Initial commit

Torque/SDK/engine/ts/tsCollision.cc

@@ -0,0 +1,398 @@
+//-----------------------------------------------------------------------------
+// Torque Game Engine
+// Copyright (C) GarageGames.com, Inc.
+//-----------------------------------------------------------------------------
+
+#include "ts/tsShapeInstance.h"
+#include "sim/sceneObject.h"
+
+//-------------------------------------------------------------------------------------
+// Collision methods
+//-------------------------------------------------------------------------------------
+
+bool TSShapeInstance::buildPolyList(AbstractPolyList * polyList, S32 dl)
+{
+   // if dl==-1, nothing to do
+   if (dl==-1)
+      return false;
+
+   AssertFatal(dl>=0 && dl<mShape->details.size(),"TSShapeInstance::buildPolyList");
+
+   // get subshape and object detail
+   const TSDetail * detail = &mShape->details[dl];
+   S32 ss = detail->subShapeNum;
+   S32 od = detail->objectDetailNum;
+
+   // set up static data
+   setStatics(dl);
+
+   // nothing emitted yet...
+   bool emitted = false;
+   U32 surfaceKey = 0;
+
+   S32 start = mShape->subShapeFirstObject[ss];
+   S32 end   = mShape->subShapeNumObjects[ss] + start;
+   if (start<end)
+   {
+      MatrixF initialMat;
+      Point3F initialScale;
+      polyList->getTransform(&initialMat,&initialScale);
+
+      // set up for first object's node
+      MatrixF mat;
+      MatrixF scaleMat(true);
+      F32* p = scaleMat;
+      p[0]  = initialScale.x;
+      p[5]  = initialScale.y;
+      p[10] = initialScale.z;
+      MatrixF * previousMat = mMeshObjects[start].getTransform();
+      mat.mul(initialMat,scaleMat);
+      mat.mul(*previousMat);
+      polyList->setTransform(&mat,Point3F(1, 1, 1));
+
+      // run through objects and collide
+      for (S32 i=start; i<end; i++)
+      {
+         MeshObjectInstance * mesh = &mMeshObjects[i];
+
+         if (od >= mesh->object->numMeshes)
+            continue;
+
+         if (mesh->getTransform() != previousMat)
+         {
+            // different node from before, set up for this node
+            previousMat = mesh->getTransform();
+
+            if (previousMat != NULL)
+            {
+               mat.mul(initialMat,scaleMat);
+               mat.mul(*previousMat);
+               polyList->setTransform(&mat,Point3F(1, 1, 1));
+            }
+         }
+         // collide...
+         emitted |= mesh->buildPolyList(od,polyList,surfaceKey);
+      }
+
+      // restore original transform...
+      polyList->setTransform(&initialMat,initialScale);
+   }
+
+   clearStatics();
+
+   return emitted;
+}
+
+bool TSShapeInstance::getFeatures(const MatrixF& mat, const Point3F& n, ConvexFeature* cf, S32 dl)
+{
+   // if dl==-1, nothing to do
+   if (dl==-1)
+      return false;
+
+   AssertFatal(dl>=0 && dl<mShape->details.size(),"TSShapeInstance::buildPolyList");
+
+   // get subshape and object detail
+   const TSDetail * detail = &mShape->details[dl];
+   S32 ss = detail->subShapeNum;
+   S32 od = detail->objectDetailNum;
+
+   // set up static data
+   setStatics(dl);
+
+   // nothing emitted yet...
+   bool emitted = false;
+   U32 surfaceKey = 0;
+
+   S32 start = mShape->subShapeFirstObject[ss];
+   S32 end   = mShape->subShapeNumObjects[ss] + start;
+   if (start<end)
+   {
+      MatrixF final;
+      MatrixF* previousMat = mMeshObjects[start].getTransform();
+      final.mul(mat, *previousMat);
+
+      // run through objects and collide
+      for (S32 i=start; i<end; i++)
+      {
+         MeshObjectInstance * mesh = &mMeshObjects[i];
+
+         if (od >= mesh->object->numMeshes)
+            continue;
+
+         if (mesh->getTransform() != previousMat)
+         {
+            previousMat = mesh->getTransform();
+            final.mul(mat, *previousMat);
+         }
+         emitted |= mesh->getFeatures(od, final, n, cf, surfaceKey);
+      }
+   }
+
+   clearStatics();
+
+   return emitted;
+}
+
+bool TSShapeInstance::castRay(const Point3F & a, const Point3F & b, RayInfo * rayInfo, S32 dl)
+{
+   // if dl==-1, nothing to do
+   if (dl==-1)
+      return false;
+
+   AssertFatal(dl>=0 && dl<mShape->details.size(),"TSShapeInstance::buildPolyList");
+
+   // get subshape and object detail
+   const TSDetail * detail = &mShape->details[dl];
+   S32 ss = detail->subShapeNum;
+   S32 od = detail->objectDetailNum;
+
+   // set up static data
+   setStatics(dl);
+
+   S32 start = mShape->subShapeFirstObject[ss];
+   S32 end   = mShape->subShapeNumObjects[ss] + start;
+   RayInfo saveRay;
+   saveRay.t = 1.0f;
+   const MatrixF * saveMat = NULL;
+   bool found = false;
+   if (start<end)
+   {
+      Point3F ta, tb;
+
+      // set up for first object's node
+      MatrixF mat;
+      MatrixF * previousMat = mMeshObjects[start].getTransform();
+      mat = *previousMat;
+      mat.inverse();
+      mat.mulP(a,&ta);
+      mat.mulP(b,&tb);
+
+      // run through objects and collide
+      for (S32 i=start; i<end; i++)
+      {
+         MeshObjectInstance * mesh = &mMeshObjects[i];
+
+         if (od >= mesh->object->numMeshes)
+            continue;
+
+         if (mesh->getTransform() != previousMat)
+         {
+            // different node from before, set up for this node
+            previousMat = mesh->getTransform();
+
+            if (previousMat != NULL)
+            {
+               mat = *previousMat;
+               mat.inverse();
+               mat.mulP(a,&ta);
+               mat.mulP(b,&tb);
+            }
+         }
+         // collide...
+         if (mesh->castRay(od,ta,tb,rayInfo))
+         {
+            if (!rayInfo)
+            {
+               clearStatics();
+               return true;
+            }
+            if (rayInfo->t <= saveRay.t)
+            {
+               saveRay = *rayInfo;
+               saveMat = previousMat;
+            }
+            found = true;
+         }
+      }
+   }
+
+   // collide with any skins for this detail level...
+   // TODO: if ever...
+
+   // finalize the deal...
+   if (found)
+   {
+      *rayInfo = saveRay;
+      saveMat->mulV(rayInfo->normal);
+      rayInfo->point  = b-a;
+      rayInfo->point *= rayInfo->t;
+      rayInfo->point += a;
+   }
+   clearStatics();
+   return found;
+}
+
+Point3F TSShapeInstance::support(const Point3F & v, S32 dl)
+{
+   // if dl==-1, nothing to do
+   AssertFatal(dl != -1, "Error, should never try to collide with a non-existant detail level!");
+   AssertFatal(dl>=0 && dl<mShape->details.size(),"TSShapeInstance::support");
+
+   // get subshape and object detail
+   const TSDetail * detail = &mShape->details[dl];
+   S32 ss = detail->subShapeNum;
+   S32 od = detail->objectDetailNum;
+
+   // set up static data
+   setStatics(dl);
+
+   S32 start = mShape->subShapeFirstObject[ss];
+   S32 end   = mShape->subShapeNumObjects[ss] + start;
+   const MatrixF * saveMat = NULL;
+   bool found = false;
+
+   F32     currMaxDP   = -1e9f;
+   Point3F currSupport = Point3F(0, 0, 0);
+   MatrixF * previousMat = NULL;
+   MatrixF mat;
+   if (start<end)
+   {
+      Point3F va;
+
+      // set up for first object's node
+      previousMat = mMeshObjects[start].getTransform();
+      mat = *previousMat;
+      mat.inverse();
+
+      // run through objects and collide
+      for (S32 i=start; i<end; i++)
+      {
+         MeshObjectInstance * mesh = &mMeshObjects[i];
+
+         if (od >= mesh->object->numMeshes)
+            continue;
+
+         TSMesh* physMesh = mesh->getMesh(od);
+         if (physMesh && mesh->visible > 0.01f)
+         {
+            // collide...
+            F32 saveMDP = currMaxDP;
+
+            if (mesh->getTransform() != previousMat)
+            {
+               // different node from before, set up for this node
+               previousMat = mesh->getTransform();
+               mat = *previousMat;
+               mat.inverse();
+            }
+            mat.mulV(v, &va);
+            physMesh->support(mesh->frame, va, &currMaxDP, &currSupport);
+         }
+      }
+   }
+
+   clearStatics();
+
+   if (currMaxDP != -1e9f)
+   {
+      previousMat->mulP(currSupport);
+      return currSupport;
+   }
+   else
+   {
+      return Point3F(0, 0, 0);
+   }
+}
+
+void TSShapeInstance::computeBounds(S32 dl, Box3F & bounds)
+{
+   // if dl==-1, nothing to do
+   if (dl==-1)
+      return;
+
+   AssertFatal(dl>=0 && dl<mShape->details.size(),"TSShapeInstance::computeBounds");
+
+   // get subshape and object detail
+   const TSDetail * detail = &mShape->details[dl];
+   S32 ss = detail->subShapeNum;
+   S32 od = detail->objectDetailNum;
+
+   // set up static data
+   setStatics(dl);
+
+   S32 start = mShape->subShapeFirstObject[ss];
+   S32 end   = mShape->subShapeNumObjects[ss] + start;
+
+   // run through objects and updating bounds as we go
+   bounds.min.set( 10E30f, 10E30f, 10E30f);
+   bounds.max.set(-10E30f,-10E30f,-10E30f);
+   Box3F box;
+   for (S32 i=start; i<end; i++)
+   {
+      MeshObjectInstance * mesh = &mMeshObjects[i];
+
+      if (od >= mesh->object->numMeshes)
+         continue;
+
+      if (mesh->getMesh(od))
+      {
+         mesh->getMesh(od)->computeBounds(*mesh->getTransform(),box);
+         bounds.min.setMin(box.min);
+         bounds.max.setMax(box.max);
+      }
+   }
+
+   clearStatics();
+}
+
+//-------------------------------------------------------------------------------------
+// Object (MeshObjectInstance & PluginObjectInstance) collision methods
+//-------------------------------------------------------------------------------------
+
+bool TSShapeInstance::ObjectInstance::buildPolyList(S32 objectDetail, AbstractPolyList * polyList, U32 & surfaceKey)
+{
+   objectDetail,polyList,surfaceKey;
+   AssertFatal(0,"TSShapeInstance::ObjectInstance::buildPolyList:  no default method.");
+   return false;
+}
+
+bool TSShapeInstance::ObjectInstance::getFeatures(S32 objectDetail, const MatrixF& mat, const Point3F& n, ConvexFeature* cf, U32& surfaceKey)
+{
+   objectDetail,mat, n, cf, surfaceKey;
+   AssertFatal(0,"TSShapeInstance::ObjectInstance::buildPolyList:  no default method.");
+   return false;
+}
+
+void TSShapeInstance::ObjectInstance::support(S32, const Point3F&, F32*, Point3F*)
+{
+   AssertFatal(0,"TSShapeInstance::ObjectInstance::supprt:  no default method.");
+}
+
+bool TSShapeInstance::ObjectInstance::castRay(S32 objectDetail, const Point3F & start, const Point3F & end, RayInfo * rayInfo)
+{
+   objectDetail,start,end,rayInfo;
+   AssertFatal(0,"TSShapeInstance::ObjectInstance::castRay:  no default method.");
+   return false;
+}
+
+bool TSShapeInstance::MeshObjectInstance::buildPolyList(S32 objectDetail, AbstractPolyList * polyList, U32 & surfaceKey)
+{
+   TSMesh * mesh = getMesh(objectDetail);
+   if (mesh && visible>0.01f)
+      return mesh->buildPolyList(frame,polyList,surfaceKey);
+   return false;
+}
+
+bool TSShapeInstance::MeshObjectInstance::getFeatures(S32 objectDetail, const MatrixF& mat, const Point3F& n, ConvexFeature* cf, U32& surfaceKey)
+{
+   TSMesh* mesh = getMesh(objectDetail);
+   if (mesh && visible > 0.01f)
+      return mesh->getFeatures(frame, mat, n, cf, surfaceKey);
+   return false;
+}
+
+void TSShapeInstance::MeshObjectInstance::support(S32 objectDetail, const Point3F& v, F32* currMaxDP, Point3F* currSupport)
+{
+   TSMesh* mesh = getMesh(objectDetail);
+   if (mesh && visible > 0.01f)
+      mesh->support(frame, v, currMaxDP, currSupport);
+}
+
+
+bool TSShapeInstance::MeshObjectInstance::castRay(S32 objectDetail, const Point3F & start, const Point3F & end, RayInfo * rayInfo)
+{
+   TSMesh * mesh = getMesh(objectDetail);
+   if (mesh && visible>0.01f)
+      return mesh->castRay(frame,start,end,rayInfo);
+   return false;
+}