feat: add sweepBoxAgainstWorld and boxOverlapsWorld to Collide
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dualfroz committed
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@@ -154,3 +154,194 @@ SweepHit sweepBoxAgainstBox(const SweptBox& mover, const Vec3& motion, const Swe
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SweptBox expanded{obstacle.min - moverSize, obstacle.max};
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Vec3 point = mover.min;
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float enter = -std::numeric_limits<float>::infinity();
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float exit = std::numeric_limits<float>::infinity();
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int enterAxis = -1;
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float enterSign = 0.0f;
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for (int a = 0; a < 3; ++a) {
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float origin = component(point, a);
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float travel = component(motion, a);
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float lo = component(expanded.min, a);
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float hi = component(expanded.max, a);
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if (std::fabs(travel) < parallelMotion) {
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if (origin <= lo || origin >= hi) return hit;
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continue;
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}
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float toLow = (lo - origin) / travel;
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float toHigh = (hi - origin) / travel;
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float axisEnter = toLow;
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float axisExit = toHigh;
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float sign = -1.0f;
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if (toLow > toHigh) {
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axisEnter = toHigh;
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axisExit = toLow;
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sign = 1.0f;
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}
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if (axisEnter > enter) {
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enter = axisEnter;
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enterAxis = a;
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enterSign = sign;
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}
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if (axisExit < exit) exit = axisExit;
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}
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if (enterAxis < 0) return hit;
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if (enter > exit || enter >= 1.0f || exit <= 0.0f || enter < 0.0f) return hit;
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hit.hit = true;
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hit.time = enter;
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hit.axis = axisFromIndex(enterAxis);
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setComponent(hit.normal, enterAxis, enterSign);
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return hit;
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}
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void BroadPhase::gather(const World& world, const SweptBox& box, const Vec3& motion) {
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cells_.clear();
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envelope_ = inflatedBox(motionEnvelope(box, motion), gatherPadding);
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int x0 = floorToCell(envelope_.min.x);
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int x1 = floorToCell(envelope_.max.x);
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int y0 = floorToCell(envelope_.min.y) - shapeOverhangCells;
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int y1 = floorToCell(envelope_.max.y);
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int z0 = floorToCell(envelope_.min.z);
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int z1 = floorToCell(envelope_.max.z);
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for (int x = x0; x <= x1; ++x) {
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for (int y = y0; y <= y1; ++y) {
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for (int z = z0; z <= z1; ++z) {
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Vec3i cell{x, y, z};
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Block block = world.blockAt(x, y, z);
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CollisionShape shape = collisionShapeOf(block);
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if (!shapeBlocksMovement(shape)) continue;
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ShapeBoxes solids = shapeBoxesAt(shape, cell);
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bool relevant = false;
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for (int i = 0; i < solids.count; ++i) {
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if (boxesOverlap(envelope_, solids.boxes[i])) relevant = true;
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}
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if (!relevant) continue;
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cells_.push_back(BroadPhaseCell{cell, block, shape, solids});
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}
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}
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}
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}
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void BroadPhase::gatherStatic(const World& world, const SweptBox& box) {
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gather(world, box, Vec3{0.0f, 0.0f, 0.0f});
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}
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SweepHit sweepBoxAgainstWorld(const World& world, const SweptBox& box, const Vec3& motion,
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BroadPhase& broadPhase) {
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broadPhase.gather(world, box, motion);
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SweepHit best;
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if (motionIsIdle(motion)) return best;
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for (const BroadPhaseCell& entry : broadPhase.cells()) {
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for (int i = 0; i < entry.solids.count; ++i) {
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SweepHit candidate = sweepBoxAgainstBox(box, motion, entry.solids.boxes[i]);
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if (!candidate.hit) continue;
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if (best.hit && candidate.time >= best.time) continue;
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candidate.cell = entry.cell;
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candidate.block = entry.block;
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best = candidate;
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}
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}
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return best;
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}
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bool boxOverlapsWorld(const World& world, const SweptBox& box) {
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BroadPhase broadPhase;
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broadPhase.gatherStatic(world, box);
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for (const BroadPhaseCell& entry : broadPhase.cells()) {
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for (int i = 0; i < entry.solids.count; ++i) {
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if (boxesOverlap(box, entry.solids.boxes[i])) return true;
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}
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}
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return false;
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}
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bool restsOnGround(const World& world, const SweptBox& box, float probeDepth) {
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SweptBox probe = box;
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probe.max.y = box.min.y;
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probe.min.y = box.min.y - probeDepth;
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// Pull the footprint in so a body flush against a wall does not read the
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// wall itself as a floor.
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probe.min.x += contactSkin;
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probe.min.z += contactSkin;
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probe.max.x -= contactSkin;
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probe.max.z -= contactSkin;
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return boxOverlapsWorld(world, probe);
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}
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float supportHeightBelow(const World& world, const SweptBox& box, float maxDrop) {
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BroadPhase broadPhase;
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Vec3 drop{0.0f, -maxDrop, 0.0f};
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SweepHit hit = sweepBoxAgainstWorld(world, box, drop, broadPhase);
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if (!hit.hit) return box.min.y - maxDrop;
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return box.min.y - maxDrop * hit.time;
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}
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CollisionResult resolveMove(const World& world, const SweptBox& box, const Vec3& motion,
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BroadPhase& broadPhase) {
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CollisionResult out;
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out.box = box;
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Vec3 remaining = motion;
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for (int pass = 0; pass < maxSlidePasses; ++pass) {
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if (motionIsIdle(remaining)) break;
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out.passes = pass + 1;
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SweepHit hit = sweepBoxAgainstWorld(world, out.box, remaining, broadPhase);
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if (!hit.hit) {
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out.box = translatedBox(out.box, remaining);
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out.appliedMotion += remaining;
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remaining = Vec3{0.0f, 0.0f, 0.0f};
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break;
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}
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if (!out.firstHit.hit) out.firstHit = hit;
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Vec3 step = remaining * hit.time;
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Vec3 leftover = remaining - step;
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int a = axisIndex(hit.axis);
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float backedOff = component(step, a) + component(hit.normal, a) * contactSkin;
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if (backedOff * component(remaining, a) < 0.0f) backedOff = 0.0f;
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setComponent(step, a, backedOff);
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out.box = translatedBox(out.box, step);
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out.appliedMotion += step;
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switch (hit.axis) {
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case ContactAxis::X: out.touchedX = true; break;
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case ContactAxis::Y:
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out.touchedY = true;
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if (hit.normal.y > 0.0f) out.onGround = true;
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if (hit.normal.y < 0.0f) out.hitCeiling = true;
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break;
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case ContactAxis::Z: out.touchedZ = true; break;
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case ContactAxis::None: break;
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}
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setComponent(leftover, a, 0.0f);
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remaining = leftover;
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}
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out.remainingMotion = remaining;
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if (!out.onGround && restsOnGround(world, out.box)) out.onGround = true;
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return out;
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}
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CollisionResult resolveMove(const World& world, const SweptBox& box, const Vec3& motion) {
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BroadPhase broadPhase;
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return resolveMove(world, box, motion, broadPhase);
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}
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Vec3 clipVelocity(const Vec3& velocity, const CollisionResult& collision) {
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Vec3 out = velocity;
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if (collision.touchedX) out.x = 0.0f;
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if (collision.touchedY) out.y = 0.0f;
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if (collision.touchedZ) out.z = 0.0f;
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return out;
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}
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} // namespace vf
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