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Formatted EVERYTHING

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This commit is contained in:
Dynamitos
2024-06-09 12:20:53 +02:00
parent f18bf8acbe
commit d95dab850c
265 changed files with 8002 additions and 12310 deletions
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src/Engine/Physics/CollisionSystem.cpp
+31 -62
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@@ -3,25 +3,17 @@
using namespace Seele;
using namespace Seele::Component;
CollisionSystem::CollisionSystem(entt::registry& registry)
: registry(registry)
{
CollisionSystem::CollisionSystem(entt::registry& registry) : registry(registry) {
registry.on_construct<Component::Collider>().connect<&BVH::colliderCallback>(bvh);
}
CollisionSystem::~CollisionSystem()
{
}
CollisionSystem::~CollisionSystem() {}
void CollisionSystem::detectCollisions(Array<Collision>& collisions)
{
void CollisionSystem::detectCollisions(Array<Collision>& collisions) {
collisions.clear();
auto view = registry.view<Collider, Transform>();
for(auto && [entity, collider, transform] : view.each())
{
if(collider.type == ColliderType::DYNAMIC)
{
for (auto&& [entity, collider, transform] : view.each()) {
if (collider.type == ColliderType::DYNAMIC) {
bvh.updateDynamicCollider(entity, collider.boundingbox.getTransformedBox(transform.toMatrix()));
}
collider.physicsMesh.transform(transform).visualize();
@@ -29,11 +21,9 @@ void CollisionSystem::detectCollisions(Array<Collision>& collisions)
bvh.visualize();
Array<Pair<entt::entity, entt::entity>> overlaps;
bvh.findOverlaps(overlaps);
for(auto pair : overlaps)
{
if(checkCollision(pair))
{
collisions.add(Collision {
for (auto pair : overlaps) {
if (checkCollision(pair)) {
collisions.add(Collision{
.a = pair.key,
.b = pair.value,
});
@@ -41,42 +31,36 @@ void CollisionSystem::detectCollisions(Array<Collision>& collisions)
}
}
bool CollisionSystem::checkCollision(Pair<entt::entity, entt::entity> pair)
{
const auto&[collider1, transform1] = registry.get<Collider, Transform>(pair.key);
const auto&[collider2, transform2] = registry.get<Collider, Transform>(pair.value);
bool CollisionSystem::checkCollision(Pair<entt::entity, entt::entity> pair) {
const auto& [collider1, transform1] = registry.get<Collider, Transform>(pair.key);
const auto& [collider2, transform2] = registry.get<Collider, Transform>(pair.value);
ShapeBase shape1 = collider1.physicsMesh.transform(transform1);
ShapeBase shape2 = collider2.physicsMesh.transform(transform2);
Witness witness;
if(cachedWitness.exists(pair))
{
if (cachedWitness.exists(pair)) {
witness = cachedWitness[pair];
}
if(witnessValid(witness, shape1, shape2))
{
if (witnessValid(witness, shape1, shape2)) {
return false;
}
return createWitness(witness, shape1, shape2);
}
void CollisionSystem::updateWitness(Witness& result, const glm::vec3& point, const glm::vec3& v1, const glm::vec3& v2)
{
void CollisionSystem::updateWitness(Witness& result, const glm::vec3& point, const glm::vec3& v1, const glm::vec3& v2) {
const glm::vec3 faceNormal = glm::normalize(glm::cross(v1, v2));
result.n = faceNormal;
result.p = point;
}
bool CollisionSystem::createWitness(Witness& result, const ShapeBase& source, const ShapeBase& other)
{
for (size_t i = 0; i < source.indices.size(); i += 3)
{
bool CollisionSystem::createWitness(Witness& result, const ShapeBase& source, const ShapeBase& other) {
for (size_t i = 0; i < source.indices.size(); i += 3) {
const glm::vec3 point1 = source.vertices[source.indices[i + 0]];
const glm::vec3 point2 = source.vertices[source.indices[i + 1]];
const glm::vec3 point3 = source.vertices[source.indices[i + 2]];
const glm::vec3 v1 = point2 - point1;
const glm::vec3 v2 = point3 - point1;
updateWitness(result, point1, v1, v2);
result.point1Index = source.indices[i + 0];
result.point2Index = source.indices[i + 1];
@@ -84,48 +68,39 @@ bool CollisionSystem::createWitness(Witness& result, const ShapeBase& source, co
result.point4Index = UINT32_MAX;
bool valid = witnessValid(result, source, other);
// if not, it is a valid separating plane, so no collision
if (valid)
{
if (valid) {
return false;
}
}
for (size_t i = 0; i < source.indices.size(); i += 3)
{
auto findEdgePlane = [this, &source, &other, &result](uint32_t point1Index, uint32_t point2Index)
{
for (size_t i = 0; i < source.indices.size(); i += 3) {
auto findEdgePlane = [this, &source, &other, &result](uint32_t point1Index, uint32_t point2Index) {
const glm::vec3 point1 = source.vertices[point1Index];
const glm::vec3 point2 = source.vertices[point2Index];
result.point1Index = point1Index;
result.point2Index = point2Index;
const glm::vec3 d1 = point2 - point1;
for (size_t j = 0; j < other.indices.size(); j += 3)
{
for (const auto& [point3Index, point4Index] : { std::pair(j+1, j), std::pair(j+2, j+1), std::pair(j, j+2) })
{
for (size_t j = 0; j < other.indices.size(); j += 3) {
for (const auto& [point3Index, point4Index] : {std::pair(j + 1, j), std::pair(j + 2, j + 1), std::pair(j, j + 2)}) {
result.point3Index = other.indices[point3Index];
result.point4Index = other.indices[point4Index];
const glm::vec3 point3 = other.vertices[result.point3Index];
const glm::vec3 point4 = other.vertices[result.point4Index];
const glm::vec3 d2 = point3 - point4;
updateWitness(result, point1, d2, d1);
if (witnessValid(result, source, other))
{
if (witnessValid(result, source, other)) {
return true;
}
}
}
return false;
};
if(findEdgePlane(source.indices[i], source.indices[i+1]))
{
if (findEdgePlane(source.indices[i], source.indices[i + 1])) {
return false;
}
if(findEdgePlane(source.indices[i+1], source.indices[i+2]))
{
if (findEdgePlane(source.indices[i + 1], source.indices[i + 2])) {
return false;
}
if(findEdgePlane(source.indices[i+2], source.indices[i]))
{
if (findEdgePlane(source.indices[i + 2], source.indices[i])) {
return false;
}
}
@@ -133,23 +108,18 @@ bool CollisionSystem::createWitness(Witness& result, const ShapeBase& source, co
return true;
}
bool CollisionSystem::witnessValid(const Witness& witness, const Component::ShapeBase& shape1, const Component::ShapeBase& shape2)
{
bool CollisionSystem::witnessValid(const Witness& witness, const Component::ShapeBase& shape1, const Component::ShapeBase& shape2) {
const float e = 0.0001f;
for (size_t i = 0; i < shape1.vertices.size(); i++)
{
if(glm::dot(witness.n, shape1.vertices[i] - witness.p) > e)
{
for (size_t i = 0; i < shape1.vertices.size(); i++) {
if (glm::dot(witness.n, shape1.vertices[i] - witness.p) > e) {
// something intersecting the separating plane
// it is not valid anymore
return false;
}
}
for (size_t i = 0; i < shape2.vertices.size(); i++)
{
if(glm::dot(witness.n, shape2.vertices[i] - witness.p) < -e)
{
for (size_t i = 0; i < shape2.vertices.size(); i++) {
if (glm::dot(witness.n, shape2.vertices[i] - witness.p) < -e) {
// something intersecting the separating plane
// it is not valid anymore
return false;
@@ -157,4 +127,3 @@ bool CollisionSystem::witnessValid(const Witness& witness, const Component::Shap
}
return true;
}