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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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59
includes/xna/common/collision.hpp
View File

@ -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) {
@ -205,10 +205,10 @@ namespace xna {
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 };
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;
@ -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;
@ -566,11 +575,11 @@ namespace xna {
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);
@ -611,7 +620,7 @@ namespace xna {
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;
}
@ -624,7 +633,7 @@ namespace xna {
}
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
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;
}
@ -651,7 +660,7 @@ namespace xna {
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;
}
@ -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;
@ -759,7 +768,7 @@ 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

12
sources/framework/common/collision.cpp
View File

@ -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;