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improved collision shapes of models

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This commit is contained in:
Andrew Meadows 2014-04-17 15:18:46 -07:00
parent 3acc518e8a
commit 3072161a30
2 changed files with 38 additions and 9 deletions
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21
interface/src/renderer/FBXReader.cpp
View file

@ -1516,7 +1516,6 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
}
float radiusScale = extractUniformScale(joint.transform * fbxCluster.inverseBindMatrix);
JointShapeInfo& jointShapeInfo = jointShapeInfos[jointIndex];
jointShapeInfo.boneBegin = rotateMeshToJoint * (radiusScale * (boneBegin - boneEnd));
float totalWeight = 0.0f;
for (int j = 0; j < cluster.indices.size(); j++) {
@ -1578,7 +1577,6 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
}
}
float radiusScale = extractUniformScale(joint.transform * firstFBXCluster.inverseBindMatrix);
jointShapeInfo.boneBegin = rotateMeshToJoint * (radiusScale * (boneBegin - boneEnd));
glm::vec3 averageVertex(0.f);
foreach (const glm::vec3& vertex, extracted.mesh.vertices) {
@ -1614,6 +1612,14 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
FBXJoint& joint = geometry.joints[i];
JointShapeInfo& jointShapeInfo = jointShapeInfos[i];
if (joint.parentIndex == -1) {
jointShapeInfo.boneBegin = glm::vec3(0.0f);
} else {
const FBXJoint& parentJoint = geometry.joints[joint.parentIndex];
glm::quat inverseRotation = glm::inverse(extractRotation(joint.transform));
jointShapeInfo.boneBegin = inverseRotation * (extractTranslation(parentJoint.transform) - extractTranslation(joint.transform));
}
// we use a capsule if the joint ANY mesh vertices successfully projected onto the bone
// AND its boneRadius is not too close to zero
bool collideLikeCapsule = jointShapeInfo.numProjectedVertices > 0
@ -1625,12 +1631,12 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
joint.shapeType = Shape::CAPSULE_SHAPE;
} else {
// collide the joint like a sphere
joint.shapeType = Shape::SPHERE_SHAPE;
if (jointShapeInfo.numVertices > 0) {
jointShapeInfo.averageVertex /= (float)jointShapeInfo.numVertices;
joint.shapePosition = jointShapeInfo.averageVertex;
} else {
joint.shapePosition = glm::vec3(0.f);
joint.shapeType = Shape::SPHERE_SHAPE;
}
if (jointShapeInfo.numProjectedVertices == 0
&& jointShapeInfo.numVertices > 0) {
@ -1639,6 +1645,15 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
jointShapeInfo.averageRadius /= (float)jointShapeInfo.numVertices;
joint.boneRadius = jointShapeInfo.averageRadius;
}
float distanceFromEnd = glm::length(joint.shapePosition);
float distanceFromBegin = glm::distance(joint.shapePosition, jointShapeInfo.boneBegin);
if (distanceFromEnd > joint.distanceToParent && distanceFromBegin > joint.distanceToParent) {
// The shape is further from both joint endpoints than the endpoints are from each other
// which probably means the model has a bad transform somewhere. We disable this shape
// by setting its radius to zero.
joint.boneRadius = 0.0f;
}
}
}
geometry.palmDirection = parseVec3(mapping.value("palmDirection", "0, -1, 0").toString());

26
interface/src/renderer/Model.cpp
View file

@ -510,24 +510,38 @@ void Model::rebuildShapes() {
capsule->getEndPoint(endPoint);
glm::vec3 startPoint;
capsule->getStartPoint(startPoint);
glm::vec3 axis = (halfHeight + radius) * glm::normalize(endPoint - startPoint);
// add some points that bound a sphere at the center of the capsule
glm::vec3 axis = glm::vec3(radius);
shapeExtents.addPoint(worldPosition + axis);
shapeExtents.addPoint(worldPosition - axis);
// add the two furthest surface points of the capsule
axis = (halfHeight + radius) * glm::normalize(endPoint - startPoint);
shapeExtents.addPoint(worldPosition + axis);
shapeExtents.addPoint(worldPosition - axis);
totalExtents.addExtents(shapeExtents);
} else {
SphereShape* sphere = new SphereShape(radius, worldPosition);
_jointShapes.push_back(sphere);
glm::vec3 axis = glm::vec3(radius);
shapeExtents.addPoint(worldPosition + axis);
shapeExtents.addPoint(worldPosition - axis);
if (radius > 0.0f) {
// only include sphere shapes with non-zero radius
glm::vec3 axis = glm::vec3(radius);
shapeExtents.addPoint(worldPosition + axis);
shapeExtents.addPoint(worldPosition - axis);
totalExtents.addExtents(shapeExtents);
}
}
totalExtents.addExtents(shapeExtents);
}
// bounding shape
// NOTE: we assume that the longest side of totalExtents is the yAxis
glm::vec3 diagonal = totalExtents.maximum - totalExtents.minimum;
float capsuleRadius = 0.25f * (diagonal.x + diagonal.z); // half the average of x and z
// the radius is half the RMS of the X and Z sides:
float capsuleRadius = 0.5f * sqrtf(0.5f * (diagonal.x * diagonal.x + diagonal.z * diagonal.z));
_boundingShape.setRadius(capsuleRadius);
_boundingShape.setHalfHeight(0.5f * diagonal.y - capsuleRadius);
_boundingShapeLocalOffset = inverseRotation * (0.5f * (totalExtents.maximum + totalExtents.minimum) - rootPosition);