mirror of
https://github.com/id-Software/DOOM-3-BFG.git
synced 2024-12-02 17:02:17 +00:00
738 lines
18 KiB
C++
738 lines
18 KiB
C++
/*
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===========================================================================
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Doom 3 BFG Edition GPL Source Code
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Copyright (C) 1993-2012 id Software LLC, a ZeniMax Media company.
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This file is part of the Doom 3 BFG Edition GPL Source Code ("Doom 3 BFG Edition Source Code").
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Doom 3 BFG Edition Source Code is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Doom 3 BFG Edition Source Code is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Doom 3 BFG Edition Source Code. If not, see <http://www.gnu.org/licenses/>.
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In addition, the Doom 3 BFG Edition Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 BFG Edition Source Code. If not, please request a copy in writing from id Software at the address below.
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If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
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===========================================================================
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*/
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/*
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===============================================================================
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Trace model vs. polygonal model collision detection.
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===============================================================================
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*/
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#pragma hdrstop
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#include "precompiled.h"
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#include "CollisionModel_local.h"
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/*
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===============================================================================
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Contents test
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===============================================================================
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*/
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/*
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================
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idCollisionModelManagerLocal::TestTrmVertsInBrush
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returns true if any of the trm vertices is inside the brush
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================
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*/
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bool idCollisionModelManagerLocal::TestTrmVertsInBrush( cm_traceWork_t* tw, cm_brush_t* b )
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{
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int i, j, numVerts, bestPlane;
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float d, bestd;
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idVec3* p;
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if( b->checkcount == idCollisionModelManagerLocal::checkCount )
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{
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return false;
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}
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b->checkcount = idCollisionModelManagerLocal::checkCount;
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if( !( b->contents & tw->contents ) )
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{
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return false;
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}
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// if the brush bounds don't intersect the trace bounds
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if( !b->bounds.IntersectsBounds( tw->bounds ) )
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{
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return false;
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}
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if( tw->pointTrace )
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{
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numVerts = 1;
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}
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else
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{
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numVerts = tw->numVerts;
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}
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for( j = 0; j < numVerts; j++ )
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{
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p = &tw->vertices[j].p;
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// see if the point is inside the brush
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bestPlane = 0;
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bestd = -idMath::INFINITY;
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for( i = 0; i < b->numPlanes; i++ )
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{
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d = b->planes[i].Distance( *p );
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if( d >= 0.0f )
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{
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break;
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}
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if( d > bestd )
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{
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bestd = d;
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bestPlane = i;
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}
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}
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if( i >= b->numPlanes )
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{
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tw->trace.fraction = 0.0f;
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tw->trace.c.type = CONTACT_TRMVERTEX;
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tw->trace.c.normal = b->planes[bestPlane].Normal();
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tw->trace.c.dist = b->planes[bestPlane].Dist();
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tw->trace.c.contents = b->contents;
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tw->trace.c.material = b->material;
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tw->trace.c.point = *p;
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tw->trace.c.modelFeature = 0;
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tw->trace.c.trmFeature = j;
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return true;
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}
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}
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return false;
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}
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/*
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================
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CM_SetTrmEdgeSidedness
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================
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*/
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#define CM_SetTrmEdgeSidedness( edge, bpl, epl, bitNum ) { \
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const int mask = 1 << bitNum; \
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if ( ( edge->sideSet & mask ) == 0 ) { \
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const float fl = (bpl).PermutedInnerProduct( epl ); \
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edge->side = ( edge->side & ~mask ) | ( ( fl < 0.0f ) ? mask : 0 ); \
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edge->sideSet |= mask; \
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} \
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}
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/*
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================
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CM_SetTrmPolygonSidedness
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================
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*/
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#define CM_SetTrmPolygonSidedness( v, plane, bitNum ) { \
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const int mask = 1 << bitNum; \
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if ( ( (v)->sideSet & mask ) == 0 ) { \
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const float fl = plane.Distance( (v)->p ); \
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(v)->side = ( (v)->side & ~mask ) | ( ( fl < 0.0f ) ? mask : 0 ); \
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(v)->sideSet |= mask; \
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} \
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}
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/*
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================
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idCollisionModelManagerLocal::TestTrmInPolygon
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returns true if the trm intersects the polygon
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================
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*/
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bool idCollisionModelManagerLocal::TestTrmInPolygon( cm_traceWork_t* tw, cm_polygon_t* p )
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{
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int i, j, k, edgeNum, flip, trmEdgeNum, bitNum, bestPlane;
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int sides[MAX_TRACEMODEL_VERTS];
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float d, bestd;
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cm_trmEdge_t* trmEdge;
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cm_edge_t* edge;
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cm_vertex_t* v, *v1, *v2;
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// if already checked this polygon
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if( p->checkcount == idCollisionModelManagerLocal::checkCount )
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{
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return false;
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}
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p->checkcount = idCollisionModelManagerLocal::checkCount;
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// if this polygon does not have the right contents behind it
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if( !( p->contents & tw->contents ) )
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{
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return false;
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}
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// if the polygon bounds don't intersect the trace bounds
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if( !p->bounds.IntersectsBounds( tw->bounds ) )
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{
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return false;
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}
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// bounds should cross polygon plane
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switch( tw->bounds.PlaneSide( p->plane ) )
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{
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case PLANESIDE_CROSS:
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break;
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case PLANESIDE_FRONT:
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if( tw->model->isConvex )
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{
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tw->quickExit = true;
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return true;
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}
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default:
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return false;
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}
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// if the trace model is convex
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if( tw->isConvex )
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{
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// test if any polygon vertices are inside the trm
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for( i = 0; i < p->numEdges; i++ )
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{
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edgeNum = p->edges[i];
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edge = tw->model->edges + abs( edgeNum );
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// if this edge is already tested
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if( edge->checkcount == idCollisionModelManagerLocal::checkCount )
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{
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continue;
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}
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for( j = 0; j < 2; j++ )
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{
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v = &tw->model->vertices[edge->vertexNum[j]];
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// if this vertex is already tested
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if( v->checkcount == idCollisionModelManagerLocal::checkCount )
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{
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continue;
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}
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bestPlane = 0;
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bestd = -idMath::INFINITY;
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for( k = 0; k < tw->numPolys; k++ )
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{
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d = tw->polys[k].plane.Distance( v->p );
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if( d >= 0.0f )
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{
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break;
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}
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if( d > bestd )
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{
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bestd = d;
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bestPlane = k;
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}
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}
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if( k >= tw->numPolys )
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{
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tw->trace.fraction = 0.0f;
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tw->trace.c.type = CONTACT_MODELVERTEX;
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tw->trace.c.normal = -tw->polys[bestPlane].plane.Normal();
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tw->trace.c.dist = -tw->polys[bestPlane].plane.Dist();
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tw->trace.c.contents = p->contents;
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tw->trace.c.material = p->material;
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tw->trace.c.point = v->p;
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tw->trace.c.modelFeature = edge->vertexNum[j];
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tw->trace.c.trmFeature = 0;
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return true;
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}
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}
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}
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}
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for( i = 0; i < p->numEdges; i++ )
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{
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edgeNum = p->edges[i];
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edge = tw->model->edges + abs( edgeNum );
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// reset sidedness cache if this is the first time we encounter this edge
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if( edge->checkcount != idCollisionModelManagerLocal::checkCount )
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{
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edge->sideSet = 0;
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}
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// pluecker coordinate for edge
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tw->polygonEdgePlueckerCache[i].FromLine( tw->model->vertices[edge->vertexNum[0]].p,
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tw->model->vertices[edge->vertexNum[1]].p );
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v = &tw->model->vertices[edge->vertexNum[INT32_SIGNBITSET( edgeNum )]];
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// reset sidedness cache if this is the first time we encounter this vertex
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if( v->checkcount != idCollisionModelManagerLocal::checkCount )
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{
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v->sideSet = 0;
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}
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v->checkcount = idCollisionModelManagerLocal::checkCount;
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}
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// get side of polygon for each trm vertex
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for( i = 0; i < tw->numVerts; i++ )
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{
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d = p->plane.Distance( tw->vertices[i].p );
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sides[i] = d < 0.0f ? -1 : 1;
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}
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// test if any trm edges go through the polygon
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for( i = 1; i <= tw->numEdges; i++ )
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{
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// if the trm edge does not cross the polygon plane
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if( sides[tw->edges[i].vertexNum[0]] == sides[tw->edges[i].vertexNum[1]] )
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{
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continue;
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}
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// check from which side to which side the trm edge goes
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flip = INT32_SIGNBITSET( sides[tw->edges[i].vertexNum[0]] );
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// test if trm edge goes through the polygon between the polygon edges
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for( j = 0; j < p->numEdges; j++ )
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{
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edgeNum = p->edges[j];
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edge = tw->model->edges + abs( edgeNum );
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#if 1
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CM_SetTrmEdgeSidedness( edge, tw->edges[i].pl, tw->polygonEdgePlueckerCache[j], i );
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if( INT32_SIGNBITSET( edgeNum ) ^ ( ( edge->side >> i ) & 1 ) ^ flip )
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{
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break;
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}
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#else
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d = tw->edges[i].pl.PermutedInnerProduct( tw->polygonEdgePlueckerCache[j] );
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if( flip )
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{
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d = -d;
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}
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if( edgeNum > 0 )
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{
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if( d <= 0.0f )
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{
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break;
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}
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}
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else
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{
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if( d >= 0.0f )
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{
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break;
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}
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}
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#endif
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}
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if( j >= p->numEdges )
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{
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tw->trace.fraction = 0.0f;
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tw->trace.c.type = CONTACT_EDGE;
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tw->trace.c.normal = p->plane.Normal();
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tw->trace.c.dist = p->plane.Dist();
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tw->trace.c.contents = p->contents;
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tw->trace.c.material = p->material;
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tw->trace.c.point = tw->vertices[tw->edges[i].vertexNum[ !flip ]].p;
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tw->trace.c.modelFeature = *reinterpret_cast<int*>( &p );
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tw->trace.c.trmFeature = i;
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return true;
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}
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}
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// test if any polygon edges go through the trm polygons
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for( i = 0; i < p->numEdges; i++ )
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{
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edgeNum = p->edges[i];
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edge = tw->model->edges + abs( edgeNum );
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if( edge->checkcount == idCollisionModelManagerLocal::checkCount )
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{
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continue;
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}
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edge->checkcount = idCollisionModelManagerLocal::checkCount;
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for( j = 0; j < tw->numPolys; j++ )
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{
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#if 1
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v1 = tw->model->vertices + edge->vertexNum[0];
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CM_SetTrmPolygonSidedness( v1, tw->polys[j].plane, j );
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v2 = tw->model->vertices + edge->vertexNum[1];
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CM_SetTrmPolygonSidedness( v2, tw->polys[j].plane, j );
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// if the polygon edge does not cross the trm polygon plane
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if( !( ( ( v1->side ^ v2->side ) >> j ) & 1 ) )
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{
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continue;
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}
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flip = ( v1->side >> j ) & 1;
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#else
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float d1, d2;
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v1 = tw->model->vertices + edge->vertexNum[0];
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d1 = tw->polys[j].plane.Distance( v1->p );
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v2 = tw->model->vertices + edge->vertexNum[1];
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d2 = tw->polys[j].plane.Distance( v2->p );
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// if the polygon edge does not cross the trm polygon plane
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if( ( d1 >= 0.0f && d2 >= 0.0f ) || ( d1 <= 0.0f && d2 <= 0.0f ) )
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{
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continue;
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}
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flip = false;
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if( d1 < 0.0f )
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{
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flip = true;
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}
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#endif
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// test if polygon edge goes through the trm polygon between the trm polygon edges
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for( k = 0; k < tw->polys[j].numEdges; k++ )
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{
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trmEdgeNum = tw->polys[j].edges[k];
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trmEdge = tw->edges + abs( trmEdgeNum );
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#if 1
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bitNum = abs( trmEdgeNum );
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CM_SetTrmEdgeSidedness( edge, trmEdge->pl, tw->polygonEdgePlueckerCache[i], bitNum );
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if( INT32_SIGNBITSET( trmEdgeNum ) ^ ( ( edge->side >> bitNum ) & 1 ) ^ flip )
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{
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break;
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}
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#else
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d = trmEdge->pl.PermutedInnerProduct( tw->polygonEdgePlueckerCache[i] );
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if( flip )
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{
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d = -d;
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}
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if( trmEdgeNum > 0 )
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{
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if( d <= 0.0f )
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{
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break;
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}
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}
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else
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{
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if( d >= 0.0f )
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{
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break;
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}
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}
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#endif
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}
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if( k >= tw->polys[j].numEdges )
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{
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tw->trace.fraction = 0.0f;
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tw->trace.c.type = CONTACT_EDGE;
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tw->trace.c.normal = -tw->polys[j].plane.Normal();
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tw->trace.c.dist = -tw->polys[j].plane.Dist();
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tw->trace.c.contents = p->contents;
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tw->trace.c.material = p->material;
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tw->trace.c.point = tw->model->vertices[edge->vertexNum[ !flip ]].p;
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tw->trace.c.modelFeature = edgeNum;
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tw->trace.c.trmFeature = j;
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return true;
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}
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}
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}
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return false;
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}
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/*
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================
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idCollisionModelManagerLocal::PointNode
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================
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*/
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cm_node_t* idCollisionModelManagerLocal::PointNode( const idVec3& p, cm_model_t* model )
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{
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cm_node_t* node;
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node = model->node;
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while( node->planeType != -1 )
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{
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if( p[node->planeType] > node->planeDist )
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{
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node = node->children[0];
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}
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else
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{
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node = node->children[1];
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}
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assert( node != NULL );
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}
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return node;
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}
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/*
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================
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idCollisionModelManagerLocal::PointContents
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================
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*/
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int idCollisionModelManagerLocal::PointContents( const idVec3 p, cmHandle_t model )
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{
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int i;
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float d;
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cm_node_t* node;
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cm_brushRef_t* bref;
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cm_brush_t* b;
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idPlane* plane;
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node = idCollisionModelManagerLocal::PointNode( p, idCollisionModelManagerLocal::models[model] );
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for( bref = node->brushes; bref; bref = bref->next )
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{
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b = bref->b;
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// test if the point is within the brush bounds
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for( i = 0; i < 3; i++ )
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{
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if( p[i] < b->bounds[0][i] )
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{
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break;
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}
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if( p[i] > b->bounds[1][i] )
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{
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break;
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}
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}
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if( i < 3 )
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{
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continue;
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}
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// test if the point is inside the brush
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plane = b->planes;
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for( i = 0; i < b->numPlanes; i++, plane++ )
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{
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d = plane->Distance( p );
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if( d >= 0.0f )
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{
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break;
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}
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}
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if( i >= b->numPlanes )
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{
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return b->contents;
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}
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}
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return 0;
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}
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|
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/*
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==================
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idCollisionModelManagerLocal::TransformedPointContents
|
|
==================
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*/
|
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int idCollisionModelManagerLocal::TransformedPointContents( const idVec3& p, cmHandle_t model, const idVec3& origin, const idMat3& modelAxis )
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{
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idVec3 p_l;
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// subtract origin offset
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p_l = p - origin;
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if( modelAxis.IsRotated() )
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{
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p_l *= modelAxis;
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}
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return idCollisionModelManagerLocal::PointContents( p_l, model );
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}
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/*
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==================
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idCollisionModelManagerLocal::ContentsTrm
|
|
==================
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*/
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int idCollisionModelManagerLocal::ContentsTrm( trace_t* results, const idVec3& start,
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const idTraceModel* trm, const idMat3& trmAxis, int contentMask,
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cmHandle_t model, const idVec3& modelOrigin, const idMat3& modelAxis )
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{
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int i;
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bool model_rotated, trm_rotated;
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idMat3 invModelAxis, tmpAxis;
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idVec3 dir;
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ALIGN16( cm_traceWork_t tw );
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// fast point case
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if( !trm || ( trm->bounds[1][0] - trm->bounds[0][0] <= 0.0f &&
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trm->bounds[1][1] - trm->bounds[0][1] <= 0.0f &&
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trm->bounds[1][2] - trm->bounds[0][2] <= 0.0f ) )
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{
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results->c.contents = idCollisionModelManagerLocal::TransformedPointContents( start, model, modelOrigin, modelAxis );
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results->fraction = ( results->c.contents == 0 );
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results->endpos = start;
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results->endAxis = trmAxis;
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return results->c.contents;
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}
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idCollisionModelManagerLocal::checkCount++;
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tw.trace.fraction = 1.0f;
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tw.trace.c.contents = 0;
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tw.trace.c.type = CONTACT_NONE;
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tw.contents = contentMask;
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tw.isConvex = true;
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tw.rotation = false;
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tw.positionTest = true;
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tw.pointTrace = false;
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tw.quickExit = false;
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tw.numContacts = 0;
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tw.model = idCollisionModelManagerLocal::models[model];
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tw.start = start - modelOrigin;
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tw.end = tw.start;
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model_rotated = modelAxis.IsRotated();
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if( model_rotated )
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{
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invModelAxis = modelAxis.Transpose();
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}
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// setup trm structure
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idCollisionModelManagerLocal::SetupTrm( &tw, trm );
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trm_rotated = trmAxis.IsRotated();
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// calculate vertex positions
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if( trm_rotated )
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{
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for( i = 0; i < tw.numVerts; i++ )
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{
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// rotate trm around the start position
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tw.vertices[i].p *= trmAxis;
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}
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}
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for( i = 0; i < tw.numVerts; i++ )
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{
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// set trm at start position
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tw.vertices[i].p += tw.start;
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}
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if( model_rotated )
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{
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for( i = 0; i < tw.numVerts; i++ )
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{
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// rotate trm around model instead of rotating the model
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tw.vertices[i].p *= invModelAxis;
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}
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}
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// add offset to start point
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if( trm_rotated )
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{
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dir = trm->offset * trmAxis;
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tw.start += dir;
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tw.end += dir;
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}
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else
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{
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tw.start += trm->offset;
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tw.end += trm->offset;
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}
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if( model_rotated )
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{
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// rotate trace instead of model
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tw.start *= invModelAxis;
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tw.end *= invModelAxis;
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}
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// setup trm vertices
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tw.size.Clear();
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for( i = 0; i < tw.numVerts; i++ )
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{
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// get axial trm size after rotations
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tw.size.AddPoint( tw.vertices[i].p - tw.start );
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}
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// setup trm edges
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for( i = 1; i <= tw.numEdges; i++ )
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{
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// edge start, end and pluecker coordinate
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tw.edges[i].start = tw.vertices[tw.edges[i].vertexNum[0]].p;
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tw.edges[i].end = tw.vertices[tw.edges[i].vertexNum[1]].p;
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tw.edges[i].pl.FromLine( tw.edges[i].start, tw.edges[i].end );
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}
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// setup trm polygons
|
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if( trm_rotated & model_rotated )
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{
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tmpAxis = trmAxis * invModelAxis;
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for( i = 0; i < tw.numPolys; i++ )
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{
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tw.polys[i].plane *= tmpAxis;
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}
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}
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else if( trm_rotated )
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{
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for( i = 0; i < tw.numPolys; i++ )
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{
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tw.polys[i].plane *= trmAxis;
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}
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}
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else if( model_rotated )
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{
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for( i = 0; i < tw.numPolys; i++ )
|
|
{
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tw.polys[i].plane *= invModelAxis;
|
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}
|
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}
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for( i = 0; i < tw.numPolys; i++ )
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{
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tw.polys[i].plane.FitThroughPoint( tw.edges[abs( tw.polys[i].edges[0] )].start );
|
|
}
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|
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// bounds for full trace, a little bit larger for epsilons
|
|
for( i = 0; i < 3; i++ )
|
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{
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if( tw.start[i] < tw.end[i] )
|
|
{
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|
tw.bounds[0][i] = tw.start[i] + tw.size[0][i] - CM_BOX_EPSILON;
|
|
tw.bounds[1][i] = tw.end[i] + tw.size[1][i] + CM_BOX_EPSILON;
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}
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else
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|
{
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|
tw.bounds[0][i] = tw.end[i] + tw.size[0][i] - CM_BOX_EPSILON;
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|
tw.bounds[1][i] = tw.start[i] + tw.size[1][i] + CM_BOX_EPSILON;
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}
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if( idMath::Fabs( tw.size[0][i] ) > idMath::Fabs( tw.size[1][i] ) )
|
|
{
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|
tw.extents[i] = idMath::Fabs( tw.size[0][i] ) + CM_BOX_EPSILON;
|
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}
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|
else
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|
{
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tw.extents[i] = idMath::Fabs( tw.size[1][i] ) + CM_BOX_EPSILON;
|
|
}
|
|
}
|
|
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// trace through the model
|
|
idCollisionModelManagerLocal::TraceThroughModel( &tw );
|
|
|
|
*results = tw.trace;
|
|
results->fraction = ( results->c.contents == 0 );
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|
results->endpos = start;
|
|
results->endAxis = trmAxis;
|
|
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|
return results->c.contents;
|
|
}
|
|
|
|
/*
|
|
==================
|
|
idCollisionModelManagerLocal::Contents
|
|
==================
|
|
*/
|
|
int idCollisionModelManagerLocal::Contents( const idVec3& start,
|
|
const idTraceModel* trm, const idMat3& trmAxis, int contentMask,
|
|
cmHandle_t model, const idVec3& modelOrigin, const idMat3& modelAxis )
|
|
{
|
|
trace_t results;
|
|
|
|
if( model < 0 || model > idCollisionModelManagerLocal::maxModels || model > MAX_SUBMODELS )
|
|
{
|
|
common->Printf( "idCollisionModelManagerLocal::Contents: invalid model handle\n" );
|
|
return 0;
|
|
}
|
|
if( !idCollisionModelManagerLocal::models || !idCollisionModelManagerLocal::models[model] )
|
|
{
|
|
common->Printf( "idCollisionModelManagerLocal::Contents: invalid model\n" );
|
|
return 0;
|
|
}
|
|
|
|
return ContentsTrm( &results, start, trm, trmAxis, contentMask, model, modelOrigin, modelAxis );
|
|
}
|