GRIM: Fix bounding box calculation. Fix #391
This commit is contained in:
Giulio Camuffo
parent
611a4ff086
commit
46a8d461e0
7 changed files with 79 additions and 48 deletions
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@ -1445,6 +1445,7 @@ bool Actor::collidesWith(Actor *actor, Math::Vector3d *vec) const {
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Math::Vector3d bboxPos;
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Math::Vector3d size;
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float scale;
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Math::Vector3d pos;
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Math::Vector3d circlePos;
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Math::Angle yaw;
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@ -1455,7 +1456,8 @@ bool Actor::collidesWith(Actor *actor, Math::Vector3d *vec) const {
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if (mode1 == CollisionBox) {
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pos = p1 + *vec;
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bboxPos = pos + model1->_bboxPos;
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size = model1->_bboxSize * _collisionScale;
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size = model1->_bboxSize;
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scale = _collisionScale;
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yaw = _yaw;
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circle.setX(p2.x());
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@ -1465,7 +1467,8 @@ bool Actor::collidesWith(Actor *actor, Math::Vector3d *vec) const {
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} else {
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pos = p2;
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bboxPos = p2 + model2->_bboxPos;
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size = model2->_bboxSize * actor->_collisionScale;
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size = model2->_bboxSize;
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scale = actor->_collisionScale;
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yaw = actor->_yaw;
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circle.setX(p1.x() + vec->x());
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@ -1478,6 +1481,8 @@ bool Actor::collidesWith(Actor *actor, Math::Vector3d *vec) const {
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rect._topRight = Math::Vector2d(bboxPos.x() + size.x(), bboxPos.y() + size.y());
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rect._bottomLeft = Math::Vector2d(bboxPos.x(), bboxPos.y());
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rect._bottomRight = Math::Vector2d(bboxPos.x() + size.x(), bboxPos.y());
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rect.scale(scale);
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rect.rotateAround(Math::Vector2d(pos.x(), pos.y()), yaw);
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if (rect.intersectsCircle(circle, radius)) {
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@ -65,28 +65,23 @@ Model::Model(const Common::String &filename, const char *data, int len, CMap *cm
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ModelNode &node = _rootHierNode[i];
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if (node._mesh) {
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Mesh &mesh = *node._mesh;
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//NOTE: Setting p to mesh._matrix._pos seems more similar to original
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// but, as in original, it also stops manny quite far away from the
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// bone wagon when approaching it from behind in set sg.
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// Using the node position looks instead more realistic, but, on the
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// other hand, it may not work right in all cases.
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Math::Vector3d p = node._matrix.getPosition();
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Math::Vector3d p = mesh._matrix.getPosition();
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float x = p.x();
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float y = p.y();
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float z = p.z();
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for (int k = 0; k < mesh._numVertices * 3; k += 3) {
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if (first || mesh._vertices[k] + x < _bboxPos.x())
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_bboxPos.x() = mesh._vertices[k] + x;
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if (mesh._vertices[k + 1] + y < _bboxPos.y())
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if (first || mesh._vertices[k + 1] + y < _bboxPos.y())
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_bboxPos.y() = mesh._vertices[k + 1] + y;
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if (mesh._vertices[k + 2] + z < _bboxPos.z())
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if (first || mesh._vertices[k + 2] + z < _bboxPos.z())
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_bboxPos.z() = mesh._vertices[k + 2] + z;
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if (first || mesh._vertices[k] + x > max.x())
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max.x() = mesh._vertices[k] + x;
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if (mesh._vertices[k + 1] + y > max.y())
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if (first || mesh._vertices[k + 1] + y > max.y())
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max.y() = mesh._vertices[k + 1] + y;
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if (mesh._vertices[k + 2] + z > max.z())
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if (first || mesh._vertices[k + 2] + z > max.z())
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max.z() = mesh._vertices[k + 2] + z;
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first = false;
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@ -653,36 +648,40 @@ void ModelNode::removeChild(ModelNode *child) {
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void ModelNode::setMatrix(Math::Matrix4 matrix) {
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_matrix = matrix;
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if (_sibling)
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_sibling->setMatrix(matrix);
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}
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void ModelNode::update() {
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if (!_initialized)
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return;
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Math::Vector3d animPos = _pos + _animPos;
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Math::Angle animPitch = _pitch + _animPitch;
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Math::Angle animYaw = _yaw + _animYaw;
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Math::Angle animRoll = _roll + _animRoll;
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if (_hierVisible) {
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Math::Vector3d animPos = _pos + _animPos;
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Math::Angle animPitch = _pitch + _animPitch;
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Math::Angle animYaw = _yaw + _animYaw;
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Math::Angle animRoll = _roll + _animRoll;
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_localMatrix.setPosition(animPos);
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_localMatrix.buildFromPitchYawRoll(animPitch, animYaw, animRoll);
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_localMatrix.setPosition(animPos);
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_localMatrix.buildFromPitchYawRoll(animPitch, animYaw, animRoll);
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_matrix = _localMatrix * _matrix;
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_matrix = _matrix * _localMatrix;
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_pivotMatrix = _matrix;
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_pivotMatrix = _matrix;
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_pivotMatrix.translate(_pivot);
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_pivotMatrix.translate(_pivot);
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if (_mesh) {
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_mesh->_matrix = _pivotMatrix;
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}
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if (_mesh) {
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_mesh->_matrix = _pivotMatrix;
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if (_child) {
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_child->setMatrix(_matrix);
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_child->update();
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}
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}
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ModelNode *child = _child;
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while (child) {
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child->setMatrix(_matrix);
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child->update();
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child = child->_sibling;
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if (_sibling) {
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_sibling->update();
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}
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}
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@ -49,22 +49,22 @@ void Matrix<4, 4>::transform(Vector3d *v, bool trans) const {
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}
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Vector3d Matrix<4, 4>::getPosition() const {
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return Vector3d(getValue(3, 0), getValue(3, 1), getValue(3, 2));
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return Vector3d(getValue(0, 3), getValue(1, 3), getValue(2, 3));
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}
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void Matrix<4, 4>::setPosition(const Vector3d &v) {
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setValue(3, 0, v.x());
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setValue(3, 1, v.y());
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setValue(3, 2, v.z());
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setValue(0, 3, v.x());
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setValue(1, 3, v.y());
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setValue(2, 3, v.z());
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}
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void Matrix<4, 4>::translate(const Vector3d &vec) {
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Vector3d v(vec);
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transform(&v, false);
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operator()(3, 0) += v.x();
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operator()(3, 1) += v.y();
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operator()(3, 2) += v.z();
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operator()(0, 3) += v.x();
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operator()(1, 3) += v.y();
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operator()(2, 3) += v.z();
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}
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} // end of namespace Math
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@ -64,6 +64,30 @@ void Rect2d::rotateAroundCenter(const Angle &angle) {
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rotateAround(center, angle);
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}
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void Rect2d::moveCenterTo(const Vector2d &pos) {
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Vector2d vec(pos - getCenter());
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translate(vec);
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}
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void Rect2d::scale(float amount) {
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Vector2d c = getCenter();
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moveCenterTo(Vector2d(0, 0));
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_topLeft *= amount;
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_topRight *= amount;
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_bottomLeft *= amount;
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_bottomRight *= amount;
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moveCenterTo(c);
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}
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void Rect2d::translate(const Vector2d &vec) {
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_topLeft += vec;
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_topRight += vec;
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_bottomLeft += vec;
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_bottomRight += vec;
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}
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bool Rect2d::intersectsRect(const Rect2d &rect) const {
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// TODO: implement this;
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error("Rect2d::intersectsRect not implemented");
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@ -41,6 +41,9 @@ public:
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void rotateAround(const Vector2d &point, const Angle &angle);
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void rotateAroundCenter(const Angle &angle);
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void moveCenterTo(const Vector2d &pos);
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void scale(float amount);
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void translate(const Vector2d &vec);
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bool intersectsRect(const Rect2d &rect) const;
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bool intersectsCircle(const Vector2d ¢er, float radius) const;
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bool containsPoint(const Vector2d &point) const;
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@ -72,9 +72,9 @@ void Rotation3D<T>::buildFromPitchYawRoll(const Angle &pitch, const Angle &yaw,
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// at, around x-axis
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template<class T>
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void Rotation3D<T>::buildAroundRoll(const Angle &roll) {
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float cosa = roll.getCosine();
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float sina = roll.getSine();
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void Rotation3D<T>::buildAroundPitch(const Angle &pitch) {
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float cosa = pitch.getCosine();
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float sina = pitch.getSine();
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this->getMatrix().getRow(0) << 1.f << 0.f << 0.f;
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this->getMatrix().getRow(1) << 0.f << cosa << -sina;
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@ -83,9 +83,9 @@ void Rotation3D<T>::buildAroundRoll(const Angle &roll) {
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// right
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template<class T>
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void Rotation3D<T>::buildAroundPitch(const Angle &pitch) {
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float cosa = pitch.getCosine();
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float sina = pitch.getSine();
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void Rotation3D<T>::buildAroundRoll(const Angle &roll) {
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float cosa = roll.getCosine();
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float sina = roll.getSine();
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this->getMatrix().getRow(0) << cosa << 0.f << sina;
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this->getMatrix().getRow(1) << 0.f << 1.f << 0.f;
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@ -111,15 +111,15 @@ void Rotation3D<T>::getPitchYawRoll(Angle *pPitch, Angle *pYaw, Angle *pRoll) co
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this->getMatrix().getValue(0, 0));
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}
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if (pPitch) {
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if (pRoll) {
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float a = this->getMatrix().getValue(2, 1);
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float b = this->getMatrix().getValue(2, 2);
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float mag = sqrt(a * a + b * b);
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*pPitch = Angle::arcTangent2(-this->getMatrix().getValue(2, 0), mag);
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*pRoll = Angle::arcTangent2(-this->getMatrix().getValue(2, 0), mag);
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}
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if (pRoll) {
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*pRoll = Angle::arcTangent2(this->getMatrix().getValue(2, 1),
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if (pPitch) {
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*pPitch = Angle::arcTangent2(this->getMatrix().getValue(2, 1),
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this->getMatrix().getValue(2, 2));
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}
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}
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@ -43,7 +43,7 @@ public:
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*vec = this->getThis() * *vec;
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}
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Matrix<dim, dim> operator=(float i);
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Matrix<dim, dim> &operator=(float i);
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protected:
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MatrixType() : MatrixBase<dim, dim>() { setToIdentity(); }
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@ -52,7 +52,7 @@ protected:
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};
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template<int dim>
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Matrix<dim, dim> MatrixType<dim, dim>::operator=(float i) {
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Matrix<dim, dim> &MatrixType<dim, dim>::operator=(float i) {
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for (int row = 0; row < dim; ++row) {
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for (int col = 0; col < dim; ++col) {
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this->setValue(row, col, (row == col ? i : 0.f));
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