Implemented a custom physics engine #316
|
|
@ -45,9 +45,9 @@
|
|||
NumberOfChildren: 0
|
||||
Components:
|
||||
Camera Component:
|
||||
Position: {x: 1, y: 10, z: 3}
|
||||
Position: {x: -0.5, y: 10, z: -3}
|
||||
Pitch: 0
|
||||
Yaw: 0
|
||||
Yaw: 180
|
||||
Roll: 0
|
||||
Width: 1920
|
||||
Height: 1080
|
||||
|
|
@ -84,7 +84,7 @@
|
|||
Freeze Rotation Z: false
|
||||
IsActive: true
|
||||
Collider Component:
|
||||
DrawColliders: false
|
||||
DrawColliders: true
|
||||
Colliders:
|
||||
- Is Trigger: false
|
||||
Collision Tag: 1
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||||
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@ -95,7 +95,7 @@
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|||
Density: 1
|
||||
Position Offset: {x: 0, y: 0, z: 0}
|
||||
Rotation Offset: {x: 0, y: 0, z: 0}
|
||||
- Is Trigger: false
|
||||
- Is Trigger: true
|
||||
Collision Tag: 1
|
||||
Type: Sphere
|
||||
Radius: 0.5
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||||
|
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@ -280,9 +280,9 @@
|
|||
NumberOfChildren: 0
|
||||
Components:
|
||||
Transform Component:
|
||||
Translate: {x: 0.899999976, y: 10, z: 0}
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||||
Rotate: {x: -0, y: 0, z: 0.785398185}
|
||||
Scale: {x: 1, y: 1, z: 1}
|
||||
Translate: {x: 0.524352431, y: 11.1989822, z: 0.0463808179}
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||||
Rotate: {x: -0, y: 0.785398066, z: 0.785398185}
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||||
Scale: {x: 0.999999821, y: 0.999999821, z: 0.999999881}
|
||||
IsActive: true
|
||||
RigidBody Component:
|
||||
Type: Dynamic
|
||||
|
|
@ -295,7 +295,7 @@
|
|||
Interpolate: true
|
||||
Sleeping Enabled: true
|
||||
Freeze Position X: false
|
||||
Freeze Position Y: true
|
||||
Freeze Position Y: false
|
||||
Freeze Position Z: false
|
||||
Freeze Rotation X: false
|
||||
Freeze Rotation Y: false
|
||||
|
|
@ -304,7 +304,7 @@
|
|||
Collider Component:
|
||||
DrawColliders: false
|
||||
Colliders:
|
||||
- Is Trigger: true
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||||
- Is Trigger: false
|
||||
Collision Tag: 1
|
||||
Type: Box
|
||||
Half Extents: {x: 1, y: 1, z: 1}
|
||||
|
|
@ -322,13 +322,13 @@
|
|||
Components:
|
||||
Transform Component:
|
||||
Translate: {x: -0.5, y: 10, z: 0}
|
||||
Rotate: {x: -0, y: 0.785398185, z: -0}
|
||||
Rotate: {x: -0, y: 0, z: -0}
|
||||
Scale: {x: 1, y: 1, z: 1}
|
||||
IsActive: true
|
||||
RigidBody Component:
|
||||
Type: Dynamic
|
||||
Type: Static
|
||||
Auto Mass: false
|
||||
Mass: 1
|
||||
Mass: .inf
|
||||
Drag: 0.00999999978
|
||||
Angular Drag: 0.00999999978
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||||
Use Gravity: true
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||||
|
|
@ -345,7 +345,7 @@
|
|||
Collider Component:
|
||||
DrawColliders: false
|
||||
Colliders:
|
||||
- Is Trigger: true
|
||||
- Is Trigger: false
|
||||
Collision Tag: 1
|
||||
Type: Box
|
||||
Half Extents: {x: 1, y: 1, z: 1}
|
||||
|
|
|
|||
|
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@ -106,7 +106,8 @@ namespace SHADE
|
|||
|
||||
static bool buildMinkowskiFace (const SHConvexPolyhedron& A, const SHConvexPolyhedron& B, int32_t edgeA, int32_t edgeB) noexcept;
|
||||
static bool isMinkowskiFace (const SHVec3& a, const SHVec3& b, const SHVec3& c, const SHVec3& d) noexcept;
|
||||
static float distanceBetweenEdges(const SHConvexPolyhedron& A, const SHConvexPolyhedron& B, int32_t edgeA, int32_t edgeB) noexcept;
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static float distanceBetweenEdges (const SHConvexPolyhedron& A, const SHConvexPolyhedron& B, int32_t edgeA, int32_t edgeB) noexcept;
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static SHVec3 findClosestPointBetweenEdges (const SHConvexPolyhedron& A, const SHConvexPolyhedron& B, int32_t edgeA, int32_t edgeB, SHVec3& normal) noexcept;
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||||
|
||||
/*
|
||||
* TODO:
|
||||
|
|
|
|||
|
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@ -17,6 +17,7 @@
|
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#include "Math/SHMathHelpers.h"
|
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#include "Math/Geometry/SHPlane.h"
|
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#include "Physics/Collision/Shapes/SHConvexPolyhedron.h"
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#include "Tools/Utilities/SHUtilities.h"
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||||
|
||||
namespace SHADE
|
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{
|
||||
|
|
@ -65,6 +66,55 @@ namespace SHADE
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*
|
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*/
|
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const SHConvexPolyhedron& POLY_A = dynamic_cast<const SHConvexPolyhedron&>(A);
|
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const SHConvexPolyhedron& POLY_B = dynamic_cast<const SHConvexPolyhedron&>(B);
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||||
|
||||
const FaceQuery FACE_QUERY_A = queryFaceDirections(POLY_A, POLY_B);
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if (FACE_QUERY_A.bestDistance > 0.0f)
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return false;
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|
||||
const FaceQuery FACE_QUERY_B = queryFaceDirections(POLY_B, POLY_A);
|
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if (FACE_QUERY_B.bestDistance > 0.0f)
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return false;
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||||
const EdgeQuery EDGE_QUERY = queryEdgeDirections(POLY_A, POLY_B);
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||||
if (EDGE_QUERY.bestDistance > 0.0f)
|
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return false;
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||||
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||||
const FaceQuery& BEST_FACE_QUERY = FACE_QUERY_A.bestDistance > FACE_QUERY_B.bestDistance ? FACE_QUERY_A : FACE_QUERY_B;
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// If an edge pair contains the closest distance,vwe ignore any face queries and find the closest points on
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// each edge and use that as the contact point.
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// Artificially increase the depth of this collision by a small tolerance to tend towards picking a face query in the next frame.
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if (EDGE_QUERY.bestDistance > BEST_FACE_QUERY.bestDistance)
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{
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const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = POLY_A.GetHalfEdge(EDGE_QUERY.halfEdgeA);
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const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = POLY_B.GetHalfEdge(EDGE_QUERY.halfEdgeB);
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|
||||
// In this scenario, we only have one contact
|
||||
|
||||
SHContactFeatures featurePair;
|
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featurePair.typeA = SHUtilities::ConvertEnum(SHContactFeatures::Type::VERTEX);
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featurePair.indexA = HALF_EDGE_A.tailVertexIndex;
|
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featurePair.typeB = SHUtilities::ConvertEnum(SHContactFeatures::Type::VERTEX);
|
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featurePair.indexB = HALF_EDGE_B.tailVertexIndex;
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|
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SHContact contact;
|
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contact.featurePair = featurePair;
|
||||
|
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contact.position = findClosestPointBetweenEdges(POLY_A, POLY_B, EDGE_QUERY.halfEdgeA, EDGE_QUERY.halfEdgeB, manifold.normal);
|
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contact.penetration = EDGE_QUERY.bestDistance;
|
||||
|
||||
manifold.contacts[0] = contact;
|
||||
manifold.numContacts = 1;
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||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// Use a bias to favour a normal in the direction of A -> B
|
||||
|
||||
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
|
@ -187,4 +237,54 @@ namespace SHADE
|
|||
return SHVec3::Dot(normal, HEAD_B - HEAD_A);
|
||||
}
|
||||
|
||||
SHVec3 SHCollision::findClosestPointBetweenEdges(const SHConvexPolyhedron& A, const SHConvexPolyhedron& B, int32_t edgeA, int32_t edgeB, SHVec3& normal) noexcept
|
||||
{
|
||||
const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = A.GetHalfEdge(edgeA);
|
||||
const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = B.GetHalfEdge(edgeB);
|
||||
|
||||
const SHVec3 HEAD_A = A.GetVertex(HALF_EDGE_A.headVertexIndex);
|
||||
const SHVec3 TAIL_A = A.GetVertex(HALF_EDGE_A.tailVertexIndex);
|
||||
const SHVec3 HEAD_B = B.GetVertex(HALF_EDGE_B.headVertexIndex);
|
||||
const SHVec3 TAIL_B = B.GetVertex(HALF_EDGE_B.tailVertexIndex);
|
||||
|
||||
const SHVec3 VA = SHVec3::Normalise(HEAD_A - TAIL_A);
|
||||
const SHVec3 VB = SHVec3::Normalise(HEAD_B - TAIL_B);
|
||||
|
||||
normal = SHVec3::Cross(VB, VA);
|
||||
// Flip normal if need to ( A -> B)
|
||||
if (SHVec3::Dot(normal, HEAD_A - A.GetWorldCentroid()) < 0.0f)
|
||||
normal = -normal;
|
||||
|
||||
|
||||
/*
|
||||
* Find a1, a2, b1, b2, c1, c2 to solve the simultaneous equation
|
||||
* C' = TAIL_B - TAIL_A
|
||||
* U = VA / VB
|
||||
*
|
||||
* a = VBxUx + VByUy + VBzUz
|
||||
* b = -VAxUx - VAyUy - VAzUz
|
||||
* c = (Cx'Ux + Cy'Uy + Cz'Uz)
|
||||
*/
|
||||
|
||||
const SHVec3 C = TAIL_B - TAIL_A;
|
||||
|
||||
const float A1 = VB.x * VA.x + VB.y * VA.y + VB.z * VA.z;
|
||||
const float A2 = VB.x * VB.x + VB.y * VB.y + VB.z * VB.z;
|
||||
const float B1 = -VA.x * VA.x + -VA.y * VA.y + -VA.z * VA.z;
|
||||
const float B2 = -VA.x * VB.x + -VA.y * VB.y + -VA.z * VB.z;
|
||||
const float C1 = C.x * VA.x + C.y + VA.y + C.z + VA.z;
|
||||
const float C2 = C.x * VB.x + C.y + VB.y + C.z + VB.z;
|
||||
|
||||
/*
|
||||
* R = -c2 / ( b2 - (a2 * (c1 + b1)) / a1 )
|
||||
* S = (b1 / a1) * (c2 / ( b2 - (a2 * b1) / a1 )) - (c1 / a1)
|
||||
*/
|
||||
|
||||
const float R = -C2 / (B2 - (A2 * (C1 + B1)) / A1);
|
||||
|
||||
// Just take a point from A since it's A -> B
|
||||
return TAIL_A + R * VA;
|
||||
}
|
||||
|
||||
|
||||
} // namespace SHADE
|
||||
Loading…
Reference in New Issue