
std::vector<Vector3> corners{ 8 };
Vector3 corners[8];
Plane planes[6];
private:
std::vector<Plane> planes{ 6 };
private:
Matrix matrix{ Matrix::Identity() };
Gjk gjk{};
@ -232,8 +232,8 @@ namespace xna {
Vector3 Max{};
constexpr BoundingBox() = default;
constexpr BoundingBox(Vector3 const& min, Vector3 const& max):
Min(min), Max(max){}
constexpr BoundingBox(Vector3 const& min, Vector3 const& max) :
Min(min), Max(max) {}
constexpr bool operator==(BoundingBox const& other) const {
return Min == other.Min && Max == other.Max;
@ -247,7 +247,11 @@ namespace xna {
//Creates the smallest BoundingBox that will contain the specified BoundingSphere.
static constexpr BoundingBox CreateFromSphere(BoundingSphere const& sphere);
//Creates the smallest BoundingBox that will contain a group of points.
static constexpr BoundingBox CreateFromPoints(std::vector<Vector3> const& points);
static constexpr BoundingBox CreateFromPoints(std::vector<Vector3> const& points) {
return CreateFromPoints(points.data(), points.size());
}
//Creates the smallest BoundingBox that will contain a group of points.
static constexpr BoundingBox CreateFromPoints(Vector3 const* points, size_t size);
//Checks whether the current BoundingBox intersects with another bounding volume.
constexpr bool Intersects(BoundingBox const& box) const;
@ -259,7 +263,7 @@ namespace xna {
std::optional<float> Intersects(Ray const& ray) const;
//Checks whether the current BoundingBox intersects with another bounding volume.
constexpr bool Intersects(BoundingSphere const& sphere) const;
//Tests whether the BoundingBox overlaps another bounding volume.
constexpr ContainmentType Contains(BoundingBox const& box) const;
//Tests whether the BoundingBox overlaps another bounding volume.
@ -284,8 +288,8 @@ namespace xna {
float Radius{ 0 };
constexpr BoundingSphere() = default;
constexpr BoundingSphere(Vector3 const& center, float radius):
Center(center), Radius(radius < 0 ? 0 : radius){}
constexpr BoundingSphere(Vector3 const& center, float radius) :
Center(center), Radius(radius < 0 ? 0 : radius) {}
constexpr bool operator==(BoundingSphere const& other) const {
return Center == other.Center && Radius == other.Radius;
@ -296,7 +300,12 @@ namespace xna {
//Creates the smallest BoundingSphere that can contain a specified BoundingBox.
static BoundingSphere CreateFromBoundingBox(BoundingBox const& box);
//Creates a BoundingSphere that can contain a specified list of points.
static BoundingSphere CreateFromPoints(std::vector<Vector3> const& points);
static BoundingSphere CreateFromPoints(std::vector<Vector3> const& points) {
return CreateFromPoints(points.data(), points.size());
}
//Creates a BoundingSphere that can contain a specified list of points.
static BoundingSphere CreateFromPoints(Vector3 const* points, size_t size);
//Creates the smallest BoundingSphere that can contain a specified BoundingFrustum.
static BoundingSphere CreateFromFrustum(BoundingFrustum const& points);
@ -334,8 +343,8 @@ namespace xna {
Vector3 Direction{};
constexpr Ray() = default;
constexpr Ray(Vector3 const& position, Vector3 const& direction):
Position(position), Direction(direction){}
constexpr Ray(Vector3 const& position, Vector3 const& direction) :
Position(position), Direction(direction) {}
constexpr bool operator==(Ray const& other) const {
return Position == other.Position && Direction == other.Direction;
@ -447,7 +456,7 @@ namespace xna {
}
}
return !flag ? ContainmentType::Contains : ContainmentType::Intersects;
}
}
constexpr ContainmentType BoundingFrustum::Contains(BoundingSphere const& sphere) const {
auto center = sphere.Center;
@ -495,7 +504,7 @@ namespace xna {
planes[1].Normal.Y = -value.M24 + value.M23;
planes[1].Normal.Z = -value.M34 + value.M33;
planes[1].D = -value.M44 + value.M43;
for (size_t index = 0; index < PlaneCount; ++index)
{
const auto num = planes[index].Normal.Length();
@ -564,13 +573,13 @@ namespace xna {
fromSphere.Max.Y = sphere.Center.Y + sphere.Radius;
fromSphere.Max.Z = sphere.Center.Z + sphere.Radius;
return fromSphere;
}
}
constexpr BoundingBox BoundingBox::CreateFromPoints(std::vector<Vector3> const& points) {
constexpr BoundingBox BoundingBox::CreateFromPoints(Vector3 const* points, size_t size) {
Vector3 result1 = Vector3(FLOAT_MAX_VALUE);
Vector3 result2 = Vector3(FLOAT_MIN_VALUE);
for (size_t i = 0; i < points.size(); ++i) {
for (size_t i = 0; i < size; ++i) {
const auto& point = points[i];
result1 = Vector3::Min(result1, point);
result2 = Vector3::Max(result2, point);
@ -580,11 +589,11 @@ namespace xna {
}
constexpr bool BoundingBox::Intersects(BoundingBox const& box) const {
return Max.X >= box.Min.X
&& Min.X <= box.Max.X
&& Max.Y >= box.Min.Y
&& Min.Y <= box.Max.Y
&& Max.Z >= box.Min.Z
return Max.X >= box.Min.X
&& Min.X <= box.Max.X
&& Max.Y >= box.Min.Y
&& Min.Y <= box.Max.Y
&& Max.Z >= box.Min.Z
&& Min.Z <= box.Max.Z;
}
@ -604,28 +613,28 @@ namespace xna {
if (plane.Normal.X * vector3_1.X + plane.Normal.Y * vector3_1.Y + plane.Normal.Z * vector3_1.Z + plane.D > 0.0)
return PlaneIntersectionType::Front;
return plane.Normal.X * vector3_2.X + plane.Normal.Y * vector3_2.Y + plane.Normal.Z * vector3_2.Z + plane.D < 0.0
? PlaneIntersectionType::Back
return plane.Normal.X * vector3_2.X + plane.Normal.Y * vector3_2.Y + plane.Normal.Z * vector3_2.Z + plane.D < 0.0
? PlaneIntersectionType::Back
: PlaneIntersectionType::Intersecting;
}
}
constexpr bool BoundingBox::Intersects(BoundingSphere const& sphere) const {
const auto result1 = Vector3::Clamp(sphere.Center, Min, Max);
const auto result2 = Vector3::DistanceSquared(sphere.Center, result1);
const auto result2 = Vector3::DistanceSquared(sphere.Center, result1);
return result2 <= sphere.Radius * sphere.Radius;
}
constexpr ContainmentType BoundingBox::Contains(BoundingBox const& box) const {
if (Max.X < box.Min.X || Min.X > box.Max.X || Max.Y < box.Min.Y || Min.Y > box.Max.Y || Max.Z < box.Min.Z || Min.Z > box.Max.Z)
return ContainmentType::Disjoint;
return Min.X > box.Min.X || box.Max.X > Max.X || Min.Y > box.Min.Y || box.Max.Y > Max.Y || Min.Z > box.Min.Z || box.Max.Z > Max.Z
return Min.X > box.Min.X || box.Max.X > Max.X || Min.Y > box.Min.Y || box.Max.Y > Max.Y || Min.Z > box.Min.Z || box.Max.Z > Max.Z
? ContainmentType::Intersects
: ContainmentType::Contains;
}
}
constexpr ContainmentType BoundingBox::Contains(Vector3 const& point) const {
return Min.X > point.X || point.X > Max.X || Min.Y > point.Y || point.Y > Max.Y || Min.Z > point.Z || point.Z > Max.Z
? ContainmentType::Disjoint
return Min.X > point.X || point.X > Max.X || Min.Y > point.Y || point.Y > Max.Y || Min.Z > point.Z || point.Z > Max.Z
? ContainmentType::Disjoint
: ContainmentType::Contains;
}
@ -633,12 +642,12 @@ namespace xna {
Vector3 result1 = Vector3::Clamp(sphere.Center, Min, Max);
float result2 = Vector3::DistanceSquared(sphere.Center, result1);
float radius = sphere.Radius;
if (result2 > radius * radius)
return ContainmentType::Disjoint;
return Min.X + radius > sphere.Center.X || sphere.Center.X > Max.X - radius || Max.X - Min.X <= radius || Min.Y + radius > sphere.Center.Y || sphere.Center.Y > Max.Y - radius || Max.Y - Min.Y <= radius || Min.Z + radius > sphere.Center.Z || sphere.Center.Z > Max.Z - radius || Max.X - Min.X <= radius
? ContainmentType::Intersects
return Min.X + radius > sphere.Center.X || sphere.Center.X > Max.X - radius || Max.X - Min.X <= radius || Min.Y + radius > sphere.Center.Y || sphere.Center.Y > Max.Y - radius || Max.Y - Min.Y <= radius || Min.Z + radius > sphere.Center.Z || sphere.Center.Z > Max.Z - radius || Max.X - Min.X <= radius
? ContainmentType::Intersects
: ContainmentType::Contains;
}
@ -646,12 +655,12 @@ namespace xna {
result.X = v.X >= 0.0 ? Max.X : Min.X;
result.Y = v.Y >= 0.0 ? Max.Y : Min.Y;
result.Z = v.Z >= 0.0 ? Max.Z : Min.Z;
}
}
constexpr bool BoundingSphere::Intersects(BoundingBox const& box) const {
Vector3 result1 = Vector3::Clamp(Center, box.Min, box.Max);
float result2 = Vector3::DistanceSquared(Center, result1);
float result2 = Vector3::DistanceSquared(Center, result1);
return result2 <= Radius * Radius;
}
@ -661,12 +670,12 @@ namespace xna {
constexpr PlaneIntersectionType BoundingSphere::Intersects(Plane const& plane) const {
const auto num = (Center.X * plane.Normal.X + Center.Y * plane.Normal.Y + Center.Z * plane.Normal.Z) + plane.D;
if (num > Radius)
return PlaneIntersectionType::Front;
return num < -Radius ? PlaneIntersectionType::Back : PlaneIntersectionType::Intersecting;
}
}
constexpr bool BoundingSphere::Intersects(BoundingSphere const& sphere) const {
const auto result = Vector3::DistanceSquared(Center, sphere.Center);
@ -677,7 +686,7 @@ namespace xna {
constexpr Plane Plane::Transform(Plane const& plane, Matrix const& matrix) {
Matrix result = Matrix::Invert(matrix);
Matrix result = Matrix::Invert(matrix);
const auto x = plane.Normal.X;
const auto y = plane.Normal.Y;
const auto z = plane.Normal.Z;
@ -744,11 +753,11 @@ namespace xna {
vector3_2.X = Normal.X >= 0.0f ? box.Max.X : box.Min.X;
vector3_2.Y = Normal.Y >= 0.0f ? box.Max.Y : box.Min.Y;
vector3_2.Z = Normal.Z >= 0.0f ? box.Max.Z : box.Min.Z;
if (Normal.X * vector3_1.X + Normal.Y * vector3_1.Y + Normal.Z * vector3_1.Z + D > 0.0F)
return PlaneIntersectionType::Front;
return Normal.X * vector3_2.X + Normal.Y * vector3_2.Y + Normal.Z * vector3_2.Z + D < 0.0F
return Normal.X * vector3_2.X + Normal.Y * vector3_2.Y + Normal.Z * vector3_2.Z + D < 0.0F
? PlaneIntersectionType::Back : PlaneIntersectionType::Intersecting;
}
@ -758,13 +767,13 @@ namespace xna {
constexpr PlaneIntersectionType Plane::Intersects(BoundingSphere const& sphere) const {
const auto num = (sphere.Center.X * Normal.X + sphere.Center.Y * Normal.Y + sphere.Center.Z * Normal.Z) + D;
if (num > sphere.Radius)
if (num > sphere.Radius)
return PlaneIntersectionType::Front;
return num < -sphere.Radius
return num < -sphere.Radius
? PlaneIntersectionType::Back : PlaneIntersectionType::Intersecting;
}
}
}
#endif

14
sources/framework/common/collision.cpp
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@ -104,7 +104,7 @@ namespace xna {
auto num1 = FLOAT_MIN_VALUE;
auto num2 = FLOAT_MAX_VALUE;
for (size_t i = 0; i < planes.size(); ++i) {
for (size_t i = 0; i < PlaneCount; ++i) {
const auto& plane = planes[i];
Vector3 normal = plane.Normal;
@ -242,7 +242,7 @@ namespace xna {
if (Intersects(frustum)) {
containmentType = ContainmentType::Contains;
for (size_t index = 0; index < corners.size(); ++index) {
for (size_t index = 0; index < CornerCount; ++index) {
if (Contains(frustum.corners[index]) == ContainmentType::Disjoint)
{
containmentType = ContainmentType::Intersects;
@ -345,10 +345,10 @@ namespace xna {
}
BoundingSphere BoundingSphere::CreateFromFrustum(BoundingFrustum const& frustum) {
return BoundingSphere::CreateFromPoints(frustum.corners);
return BoundingSphere::CreateFromPoints(frustum.corners, frustum.CornerCount);
}
BoundingSphere BoundingSphere::CreateFromPoints(std::vector<Vector3> const& points) {
BoundingSphere BoundingSphere::CreateFromPoints(Vector3 const* points, size_t size) {
Vector3 current;
auto vector3_1 = current = points[0];
auto vector3_2 = current;
@ -357,7 +357,7 @@ namespace xna {
auto vector3_5 = current;
auto vector3_6 = current;
for (size_t i = 0; i < points.size(); ++i) {
for (size_t i = 0; i < size; ++i) {
const auto& point = points[i];
if (point.X < vector3_6.X)
@ -404,7 +404,7 @@ namespace xna {
num1 = result3 * 0.5f;
}
for (size_t i = 0; i < points.size(); ++i) {
for (size_t i = 0; i < size; ++i) {
const auto& point = points[i];
Vector3 vector3_7;
@ -423,7 +423,7 @@ namespace xna {
fromPoints.Center = result4;
fromPoints.Radius = num1;
return fromPoints;
}
}
ContainmentType BoundingSphere::Contains(BoundingFrustum& frustum) const {
if (!frustum.Intersects(*this))