C++ Convex::getBoundingBox方法代码示例

void Convex::updateStateList(const MatrixF& mat, const Point3F& scale, const Point3F* displacement)
{
   PROFILE_SCOPE( Convex_UpdateStateList );

   Box3F box1 = getBoundingBox(mat, scale);
   box1.minExtents -= Point3F(1, 1, 1);
   box1.maxExtents += Point3F(1, 1, 1);
   if (displacement) {
      Point3F oldMin = box1.minExtents;
      Point3F oldMax = box1.maxExtents;

      box1.minExtents.setMin(oldMin + *displacement);
      box1.minExtents.setMin(oldMax + *displacement);
      box1.maxExtents.setMax(oldMin + *displacement);
      box1.maxExtents.setMax(oldMax + *displacement);
   }
   sTag++;

   // Destroy states which are no longer intersecting
   for (CollisionStateList* itr = mList.mNext; itr != &mList; itr = itr->mNext) {
      Convex* cv = (itr->mState->a == this)? itr->mState->b: itr->mState->a;
      cv->mTag = sTag;
      if (!box1.isOverlapped(cv->getBoundingBox())) {
         CollisionState* cs = itr->mState;
         itr = itr->mPrev;
         delete cs;
      }
   }

   // Add collision states for new overlapping objects
   for (CollisionWorkingList* itr0 = mWorking.wLink.mNext; itr0 != &mWorking; itr0 = itr0->wLink.mNext) {
      register Convex* cv = itr0->mConvex;
      if (cv->mTag != sTag && box1.isOverlapped(cv->getBoundingBox())) {
         CollisionState* state = new GjkCollisionState;
         state->set(this,cv,mat,cv->getTransform());
         state->mLista->linkAfter(&mList);
         state->mListb->linkAfter(&cv->mList);
      }
   }
}

//-----------------------------------------------------------------------------
//
// 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.........