From 765c9015ae2830d5cc454c5b37bd07fe6ed0f239 Mon Sep 17 00:00:00 2001
From: Dominic Masters <dominic@domsplace.com>
Date: Sat, 18 Mar 2023 22:58:26 -0700
Subject: [PATCH] Fixed raycast sphere.
---
src/dawn/display/Transform.cpp | 2 +-
src/dawn/physics/3d/Ray3D.cpp | 29 +-
.../components/physics/3d/CMakeLists.txt | 1 +
.../components/physics/3d/Collider3D.hpp | 3 +-
.../components/physics/3d/SphereCollider.cpp | 31 ++
.../components/physics/3d/SphereCollider.hpp | 24 ++
src/dawn/scene/debug/SceneDebugLine.cpp | 328 +++++++++---------
.../scene/components/PlayerController.cpp | 9 +-
src/dawnrose/scenes/HelloWorldScene.hpp | 11 +-
9 files changed, 249 insertions(+), 189 deletions(-)
create mode 100644 src/dawn/scene/components/physics/3d/SphereCollider.cpp
create mode 100644 src/dawn/scene/components/physics/3d/SphereCollider.hpp
diff --git a/src/dawn/display/Transform.cpp b/src/dawn/display/Transform.cpp
index ba1ce810..c01a9218 100644
--- a/src/dawn/display/Transform.cpp
+++ b/src/dawn/display/Transform.cpp
@@ -131,7 +131,7 @@ void Transform::setLocalTransform(glm::mat4 transform) {
}
glm::vec3 Transform::getWorldPosition() {
- return glm::inverse(this->transformWorld)[3];
+ return this->transformWorld[3];
}
glm::mat4 Transform::getWorldTransform() {
diff --git a/src/dawn/physics/3d/Ray3D.cpp b/src/dawn/physics/3d/Ray3D.cpp
index 85d9dc53..41b22af3 100644
--- a/src/dawn/physics/3d/Ray3D.cpp
+++ b/src/dawn/physics/3d/Ray3D.cpp
@@ -14,20 +14,23 @@ bool_t Dawn::raytestSphere(
glm::vec3 *normal,
float_t *distance
) {
- assertNotNull(hit);
- assertNotNull(normal);
+ float_t a = glm::dot(ray.direction, ray.direction);
+ float_t b = 2.0f * glm::dot(ray.direction, ray.origin - sphere.center);
+ float_t c = glm::dot(ray.origin - sphere.center, ray.origin - sphere.center);
+ c -= sphere.radius * sphere.radius;
- glm::vec3 h, n;
- auto result = glm::intersectRaySphere(
- ray.origin, ray.direction,
- sphere.center, sphere.radius,
- h, n
- );
- if(!result) return result;
- *hit = h;
- *normal = n;
- *distance = glm::distance(ray.origin, h);
- return result;
+ float_t dt = b * b - 4.0f * a * c;
+ if(dt < 0.0f) return false;
+
+ float_t t0 = (-b - sqrtf(dt)) / (a * 2.0f);
+ if(t0 < 0.0f) return false;
+
+ *hit = ray.origin + t0 * ray.direction;
+ *normal = glm::normalize(*hit - sphere.center);
+ *distance = t0;
+
+
+ return true;
}
bool_t Dawn::raytestTriangle(
diff --git a/src/dawn/scene/components/physics/3d/CMakeLists.txt b/src/dawn/scene/components/physics/3d/CMakeLists.txt
index d49caf35..458e0e71 100644
--- a/src/dawn/scene/components/physics/3d/CMakeLists.txt
+++ b/src/dawn/scene/components/physics/3d/CMakeLists.txt
@@ -9,4 +9,5 @@ target_sources(${DAWN_TARGET_NAME}
Collider3D.cpp
CubeCollider.cpp
CapsuleCollider.cpp
+ SphereCollider.cpp
)
\ No newline at end of file
diff --git a/src/dawn/scene/components/physics/3d/Collider3D.hpp b/src/dawn/scene/components/physics/3d/Collider3D.hpp
index d188765f..82bdaee6 100644
--- a/src/dawn/scene/components/physics/3d/Collider3D.hpp
+++ b/src/dawn/scene/components/physics/3d/Collider3D.hpp
@@ -17,7 +17,8 @@ namespace Dawn {
enum Collider3DType {
COLLIDER3D_TYPE_CUBE,
- COLLIDER3D_TYPE_CAPSULE
+ COLLIDER3D_TYPE_CAPSULE,
+ COLLIDER3D_TYPE_SPHERE
};
class Collider3D : public SceneItemComponent {
diff --git a/src/dawn/scene/components/physics/3d/SphereCollider.cpp b/src/dawn/scene/components/physics/3d/SphereCollider.cpp
new file mode 100644
index 00000000..271108dd
--- /dev/null
+++ b/src/dawn/scene/components/physics/3d/SphereCollider.cpp
@@ -0,0 +1,31 @@
+// Copyright (c) 2023 Dominic Masters
+//
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#include "SphereCollider.hpp"
+
+using namespace Dawn;
+
+SphereCollider::SphereCollider(SceneItem *item) : Collider3D(item) {
+
+}
+
+enum Collider3DType SphereCollider::getColliderType() {
+ return COLLIDER3D_TYPE_SPHERE;
+}
+
+bool_t SphereCollider::performRaycast(
+ struct Collider3DRayResult *result,
+ struct Ray3D ray
+) {
+ assertNotNull(result);
+
+ return raytestSphere(
+ ray,
+ { .center = transform->getLocalPosition(), .radius = this->radius },
+ &result->point,
+ &result->normal,
+ &result->distance
+ );
+}
\ No newline at end of file
diff --git a/src/dawn/scene/components/physics/3d/SphereCollider.hpp b/src/dawn/scene/components/physics/3d/SphereCollider.hpp
new file mode 100644
index 00000000..31f119fb
--- /dev/null
+++ b/src/dawn/scene/components/physics/3d/SphereCollider.hpp
@@ -0,0 +1,24 @@
+// Copyright (c) 2023 Dominic Masters
+//
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#pragma once
+#include "Collider3D.hpp"
+
+namespace Dawn {
+ class SphereCollider : public Collider3D {
+ protected:
+ bool_t performRaycast(
+ struct Collider3DRayResult *result,
+ struct Ray3D ray
+ ) override;
+
+ public:
+ float_t radius = 1.0f;
+
+ SphereCollider(SceneItem *item);
+
+ enum Collider3DType getColliderType() override;
+ };
+}
\ No newline at end of file
diff --git a/src/dawn/scene/debug/SceneDebugLine.cpp b/src/dawn/scene/debug/SceneDebugLine.cpp
index b543d6a4..3cbc2416 100644
--- a/src/dawn/scene/debug/SceneDebugLine.cpp
+++ b/src/dawn/scene/debug/SceneDebugLine.cpp
@@ -1,165 +1,165 @@
-// Copyright (c) 2023 Dominic Masters
-//
-// This software is released under the MIT License.
-// https://opensource.org/licenses/MIT
-
-#include "SceneDebugLine.hpp"
-#include "display/shader/SimpleTexturedShader.hpp"
-#include "scene/components/display/Camera.hpp"
-#include "scene/Scene.hpp"
-#include "scene/components/physics/3d/Collider3D.hpp"
-#include "scene/components/physics/3d/CubeCollider.hpp"
-
-using namespace Dawn;
-
-struct ShaderPassItem SceneDebugLine::createShaderItem(
- Mesh *mesh,
- int32_t *lineIndex,
- Camera *camera,
- SimpleTexturedShader *shader
-) {
- struct ShaderPassItem item;
- item.priority = this->priority;
-
- item.shaderProgram = &shader->program;
- item.colorValues[shader->program.paramColor] = this->color;
- item.matrixValues[shader->program.paramModel] = this->transform;
- item.matrixValues[shader->program.paramView] = camera->transform->getWorldTransform();
- item.matrixValues[shader->program.paramProjection] = camera->getProjection();
- item.boolValues[shader->program.paramHasTexture] = false;
-
- auto i = *lineIndex;
- item.mesh = mesh;
- item.drawMode = MESH_DRAW_MODE_LINES;
- item.renderFlags = 0x00;
- item.start = i * SCENE_DEBUG_LINE_INDICE_COUNT;
- item.count = SCENE_DEBUG_LINE_INDICE_COUNT;
-
- glm::vec3 positions[SCENE_DEBUG_LINE_VERTICE_COUNT] = { this->v0, this->v1 };
- mesh->bufferPositions(
- i * SCENE_DEBUG_LINE_VERTICE_COUNT,
- positions,
- SCENE_DEBUG_LINE_VERTICE_COUNT
- );
-
- meshindice_t indices[SCENE_DEBUG_LINE_INDICE_COUNT] = {
- i * SCENE_DEBUG_LINE_VERTICE_COUNT,
- (i*SCENE_DEBUG_LINE_VERTICE_COUNT) + 1
- };
- mesh->bufferIndices(
- i * SCENE_DEBUG_LINE_INDICE_COUNT,
- indices,
- SCENE_DEBUG_LINE_INDICE_COUNT
- );
- return item;
-}
-
-// Scene Implementations (done here to keep things cleaner in scene)
-void Scene::debugLine(struct SceneDebugLine line) {
- this->debugLines.push_back(line);
-}
-
-void Scene::debugRay(struct SceneDebugRay ray) {
- this->debugLine((struct SceneDebugLine){
- .v0 = ray.start,
- .v1 = ray.start + ray.direction,
- .color = ray.color
- });
-}
-
-void Scene::debugCube(struct SceneDebugCube cube) {
- auto min = cube.min;
- auto max = cube.max;
-
- struct SceneDebugLine line;
- line.color = cube.color;
- line.transform = cube.transform;
-
- // Bottom Face
- line.v0 = glm::vec3(min.x, min.y, min.z), line.v1 = glm::vec3(max.x, min.y, min.z);
- this->debugLine(line);
- line.v0 = glm::vec3(min.x, min.y, min.z), line.v1 = glm::vec3(min.x, min.y, max.z);
- this->debugLine(line);
- line.v0 = glm::vec3(max.x, min.y, min.z), line.v1 = glm::vec3(max.x, min.y, max.z);
- this->debugLine(line);
- line.v0 = glm::vec3(min.x, min.y, max.z), line.v1 = glm::vec3(max.x, min.y, max.z);
- this->debugLine(line);
-
- // Top Face
- line.v0 = glm::vec3(min.x, max.y, min.z), line.v1 = glm::vec3(max.x, max.y, min.z);
- this->debugLine(line);
- line.v0 = glm::vec3(min.x, max.y, min.z), line.v1 = glm::vec3(min.x, max.y, max.z);
- this->debugLine(line);
- line.v0 = glm::vec3(max.x, max.y, min.z), line.v1 = glm::vec3(max.x, max.y, max.z);
- this->debugLine(line);
- line.v0 = glm::vec3(min.x, max.y, max.z), line.v1 = glm::vec3(max.x, max.y, max.z);
- this->debugLine(line);
-
- // Rails
- line.v0 = glm::vec3(min.x, min.y, min.z), line.v1 = glm::vec3(min.x, max.y, min.z);
- this->debugLine(line);
- line.v0 = glm::vec3(max.x, min.y, min.z), line.v1 = glm::vec3(max.x, max.y, min.z);
- this->debugLine(line);
- line.v0 = glm::vec3(min.x, min.y, max.z), line.v1 = glm::vec3(min.x, max.y, max.z);
- this->debugLine(line);
- line.v0 = glm::vec3(max.x, min.y, max.z), line.v1 = glm::vec3(max.x, max.y, max.z);
- this->debugLine(line);
-}
-
-void Scene::debugOrigin() {
- struct SceneDebugLine line;
- line.v1 = glm::vec3(1, 0, 0), line.color = COLOR_RED;
- this->debugLine(line);
- line.v1 = glm::vec3(0, 1, 0), line.color = COLOR_GREEN;
- this->debugLine(line);
- line.v1 = glm::vec3(0, 0, 1), line.color = COLOR_BLUE;
- this->debugLine(line);
-}
-
-void Scene::debugGrid() {
- float_t s = 10.0f;
- float_t t = 1.0f;
-
- struct SceneDebugLine line;
- line.color = COLOR_LIGHT_GREY;
- line.color.a = 0.2f;
-
- line.v0 = glm::vec3(-s, 0, -s), line.v1 = glm::vec3(s, 0, -s);
- this->debugLine(line);
- line.v0 = glm::vec3(-s, 0, -s), line.v1 = glm::vec3(-s, 0, s);
- this->debugLine(line);
- line.v0 = glm::vec3(s, 0, -s), line.v1 = glm::vec3(s, 0, s);
- this->debugLine(line);
- line.v0 = glm::vec3(-s, 0, s), line.v1 = glm::vec3(s, 0, s);
- this->debugLine(line);
-
- for(float_t x = -s+t; x < s; x += t) {
- line.v0 = glm::vec3(x, 0, -s), line.v1 = glm::vec3(x, 0, s);
- this->debugLine(line);
- }
-
- for(float_t z = -s+t; z < s; z += t) {
- line.v0 = glm::vec3(-s, 0, z), line.v1 = glm::vec3(s, 0, z);
- this->debugLine(line);
- }
-}
-
-void Scene::debugHitboxes() {
- auto colliders = this->findComponents<Collider3D>();
- auto itColliders = colliders.begin();
- while(itColliders != colliders.end()) {
- auto c = *itColliders;
- switch(c->getColliderType()) {
- case COLLIDER3D_TYPE_CUBE:
- auto asCube = dynamic_cast<CubeCollider*>(c);
- this->debugCube((struct SceneDebugCube){
- .min = asCube->min,
- .max = asCube->max,
- .color = COLOR_BLUE,
- .transform = asCube->transform->getWorldTransform()
- });
- break;
- }
- ++itColliders;
- }
+// Copyright (c) 2023 Dominic Masters
+//
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#include "SceneDebugLine.hpp"
+#include "display/shader/SimpleTexturedShader.hpp"
+#include "scene/components/display/Camera.hpp"
+#include "scene/Scene.hpp"
+#include "scene/components/physics/3d/Collider3D.hpp"
+#include "scene/components/physics/3d/CubeCollider.hpp"
+
+using namespace Dawn;
+
+struct ShaderPassItem SceneDebugLine::createShaderItem(
+ Mesh *mesh,
+ int32_t *lineIndex,
+ Camera *camera,
+ SimpleTexturedShader *shader
+) {
+ struct ShaderPassItem item;
+ item.priority = this->priority;
+
+ item.shaderProgram = &shader->program;
+ item.colorValues[shader->program.paramColor] = this->color;
+ item.matrixValues[shader->program.paramModel] = this->transform;
+ item.matrixValues[shader->program.paramView] = camera->transform->getWorldTransform();
+ item.matrixValues[shader->program.paramProjection] = camera->getProjection();
+ item.boolValues[shader->program.paramHasTexture] = false;
+
+ auto i = *lineIndex;
+ item.mesh = mesh;
+ item.drawMode = MESH_DRAW_MODE_LINES;
+ item.renderFlags = RENDER_MANAGER_RENDER_FLAG_DEPTH_TEST;
+ item.start = i * SCENE_DEBUG_LINE_INDICE_COUNT;
+ item.count = SCENE_DEBUG_LINE_INDICE_COUNT;
+
+ glm::vec3 positions[SCENE_DEBUG_LINE_VERTICE_COUNT] = { this->v0, this->v1 };
+ mesh->bufferPositions(
+ i * SCENE_DEBUG_LINE_VERTICE_COUNT,
+ positions,
+ SCENE_DEBUG_LINE_VERTICE_COUNT
+ );
+
+ meshindice_t indices[SCENE_DEBUG_LINE_INDICE_COUNT] = {
+ i * SCENE_DEBUG_LINE_VERTICE_COUNT,
+ (i*SCENE_DEBUG_LINE_VERTICE_COUNT) + 1
+ };
+ mesh->bufferIndices(
+ i * SCENE_DEBUG_LINE_INDICE_COUNT,
+ indices,
+ SCENE_DEBUG_LINE_INDICE_COUNT
+ );
+ return item;
+}
+
+// Scene Implementations (done here to keep things cleaner in scene)
+void Scene::debugLine(struct SceneDebugLine line) {
+ this->debugLines.push_back(line);
+}
+
+void Scene::debugRay(struct SceneDebugRay ray) {
+ this->debugLine((struct SceneDebugLine){
+ .v0 = ray.start,
+ .v1 = ray.start + ray.direction,
+ .color = ray.color
+ });
+}
+
+void Scene::debugCube(struct SceneDebugCube cube) {
+ auto min = cube.min;
+ auto max = cube.max;
+
+ struct SceneDebugLine line;
+ line.color = cube.color;
+ line.transform = cube.transform;
+
+ // Bottom Face
+ line.v0 = glm::vec3(min.x, min.y, min.z), line.v1 = glm::vec3(max.x, min.y, min.z);
+ this->debugLine(line);
+ line.v0 = glm::vec3(min.x, min.y, min.z), line.v1 = glm::vec3(min.x, min.y, max.z);
+ this->debugLine(line);
+ line.v0 = glm::vec3(max.x, min.y, min.z), line.v1 = glm::vec3(max.x, min.y, max.z);
+ this->debugLine(line);
+ line.v0 = glm::vec3(min.x, min.y, max.z), line.v1 = glm::vec3(max.x, min.y, max.z);
+ this->debugLine(line);
+
+ // Top Face
+ line.v0 = glm::vec3(min.x, max.y, min.z), line.v1 = glm::vec3(max.x, max.y, min.z);
+ this->debugLine(line);
+ line.v0 = glm::vec3(min.x, max.y, min.z), line.v1 = glm::vec3(min.x, max.y, max.z);
+ this->debugLine(line);
+ line.v0 = glm::vec3(max.x, max.y, min.z), line.v1 = glm::vec3(max.x, max.y, max.z);
+ this->debugLine(line);
+ line.v0 = glm::vec3(min.x, max.y, max.z), line.v1 = glm::vec3(max.x, max.y, max.z);
+ this->debugLine(line);
+
+ // Rails
+ line.v0 = glm::vec3(min.x, min.y, min.z), line.v1 = glm::vec3(min.x, max.y, min.z);
+ this->debugLine(line);
+ line.v0 = glm::vec3(max.x, min.y, min.z), line.v1 = glm::vec3(max.x, max.y, min.z);
+ this->debugLine(line);
+ line.v0 = glm::vec3(min.x, min.y, max.z), line.v1 = glm::vec3(min.x, max.y, max.z);
+ this->debugLine(line);
+ line.v0 = glm::vec3(max.x, min.y, max.z), line.v1 = glm::vec3(max.x, max.y, max.z);
+ this->debugLine(line);
+}
+
+void Scene::debugOrigin() {
+ struct SceneDebugLine line;
+ line.v1 = glm::vec3(1, 0, 0), line.color = COLOR_RED;
+ this->debugLine(line);
+ line.v1 = glm::vec3(0, 1, 0), line.color = COLOR_GREEN;
+ this->debugLine(line);
+ line.v1 = glm::vec3(0, 0, 1), line.color = COLOR_BLUE;
+ this->debugLine(line);
+}
+
+void Scene::debugGrid() {
+ float_t s = 10.0f;
+ float_t t = 1.0f;
+
+ struct SceneDebugLine line;
+ line.color = COLOR_LIGHT_GREY;
+ line.color.a = 0.2f;
+
+ line.v0 = glm::vec3(-s, 0, -s), line.v1 = glm::vec3(s, 0, -s);
+ this->debugLine(line);
+ line.v0 = glm::vec3(-s, 0, -s), line.v1 = glm::vec3(-s, 0, s);
+ this->debugLine(line);
+ line.v0 = glm::vec3(s, 0, -s), line.v1 = glm::vec3(s, 0, s);
+ this->debugLine(line);
+ line.v0 = glm::vec3(-s, 0, s), line.v1 = glm::vec3(s, 0, s);
+ this->debugLine(line);
+
+ for(float_t x = -s+t; x < s; x += t) {
+ line.v0 = glm::vec3(x, 0, -s), line.v1 = glm::vec3(x, 0, s);
+ this->debugLine(line);
+ }
+
+ for(float_t z = -s+t; z < s; z += t) {
+ line.v0 = glm::vec3(-s, 0, z), line.v1 = glm::vec3(s, 0, z);
+ this->debugLine(line);
+ }
+}
+
+void Scene::debugHitboxes() {
+ auto colliders = this->findComponents<Collider3D>();
+ auto itColliders = colliders.begin();
+ while(itColliders != colliders.end()) {
+ auto c = *itColliders;
+ switch(c->getColliderType()) {
+ case COLLIDER3D_TYPE_CUBE:
+ auto asCube = dynamic_cast<CubeCollider*>(c);
+ this->debugCube((struct SceneDebugCube){
+ .min = asCube->min,
+ .max = asCube->max,
+ .color = COLOR_BLUE,
+ .transform = asCube->transform->getWorldTransform()
+ });
+ break;
+ }
+ ++itColliders;
+ }
}
\ No newline at end of file
diff --git a/src/dawnrose/scene/components/PlayerController.cpp b/src/dawnrose/scene/components/PlayerController.cpp
index 75d47749..90adaa18 100644
--- a/src/dawnrose/scene/components/PlayerController.cpp
+++ b/src/dawnrose/scene/components/PlayerController.cpp
@@ -39,12 +39,13 @@ void PlayerController::onStart() {
// tEST
- auto collider = item->getComponent<CapsuleCollider>();
+ auto collider = item->getComponent<Collider3D>();
+ assertNotNull(collider);
Collider3DRayResult result;
struct Ray3D ray;
- ray.origin = glm::vec3(0, 0.5f, 1);
- ray.direction = glm::vec3(10, 0, 0);
+ ray.origin = glm::vec3(0, 0.0f, 5);
+ ray.direction = glm::vec3(0, 0.0f, -4);
struct Color color = COLOR_MAGENTA;
@@ -54,7 +55,7 @@ void PlayerController::onStart() {
getScene()->debugRay({
.start = result.point,
- .direction = (result.normal * 100.0f),
+ .direction = result.normal,
.color = COLOR_GREEN
});
}
diff --git a/src/dawnrose/scenes/HelloWorldScene.hpp b/src/dawnrose/scenes/HelloWorldScene.hpp
index ca4eaa9b..a0eb49c3 100644
--- a/src/dawnrose/scenes/HelloWorldScene.hpp
+++ b/src/dawnrose/scenes/HelloWorldScene.hpp
@@ -7,14 +7,14 @@
#include "scene/Scene.hpp"
#include "scene/components/PlayerController.hpp"
#include "scene/components/GameCamera.hpp"
-#include "scene/components/physics/3d/CubeCollider.hpp"
-#include "scene/components/physics/3d/CapsuleCollider.hpp"
#include "scene/components/GameCamera.hpp"
#include "scene/components/display/MeshRenderer.hpp"
#include "scene/components/display/MeshHost.hpp"
#include "scene/components/display/material/SimpleTexturedMaterial.hpp"
-#include "display/mesh/CapsuleMesh.hpp"
#include "scene/components/example/ExampleSpin.hpp"
+#include "scene/components/physics/3d/SphereCollider.hpp"
+#include "scene/components/physics/3d/CubeCollider.hpp"
+#include "display/mesh/SphereMesh.hpp"
namespace Dawn {
class HelloWorldScene : public Scene {
@@ -25,12 +25,11 @@ namespace Dawn {
auto playerItem = this->createSceneItem();
auto player = playerItem->addComponent<PlayerController>();
- auto hitbox = playerItem->addComponent<CapsuleCollider>();
playerItem->addComponent<MeshRenderer>();
auto meshHost = playerItem->addComponent<MeshHost>();
playerItem->addComponent<SimpleTexturedMaterial>();
-
- CapsuleMesh::create(&meshHost->mesh, hitbox->radius, hitbox->height);
+ auto hitbox = playerItem->addComponent<SphereCollider>();
+ SphereMesh::createSphere(&meshHost->mesh, hitbox->radius, 32, 32);
auto wall = this->createSceneItem();
auto wallHitbox = wall->addComponent<CubeCollider>();