From 635f832dfe486bd83f55e86702745e66b2c09e48 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Wed, 9 Apr 2014 13:04:17 -0700
Subject: [PATCH] rename shapeShape() to be collideShapes()
Also add collideShapesCoarse()
---
libraries/shared/src/ShapeCollider.cpp | 29 +++++++++++-
libraries/shared/src/ShapeCollider.h | 10 ++++-
tests/physics/src/ShapeColliderTests.cpp | 56 ++++++++++++------------
3 files changed, 63 insertions(+), 32 deletions(-)
diff --git a/libraries/shared/src/ShapeCollider.cpp b/libraries/shared/src/ShapeCollider.cpp
index 70f9b9c4bf..6ccf9df9c6 100644
--- a/libraries/shared/src/ShapeCollider.cpp
+++ b/libraries/shared/src/ShapeCollider.cpp
@@ -10,6 +10,7 @@
#include <glm/gtx/norm.hpp>
+#include "GeometryUtil.h"
#include "ShapeCollider.h"
// NOTE:
@@ -19,7 +20,7 @@
namespace ShapeCollider {
-bool shapeShape(const Shape* shapeA, const Shape* shapeB, CollisionList& collisions) {
+bool collideShapes(const Shape* shapeA, const Shape* shapeB, CollisionList& collisions) {
// ATM we only have two shape types so we just check every case.
// TODO: make a fast lookup for correct method
int typeA = shapeA->getType();
@@ -49,6 +50,30 @@ bool shapeShape(const Shape* shapeA, const Shape* shapeB, CollisionList& collisi
return false;
}
+static CollisionList tempCollisions(32);
+
+bool collideShapesCoarse(const QVector<const Shape*>& shapesA, const QVector<const Shape*>& shapesB, CollisionInfo& collision) {
+ tempCollisions.clear();
+ foreach (const Shape* shapeA, shapesA) {
+ foreach (const Shape* shapeB, shapesB) {
+ ShapeCollider::collideShapes(shapeA, shapeB, tempCollisions);
+ }
+ }
+ if (tempCollisions.size() > 0) {
+ glm::vec3 totalPenetration(0.f);
+ glm::vec3 averageContactPoint(0.f);
+ for (int j = 0; j < tempCollisions.size(); ++j) {
+ CollisionInfo* c = tempCollisions.getCollision(j);
+ totalPenetration = addPenetrations(totalPenetration, c->_penetration);
+ averageContactPoint += c->_contactPoint;
+ }
+ collision._penetration = totalPenetration;
+ collision._contactPoint = averageContactPoint / (float)(tempCollisions.size());
+ return true;
+ }
+ return false;
+}
+
bool sphereSphere(const SphereShape* sphereA, const SphereShape* sphereB, CollisionList& collisions) {
glm::vec3 BA = sphereB->getPosition() - sphereA->getPosition();
float distanceSquared = glm::dot(BA, BA);
@@ -407,7 +432,7 @@ bool listList(const ListShape* listA, const ListShape* listB, CollisionList& col
for (int i = 0; i < listA->size() && !collisions.isFull(); ++i) {
const Shape* subShape = listA->getSubShape(i);
for (int j = 0; j < listB->size() && !collisions.isFull(); ++j) {
- touching = shapeShape(subShape, listB->getSubShape(j), collisions) || touching;
+ touching = collideShapes(subShape, listB->getSubShape(j), collisions) || touching;
}
}
return touching;
diff --git a/libraries/shared/src/ShapeCollider.h b/libraries/shared/src/ShapeCollider.h
index e3e044c8fe..841a607bc3 100644
--- a/libraries/shared/src/ShapeCollider.h
+++ b/libraries/shared/src/ShapeCollider.h
@@ -19,9 +19,15 @@ namespace ShapeCollider {
/// \param shapeA pointer to first shape
/// \param shapeB pointer to second shape
- /// \param[out] collisions where to append collision details
+ /// \param collisions[out] collision details
/// \return true if shapes collide
- bool shapeShape(const Shape* shapeA, const Shape* shapeB, CollisionList& collisions);
+ bool collideShapes(const Shape* shapeA, const Shape* shapeB, CollisionList& collisions);
+
+ /// \param shapesA list of shapes
+ /// \param shapeB list of shapes
+ /// \param collisions[out] average collision details
+ /// \return true if any shapes collide
+ bool collideShapesCoarse(const QVector<const Shape*>& shapesA, const QVector<const Shape*>& shapesB, CollisionInfo& collision);
/// \param sphereA pointer to first shape
/// \param sphereB pointer to second shape
diff --git a/tests/physics/src/ShapeColliderTests.cpp b/tests/physics/src/ShapeColliderTests.cpp
index 7aeec84651..0960f7628a 100644
--- a/tests/physics/src/ShapeColliderTests.cpp
+++ b/tests/physics/src/ShapeColliderTests.cpp
@@ -40,7 +40,7 @@ void ShapeColliderTests::sphereMissesSphere() {
// collide A to B...
{
- bool touching = ShapeCollider::shapeShape(&sphereA, &sphereB, collisions);
+ bool touching = ShapeCollider::collideShapes(&sphereA, &sphereB, collisions);
if (touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should NOT touch" << std::endl;
@@ -49,7 +49,7 @@ void ShapeColliderTests::sphereMissesSphere() {
// collide B to A...
{
- bool touching = ShapeCollider::shapeShape(&sphereB, &sphereA, collisions);
+ bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
if (touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should NOT touch" << std::endl;
@@ -58,7 +58,7 @@ void ShapeColliderTests::sphereMissesSphere() {
// also test shapeShape
{
- bool touching = ShapeCollider::shapeShape(&sphereB, &sphereA, collisions);
+ bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
if (touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should NOT touch" << std::endl;
@@ -90,7 +90,7 @@ void ShapeColliderTests::sphereTouchesSphere() {
// collide A to B...
{
- bool touching = ShapeCollider::shapeShape(&sphereA, &sphereB, collisions);
+ bool touching = ShapeCollider::collideShapes(&sphereA, &sphereB, collisions);
if (!touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should touch" << std::endl;
@@ -133,7 +133,7 @@ void ShapeColliderTests::sphereTouchesSphere() {
// collide B to A...
{
- bool touching = ShapeCollider::shapeShape(&sphereB, &sphereA, collisions);
+ bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
if (!touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should touch" << std::endl;
@@ -196,7 +196,7 @@ void ShapeColliderTests::sphereMissesCapsule() {
sphereA.setPosition(rotation * localPosition + translation);
// sphereA agains capsuleB
- if (ShapeCollider::shapeShape(&sphereA, &capsuleB, collisions))
+ if (ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphere and capsule should NOT touch"
@@ -204,7 +204,7 @@ void ShapeColliderTests::sphereMissesCapsule() {
}
// capsuleB against sphereA
- if (ShapeCollider::shapeShape(&capsuleB, &sphereA, collisions))
+ if (ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphere and capsule should NOT touch"
@@ -238,7 +238,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
{ // sphereA collides with capsuleB's cylindrical wall
sphereA.setPosition(radialOffset * xAxis);
- if (!ShapeCollider::shapeShape(&sphereA, &capsuleB, collisions))
+ if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphere and capsule should touch"
@@ -269,7 +269,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
}
// capsuleB collides with sphereA
- if (!ShapeCollider::shapeShape(&capsuleB, &sphereA, collisions))
+ if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and sphere should touch"
@@ -305,7 +305,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
glm::vec3 axialOffset = (halfHeightB + alpha * radiusA + beta * radiusB) * yAxis;
sphereA.setPosition(axialOffset * yAxis);
- if (!ShapeCollider::shapeShape(&sphereA, &capsuleB, collisions))
+ if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphere and capsule should touch"
@@ -336,7 +336,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
}
// capsuleB collides with sphereA
- if (!ShapeCollider::shapeShape(&capsuleB, &sphereA, collisions))
+ if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and sphere should touch"
@@ -372,7 +372,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
glm::vec3 axialOffset = - (halfHeightB + alpha * radiusA + beta * radiusB) * yAxis;
sphereA.setPosition(axialOffset * yAxis);
- if (!ShapeCollider::shapeShape(&sphereA, &capsuleB, collisions))
+ if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphere and capsule should touch"
@@ -403,7 +403,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
}
// capsuleB collides with sphereA
- if (!ShapeCollider::shapeShape(&capsuleB, &sphereA, collisions))
+ if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and sphere should touch"
@@ -459,13 +459,13 @@ void ShapeColliderTests::capsuleMissesCapsule() {
// side by side
capsuleB.setPosition((1.01f * totalRadius) * xAxis);
- if (ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+ if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
- if (ShapeCollider::shapeShape(&capsuleB, &capsuleA, collisions))
+ if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
@@ -474,13 +474,13 @@ void ShapeColliderTests::capsuleMissesCapsule() {
// end to end
capsuleB.setPosition((1.01f * totalHalfLength) * xAxis);
- if (ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+ if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
- if (ShapeCollider::shapeShape(&capsuleB, &capsuleA, collisions))
+ if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
@@ -491,13 +491,13 @@ void ShapeColliderTests::capsuleMissesCapsule() {
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
capsuleB.setPosition((1.01f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
- if (ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+ if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
- if (ShapeCollider::shapeShape(&capsuleB, &capsuleA, collisions))
+ if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
@@ -529,7 +529,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
{ // side by side
capsuleB.setPosition((0.99f * totalRadius) * xAxis);
- if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+ if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
@@ -537,7 +537,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
} else {
++numCollisions;
}
- if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collisions))
+ if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
@@ -550,7 +550,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
{ // end to end
capsuleB.setPosition((0.99f * totalHalfLength) * yAxis);
- if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+ if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
@@ -558,7 +558,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
} else {
++numCollisions;
}
- if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collisions))
+ if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
@@ -573,7 +573,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
capsuleB.setRotation(rotation);
capsuleB.setPosition((0.99f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
- if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+ if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
@@ -581,7 +581,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
} else {
++numCollisions;
}
- if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collisions))
+ if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
@@ -599,7 +599,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
capsuleB.setPosition(positionB);
// capsuleA vs capsuleB
- if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+ if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
@@ -628,7 +628,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
}
// capsuleB vs capsuleA
- if (!ShapeCollider::shapeShape(&capsuleB, &capsuleA, collisions))
+ if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
@@ -666,7 +666,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
capsuleB.setPosition(positionB);
// capsuleA vs capsuleB
- if (!ShapeCollider::shapeShape(&capsuleA, &capsuleB, collisions))
+ if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"