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+/*************************************************************************/
+/* test_misc.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* http://www.godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
+/* */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/*************************************************************************/
+#include "test_misc.h"
+#include "servers/visual_server.h"
+#include "os/main_loop.h"
+#include "math_funcs.h"
+#include "print_string.h"
+
+
+namespace TestMisc {
+
+struct ConvexTestResult
+{
+
+ Vector3 edgeA[2];
+ Vector3 edgeB[2];
+ bool valid;
+ Vector3 contactA;
+ Vector3 contactB;
+ Vector3 contactNormal;
+ float depth;
+
+ /*
+ Vector3 contactA;
+ Vector3 contactB;
+ Vector3 contactNormal;
+ Vector3 contactX;
+ Vector3 contactY;
+ Vector3 edgeA[2];
+ Vector3 edgeB[2];
+ float depth;
+ bool valid;
+ bool isEdgeEdge;
+ bool needTransform;
+ neBool ComputerEdgeContactPoint(ConvexTestResult & res);
+ neBool ComputerEdgeContactPoint2(float & au, float & bu);
+ void Reverse()
+ {
+ neSwap(contactA, contactB);
+ contactNormal *= -1.0f;
+ }*/
+ bool ComputerEdgeContactPoint2(float & au, float & bu);
+};
+
+
+
+bool ConvexTestResult::ComputerEdgeContactPoint2(float & au, float & bu)
+{
+ float d1343, d4321, d1321, d4343, d2121;
+ float numer, denom;
+
+ Vector3 p13;
+ Vector3 p43;
+ Vector3 p21;
+ Vector3 diff;
+
+ p13 = (edgeA[0]) - (edgeB[0]);
+ p43 = (edgeB[1]) - (edgeB[0]);
+
+ if ( p43.length_squared() < CMP_EPSILON2 )
+ {
+ valid = false;
+ goto ComputerEdgeContactPoint2_Exit;
+ }
+
+ p21 = (edgeA[1]) - (edgeA[0]);
+
+ if ( p21.length_squared()<CMP_EPSILON2 )
+ {
+ valid = false;
+ goto ComputerEdgeContactPoint2_Exit;
+ }
+
+ d1343 = p13.dot(p43);
+ d4321 = p43.dot(p21);
+ d1321 = p13.dot(p21);
+ d4343 = p43.dot(p43);
+ d2121 = p21.dot(p21);
+
+ denom = d2121 * d4343 - d4321 * d4321;
+
+ if (ABS(denom) < CMP_EPSILON)
+ {
+ valid = false;
+
+ goto ComputerEdgeContactPoint2_Exit;
+ }
+
+ numer = d1343 * d4321 - d1321 * d4343;
+ au = numer / denom;
+ bu = (d1343 + d4321 * (au)) / d4343;
+
+ if (au < 0.0f || au >= 1.0f)
+ {
+ valid = false;
+ }
+ else if (bu < 0.0f || bu >= 1.0f)
+ {
+ valid = false;
+ }
+ else
+ {
+ valid = true;
+ }
+ {
+ Vector3 tmpv;
+
+ tmpv = p21 * au;
+ contactA = (edgeA[0]) + tmpv;
+
+ tmpv = p43 * bu;
+ contactB = (edgeB[0]) + tmpv;
+ }
+
+ diff = contactA - contactB;
+
+ depth = Math::sqrt(diff.dot(diff));
+
+ return true;
+
+ComputerEdgeContactPoint2_Exit:
+
+ return false;
+}
+
+struct neCollisionResult {
+
+ float depth;
+ bool penetrate;
+ Matrix3 collisionFrame;
+ Vector3 contactA;
+ Vector3 contactB;
+};
+
+
+struct TConvex {
+
+ float radius;
+ float half_height;
+ float CylinderRadius() const { return radius; }
+ float CylinderHalfHeight() const { return half_height; }
+};
+
+float GetDistanceFromLine2(Vector3 v, Vector3 & project, const Vector3 & pointA, const Vector3 & pointB)
+{
+ Vector3 ba = pointB - pointA;
+
+ float len = ba.length();
+
+ if (len<CMP_EPSILON)
+ ba=Vector3();
+ else
+ ba *= 1.0f / len;
+
+ Vector3 pa = v - pointA;
+
+ float k = pa.dot(ba);
+
+ project = pointA + ba * k;
+
+ Vector3 diff = v - project;
+
+ return diff.length();
+}
+
+void TestCylinderVertEdge(neCollisionResult & result, Vector3 & edgeA1, Vector3 & edgeA2, Vector3 & vertB,
+ TConvex & cA, TConvex & cB, Transform & transA, Transform & transB, bool flip)
+{
+ Vector3 project;
+
+ float dist = GetDistanceFromLine2(vertB,project, edgeA1, edgeA2);
+
+ float depth = cA.CylinderRadius() + cB.CylinderRadius() - dist;
+
+ if (depth <= 0.0f)
+ return;
+
+ if (depth <= result.depth)
+ return;
+
+ result.penetrate = true;
+
+ result.depth = depth;
+
+ if (!flip)
+ {
+ result.collisionFrame.set_axis(2,(project - vertB).normalized());
+
+ result.contactA = project - result.collisionFrame.get_axis(2) * cA.CylinderRadius();
+
+ result.contactB = vertB + result.collisionFrame.get_axis(2) * cB.CylinderRadius();
+ }
+ else
+ {
+
+ result.collisionFrame.set_axis(2,(vertB - project).normalized());
+
+ result.contactA = vertB - result.collisionFrame.get_axis(2) * cB.CylinderRadius();
+
+ result.contactB = project + result.collisionFrame.get_axis(2) * cA.CylinderRadius();
+ }
+}
+
+void TestCylinderVertVert(neCollisionResult & result, Vector3 & vertA, Vector3 & vertB,
+ TConvex & cA, TConvex & cB, Transform & transA, Transform & transB)
+{
+ Vector3 diff = vertA - vertB;
+
+ float dist = diff.length();
+
+ float depth = cA.CylinderRadius() + cB.CylinderRadius() - dist;
+
+ if (depth <= 0.0f)
+ return;
+
+ if (depth <= result.depth)
+ return;
+
+ result.penetrate = true;
+
+ result.depth = depth;
+
+ result.collisionFrame.set_axis(2, diff * (1.0f / dist));
+
+ result.contactA = vertA - result.collisionFrame.get_axis(2) * cA.CylinderRadius();
+
+ result.contactB = vertB + result.collisionFrame.get_axis(2) * cB.CylinderRadius();
+}
+
+void Cylinder2CylinderTest(neCollisionResult & result, TConvex & cA, Transform & transA, TConvex & cB, Transform & transB)
+{
+ result.penetrate = false;
+
+ Vector3 dir = transA.basis.get_axis(1).cross(transB.basis.get_axis(1));
+
+ float len = dir.length();
+
+// bool isParallel = len<CMP_EPSILON;
+
+// int doVertCheck = 0;
+
+ ConvexTestResult cr;
+
+ cr.edgeA[0] = transA.origin + transA.basis.get_axis(1) * cA.CylinderHalfHeight();
+ cr.edgeA[1] = transA.origin - transA.basis.get_axis(1) * cA.CylinderHalfHeight();
+ cr.edgeB[0] = transB.origin + transB.basis.get_axis(1) * cB.CylinderHalfHeight();
+ cr.edgeB[1] = transB.origin - transB.basis.get_axis(1) * cB.CylinderHalfHeight();
+
+// float dot = transA.basis.get_axis(1).dot(transB.basis.get_axis(1));
+
+ if (len>CMP_EPSILON)
+ {
+ float au, bu;
+
+ cr.ComputerEdgeContactPoint2(au, bu);
+
+ if (cr.valid)
+ {
+ float depth = cA.CylinderRadius() + cB.CylinderRadius() - cr.depth;
+
+ if (depth <= 0.0f)
+ return;
+
+ result.depth = depth;
+
+ result.penetrate = true;
+
+ result.collisionFrame.set_axis(2, (cr.contactA - cr.contactB)*(1.0f / cr.depth));
+
+ result.contactA = cr.contactA - result.collisionFrame.get_axis(2) * cA.CylinderRadius();
+
+ result.contactB = cr.contactB + result.collisionFrame.get_axis(2) * cB.CylinderRadius();
+
+ return;
+ }
+ }
+ result.depth = -1.0e6f;
+
+ int i;
+
+ for (i = 0; i < 2; i++)
+ {
+ //project onto edge b
+
+ Vector3 diff = cr.edgeA[i] - cr.edgeB[1];
+
+ float dot = diff.dot(transB.basis.get_axis(1));
+
+ if (dot < 0.0f)
+ {
+ TestCylinderVertVert(result, cr.edgeA[i], cr.edgeB[1], cA, cB, transA, transB);
+ }
+ else if (dot > (2.0f * cB.CylinderHalfHeight()))
+ {
+ TestCylinderVertVert(result, cr.edgeA[i], cr.edgeB[0], cA, cB, transA, transB);
+ }
+ else
+ {
+ TestCylinderVertEdge(result, cr.edgeB[0], cr.edgeB[1], cr.edgeA[i], cB, cA, transB, transA, true);
+ }
+ }
+ for (i = 0; i < 2; i++)
+ {
+ //project onto edge b
+
+ Vector3 diff = cr.edgeB[i] - cr.edgeA[1];
+
+ float dot = diff.dot(transA.basis.get_axis(1));
+
+ if (dot < 0.0f)
+ {
+ TestCylinderVertVert(result, cr.edgeB[i], cr.edgeA[1], cA, cB, transA, transB);
+ }
+ else if (dot > (2.0f * cB.CylinderHalfHeight()))
+ {
+ TestCylinderVertVert(result, cr.edgeB[i], cr.edgeA[0], cA, cB, transA, transB);
+ }
+ else
+ {
+ TestCylinderVertEdge(result, cr.edgeA[0], cr.edgeA[1], cr.edgeB[i], cA, cB, transA, transB, false);
+ }
+ }
+}
+
+
+class TestMainLoop : public MainLoop {
+
+ RID meshA;
+ RID meshB;
+ RID poly;
+ RID instance;
+ RID camera;
+ RID viewport;
+ RID boxA;
+ RID boxB;
+ RID scenario;
+
+ Transform rot_a;
+ Transform rot_b;
+
+ bool quit;
+public:
+ virtual void input_event(const InputEvent& p_event) {
+
+ if (p_event.type==InputEvent::MOUSE_MOTION && p_event.mouse_motion.button_mask&BUTTON_MASK_LEFT) {
+
+ rot_b.origin.y+=-p_event.mouse_motion.relative_y/100.0;
+ rot_b.origin.x+=p_event.mouse_motion.relative_x/100.0;
+ }
+ if (p_event.type==InputEvent::MOUSE_MOTION && p_event.mouse_motion.button_mask&BUTTON_MASK_MIDDLE) {
+
+ //rot_b.origin.x+=-p_event.mouse_motion.relative_y/100.0;
+ rot_b.origin.z+=p_event.mouse_motion.relative_x/100.0;
+ }
+ if (p_event.type==InputEvent::MOUSE_MOTION && p_event.mouse_motion.button_mask&BUTTON_MASK_RIGHT) {
+
+ float rot_x=-p_event.mouse_motion.relative_y/100.0;
+ float rot_y=p_event.mouse_motion.relative_x/100.0;
+ rot_b.basis = rot_b.basis * Matrix3(Vector3(1,0,0),rot_x) * Matrix3(Vector3(0,1,0),rot_y);
+ }
+
+ }
+ virtual void request_quit() {
+
+ quit=true;
+ }
+ virtual void init() {
+
+ VisualServer *vs=VisualServer::get_singleton();
+
+ camera = vs->camera_create();
+
+ viewport = vs->viewport_create();
+ vs->viewport_attach_to_screen(viewport);
+ vs->viewport_attach_camera( viewport, camera );
+ vs->camera_set_transform(camera, Transform( Matrix3(), Vector3(0,0,3 ) ) );
+
+ /* CONVEX SHAPE */
+
+ DVector<Plane> cylinder_planes = Geometry::build_cylinder_planes(0.5,2,9,Vector3::AXIS_Y);
+ RID cylinder_material = vs->fixed_material_create();
+ vs->fixed_material_set_param( cylinder_material, VisualServer::FIXED_MATERIAL_PARAM_DIFFUSE, Color(0.8,0.2,0.9));
+ vs->material_set_flag( cylinder_material, VisualServer::MATERIAL_FLAG_ONTOP,true);
+ //vs->material_set_flag( cylinder_material, VisualServer::MATERIAL_FLAG_WIREFRAME,true);
+ vs->material_set_flag( cylinder_material, VisualServer::MATERIAL_FLAG_DOUBLE_SIDED,true);
+ vs->material_set_flag( cylinder_material, VisualServer::MATERIAL_FLAG_UNSHADED,true);
+
+ RID cylinder_mesh = vs->mesh_create();
+ Geometry::MeshData cylinder_data = Geometry::build_convex_mesh(cylinder_planes);
+ vs->mesh_add_surface_from_mesh_data(cylinder_mesh,cylinder_data);
+ vs->mesh_surface_set_material( cylinder_mesh, 0, cylinder_material );
+
+ meshA=vs->instance_create2(cylinder_mesh,scenario);
+ meshB=vs->instance_create2(cylinder_mesh,scenario);
+ boxA=vs->instance_create2(vs->get_test_cube(),scenario);
+ boxB=vs->instance_create2(vs->get_test_cube(),scenario);
+
+ /*
+ RID lightaux = vs->light_create( VisualServer::LIGHT_OMNI );
+ vs->light_set_var( lightaux, VisualServer::LIGHT_VAR_RADIUS, 80 );
+ vs->light_set_var( lightaux, VisualServer::LIGHT_VAR_ATTENUATION, 1 );
+ vs->light_set_var( lightaux, VisualServer::LIGHT_VAR_ENERGY, 1.5 );
+ light = vs->instance_create2( lightaux );
+ */
+ RID lightaux = vs->light_create( VisualServer::LIGHT_DIRECTIONAL );
+ //vs->light_set_color( lightaux, VisualServer::LIGHT_COLOR_AMBIENT, Color(0.0,0.0,0.0) );
+ //vs->light_set_shadow( lightaux, true );
+ RID light = vs->instance_create2( lightaux,scenario );
+
+ //rot_a=Transform(Matrix3(Vector3(1,0,0),Math_PI/2.0),Vector3());
+ rot_b=Transform(Matrix3(),Vector3(2,0,0));
+
+ //rot_x=0;
+ //rot_y=0;
+ quit=false;
+ }
+ virtual bool idle(float p_time) {
+
+ VisualServer *vs=VisualServer::get_singleton();
+
+ vs->instance_set_transform(meshA,rot_a);
+ vs->instance_set_transform(meshB,rot_b);
+
+
+ neCollisionResult res;
+ TConvex a;
+ a.radius=0.5;
+ a.half_height=1;
+ Cylinder2CylinderTest(res,a,rot_a,a,rot_b);
+ if (res.penetrate) {
+
+ Matrix3 scale;
+ scale.scale(Vector3(0.1,0.1,0.1));
+ vs->instance_set_transform(boxA,Transform(scale,res.contactA));
+ vs->instance_set_transform(boxB,Transform(scale,res.contactB));
+ print_line("depth: "+rtos(res.depth));
+ } else {
+
+ Matrix3 scale;
+ scale.scale(Vector3());
+ vs->instance_set_transform(boxA,Transform(scale,res.contactA));
+ vs->instance_set_transform(boxB,Transform(scale,res.contactB));
+
+ }
+ print_line("collided: "+itos(res.penetrate));
+
+ return false;
+ }
+
+
+ virtual bool iteration(float p_time) {
+
+
+
+ return quit;
+ }
+ virtual void finish() {
+
+ }
+
+};
+
+
+MainLoop* test() {
+
+ return memnew( TestMainLoop );
+
+}
+
+}
+
+
+
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