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/* This file is part of the Spring engine (GPL v2 or later), see LICENSE.html */
#ifndef COLLISION_HANDLER_H
#define COLLISION_HANDLER_H
#include "System/creg/creg_cond.h"
#include "System/float3.h"
#include <algorithm>
class CSolidObject;
struct LocalModelPiece;
struct CollisionVolume;
class CMatrix44f;
enum {
CQ_POINT_NO_INT = 0,
CQ_POINT_ON_RAY = 1,
CQ_POINT_IN_VOL = 2,
};
struct CollisionQuery {
public:
CollisionQuery()
: b0(CQ_POINT_NO_INT)
, b1(CQ_POINT_NO_INT)
, t0(0.0f)
, t1(0.0f)
, p0(ZeroVector)
, p1(ZeroVector)
, lmp(nullptr)
{ }
void Reset(const CollisionQuery* cq = nullptr) {
*this = (cq != nullptr) ? *cq : CollisionQuery();
}
bool InsideHit() const { return (b0 == CQ_POINT_IN_VOL); }
bool IngressHit() const { return (b0 == CQ_POINT_ON_RAY); }
bool EgressHit() const { return (b1 == CQ_POINT_ON_RAY); }
bool AnyHit() const { return (b0 != CQ_POINT_NO_INT) || (b1 != CQ_POINT_NO_INT); }
const float3& GetIngressPos() const { return p0; }
const float3& GetEgressPos() const { return p1; }
const float3& GetHitPos() const {
if (IngressHit()) return GetIngressPos();
if (EgressHit()) return GetEgressPos();
if (InsideHit()) return p0;
return ZeroVector;
}
// if the hit-position equals ZeroVector (i.e. if we have an
// inside-hit special case), the projected distance could be
// positive or negative depending on <dir> but we want it to
// be 0 --> turn <pos> into a ZeroVector if InsideHit()
float GetHitPosDist(const float3& pos, const float3& dir) const { return (std::max(0.0f, ((GetHitPos() - pos * (1 - InsideHit())).dot(dir)))); }
float GetIngressPosDist(const float3& pos, const float3& dir) const { return (std::max(0.0f, ((GetIngressPos() - pos).dot(dir)))); }
float GetEgressPosDist(const float3& pos, const float3& dir) const { return (std::max(0.0f, ((GetEgressPos() - pos).dot(dir)))); }
const LocalModelPiece* GetHitPiece() const { return lmp; }
void SetHitPiece(const LocalModelPiece* p) { lmp = p; }
private:
friend class CCollisionHandler;
int b0, b1; ///< true (non-zero) if ingress (b0) or egress (b1) point on ray segment
float t0, t1; ///< distance parameter for ingress and egress point
float3 p0, p1; ///< ray-volume ingress and egress points
const LocalModelPiece* lmp; ///< impacted piece
};
/**
* Responsible for detecting hits between projectiles
* and solid objects (units, features), each SO has a
* collision volume.
*/
class CCollisionHandler {
public:
static void PrintStats();
static bool DetectHit(
const CSolidObject* o,
const CMatrix44f& m,
const float3 p0,
const float3 p1,
CollisionQuery* cq = nullptr,
bool forceTrace = false
);
static bool DetectHit(
const CSolidObject* o,
const CollisionVolume* v,
const CMatrix44f& m,
const float3 p0,
const float3 p1,
CollisionQuery* cq = nullptr,
bool forceTrace = false
);
static bool MouseHit(
const CSolidObject* o,
const CMatrix44f& m,
const float3& p0,
const float3& p1,
const CollisionVolume* v,
CollisionQuery* cq = nullptr
);
private:
// HITTEST_DISC helpers for DetectHit
static bool Collision(
const CSolidObject* o,
const CollisionVolume* v,
const CMatrix44f& m,
const float3 p,
CollisionQuery* cq
);
// HITTEST_CONT helpers for DetectHit
static bool Intersect(
const CSolidObject* o,
const CollisionVolume* v,
const CMatrix44f& m,
const float3 p0,
const float3 p1,
CollisionQuery* cq,
float s = 1.0f
);
private:
/**
* Test if a point lies inside a volume.
* @param v volume
* @param m volumes transformation matrix
* @param p point in world-coordinates
*/
static bool Collision(const CollisionVolume* v, const CMatrix44f& m, const float3& p);
static bool CollisionFootPrint(const CSolidObject* o, const float3& p);
/**
* Test if a ray intersects a volume.
* @param v volume
* @param m volumes transformation matrix
* @param p0 start of ray (in world-coordinates)
* @param p1 end of ray (in world-coordinates)
*/
static bool Intersect(const CollisionVolume* v, const CMatrix44f& m, const float3& p0, const float3& p1, CollisionQuery* cq);
static bool IntersectPieceTree(const CSolidObject* o, const CMatrix44f& m, const float3& p0, const float3& p1, CollisionQuery* cq);
static bool IntersectPiecesHelper(const CSolidObject* o, const CMatrix44f& m, const float3& p0, const float3& p1, CollisionQuery* cqp);
public:
static bool IntersectEllipsoid(const CollisionVolume* v, const float3& pi0, const float3& pi1, CollisionQuery* cq);
static bool IntersectCylinder(const CollisionVolume* v, const float3& pi0, const float3& pi1, CollisionQuery* cq);
static bool IntersectBox(const CollisionVolume* v, const float3& pi0, const float3& pi1, CollisionQuery* cq);
private:
static unsigned int numDiscTests; // number of discrete hit-tests executed
static unsigned int numContTests; // number of continuous hit-tests executed (inc. unsynced)
};
#endif // COLLISION_HANDLER_H
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