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[DEV] firc collision that is really good ==> bad implement but this is the first steop ?....

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This commit is contained in:
Edouard DUPIN 2021-12-22 00:39:18 +01:00
parent 0713227bfd
commit 39ca2f7624
52 changed files with 2206 additions and 1018 deletions
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16
.classpath
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@ -12,16 +12,6 @@
<attribute name="optional" value="true"/>
</attributes>
</classpathentry>
<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-14">
<attributes>
<attribute name="module" value="true"/>
</attributes>
</classpathentry>
<classpathentry kind="con" path="org.eclipse.jdt.junit.JUNIT_CONTAINER/5">
<attributes>
<attribute name="test" value="true"/>
</attributes>
</classpathentry>
<classpathentry combineaccessrules="false" exported="true" kind="src" path="/atriasoft-ephysics">
<attributes>
<attribute name="module" value="true"/>
@ -37,5 +27,11 @@
<attribute name="module" value="true"/>
</attributes>
</classpathentry>
<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
<classpathentry kind="con" path="org.eclipse.jdt.junit.JUNIT_CONTAINER/5">
<attributes>
<attribute name="test" value="true"/>
</attributes>
</classpathentry>
<classpathentry kind="output" path="out/eclipse/classes"/>
</classpath>

1
.project
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@ -19,6 +19,5 @@
</buildSpec>
<natures>
<nature>org.eclipse.jdt.core.javanature</nature>
<nature>org.python.pydev.pythonNature</nature>
</natures>
</projectDescription>

2
samples/src/sample/atriasoft/ege/collisiontest/CollisionTestApplication.java
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@ -27,7 +27,6 @@ import org.atriasoft.ege.components.PhysicBodyType;
import org.atriasoft.ege.engines.EngineLight;
import org.atriasoft.ege.engines.EnginePhysics;
import org.atriasoft.ege.map.MapVoxel;
import org.atriasoft.ege.physics.shape.Box;
import org.atriasoft.ege.tools.MeshGenerator;
import org.atriasoft.etk.Color;
import org.atriasoft.etk.Uri;
@ -46,6 +45,7 @@ import org.atriasoft.gale.key.KeySpecial;
import org.atriasoft.gale.key.KeyStatus;
import org.atriasoft.gale.key.KeyType;
import org.atriasoft.gale.resource.ResourceColored3DObject;
import org.atriasoft.phyligram.shape.Box;
public class CollisionTestApplication extends GaleApplication {
public static Vector3f box1HalfSize;

2
samples/src/sample/atriasoft/ege/loxelEngine/LoxelApplication.java
View File

@ -28,7 +28,6 @@ import org.atriasoft.ege.components.PhysicBodyType;
import org.atriasoft.ege.engines.EngineLight;
import org.atriasoft.ege.engines.EnginePhysics;
import org.atriasoft.ege.map.MapVoxel;
import org.atriasoft.ege.physics.shape.Box;
import org.atriasoft.ege.tools.MeshGenerator;
import org.atriasoft.etk.Color;
import org.atriasoft.etk.Uri;
@ -47,6 +46,7 @@ import org.atriasoft.gale.key.KeySpecial;
import org.atriasoft.gale.key.KeyStatus;
import org.atriasoft.gale.key.KeyType;
import org.atriasoft.gale.resource.ResourceColored3DObject;
import org.atriasoft.phyligram.shape.Box;
public class LoxelApplication extends GaleApplication {
public static Vector3f box1HalfSize;

89
samples/src/sample/atriasoft/ege/loxelEnginePerso/LoxelApplicationPerso.java
View File

@ -4,7 +4,6 @@ import java.util.ArrayList;
import java.util.List;
import org.atriasoft.ege.ControlCameraPlayer;
import org.atriasoft.ege.Engine;
import org.atriasoft.ege.Entity;
import org.atriasoft.ege.Environement;
import org.atriasoft.ege.GameStatus;
@ -26,9 +25,7 @@ import org.atriasoft.ege.components.ComponentStaticMesh;
import org.atriasoft.ege.components.ComponentTexture;
import org.atriasoft.ege.components.PhysicBodyType;
import org.atriasoft.ege.engines.EngineLight;
import org.atriasoft.ege.engines.EnginePhysics;
import org.atriasoft.ege.map.MapVoxel;
import org.atriasoft.phyligram.PhysicBox;
import org.atriasoft.ege.tools.MeshGenerator;
import org.atriasoft.etk.Color;
import org.atriasoft.etk.Uri;
@ -47,6 +44,9 @@ import org.atriasoft.gale.key.KeySpecial;
import org.atriasoft.gale.key.KeyStatus;
import org.atriasoft.gale.key.KeyType;
import org.atriasoft.gale.resource.ResourceColored3DObject;
import org.atriasoft.phyligram.PhysicBox;
import org.atriasoft.phyligram.PhysicSphere;
import org.atriasoft.phyligram.PhysicTriangle;
public class LoxelApplicationPerso extends GaleApplication {
public static Vector3f box1HalfSize;
@ -58,6 +58,7 @@ public class LoxelApplicationPerso extends GaleApplication {
public static List<Boolean> testPointsCollide = new ArrayList<>();
public static Quaternion testQTransfert;
public static Vector3f testRpos;
public boolean disable = false;
private float angleLight = 0;
private Quaternion basicRotation = Quaternion.IDENTITY;
private Quaternion basicRotation2 = Quaternion.IDENTITY;
@ -107,7 +108,7 @@ public class LoxelApplicationPerso extends GaleApplication {
// new Uri("DATA", "basic.vert"),
// new Uri("DATA", "basic.frag")));
// env.addEntity(localLight);
{
if (this.disable) {
// add a cube to test collision ...
final Entity localBox = new Entity(this.env);
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
@ -117,40 +118,40 @@ public class LoxelApplicationPerso extends GaleApplication {
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(0, 0, 5))));
final ComponentPhysicsPerso physics2 = new ComponentPhysicsPerso(this.env);
final PhysicBox box2 = new PhysicBox();
box2.setSize(new Vector3f(0.5f, 0.5f, 0.5f));
box2.setSize(new Vector3f(1.001f, 1.001f, 1.001f));
box2.setOrigin(new Vector3f(0, 0, 0));
box2.setMass(1);
physics2.addShape(box2);
localBox.addComponent(physics2);
this.env.addEntity(localBox);
}
{
if (this.disable) {
// add a cube to test collision ...
final Entity localBox = new Entity(this.env);
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png", "loxelEngine")));
localBox.addComponent(new ComponentLight(new Light(new Color(0.0f,1.0f, 0.0f), new Vector3f(0, 0, 0), new Vector3f(0.8f, 0.03f, 0.002f))));
localBox.addComponent(new ComponentLight(new Light(new Color(0.0f, 1.0f, 0.0f), new Vector3f(0, 0, 0), new Vector3f(0.8f, 0.03f, 0.002f))));
localBox.addComponent(new ComponentRenderTexturedStaticMesh(new Uri("DATA", "basic.vert", "loxelEngine"), new Uri("DATA", "basic.frag", "loxelEngine")));
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(0, 4, 12.5f))));
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(0, 4, 2.5f))));
final ComponentPhysicsPerso physics2 = new ComponentPhysicsPerso(this.env);
final PhysicBox box2 = new PhysicBox();
box2.setSize(new Vector3f(0.5f, 0.5f, 0.5f));
box2.setSize(new Vector3f(2.0f, 2.0f, 2.0f));
box2.setOrigin(new Vector3f(0, 0, 0));
box2.setMass(1);
physics2.addShape(box2);
localBox.addComponent(physics2);
this.env.addEntity(localBox);
}
{
if (this.disable) {
// add a cube to test collision ...
final Entity localBox = new Entity(this.env);
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png", "loxelEngine")));
localBox.addComponent(new ComponentRenderTexturedStaticMesh(new Uri("DATA", "basic.vert", "loxelEngine"), new Uri("DATA", "basic.frag", "loxelEngine")));
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(-2, 2, 14.5f))));
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(-2, 2, 1.5f))));
final ComponentPhysicsPerso physics2 = new ComponentPhysicsPerso(this.env);
final PhysicBox box2 = new PhysicBox();
box2.setSize(new Vector3f(0.5f, 0.5f, 0.5f));
box2.setSize(new Vector3f(3.0f, 3.0f, 3.0f));
box2.setOrigin(new Vector3f(0, 0, 0));
box2.setMass(1);
physics2.addShape(box2);
@ -158,13 +159,13 @@ public class LoxelApplicationPerso extends GaleApplication {
this.env.addEntity(localBox);
}
{
if (this.disable) {
// add a cube to test collision ...
final Entity localBox = new Entity(this.env);
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png", "loxelEngine")));
localBox.addComponent(new ComponentRenderTexturedStaticMesh(new Uri("DATA", "basic.vert", "loxelEngine"), new Uri("DATA", "basic.frag", "loxelEngine")));
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(-5, -5, 14))));
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(-5, -5, 0))));
final ComponentPhysicsPerso physics2 = new ComponentPhysicsPerso(this.env);
final PhysicBox box2 = new PhysicBox();
box2.setSize(new Vector3f(2, 2, 2));
@ -174,7 +175,7 @@ public class LoxelApplicationPerso extends GaleApplication {
localBox.addComponent(physics2);
this.env.addEntity(localBox);
}
{
if (this.disable) {
// add a cube to test collision ...
final Entity localBox = new Entity(this.env);
Quaternion orientation = new Quaternion(0.5f, 0.2f, 0.4f, 1);
@ -182,7 +183,7 @@ public class LoxelApplicationPerso extends GaleApplication {
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png", "loxelEngine")));
localBox.addComponent(new ComponentRenderTexturedStaticMesh(new Uri("DATA", "basic.vert", "loxelEngine"), new Uri("DATA", "basic.frag", "loxelEngine")));
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(15, 15, 14), orientation)));
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(15, 15, 0), orientation)));
final ComponentPhysicsPerso physics2 = new ComponentPhysicsPerso(this.env);
final PhysicBox box2 = new PhysicBox();
box2.setSize(new Vector3f(4, 4, 4));
@ -192,7 +193,7 @@ public class LoxelApplicationPerso extends GaleApplication {
localBox.addComponent(physics2);
this.env.addEntity(localBox);
}
{
if (this.disable) {
// add a cube to test collision ...
final Entity localBox = new Entity(this.env);
final Quaternion orientation = new Quaternion(0.3f, 1.3f, 0.4f, 1);
@ -200,7 +201,7 @@ public class LoxelApplicationPerso extends GaleApplication {
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png", "loxelEngine")));
localBox.addComponent(new ComponentRenderTexturedStaticMesh(new Uri("DATA", "basic.vert", "loxelEngine"), new Uri("DATA", "basic.frag", "loxelEngine")));
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(2, -2, 14.2f), orientation)));
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(2, -2, 0.2f), orientation)));
final ComponentPhysicsPerso physics2 = new ComponentPhysicsPerso(this.env);
// TODO: physics2.setAngularReactionEnable(false);
final PhysicBox box2 = new PhysicBox();
@ -211,7 +212,7 @@ public class LoxelApplicationPerso extends GaleApplication {
localBox.addComponent(physics2);
this.env.addEntity(localBox);
}
{
if (this.disable) {
// this is the floor
final Entity localBox = new Entity(this.env);
Quaternion orientation = new Quaternion(0, 0, 0, 1);
@ -261,6 +262,41 @@ public class LoxelApplicationPerso extends GaleApplication {
// env.addEntity(localBox);
// }
if (true) {
// add a cube to test collision ...
final Entity localBox = new Entity(this.env);
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png", "loxelEngine")));
localBox.addComponent(new ComponentLight(new Light(new Color(0.0f, 1.0f, 0.0f), new Vector3f(0, 0, 0), new Vector3f(0.8f, 0.03f, 0.002f))));
localBox.addComponent(new ComponentRenderTexturedStaticMesh(new Uri("DATA", "basic.vert", "loxelEngine"), new Uri("DATA", "basic.frag", "loxelEngine")));
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(0, 4, 0))));
final ComponentPhysicsPerso physics2 = new ComponentPhysicsPerso(this.env);
final PhysicTriangle box2 = new PhysicTriangle();
box2.setPoints(new Vector3f(2, 0, 0), new Vector3f(0, 2, 0), new Vector3f(3, 3, 2));
box2.setOrigin(new Vector3f(0, 0, 0));
box2.setMass(0);
physics2.addShape(box2);
localBox.addComponent(physics2);
this.env.addEntity(localBox);
}
if (true) {
// add a cube to test collision ...
final Entity localBox = new Entity(this.env);
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png", "loxelEngine")));
localBox.addComponent(new ComponentLight(new Light(new Color(0.0f, 1.0f, 0.0f), new Vector3f(0, 0, 0), new Vector3f(0.8f, 0.03f, 0.002f))));
localBox.addComponent(new ComponentRenderTexturedStaticMesh(new Uri("DATA", "basic.vert", "loxelEngine"), new Uri("DATA", "basic.frag", "loxelEngine")));
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(1, 5, 4))));
final ComponentPhysicsPerso physics2 = new ComponentPhysicsPerso(this.env);
final PhysicSphere box2 = new PhysicSphere();
box2.setSize(1.0f);
box2.setOrigin(new Vector3f(0, 0, 0));
box2.setMass(1);
physics2.addShape(box2);
localBox.addComponent(physics2);
this.env.addEntity(localBox);
}
final Entity gird = new Entity(this.env);
gird.addComponent(new ComponentPosition(new Transform3D(new Vector3f(0, 0, 0))));
gird.addComponent(new ComponentStaticMesh(MeshGenerator.createGrid(5)));
@ -304,6 +340,14 @@ public class LoxelApplicationPerso extends GaleApplication {
player.addComponent(new ComponentTexture(new Uri("RES", "playerTexture.png")));
player.addComponent(new ComponentRenderTexturedMaterialsStaticMesh(new Uri("DATA", "basicMaterial.vert", "loxelEngine"), new Uri("DATA", "basicMaterial.frag", "loxelEngine"),
(EngineLight) this.env.getEngine(EngineLight.ENGINE_NAME)));
final ComponentPhysicsPerso physics = new ComponentPhysicsPerso(this.env);
physics.setBodyType(PhysicBodyType.BODY_DYNAMIC);
final PhysicBox box = new PhysicBox();
box.setSize(new Vector3f(0.6f, 0.6f, 1.8f));
box.setOrigin(new Vector3f(0, 0, 0.9f));
box.setMass(0);
physics.addShape(box);
player.addComponent(physics);
this.env.addEntity(player);
}
final Camera mainView = new Camera();
@ -320,13 +364,6 @@ public class LoxelApplicationPerso extends GaleApplication {
this.basicRotation = Quaternion.fromEulerAngles(new Vector3f(0.005f, 0.005f, 0.01f));
this.basicRotation2 = Quaternion.fromEulerAngles(new Vector3f(0.003f, 0.01f, 0.001f));
final Engine tmpEngine = this.env.getEngine("physics");
if (tmpEngine != null) {
final EnginePhysics physicsEngine = (EnginePhysics) tmpEngine;
//Disable gravity for test ...
physicsEngine.setGravity(new Vector3f(0.0f, 0.0f, -9.0f));
}
// ready to let Gale & Ege manage the display
Log.info("==> Init APPL (END)");
}

4
src/module-info.java
View File

@ -9,9 +9,11 @@ open module org.atriasoft.ege {
exports org.atriasoft.ege.engines;
exports org.atriasoft.ege.geometry;
exports org.atriasoft.ege.map;
exports org.atriasoft.ege.physics.shape;
exports org.atriasoft.ege.tools;
exports org.atriasoft.phyligram;
exports org.atriasoft.phyligram.shape;
exports org.atriasoft.phyligram.math;
exports org.atriasoft.phyligram.tree;
exports entities;
exports guis;
exports models;

13
src/org/atriasoft/ege/Environement.java
View File

@ -8,13 +8,11 @@ import java.util.List;
import java.util.Map;
import org.atriasoft.ege.camera.Camera;
import org.atriasoft.ege.components.ComponentPhysicsPerso;
import org.atriasoft.ege.engines.EngineAI;
import org.atriasoft.ege.engines.EngineDynamicMeshs;
import org.atriasoft.ege.engines.EngineGravity;
import org.atriasoft.ege.engines.EngineLight;
import org.atriasoft.ege.engines.EngineParticle;
import org.atriasoft.ege.engines.EnginePhysics;
import org.atriasoft.ege.engines.EnginePhysicsPerso;
import org.atriasoft.ege.engines.EnginePlayer;
import org.atriasoft.ege.engines.EngineRender;
@ -73,11 +71,11 @@ public class Environement {
addEngine(new EngineAI(this));
addEngine(new EngineDynamicMeshs(this));
addEngine(new EngineRender(this));
addEngine(new EnginePhysics(this));
//addEngine(new EnginePhysics(this));
addEngine(new EnginePhysicsPerso(this));
addEngine(new EngineParticle(this));
addEngine(new EngineLight(this));
startClock = Clock.systemUTC();
this.startClock = Clock.systemUTC();
}
/**
@ -338,14 +336,15 @@ public class Environement {
final long lastUpdate = this.lastCallTime;
this.lastCallTime = System.nanoTime();
Clock currentClock = Clock.systemUTC();
final EventTime event = new EventTime(currentClock, this.startClock, this.lastCallTime , this.startTime, Duration.ofNanos(this.lastCallTime - lastUpdate), Duration.ofNanos(this.lastCallTime - lastUpdate));
final EventTime event = new EventTime(currentClock, this.startClock, this.lastCallTime, this.startTime, Duration.ofNanos(this.lastCallTime - lastUpdate),
Duration.ofNanos(this.lastCallTime - lastUpdate));
for (final ControlInterface elem : this.controls) {
elem.periodicCall(event);
}
for (final Engine engine : this.engines) {
engine.update((long)((this.lastCallTime - lastUpdate)/1000000));
engine.update((this.lastCallTime - lastUpdate) / 1000000);
}
};
}
public void removeControlInterface(final ControlInterface ref) {
this.controls.remove(ref);

63
src/org/atriasoft/ege/components/ComponentPhysics.java
View File

@ -10,20 +10,11 @@ import org.atriasoft.ege.camera.Camera;
import org.atriasoft.ege.components.part.PositionningInterface;
import org.atriasoft.ege.engines.EnginePhysics;
import org.atriasoft.ege.internal.Log;
import org.atriasoft.ege.physics.shape.Box;
import org.atriasoft.ege.physics.shape.Capsule;
import org.atriasoft.ege.physics.shape.Concave;
import org.atriasoft.ege.physics.shape.Cone;
import org.atriasoft.ege.physics.shape.ConvexHull;
import org.atriasoft.ege.physics.shape.Cylinder;
import org.atriasoft.ege.physics.shape.Shape;
import org.atriasoft.ege.physics.shape.Sphere;
import org.atriasoft.ephysics.body.BodyType;
import org.atriasoft.ephysics.body.RigidBody;
import org.atriasoft.ephysics.collision.ProxyShape;
import org.atriasoft.ephysics.collision.TriangleMesh;
import org.atriasoft.ephysics.collision.TriangleVertexArray;
import org.atriasoft.ephysics.collision.shapes.AABB;
import org.atriasoft.ephysics.collision.shapes.BoxShape;
import org.atriasoft.ephysics.collision.shapes.CapsuleShape;
import org.atriasoft.ephysics.collision.shapes.CollisionShape;
@ -38,6 +29,14 @@ import org.atriasoft.etk.math.Quaternion;
import org.atriasoft.etk.math.Transform3D;
import org.atriasoft.etk.math.Vector3f;
import org.atriasoft.gale.resource.ResourceColored3DObject;
import org.atriasoft.phyligram.shape.Box;
import org.atriasoft.phyligram.shape.Capsule;
import org.atriasoft.phyligram.shape.Concave;
import org.atriasoft.phyligram.shape.Cone;
import org.atriasoft.phyligram.shape.ConvexHull;
import org.atriasoft.phyligram.shape.Cylinder;
import org.atriasoft.phyligram.shape.Shape;
import org.atriasoft.phyligram.shape.Sphere;
public class ComponentPhysics extends Component implements PositionningInterface {
public Signal<Transform3D> signalPosition = new Signal<>();
@ -226,56 +225,50 @@ public class ComponentPhysics extends Component implements PositionningInterface
final Matrix4f transformationMatrix = mmm.transpose();
final Color tmpColor = new Color(1.0f, 0.0f, 0.0f, 0.3f);
for (final Shape it : this.shape) {
if (it.isBox()) {
if (it instanceof Box tmpElement) {
Log.debug(" Box");
final Box tmpElement = (Box) it;
final Transform3D transformLocal = new Transform3D(it.getOrigin(), it.getOrientation());
Matrix4f transformationMatrixLocal = transformLocal.getOpenGLMatrix();
transformationMatrixLocal = transformationMatrixLocal.transpose();
transformationMatrixLocal = transformationMatrix.multiply(transformationMatrixLocal);
_draw.drawSquare(tmpElement.getSize(), transformationMatrixLocal, tmpColor);
} else if (it.isCylinder()) {
} else if (it instanceof Cylinder tmpElement) {
Log.debug(" Cylinder");
final Cylinder tmpElement = (Cylinder) it;
final Transform3D transformLocal = new Transform3D(it.getOrigin(), it.getOrientation());
Matrix4f transformationMatrixLocal = transformLocal.getOpenGLMatrix();
transformationMatrixLocal = transformationMatrixLocal.transpose();
transformationMatrixLocal = transformationMatrix.multiply(transformationMatrixLocal);
_draw.drawCylinder(tmpElement.getRadius(), tmpElement.getSize(), 10, 10, transformationMatrixLocal, tmpColor);
} else if (it.isCapsule()) {
} else if (it instanceof Capsule tmpElement) {
Log.debug(" Capsule");
final Capsule tmpElement = (Capsule) it;
final Transform3D transformLocal = new Transform3D(it.getOrigin(), it.getOrientation());
Matrix4f transformationMatrixLocal = transformLocal.getOpenGLMatrix();
transformationMatrixLocal = transformationMatrixLocal.transpose();
transformationMatrixLocal = transformationMatrix.multiply(transformationMatrixLocal);
_draw.drawCapsule(tmpElement.getRadius(), tmpElement.getSize(), 10, 10, transformationMatrixLocal, tmpColor);
} else if (it.isCone()) {
} else if (it instanceof Cone tmpElement) {
Log.debug(" Cone");
final Cone tmpElement = (Cone) it;
final Transform3D transformLocal = new Transform3D(it.getOrigin(), it.getOrientation());
Matrix4f transformationMatrixLocal = transformLocal.getOpenGLMatrix();
transformationMatrixLocal = transformationMatrixLocal.transpose();
transformationMatrixLocal = transformationMatrix.multiply(transformationMatrixLocal);
_draw.drawCone(tmpElement.getRadius(), tmpElement.getSize(), 10, 10, transformationMatrixLocal, tmpColor);
} else if (it.isSphere()) {
} else if (it instanceof Sphere tmpElement) {
Log.debug(" Sphere");
final Sphere tmpElement = (Sphere) it;
final Transform3D transformLocal = new Transform3D(it.getOrigin(), it.getOrientation());
Matrix4f transformationMatrixLocal = transformLocal.getOpenGLMatrix();
transformationMatrixLocal = transformationMatrixLocal.transpose();
transformationMatrixLocal = transformationMatrix.multiply(transformationMatrixLocal);
_draw.drawSphere(tmpElement.getRadius(), 10, 10, transformationMatrixLocal, tmpColor);
} else if (it.isConcave()) {
} else if (it instanceof Concave tmpElement) {
Log.debug(" concave");
final Concave tmpElement = (Concave) it;
final Transform3D transformLocal = new Transform3D(it.getOrigin(), it.getOrientation());
Matrix4f transformationMatrixLocal = transformLocal.getOpenGLMatrix();
@ -283,9 +276,8 @@ public class ComponentPhysics extends Component implements PositionningInterface
transformationMatrixLocal = transformationMatrixLocal.multiply(transformationMatrixLocal);
_draw.drawTriangles(tmpElement.getVertex(), tmpElement.getIndices(), transformationMatrixLocal, tmpColor);
} else if (it.isConvexHull()) {
} else if (it instanceof ConvexHull tmpElement) {
Log.debug(" convexHull");
final ConvexHull tmpElement = (ConvexHull) it;
break;
}
}
@ -312,9 +304,8 @@ public class ComponentPhysics extends Component implements PositionningInterface
if (it == null) {
continue;
}
if (it.isBox()) {
if (it instanceof Box tmpElement) {
Log.debug(" Box");
final Box tmpElement = (Box) it;
// Half extents of the box in the x, y and z directions
final Vector3f halfExtents = new Vector3f(tmpElement.getSize().x(), tmpElement.getSize().y(), tmpElement.getSize().z());
// Create the box shape
@ -326,9 +317,8 @@ public class ComponentPhysics extends Component implements PositionningInterface
final ProxyShape proxyShape = this.rigidBody.addCollisionShape(shape, transform, it.getMass());
proxyShape.setUserData(this);
this.listProxyShape.add(proxyShape);
} else if (it.isCylinder()) {
} else if (it instanceof Cylinder tmpElement) {
Log.debug(" Cylinder");
final Cylinder tmpElement = (Cylinder) it;
// Create the Cylinder shape
// Create the Cylinder shape
final CylinderShape shape = new CylinderShape(tmpElement.getRadius(), tmpElement.getSize());
@ -338,9 +328,8 @@ public class ComponentPhysics extends Component implements PositionningInterface
final ProxyShape proxyShape = this.rigidBody.addCollisionShape(shape, transform, it.getMass());
proxyShape.setUserData(this);
this.listProxyShape.add(proxyShape);
} else if (it.isCapsule()) {
} else if (it instanceof Capsule tmpElement) {
Log.debug(" Capsule");
final Capsule tmpElement = (Capsule) it;
// Create the Capsule shape
final CapsuleShape shape = new CapsuleShape(tmpElement.getRadius(), tmpElement.getSize());
// The ephysic use Y as UP ==> ege use Z as UP
@ -349,9 +338,8 @@ public class ComponentPhysics extends Component implements PositionningInterface
final ProxyShape proxyShape = this.rigidBody.addCollisionShape(shape, transform, it.getMass());
proxyShape.setUserData(this);
this.listProxyShape.add(proxyShape);
} else if (it.isCone()) {
} else if (it instanceof Cone tmpElement) {
Log.debug(" Cone");
final Cone tmpElement = (Cone) it;
// Create the Cone shape
final ConeShape shape = new ConeShape(tmpElement.getRadius(), tmpElement.getSize());
// The ephysic use Y as UP ==> ege use Z as UP
@ -360,9 +348,8 @@ public class ComponentPhysics extends Component implements PositionningInterface
final ProxyShape proxyShape = this.rigidBody.addCollisionShape(shape, transform, it.getMass());
proxyShape.setUserData(this);
this.listProxyShape.add(proxyShape);
} else if (it.isSphere()) {
} else if (it instanceof Sphere tmpElement) {
Log.debug(" Sphere");
final Sphere tmpElement = (Sphere) it;
// Create the box shape
final SphereShape shape = new SphereShape(tmpElement.getRadius());
// The ephysic use Y as UP ==> ege use Z as UP
@ -371,9 +358,8 @@ public class ComponentPhysics extends Component implements PositionningInterface
final ProxyShape proxyShape = this.rigidBody.addCollisionShape(shape, transform, it.getMass());
proxyShape.setUserData(this);
this.listProxyShape.add(proxyShape);
} else if (it.isConcave()) {
} else if (it instanceof Concave tmpElement) {
Log.debug(" Concave");
final Concave tmpElement = (Concave) it;
//static etk::Vector<Vector3f> vertices = {Vector3f(-100.0f,-100.0f,-50.0f),Vector3f(100.0f,-100.0f,-50.0f),Vector3f(100.0f,100.0f,-50.0f)};
//static etk::Vector<uint32_t> indices = {0,1,2};
@ -480,14 +466,13 @@ public class ComponentPhysics extends Component implements PositionningInterface
}
public void renderDebug(final ResourceColored3DObject _draw, final Camera _camera) {
if (this.rigidBody == null) {
return;
}
if (this.rigidBody == null) {}
/*
final Matrix4f transformationMatrix = Matrix4f.IDENTITY;
final Color tmpColor = new Color(0.0f, 1.0f, 0.0f, 0.8f);
final AABB value = this.rigidBody.getAABB();
_draw.drawCubeLine(value.getMin(), value.getMax(), tmpColor, transformationMatrix, true, true);
*/
}
public void setAngularReactionEnable(final boolean value) {

476
src/org/atriasoft/ege/components/ComponentPhysicsPerso.java
View File

@ -3,51 +3,50 @@ package org.atriasoft.ege.components;
import java.util.ArrayList;
import java.util.List;
import org.atriasoft.ege.Component;
import org.atriasoft.ege.Environement;
import org.atriasoft.ege.engines.EngineGravity;
import org.atriasoft.ege.engines.EnginePhysicsPerso;
import org.atriasoft.ege.internal.Log;
import org.atriasoft.etk.Color;
import org.atriasoft.etk.math.Matrix4f;
import org.atriasoft.etk.math.Vector3f;
import org.atriasoft.gale.resource.ResourceColored3DObject;
import org.atriasoft.ege.internal.Log;
import org.atriasoft.ege.Component;
import org.atriasoft.ege.Environement;
import org.atriasoft.ege.engines.EngineGravity;
import org.atriasoft.ege.engines.EnginePhysics;
import org.atriasoft.ege.engines.EnginePhysicsPerso;
import org.atriasoft.phyligram.ColisionPoint;
import org.atriasoft.phyligram.PhysicBox;
import org.atriasoft.phyligram.PhysicCollisionAABB;
import org.atriasoft.phyligram.PhysicHeightMapChunk;
import org.atriasoft.phyligram.PhysicMapVoxel;
import org.atriasoft.phyligram.PhysicShape;
import org.atriasoft.phyligram.PhysicSphere;
import org.atriasoft.phyligram.PhysicTriangle;
import org.atriasoft.phyligram.ToolCollisionOBBWithOBB;
import org.atriasoft.phyligram.ToolCollisionSphereWithHeightMapChunk;
import org.atriasoft.phyligram.ToolCollisionSphereWithSphere;
import org.atriasoft.phyligram.ToolCollisionSphereWithTriangle;
import org.atriasoft.phyligram.shape.AABB;
public class ComponentPhysicsPerso extends Component {
private PhysicCollisionAABB aabb;
private List<ComponentPhysicsPerso> aabbIntersection = new ArrayList<ComponentPhysicsPerso>();
private List<ComponentPhysicsPerso> narrowIntersection = new ArrayList<ComponentPhysicsPerso>();
private List<PhysicShape> shapes = new ArrayList<PhysicShape>();
public static float globalMaxSpeed = Float.MAX_VALUE;
private AABB aabb;
private List<ComponentPhysicsPerso> aabbIntersection = new ArrayList<>();
private List<ComponentPhysicsPerso> narrowIntersection = new ArrayList<>();
List<ColisionPoint> collisionPoints = new ArrayList<>();
private List<PhysicShape> shapes = new ArrayList<>();
private ComponentPosition position;
private boolean staticObject = false;
private boolean manageGravity = false;
public static float globalMaxSpeed = Float.MAX_VALUE;
private boolean manageGravity = true;
private float maxSpeed = globalMaxSpeed;
// current speed of the object
private Vector3f speed = new Vector3f(0,0,0);
private Vector3f speed = new Vector3f(0, 0, 0);
// current acceleration of the object
private Vector3f acceleration = new Vector3f(0,0,0);
private Vector3f acceleration = new Vector3f(0, 0, 0);
// Applied static force on it
private Vector3f staticForce = new Vector3f(0,0,0);
private Vector3f staticForce = new Vector3f(0, 0, 0);
// Apply dynamic force on it
private Vector3f dynamicForce = new Vector3f(0,0,0);
private Vector3f dynamicForce = new Vector3f(0, 0, 0);
private EnginePhysicsPerso engine;
private PhysicBodyType bodyType;
@Override
public String getType() {
return EnginePhysicsPerso.ENGINE_NAME;
}
public ComponentPhysicsPerso(final Environement _env) {
this.engine = (EnginePhysicsPerso) _env.getEngine(getType());
}
@ -56,123 +55,114 @@ public class ComponentPhysicsPerso extends Component {
public void addFriendComponent(Component component) {
if (component.getType().contentEquals("position")) {
if (component instanceof ComponentPosition tmp) {
position = tmp;
this.position = tmp;
} else {
Log.error("Not manage position model...");
}
}
}
@Override
public void removeFriendComponent(Component component) {
// nothing to do.
public void addIntersection(ComponentPhysicsPerso component) {
// do not add multiple times
if (this.aabbIntersection.contains(component)) {
return;
}
this.aabbIntersection.add(component);
}
public void updateAABB() {
if (position == null) {
Log.info("No position in Entity ");
return;
}
// TODO Add a flag to check if it is needed to update the AABB...
PhysicCollisionAABB aabbNew = PhysicCollisionAABB.beforeCalculated();
for (PhysicShape shape : shapes) {
shape.updateAABB(position.getTransform(), aabbNew);
}
aabb = aabbNew;
public void addShape(PhysicShape shape) {
this.shapes.add(shape);
}
public PhysicCollisionAABB getAABB() {
return aabb;
public void applyColisionForce() {
for (ColisionPoint impact : this.collisionPoints) {
this.position.applyForce(impact.force);
}
}
public void updateForNarrowCollision() {
narrowIntersection.clear();
if (aabbIntersection.size() == 0) {
return;
public void applyForces(float timeStep, EngineGravity gravity) {
// get the gravity at the specific position...
Vector3f gravityForce;
if (this.manageGravity) {
gravityForce = gravity.getGravityAtPosition(this.position.getTransform().getPosition()).multiply(timeStep);
} else {
gravityForce = new Vector3f(0, 0, 0);
}
if (position == null) {
Log.info("No position in Entity ");
return;
}
for (PhysicShape shape : shapes) {
shape.updateForNarrowCollision(position.getTransform());
}
}
public boolean isNarrowCollide() {
if (narrowIntersection.size() == 0) {
return false;
}
return true;
}
public boolean checkNarrowCollision() {
if (this.staticObject == true) {
return false;
}
for (ComponentPhysicsPerso elem : aabbIntersection) {
boolean collide = false;
for (PhysicShape shapeCurrent : shapes) {
if (elem.checkCollide(shapeCurrent) == true) {
collide = true;
break;
}
}
if (collide == true) {
narrowIntersection.add(elem);
elem.narrowIntersection.add(this);
}
}
return isNarrowCollide();
}
public void narrowCollisionCreateContactAndForce() {
if (narrowIntersection.size() == 0) {
return;
}
for (ComponentPhysicsPerso elem : narrowIntersection) {
for (PhysicShape shapeCurrent : this.shapes) {
//TODO Do a better method we do this many times ...
if (elem.checkCollide(shapeCurrent) == false) {
continue;
}
elem.getCollidePoints(shapeCurrent, this.staticObject);
}
// apply this force on the Object
Log.info("apply gravity: " + gravityForce);
// relative to the object
Vector3f staticForce = this.staticForce.multiply(timeStep);
float globalMass = 0;
for (PhysicShape shape : this.shapes) {
globalMass += shape.getMass();
}
// note the acceleration is not real, it depend on the current delta time...
this.acceleration = gravityForce.add(this.position.getTransform().getOrientation().multiply(staticForce)).add(this.position.getTransform().getOrientation().multiply(this.dynamicForce))
.multiply(globalMass);
this.dynamicForce = new Vector3f(0, 0, 0);
this.speed = this.speed.add(this.acceleration);
limitWithMaxSpeed();
Log.info("apply acceleration: " + this.acceleration);
Log.info("apply speed: " + this.speed);
this.position.setTransform(this.position.getTransform().withPosition(this.position.getTransform().getPosition().add(this.speed.multiply(timeStep))));
}
private boolean checkCollide(PhysicShape shapeCurrent) {
if (shapeCurrent instanceof PhysicBox) {
PhysicBox shape111 = (PhysicBox)shapeCurrent;
for (PhysicShape shape : shapes) {
if (shape instanceof PhysicBox) {
PhysicBox shape222 = (PhysicBox)shape;
if (ToolCollisionOBBWithOBB.testCollide(shape111, shape222) == true) {
if (shapeCurrent instanceof PhysicBox shape111) {
for (PhysicShape shape : this.shapes) {
if (shape instanceof PhysicHeightMapChunk shape222) {
// detect collision from cube on height-map !!!
} else if (shape instanceof PhysicBox shape222) {
// detect collision between 2 cubes
if (ToolCollisionOBBWithOBB.testCollide(shape111, shape222)) {
return true;
}
} else if (shape instanceof PhysicSphere) {
} else if (shape instanceof PhysicSphere shape222) {
} else if (shape instanceof PhysicMapVoxel) {
} else if (shape instanceof PhysicMapVoxel shape222) {
} else {
Log.error("Not manage collision model... " + shape);
}
}
} else if (shapeCurrent instanceof PhysicSphere) {
for (PhysicShape shape : shapes) {
if (shape instanceof PhysicBox) {
} else if (shapeCurrent instanceof PhysicSphere shape111) {
for (PhysicShape shape : this.shapes) {
if (shape instanceof PhysicHeightMapChunk shape222) {
// detect collision from sphere on height-map !!!
if (ToolCollisionSphereWithHeightMapChunk.testCollide(shape111, shape222)) {
return true;
}
} else if (shape instanceof PhysicSphere) {
} else if (shape instanceof PhysicTriangle shape222) {
// detect collision from sphere on height-map !!!
if (ToolCollisionSphereWithTriangle.testCollide(shape111, shape222)) {
return true;
}
} else if (shape instanceof PhysicMapVoxel) {
} else if (shape instanceof PhysicBox shape222) {
// detect collision from sphere on cube !!!
} else if (shape instanceof PhysicSphere shape222) {
// detect collision from sphere on sphere !!!
if (ToolCollisionSphereWithSphere.testCollide(shape111, shape222)) {
return true;
}
} else if (shape instanceof PhysicMapVoxel shape222) {
} else {
Log.error("Not manage collision model... " + shape);
}
}
} else if (shapeCurrent instanceof PhysicMapVoxel) {
for (PhysicShape shape : shapes) {
if (shape instanceof PhysicBox) {
} else if (shapeCurrent instanceof PhysicMapVoxel shape111) {
for (PhysicShape shape : this.shapes) {
if (shape instanceof PhysicBox shape222) {
} else if (shape instanceof PhysicSphere) {
} else if (shape instanceof PhysicSphere shape222) {
} else if (shape instanceof PhysicMapVoxel) {
} else if (shape instanceof PhysicMapVoxel shape222) {
} else {
Log.error("Not manage collision model... " + shape);
@ -183,152 +173,204 @@ public class ComponentPhysicsPerso extends Component {
}
return false;
}
private void getCollidePoints(PhysicShape shapeCurrent, boolean isStatic) {
if (shapeCurrent instanceof PhysicBox) {
PhysicBox shape111 = (PhysicBox)shapeCurrent;
for (PhysicShape shape : this.shapes) {
if (shape instanceof PhysicBox) {
PhysicBox shape222 = (PhysicBox)shape;
ToolCollisionOBBWithOBB.getCollidePoints(shape111, isStatic, shape222, this.staticObject);
} else if (shape instanceof PhysicSphere) {
} else if (shape instanceof PhysicMapVoxel) {
} else {
Log.error("Not manage collision model... " + shape);
}
}
} else if (shapeCurrent instanceof PhysicSphere) {
for (PhysicShape shape : this.shapes) {
if (shape instanceof PhysicBox) {
} else if (shape instanceof PhysicSphere) {
} else if (shape instanceof PhysicMapVoxel) {
} else {
Log.error("Not manage collision model... " + shape);
}
}
} else if (shapeCurrent instanceof PhysicMapVoxel) {
for (PhysicShape shape : this.shapes) {
if (shape instanceof PhysicBox) {
} else if (shape instanceof PhysicSphere) {
} else if (shape instanceof PhysicMapVoxel) {
} else {
Log.error("Not manage collision model... " + shape);
}
}
} else {
Log.error("Not manage collision model... " + shapeCurrent);
public boolean checkNarrowCollision() {
if (this.staticObject) {
return false;
}
return;
for (ComponentPhysicsPerso elem : this.aabbIntersection) {
boolean collide = false;
for (PhysicShape shapeCurrent : this.shapes) {
if (elem.checkCollide(shapeCurrent)) {
collide = true;
break;
}
}
if (collide) {
this.narrowIntersection.add(elem);
elem.narrowIntersection.add(this);
}
}
return isNarrowCollide();
}
public void applyForces(float timeStep, EngineGravity gravity) {
// get the gravity at the specific position...
Vector3f gravityForce;
if (manageGravity == true) {
gravityForce = gravity.getGravityAtPosition(position.getTransform().getPosition()).multiply(timeStep);
public void clearAABBIntersection() {
this.aabbIntersection.clear();
}
public void clearPreviousCollision() {
this.collisionPoints.clear();
this.aabbIntersection.clear();
this.narrowIntersection.clear();
}
public void clearShape() {
this.shapes.clear();
}
public AABB getAABB() {
return this.aabb;
}
public List<ComponentPhysicsPerso> getAabbIntersection() {
return this.aabbIntersection;
}
public PhysicBodyType getBodyType() {
return this.bodyType;
}
private List<ColisionPoint> getCollidePoints(PhysicShape shapeRemote) {
List<ColisionPoint> out = new ArrayList<>();
if (shapeRemote instanceof PhysicSphere remoteShere) {
for (PhysicShape shape : this.shapes) {
if (shape instanceof PhysicSphere localShape) {
ColisionPoint point = ToolCollisionSphereWithSphere.getCollisionPoint(remoteShere, localShape);
if (point != null) {
out.add(point);
}
} else if (shape instanceof PhysicTriangle localShape) {
ColisionPoint point = ToolCollisionSphereWithTriangle.getCollisionPoint(remoteShere, localShape);
if (point != null) {
out.add(point);
}
}
}
} else if (shapeRemote instanceof PhysicTriangle) {
// nothing can happens ...
} else {
gravityForce = new Vector3f(0,0,0);
Log.error("Not manage collision model... " + shapeRemote);
}
// apply this force on the Object
Log.info("apply gravity: " + gravityForce);
// relative to the object
Vector3f staticForce = this.staticForce.multiply(timeStep);
float globalMass = 0;
for (PhysicShape shape : shapes) {
globalMass += shape.getMass();
return out;
}
public float getMaxSpeed() {
return this.maxSpeed;
}
@Override
public String getType() {
return EnginePhysicsPerso.ENGINE_NAME;
}
public boolean isManageGravity() {
return this.manageGravity;
}
public boolean isNarrowCollide() {
if (this.narrowIntersection.size() == 0) {
return false;
}
// note the acceleration is not real, it depend on the current delta time...
this.acceleration = gravityForce.add(this.position.getTransform().getOrientation().multiply(staticForce)).add(this.position.getTransform().getOrientation().multiply(dynamicForce)).multiply(globalMass);
this.dynamicForce = new Vector3f(0,0,0);
this.speed.add(this.acceleration);
limitWithMaxSpeed();
Log.info("apply acceleration: " + this.acceleration);
Log.info("apply speed: " + this.speed);
this.position.getTransform().getPosition().add(this.speed.multiply(timeStep));
return true;
}
public boolean isStaticObject() {
return this.staticObject;
}
private void limitWithMaxSpeed() {
if (this.speed.length2() > this.maxSpeed * this.maxSpeed) {
this.speed = this.speed.safeNormalize().multiply(this.maxSpeed);
}
}
public void narrowCollisionCreateContactAndForce() {
if (this.staticObject) {
return;
}
if (this.narrowIntersection.size() == 0) {
return;
}
for (ComponentPhysicsPerso elem : this.narrowIntersection) {
for (PhysicShape shapeCurrent : this.shapes) {
//TODO Do a better method we do this many times ...
/*
if (!elem.checkCollide(shapeCurrent)) {
continue;
}
*/
List<ColisionPoint> points = elem.getCollidePoints(shapeCurrent);
this.collisionPoints.addAll(points);
}
}
}
@Override
public void removeFriendComponent(Component component) {
// nothing to do.
}
public void renderDebug(ResourceColored3DObject debugDrawProperty) {
Color displayColor;
displayColor = new Color(1.0f, 0.0f, 0.0f, 1.0f);
for (ColisionPoint impact : this.collisionPoints) {
debugDrawProperty.drawSquare(new Vector3f(0.02f, 0.02f, 0.02f), Matrix4f.createMatrixTranslate(impact.position), displayColor);
}
if (this.aabbIntersection.size() == 0) {
displayColor = new Color(1,1,1,1);
displayColor = new Color(1.0f, 1.0f, 1.0f, 1.0f);
} else {
if (this.narrowIntersection.size() == 0) {
displayColor = new Color(1,1,0,1);
displayColor = new Color(0.0f, 1.0f, 0.0f, 1.0f);
} else {
displayColor = new Color(1,0,0,1);
displayColor = new Color(1.0f, 0.0f, 0.0f, 1.0f);
}
}
if (aabb != null) {
debugDrawProperty.drawCubeLine(aabb.getMin(), aabb.getMax(), displayColor, Matrix4f.IDENTITY, true, true);
if (this.aabb != null) {
debugDrawProperty.drawCubeLine(this.aabb.getMin(), this.aabb.getMax(), displayColor, Matrix4f.IDENTITY, true, true);
//debugDrawProperty.drawCubeLine(new Vector3f(0,0,0), new Vector3f(32,32,32), new Color(1,0,1,1), Matrix4f.identity(), true, true);
} else {
Log.error("no AABB");
}
for (PhysicShape shape : shapes) {
shape.renderDebug(position.getTransform(), debugDrawProperty);
for (PhysicShape shape : this.shapes) {
shape.renderDebug(this.position.getTransform(), debugDrawProperty);
}
}
public void addShape(PhysicShape shape) {
shapes.add(shape);
}
public void clearShape() {
shapes.clear();
}
public boolean isManageGravity() {
return manageGravity;
public void setBodyType(PhysicBodyType bodyType) {
this.bodyType = bodyType;
}
public void setManageGravity(boolean manageGravity) {
this.manageGravity = manageGravity;
}
private void limitWithMaxSpeed() {
if (this.speed.length2() > this.maxSpeed*this.maxSpeed) {
this.speed.safeNormalize().multiply(this.maxSpeed);
}
}
public float getMaxSpeed() {
return maxSpeed;
}
public void setMaxSpeed(float maxSpeed) {
this.maxSpeed = maxSpeed;
}
public void clearAABBIntersection() {
this.aabbIntersection.clear();
}
public void addIntersection(ComponentPhysicsPerso component) {
// do not add multiple times
for (ComponentPhysicsPerso elem : this.aabbIntersection) {
if (elem == component) {
return;
}
}
this.aabbIntersection.add(component);
}
public List<ComponentPhysicsPerso> getAabbIntersection() {
return aabbIntersection;
}
public boolean isStaticObject() {
return staticObject;
}
public void setStaticObject(boolean staticObject) {
this.staticObject = staticObject;
}
public PhysicBodyType getBodyType() {
return bodyType;
public void updateAABB() {
if (this.position == null) {
Log.info("No position in Entity ");
return;
}
// TODO Add a flag to check if it is needed to update the AABB...
AABB aabbNew = AABB.createInvertedEmpty();
for (PhysicShape shape : this.shapes) {
shape.updateAABB(this.position.getTransform(), aabbNew);
}
this.aabb = aabbNew;
}
public void setBodyType(PhysicBodyType bodyType) {
this.bodyType = bodyType;
public void updateForNarrowCollision() {
this.narrowIntersection.clear();
if (this.aabbIntersection.size() == 0) {
return;
}
if (this.position == null) {
Log.info("No position in Entity ");
return;
}
for (PhysicShape shape : this.shapes) {
shape.updateForNarrowCollision(this.position.getTransform());
}
}
}

7
src/org/atriasoft/ege/components/ComponentPosition.java
View File

@ -5,9 +5,10 @@ import org.atriasoft.ege.Signal;
import org.atriasoft.ege.components.part.PositionningInterface;
import org.atriasoft.ege.internal.Log;
import org.atriasoft.etk.math.Transform3D;
import org.atriasoft.etk.math.Vector3f;
public class ComponentPosition extends Component implements PositionningInterface {
public final Signal<Transform3D> signalPosition = new Signal<Transform3D>();
public final Signal<Transform3D> signalPosition = new Signal<>();
protected Transform3D transform;
/**
@ -32,6 +33,10 @@ public class ComponentPosition extends Component implements PositionningInterfac
}
}
public void applyForce(Vector3f force) {
this.transform = this.transform.withPosition(this.transform.getPosition().add(force));
}
/**
* set a new transformation
* @return Transformation of the position

9
src/org/atriasoft/ege/engines/EnginePhysics.java
View File

@ -87,10 +87,9 @@ public class EnginePhysics extends Engine implements EventListener {
@Override
public void componentAdd(final Component ref) {
if (!(ref instanceof ComponentPhysics)) {
if (!(ref instanceof ComponentPhysics elem)) {
return;
}
final ComponentPhysics elem = (ComponentPhysics) ref;
this.components.add(elem);
elem.generate();
}
@ -180,10 +179,8 @@ public class EnginePhysics extends Engine implements EventListener {
for (final ContactManifold it : listContact) {
for (int iii = 0; iii < it.getNbContactPoints(); iii++) {
final ContactPoint contact = it.getContactPoint(iii);
this.debugDrawProperty.drawSquare(new Vector3f(0.05f, 0.05f, 0.05f), Matrix4f.IDENTITY.multiply(Matrix4f.createMatrixTranslate(contact.getWorldPointOnBody1())),
new Color(0, 1, 0, 1));
this.debugDrawProperty.drawSquare(new Vector3f(0.05f, 0.05f, 0.05f), Matrix4f.IDENTITY.multiply(Matrix4f.createMatrixTranslate(contact.getWorldPointOnBody2())),
new Color(0, 1, 0, 1));
this.debugDrawProperty.drawSquare(new Vector3f(0.05f, 0.05f, 0.05f), Matrix4f.IDENTITY.multiply(Matrix4f.createMatrixTranslate(contact.getWorldPointOnBody1())), new Color(0, 1, 0, 1));
this.debugDrawProperty.drawSquare(new Vector3f(0.05f, 0.05f, 0.05f), Matrix4f.IDENTITY.multiply(Matrix4f.createMatrixTranslate(contact.getWorldPointOnBody2())), new Color(0, 1, 0, 1));
}
}

209
src/org/atriasoft/ege/engines/EnginePhysicsPerso.java
View File

@ -2,35 +2,54 @@ package org.atriasoft.ege.engines;
import java.util.Vector;
import org.atriasoft.gale.resource.ResourceColored3DObject;
import org.atriasoft.ege.internal.Log;
import org.atriasoft.ege.Component;
import org.atriasoft.ege.Engine;
import org.atriasoft.ege.Environement;
import org.atriasoft.ege.camera.Camera;
import org.atriasoft.ege.components.ComponentPhysicsPerso;
import org.atriasoft.phyligram.PhysicCollisionAABB;
import org.atriasoft.ege.internal.Log;
import org.atriasoft.gale.resource.ResourceColored3DObject;
import org.atriasoft.phyligram.DebugDisplay;
import org.atriasoft.phyligram.shape.AABB;
public class EnginePhysicsPerso extends Engine {
public static final String ENGINE_NAME = "physicsPerso";
private float accumulator = 0;
private static final float TIME_STEP = 0.005f;
private float accumulator = 0;
private EngineGravity gravity;
protected EnginePhysicsPerso engine;
private Vector<ComponentPhysicsPerso> components = new Vector<ComponentPhysicsPerso>();
private Vector<ComponentPhysicsPerso> components = new Vector<>();
private Vector<ComponentPhysicsPerso> componentsWithCollision = new Vector<>();
private ResourceColored3DObject debugDrawProperty = ResourceColored3DObject.create();
public EnginePhysicsPerso(Environement env) {
super(env);
this.gravity = (EngineGravity)env.getEngine("gravity");
this.gravity = (EngineGravity) env.getEngine("gravity");
if (this.gravity == null) {
Log.critical("Must initialyse Gravity before physics...");
}
}
@Override
public void componentRemove(Component ref) {
components.remove(ref);
private void addIncomponentWithCollision(ComponentPhysicsPerso elem) {
if (this.componentsWithCollision.contains(elem)) {
return;
}
this.componentsWithCollision.add(elem);
}
private void applyForces(float timeStep) {
for (ComponentPhysicsPerso it : this.components) {
it.applyForces(TIME_STEP, this.gravity);
}
}
/**
* Clear the previous data of collision.
*/
private void clearPreviousCycle() {
for (ComponentPhysicsPerso it : this.components) {
it.clearPreviousCollision();
}
}
@Override
@ -38,98 +57,36 @@ public class EnginePhysicsPerso extends Engine {
if (ref instanceof ComponentPhysicsPerso == false) {
return;
}
components.add((ComponentPhysicsPerso)ref);
this.components.add((ComponentPhysicsPerso) ref);
}
@Override
public void update(long deltaMili) {
// Add the time difference in the accumulator
accumulator += (float)deltaMili*0.0001f;
// While there is enough accumulated time to take one or several physics steps
while (accumulator >= TIME_STEP) {
Log.info("update physic ... " + accumulator);
//applyForces(TIME_STEP);
updateAABB(TIME_STEP);
updateCollisionsAABB(TIME_STEP);
updateCollisionsNarrowPhase(TIME_STEP);
generateResultCollisionsForces(TIME_STEP);
// Decrease the accumulated time
accumulator -= TIME_STEP;
}
public void componentRemove(Component ref) {
this.components.remove(ref);
}
private void applyForces(float timeStep) {
for (ComponentPhysicsPerso it: components) {
it.applyForces(TIME_STEP, gravity);
}
}
/**
* Collision detection STEP 1: Upadte the AABB positioning of each elements
* @param timeStep Delta time since the last check
*/
private void updateAABB(float timeStep) {
for (ComponentPhysicsPerso it: components) {
it.updateAABB();
}
}
/**
* Collision Detection STEP 2: update the list of each element that collide together in the AABB Boxs (update is done between each boxes)
* @param timeStep Delta time since the last check
*/
private void updateCollisionsAABB(float timeStep) {
// clear all object intersection
for (ComponentPhysicsPerso it: components) {
it.clearAABBIntersection();
}
// update the current object intersection...
for (int iii=0; iii< components.size(); iii++) {
ComponentPhysicsPerso current = components.get(iii);
PhysicCollisionAABB currentAABB = current.getAABB();
for (int jjj=iii+1; jjj< components.size(); jjj++) {
ComponentPhysicsPerso remote = components.get(jjj);
if (currentAABB.intersect(components.get(jjj).getAABB()) == true) {
current.addIntersection(remote);
remote.addIntersection(current);
}
}
}
}
/**
* Collision Detection STEP 3: Narrow phase: process the collision between every OBB boxes (or other..)
* @param timeStep Delta time since the last check
*/
private void updateCollisionsNarrowPhase(float timeStep) {
// clear all object intersection
for (ComponentPhysicsPerso it: components) {
it.updateForNarrowCollision();
}
// check for every component if the narrow collision is available.
for (int iii=0; iii< components.size(); iii++) {
ComponentPhysicsPerso current = components.get(iii);
boolean collide = current.checkNarrowCollision();
}
// update the force of collision available.
for (int iii=0; iii< components.size(); iii++) {
ComponentPhysicsPerso current = components.get(iii);
current.narrowCollisionCreateContactAndForce();
}
}
/**
* Collision Detection STEP 4: apply all calculated forces (with containts)
* @param timeStep
*/
private void generateResultCollisionsForces(float timeStep) {
for (ComponentPhysicsPerso it : this.componentsWithCollision) {
it.applyColisionForce();
}
}
@Override
public String getType() {
// TODO Auto-generated method stub
return ENGINE_NAME;
}
@Override
public void render(long deltaMili, Camera camera) {
// TODO Auto-generated method stub
for (ComponentPhysicsPerso it: this.components) {
for (ComponentPhysicsPerso it : this.components) {
//Log.info("Render " + it);
it.renderDebug(debugDrawProperty);
it.renderDebug(this.debugDrawProperty);
}
//debugDrawProperty.drawCone(2, 5, 9, 12, Matrix4f.identity(), new Color(1,1,0,1));
//debugDrawProperty.drawSquare(new Vector3f(1,1,1), Matrix4f.identity(), new Color(1,1,0,1));
@ -140,13 +97,89 @@ public class EnginePhysicsPerso extends Engine {
@Override
public void renderDebug(long deltaMili, Camera camera) {
// TODO Auto-generated method stub
DebugDisplay.onDraw();
DebugDisplay.clear();
}
@Override
public String getType() {
// TODO Auto-generated method stub
return ENGINE_NAME;
public void update(long deltaMili) {
// Add the time difference in the accumulator
this.accumulator += deltaMili * 0.0001f;
// While there is enough accumulated time to take one or several physics steps
while (this.accumulator >= TIME_STEP) {
Log.info("update physic ... " + this.accumulator);
clearPreviousCycle();
applyForces(TIME_STEP);
// update AABB after because in rotation force, the Bounding box change...
updateAABB(TIME_STEP);
// update the colision tree between each object in the room
updateCollisionsAABB(TIME_STEP);
updateCollisionsNarrowPhase(TIME_STEP);
generateResultCollisionsForces(TIME_STEP);
// Decrease the accumulated time
this.accumulator -= TIME_STEP;
}
}
/**
* Collision detection STEP 1: Upadte the AABB positioning of each elements
* @param timeStep Delta time since the last check
*/
private void updateAABB(float timeStep) {
for (ComponentPhysicsPerso it : this.components) {
it.updateAABB();
}
}
/**
* Collision Detection STEP 2: update the list of each element that collide together in the AABB Boxs (update is done between each boxes)
* @param timeStep Delta time since the last check
*/
// TODO : generate a B-TREE to manage collision, it is faster, but now, this is not the purpose ...
private void updateCollisionsAABB(float timeStep) {
this.componentsWithCollision.clear();
// clear all object intersection
for (ComponentPhysicsPerso it : this.components) {
it.clearAABBIntersection();
}
// update the current object intersection...
for (int iii = 0; iii < this.components.size(); iii++) {
ComponentPhysicsPerso current = this.components.get(iii);
AABB currentAABB = current.getAABB();
for (int jjj = iii + 1; jjj < this.components.size(); jjj++) {
ComponentPhysicsPerso remote = this.components.get(jjj);
// prefer checking the collision, this a time-constant operation, check if collision already exist is a unpredictable time.
if (currentAABB.intersect(this.components.get(jjj).getAABB()) == true) {
current.addIntersection(remote);
remote.addIntersection(current);
addIncomponentWithCollision(remote);
addIncomponentWithCollision(current);
}
}
}
}
/**
* Collision Detection STEP 3: Narrow phase: process the collision between every OBB boxes (or other..)
* @param timeStep Delta time since the last check
*/
private void updateCollisionsNarrowPhase(float timeStep) {
// clear all object intersection
for (ComponentPhysicsPerso it : this.componentsWithCollision) {
it.updateForNarrowCollision();
}
// check for every component if the narrow collision is available.
for (int iii = 0; iii < this.componentsWithCollision.size(); iii++) {
ComponentPhysicsPerso current = this.componentsWithCollision.get(iii);
boolean collide = current.checkNarrowCollision();
}
// update the force of collision available.
for (int iii = 0; iii < this.components.size(); iii++) {
ComponentPhysicsPerso current = this.components.get(iii);
current.narrowCollisionCreateContactAndForce();
}
}
}

2
src/org/atriasoft/ege/geometry/Geometry3D.java
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@ -52,7 +52,7 @@ public class Geometry3D {
return true;
}
public static boolean pointInPlane(final Vector3f point, final Plane plane) {
public static boolean pointInPlane(final Vector3f point, final Plane____ plane) {
// This should probably use an epsilon!
//return Dot(point, plane.normal) - plane.distance == 0.0f;
return CMP(point.dot(plane.normal) - plane.distance, 0.0f);

6
src/org/atriasoft/ege/geometry/Plane.java → src/org/atriasoft/ege/geometry/Plane____.java
View File

@ -2,15 +2,15 @@ package org.atriasoft.ege.geometry;
import org.atriasoft.etk.math.Vector3f;
public class Plane {
public class Plane____ {
public Vector3f normal;
public float distance;
public Plane(Vector3f normal, float distance) {
public Plane____(Vector3f normal, float distance) {
this.normal = normal;
this.distance = distance;
}
public Plane() {
public Plane____() {
this.normal = new Vector3f(1.0f, 0.0f, 0.0f);
this.distance = 0;
}

30
src/org/atriasoft/ege/geometry/Triangle.java
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@ -3,8 +3,19 @@ package org.atriasoft.ege.geometry;
import org.atriasoft.etk.math.Vector3f;
public class Triangle {
public static Vector3f getCenter(Vector3f p1, Vector3f p2, Vector3f p3) {
return p1.add(p2).add(p3).multiply(0.33333333333f);
}
public static Vector3f getNormal(Vector3f p1, Vector3f p2, Vector3f p3) {
Vector3f dir = p2.less(p1).cross(p3.less(p1));
return dir.normalize();
}
public Vector3f p1;
public Vector3f p2;
public Vector3f p3;
public Triangle() {
@ -19,9 +30,26 @@ public class Triangle {
this.p3 = p3;
}
@Override
public Triangle clone() {
return new Triangle(this.p1, this.p2, this.p3);
}
public Vector3f getCenter() {
return this.p1.add(this.p2).add(this.p3).multiply(0.33333333333f);
}
public Vector3f getNormal() {
Vector3f dir = this.p2.less(this.p1).cross(this.p3.less(this.p1));
return dir.normalize();
}
public Plane getPlane() {
return new Plane(getNormal(), getCenter());
}
@Override
public String toString() {
return "Triangle [p1=" + this.p1 + ", p2=" + this.p2 + ", p3=" + this.p3 + "]";
}
}

0
src/org/atriasoft/ege/samples/todo_sample.md → src/org/atriasoft/ege/todo_sample.md
View File

4
src/org/atriasoft/phyligram/ColisionPoints.java → src/org/atriasoft/phyligram/ColisionPoint.java
View File

@ -2,11 +2,11 @@ package org.atriasoft.phyligram;
import org.atriasoft.etk.math.Vector3f;
public class ColisionPoints {
public class ColisionPoint {
public Vector3f position;
public Vector3f force;
public ColisionPoints(Vector3f position, Vector3f force) {
public ColisionPoint(Vector3f position, Vector3f force) {
this.position = position;
this.force = force;
}

8
src/org/atriasoft/phyligram/Collision.java
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@ -1,12 +1,12 @@
package org.atriasoft.phyligram;
public class Collision {
public final ColisionPoints[] colisionPointLocal;
public final ColisionPoint[] colisionPointLocal;
public final PhysicShape shapeRemote;
public final ColisionPoints[] colisionPointRemote;
public final ColisionPoint[] colisionPointRemote;
public final boolean staticRemote;
public Collision(ColisionPoints[] colisionPointLocal, PhysicShape shapeRemote,
ColisionPoints[] colisionPointRemote, boolean staticRemote) {
public Collision(ColisionPoint[] colisionPointLocal, PhysicShape shapeRemote,
ColisionPoint[] colisionPointRemote, boolean staticRemote) {
super();
this.colisionPointLocal = colisionPointLocal;
this.shapeRemote = shapeRemote;

308
src/org/atriasoft/phyligram/DebugDisplay.java
View File

@ -8,303 +8,62 @@ import org.atriasoft.etk.math.Matrix4f;
import org.atriasoft.etk.math.Quaternion;
import org.atriasoft.etk.math.Vector3f;
import org.atriasoft.gale.backend3d.OpenGL;
import org.atriasoft.gale.context.GaleContext;
import org.atriasoft.gale.resource.ResourceColored3DObject;
public class DebugDisplay {
// public static ComponentPosition relativeTestPos;
// public static PhysicBox boxTest;
public static List<Vector3f> testPoints = new ArrayList<Vector3f>();
public static List<Vector3f> testPointsBox = new ArrayList<Vector3f>();
public static List<Boolean> testPointsCollide = new ArrayList<Boolean>();
// public static ComponentPosition relativeTestPos;
// public static PhysicBox boxTest;
public static List<Vector3f> testPoints = new ArrayList<>();
public static List<Vector3f> testPointsBox = new ArrayList<>();
public static List<Boolean> testPointsCollide = new ArrayList<>();
public static Vector3f testRpos;
public static Quaternion testQTransfert;
public static Vector3f box1HalfSize;
public static Vector3f box2HalfSize;
private ResourceColored3DObject debugDrawProperty;
public DebugDisplay(){
private static ResourceColored3DObject debugDrawProperty;
static {
if (debugDrawProperty == null) {
debugDrawProperty = ResourceColored3DObject.create();
}
}
/*
@Override
public void onCreate(Context context) {
// set the system global max speed
ComponentPhysics.globalMaxSpeed = 3;
Gale.getContext().grabPointerEvents(true, new Vector2f(0,0));
env = new Environement();
this.canDraw = true;
setSize(new Vector2f(1500, 1500));
setTitle("Loxel sample");
map = new MapVoxel(this.env);
// this.env.addEngine(map);
// map.init();
// simple sun to have a global light ...
Entity globalGravity = new Entity(this.env);
globalGravity.addComponent(new ComponentGravityStatic(new Vector3f(0,0,-1)));
env.addEntity(globalGravity);
public static void clear() {
testPoints.clear();
testPointsBox.clear();
testPointsCollide.clear();
// simple sun to have a global light ...
Entity sun = new Entity(this.env);
sun.addComponent(new ComponentPosition(new Transform3D(new Vector3f(1000,1000,1000))));
sun.addComponent(new ComponentLightSun(new Light(new Vector3f(0.4f,0.4f,0.4f), new Vector3f(0,0,0), new Vector3f(0.8f,0,0))));
env.addEntity(sun);
// add a cube to show where in the light ...
Entity localLight = new Entity(this.env);
lightPosition = new ComponentPosition(new Transform3D(new Vector3f(-10,-10,17)));
// localLight.addComponent(lightPosition);
// localLight.addComponent(new ComponentStaticMesh(new Uri("RES", "cube.obj")));
// localLight.addComponent(new ComponentTexture(new Uri("RES", "grass.png")));
// localLight.addComponent(new ComponentLight(new Light(new Vector3f(0,1,0), new Vector3f(0,0,0), new Vector3f(0.8f,0.03f,0.002f))));
// localLight.addComponent(new ComponentRenderTexturedStaticMesh(
// new Uri("DATA", "basic.vert"),
// new Uri("DATA", "basic.frag")));
// env.addEntity(localLight);
{
// add a cube to test collision ...
Entity localBox = new Entity(this.env);
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(-2,-2,14))));
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png")));
localBox.addComponent(new ComponentLight(new Light(new Vector3f(0,1,0), new Vector3f(0,0,0), new Vector3f(0.8f,0.03f,0.002f))));
localBox.addComponent(new ComponentRenderTexturedStaticMesh(
new Uri("DATA", "basic.vert"),
new Uri("DATA", "basic.frag")));
ComponentPhysics physics2 = new ComponentPhysics(true);
PhysicBox box2 = new PhysicBox();
box2.setSize(new Vector3f(1,1,1));
box2.setOrigin(new Vector3f(0,0,0));
box2.setMass(1);
physics2.addShape(box2);
localBox.addComponent(physics2);
env.addEntity(localBox);
}
{
// add a cube to test collision ...
Entity localBox = new Entity(this.env);
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(0,4,12.5f))));
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png")));
localBox.addComponent(new ComponentLight(new Light(new Vector3f(0,1,0), new Vector3f(0,0,0), new Vector3f(0.8f,0.03f,0.002f))));
localBox.addComponent(new ComponentRenderTexturedStaticMesh(
new Uri("DATA", "basic.vert"),
new Uri("DATA", "basic.frag")));
ComponentPhysics physics2 = new ComponentPhysics(true);
PhysicBox box2 = new PhysicBox();
box2.setSize(new Vector3f(1,1,1));
box2.setOrigin(new Vector3f(0,0,0));
box2.setMass(1);
physics2.addShape(box2);
localBox.addComponent(physics2);
env.addEntity(localBox);
}
{
// add a cube to test collision ...
Entity localBox = new Entity(this.env);
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(-2,2,14.5f))));
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png")));
localBox.addComponent(new ComponentRenderTexturedStaticMesh(
new Uri("DATA", "basic.vert"),
new Uri("DATA", "basic.frag")));
ComponentPhysics physics2 = new ComponentPhysics(true);
PhysicBox box2 = new PhysicBox();
box2.setSize(new Vector3f(1,1,1));
box2.setOrigin(new Vector3f(0,0,0));
box2.setMass(1);
physics2.addShape(box2);
localBox.addComponent(physics2);
env.addEntity(localBox);
}
{
// add a cube to test collision ...
Entity localBox = new Entity(this.env);
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(-5,-5,14))));
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png")));
localBox.addComponent(new ComponentRenderTexturedStaticMesh(
new Uri("DATA", "basic.vert"),
new Uri("DATA", "basic.frag")));
ComponentPhysics physics2 = new ComponentPhysics(true);
PhysicBox box2 = new PhysicBox();
box2.setSize(new Vector3f(4,4,4));
box2.setOrigin(new Vector3f(0,0,0));
box2.setMass(1);
physics2.addShape(box2);
localBox.addComponent(physics2);
env.addEntity(localBox);
}
{
// add a cube to test collision ...
Entity localBox = new Entity(this.env);
Quaternion transform = new Quaternion(0.5f,0.2f,0.4f,1);
transform.normalize();
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(15,15,14), transform)));
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png")));
localBox.addComponent(new ComponentRenderTexturedStaticMesh(
new Uri("DATA", "basic.vert"),
new Uri("DATA", "basic.frag")));
ComponentPhysics physics2 = new ComponentPhysics(true);
PhysicBox box2 = new PhysicBox();
box2.setSize(new Vector3f(8,8,8));
box2.setOrigin(new Vector3f(0,0,0));
box2.setMass(1);
physics2.addShape(box2);
localBox.addComponent(physics2);
env.addEntity(localBox);
}
{
// add a cube to test collision ...
Entity localBox = new Entity(this.env);
Quaternion transform = new Quaternion(0.3f,0.3f,0.4f,1);
transform.normalize();
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(2,-2,14.2f),transform)));
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png")));
localBox.addComponent(new ComponentRenderTexturedStaticMesh(
new Uri("DATA", "basic.vert"),
new Uri("DATA", "basic.frag")));
ComponentPhysics physics2 = new ComponentPhysics(true);
PhysicBox box2 = new PhysicBox();
box2.setSize(new Vector3f(1,1,1));
box2.setOrigin(new Vector3f(0,0,0));
box2.setMass(1);
physics2.addShape(box2);
localBox.addComponent(physics2);
env.addEntity(localBox);
}
{
// add a cube to test collision ...
Entity localBox = new Entity(this.env);
Quaternion transform = new Quaternion(0,0,1,1);
transform.normalize();
localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(2,2,14.2f),transform)));
localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png")));
localBox.addComponent(new ComponentRenderTexturedStaticMesh(
new Uri("DATA", "basic.vert"),
new Uri("DATA", "basic.frag")));
ComponentPhysics physics2 = new ComponentPhysics(true);
PhysicBox box2 = new PhysicBox();
box2.setSize(new Vector3f(1,1,1));
box2.setOrigin(new Vector3f(0,0,0));
box2.setMass(1);
physics2.addShape(box2);
localBox.addComponent(physics2);
env.addEntity(localBox);
}
// {
// // add a cube to test collision ...
// Entity localBox = new Entity(this.env);
// relativeTestPos = new ComponentPosition(new Transform3D(new Vector3f(0,0,14),new Quaternion(0.5f,0.2f,0.4f,1)));
// localBox.addComponent(relativeTestPos);
//// localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
//// localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png")));
//// localBox.addComponent(new ComponentLight(new Light(new Vector3f(0,1,0), new Vector3f(0,0,0), new Vector3f(0.8f,0.03f,0.002f))));
//// localBox.addComponent(new ComponentRenderTexturedStaticMesh(
//// new Uri("DATA", "basic.vert"),
//// new Uri("DATA", "basic.frag")));
// ComponentPhysics physics2 = new ComponentPhysics(true);
// boxTest = new PhysicBox();
// boxTest.setSize(new Vector3f(1,1,1));
// boxTest.setOrigin(new Vector3f(0,0,0));
// boxTest.setMass(1);
// physics2.addShape(boxTest);
// localBox.addComponent(physics2);
// env.addEntity(localBox);
// }
// {
// Entity localBox = new Entity(this.env);
// localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(0,0,14))));
// localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
// localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png")));
// localBox.addComponent(new ComponentRenderTexturedStaticMesh(
// new Uri("DATA", "basic.vert"),
// new Uri("DATA", "basic.frag")));
// env.addEntity(localBox);
// }
Entity gird = new Entity(this.env);
gird.addComponent(new ComponentPosition(new Transform3D(new Vector3f(0,0,13))));
gird.addComponent(new ComponentStaticMesh(MeshGenerator.createGrid(5)));
gird.addComponent(new ComponentRenderColoredStaticMesh(
new Uri("DATA_EGE", "wireColor.vert"),
new Uri("DATA_EGE", "wireColor.frag")));
env.addEntity(gird);
Entity player = new Entity(this.env);
objectPosition = new ComponentPositionPlayer(new Transform3D(new Vector3f(5,5,13)));
player.addComponent(objectPosition);
objectPlayer = new ComponentPlayer();
player.addComponent(objectPlayer);
player.addComponent(new ComponentMaterial(new Material()));
//player.addComponent(new ComponentStaticMesh(new Uri("RES", "person.obj")));
player.addComponent(new ComponentStaticMesh(new Uri("RES", "person_-yfw_zup.obj")));
player.addComponent(new ComponentTexture(new Uri("RES", "playerTexture.png")));
player.addComponent(new ComponentRenderTexturedMaterialsStaticMesh(
new Uri("DATA", "basicMaterial.vert"),
new Uri("DATA", "basicMaterial.frag"),
(EngineLight)env.getEngine(EngineLight.ENGINE_NAME)));
ComponentPhysics physics = new ComponentPhysics(true);
PhysicBox box = new PhysicBox();
box.setSize(new Vector3f(0.6f,0.6f,1.8f));
box.setOrigin(new Vector3f(0,0,0.9f));
box.setMass(1);
physics.addShape(box);
player.addComponent(physics);
env.addEntity(player);
Camera mainView = new Camera();
env.addCamera("default", mainView);
mainView.setPitch((float)Math.PI*-0.25f);
mainView.setPosition(new Vector3f(0,-5,5));
this.simpleControl = new ControlCameraPlayer(mainView, player);
env.addControlInterface(simpleControl);
// start the engine.
env.setPropertyStatus(GameStatus.gameStart);
basicRotation.setEulerAngles(new Vector3f(0.005f,0.005f,0.01f));
basicRotation2.setEulerAngles(new Vector3f(0.003f,0.01f,0.001f));
// ready to let Gale & Ege manage the display
Log.info("==> Init APPL (END)");
creationDone = true;
}
*/
public void onDraw(GaleContext context) {
if (this.debugDrawProperty == null) {
public static void onDraw() {
if (debugDrawProperty == null) {
debugDrawProperty = ResourceColored3DObject.create();
}
// now render the point test collision ...
for (int iii=0; iii<DebugDisplay.testPoints.size(); iii++) {
for (int iii = 0; iii < DebugDisplay.testPoints.size(); iii++) {
Vector3f elem = DebugDisplay.testPoints.get(iii);
boolean collide = DebugDisplay.testPointsCollide.get(iii);
if (collide) {
debugDrawProperty.drawSquare(new Vector3f(0.1f,0.1f,0.1f), Matrix4f.createMatrixTranslate(new Vector3f(elem.x(),elem.y(),elem.z()+14)), new Color(1,0,0,1));
debugDrawProperty.drawSquare(new Vector3f(0.1f, 0.1f, 0.1f), Matrix4f.createMatrixTranslate(new Vector3f(elem.x(), elem.y(), elem.z() + 14)), new Color(1, 0, 0, 1));
} else {
if (iii==0) {
debugDrawProperty.drawSquare(new Vector3f(0.05f,0.05f,0.05f), Matrix4f.createMatrixTranslate(new Vector3f(elem.x(),elem.y(),elem.z()+14)), new Color(0,1,0,1));
} else if (iii==7) {
debugDrawProperty.drawSquare(new Vector3f(0.05f,0.05f,0.05f), Matrix4f.createMatrixTranslate(new Vector3f(elem.x(),elem.y(),elem.z()+14)), new Color(1,1,0,1));
if (iii == 0) {
debugDrawProperty.drawSquare(new Vector3f(0.05f, 0.05f, 0.05f), Matrix4f.createMatrixTranslate(new Vector3f(elem.x(), elem.y(), elem.z() + 14)), new Color(0, 1, 0, 1));
} else if (iii == 7) {
debugDrawProperty.drawSquare(new Vector3f(0.05f, 0.05f, 0.05f), Matrix4f.createMatrixTranslate(new Vector3f(elem.x(), elem.y(), elem.z() + 14)), new Color(1, 1, 0, 1));
} else {
debugDrawProperty.drawSquare(new Vector3f(0.1f,0.1f,0.1f), Matrix4f.createMatrixTranslate(new Vector3f(elem.x(),elem.y(),elem.z()+14)), new Color(1,1,1,1));
debugDrawProperty.drawSquare(new Vector3f(0.1f, 0.1f, 0.1f), Matrix4f.createMatrixTranslate(new Vector3f(elem.x(), elem.y(), elem.z() + 14)), new Color(1, 1, 1, 1));
}
}
}
for (int iii=0; iii<DebugDisplay.testPointsBox.size(); iii++) {
for (int iii = 0; iii < DebugDisplay.testPointsBox.size(); iii++) {
Vector3f elem = DebugDisplay.testPointsBox.get(iii);
if (iii==0) {
debugDrawProperty.drawSquare(new Vector3f(0.05f,0.05f,0.05f), Matrix4f.createMatrixTranslate(new Vector3f(elem.x(),elem.y(),elem.z()+14)), new Color(0,1,0,1));
} else if (iii==7) {
debugDrawProperty.drawSquare(new Vector3f(0.05f,0.05f,0.05f), Matrix4f.createMatrixTranslate(new Vector3f(elem.x(),elem.y(),elem.z()+14)), new Color(1,1,0,1));
if (iii == 0) {
debugDrawProperty.drawSquare(new Vector3f(0.05f, 0.05f, 0.05f), Matrix4f.createMatrixTranslate(new Vector3f(elem.x(), elem.y(), elem.z() + 14)), new Color(0, 1, 0, 1));
} else if (iii == 7) {
debugDrawProperty.drawSquare(new Vector3f(0.05f, 0.05f, 0.05f), Matrix4f.createMatrixTranslate(new Vector3f(elem.x(), elem.y(), elem.z() + 14)), new Color(1, 1, 0, 1));
} else {
debugDrawProperty.drawSquare(new Vector3f(0.1f,0.1f,0.1f), Matrix4f.createMatrixTranslate(new Vector3f(elem.x(),elem.y(),elem.z()+14)), new Color(0,0,1,1));
debugDrawProperty.drawSquare(new Vector3f(0.1f, 0.1f, 0.1f), Matrix4f.createMatrixTranslate(new Vector3f(elem.x(), elem.y(), elem.z() + 14)), new Color(0, 0, 1, 1));
}
}
@ -313,12 +72,13 @@ public class DebugDisplay {
//Matrix4f transformation = Matrix4f.createMatrixTranslate(new Vector3f(testRpos.x,testRpos.y,testRpos.z)).multiply(testQTransfert.getMatrix4()).multiply(Matrix4f.createMatrixTranslate(new Vector3f(0,0,14)));
//Matrix4f transformation = testQTransfert.getMatrix4().multiply(Matrix4f.createMatrixTranslate(new Vector3f(testRpos.x,testRpos.y,testRpos.z))).multiply(Matrix4f.createMatrixTranslate(new Vector3f(0,0,14)));
//Matrix4f transformation = testQTransfert.getMatrix4().multiply(Matrix4f.createMatrixTranslate(new Vector3f(testRpos.x,testRpos.y,testRpos.z))).multiply(Matrix4f.createMatrixTranslate(new Vector3f(0,0,14)));
Matrix4f trensformation = Matrix4f.createMatrixTranslate(new Vector3f(testRpos.x(), testRpos.y(),testRpos.z())).multiply(Matrix4f.createMatrixTranslate(new Vector3f(0,0,14))).multiply(testQTransfert.getMatrix4());
Matrix4f trensformation = Matrix4f.createMatrixTranslate(new Vector3f(testRpos.x(), testRpos.y(), testRpos.z())).multiply(Matrix4f.createMatrixTranslate(new Vector3f(0, 0, 14)))
.multiply(testQTransfert.getMatrix4());
// OK sans la box1 orientation ...
//Matrix4f transformation = Matrix4f.createMatrixTranslate(new Vector3f(testRpos.x,testRpos.y,testRpos.z)).multiply(testQTransfert.getMatrix4()).multiply(Matrix4f.createMatrixTranslate(new Vector3f(0,0,14)));
//Matrix4f transformation = Matrix4f.createMatrixTranslate(new Vector3f(testRpos.x,testRpos.y,testRpos.z)).multiply(testQTransfert.getMatrix4()).multiply(Matrix4f.createMatrixTranslate(new Vector3f(0,0,14)));
debugDrawProperty.drawSquare(box2HalfSize, trensformation, new Color(0,1,0,0.5f));
debugDrawProperty.drawSquare(box1HalfSize, Matrix4f.createMatrixTranslate(new Vector3f(0,0,14)), new Color(0,0,1,0.5f));
debugDrawProperty.drawSquare(box2HalfSize, trensformation, new Color(0, 1, 0, 0.5f));
debugDrawProperty.drawSquare(box1HalfSize, Matrix4f.createMatrixTranslate(new Vector3f(0, 0, 14)), new Color(0, 0, 1, 0.5f));
}
// Restore context of matrix

117
src/org/atriasoft/phyligram/PhysicBox.java
View File

@ -9,53 +9,52 @@ import org.atriasoft.etk.math.Transform3D;
import org.atriasoft.etk.math.Vector3f;
import org.atriasoft.gale.resource.ResourceColored3DObject;
import org.atriasoft.phyligram.internal.Log;
import org.atriasoft.phyligram.shape.AABB;
public class PhysicBox extends PhysicShape {
// Box size property in X, Y and Z
private Vector3f size = new Vector3f(1, 1, 1);
public PhysicBox() {
super(PhysicShapeType.BOX);
}
public Vector3f getSize() {
return size;
}
public void setSize(Vector3f size) {
this.size = size;
}
@Override
public void updateAABB(Transform3D transformGlobal, PhysicCollisionAABB aabb) {
// store it, many time usefull...
this.transformGlobal = transformGlobal;
this.colisionPoints.clear();
// TODO Auto-generated method stub
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(this.size.x() * 0.5f, this.size.y() * 0.5f, this.size.z() * 0.5f))));
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(-this.size.x() * 0.5f, this.size.y() * 0.5f, this.size.z() * 0.5f))));
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(-this.size.x() * 0.5f, -this.size.y() * 0.5f, this.size.z() * 0.5f))));
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(this.size.x() * 0.5f, -this.size.y() * 0.5f, this.size.z() * 0.5f))));
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(this.size.x() * 0.5f, this.size.y() * 0.5f, -this.size.z() * 0.5f))));
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(-this.size.x() * 0.5f, this.size.y() * 0.5f, -this.size.z() * 0.5f))));
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(-this.size.x() * 0.5f, -this.size.y() * 0.5f, -this.size.z() * 0.5f))));
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(this.size.x() * 0.5f, -this.size.y() * 0.5f, -this.size.z() * 0.5f))));
}
// only needed for the narrow phase calculation ...
public Vector3f narrowPhaseGlobalPos;
public Vector3f narrowPhaseAxisX = new Vector3f(1, 0, 0);
public Vector3f narrowPhaseAxisY = new Vector3f(1, 0, 0);
public Vector3f narrowPhaseAxisZ = new Vector3f(1, 0, 0);
public Vector3f narrowPhaseHalfSize;
public PhysicBox() {}
public Vector3f getSize() {
return this.size;
}
@Override
public void updateForNarrowCollision(Transform3D transformGlobal) {
this.narrowPhaseGlobalPos = transformGlobal.multiply(this.transform.multiply(new Vector3f(0, 0, 0)));
this.narrowPhaseAxisX = transformGlobal.multiply(this.transform.multiply(new Vector3f(1, 0, 0))).less(this.narrowPhaseGlobalPos);
this.narrowPhaseAxisY = transformGlobal.multiply(this.transform.multiply(new Vector3f(0, 1, 0))).less(this.narrowPhaseGlobalPos);
this.narrowPhaseAxisZ = transformGlobal.multiply(this.transform.multiply(new Vector3f(0, 0, 1))).less(this.narrowPhaseGlobalPos);
this.narrowPhaseHalfSize = this.size.multiply(0.5f);
public void renderDebug(Transform3D transformGlobal, ResourceColored3DObject debugDrawProperty) {
debugDrawProperty.drawSquare(this.size.multiply(0.5f), this.transform.getOpenGLMatrix().multiply(transformGlobal.getOpenGLMatrix()), new Color(0, 1, 0, 0.25f));
Vector3f dimention = this.size.multiply(0.5f);
renderPoint2(new Vector3f(+dimention.x(), +dimention.y(), +dimention.z()), transformGlobal, debugDrawProperty);
renderPoint(new Vector3f(-dimention.x(), +dimention.y(), +dimention.z()), transformGlobal, debugDrawProperty);
renderPoint(new Vector3f(+dimention.x(), -dimention.y(), +dimention.z()), transformGlobal, debugDrawProperty);
renderPoint(new Vector3f(-dimention.x(), -dimention.y(), +dimention.z()), transformGlobal, debugDrawProperty);
renderPoint(new Vector3f(+dimention.x(), +dimention.y(), -dimention.z()), transformGlobal, debugDrawProperty);
renderPoint(new Vector3f(-dimention.x(), +dimention.y(), -dimention.z()), transformGlobal, debugDrawProperty);
renderPoint(new Vector3f(+dimention.x(), -dimention.y(), -dimention.z()), transformGlobal, debugDrawProperty);
renderPoint3(new Vector3f(-dimention.x(), -dimention.y(), -dimention.z()), transformGlobal, debugDrawProperty);
for (Collision elem : this.colisionPoints) {
if (elem != null) {
if (elem.colisionPointLocal == null) {
Log.error("colision point must be set !!!");
continue;
}
for (int iii = 0; iii < elem.colisionPointLocal.length; iii++) {
renderPoint4(elem.colisionPointLocal[iii].position, elem.colisionPointLocal[iii].force, debugDrawProperty);
}
}
}
}
private void renderPoint(Vector3f subPosition, Transform3D transformGlobal, ResourceColored3DObject debugDrawProperty) {
@ -79,34 +78,38 @@ public class PhysicBox extends PhysicShape {
private void renderPoint4(Vector3f subPosition, Vector3f force, ResourceColored3DObject debugDrawProperty) {
debugDrawProperty.drawSquare(new Vector3f(0.1f, 0.1f, 0.1f), Matrix4f.createMatrixTranslate(subPosition), new Color(1, 0, 0, 1));
List<Vector3f> tmp = new ArrayList<>();
tmp.add(new Vector3f(0,0,0));
tmp.add(new Vector3f(0, 0, 0));
tmp.add(force);
debugDrawProperty.drawLine(tmp, new Color(1, 0, 0, 1), Matrix4f.createMatrixTranslate(subPosition), true, false);
}
public void setSize(Vector3f size) {
this.size = size;
}
@Override
public void renderDebug(Transform3D transformGlobal, ResourceColored3DObject debugDrawProperty) {
debugDrawProperty.drawSquare(this.size.multiply(0.5f), this.transform.getOpenGLMatrix().multiply(transformGlobal.getOpenGLMatrix()), new Color(0, 1, 0, 0.25f));
Vector3f dimention = this.size.multiply(0.5f);
renderPoint2(new Vector3f(+dimention.x(), +dimention.y(), +dimention.z()), transformGlobal, debugDrawProperty);
renderPoint(new Vector3f(-dimention.x(), +dimention.y(), +dimention.z()), transformGlobal, debugDrawProperty);
renderPoint(new Vector3f(+dimention.x(), -dimention.y(), +dimention.z()), transformGlobal, debugDrawProperty);
renderPoint(new Vector3f(-dimention.x(), -dimention.y(), +dimention.z()), transformGlobal, debugDrawProperty);
renderPoint(new Vector3f(+dimention.x(), +dimention.y(), -dimention.z()), transformGlobal, debugDrawProperty);
renderPoint(new Vector3f(-dimention.x(), +dimention.y(), -dimention.z()), transformGlobal, debugDrawProperty);
renderPoint(new Vector3f(+dimention.x(), -dimention.y(), -dimention.z()), transformGlobal, debugDrawProperty);
renderPoint3(new Vector3f(-dimention.x(), -dimention.y(), -dimention.z()), transformGlobal, debugDrawProperty);
for (Collision elem: this.colisionPoints) {
if (elem != null) {
if (elem.colisionPointLocal == null) {
Log.error("colision point must be set !!!");
continue;
}
for (int iii = 0; iii < elem.colisionPointLocal.length; iii++) {
renderPoint4(elem.colisionPointLocal[iii].position, elem.colisionPointLocal[iii].force, debugDrawProperty);
}
}
}
public void updateAABB(Transform3D transformGlobal, AABB aabb) {
// store it, many time usefull...
this.transformGlobal = transformGlobal;
this.colisionPoints.clear();
// TODO Auto-generated method stub
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(this.size.x() * 0.5f, this.size.y() * 0.5f, this.size.z() * 0.5f))));
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(-this.size.x() * 0.5f, this.size.y() * 0.5f, this.size.z() * 0.5f))));
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(-this.size.x() * 0.5f, -this.size.y() * 0.5f, this.size.z() * 0.5f))));
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(this.size.x() * 0.5f, -this.size.y() * 0.5f, this.size.z() * 0.5f))));
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(this.size.x() * 0.5f, this.size.y() * 0.5f, -this.size.z() * 0.5f))));
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(-this.size.x() * 0.5f, this.size.y() * 0.5f, -this.size.z() * 0.5f))));
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(-this.size.x() * 0.5f, -this.size.y() * 0.5f, -this.size.z() * 0.5f))));
aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(this.size.x() * 0.5f, -this.size.y() * 0.5f, -this.size.z() * 0.5f))));
}
@Override
public void updateForNarrowCollision(Transform3D transformGlobal) {
this.narrowPhaseGlobalPos = transformGlobal.multiply(this.transform.multiply(new Vector3f(0, 0, 0)));
this.narrowPhaseAxisX = transformGlobal.multiply(this.transform.multiply(new Vector3f(1, 0, 0))).less(this.narrowPhaseGlobalPos);
this.narrowPhaseAxisY = transformGlobal.multiply(this.transform.multiply(new Vector3f(0, 1, 0))).less(this.narrowPhaseGlobalPos);
this.narrowPhaseAxisZ = transformGlobal.multiply(this.transform.multiply(new Vector3f(0, 0, 1))).less(this.narrowPhaseGlobalPos);
this.narrowPhaseHalfSize = this.size.multiply(0.5f);
}
}

77
src/org/atriasoft/phyligram/PhysicCollisionAABB.java
View File

@ -1,77 +0,0 @@
package org.atriasoft.phyligram;
import org.atriasoft.etk.math.Vector3f;
public class PhysicCollisionAABB {
public float minX;
public float minY;
public float minZ;
public float maxX;
public float maxY;
public float maxZ;
public PhysicCollisionAABB(float minX, float minY, float minZ, float maxX, float maxY, float maxZ) {
super();
this.minX = minX;
this.minY = minY;
this.minZ = minZ;
this.maxX = maxX;
this.maxY = maxY;
this.maxZ = maxZ;
}
public boolean intersect(PhysicCollisionAABB other) {
if (this == other) {
return false;
}
if (minX > other.maxX) {
return false;
}
if (maxX < other.minX) {
return false;
}
if (minY > other.maxY) {
return false;
}
if (maxY < other.minY) {
return false;
}
if (minZ > other.maxZ) {
return false;
}
if (maxZ < other.minZ) {
return false;
}
return true;
}
public void update(Vector3f point) {
if (minX > point.x()) {
minX = point.x();
}
if (maxX < point.x()) {
maxX = point.x();
}
if (minY > point.y()) {
minY = point.y();
}
if (maxY < point.y()) {
maxY = point.y();
}
if (minZ > point.z()) {
minZ = point.z();
}
if (maxZ < point.z()) {
maxZ = point.z();
}
}
public Vector3f getMin() {
return new Vector3f(minX, minY, minZ);
}
public Vector3f getMax() {
return new Vector3f(maxX, maxY, maxZ);
}
public static PhysicCollisionAABB beforeCalculated() {
// TODO Auto-generated method stub
return new PhysicCollisionAABB(999999,999999,999999,-999999,-999999,-999999);
}
}

63
src/org/atriasoft/phyligram/PhysicHeightMapChunk.java Normal file
View File

@ -0,0 +1,63 @@
package org.atriasoft.phyligram;
import org.atriasoft.ege.geometry.Triangle;
import org.atriasoft.etk.math.Transform3D;
import org.atriasoft.etk.math.Vector3f;
import org.atriasoft.gale.resource.ResourceColored3DObject;
import org.atriasoft.phyligram.shape.AABB;
public class PhysicHeightMapChunk extends PhysicShape {
// Box size property in X, Y and Z
private Triangle[] triangles = null;
public Triangle[] trianglesGlobalPos = null;
public PhysicHeightMapChunk() {
}
public PhysicHeightMapChunk(Triangle[] triangles) {
this.triangles = triangles;
}
public Triangle[] getTriangles() {
return this.triangles;
}
@Override
public void renderDebug(Transform3D transformGlobal, ResourceColored3DObject debugDrawProperty) {
}
public void setTriangles(Triangle[] triangles) {
this.triangles = triangles;
this.trianglesGlobalPos = new Triangle[triangles.length];
for (int iii = 0; iii < this.triangles.length; iii++) {
Vector3f data1 = this.transformGlobal.multiply(this.transform.multiply(this.triangles[iii].p1));
Vector3f data2 = this.transformGlobal.multiply(this.transform.multiply(this.triangles[iii].p2));
Vector3f data3 = this.transformGlobal.multiply(this.transform.multiply(this.triangles[iii].p3));
this.trianglesGlobalPos[iii] = new Triangle(data1, data2, data3);
}
}
@Override
public void updateAABB(Transform3D transformGlobal, AABB aabb) {
// store it, many time usefull...
this.transformGlobal = transformGlobal;
this.colisionPoints.clear();
for (int iii = 0; iii < this.triangles.length; iii++) {
aabb.update(transformGlobal.multiply(this.transform.multiply(this.triangles[iii].p1)));
aabb.update(transformGlobal.multiply(this.transform.multiply(this.triangles[iii].p2)));
aabb.update(transformGlobal.multiply(this.transform.multiply(this.triangles[iii].p3)));
}
}
@Override
public void updateForNarrowCollision(Transform3D transformGlobal) {
for (int iii = 0; iii < this.triangles.length; iii++) {
this.trianglesGlobalPos[iii].p1 = this.transformGlobal.multiply(this.transform.multiply(this.triangles[iii].p1));
this.trianglesGlobalPos[iii].p2 = this.transformGlobal.multiply(this.transform.multiply(this.triangles[iii].p2));
this.trianglesGlobalPos[iii].p3 = this.transformGlobal.multiply(this.transform.multiply(this.triangles[iii].p3));
}
}
}

39
src/org/atriasoft/phyligram/PhysicMapVoxel.java
View File

@ -1,42 +1,43 @@
package org.atriasoft.phyligram;
import org.atriasoft.ege.map.VoxelChunk;
import org.atriasoft.etk.math.Transform3D;
import org.atriasoft.etk.math.Vector3f;
import org.atriasoft.gale.resource.ResourceColored3DObject;
import org.atriasoft.ege.map.VoxelChunk;
import org.atriasoft.phyligram.shape.AABB;
public class PhysicMapVoxel extends PhysicShape {
// Box size property in X, Y and Z
private VoxelChunk chunk;
// only needed for the narrow phase calculation ...
private Vector3f narrowPhaseGlobalPos;
private Vector3f narrowPhaseAxisX = new Vector3f(1, 0, 0);
private Vector3f narrowPhaseAxisY = new Vector3f(1, 0, 0);
private Vector3f narrowPhaseAxisZ = new Vector3f(1, 0, 0);
private Vector3f narrowPhaseHalfSize = new Vector3f(0.5f, 0.5f, 0.5f);
public PhysicMapVoxel(VoxelChunk chunk) {
super(PhysicShapeType.MAP_VOXEL);
this.chunk = chunk;
}
@Override
public void updateAABB(Transform3D transform, PhysicCollisionAABB aabb) {
public void renderDebug(Transform3D transform, ResourceColored3DObject debugDrawProperty) {
}
@Override
public void updateAABB(Transform3D transform, AABB aabb) {
if (this.chunk == null) {
return;
}
this.colisionPoints.clear();
aabb.update(new Vector3f(this.chunk.getPosition().x(),this.chunk.getPosition().y(),this.chunk.getPosition().z()));
aabb.update(new Vector3f(
this.chunk.getPosition().x() + VoxelChunk.VOXEL_CHUNK_SIZE,
this.chunk.getPosition().y() + VoxelChunk.VOXEL_CHUNK_SIZE,
aabb.update(new Vector3f(this.chunk.getPosition().x(), this.chunk.getPosition().y(), this.chunk.getPosition().z()));
aabb.update(new Vector3f(this.chunk.getPosition().x() + VoxelChunk.VOXEL_CHUNK_SIZE, this.chunk.getPosition().y() + VoxelChunk.VOXEL_CHUNK_SIZE,
this.chunk.getPosition().z() + VoxelChunk.VOXEL_CHUNK_SIZE));
}
// only needed for the narrow phase calculation ...
private Vector3f narrowPhaseGlobalPos;
private Vector3f narrowPhaseAxisX = new Vector3f(1,0,0);
private Vector3f narrowPhaseAxisY = new Vector3f(1,0,0);
private Vector3f narrowPhaseAxisZ = new Vector3f(1,0,0);
private Vector3f narrowPhaseHalfSize = new Vector3f(0.5f,0.5f,0.5f);
@Override
public void updateForNarrowCollision(Transform3D transform) {
this.narrowPhaseGlobalPos = transform.multiply(this.transform.multiply(new Vector3f(0,0,0)));
}
@Override
public void renderDebug(Transform3D transform, ResourceColored3DObject debugDrawProperty) {
this.narrowPhaseGlobalPos = transform.multiply(this.transform.multiply(new Vector3f(0, 0, 0)));
}
}

76
src/org/atriasoft/phyligram/PhysicShape.java
View File

@ -7,95 +7,83 @@ import org.atriasoft.etk.math.Quaternion;
import org.atriasoft.etk.math.Transform3D;
import org.atriasoft.etk.math.Vector3f;
import org.atriasoft.gale.resource.ResourceColored3DObject;
import org.atriasoft.phyligram.shape.AABB;
public abstract class PhysicShape {
protected List<Collision> colisionPoints = new ArrayList<>();
// protected Quaternion quaternion;
// protected Vector3f origin;
protected Transform3D transform;
protected Transform3D transformGlobal;
protected float mass = 0;
protected final PhysicShapeType type;
public PhysicShape(PhysicShapeType type) {
this.type = type;
public PhysicShape() {
this.transform = Transform3D.IDENTITY;
// this.quaternion = Quaternion.identity();
// this.origin = Vector3f.zero();
this.mass = 0;
}
public PhysicShape(PhysicShapeType type, Quaternion quaternion, Vector3f origin, float mass) {
this.type = type;
public PhysicShape(Quaternion quaternion, Vector3f origin, float mass) {
this.transform = new Transform3D(origin, quaternion);
// this.quaternion = quaternion;
// this.origin = origin;
this.mass = mass;
}
public Quaternion getQuaternionFull() {
return transformGlobal.getOrientation().multiply(transform.getOrientation());
public void addColision(Collision colision) {
this.colisionPoints.add(colision);
}
public Quaternion getQuaternion() {
return transform.getOrientation();
}
public void setQuaternion(Quaternion quaternion) {
this.transform = this.transform.withOrientation(quaternion);
public float getMass() {
return this.mass;
}
public Vector3f getOrigin() {
return this.transform.getPosition();
}
public Quaternion getQuaternion() {
return this.transform.getOrientation();
}
public Quaternion getQuaternionFull() {
return this.transformGlobal.getOrientation().multiply(this.transform.getOrientation());
}
public Transform3D getTransform() {
return this.transform;
}
public Transform3D getTransformGlobal() {
return this.transformGlobal;
}
public abstract void renderDebug(Transform3D transform, ResourceColored3DObject debugDrawProperty);
public void setMass(float mass) {
this.mass = mass;
}
public void setOrigin(Vector3f origin) {
this.transform = this.transform.withPosition(origin);
}
public Transform3D getTransform() {
return transform;
public void setQuaternion(Quaternion quaternion) {
this.transform = this.transform.withOrientation(quaternion);
}
public void setTransform(Transform3D transform) {
this.transform = transform;
}
public Transform3D getTransformGlobal() {
return transformGlobal;
}
public void setTransformGlobal(Transform3D transform) {
this.transformGlobal = transform;
}
public float getMass() {
return mass;
}
public void setMass(float mass) {
this.mass = mass;
}
public PhysicShapeType getType() {
return type;
}
public void addColision(Collision colision) {
colisionPoints.add(colision);
}
public abstract void updateAABB(Transform3D transform, PhysicCollisionAABB aabb);
public abstract void updateAABB(Transform3D transform, AABB aabb);
public abstract void updateForNarrowCollision(Transform3D transform);
public abstract void renderDebug(Transform3D transform, ResourceColored3DObject debugDrawProperty);
}

13
src/org/atriasoft/phyligram/PhysicShapeType.java
View File

@ -1,13 +0,0 @@
package org.atriasoft.phyligram;
public enum PhysicShapeType {
UNKNOWN,
BOX,
CAPSULE,
CONE,
CONVEXHULL,
CYLINDER,
SPHERE,
CONCAVE,
MAP_VOXEL
}

45
src/org/atriasoft/phyligram/PhysicSphere.java
View File

@ -4,35 +4,46 @@ import org.atriasoft.etk.Color;
import org.atriasoft.etk.math.Transform3D;
import org.atriasoft.etk.math.Vector3f;
import org.atriasoft.gale.resource.ResourceColored3DObject;
import org.atriasoft.phyligram.shape.AABB;
public class PhysicSphere extends PhysicShape {
// Box size property in X, Y and Z
private float size;
public PhysicSphere() {
super(PhysicShapeType.SPHERE);
}
// only needed for the narrow phase calculation ...
public Vector3f narrowPhaseGlobalPos;
public PhysicSphere() {}
public float getSize() {
return size;
return this.size;
}
@Override
public void renderDebug(Transform3D transform, ResourceColored3DObject debugDrawProperty) {
debugDrawProperty.drawSphere(this.size, 9, 9, this.transform.getOpenGLMatrix().multiply(transform.getOpenGLMatrix()), new Color(0, 1, 0, 1));
}
public void setSize(float size) {
this.size = size;
}
@Override
public void updateAABB(Transform3D transform, PhysicCollisionAABB aabb) {
aabb.update(transform.multiply(this.transform.getPosition()).add(this.size,0,0));
aabb.update(transform.multiply(this.transform.getPosition()).add(-this.size,0,0));
aabb.update(transform.multiply(this.transform.getPosition()).add(0,this.size,0));
aabb.update(transform.multiply(this.transform.getPosition()).add(0,-this.size,0));
aabb.update(transform.multiply(this.transform.getPosition()).add(0,0,this.size));
aabb.update(transform.multiply(this.transform.getPosition()).add(0,0,-this.size));
public void updateAABB(Transform3D transformGlobal, AABB aabb) {
// store it, many time usefull...
this.transformGlobal = transformGlobal;
Vector3f basePosition = transformGlobal.multiply(this.transform.getPosition());
aabb.update(basePosition.add(this.size, 0, 0));
aabb.update(basePosition.add(-this.size, 0, 0));
aabb.update(basePosition.add(0, this.size, 0));
aabb.update(basePosition.add(0, -this.size, 0));
aabb.update(basePosition.add(0, 0, this.size));
aabb.update(basePosition.add(0, 0, -this.size));
}
@Override
public void updateForNarrowCollision(Transform3D transform) {
}
@Override
public void renderDebug(Transform3D transform, ResourceColored3DObject debugDrawProperty) {
debugDrawProperty.drawSphere(this.size, 9, 9, this.transform.getOpenGLMatrix().multiply(transform.getOpenGLMatrix()), new Color(0,1,0,1));
this.narrowPhaseGlobalPos = this.transformGlobal.multiply(this.transform.multiply(new Vector3f(0, 0, 0)));
}
}

61
src/org/atriasoft/phyligram/PhysicTriangle.java Normal file
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@ -0,0 +1,61 @@
package org.atriasoft.phyligram;
import org.atriasoft.ege.geometry.Triangle;
import org.atriasoft.etk.Color;
import org.atriasoft.etk.math.Transform3D;
import org.atriasoft.etk.math.Vector3f;
import org.atriasoft.gale.resource.ResourceColored3DObject;
import org.atriasoft.phyligram.shape.AABB;
public class PhysicTriangle extends PhysicShape {
// Box size property in X, Y and Z
private Triangle triangle;
// only needed for the narrow phase calculation ...
public Triangle narrowPhaseGlobalTriangle;
public PhysicTriangle() {}
public Triangle getTriangle() {
return this.triangle;
}
public Triangle getTriangleGlobalPos() {
return this.narrowPhaseGlobalTriangle;
}
@Override
public void renderDebug(Transform3D transform, ResourceColored3DObject debugDrawProperty) {
debugDrawProperty.drawTriangle(this.triangle.p1, this.triangle.p2, this.triangle.p3, this.transform.getOpenGLMatrix().multiply(transform.getOpenGLMatrix()), new Color(0, 1, 0, 1));
}
public void setPoints(Vector3f p1, Vector3f p2, Vector3f p3) {
this.triangle = new Triangle(p1, p2, p3);
}
public void setTriangle(Triangle data) {
this.triangle = data.clone();
}
@Override
public void updateAABB(Transform3D transformGlobal, AABB aabb) {
// store it, many time usefull...
this.transformGlobal = transformGlobal;
Vector3f basePositionP1 = transformGlobal.multiply(this.transform.getPosition().add(this.triangle.p1));
Vector3f basePositionP2 = transformGlobal.multiply(this.transform.getPosition().add(this.triangle.p2));
Vector3f basePositionP3 = transformGlobal.multiply(this.transform.getPosition().add(this.triangle.p3));
this.narrowPhaseGlobalTriangle = new Triangle(basePositionP1, basePositionP2, basePositionP3);
aabb.update(basePositionP1);
aabb.update(basePositionP2);
aabb.update(basePositionP3);
}
@Override
public void updateForNarrowCollision(Transform3D transform) {
Vector3f basePositionP1 = this.transformGlobal.multiply(this.transform.multiply(this.triangle.p1));
Vector3f basePositionP2 = this.transformGlobal.multiply(this.transform.multiply(this.triangle.p2));
Vector3f basePositionP3 = this.transformGlobal.multiply(this.transform.multiply(this.triangle.p3));
this.narrowPhaseGlobalTriangle = new Triangle(basePositionP1, basePositionP2, basePositionP3);
}
}

24
src/org/atriasoft/phyligram/ToolCollisionOBBWithOBB.java
View File

@ -141,7 +141,7 @@ public class ToolCollisionOBBWithOBB {
// getCollidePointsAABBCenteredWithOBB(box2.narrowPhaseHalfSize, box1.narrowPhaseHalfSize, quatTransfer2, rPos1);
// fonctionne quand le block est trourner de 90% petit pb de positionnement en hauteur....
// getCollidePointsAABBCenteredWithOBB(box2.narrowPhaseHalfSize, box1.narrowPhaseHalfSize, quatTransfer2, quat2.multiply(rPos2));
ColisionPoints[] collide1 = getCollidePointsAABBCenteredWithOBB(box2.narrowPhaseHalfSize, box1.narrowPhaseHalfSize, quatTransfer2, quat2.inverse().getMatrix4().multiply(rPos1));
ColisionPoint[] collide1 = getCollidePointsAABBCenteredWithOBB(box2.narrowPhaseHalfSize, box1.narrowPhaseHalfSize, quatTransfer2, quat2.inverse().getMatrix4().multiply(rPos1));
// transfer detection point collision in global environement:
if (collide1 != null) {
for (int iii = 0; iii < collide1.length; iii++) {
@ -155,7 +155,7 @@ public class ToolCollisionOBBWithOBB {
DebugDisplay.testQTransfert = quatTransfer1;
DebugDisplay.box1HalfSize = box1.narrowPhaseHalfSize;
DebugDisplay.box2HalfSize = box2.narrowPhaseHalfSize;
ColisionPoints[] collide2 = getCollidePointsAABBCenteredWithOBB(box1.narrowPhaseHalfSize, box2.narrowPhaseHalfSize, quatTransfer1, quat1.inverse().getMatrix4().multiply(rPos2));
ColisionPoint[] collide2 = getCollidePointsAABBCenteredWithOBB(box1.narrowPhaseHalfSize, box2.narrowPhaseHalfSize, quatTransfer1, quat1.inverse().getMatrix4().multiply(rPos2));
if (collide2 != null) {
for (int iii = 0; iii < collide2.length; iii++) {
collide2[iii].position = quat2.multiply(collide2[iii].position).add(box2.narrowPhaseGlobalPos);
@ -174,7 +174,7 @@ public class ToolCollisionOBBWithOBB {
}
public static ColisionPoints[] getCollidePointsAABBCenteredWithOBB(Vector3f box1HalfSize, Vector3f box2HalfSize, Quaternion box2Orientation, Vector3f box2Position) {
public static ColisionPoint[] getCollidePointsAABBCenteredWithOBB(Vector3f box1HalfSize, Vector3f box2HalfSize, Quaternion box2Orientation, Vector3f box2Position) {
// point in AABB
Vector3f topBackRight = box2Orientation.multiply(new Vector3f(+box2HalfSize.x(), +box2HalfSize.y(), +box2HalfSize.z())).add(box2Position);
@ -245,38 +245,38 @@ public class ToolCollisionOBBWithOBB {
if (insideBottomFrontLeft != null) {
count++;
}
ColisionPoints[] out = new ColisionPoints[count];
ColisionPoint[] out = new ColisionPoint[count];
count = 0;
if (insideTopBackRight != null) {
out[count] = new ColisionPoints(new Vector3f(+box2HalfSize.x(), +box2HalfSize.y(), +box2HalfSize.z()), insideTopBackRight);
out[count] = new ColisionPoint(new Vector3f(+box2HalfSize.x(), +box2HalfSize.y(), +box2HalfSize.z()), insideTopBackRight);
count++;
}
if (insideTopBackLeft != null) {
out[count] = new ColisionPoints(new Vector3f(-box2HalfSize.x(), +box2HalfSize.y(), +box2HalfSize.z()), insideTopBackLeft);
out[count] = new ColisionPoint(new Vector3f(-box2HalfSize.x(), +box2HalfSize.y(), +box2HalfSize.z()), insideTopBackLeft);
count++;
}
if (insideTopFrontRight != null) {
out[count] = new ColisionPoints(new Vector3f(+box2HalfSize.x(), -box2HalfSize.y(), +box2HalfSize.z()), insideTopFrontRight);
out[count] = new ColisionPoint(new Vector3f(+box2HalfSize.x(), -box2HalfSize.y(), +box2HalfSize.z()), insideTopFrontRight);
count++;
}
if (insideTopFrontLeft != null) {
out[count] = new ColisionPoints(new Vector3f(-box2HalfSize.x(), -box2HalfSize.y(), +box2HalfSize.z()), insideTopFrontLeft);
out[count] = new ColisionPoint(new Vector3f(-box2HalfSize.x(), -box2HalfSize.y(), +box2HalfSize.z()), insideTopFrontLeft);
count++;
}
if (insideBottomBackRight != null) {
out[count] = new ColisionPoints(new Vector3f(+box2HalfSize.x(), +box2HalfSize.y(), -box2HalfSize.z()), insideBottomBackRight);
out[count] = new ColisionPoint(new Vector3f(+box2HalfSize.x(), +box2HalfSize.y(), -box2HalfSize.z()), insideBottomBackRight);
count++;
}
if (insideBottomBackLeft != null) {
out[count] = new ColisionPoints(new Vector3f(-box2HalfSize.x(), +box2HalfSize.y(), -box2HalfSize.z()), insideBottomBackLeft);
out[count] = new ColisionPoint(new Vector3f(-box2HalfSize.x(), +box2HalfSize.y(), -box2HalfSize.z()), insideBottomBackLeft);
count++;
}
if (insideBottomFrontRight != null) {
out[count] = new ColisionPoints(new Vector3f(+box2HalfSize.x(), -box2HalfSize.y(), -box2HalfSize.z()), insideBottomFrontRight);
out[count] = new ColisionPoint(new Vector3f(+box2HalfSize.x(), -box2HalfSize.y(), -box2HalfSize.z()), insideBottomFrontRight);
count++;
}
if (insideBottomFrontLeft != null) {
out[count] = new ColisionPoints(new Vector3f(-box2HalfSize.x(), -box2HalfSize.y(), -box2HalfSize.z()), insideBottomFrontLeft);
out[count] = new ColisionPoint(new Vector3f(-box2HalfSize.x(), -box2HalfSize.y(), -box2HalfSize.z()), insideBottomFrontLeft);
count++;
}
if (count != 0) {

63
src/org/atriasoft/phyligram/ToolCollisionSphereWithHeightMapChunk.java Normal file
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@ -0,0 +1,63 @@
package org.atriasoft.phyligram;
import org.atriasoft.ege.geometry.Triangle;
import org.atriasoft.etk.math.Vector3f;
public class ToolCollisionSphereWithHeightMapChunk {
//intersection entre 2 droite (en 2d avec estimation en 3D
public static Vector3f lineIntersect(Vector3f p1, Vector3f p2, Vector3f p3, Vector3f p4) {
float denom = (p4.y() - p3.y()) * (p2.x() - p1.x()) - (p4.x() - p3.x()) * (p2.y() - p1.y());
if (denom == 0.0f) { // Lines are parallel.
return null;
}
float ua = ((p4.x() - p3.x()) * (p1.y() - p3.y()) - (p4.y() - p3.y()) * (p1.x() - p3.x())) / denom;
float ub = ((p2.x() - p1.x()) * (p1.y() - p3.y()) - (p2.y() - p1.y()) * (p1.x() - p3.x())) / denom;
if (ua >= 0.0f && ua <= 1.0f && ub >= 0.0f && ub <= 1.0f) {
// Get the intersection point.
return new Vector3f(p1.x() + ua * (p2.x() - p1.x()), p1.y() + ua * (p2.y() - p1.y()), p1.z() + ua * (p2.z() - p1.z()));
}
return null;
}
public static Vector3f middlePoint(Vector3f p1, Vector3f p2, Vector3f p3) {
float distance1 = p1.distance(p2);
float distance2 = p1.distance(p3);
float ratio = distance1 / distance2;
return p3.add(p3.less(p1).multiply(ratio));
}
private static boolean pointInTriangle(Vector3f pt, Triangle triangle) {
float d1, d2, d3;
boolean has_neg, has_pos;
d1 = sign(pt, triangle.p1, triangle.p2);
d2 = sign(pt, triangle.p2, triangle.p3);
d3 = sign(pt, triangle.p3, triangle.p1);
has_neg = (d1 < 0) || (d2 < 0) || (d3 < 0);
has_pos = (d1 > 0) || (d2 > 0) || (d3 > 0);
return !(has_neg && has_pos);
}
private static float sign(Vector3f p1, Vector3f p2, Vector3f p3) {
return (p1.x() - p3.x()) * (p2.y() - p3.y()) - (p2.x() - p3.x()) * (p1.y() - p3.y());
}
public static boolean testCollide(PhysicSphere sphere1, PhysicHeightMapChunk map) {
for (Triangle elem : map.trianglesGlobalPos) {
if (pointInTriangle(sphere1.narrowPhaseGlobalPos, elem)) {
// calculate linear extrapolation of the z height at this position:
Vector3f position = lineIntersect(elem.p1, sphere1.narrowPhaseGlobalPos, elem.p2, elem.p3);
Vector3f middlePoint = middlePoint(elem.p1, sphere1.narrowPhaseGlobalPos, position);
float distanceSquare = middlePoint.distance2(sphere1.narrowPhaseGlobalPos);
if (sphere1.getSize() * sphere1.getSize() < distanceSquare) {
return true;
}
}
}
return false;
}
private ToolCollisionSphereWithHeightMapChunk() {}
}

30
src/org/atriasoft/phyligram/ToolCollisionSphereWithSphere.java Normal file
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@ -0,0 +1,30 @@
package org.atriasoft.phyligram;
import org.atriasoft.etk.math.Vector3f;
import org.atriasoft.phyligram.internal.Log;
public class ToolCollisionSphereWithSphere {
// Note sphere 2 is the reference ...
public static ColisionPoint getCollisionPoint(PhysicSphere sphere1, PhysicSphere shapeReference) {
if (sphere1.getSize() > shapeReference.getSize()) {
Log.todo("implement then reference is smaller than moving");
}
Vector3f force = sphere1.narrowPhaseGlobalPos.less(shapeReference.narrowPhaseGlobalPos);
float distance = shapeReference.getSize() + sphere1.getSize() - force.length();
force = force.safeNormalize();
Vector3f impact = force.multiply(shapeReference.getSize());
force = force.multiply(distance);
force = force.multiply(sphere1.getSize() + distance);
return new ColisionPoint(impact, force);
}
// Note sphere 2 is the reference ...
public static boolean testCollide(PhysicSphere sphere1, PhysicSphere shapeReference) {
float distance1 = sphere1.narrowPhaseGlobalPos.distance2(shapeReference.narrowPhaseGlobalPos);
float distance2 = sphere1.getSize() * shapeReference.getSize();
distance2 = distance2 * distance2;
return distance1 <= distance2;
}
private ToolCollisionSphereWithSphere() {}
}

155
src/org/atriasoft/phyligram/ToolCollisionSphereWithTriangle.java Normal file
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@ -0,0 +1,155 @@
package org.atriasoft.phyligram;
import org.atriasoft.ege.geometry.Plane;
import org.atriasoft.etk.math.FMath;
import org.atriasoft.etk.math.Vector3f;
// https://realtimecollisiondetection.net/blog/?p=103
public class ToolCollisionSphereWithTriangle {
public static float clamp(float val, float min, float max) {
return Math.max(min, Math.min(max, val));
}
public static Vector3f getClosestPointOnFiniteLine(Vector3f point, Vector3f lineStart, Vector3f lineEnd) {
Vector3f lineDirection = lineEnd.less(lineStart);
float lineLength = lineDirection.length();
lineDirection = lineDirection.normalize();
float position = point.less(lineStart).dot(lineDirection);
float ProjectionLength = clamp(position, 0, lineLength);
return lineStart.add(lineDirection.multiply(ProjectionLength));
}
public static ColisionPoint getCollisionPoint(PhysicSphere sphere1, PhysicTriangle shapeReference) {
Plane plane = new Plane(shapeReference.getTriangleGlobalPos());
float distance = plane.distance(sphere1.narrowPhaseGlobalPos);
float distance1 = distance * distance;
float distance2 = sphere1.getSize() * sphere1.getSize();
if (distance1 > distance2) {
return null;
}
/*
if (distance < 0.0f) {
System.out.println("Distance : (BOTTOM) " + distance);
} else {
System.out.println("Distance : (TOP) " + distance);
}
*/
boolean inCenter = false;
// check the position with the perpendicular plan of each side of the triangle
Plane plane1 = new Plane(shapeReference.getTriangleGlobalPos().p1, shapeReference.getTriangleGlobalPos().p2, shapeReference.getTriangleGlobalPos().p1.add(plane.normal()));
float distanceBorder = plane1.distance(sphere1.narrowPhaseGlobalPos);
inCenter = distanceBorder < 0.0f;
if (inCenter == true) {
Plane plane2 = new Plane(shapeReference.getTriangleGlobalPos().p2, shapeReference.getTriangleGlobalPos().p3, shapeReference.getTriangleGlobalPos().p2.add(plane.normal()));
distanceBorder = plane2.distance(sphere1.narrowPhaseGlobalPos);
inCenter = distanceBorder < 0.0f;
}
if (inCenter == true) {
Plane plane3 = new Plane(shapeReference.getTriangleGlobalPos().p3, shapeReference.getTriangleGlobalPos().p1, shapeReference.getTriangleGlobalPos().p3.add(plane.normal()));
distanceBorder = plane3.distance(sphere1.narrowPhaseGlobalPos);
inCenter = distanceBorder < 0.0f;
}
if (inCenter == true) {
Vector3f impact = plane.minimalIntersectionPoint(sphere1.narrowPhaseGlobalPos);
Vector3f force = plane.normal();
if (distance < 0) {
force = force.multiply(-(sphere1.getSize() + distance));
} else {
force = force.multiply(-(sphere1.getSize() + distance));
}
return new ColisionPoint(impact, force);
}
System.out.println("Not in center");
// now we need to check if we have a collision with the border.
Vector3f nearestPointP1 = getClosestPointOnFiniteLine(sphere1.narrowPhaseGlobalPos, shapeReference.getTriangleGlobalPos().p1, shapeReference.getTriangleGlobalPos().p2);
float distanceP1Square = Vector3f.length2(nearestPointP1, sphere1.narrowPhaseGlobalPos);
System.out.println("distanceP1Square=" + distanceP1Square);
Vector3f nearestPointP2 = getClosestPointOnFiniteLine(sphere1.narrowPhaseGlobalPos, shapeReference.getTriangleGlobalPos().p2, shapeReference.getTriangleGlobalPos().p3);
float distanceP2Square = Vector3f.length2(nearestPointP2, sphere1.narrowPhaseGlobalPos);
System.out.println("distanceP2Square=" + distanceP2Square);
Vector3f nearestPointP3 = getClosestPointOnFiniteLine(sphere1.narrowPhaseGlobalPos, shapeReference.getTriangleGlobalPos().p3, shapeReference.getTriangleGlobalPos().p1);
float distanceP3Square = Vector3f.length2(nearestPointP3, sphere1.narrowPhaseGlobalPos);
System.out.println("distanceP3Square=" + distanceP3Square);
float distanceFinal;
Vector3f impact;
if (distanceP1Square < distanceP2Square && distanceP1Square < distanceP3Square) {
// P1 is the smallest
distanceFinal = FMath.sqrt(distanceP1Square);
impact = nearestPointP1;
} else if (distanceP2Square < distanceP3Square) {
// P2 is the smallest
distanceFinal = FMath.sqrt(distanceP2Square);
impact = nearestPointP2;
} else {
// P3 is the smallest
distanceFinal = FMath.sqrt(distanceP3Square);
impact = nearestPointP3;
}
Vector3f force = sphere1.narrowPhaseGlobalPos.less(impact).safeNormalize();
force = force.multiply(sphere1.getSize() - distanceFinal);
return new ColisionPoint(impact, force);
}
public static boolean testCollide(PhysicSphere sphere1, PhysicTriangle shapeReference) {
Plane plane = new Plane(shapeReference.getTriangleGlobalPos());
float distance = plane.distance(sphere1.narrowPhaseGlobalPos);
float distance1 = distance * distance;
float distance2 = sphere1.getSize() * sphere1.getSize();
if (distance1 > distance2) {
return false;
}
/*
if (distance < 0.0f) {
System.out.println("Distance : (BOTTOM) " + distance);
} else {
System.out.println("Distance : (TOP) " + distance);
}
*/
boolean inCenter = false;
// check the position with the perpendicular plan of each side of the triangle
Plane plane1 = new Plane(shapeReference.getTriangleGlobalPos().p1, shapeReference.getTriangleGlobalPos().p2, shapeReference.getTriangleGlobalPos().p1.add(plane.normal()));
float distanceBorder = plane1.distance(sphere1.narrowPhaseGlobalPos);
inCenter = distanceBorder < 0.0f;
if (inCenter == true) {
Plane plane2 = new Plane(shapeReference.getTriangleGlobalPos().p2, shapeReference.getTriangleGlobalPos().p3, shapeReference.getTriangleGlobalPos().p2.add(plane.normal()));
distanceBorder = plane2.distance(sphere1.narrowPhaseGlobalPos);
inCenter = distanceBorder < 0.0f;
}
if (inCenter == true) {
Plane plane3 = new Plane(shapeReference.getTriangleGlobalPos().p3, shapeReference.getTriangleGlobalPos().p1, shapeReference.getTriangleGlobalPos().p3.add(plane.normal()));
distanceBorder = plane3.distance(sphere1.narrowPhaseGlobalPos);
inCenter = distanceBorder < 0.0f;
}
if (inCenter == true) {
return true;
}
System.out.println("Not in center");
// now we need to check if we have a collision with the border.
Vector3f nearestPointP1 = getClosestPointOnFiniteLine(sphere1.narrowPhaseGlobalPos, shapeReference.getTriangleGlobalPos().p1, shapeReference.getTriangleGlobalPos().p2);
float distanceP1Square = Vector3f.length2(nearestPointP1, sphere1.narrowPhaseGlobalPos);
System.out.println("distanceP1Square=" + distanceP1Square);
if (distanceP1Square < distance2) {
return true;
}
Vector3f nearestPointP2 = getClosestPointOnFiniteLine(sphere1.narrowPhaseGlobalPos, shapeReference.getTriangleGlobalPos().p2, shapeReference.getTriangleGlobalPos().p3);
float distanceP2Square = Vector3f.length2(nearestPointP2, sphere1.narrowPhaseGlobalPos);
System.out.println("distanceP2Square=" + distanceP2Square);
if (distanceP2Square < distance2) {
return true;
}
Vector3f nearestPointP3 = getClosestPointOnFiniteLine(sphere1.narrowPhaseGlobalPos, shapeReference.getTriangleGlobalPos().p3, shapeReference.getTriangleGlobalPos().p1);
float distanceP3Square = Vector3f.length2(nearestPointP3, sphere1.narrowPhaseGlobalPos);
System.out.println("distanceP3Square=" + distanceP3Square);
if (distanceP3Square < distance2) {
return true;
}
return false;
}
private ToolCollisionSphereWithTriangle() {}
}

53
src/org/atriasoft/phyligram/math/Ray.java Normal file
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@ -0,0 +1,53 @@
package org.atriasoft.phyligram.math;
import org.atriasoft.etk.math.Vector3f;
public class Ray {
public float maxFraction; //!< Maximum fraction value
public Vector3f point1; //!<First point of the ray (origin)
public Vector3f point2; //!< Second point of the ray
public Ray(final Ray obj) {
this.point1 = obj.point1;
this.point2 = obj.point2;
this.maxFraction = obj.maxFraction;
}
/// Constructor with arguments
public Ray(final Vector3f p1, final Vector3f p2) {
this.point1 = p1;
this.point2 = p2;
this.maxFraction = 1.0f;
}
public Ray(final Vector3f p1, final Vector3f p2, final float maxFrac) {
this.point1 = p1;
this.point2 = p2;
this.maxFraction = maxFrac;
}
@Override
protected Object clone() throws CloneNotSupportedException {
return new Ray(this);
}
@Override
public boolean equals(final Object obj) {
if (obj == null) {
return false;
}
if (getClass() != obj.getClass()) {
return false;
}
final Ray other = (Ray) obj;
return this.point1.equals(other.point1) && this.point2.equals(other.point2) && this.maxFraction == other.maxFraction;
}
@Override
public int hashCode() {
// TODO Auto-generated method stub
return super.hashCode();
}
}

228
src/org/atriasoft/phyligram/shape/AABB.java Normal file
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@ -0,0 +1,228 @@
package org.atriasoft.phyligram.shape;
import org.atriasoft.etk.math.FMath;
import org.atriasoft.etk.math.Vector3f;
import org.atriasoft.phyligram.math.Ray;
public class AABB {
/**
* Create an inverted AABB cube (min* has maximum and max* has minimum)
* @return A new AABB(max-float, min-float)
*/
public static AABB createInvertedEmpty() {
// TODO Auto-generated method stub
return new AABB(Float.MAX_VALUE, Float.MAX_VALUE, Float.MAX_VALUE, -Float.MAX_VALUE, -Float.MAX_VALUE, -Float.MAX_VALUE);
}
public static AABB mergeAABB(AABB aaa, AABB bbb) {
return new AABB(Math.min(aaa.minX, bbb.minX), Math.min(aaa.minY, bbb.minY), Math.min(aaa.minZ, bbb.minZ), Math.max(aaa.maxX, bbb.maxX), Math.max(aaa.maxY, bbb.maxY),
Math.max(aaa.maxZ, bbb.maxZ));
}
public float minX;
public float minY;
public float minZ;
public float maxX;
public float maxY;
public float maxZ;
public AABB() {}
public AABB(float minX, float minY, float minZ, float maxX, float maxY, float maxZ) {
this.minX = minX;
this.minY = minY;
this.minZ = minZ;
this.maxX = maxX;
this.maxY = maxY;
this.maxZ = maxZ;
}
public void addMax(float deltaX, float deltaY, float deltaZ) {
this.maxX += deltaX;
this.maxY += deltaY;
this.maxZ += deltaZ;
}
public void addMin(float deltaX, float deltaY, float deltaZ) {
this.minX += deltaX;
this.minY += deltaY;
this.minZ += deltaZ;
}
@Override
public AABB clone() {
return new AABB(this.minX, this.minY, this.minZ, this.maxX, this.maxY, this.maxZ);
}
/**
* Return true if the current AABB contains the AABB given in parameter
* @param aabb AABB box that is contains in the current.
* @return true The parameter in contained inside
*/
public boolean contains(final AABB aabb) {
if (this.minX > aabb.minX) {
return false;
}
if (this.minY > aabb.minY) {
return false;
}
if (this.minZ > aabb.minZ) {
return false;
}
if (this.maxX < aabb.maxX) {
return false;
}
if (this.maxY < aabb.maxY) {
return false;
}
if (this.maxZ < aabb.maxZ) {
return false;
}
return true;
}
public Vector3f getMax() {
return new Vector3f(this.maxX, this.maxY, this.maxZ);
}
public Vector3f getMin() {
return new Vector3f(this.minX, this.minY, this.minZ);
}
/**
* Get the cube total volume.
* @return
*/
public float getVolume() {
return ((this.maxX - this.minX) * (this.maxY - this.minY) * (this.maxZ - this.minZ));
}
public boolean intersect(AABB other) {
if (this == other) {
return false;
}
if (null == other) {
return false;
}
if (this.minX > other.maxX) {
return false;
}
if (this.maxX < other.minX) {
return false;
}
if (this.minY > other.maxY) {
return false;
}
if (this.maxY < other.minY) {
return false;
}
if (this.minZ > other.maxZ) {
return false;
}
if (this.maxZ < other.minZ) {
return false;
}
return true;
}
public void lessMax(float deltaX, float deltaY, float deltaZ) {
this.maxX -= deltaX;
this.maxY -= deltaY;
this.maxZ -= deltaZ;
}
public void lessMin(float deltaX, float deltaY, float deltaZ) {
this.minX -= deltaX;
this.minY -= deltaY;
this.minZ -= deltaZ;
}
public void mergeTwoAABBs(AABB aaa, AABB bbb) {
this.minX = Math.min(aaa.minX, bbb.minX);
this.minY = Math.min(aaa.minY, bbb.minY);
this.minZ = Math.min(aaa.minZ, bbb.minZ);
this.minX = Math.max(aaa.maxX, bbb.maxX);
this.minY = Math.max(aaa.maxY, bbb.maxY);
this.minZ = Math.max(aaa.maxZ, bbb.maxZ);
}
public void set(float minX, float minY, float minZ, float maxX, float maxY, float maxZ) {
this.minX = minX;
this.minY = minY;
this.minZ = minZ;
this.maxX = maxX;
this.maxY = maxY;
this.maxZ = maxZ;
}
/*
* check if the ray intersects the AABB
* This method use the line vs AABB raycasting technique described in
* Real-time Collision Detection by Christer Ericson.
* @param ray Ray to test
* @return true The raytest intersect the AABB box
*/
public boolean testRayIntersect(final Ray ray) {
final Vector3f point2 = ray.point2.less(ray.point1).multiply(ray.maxFraction).add(ray.point1);
final float eeeX = this.maxX - this.minX;
final float eeeY = this.maxY - this.minY;
final float eeeZ = this.maxZ - this.minZ;
final Vector3f d = point2.less(ray.point1);
final float mmmX = ray.point1.x() - ray.point2.x() - this.minX - this.maxX;
final float mmmY = ray.point1.y() - ray.point2.y() - this.minY - this.maxY;
final float mmmZ = ray.point1.z() - ray.point2.z() - this.minZ - this.maxZ;
// Test if the AABB face normals are separating axis
float adx = FMath.abs(d.x());
if (FMath.abs(mmmX) > eeeX + adx) {
return false;
}
float ady = FMath.abs(d.y());
if (FMath.abs(mmmY) > eeeY + ady) {
return false;
}
float adz = FMath.abs(d.z());
if (FMath.abs(mmmZ) > eeeZ + adz) {
return false;
}
// Add in an epsilon term to counteract arithmetic errors when segment is
// (near) parallel to a coordinate axis (see text for detail)
final float epsilon = 0.00001f;
adx += epsilon;
ady += epsilon;
adz += epsilon;
// Test if the cross products between face normals and ray direction are
// separating axis
if (FMath.abs(mmmY * d.z() - mmmZ * d.y()) > eeeY * adz + eeeZ * ady) {
return false;
}
if (FMath.abs(mmmZ * d.x() - mmmX * d.z()) > eeeX * adz + eeeZ * adx) {
return false;
}
if (FMath.abs(mmmX * d.y() - mmmY * d.x()) > eeeX * ady + eeeY * adx) {
return false;
}
// No separating axis has been found
return true;
}
public void update(Vector3f point) {
if (this.minX > point.x()) {
this.minX = point.x();
}
if (this.maxX < point.x()) {
this.maxX = point.x();
}
if (this.minY > point.y()) {
this.minY = point.y();
}
if (this.maxY < point.y()) {
this.maxY = point.y();
}
if (this.minZ > point.z()) {
this.minZ = point.z();
}
if (this.maxZ < point.z()) {
this.maxZ = point.z();
}
}
}

2
src/org/atriasoft/ege/physics/shape/Box.java → src/org/atriasoft/phyligram/shape/Box.java
View File

@ -3,7 +3,7 @@
* @copyright 2011, Edouard DUPIN, all right reserved
* @license MPL v2.0 (see license file)
*/
package org.atriasoft.ege.physics.shape;
package org.atriasoft.phyligram.shape;
import org.atriasoft.etk.math.Vector3f;

2
src/org/atriasoft/ege/physics/shape/Capsule.java → src/org/atriasoft/phyligram/shape/Capsule.java
View File

@ -3,7 +3,7 @@
* @copyright 2011, Edouard DUPIN, all right reserved
* @license MPL v2.0 (see license file)
*/
package org.atriasoft.ege.physics.shape;
package org.atriasoft.phyligram.shape;
import org.atriasoft.etk.math.Vector3f;

2
src/org/atriasoft/ege/physics/shape/Concave.java → src/org/atriasoft/phyligram/shape/Concave.java
View File

@ -3,7 +3,7 @@
* @copyright 2011, Edouard DUPIN, all right reserved
* @license MPL v2.0 (see license file)
*/
package org.atriasoft.ege.physics.shape;
package org.atriasoft.phyligram.shape;
import java.util.ArrayList;
import java.util.List;

2
src/org/atriasoft/ege/physics/shape/Cone.java → src/org/atriasoft/phyligram/shape/Cone.java
View File

@ -3,7 +3,7 @@
* @copyright 2011, Edouard DUPIN, all right reserved
* @license MPL v2.0 (see license file)
*/
package org.atriasoft.ege.physics.shape;
package org.atriasoft.phyligram.shape;
import org.atriasoft.etk.math.Vector3f;

2
src/org/atriasoft/ege/physics/shape/ConvexHull.java → src/org/atriasoft/phyligram/shape/ConvexHull.java
View File

@ -3,7 +3,7 @@
* @copyright 2011, Edouard DUPIN, all right reserved
* @license MPL v2.0 (see license file)
*/
package org.atriasoft.ege.physics.shape;
package org.atriasoft.phyligram.shape;
import java.util.ArrayList;
import java.util.List;

2
src/org/atriasoft/ege/physics/shape/Cylinder.java → src/org/atriasoft/phyligram/shape/Cylinder.java
View File

@ -3,7 +3,7 @@
* @copyright 2011, Edouard DUPIN, all right reserved
* @license MPL v2.0 (see license file)
*/
package org.atriasoft.ege.physics.shape;
package org.atriasoft.phyligram.shape;
import org.atriasoft.etk.math.Vector3f;

16
src/org/atriasoft/phyligram/shape/HeightMapChunk.java Normal file
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@ -0,0 +1,16 @@
package org.atriasoft.phyligram.shape;
import org.atriasoft.ephysics.collision.Triangle;
public class HeightMapChunk extends Shape {
private Triangle[] triangles;
public HeightMapChunk(Triangle[] triangles) {
this.triangles = triangles;
}
@Override
public void display() {
// TODO Auto-generated method stub
super.display();
}
}

30
src/org/atriasoft/ege/physics/shape/Shape.java → src/org/atriasoft/phyligram/shape/Shape.java
View File

@ -3,7 +3,7 @@
* @copyright 2011, Edouard DUPIN, all right reserved
* @license MPL v2.0 (see license file)
*/
package org.atriasoft.ege.physics.shape;
package org.atriasoft.phyligram.shape;
import org.atriasoft.ege.internal.Log;
import org.atriasoft.etk.math.Quaternion;
@ -30,34 +30,6 @@ public class Shape {
return this.origin;
}
public boolean isBox() {
return this instanceof Box;
};
public boolean isCapsule() {
return this instanceof Capsule;
}
public boolean isConcave() {
return this instanceof Concave;
}
public boolean isCone() {
return this instanceof Cone;
}
public boolean isConvexHull() {
return this instanceof ConvexHull;
};
public boolean isCylinder() {
return this instanceof Cylinder;
};
public boolean isSphere() {
return this instanceof Sphere;
};
public boolean parse(final String _line) {
Log.error("dfgdfg");
/*

2
src/org/atriasoft/ege/physics/shape/Sphere.java → src/org/atriasoft/phyligram/shape/Sphere.java
View File

@ -3,7 +3,7 @@
* @copyright 2011, Edouard DUPIN, all right reserved
* @license MPL v2.0 (see license file)
*/
package org.atriasoft.ege.physics.shape;
package org.atriasoft.phyligram.shape;
import org.atriasoft.etk.math.Vector3f;

5
src/org/atriasoft/phyligram/tree/CallbackOverlapping.java Normal file
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@ -0,0 +1,5 @@
package org.atriasoft.phyligram.tree;
public interface CallbackOverlapping {
public void callback(DTree nodeId);
}

7
src/org/atriasoft/phyligram/tree/CallbackRaycast.java Normal file
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@ -0,0 +1,7 @@
package org.atriasoft.phyligram.tree;
import org.atriasoft.phyligram.math.Ray;
public interface CallbackRaycast {
public float callback(DTree node, Ray ray);
}

28
src/org/atriasoft/phyligram/tree/DTree.java Normal file
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@ -0,0 +1,28 @@
package org.atriasoft.phyligram.tree;
import java.lang.ref.WeakReference;
import org.atriasoft.phyligram.shape.AABB;
/**
* It represents a node of the dynamic AABB tree.
*/
public class DTree {
private static int simpleCounter = 0;
public final int uid;
/**
* A node is either in the tree (has a parent) or in the free nodes list (has a next node)
*/
WeakReference<DTree> parent = null; //!< Parent node ID (0 is ROOT)
int height = -1; //!< Height of the node in the tree TODO check the need...
AABB aabb = AABB.createInvertedEmpty(); //!< Fat axis aligned bounding box (AABB) corresponding to the node
public DTree() {
this.uid = simpleCounter++;
}
boolean isLeaf() {
return false;
}
}

15
src/org/atriasoft/phyligram/tree/DTreeLeafData.java Normal file
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@ -0,0 +1,15 @@
package org.atriasoft.phyligram.tree;
class DTreeLeafData<INTERNAL_DATA_TYPE> extends DTree {
Object dataPointer = null;
public DTreeLeafData(final INTERNAL_DATA_TYPE dataPointer) {
super();
this.dataPointer = dataPointer;
}
@Override
boolean isLeaf() {
return true;
}
}

16
src/org/atriasoft/phyligram/tree/DTreeLeafInt.java Normal file
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@ -0,0 +1,16 @@
package org.atriasoft.phyligram.tree;
class DTreeLeafInt extends DTree {
int dataInt0 = 0;
int dataInt1 = 0;
public DTreeLeafInt(final int dataInt0, final int dataInt1) {
this.dataInt0 = dataInt0;
this.dataInt1 = dataInt1;
}
@Override
boolean isLeaf() {
return true;
}
}

6
src/org/atriasoft/phyligram/tree/DTreeNode.java Normal file
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@ -0,0 +1,6 @@
package org.atriasoft.phyligram.tree;
class DTreeNode extends DTree {
DTree childrenleft = null; //!< Left child of the node
DTree childrenright = null; //!< Right child of the node
}

560
src/org/atriasoft/phyligram/tree/DynamicAABBTree.java Normal file
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@ -0,0 +1,560 @@
package org.atriasoft.phyligram.tree;
import java.lang.ref.WeakReference;
import java.util.Stack;
import org.atriasoft.phyligram.shape.AABB;
import org.atriasoft.phyligram.internal.Log;
import org.atriasoft.phyligram.math.Ray;
import org.atriasoft.etk.math.FMath;
import org.atriasoft.etk.math.Vector3f;
/**
* It implements a dynamic AABB tree that is used for broad-phase
* collision detection. This data structure is inspired by Nathanael Presson's
* dynamic tree implementation in BulletPhysics. The following implementation is
* based on the one from Erin Catto in Box2D as described in the book
* "Introduction to Game Physics with Box2D" by Ian Parberry.
*/
public class DynamicAABBTree<INTERNAL_DATA_TYPE> {
private DTree rootNode; //!< Pointer to the memory location of the nodes of the tree
/// Constructor
public DynamicAABBTree() {
init();
}
/// Add an object into the tree (where node data is a pointer)
public DTree addObject(final AABB aabb, final INTERNAL_DATA_TYPE data) {
final DTreeLeafData<INTERNAL_DATA_TYPE> node = new DTreeLeafData<INTERNAL_DATA_TYPE>(data);
addObjectInternal(aabb, node);
return node;
}
/// Internally add an object into the tree
private void addObjectInternal(final AABB aabb, final DTree leafNode) {
// Create the fat aabb to use in the tree
leafNode.aabb.clone();
// Set the height of the node in the tree
leafNode.height = 0;
// Insert the new leaf node in the tree
insertLeafNode(leafNode);
assert (leafNode.isLeaf());
}
/// Balance the sub-tree of a given node using left or right rotations.
private DTree balanceSubTreeAtNode(final DTree node) {
assert (node != null);
// If the node is a leaf or the height of A's sub-tree is less than 2
if (node.isLeaf() || node.height < 2) {
// Do not perform any rotation
return node;
}
final DTreeNode nodeA = (DTreeNode) node;
// Get the two children nodes
final DTree nodeB = nodeA.childrenleft;
final DTree nodeC = nodeA.childrenright;
// Compute the factor of the left and right sub-trees
final int balanceFactor = nodeC.height - nodeB.height;
// If the right node C is 2 higher than left node B
if (balanceFactor > 1) {
assert (!nodeC.isLeaf());
final DTreeNode nodeCTree = (DTreeNode) nodeC;
final DTree nodeF = nodeCTree.childrenleft;
final DTree nodeG = nodeCTree.childrenright;
nodeCTree.childrenleft = node;
nodeCTree.parent = nodeA.parent;
nodeA.parent = new WeakReference<>(nodeC);
if (nodeC.parent != null) {
final DTreeNode nodeCParent = (DTreeNode) nodeC.parent.get();
if (nodeCParent.childrenleft == node) {
nodeCParent.childrenleft = nodeC;
} else {
assert (nodeCParent.childrenright == node);
nodeCParent.childrenright = nodeC;
}
} else {
this.rootNode = nodeC;
}
assert (!nodeC.isLeaf());
assert (!nodeA.isLeaf());
// If the right node C was higher than left node B because of the F node
if (nodeF.height > nodeG.height) {
nodeCTree.childrenright = nodeF;
nodeA.childrenright = nodeG;
nodeG.parent = new WeakReference<>(node);
// Recompute the AABB of node A and C
nodeA.aabb.mergeTwoAABBs(nodeB.aabb, nodeG.aabb);
nodeC.aabb.mergeTwoAABBs(nodeA.aabb, nodeF.aabb);
// Recompute the height of node A and C
nodeA.height = FMath.max(nodeB.height, nodeG.height) + 1;
nodeC.height = FMath.max(nodeA.height, nodeF.height) + 1;
assert (nodeA.height > 0);
assert (nodeC.height > 0);
} else {
// If the right node C was higher than left node B because of node G
nodeCTree.childrenright = nodeG;
nodeA.childrenright = nodeF;
nodeF.parent = new WeakReference<>(node);
// Recompute the AABB of node A and C
nodeA.aabb.mergeTwoAABBs(nodeB.aabb, nodeF.aabb);
nodeC.aabb.mergeTwoAABBs(nodeA.aabb, nodeG.aabb);
// Recompute the height of node A and C
nodeA.height = FMath.max(nodeB.height, nodeF.height) + 1;
nodeC.height = FMath.max(nodeA.height, nodeG.height) + 1;
assert (nodeA.height > 0);
assert (nodeC.height > 0);
}
// Return the new root of the sub-tree
return nodeC;
}
// If the left node B is 2 higher than right node C
if (balanceFactor < -1) {
assert (!nodeB.isLeaf());
final DTreeNode nodeBTree = (DTreeNode) nodeB;
final DTree nodeF = nodeBTree.childrenleft;
final DTree nodeG = nodeBTree.childrenright;
nodeBTree.childrenleft = node;
nodeB.parent = nodeA.parent;
nodeA.parent = new WeakReference<>(nodeB);
if (nodeB.parent != null) {
final DTreeNode nodeBParent = (DTreeNode) nodeB.parent.get();
if (nodeBParent.childrenleft == node) {
nodeBParent.childrenleft = nodeB;
} else {
assert (nodeBParent.childrenright == node);
nodeBParent.childrenright = nodeB;
}
} else {
this.rootNode = nodeB;
}
assert (!nodeB.isLeaf());
assert (!nodeA.isLeaf());
// If the left node B was higher than right node C because of the F node
if (nodeF.height > nodeG.height) {
nodeBTree.childrenright = nodeF;
nodeA.childrenleft = nodeG;
nodeG.parent = new WeakReference<>(node);
// Recompute the AABB of node A and B
nodeA.aabb.mergeTwoAABBs(nodeC.aabb, nodeG.aabb);
nodeB.aabb.mergeTwoAABBs(nodeA.aabb, nodeF.aabb);
// Recompute the height of node A and B
nodeA.height = FMath.max(nodeC.height, nodeG.height) + 1;
nodeB.height = FMath.max(nodeA.height, nodeF.height) + 1;
assert (nodeA.height > 0);
assert (nodeB.height > 0);
} else {
// If the left node B was higher than right node C because of node G
nodeBTree.childrenright = nodeG;
nodeA.childrenleft = nodeF;
nodeF.parent = new WeakReference<>(node);
// Recompute the AABB of node A and B
nodeA.aabb.mergeTwoAABBs(nodeC.aabb, nodeF.aabb);
nodeB.aabb.mergeTwoAABBs(nodeA.aabb, nodeG.aabb);
// Recompute the height of node A and B
nodeA.height = FMath.max(nodeC.height, nodeF.height) + 1;
nodeB.height = FMath.max(nodeA.height, nodeG.height) + 1;
assert (nodeA.height > 0);
assert (nodeB.height > 0);
}
// Return the new root of the sub-tree
return nodeB;
}
// If the sub-tree is balanced, return the current root node
return node;
}
/// Compute the height of the tree
public int computeHeight() {
return computeHeight(this.rootNode);
}
/// Compute the height of a given node in the tree
private int computeHeight(final DTree node) {
// If the node is a leaf, its height is zero
if (node.isLeaf()) {
return 0;
}
final DTreeNode nodeTree = (DTreeNode) node;
// Compute the height of the left and right sub-tree
final int leftHeight = computeHeight(nodeTree.childrenleft);
final int rightHeight = computeHeight(nodeTree.childrenright);
// Return the height of the node
return 1 + Math.max(leftHeight, rightHeight);
}
/// Return the fat AABB corresponding to a given node ID
public AABB getFatAABB(final DTree node) {
return node.aabb;
}
public int getNodeDataInt0(final DTree node) {
assert (node.isLeaf());
return ((DTreeLeafInt) node).dataInt0;
}
public int getNodeDataInt1(final DTree node) {
assert (node.isLeaf());
return ((DTreeLeafInt) node).dataInt1;
}
/// Return the data pointer of a given leaf node of the tree
public Object getNodeDataPointer(final DTree node) {
assert (node.isLeaf());
return ((DTreeLeafData) node).dataPointer;
}
/// Return the root AABB of the tree
public AABB getRootAABB() {
return getFatAABB(this.rootNode);
}
/// Initialize the tree
private void init() {
this.rootNode = null;
}
/// Insert a leaf node in the tree
private void insertLeafNode(final DTree inNode) {
// If the tree is empty
if (this.rootNode == null) {
this.rootNode = inNode;
return;
}
// Find the best sibling node for the new node
final AABB newNodeAABB = inNode.aabb;
DTree currentNode = this.rootNode;
while (!currentNode.isLeaf()) {
final DTreeNode node = (DTreeNode) currentNode;
final DTree leftChild = node.childrenleft;
final DTree rightChild = node.childrenright;
// Compute the merged AABB
final float volumeAABB = currentNode.aabb.getVolume();
final AABB mergedAABBs = AABB.mergeAABB(currentNode.aabb, newNodeAABB);
final float mergedVolume = mergedAABBs.getVolume();
// Compute the cost of making the current node the sibbling of the new node
final float costS = 2.0f * mergedVolume;
// Compute the minimum cost of pushing the new node further down the tree (inheritance cost)
final float costI = 2.0f * (mergedVolume - volumeAABB);
// Compute the cost of descending into the left child
float costLeft;
final AABB currentAndLeftAABB = new AABB();
currentAndLeftAABB.mergeTwoAABBs(newNodeAABB, leftChild.aabb);
if (leftChild.isLeaf()) { // If the left child is a leaf
costLeft = currentAndLeftAABB.getVolume() + costI;
} else {
final float leftChildVolume = leftChild.aabb.getVolume();
costLeft = costI + currentAndLeftAABB.getVolume() - leftChildVolume;
}
// Compute the cost of descending into the right child
float costRight;
final AABB currentAndRightAABB = new AABB();
currentAndRightAABB.mergeTwoAABBs(newNodeAABB, rightChild.aabb);
if (rightChild.isLeaf()) { // If the right child is a leaf
costRight = currentAndRightAABB.getVolume() + costI;
} else {
final float rightChildVolume = rightChild.aabb.getVolume();
costRight = costI + currentAndRightAABB.getVolume() - rightChildVolume;
}
// If the cost of making the current node a sibbling of the new node is smaller than
// the cost of going down into the left or right child
if (costS < costLeft && costS < costRight) {
break;
}
// It is cheaper to go down into a child of the current node, choose the best child
if (costLeft < costRight) {
currentNode = leftChild;
} else {
currentNode = rightChild;
}
}
final DTree siblingNode = currentNode;
// Create a new parent for the new node and the sibling node
final WeakReference<DTree> oldParentNode = siblingNode.parent;
final DTreeNode newParentNode = new DTreeNode();
newParentNode.parent = currentNode.parent;
newParentNode.aabb.mergeTwoAABBs(currentNode.aabb, newNodeAABB);
newParentNode.height = currentNode.height + 1;
// If the sibling node was not the root node
if (oldParentNode != null) {
// replace in parent the child with the new child
final DTreeNode parentNode = (DTreeNode) oldParentNode.get();
if (parentNode.childrenleft == siblingNode) {
parentNode.childrenleft = newParentNode;
} else {
parentNode.childrenright = newParentNode;
}
} else {
// If the sibling node was the root node
this.rootNode = newParentNode;
}
// setup the children
newParentNode.childrenleft = siblingNode;
newParentNode.childrenright = inNode;
siblingNode.parent = new WeakReference<>(newParentNode);
inNode.parent = new WeakReference<>(newParentNode);
// Move up in the tree to change the AABBs that have changed
currentNode = newParentNode;
assert (!currentNode.isLeaf());
while (currentNode != null) {
// Balance the sub-tree of the current node if it is not balanced
currentNode = balanceSubTreeAtNode(currentNode);
assert (inNode.isLeaf());
assert (!currentNode.isLeaf());
final DTreeNode nodeDouble = (DTreeNode) currentNode;
final DTree leftChild = nodeDouble.childrenleft;
final DTree rightChild = nodeDouble.childrenright;
assert (leftChild != null);
assert (rightChild != null);
// Recompute the height of the node in the tree
currentNode.height = FMath.max(leftChild.height, rightChild.height) + 1;
assert (currentNode.height > 0);
// Recompute the AABB of the node
currentNode.aabb.mergeTwoAABBs(leftChild.aabb, rightChild.aabb);
if (currentNode.parent != null) {
currentNode = currentNode.parent.get();
} else {
currentNode = null;
}
}
assert (inNode.isLeaf());
}
/// Ray casting method
public void raycast(final Ray ray, final CallbackRaycast callback) {
if (callback == null) {
Log.error("call with null callback");
return;
}
float maxFraction = ray.maxFraction;
// 128 max
final Stack<DTree> stack = new Stack<>();
stack.push(this.rootNode);
// Walk through the tree from the root looking for proxy shapes
// that overlap with the ray AABB
while (stack.size() > 0) {
// Get the next node in the stack
final DTree node = stack.pop();
// If it is a null node, skip it
if (node == null) {
continue;
}
final Ray rayTemp = new Ray(ray.point1, ray.point2, maxFraction);
// Test if the ray intersects with the current node AABB
if (!node.aabb.testRayIntersect(rayTemp)) {
continue;
}
// If the node is a leaf of the tree
if (node.isLeaf()) {
// Call the callback that will raycast again the broad-phase shape
final float hitFraction = callback.callback(node, rayTemp);
// If the user returned a hitFraction of zero, it means that
// the raycasting should stop here
if (hitFraction == 0.0f) {
return;
}
// If the user returned a positive fraction
if (hitFraction > 0.0f) {
// We update the maxFraction value and the ray
// AABB using the new maximum fraction
if (hitFraction < maxFraction) {
maxFraction = hitFraction;
}
}
// If the user returned a negative fraction, we continue
// the raycasting as if the proxy shape did not exist
} else { // If the node has children
final DTreeNode tmpNode = (DTreeNode) node;
// Push its children in the stack of nodes to explore
stack.push(tmpNode.childrenleft);
stack.push(tmpNode.childrenright);
}
}
}
/// Release a node
private void releaseNode(final DTree node) {
//this.numberNodes--;
}
/// Remove a leaf node from the tree
private void removeLeafNode(final DTree node) {
assert (node.isLeaf());
// If we are removing the root node (root node is a leaf in this case)
if (this.rootNode == node) {
this.rootNode = null;
return;
}
// parent can not be null.
final DTreeNode parentNode = (DTreeNode) node.parent.get();
final WeakReference<DTree> grandParentNodeWeak = parentNode.parent;
DTree siblingNode;
if (parentNode.childrenleft == node) {
siblingNode = parentNode.childrenright;
} else {
siblingNode = parentNode.childrenleft;
}
// If the parent of the node to remove is not the root node
if (grandParentNodeWeak == null) {
// If the parent of the node to remove is the root node
// The sibling node becomes the new root node
this.rootNode = siblingNode;
siblingNode.parent = null;
releaseNode(parentNode);
} else {
final DTreeNode grandParentNode = (DTreeNode) grandParentNodeWeak.get();
// Destroy the parent node
if (grandParentNode.childrenleft == parentNode) {
grandParentNode.childrenleft = siblingNode;
} else {
grandParentNode.childrenright = siblingNode;
}
siblingNode.parent = parentNode.parent;
releaseNode(parentNode);
// Now, we need to recompute the AABBs of the node on the path back to the root
// and make sure that the tree is still balanced
DTree currentNode = grandParentNode;
while (currentNode != null) {
// Balance the current sub-tree if necessary
currentNode = balanceSubTreeAtNode(currentNode);
assert (!currentNode.isLeaf());
final DTreeNode currentTreeNode = (DTreeNode) currentNode;
// Get the two children of the current node
final DTree leftChild = currentTreeNode.childrenleft;
final DTree rightChild = currentTreeNode.childrenright;
// Recompute the AABB and the height of the current node
currentNode.aabb.mergeTwoAABBs(leftChild.aabb, rightChild.aabb);
currentNode.height = FMath.max(leftChild.height, rightChild.height) + 1;
assert (currentNode.height > 0);
if (currentNode.parent == null) {
currentNode = null;
} else {
currentNode = currentNode.parent.get();
}
}
}
}
/// Remove an object from the tree
public void removeObject(final DTree node) {
assert (node.isLeaf());
// Remove the node from the tree
removeLeafNode(node);
releaseNode(node);
}
/// Report all shapes overlapping with the AABB given in parameter.
public void reportAllShapesOverlappingWithAABB(final AABB aabb, final CallbackOverlapping callback) {
if (callback == null) {
Log.error("call with null callback");
return;
}
//Log.error("reportAllShapesOverlappingWithAABB");
// Create a stack with the nodes to visit
final Stack<DTree> stack = new Stack<>();
// 64 max
stack.push(this.rootNode);
//Log.error(" add stack: " + this.rootNode);
// While there are still nodes to visit
while (stack.size() > 0) {
// Get the next node ID to visit
final DTree nodeIDToVisit = stack.pop();
// Skip it if it is a null node
if (nodeIDToVisit == null) {
continue;
}
// Get the corresponding node
final DTree nodeToVisit = nodeIDToVisit;
//Log.error(" check colision: " + nodeIDToVisit);
// If the AABB in parameter overlaps with the AABB of the node to visit
if (aabb.intersect(nodeToVisit.aabb)) {
// If the node is a leaf
if (nodeToVisit.isLeaf()) {
/*
if (aabb != nodeToVisit.aabb) {
Log.error(" ======> Real collision ...");
}
*/
// Notify the broad-phase about a new potential overlapping pair
callback.callback(nodeIDToVisit);
} else {
final DTreeNode tmp = (DTreeNode) nodeToVisit;
// If the node is not a leaf
// We need to visit its children
stack.push(tmp.childrenleft);
stack.push(tmp.childrenright);
//Log.error(" add stack: " + tmp.childrenleft);
//Log.error(" add stack: " + tmp.childrenright);
}
}
}
}
/// Clear all the nodes and reset the tree
public void reset() {
// Initialize the tree
init();
}
/// Update the dynamic tree after an object has moved.
/// If the new AABB of the object that has moved is still inside its fat AABB, then
/// nothing is done. Otherwise, the corresponding node is removed and reinserted into the tree.
/// The method returns true if the object has been reinserted into the tree. The "displacement"
/// argument is the linear velocity of the AABB multiplied by the elapsed time between two
/// frames. If the "forceReinsert" parameter is true, we force a removal and reinsertion of the node
/// (this can be useful if the shape AABB has become much smaller than the previous one for instance).
public boolean updateObject(final DTree node, final AABB newAABB, final Vector3f displacement) {
return updateObject(node, newAABB, displacement, false);
}
public boolean updateObject(final DTree node, final AABB newAABB, final Vector3f displacement, final boolean forceReinsert) {
assert (node.isLeaf());
assert (node.height >= 0);
//Log.verbose(" compare : " + node.aabb.getMin() + " " + node.aabb.getMax());
//Log.verbose(" : " + newAABB.getMin() + " " + newAABB.getMax());
// If the new AABB is still inside the fat AABB of the node
if (!forceReinsert && node.aabb.contains(newAABB)) {
return false;
}
// If the new AABB is outside the fat AABB, we remove the corresponding node
removeLeafNode(node);
// Compute the fat AABB by inflating the AABB with a ant gap
node.aabb = newAABB.clone();
// Inflate the fat AABB in direction of the linear motion of the AABB
float xmin = node.aabb.getMin().x();
float ymin = node.aabb.getMin().y();
float zmin = node.aabb.getMin().z();
float xmax = node.aabb.getMax().x();
float ymax = node.aabb.getMax().y();
float zmax = node.aabb.getMax().z();
if (displacement.x() < 0.0f) {
xmin = node.aabb.getMin().x() + displacement.x();
} else {
xmax = node.aabb.getMax().x() + displacement.x();
}
if (displacement.y() < 0.0f) {
ymin = node.aabb.getMin().y() + displacement.y();
} else {
ymax = node.aabb.getMax().y() + displacement.y();
}
if (displacement.z() < 0.0f) {
zmin = node.aabb.getMin().z() + displacement.z();
} else {
zmax = node.aabb.getMax().z() + displacement.z();
}
node.aabb.set(xmin, ymin, zmin, xmax, ymax, zmax);
//Log.error(" compare : " + node.aabb.getMin() + " " + node.aabb.getMax());
//Log.error(" : " + newAABB.getMin() + " " + newAABB.getMax());
if (!node.aabb.contains(newAABB)) {
//Log.critical("ERROR");
}
assert (node.aabb.contains(newAABB));
// Reinsert the node into the tree
insertLeafNode(node);
return true;
}
}

37
src/org/atriasoft/phyligram/tree/PairDTree.java Normal file
View File

@ -0,0 +1,37 @@
package org.atriasoft.phyligram.tree;
import java.util.Set;
public record PairDTree(
DTree first,
DTree second) {
public static int countInSet(final Set<PairDTree> values, final PairDTree sample) {
int count = 0;
for (final PairDTree elem : values) {
if (elem.first != sample.first) {
continue;
}
if (elem.second != sample.second) {
continue;
}
count++;
}
return count;
}
public PairDTree(final DTree first, final DTree second) {
if (first.uid < second.uid) {
this.first = first;
this.second = second;
} else {
this.first = second;
this.second = first;
}
}
@Override
public String toString() {
return "PairDTree [first=" + this.first.uid + ", second=" + this.second.uid + "]";
}
}

4
test/src/test/atriasoft/ege/TestTransformation3D.java
View File

@ -3,7 +3,7 @@ package test.atriasoft.ege;
import org.atriasoft.ege.geometry.AABB;
import org.atriasoft.ege.geometry.Geometry3D;
import org.atriasoft.ege.geometry.OBB;
import org.atriasoft.ege.geometry.Plane;
import org.atriasoft.ege.geometry.Plane____;
import org.atriasoft.ege.geometry.Sphere;
import org.atriasoft.ege.geometry.Triangle;
import org.atriasoft.etk.math.Matrix3f;
@ -53,7 +53,7 @@ public class TestTransformation3D {
@Test
void testPointInPlane() {
final Plane shape = new Plane((new Vector3f(4, 4, 4)).normalize(), (float) Math.sqrt(1 * 1 + 1 * 1));
final Plane____ shape = new Plane____((new Vector3f(4, 4, 4)).normalize(), (float) Math.sqrt(1 * 1 + 1 * 1));
Assert.assertFalse(Geometry3D.pointInPlane(new Vector3f(0, 0, 0), shape));
Assert.assertFalse(Geometry3D.pointInPlane(new Vector3f(6, 6, 6), shape));
Assert.assertTrue(Geometry3D.pointInPlane(new Vector3f(3, 3, 3), shape));

77
test/src/test/atriasoft/phyligram/TestCollisionSphereTriangle.java Normal file
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@ -0,0 +1,77 @@
package test.atriasoft.phyligram;
import java.util.stream.Stream;
import org.atriasoft.etk.math.Transform3D;
import org.atriasoft.etk.math.Vector3f;
import org.atriasoft.phyligram.PhysicSphere;
import org.atriasoft.phyligram.PhysicTriangle;
import org.atriasoft.phyligram.ToolCollisionSphereWithTriangle;
import org.atriasoft.phyligram.shape.AABB;
import org.junit.Assert;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
public class TestCollisionSphereTriangle {
static Stream<Arguments> generateData() {
return Stream.of( // ...
Arguments.of(1, new Vector3f(0.0f, 0.0f, 1.001f), false), // test just on top Z
Arguments.of(2, new Vector3f(0.0f, 0.0f, -1.001f), false), // test just on bottom Z
Arguments.of(2, new Vector3f(2.001f, 0.0f, 0.0f), false), // test on the top X
Arguments.of(2, new Vector3f(-2.001f, 0.0f, 0.0f), false), // test on the bottom X
Arguments.of(2, new Vector3f(0.0f, 1.7f, 0.0f), false), // test on the top Y
Arguments.of(2, new Vector3f(0.0f, -1.7f, 0.0f), false), // test on the bottom Y
// test collision
Arguments.of(2, new Vector3f(0.0f, 0.0f, 0.9f), true), // in center
Arguments.of(1, new Vector3f(0.0f, 0.0f, 0.999f), true), // test just on top Z
Arguments.of(2, new Vector3f(0.0f, 0.0f, -0.999f), true), // test just on bottom Z
Arguments.of(2, new Vector3f(1.999f, 0.0f, 0.0f), true), // test on the top X
Arguments.of(2, new Vector3f(-1.999f, 0.0f, 0.0f), true), // test on the bottom X
Arguments.of(2, new Vector3f(0.0f, 1.5f, 0.0f), true), // test on the top Y
Arguments.of(2, new Vector3f(0.0f, -1.5f, 0.0f), true), // test on the bottom Y
Arguments.of(2, new Vector3f(1.5f, 1.5f, 0.0f), true), // test on corner A
Arguments.of(2, new Vector3f(1.5f, -1.5f, 0.0f), true) // test on corner B
);
}
@ParameterizedTest
@MethodSource("generateData")
void testsphereOut(int testId, Vector3f position, boolean resultTheoricValue) {
System.out.println("AAAAA ");
float testCoefficient = 1.0f;
PhysicSphere sphere = new PhysicSphere();
sphere.setSize(testCoefficient);
PhysicTriangle triangle = new PhysicTriangle();
triangle.setPoints(new Vector3f(testCoefficient, testCoefficient, 0.0f), new Vector3f(testCoefficient, -testCoefficient, 0.0f), new Vector3f(-testCoefficient, 0.0f, 0.0f));
Transform3D transformGlobalTriangle = Transform3D.IDENTITY;
Transform3D transformGlobalsphere = new Transform3D(position.multiply(testCoefficient));
AABB aabb = new AABB();
sphere.updateAABB(transformGlobalsphere, aabb);
sphere.updateForNarrowCollision(transformGlobalsphere);
triangle.updateAABB(transformGlobalTriangle, aabb);
triangle.updateForNarrowCollision(transformGlobalTriangle);
boolean result = ToolCollisionSphereWithTriangle.testCollide(sphere, triangle);
Assert.assertEquals(resultTheoricValue, result);
}
@Test
void testsphereOutTop() {
float testCoefficient = 2.0f;
PhysicSphere sphere = new PhysicSphere();
sphere.setSize(testCoefficient);
PhysicTriangle triangle = new PhysicTriangle();
triangle.setPoints(new Vector3f(testCoefficient, testCoefficient, 0.0f), new Vector3f(testCoefficient, -testCoefficient, 0.0f), new Vector3f(-testCoefficient, 0.0f, 0.0f));
Transform3D transformGlobalTriangle = Transform3D.IDENTITY;
Transform3D transformGlobalsphere = new Transform3D(new Vector3f(0.0f, 0.0f, testCoefficient + 0.001f));
AABB aabb = new AABB();
sphere.updateAABB(transformGlobalsphere, aabb);
sphere.updateForNarrowCollision(transformGlobalsphere);
triangle.updateAABB(transformGlobalTriangle, aabb);
triangle.updateForNarrowCollision(transformGlobalTriangle);
boolean result = ToolCollisionSphereWithTriangle.testCollide(sphere, triangle);
Assert.assertFalse(result);
}
}