C++ Box3F::isOverlapped方法代码示例

void VehicleBlocker::buildConvex(const Box3F& box, Convex* convex)
{
   // These should really come out of a pool
   mConvexList->collectGarbage();

   if (box.isOverlapped(getWorldBox()) == false)
      return;

   // Just return a box convex for the entire shape...
   Convex* cc = 0;
   CollisionWorkingList& wl = convex->getWorkingList();
   for (CollisionWorkingList* itr = wl.wLink.mNext; itr != &wl; itr = itr->wLink.mNext) 
   {
      if (itr->mConvex->getType() == BoxConvexType &&
          itr->mConvex->getObject() == this) {
         cc = itr->mConvex;
         break;
      }
   }
   if (cc)
      return;

   // Create a new convex.
   BoxConvex* cp = new BoxConvex;
   mConvexList->registerObject(cp);
   convex->addToWorkingList(cp);
   cp->init(this);

   mObjBox.getCenter(&cp->mCenter);
   cp->mSize.x = mObjBox.len_x() / 2.0f;
   cp->mSize.y = mObjBox.len_y() / 2.0f;
   cp->mSize.z = mObjBox.len_z() / 2.0f;
}

void Convex::updateWorkingList(const Box3F& box, const U32 colMask)
{
#if 0
   PROFILE_SCOPE( Convex_UpdateWorkingList );

   sTag++;

   // Clear objects off the working list that are no longer intersecting
   for (CollisionWorkingList* itr = mWorking.wLink.mNext; itr != &mWorking; itr = itr->wLink.mNext) {
      itr->mConvex->mTag = sTag;
      if ((!box.isOverlapped(itr->mConvex->getBoundingBox())) || (!itr->mConvex->getObject()->isCollisionEnabled())) {
         CollisionWorkingList* cl = itr;
         itr = itr->wLink.mPrev;
         cl->free();
      }
   }

   // Special processing for the terrain and interiors...
   AssertFatal(mObject->getContainer(), "Must be in a container!");

   SimpleQueryList sql;
   mObject->getContainer()->findObjects(box, colMask,SimpleQueryList::insertionCallback, &sql);
   for (U32 i = 0; i < sql.mList.size(); i++)
      sql.mList[i]->buildConvex(box, this);
#endif
}

void GroundPlane::buildConvex( const Box3F& box, Convex* convex )
{
   mConvexList->collectGarbage();

   Box3F planeBox = getPlaneBox();
   if ( !box.isOverlapped( planeBox ) )
      return;

   // See if we already have a convex in the working set.
   BoxConvex *boxConvex = NULL;
   CollisionWorkingList &wl = convex->getWorkingList();
   CollisionWorkingList *itr = wl.wLink.mNext;
   for ( ; itr != &wl; itr = itr->wLink.mNext )
   {
      if (  itr->mConvex->getType() == BoxConvexType &&
            itr->mConvex->getObject() == this )
      {
         boxConvex = (BoxConvex*)itr->mConvex;
         break;
      }
   }

   if ( !boxConvex )
   {
      boxConvex = new BoxConvex;
      mConvexList->registerObject( boxConvex );
      boxConvex->init( this );

      convex->addToWorkingList( boxConvex );
   }

   // Update our convex to best match the queried box
   if ( boxConvex )
   {
      Point3F queryCenter = box.getCenter();

      boxConvex->mCenter      = Point3F( queryCenter.x, queryCenter.y, -GROUND_PLANE_BOX_HEIGHT_HALF );
      boxConvex->mSize        = Point3F( box.getExtents().x,
                                         box.getExtents().y,
                                         GROUND_PLANE_BOX_HEIGHT_HALF );
   }
}

void ConvexShape::buildConvex( const Box3F &box, Convex *convex )
{
   if ( mGeometry.faces.empty() )
      return;

   mConvexList->collectGarbage();

   Box3F realBox = box;
   mWorldToObj.mul( realBox );
   realBox.minExtents.convolveInverse( mObjScale );
   realBox.maxExtents.convolveInverse( mObjScale );

   if ( realBox.isOverlapped( getObjBox() ) == false )
      return;

   // See if this convex exists in the working set already...
   Convex *cc = 0;
   CollisionWorkingList &wl = convex->getWorkingList();
   for ( CollisionWorkingList* itr = wl.wLink.mNext; itr != &wl; itr = itr->wLink.mNext ) 
   {
      if ( itr->mConvex->getType() == ConvexShapeCollisionConvexType )
      {
         ConvexShapeCollisionConvex *pConvex = static_cast<ConvexShapeCollisionConvex*>(itr->mConvex);

         if ( pConvex->pShape == this )              
         {
            cc = itr->mConvex;
            return;
         }
      }
   }

   // Set up the convex...

   ConvexShapeCollisionConvex *cp = new ConvexShapeCollisionConvex();

   mConvexList->registerObject( cp );
   convex->addToWorkingList( cp );

   cp->mObject = this;
   cp->pShape  = this;   
}

void Forest::buildConvex( const Box3F &box, Convex *convex )
{
   mConvexList->collectGarbage();

   // Get all ForestItem(s) within the box.
   Vector<ForestItem> trees;
   mData->getItems( box, &trees );
   if ( trees.empty() )
      return;

   for ( U32 i = 0; i < trees.size(); i++ )
   {
      const ForestItem &forestItem = trees[i];

      Box3F realBox = box;
      mWorldToObj.mul( realBox );
      realBox.minExtents.convolveInverse( mObjScale );
      realBox.maxExtents.convolveInverse( mObjScale );

      // JCF: is this really necessary if we already got this ForestItem
      // as a result from getItems?
      if ( realBox.isOverlapped( getObjBox() ) == false )
         continue;      

      TSForestItemData *data = (TSForestItemData*)forestItem.getData();

      // Find CollisionDetail(s) that are defined...
      const Vector<S32> &details = data->getCollisionDetails();
      for ( U32 j = 0; j < details.size(); j++ ) 
      {
         // JCFHACK: need to fix this if we want this to work with speedtree
         // or other cases in which we don't have a TSForestItemData.
         // Most likely via preventing this method and other torque collision
         // specific stuff from ever getting called.
         if ( details[j] == -1 ) 
            continue;         

         // See if this convex exists in the working set already...
         Convex* cc = 0;
         CollisionWorkingList& wl = convex->getWorkingList();
         for ( CollisionWorkingList* itr = wl.wLink.mNext; itr != &wl; itr = itr->wLink.mNext ) 
         {
            if ( itr->mConvex->getType() == ForestConvexType )
            {
               ForestConvex *pConvex = static_cast<ForestConvex*>(itr->mConvex);

               if ( pConvex->mObject == this &&
                  pConvex->mForestItemKey == forestItem.getKey() &&
                  pConvex->hullId == j )
               {
                  cc = itr->mConvex;
                  break;
               }
            }
         }
         if (cc)
            continue;

         // Then we need to make one.
         ForestConvex *cp = new ForestConvex;
         mConvexList->registerObject(cp);
         convex->addToWorkingList(cp);
         cp->mObject          = this;
         cp->mForestItemKey   = forestItem.getKey();
         cp->mData            = data;
         cp->mScale           = forestItem.getScale();
         cp->hullId           = j;
         cp->box              = forestItem.getObjBox();
         cp->calculateTransform( forestItem.getTransform() );
      }
   }
}

//.........这里部分代码省略.........
   {
      U32 count;
      for (count = 0; count < 3; count++)
      {
         // Build list from convex states here...
         end = pos + mVelocity * time;


         collisionMatrix.setColumn(3, end);
         Box3F wBox = getObjBox();
         collisionMatrix.mul(wBox);
         Box3F testBox = wBox;
         Point3F oldMin = testBox.minExtents;
         Point3F oldMax = testBox.maxExtents;
         testBox.minExtents.setMin(oldMin + (mVelocity * time));
         testBox.maxExtents.setMin(oldMax + (mVelocity * time));

         sEarlyOutPolyList.clear();
         sEarlyOutPolyList.mNormal.set(0,0,0);
         sEarlyOutPolyList.mPlaneList.setSize(6);
         sEarlyOutPolyList.mPlaneList[0].set(wBox.minExtents,VectorF(-1,0,0));
         sEarlyOutPolyList.mPlaneList[1].set(wBox.maxExtents,VectorF(0,1,0));
         sEarlyOutPolyList.mPlaneList[2].set(wBox.maxExtents,VectorF(1,0,0));
         sEarlyOutPolyList.mPlaneList[3].set(wBox.minExtents,VectorF(0,-1,0));
         sEarlyOutPolyList.mPlaneList[4].set(wBox.minExtents,VectorF(0,0,-1));
         sEarlyOutPolyList.mPlaneList[5].set(wBox.maxExtents,VectorF(0,0,1));

         CollisionWorkingList& eorList = mConvex.getWorkingList();
         CollisionWorkingList* eopList = eorList.wLink.mNext;
         while (eopList != &eorList) {
            if ((eopList->mConvex->getObject()->getTypeMask() & mask) != 0)
            {
               Box3F convexBox = eopList->mConvex->getBoundingBox();
               if (testBox.isOverlapped(convexBox))
               {
                  eopList->mConvex->getPolyList(&sEarlyOutPolyList);
                  if (sEarlyOutPolyList.isEmpty() == false)
                     break;
               }
            }
            eopList = eopList->wLink.mNext;
         }
         if (sEarlyOutPolyList.isEmpty())
         {
            pos = end;
            break;
         }

         collisionMatrix.setColumn(3, pos);
         sBoxPolyhedron.buildBox(collisionMatrix, mObjBox, true);

         // Build extruded polyList...
         VectorF vector = end - pos;
         sExtrudedPolyList.extrude(sBoxPolyhedron, vector);
         sExtrudedPolyList.setVelocity(mVelocity);
         sExtrudedPolyList.setCollisionList(&collisionList);

         CollisionWorkingList& rList = mConvex.getWorkingList();
         CollisionWorkingList* pList = rList.wLink.mNext;
         while (pList != &rList) {
            if ((pList->mConvex->getObject()->getTypeMask() & mask) != 0)
            {
               Box3F convexBox = pList->mConvex->getBoundingBox();
               if (testBox.isOverlapped(convexBox))
               {
                  pList->mConvex->getPolyList(&sExtrudedPolyList);

//-----------------------------------------------------------------------------
//
// VActorPhysicsController::findGroundContact( pContactObject, pContactPoint, pContactNormal );
//
// ...
//
//-----------------------------------------------------------------------------
bool VActorPhysicsController::findGroundContact( SceneObject *&pContactObject, Point3F &pContactPoint, VectorF &pContactNormal )
{
    // Setup Collision List.
    static CollisionList sCollisionList;
    sCollisionList.clear();

    static Polyhedron       sBoxPolyhedron;
    static ExtrudedPolyList sExtrudedPolyList;

    // Fetch Max Step Height.
    const F32 stepHeight = mObject->getDataBlock()->getMaxStepHeight();

    // Determine Positions.
    const Point3F preTickPosition  = getPosition() + Point3F( 0.f, 0.f, stepHeight );
    const VectorF preTickVelocity  = getVelocity() + mGravity - VectorF( 0.f, 0.f, stepHeight / TickSec );
    const Point3F postTickPosition = preTickPosition + ( preTickVelocity * TickSec );
    const VectorF postTickVector   = postTickPosition - preTickPosition;

    // Construct Scaled Box.
    Box3F scaledBox = mObject->getObjBox();
    scaledBox.minExtents.convolve( mObject->getScale() );
    scaledBox.maxExtents.convolve( mObject->getScale() );

    // Setup Polyherdron.
    MatrixF collisionMatrix( true );
    collisionMatrix.setPosition( preTickPosition );
    sBoxPolyhedron.buildBox( collisionMatrix, scaledBox, true );

    // Setup Extruded Poly List.
    sExtrudedPolyList.extrude( sBoxPolyhedron, postTickVector );
    sExtrudedPolyList.setVelocity( preTickVelocity );
    sExtrudedPolyList.setCollisionList( &sCollisionList );

    // Construct World Convex Box & Adjust for Sweep.
    Box3F convexBox = scaledBox;
    getTransform().mul( convexBox );
    convexBox.minExtents += postTickVector;
    convexBox.maxExtents += postTickVector;

    // Build List of Contacts.
    CollisionWorkingList &rList = mConvex.getWorkingList();
    for ( CollisionWorkingList *pList = rList.wLink.mNext; pList != &rList; pList = pList->wLink.mNext )
    {
        Convex *convexShape = pList->mConvex;

        // Ground Object?
        if ( !( convexShape->getObject()->getTypeMask() & sGroundCollisionMask ) )
        {
            // No, Continue.
            continue;
        }

        // Overlap?
        const Box3F &collisionConvexBox = convexShape->getBoundingBox();
        if ( convexBox.isOverlapped( collisionConvexBox ) )
        {
            // Build Contact Information.
            convexShape->getPolyList( &sExtrudedPolyList );
        }
    }

    // Valid Collision?
    if ( sCollisionList.getCount() == 0 || sCollisionList.getTime() < 0.f || sCollisionList.getTime() > 1.f )
    {
        // No, Quit Now.
        return false;
    }

    // Use First Collision.
    Collision *collision = &sCollisionList[0];

    // More Collisions?
    if ( sCollisionList.getCount() > 1 )
    {
        // Check for Better Contacts.
        for ( Collision *cp = ( collision + 1 ); cp != ( collision + sCollisionList.getCount() ); cp++ )
        {
            if ( cp->faceDot > collision->faceDot )
            {
                // Use this One.
                collision = cp;
            }
        }
    }

    // Set Properties.
    pContactObject = collision->object;
    //pContactPoint  = collision->point;
    pContactPoint  = ( preTickPosition + ( preTickVelocity * TickSec * sCollisionList.getTime() ) );
    pContactNormal = collision->normal;

    // Valid Contact.
    return true;
//.........这里部分代码省略.........

//-----------------------------------------------------------------------------
//
// VActorPhysicsController::findCollision( pCollision );
//
// ...
//
//-----------------------------------------------------------------------------
bool VActorPhysicsController::findCollision( Collision *&pCollision )
{
    // Setup Collision List.
    static CollisionList sCollisionList;
    sCollisionList.clear();

    static Polyhedron       sBoxPolyhedron;
    static ExtrudedPolyList sExtrudedPolyList;

    // Determine Positions.
    const Point3F preTickPosition  = getPosition();
    const VectorF preTickVelocity  = getVelocity();
    const Point3F postTickPosition = preTickPosition + ( preTickVelocity * TickSec );
    const VectorF postTickVector   = postTickPosition - preTickPosition;

    // Construct Scaled Box.
    Box3F scaledBox = mObject->getObjBox();
    scaledBox.minExtents.convolve( mObject->getScale() );
    scaledBox.maxExtents.convolve( mObject->getScale() );

    // Setup Polyherdron.
    MatrixF collisionMatrix( true );
    collisionMatrix.setPosition( preTickPosition );
    sBoxPolyhedron.buildBox( collisionMatrix, scaledBox );

    // Setup Extruded Poly List.
    sExtrudedPolyList.extrude( sBoxPolyhedron, postTickVector );
    sExtrudedPolyList.setVelocity( preTickVelocity );
    sExtrudedPolyList.setCollisionList( &sCollisionList );

    // Construct World Convex Box & Adjust for Sweep.
    Box3F convexBox = scaledBox;
    getTransform().mul( convexBox );
    convexBox.minExtents += postTickVector;
    convexBox.maxExtents += postTickVector;

    // Determine the Collision Mask.
    const U32 collisionMask = ( isInWater() ) ? ( sGroundCollisionMask | sMoveCollisionMask ) : sMoveCollisionMask;

    // Build List of Contacts.
    CollisionWorkingList &rList = mConvex.getWorkingList();
    for ( CollisionWorkingList *pList = rList.wLink.mNext; pList != &rList; pList = pList->wLink.mNext )
    {
        Convex *convexShape = pList->mConvex;

        // Valid Collision Target?
        if ( !( convexShape->getObject()->getTypeMask() & collisionMask ) )
        {
            // No, Continue.
            continue;
        }

        // Overlap?
        const Box3F &collisionConvexBox = convexShape->getBoundingBox();
        if ( convexBox.isOverlapped( collisionConvexBox ) )
        {
            // Build Contact Information.
            convexShape->getPolyList( &sExtrudedPolyList );
        }
    }

    // Valid Collision?
    if ( sCollisionList.getCount() == 0 || sCollisionList.getTime() > 1.f )
    {
        // No, Quit Now.
        return false;
    }

    // Use First Collision.
    Collision *collision = &sCollisionList[0];

    // More Collisions?
    if ( sCollisionList.getCount() > 1 )
    {
        // Check for Better Contacts.
        for ( Collision *cp = ( collision + 1 ); cp != ( collision + sCollisionList.getCount() ); cp++ )
        {
            if ( cp->faceDot > collision->faceDot )
            {
                // Use this One.
                collision = cp;
            }
        }
    }

    // Store Reference.
    pCollision = collision;

    // Valid Collision.
    return true;
}

void Etherform::_findContact( SceneObject **contactObject, 
                           VectorF *contactNormal, 
                           Vector<SceneObject*> *outOverlapObjects )
{
   Point3F pos;
   getTransform().getColumn(3,&pos);

   Box3F wBox;
   Point3F exp(0,0,sTractionDistance);
   wBox.minExtents = pos + mScaledBox.minExtents - exp;
   wBox.maxExtents.x = pos.x + mScaledBox.maxExtents.x;
   wBox.maxExtents.y = pos.y + mScaledBox.maxExtents.y;
   wBox.maxExtents.z = pos.z + mScaledBox.minExtents.z + sTractionDistance;

   static ClippedPolyList polyList;
   polyList.clear();
   polyList.doConstruct();
   polyList.mNormal.set(0.0f, 0.0f, 0.0f);
   polyList.setInterestNormal(Point3F(0.0f, 0.0f, -1.0f));

   polyList.mPlaneList.setSize(6);
   polyList.mPlaneList[0].setYZ(wBox.minExtents, -1.0f);
   polyList.mPlaneList[1].setXZ(wBox.maxExtents, 1.0f);
   polyList.mPlaneList[2].setYZ(wBox.maxExtents, 1.0f);
   polyList.mPlaneList[3].setXZ(wBox.minExtents, -1.0f);
   polyList.mPlaneList[4].setXY(wBox.minExtents, -1.0f);
   polyList.mPlaneList[5].setXY(wBox.maxExtents, 1.0f);
   Box3F plistBox = wBox;

   // Expand build box as it will be used to collide with items.
   // PickupRadius will be at least the size of the box.
   F32 pd = 0;
   wBox.minExtents.x -= pd; wBox.minExtents.y -= pd;
   wBox.maxExtents.x += pd; wBox.maxExtents.y += pd;
   wBox.maxExtents.z = pos.z + mScaledBox.maxExtents.z;

   // Build list from convex states here...
   CollisionWorkingList& rList = mConvex.getWorkingList();
   CollisionWorkingList* pList = rList.wLink.mNext;
   while (pList != &rList)
   {
      Convex* pConvex = pList->mConvex;

      U32 objectMask = pConvex->getObject()->getTypeMask();
      
      if (  ( objectMask & sCollisionMoveMask ) &&
            !( objectMask & PhysicalZoneObjectType ) )
      {
         Box3F convexBox = pConvex->getBoundingBox();
         if (plistBox.isOverlapped(convexBox))
            pConvex->getPolyList(&polyList);
      }
      else
         outOverlapObjects->push_back( pConvex->getObject() );

      pList = pList->wLink.mNext;
   }

   if (!polyList.isEmpty())
   {
      // Pick flattest surface
      F32 bestVd = -1.0f;
      ClippedPolyList::Poly* poly = polyList.mPolyList.begin();
      ClippedPolyList::Poly* end = polyList.mPolyList.end();
      for (; poly != end; poly++)
      {
         F32 vd = poly->plane.z;       // i.e.  mDot(Point3F(0,0,1), poly->plane);
         if (vd > bestVd)
         {
            bestVd = vd;
            *contactObject = poly->object;
            *contactNormal = poly->plane;
         }
      }
   }
}

Point3F Etherform::_move( const F32 travelTime, Collision *outCol )
{
   // Try and move to new pos
   F32 totalMotion  = 0.0f;
   
   // TODO: not used?
   //F32 initialSpeed = mVelocity.len();

   Point3F start;
   Point3F initialPosition;
   getTransform().getColumn(3,&start);
   initialPosition = start;

   static CollisionList collisionList;
   static CollisionList physZoneCollisionList;

   collisionList.clear();
   physZoneCollisionList.clear();

   MatrixF collisionMatrix(true);
   collisionMatrix.setColumn(3, start);

   VectorF firstNormal(0.0f, 0.0f, 0.0f);
   F32 time = travelTime;
   U32 count = 0;

   static Polyhedron sBoxPolyhedron;
   static ExtrudedPolyList sExtrudedPolyList;
   static ExtrudedPolyList sPhysZonePolyList;

   for (; count < sMoveRetryCount; count++) {
      F32 speed = mVelocity.len();
      if(!speed)
         break;

      Point3F end = start + mVelocity * time;
      Point3F distance = end - start;

      if (mFabs(distance.x) < mObjBox.len_x() &&
          mFabs(distance.y) < mObjBox.len_y() &&
          mFabs(distance.z) < mObjBox.len_z())
      {
         // We can potentially early out of this.  If there are no polys in the clipped polylist at our
         //  end position, then we can bail, and just set start = end;
         Box3F wBox = mScaledBox;
         wBox.minExtents += end;
         wBox.maxExtents += end;

         static EarlyOutPolyList eaPolyList;
         eaPolyList.clear();
         eaPolyList.mNormal.set(0.0f, 0.0f, 0.0f);
         eaPolyList.mPlaneList.clear();
         eaPolyList.mPlaneList.setSize(6);
         eaPolyList.mPlaneList[0].set(wBox.minExtents,VectorF(-1.0f, 0.0f, 0.0f));
         eaPolyList.mPlaneList[1].set(wBox.maxExtents,VectorF(0.0f, 1.0f, 0.0f));
         eaPolyList.mPlaneList[2].set(wBox.maxExtents,VectorF(1.0f, 0.0f, 0.0f));
         eaPolyList.mPlaneList[3].set(wBox.minExtents,VectorF(0.0f, -1.0f, 0.0f));
         eaPolyList.mPlaneList[4].set(wBox.minExtents,VectorF(0.0f, 0.0f, -1.0f));
         eaPolyList.mPlaneList[5].set(wBox.maxExtents,VectorF(0.0f, 0.0f, 1.0f));

         // Build list from convex states here...
         CollisionWorkingList& rList = mConvex.getWorkingList();
         CollisionWorkingList* pList = rList.wLink.mNext;
         while (pList != &rList) {
            Convex* pConvex = pList->mConvex;
            if (pConvex->getObject()->getTypeMask() & sCollisionMoveMask) {
               Box3F convexBox = pConvex->getBoundingBox();
               if (wBox.isOverlapped(convexBox))
               {
                  // No need to separate out the physical zones here, we want those
                  //  to cause a fallthrough as well...
                  pConvex->getPolyList(&eaPolyList);
               }
            }
            pList = pList->wLink.mNext;
         }

         if (eaPolyList.isEmpty())
         {
            totalMotion += (end - start).len();
            start = end;
            break;
         }
      }

      collisionMatrix.setColumn(3, start);
      sBoxPolyhedron.buildBox(collisionMatrix, mScaledBox, true);

      // Setup the bounding box for the extrudedPolyList
      Box3F plistBox = mScaledBox;
      collisionMatrix.mul(plistBox);
      Point3F oldMin = plistBox.minExtents;
      Point3F oldMax = plistBox.maxExtents;
      plistBox.minExtents.setMin(oldMin + (mVelocity * time) - Point3F(0.1f, 0.1f, 0.1f));
      plistBox.maxExtents.setMax(oldMax + (mVelocity * time) + Point3F(0.1f, 0.1f, 0.1f));

      // Build extruded polyList...
      VectorF vector = end - start;
      sExtrudedPolyList.extrude(sBoxPolyhedron,vector);
      sExtrudedPolyList.setVelocity(mVelocity);
//.........这里部分代码省略.........