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Point4D & Triangle now are completely immutable. 

- Deleted operator= for Point4D and Triangle
- Add Vec3D & Vec2D to substitute Point4D in cases where we dont need 4 dimensions. Vec3D & Vec2D are immutable.
- Small refactoring of EPA & GJK in RigidBody.cpp
master
Vectozavr 2021-10-12 21:12:47 +07:00
parent 423e6d0d35
commit d3684f8aa6
62 changed files with 958 additions and 670 deletions
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2
Bonus.cpp
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@ -4,7 +4,7 @@
#include "Bonus.h" #include "Bonus.h"
Bonus::Bonus(const std::string &bonusName, const std::string &filename, const std::string &materials, const Point4D &scale) { Bonus::Bonus(const std::string &bonusName, const std::string &filename, const std::string &materials, const Vec3D &scale) {
_name = bonusName; _name = bonusName;
loadObj(filename, materials, scale); loadObj(filename, materials, scale);
setCollider(false); setCollider(false);

2
Bonus.h
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@ -12,7 +12,7 @@ class Bonus : public RigidBody {
protected: protected:
std::string _name; std::string _name;
public: public:
explicit Bonus(const std::string &bonusName, const std::string& filename, const std::string &materials = "", const Point4D& scale = Point4D{1, 1, 1}); explicit Bonus(const std::string &bonusName, const std::string& filename, const std::string &materials = "", const Vec3D& scale = Vec3D{1, 1, 1});
[[nodiscard]] std::string name() const { return _name; } [[nodiscard]] std::string name() const { return _name; }
}; };

10
CMakeLists.txt
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@ -34,10 +34,10 @@ add_executable(shooter
# 3d engine: # 3d engine:
engine/utils/Time.h engine/utils/Time.h
engine/utils/Time.cpp engine/utils/Time.cpp
engine/utils/Point4D.h engine/Point4D.h
engine/utils/Point4D.cpp engine/Point4D.cpp
engine/utils/Matrix4x4.h engine/Matrix4x4.h
engine/utils/Matrix4x4.cpp engine/Matrix4x4.cpp
engine/Triangle.h engine/Triangle.h
engine/Triangle.cpp engine/Triangle.cpp
engine/Mesh.h engine/Mesh.h
@ -94,7 +94,7 @@ add_executable(shooter
engine/network/UDPSocket.h engine/network/UDPSocket.h
engine/network/config.h engine/network/config.h
engine/animation/AFunction.h engine/animation/AFunction.h
engine/Consts.h) engine/Consts.h engine/Vec3D.cpp engine/Vec3D.h engine/Vec2D.cpp engine/Vec2D.h ShooterConsts.h)
if(APPLE OR UNIX) if(APPLE OR UNIX)
include_directories(/usr/local/include) include_directories(/usr/local/include)

25
Client.cpp
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@ -28,7 +28,7 @@ void Client::processInit(sf::Packet& packet) {
if(targetId != _socket.ownId()) { if(targetId != _socket.ownId()) {
spawnPlayer(targetId); spawnPlayer(targetId);
_players[targetId]->translateToPoint(Point4D{ buf[0], buf[1], buf[2]}); _players[targetId]->translateToPoint(Vec3D{ buf[0], buf[1], buf[2]});
_players[targetId]->setHealth(buf[3]); _players[targetId]->setHealth(buf[3]);
} }
} }
@ -41,11 +41,11 @@ void Client::processUpdate(sf::Packet& packet) {
while (packet >> targetId >> buf[0] >> buf[1] >> buf[2] >> buf[3] >> buf[4] >> buf[5]) { while (packet >> targetId >> buf[0] >> buf[1] >> buf[2] >> buf[3] >> buf[4] >> buf[5]) {
if (_players.count(targetId)) { if (_players.count(targetId)) {
std::string name = "Player_" + std::to_string(targetId); std::string name = "Player_" + std::to_string(targetId);
_players[targetId]->translateToPoint(Point4D{buf[0], buf[1], buf[2]}); _players[targetId]->translateToPoint(Vec3D{buf[0], buf[1], buf[2]});
_players[targetId]->setHealth(buf[3]); _players[targetId]->setHealth(buf[3]);
_players[targetId]->rotateToAngle(Point4D{0, buf[4], 0}); _players[targetId]->rotateToAngle(Vec3D{0, buf[4], 0});
_players[targetId]->attached("head")->rotate(Matrix4x4::RotationY(buf[4]) * Point4D{1, 0, 0}, buf[5] - _players[targetId]->headAngle()); _players[targetId]->attached("head")->rotate(Matrix4x4::RotationY(buf[4]) * Vec3D{1, 0, 0}, buf[5] - _players[targetId]->headAngle());
_players[targetId]->setHeadAngle(buf[5]); _players[targetId]->setHeadAngle(buf[5]);
} else if (targetId == _socket.ownId()) { } else if (targetId == _socket.ownId()) {
@ -74,7 +74,6 @@ void Client::processCustomPacket(MsgType type, sf::Packet& packet) {
sf::Uint16 buffId[2]; sf::Uint16 buffId[2];
double dbuff[10]; double dbuff[10];
std::string tmp, tmp2; std::string tmp, tmp2;
Point4D p1, p2;
switch (type) { switch (type) {
case MsgType::Kill: case MsgType::Kill:
@ -82,7 +81,7 @@ void Client::processCustomPacket(MsgType type, sf::Packet& packet) {
if(buffId[0] == _socket.ownId()) { if(buffId[0] == _socket.ownId()) {
_player->addDeath(); _player->addDeath();
// respawn // respawn
_player->translateToPoint(Point4D{50.0*(-1 + 2.0*(double)rand()/RAND_MAX),30.0*(double)rand()/RAND_MAX,50.0*(-1 + 2.0*(double)rand()/RAND_MAX)}); _player->translateToPoint(Vec3D{50.0*(-1 + 2.0*(double)rand()/RAND_MAX),30.0*(double)rand()/RAND_MAX,50.0*(-1 + 2.0*(double)rand()/RAND_MAX)});
_player->playDeath(); _player->playDeath();
_player->initWeapons(); _player->initWeapons();
_player->setFullAbility(); _player->setFullAbility();
@ -99,23 +98,21 @@ void Client::processCustomPacket(MsgType type, sf::Packet& packet) {
case MsgType::FireTrace: case MsgType::FireTrace:
packet >> dbuff[0] >> dbuff[1] >> dbuff[2] >> dbuff[3] >> dbuff[4] >> dbuff[5]; packet >> dbuff[0] >> dbuff[1] >> dbuff[2] >> dbuff[3] >> dbuff[4] >> dbuff[5];
p1 = Point4D(dbuff[0], dbuff[1], dbuff[2]);
p2 = Point4D(dbuff[3], dbuff[4], dbuff[5]);
if(_addFireTraceCallBack != nullptr) if(_addFireTraceCallBack != nullptr)
_addFireTraceCallBack(p1, p2); _addFireTraceCallBack(Vec3D(dbuff[0], dbuff[1], dbuff[2]), Vec3D(dbuff[3], dbuff[4], dbuff[5]));
break; break;
case MsgType::InitBonuses: case MsgType::InitBonuses:
while (packet >> tmp >> dbuff[0] >> dbuff[1] >> dbuff[2]) { while (packet >> tmp >> dbuff[0] >> dbuff[1] >> dbuff[2]) {
if(_addBonusCallBack != nullptr) if(_addBonusCallBack != nullptr)
_addBonusCallBack(tmp, Point4D(dbuff[0], dbuff[1], dbuff[2])); _addBonusCallBack(tmp, Vec3D(dbuff[0], dbuff[1], dbuff[2]));
} }
break; break;
case MsgType::AddBonus: case MsgType::AddBonus:
packet >> tmp >> dbuff[0] >> dbuff[1] >> dbuff[2]; packet >> tmp >> dbuff[0] >> dbuff[1] >> dbuff[2];
if(_addBonusCallBack != nullptr) if(_addBonusCallBack != nullptr)
_addBonusCallBack(tmp, Point4D(dbuff[0], dbuff[1], dbuff[2])); _addBonusCallBack(tmp, Vec3D(dbuff[0], dbuff[1], dbuff[2]));
break; break;
case MsgType::RemoveBonus: case MsgType::RemoveBonus:
@ -141,7 +138,7 @@ void Client::damagePlayer(sf::Uint16 targetId, double damage) {
Log::log("Client: damagePlayer " + std::to_string(targetId) + " ( -" + std::to_string(damage) + "hp )"); Log::log("Client: damagePlayer " + std::to_string(targetId) + " ( -" + std::to_string(damage) + "hp )");
} }
void Client::addTrace(const Point4D& from, const Point4D& to) { void Client::addTrace(const Vec3D& from, const Vec3D& to) {
sf::Packet packet; sf::Packet packet;
packet << MsgType::FireTrace << from.x() << from.y() << from.z() << to.x() << to.y() << to.z(); packet << MsgType::FireTrace << from.x() << from.y() << from.z() << to.x() << to.y() << to.z();
@ -170,11 +167,11 @@ void Client::setRemovePlayerCallBack(std::function<void(sf::Uint16)> remove) {
_removePlayerCallBack = std::move(remove); _removePlayerCallBack = std::move(remove);
} }
void Client::setAddFireTraceCallBack(std::function<void(const Point4D &, const Point4D &)> addTrace) { void Client::setAddFireTraceCallBack(std::function<void(const Vec3D &, const Vec3D &)> addTrace) {
_addFireTraceCallBack = std::move(addTrace); _addFireTraceCallBack = std::move(addTrace);
} }
void Client::setAddBonusCallBack(std::function<void(const std::string &, const Point4D &)> addBonus) { void Client::setAddBonusCallBack(std::function<void(const std::string &, const Vec3D &)> addBonus) {
_addBonusCallBack = std::move(addBonus); _addBonusCallBack = std::move(addBonus);
} }

10
Client.h
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@ -17,8 +17,8 @@ private:
std::function<void(sf::Uint16)> _spawnPlayerCallBack; std::function<void(sf::Uint16)> _spawnPlayerCallBack;
std::function<void(sf::Uint16)> _removePlayerCallBack; std::function<void(sf::Uint16)> _removePlayerCallBack;
std::function<void(const Point4D&, const Point4D&)> _addFireTraceCallBack; std::function<void(const Vec3D&, const Vec3D&)> _addFireTraceCallBack;
std::function<void(const std::string&, const Point4D&)> _addBonusCallBack; std::function<void(const std::string&, const Vec3D&)> _addBonusCallBack;
std::function<void(const std::string&)> _removeBonusCallBack; std::function<void(const std::string&)> _removeBonusCallBack;
public: public:
explicit Client(std::shared_ptr<Player> player) : _player(player){}; explicit Client(std::shared_ptr<Player> player) : _player(player){};
@ -27,8 +27,8 @@ public:
void setSpawnPlayerCallBack(std::function<void(sf::Uint16)> spawn); void setSpawnPlayerCallBack(std::function<void(sf::Uint16)> spawn);
void setRemovePlayerCallBack(std::function<void(sf::Uint16)> remove); void setRemovePlayerCallBack(std::function<void(sf::Uint16)> remove);
void setAddFireTraceCallBack(std::function<void(const Point4D&, const Point4D&)> addTrace); void setAddFireTraceCallBack(std::function<void(const Vec3D&, const Vec3D&)> addTrace);
void setAddBonusCallBack(std::function<void(const std::string&, const Point4D&)> addBonus); void setAddBonusCallBack(std::function<void(const std::string&, const Vec3D&)> addBonus);
void setRemoveBonusCallBack(std::function<void(const std::string&)> removeBonus); void setRemoveBonusCallBack(std::function<void(const std::string&)> removeBonus);
void processInit(sf::Packet& packet) override; void processInit(sf::Packet& packet) override;
@ -44,7 +44,7 @@ public:
void takeBonus(const std::string& bonusName); void takeBonus(const std::string& bonusName);
void addTrace(const Point4D& from, const Point4D& to); void addTrace(const Vec3D& from, const Vec3D& to);
void addPlayer(sf::Uint16 id, std::shared_ptr<Player> player); void addPlayer(sf::Uint16 id, std::shared_ptr<Player> player);
}; };

6
Player.cpp
View File

@ -7,7 +7,7 @@
#include "engine/ResourceManager.h" #include "engine/ResourceManager.h"
#include "engine/utils/Log.h" #include "engine/utils/Log.h"
void Player::rotateWeaponsRelativePoint(const Point4D& point4D, const Point4D& v, double val) { void Player::rotateWeaponsRelativePoint(const Vec3D& point4D, const Vec3D& v, double val) {
for(auto& weapon : _weapons) for(auto& weapon : _weapons)
weapon->rotateRelativePoint(point4D, v, val); weapon->rotateRelativePoint(point4D, v, val);
} }
@ -63,8 +63,8 @@ void Player::addWeapon(std::shared_ptr<Weapon> weapon) {
attach(weapon, weapon->name()); attach(weapon, weapon->name());
_weapons.back()->translate(position()); _weapons.back()->translate(position());
_weapons.back()->rotateRelativePoint(position() + Point4D{0, 1.8, 0}, Point4D{0, 1, 0}, _angle.y()); _weapons.back()->rotateRelativePoint(position() + Vec3D{0, 1.8, 0}, Vec3D{0, 1, 0}, _angle->y());
_weapons.back()->rotateRelativePoint(position() + Point4D{0, 1.8, 0}, left(), headAngle()); _weapons.back()->rotateRelativePoint(position() + Vec3D{0, 1.8, 0}, left(), headAngle());
_weapons.back()->setAddTraceCallBack(_addTraceCallBack); _weapons.back()->setAddTraceCallBack(_addTraceCallBack);
} }

17
Player.h
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@ -42,17 +42,17 @@ private:
size_t _selectedWeapon = 0; size_t _selectedWeapon = 0;
std::function<void(sf::Uint16 targetId, double)> _damagePlayerCallBack; std::function<void(sf::Uint16 targetId, double)> _damagePlayerCallBack;
std::function<void(const Point4D&, const Point4D&)> _addTraceCallBack; std::function<void(const Vec3D&, const Vec3D&)> _addTraceCallBack;
std::function<void(const std::string&)> _takeBonusCallBack; std::function<void(const std::string&)> _takeBonusCallBack;
std::function<void(std::shared_ptr<Weapon>)> _addWeaponCallBack; std::function<void(std::shared_ptr<Weapon>)> _addWeaponCallBack;
std::function<void(std::shared_ptr<Weapon>)> _removeWeaponCallBack; std::function<void(std::shared_ptr<Weapon>)> _removeWeaponCallBack;
std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> _rayCastFunction; std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> _rayCastFunction;
public: public:
Player() { Player() {
loadObj("obj/cube.obj", "", Point4D{0.5, 1.9, 0.5}); loadObj("obj/cube.obj", "", Vec3D{0.5, 1.9, 0.5});
setAcceleration(Point4D{0, -_g, 0}); setAcceleration(Vec3D{0, -_g, 0});
setCollision(true); setCollision(true);
setVisible(false); setVisible(false);
setColor({240, 168, 168}); setColor({240, 168, 168});
@ -68,6 +68,9 @@ public:
void setHealth(double h) { void setHealth(double h) {
_health = h; _health = h;
} }
void setAbility(double a) {
_ability = a;
}
[[nodiscard]] double health() const { return _health; } [[nodiscard]] double health() const { return _health; }
[[nodiscard]] double ability() const { return _ability; } [[nodiscard]] double ability() const { return _ability; }
@ -93,7 +96,7 @@ public:
void fire(); void fire();
void reload(); void reload();
void rotateWeaponsRelativePoint(const Point4D& point4D, const Point4D& v, double val); void rotateWeaponsRelativePoint(const Vec3D& point, const Vec3D& v, double val);
[[nodiscard]] int kills() const {return _kills;} [[nodiscard]] int kills() const {return _kills;}
[[nodiscard]] int deaths() const {return _deaths;} [[nodiscard]] int deaths() const {return _deaths;}
@ -107,7 +110,7 @@ public:
void setDamagePlayerCallBack(std::function<void(sf::Uint16 targetId, double)> hit) { void setDamagePlayerCallBack(std::function<void(sf::Uint16 targetId, double)> hit) {
_damagePlayerCallBack = std::move(hit); _damagePlayerCallBack = std::move(hit);
} }
void setAddTraceCallBack(std::function<void(const Point4D&, const Point4D&)> add) { void setAddTraceCallBack(std::function<void(const Vec3D&, const Vec3D&)> add) {
_addTraceCallBack = std::move(add); _addTraceCallBack = std::move(add);
} }
void setTakeBonusCallBack(std::function<void(const std::string&)> take) { void setTakeBonusCallBack(std::function<void(const std::string&)> take) {
@ -119,7 +122,7 @@ public:
void setRemoveWeaponCallBack(std::function<void(std::shared_ptr<Weapon>)> removeWeapon) { void setRemoveWeaponCallBack(std::function<void(std::shared_ptr<Weapon>)> removeWeapon) {
_removeWeaponCallBack = std::move(removeWeapon); _removeWeaponCallBack = std::move(removeWeapon);
} }
void setRayCastFunction(std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> rayCastFunction) { void setRayCastFunction(std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> rayCastFunction) {
_rayCastFunction = std::move(rayCastFunction); _rayCastFunction = std::move(rayCastFunction);
} }

33
PlayerController.cpp
View File

@ -51,21 +51,21 @@ void PlayerController::update() {
Timeline::animate("camera_hor_oscil", new AWait(0)); Timeline::animate("camera_hor_oscil", new AWait(0));
Timeline::animate("camera_hor_oscil", new ATranslate(camera, camera->left() / 6, 0.3, Animation::LoopOut::None, Animation::InterpolationType::cos)); Timeline::animate("camera_hor_oscil", new ATranslate(camera, camera->left() / 6, 0.3, Animation::LoopOut::None, Animation::InterpolationType::cos));
Timeline::animate("camera_vert_oscil", new ATranslate(camera, -Point4D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos)); Timeline::animate("camera_vert_oscil", new ATranslate(camera, -Vec3D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
Timeline::animate("camera_vert_oscil", new AWait(0)); Timeline::animate("camera_vert_oscil", new AWait(0));
Timeline::animate("camera_vert_oscil", new ATranslate(camera, Point4D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos)); Timeline::animate("camera_vert_oscil", new ATranslate(camera, Vec3D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
Timeline::animate("camera_vert_oscil", new AWait(0)); Timeline::animate("camera_vert_oscil", new AWait(0));
Timeline::animate("camera_vert_oscil", new ATranslate(camera, -Point4D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos)); Timeline::animate("camera_vert_oscil", new ATranslate(camera, -Vec3D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
Timeline::animate("camera_vert_oscil", new AWait(0)); Timeline::animate("camera_vert_oscil", new AWait(0));
Timeline::animate("camera_vert_oscil", new ATranslate(camera, Point4D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos)); Timeline::animate("camera_vert_oscil", new ATranslate(camera, Vec3D{0, 1, 0} / 12, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
Timeline::animate("camera_init", new ATranslateToPoint( camera, _player->position() + Point4D{0, 1.8, 0}, 0.3, Animation::LoopOut::None, Animation::InterpolationType::cos)); Timeline::animate("camera_init", new ATranslateToPoint( camera, _player->position() + Vec3D{0, 1.8, 0}, 0.3, Animation::LoopOut::None, Animation::InterpolationType::cos));
} }
} else if(inRunning_old && !_inRunning) { } else if(inRunning_old && !_inRunning) {
Timeline::deleteAnimationList("camera_hor_oscil"); Timeline::deleteAnimationList("camera_hor_oscil");
Timeline::deleteAnimationList("camera_vert_oscil"); Timeline::deleteAnimationList("camera_vert_oscil");
Timeline::deleteAnimationList("camera_init"); Timeline::deleteAnimationList("camera_init");
Timeline::animate("camera_init", new ATranslateToPoint( camera, _player->position() + Point4D{0, 1.8, 0}, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos)); Timeline::animate("camera_init", new ATranslateToPoint( camera, _player->position() + Vec3D{0, 1.8, 0}, 0.15, Animation::LoopOut::None, Animation::InterpolationType::cos));
} }
// Left and right // Left and right
@ -73,26 +73,26 @@ void PlayerController::update() {
if (Keyboard::isKeyPressed(sf::Keyboard::A)) { if (Keyboard::isKeyPressed(sf::Keyboard::A)) {
_player->translate(_player->left() * Time::deltaTime() * _walkSpeed * coeff); _player->translate(_player->left() * Time::deltaTime() * _walkSpeed * coeff);
if(_player->inCollision()) if(_player->inCollision())
_player->setVelocity(Point4D{0,0,0}); _player->setVelocity(Vec3D{0,0,0});
} }
if (Keyboard::isKeyPressed(sf::Keyboard::D)) { if (Keyboard::isKeyPressed(sf::Keyboard::D)) {
_player->translate(-_player->left() * Time::deltaTime() * _walkSpeed * coeff); _player->translate(-_player->left() * Time::deltaTime() * _walkSpeed * coeff);
if(_player->inCollision()) if(_player->inCollision())
_player->setVelocity(Point4D{0,0,0}); _player->setVelocity(Vec3D{0,0,0});
} }
// Forward and backward // Forward and backward
if (Keyboard::isKeyPressed(sf::Keyboard::W)) { if (Keyboard::isKeyPressed(sf::Keyboard::W)) {
_player->translate(_player->lookAt() * Time::deltaTime() * _walkSpeed * coeff); _player->translate(_player->lookAt() * Time::deltaTime() * _walkSpeed * coeff);
if(_player->inCollision()) if(_player->inCollision())
_player->setVelocity(Point4D{0,0,0}); _player->setVelocity(Vec3D{0,0,0});
} }
if (Keyboard::isKeyPressed(sf::Keyboard::S)) { if (Keyboard::isKeyPressed(sf::Keyboard::S)) {
_player->translate(-_player->lookAt() * Time::deltaTime() * _walkSpeed * coeff); _player->translate(-_player->lookAt() * Time::deltaTime() * _walkSpeed * coeff);
if(_player->inCollision()) if(_player->inCollision())
_player->setVelocity(Point4D{0,0,0}); _player->setVelocity(Vec3D{0,0,0});
} }
if (_player->ability() > 0 && !_isInSlowMo && Keyboard::isKeyPressed(sf::Keyboard::LShift)) { if (_player->ability() > 0 && !_isInSlowMo && Keyboard::isKeyPressed(sf::Keyboard::LShift)) {
@ -111,24 +111,23 @@ void PlayerController::update() {
} }
if (Keyboard::isKeyPressed(sf::Keyboard::Space) && _player->inCollision()) { if (Keyboard::isKeyPressed(sf::Keyboard::Space) && _player->inCollision()) {
// if we just want to jump, we have to add particular speed // if we just want to jump, we have to add particular speed
if (!_isSliding) if (!_isSliding)
_player->addVelocity(Point4D{ 0, std::abs(_player->collisionNormal().y()) * sqrt(2 * -_player->acceleration().y() * _jumpHeight) * coeff, 0 }); _player->addVelocity(Vec3D{ 0, std::abs(_player->collisionNormal().y()) * sqrt(2 * -_player->acceleration().y() * _jumpHeight) * coeff, 0 });
// if we want to slide, we have to add speed * 60/fps to make it independent on frame rate // if we want to slide, we have to add speed * 60/fps to make it independent on frame rate
else else
_player->addVelocity(Point4D{ 0, std::abs(_player->collisionNormal().y()) * sqrt(2 * -_player->acceleration().y() * _jumpHeight) * coeff * 60.0 / Time::fps(), 0 }); _player->addVelocity(Vec3D{ 0, std::abs(_player->collisionNormal().y()) * sqrt(2 * -_player->acceleration().y() * _jumpHeight) * coeff * 60.0 / Time::fps(), 0 });
_player->translate(Point4D{ 0, Time::deltaTime() * _walkSpeed * 2 * coeff * 60.0 / Time::fps(), 0 }); _player->translate(Vec3D{ 0, Time::deltaTime() * _walkSpeed * 2 * coeff * 60.0 / Time::fps(), 0 });
_isSliding = true; _isSliding = true;
} else { } else {
_isSliding = false; _isSliding = false;
} }
// Mouse movement // Mouse movement
Point4D displacement = _mouse->getMouseDisplacement(); Vec2D displacement = _mouse->getMouseDisplacement();
_player->rotate(Point4D{0, -displacement.x() / 1000.0, 0}); _player->rotate(Vec3D{0, -displacement.x() / 1000.0, 0});
_player->setVelocity(Matrix4x4::RotationY(-displacement.x() / 1000.0) * _player->velocity()); _player->setVelocity(Matrix4x4::RotationY(-displacement.x() / 1000.0) * _player->velocity());
double rotationLeft = displacement.y() / 1000.0; double rotationLeft = displacement.y() / 1000.0;
@ -140,7 +139,7 @@ void PlayerController::update() {
rotationLeft = -Consts::PI / 2 - _player->headAngle(); rotationLeft = -Consts::PI / 2 - _player->headAngle();
_player->setHeadAngle(_player->headAngle() + rotationLeft); _player->setHeadAngle(_player->headAngle() + rotationLeft);
_player->rotateWeaponsRelativePoint(_player->position() + Point4D{0, 1.8, 0}, _player->left(), rotationLeft); _player->rotateWeaponsRelativePoint(_player->position() + Vec3D{0, 1.8, 0}, _player->left(), rotationLeft);
if (_keyboard->isKeyTapped(sf::Keyboard::Right) || _keyboard->isKeyTapped(sf::Keyboard::E)) { if (_keyboard->isKeyTapped(sf::Keyboard::Right) || _keyboard->isKeyTapped(sf::Keyboard::E)) {
_player->nextWeapon(); _player->nextWeapon();

10
Server.cpp
View File

@ -9,14 +9,12 @@ void Server::broadcast() {
sf::Packet updatePacket; sf::Packet updatePacket;
updatePacket << MsgType::Update; updatePacket << MsgType::Update;
for (auto& player : _players) for (auto& player : _players) {
{
//player.second->setHealth(player.second->health() + (Time::time() - _lastBroadcast)/100); //player.second->setHealth(player.second->health() + (Time::time() - _lastBroadcast)/100);
updatePacket << player.first << player.second->position().x() << player.second->position().y() << player.second->position().z() << player.second->health() << player.second->angle().y() << player.second->headAngle(); updatePacket << player.first << player.second->position().x() << player.second->position().y() << player.second->position().z() << player.second->health() << player.second->angle().y() << player.second->headAngle();
} }
for (auto& player : _players) for (auto& player : _players) {
{
_socket.send(updatePacket, player.first); _socket.send(updatePacket, player.first);
} }
} }
@ -53,8 +51,8 @@ void Server::processClientUpdate(sf::Uint16 senderId, sf::Packet& packet) {
double buf[5]; double buf[5];
packet >> buf[0] >> buf[1] >> buf[2] >> buf[3] >> buf[4]; packet >> buf[0] >> buf[1] >> buf[2] >> buf[3] >> buf[4];
_players.at(senderId)->translateToPoint(Point4D{ buf[0], buf[1], buf[2] }); _players.at(senderId)->translateToPoint(Vec3D{ buf[0], buf[1], buf[2] });
_players.at(senderId)->rotateToAngle(Point4D{0, buf[3], 0}); _players.at(senderId)->rotateToAngle(Vec3D{0, buf[3], 0});
_players.at(senderId)->setHeadAngle(buf[4]); _players.at(senderId)->setHeadAngle(buf[4]);
} }

40
Shooter.cpp
View File

@ -56,8 +56,8 @@ void Shooter::InitNetwork()
client->setSpawnPlayerCallBack([this](sf::Uint16 id){ spawnPlayer(id); }); client->setSpawnPlayerCallBack([this](sf::Uint16 id){ spawnPlayer(id); });
client->setRemovePlayerCallBack([this](sf::Uint16 id){ removePlayer(id); }); client->setRemovePlayerCallBack([this](sf::Uint16 id){ removePlayer(id); });
client->setAddFireTraceCallBack([this](const Point4D& from, const Point4D& to){ addFireTrace(from, to); }); client->setAddFireTraceCallBack([this](const Vec3D& from, const Vec3D& to){ addFireTrace(from, to); });
client->setAddBonusCallBack([this](const std::string& bonusName, const Point4D& position){ addBonus(bonusName, position); }); client->setAddBonusCallBack([this](const std::string& bonusName, const Vec3D& position){ addBonus(bonusName, position); });
client->setRemoveBonusCallBack([this](const std::string& bonusName){ removeBonus(bonusName); }); client->setRemoveBonusCallBack([this](const std::string& bonusName){ removeBonus(bonusName); });
} }
@ -68,25 +68,25 @@ void Shooter::start() {
mouse->setMouseCursorVisible(true); mouse->setMouseCursorVisible(true);
world->loadMap("maps/map1.obj", "maps/materials.txt", "map", Point4D{5, 5, 5}); world->loadMap("maps/map1.obj", "maps/materials.txt", "map", Vec3D{5, 5, 5});
player = std::make_shared<Player>(); player = std::make_shared<Player>();
playerController = std::make_shared<PlayerController>(player, keyboard, mouse); playerController = std::make_shared<PlayerController>(player, keyboard, mouse);
player->setAddTraceCallBack([this](const Point4D& from, const Point4D& to){ client->addTrace(from, to); addFireTrace(from, to); }); player->setAddTraceCallBack([this](const Vec3D& from, const Vec3D& to){ client->addTrace(from, to); addFireTrace(from, to); });
player->setDamagePlayerCallBack([this] (sf::Uint16 targetId, double damage) { client->damagePlayer(targetId, damage); }); player->setDamagePlayerCallBack([this] (sf::Uint16 targetId, double damage) { client->damagePlayer(targetId, damage); });
player->setRayCastFunction([this](const Point4D& from, const Point4D& to) { return world->rayCast(from, to); }); player->setRayCastFunction([this](const Vec3D& from, const Vec3D& to) { return world->rayCast(from, to); });
player->setTakeBonusCallBack([this] (const string& bonusName) { client->takeBonus(bonusName); }); player->setTakeBonusCallBack([this] (const string& bonusName) { client->takeBonus(bonusName); });
player->setAddWeaponCallBack([this](std::shared_ptr<Weapon> weapon){ addWeapon(weapon); }); player->setAddWeaponCallBack([this](std::shared_ptr<Weapon> weapon){ addWeapon(weapon); });
player->setRemoveWeaponCallBack([this](std::shared_ptr<Weapon> weapon){ removeWeapon(weapon); }); player->setRemoveWeaponCallBack([this](std::shared_ptr<Weapon> weapon){ removeWeapon(weapon); });
player->initWeapons(); player->initWeapons();
camera->translateToPoint(player->position() + Point4D{0, 1.8, 0}); camera->translateToPoint(player->position() + Vec3D{0, 1.8, 0});
player->attach(camera, "camera"); player->attach(camera, "camera");
world->addBody(player, "Player"); world->addBody(player, "Player");
player->translate(Point4D{0, 10, 0}); player->translate(Vec3D{0, 10, 0});
client = std::make_shared<Client>(player); client = std::make_shared<Client>(player);
server = std::make_shared<Server>(); server = std::make_shared<Server>();
@ -96,7 +96,7 @@ void Shooter::start() {
mainMenu.setBackgroundTexture("textures/back.png", 1.1, 1.1, screen->width(), screen->height()); mainMenu.setBackgroundTexture("textures/back.png", 1.1, 1.1, screen->width(), screen->height());
mainMenu.addButton(screen->width()/2, 200, 200, 20, [this] () { this->play(); }, "Play", 5, 5, "textures/gui.png", {0, 66}, {0, 86}, {0, 46}, "engine/fonts/Roboto-Medium.ttf", {255, 255, 255}, "sound/click.ogg"); mainMenu.addButton(screen->width()/2, 200, 200, 20, [this] () { this->play(); }, "Play", 5, 5, "textures/gui.png", {0, 66}, {0, 86}, {0, 46}, "engine/fonts/Roboto-Medium.ttf", {255, 255, 255}, "sound/click.ogg");
mainMenu.addButton(screen->width()/2, 350, 200, 20, [this] () { this->player->translateToPoint(Point4D{0, 0, 0}); this->player->setVelocity({}); this->play(); }, "Respawn", 5, 5, "textures/gui.png", {0, 66}, {0, 86}, {0, 46}, "engine/fonts/Roboto-Medium.ttf", {255, 255, 255}, "sound/click.ogg"); mainMenu.addButton(screen->width()/2, 350, 200, 20, [this] () { this->player->translateToPoint(Vec3D{0, 0, 0}); this->player->setVelocity({}); this->play(); }, "Respawn", 5, 5, "textures/gui.png", {0, 66}, {0, 86}, {0, 46}, "engine/fonts/Roboto-Medium.ttf", {255, 255, 255}, "sound/click.ogg");
mainMenu.addButton(screen->width()/2, 500, 200, 20, [this] () { client->disconnect(); server->stop(); this->exit();}, "Exit", 5, 5, "textures/gui.png", {0, 66}, {0, 86}, {0, 46}, "engine/fonts/Roboto-Medium.ttf", {255, 255, 255}, "sound/click.ogg"); mainMenu.addButton(screen->width()/2, 500, 200, 20, [this] () { client->disconnect(); server->stop(); this->exit();}, "Exit", 5, 5, "textures/gui.png", {0, 66}, {0, 86}, {0, 46}, "engine/fonts/Roboto-Medium.ttf", {255, 255, 255}, "sound/click.ogg");
@ -207,22 +207,22 @@ void Shooter::spawnPlayer(sf::Uint16 id) {
client->addPlayer(id, newPlayer); client->addPlayer(id, newPlayer);
world->addBody(newPlayer, name); world->addBody(newPlayer, name);
newPlayer->setVisible(true); newPlayer->setVisible(true);
newPlayer->setAcceleration(Point4D{0, 0, 0}); newPlayer->setAcceleration(Vec3D{0, 0, 0});
// add head and other stuff: // add head and other stuff:
world->loadBody(name + "_head", "obj/cube.obj", "", Point4D{0.7, 0.7, 0.7}); world->loadBody(name + "_head", "obj/cube.obj", "", Vec3D{0.7, 0.7, 0.7});
world->body(name + "_head")->translate(Point4D{0, 2, 0}); world->body(name + "_head")->translate(Vec3D{0, 2, 0});
world->body(name + "_head")->setCollider(false); world->body(name + "_head")->setCollider(false);
newPlayer->attach(world->body(name + "_head"), "head"); newPlayer->attach(world->body(name + "_head"), "head");
world->loadBody(name + "_eye1", "obj/cube.obj", "", Point4D{0.2, 0.2, 0.05}); world->loadBody(name + "_eye1", "obj/cube.obj", "", Vec3D{0.2, 0.2, 0.05});
world->body(name + "_eye1")->translate(Point4D{0.3, 2.1, 0.7}); world->body(name + "_eye1")->translate(Vec3D{0.3, 2.1, 0.7});
world->body(name + "_eye1")->setCollider(false); world->body(name + "_eye1")->setCollider(false);
world->body(name + "_eye1")->setColor({147, 159, 255}); world->body(name + "_eye1")->setColor({147, 159, 255});
world->body(name + "_head")->attach(world->body(name + "_eye1"), "eye1"); world->body(name + "_head")->attach(world->body(name + "_eye1"), "eye1");
world->loadBody(name + "_eye2", "obj/cube.obj", "", Point4D{0.2, 0.2, 0.05}); world->loadBody(name + "_eye2", "obj/cube.obj", "", Vec3D{0.2, 0.2, 0.05});
world->body(name + "_eye2")->translate(Point4D{-0.3, 2.1, 0.7}); world->body(name + "_eye2")->translate(Vec3D{-0.3, 2.1, 0.7});
world->body(name + "_eye2")->setCollider(false); world->body(name + "_eye2")->setCollider(false);
world->body(name + "_eye2")->setColor({147, 159, 255}); world->body(name + "_eye2")->setColor({147, 159, 255});
world->body(name + "_head")->attach(world->body(name + "_eye2"), "eye2"); world->body(name + "_head")->attach(world->body(name + "_eye2"), "eye2");
@ -236,7 +236,7 @@ void Shooter::removePlayer(sf::Uint16 id) {
world->removeBody(name + "_eye2"); world->removeBody(name + "_eye2");
} }
void Shooter::addFireTrace(const Point4D &from, const Point4D &to) { void Shooter::addFireTrace(const Vec3D &from, const Vec3D &to) {
std::string traceName = "Client_fireTraces_" + std::to_string(fireTraces++); std::string traceName = "Client_fireTraces_" + std::to_string(fireTraces++);
world->addBody(std::make_shared<RigidBody>(Mesh::LineTo(from, to, 0.05)), traceName); world->addBody(std::make_shared<RigidBody>(Mesh::LineTo(from, to, 0.05)), traceName);
world->body(traceName)->setCollider(false); world->body(traceName)->setCollider(false);
@ -249,11 +249,11 @@ void Shooter::deleteFireTrace(const std::string& traceName) {
world->removeBody(traceName); world->removeBody(traceName);
} }
void Shooter::addBonus(const string &bonusName, const Point4D &position) { void Shooter::addBonus(const string &bonusName, const Vec3D &position) {
std::string name = bonusName.substr(6, bonusName.size()-3-5); std::string name = bonusName.substr(6, bonusName.size()-3-5);
world->addBody(std::make_shared<Bonus>(bonusName, "obj/" + name + ".obj", "obj/" + name + "_mat.txt", Point4D{3, 3, 3}), bonusName); world->addBody(std::make_shared<Bonus>(bonusName, "obj/" + name + ".obj", "obj/" + name + "_mat.txt", Vec3D{3, 3, 3}), bonusName);
world->body(bonusName)->translateToPoint(position); world->body(bonusName)->translateToPoint(position);
Timeline::animate(bonusName + "_rotation", new ARotate(world->body(bonusName), Point4D{0, 2*Consts::PI, 0}, 4, Animation::LoopOut::Continue, Animation::InterpolationType::linear)); Timeline::animate(bonusName + "_rotation", new ARotate(world->body(bonusName), Vec3D{0, 2*Consts::PI, 0}, 4, Animation::LoopOut::Continue, Animation::InterpolationType::linear));
} }
void Shooter::removeBonus(const string &bonusName) { void Shooter::removeBonus(const string &bonusName) {

4
Shooter.h
View File

@ -43,9 +43,9 @@ private:
void spawnPlayer(sf::Uint16 id); void spawnPlayer(sf::Uint16 id);
void removePlayer(sf::Uint16 id); void removePlayer(sf::Uint16 id);
void addFireTrace(const Point4D& from, const Point4D& to); void addFireTrace(const Vec3D& from, const Vec3D& to);
void deleteFireTrace(const std::string& traceName); void deleteFireTrace(const std::string& traceName);
void addBonus(const std::string& bonusName, const Point4D& position); void addBonus(const std::string& bonusName, const Vec3D& position);
void removeBonus(const std::string& bonusName); void removeBonus(const std::string& bonusName);
void addWeapon(std::shared_ptr<Weapon> weapon); void addWeapon(std::shared_ptr<Weapon> weapon);
void removeWeapon(std::shared_ptr<Weapon> weapon); void removeWeapon(std::shared_ptr<Weapon> weapon);

13
ShooterConsts.h Normal file
View File

@ -0,0 +1,13 @@
//
// Created by Иван Ильин on 10.10.2021.
//
#ifndef SHOOTER_SHOOTERCONSTS_H
#define SHOOTER_SHOOTERCONSTS_H
namespace ShooterConsts {
const double GRAVITY = 35;
}
#endif //SHOOTER_SHOOTERCONSTS_H

57
engine/Camera.cpp
View File

@ -8,11 +8,11 @@
#include <cmath> #include <cmath>
#include "Consts.h" #include "Consts.h"
std::vector<Triangle> &Camera::project(std::shared_ptr<Mesh> mesh) { std::vector<std::shared_ptr<Triangle>> Camera::project(std::shared_ptr<Mesh> mesh) {
if(!_ready) { if(!_ready) {
Log::log("Camera::project(): cannot project _tris without camera initialization ( Camera::init() ) "); Log::log("Camera::project(): cannot project _tris without camera initialization ( Camera::init() ) ");
return this->_triangles; return _triangles;
} }
if(!mesh->isVisible()) if(!mesh->isVisible())
@ -24,37 +24,36 @@ std::vector<Triangle> &Camera::project(std::shared_ptr<Mesh> mesh) {
// We don't want to waste time re-allocating memory every time // We don't want to waste time re-allocating memory every time
std::vector<Triangle> clippedTriangles, tempBuffer; std::vector<Triangle> clippedTriangles, tempBuffer;
for(auto& t : mesh->triangles()) { for(auto& t : mesh->triangles()) {
double dot = t.norm().dot((mesh->position() + t[0] - _position).normalized());
double dot = t.norm().dot((mesh->position() + Vec3D(t[0]) - position()).normalized());
if(dot > 0) if(dot > 0)
continue; continue;
Triangle clipped[2];
// It needs to be cleared because it's reused through iterations. Usually it doesn't free memory. // It needs to be cleared because it's reused through iterations. Usually it doesn't free memory.
clippedTriangles.clear(); clippedTriangles.clear();
tempBuffer.clear();
// In the beginning we need to to translate drawTriangle from world coordinate to our camera system: // In the beginning we need to to translate triangle from world coordinate to our camera system:
// After that we apply clipping for all planes from _clipPlanes // After that we apply clipping for all planes from _clipPlanes
clippedTriangles.emplace_back(t * VM); clippedTriangles.emplace_back(t * VM);
for(auto& plane : _clipPlanes) for(auto& plane : _clipPlanes)
{ {
while(!clippedTriangles.empty()) while(!clippedTriangles.empty())
{ {
clipped[0] = clippedTriangles.back(); std::vector<Triangle> clipResult = plane.clip(clippedTriangles.back());
clipped[1] = clipped[0];
clippedTriangles.pop_back(); clippedTriangles.pop_back();
int additional = plane.clip(clipped[0], clipped[1]); for(auto & i : clipResult)
tempBuffer.emplace_back(i);
for(int i = 0; i < additional; i++)
tempBuffer.emplace_back(clipped[i]);
} }
clippedTriangles.swap(tempBuffer); clippedTriangles.swap(tempBuffer);
} }
for(auto& clippedTriangle : clippedTriangles) { for(auto& clipped : clippedTriangles) {
sf::Color color = clippedTriangle.color(); sf::Color color = clipped.color();
sf::Color ambientColor = sf::Color((sf::Uint8)(color.r * (0.3 * std::abs(dot) + 0.7)), sf::Color ambientColor = sf::Color((sf::Uint8)(color.r * (0.3 * std::abs(dot) + 0.7)),
(sf::Uint8)(color.g * (0.3 * std::abs(dot) + 0.7)), (sf::Uint8)(color.g * (0.3 * std::abs(dot) + 0.7)),
(sf::Uint8)(color.b * (0.3 * std::abs(dot) + 0.7)), (sf::Uint8)(color.b * (0.3 * std::abs(dot) + 0.7)),
@ -62,14 +61,14 @@ std::vector<Triangle> &Camera::project(std::shared_ptr<Mesh> mesh) {
// Finally its time to project our clipped colored drawTriangle from 3D -> 2D // Finally its time to project our clipped colored drawTriangle from 3D -> 2D
// and transform it's coordinate to screen space (in pixels): // and transform it's coordinate to screen space (in pixels):
clippedTriangle = clippedTriangle * _SP; Triangle clippedProjected = clipped * _SP;
clippedTriangle = Triangle(clippedTriangle[0] / clippedTriangle[0].w(), Triangle clippedProjectedNormalized = Triangle(clippedProjected[0] / clippedProjected[0].w(),
clippedTriangle[1] / clippedTriangle[1].w(), clippedProjected[1] / clippedProjected[1].w(),
clippedTriangle[2] / clippedTriangle[2].w(), clippedProjected[2] / clippedProjected[2].w(),
ambientColor); ambientColor);
_triangles.emplace_back(clippedTriangle); _triangles.emplace_back(std::make_shared<Triangle>(clippedProjectedNormalized));
} }
} }
@ -87,28 +86,28 @@ void Camera::init(int width, int height, double fov, double ZNear, double ZFar)
// This is planes for clipping _tris. // This is planes for clipping _tris.
// Motivation: we are not interest in _tris that we cannot see. // Motivation: we are not interest in _tris that we cannot see.
_clipPlanes.emplace_back(Plane(Point4D{0, 0, 1}, Point4D{0, 0, ZNear})); // near plane _clipPlanes.emplace_back(Plane(Vec3D{0, 0, 1}, Vec3D{0, 0, ZNear})); // near plane
_clipPlanes.emplace_back(Plane(Point4D{0, 0, -1}, Point4D{0, 0, ZFar})); // far plane _clipPlanes.emplace_back(Plane(Vec3D{0, 0, -1}, Vec3D{0, 0, ZFar})); // far plane
double thetta1 = Consts::PI*fov*0.5/180.0; double thetta1 = Consts::PI*fov*0.5/180.0;
double thetta2 = atan(_aspect * tan(thetta1)); double thetta2 = atan(_aspect * tan(thetta1));
_clipPlanes.emplace_back(Plane(Point4D{-cos(thetta2), 0, sin(thetta2)}, Point4D{0, 0, 0})); // left plane _clipPlanes.emplace_back(Plane(Vec3D{-cos(thetta2), 0, sin(thetta2)}, Vec3D{0, 0, 0})); // left plane
_clipPlanes.emplace_back(Plane(Point4D{cos(thetta2), 0, sin(thetta2)}, Point4D{0, 0, 0})); // right plane _clipPlanes.emplace_back(Plane(Vec3D{cos(thetta2), 0, sin(thetta2)}, Vec3D{0, 0, 0})); // right plane
_clipPlanes.emplace_back(Plane(Point4D{0, cos(thetta1), sin(thetta1)}, Point4D{0, 0, 0})); // down plane _clipPlanes.emplace_back(Plane(Vec3D{0, cos(thetta1), sin(thetta1)}, Vec3D{0, 0, 0})); // down plane
_clipPlanes.emplace_back(Plane(Point4D{0, -cos(thetta1), sin(thetta1)}, Point4D{0, 0, 0})); // up plane _clipPlanes.emplace_back(Plane(Vec3D{0, -cos(thetta1), sin(thetta1)}, Vec3D{0, 0, 0})); // up plane
_ready = true; _ready = true;
Log::log("Camera::init(): camera successfully initialized."); Log::log("Camera::init(): camera successfully initialized.");
} }
std::vector<Triangle> &Camera::sorted() { std::vector<std::shared_ptr<Triangle>> Camera::sorted() {
// Sort _tris from _back to front // Sort _tris from _back to front
// This is some replacement for Z-buffer // This is some replacement for Z-buffer
std::sort(_triangles.begin(), _triangles.end(), [](Triangle &t1, Triangle &t2) std::sort(_triangles.begin(), _triangles.end(), [](std::shared_ptr<Triangle> &t1, std::shared_ptr<Triangle> &t2)
{ {
std::vector<double> v_z1({t1[0].z(), t1[1].z(), t1[2].z()}); std::vector<double> v_z1({(*t1)[0].z(), (*t1)[1].z(), (*t1)[2].z()});
std::vector<double> v_z2({t2[0].z(), t2[1].z(), t2[2].z()}); std::vector<double> v_z2({(*t2)[0].z(), (*t2)[1].z(), (*t2)[2].z()});
std::sort(v_z1.begin(), v_z1.end()); std::sort(v_z1.begin(), v_z1.end());
std::sort(v_z2.begin(), v_z2.end()); std::sort(v_z2.begin(), v_z2.end());
@ -127,5 +126,5 @@ void Camera::clear() {
// That is like preparation for new camera shot: we need to set // That is like preparation for new camera shot: we need to set
// the position of camera and insert new cartridge for photo. // the position of camera and insert new cartridge for photo.
_triangles.clear(); _triangles.clear();
_V = Matrix4x4::View(_left, _up, _lookAt, _position); _V = Matrix4x4::View(left(), up(), lookAt(), position());
} }

6
engine/Camera.h
View File

@ -19,7 +19,7 @@ private:
// To accelerate calculations we can use precalculated matrix that does not chance // To accelerate calculations we can use precalculated matrix that does not chance
Matrix4x4 _SP; // screen-space-projections matrix Matrix4x4 _SP; // screen-space-projections matrix
std::vector<Triangle> _triangles{}; std::vector<std::shared_ptr<Triangle>> _triangles{};
std::vector<Plane> _clipPlanes{}; std::vector<Plane> _clipPlanes{};
bool _ready = false; bool _ready = false;
@ -30,12 +30,12 @@ public:
void init(int width, int height, double fov = 110.0, double ZNear = 0.1, double ZFar = 5000.0); void init(int width, int height, double fov = 110.0, double ZNear = 0.1, double ZFar = 5000.0);
std::vector<Triangle>& project(std::shared_ptr<Mesh> mesh); std::vector<std::shared_ptr<Triangle>> project(std::shared_ptr<Mesh> mesh);
void clear(); void clear();
[[nodiscard]] int buffSize() const { return _triangles.size(); } [[nodiscard]] int buffSize() const { return _triangles.size(); }
std::vector<Triangle>& sorted(); std::vector<std::shared_ptr<Triangle>> sorted();
}; };

6
engine/Consts.h
View File

@ -7,6 +7,12 @@
namespace Consts { namespace Consts {
const double PI = 3.14159265358979323846264338327950288; const double PI = 3.14159265358979323846264338327950288;
const double EPS = 0.000001;
const int GJK_MAX_ITERATIONS = 50;
const double EPA_EPS = 0.0001;
const double RAY_CAST_MAX_DISTANCE = 10000;
} }
#endif //SHOOTER_CONSTS_H #endif //SHOOTER_CONSTS_H

2
engine/Engine.cpp
View File

@ -55,7 +55,7 @@ void Engine::create(int screenWidth, int screenHeight, const std::string &name,
// draw projected body // draw projected body
for (auto &t : camera->sorted()) for (auto &t : camera->sorted())
screen->drawTriangle(t); screen->drawTriangle(*t);
_triPerSec = camera->buffSize() * Time::fps(); _triPerSec = camera->buffSize() * Time::fps();

64
engine/utils/Matrix4x4.cpp → engine/Matrix4x4.cpp
View File

@ -6,7 +6,7 @@
#include <cassert> #include <cassert>
#include <cmath> #include <cmath>
#include "../Consts.h" #include "Consts.h"
Matrix4x4 Matrix4x4::operator*(const Matrix4x4 &matrix4X4) const { Matrix4x4 Matrix4x4::operator*(const Matrix4x4 &matrix4X4) const {
Matrix4x4 result = Matrix4x4::Zero(); Matrix4x4 result = Matrix4x4::Zero();
@ -27,6 +27,14 @@ Point4D Matrix4x4::operator*(const Point4D &point4D) const {
); );
} }
Vec3D Matrix4x4::operator*(const Vec3D &vec) const {
return Vec3D(
_arr[0][0] * vec.x() + _arr[0][1] * vec.y() + _arr[0][2] * vec.z(),
_arr[1][0] * vec.x() + _arr[1][1] * vec.y() + _arr[1][2] * vec.z(),
_arr[2][0] * vec.x() + _arr[2][1] * vec.y() + _arr[2][2] * vec.z()
);
}
Matrix4x4 Matrix4x4::Identity() { Matrix4x4 Matrix4x4::Identity() {
Matrix4x4 result; Matrix4x4 result;
@ -54,7 +62,7 @@ Matrix4x4 Matrix4x4::Zero() {
return Matrix4x4::Constant(0); return Matrix4x4::Constant(0);
} }
Matrix4x4 Matrix4x4::Scale(const Point4D& factor) { Matrix4x4 Matrix4x4::Scale(const Vec3D& factor) {
Matrix4x4 s{}; Matrix4x4 s{};
s._arr[0][0] = factor.x(); s._arr[0][0] = factor.x();
s._arr[1][1] = factor.y(); s._arr[1][1] = factor.y();
@ -64,14 +72,8 @@ Matrix4x4 Matrix4x4::Scale(const Point4D& factor) {
return s; return s;
} }
Matrix4x4 Matrix4x4::Translation(const Point4D& v) { Matrix4x4 Matrix4x4::Translation(const Vec3D& v) {
Matrix4x4 t{}; Matrix4x4 t{};
/*
* ( 1 0 0 dx )(_x) (_x + dx)
* ( 0 1 0 dy )(_y) = (_y + dy)
* ( 0 0 1 dz )(z) (z + dz)
* ( 0 0 0 1 )(1) ( 1 )
*/
t._arr[0][0] = 1.0; t._arr[0][0] = 1.0;
t._arr[1][1] = 1.0; t._arr[1][1] = 1.0;
@ -129,25 +131,25 @@ Matrix4x4 Matrix4x4::RotationZ(double rz) {
return Rz; return Rz;
} }
Matrix4x4 Matrix4x4::Rotation(const Point4D& r) { Matrix4x4 Matrix4x4::Rotation(const Vec3D& r) {
return RotationX(r.x()) * RotationY(r.y()) * RotationZ(r.z()); return RotationX(r.x()) * RotationY(r.y()) * RotationZ(r.z());
} }
Matrix4x4 Matrix4x4::Rotation(Point4D v, double rv) { Matrix4x4 Matrix4x4::Rotation(const Vec3D& v, double rv) {
Matrix4x4 Rv{}; Matrix4x4 Rv{};
v = v.normalized(); Vec3D nv(v.normalized());
Rv._arr[0][0] = cos(rv) + (1.0 - cos(rv))*v.x()*v.x(); Rv._arr[0][0] = cos(rv) + (1.0 - cos(rv))*nv.x()*nv.x();
Rv._arr[0][1] = (1.0 - cos(rv))*v.x()*v.y() - sin(rv)*v.z(); Rv._arr[0][1] = (1.0 - cos(rv))*nv.x()*nv.y() - sin(rv)*nv.z();
Rv._arr[0][2] = (1.0 - cos(rv))*v.x()*v.z() + sin(rv)*v.y(); Rv._arr[0][2] = (1.0 - cos(rv))*nv.x()*nv.z() + sin(rv)*nv.y();
Rv._arr[1][0] = (1.0 - cos(rv))*v.x()*v.y() + sin(rv)*v.z(); Rv._arr[1][0] = (1.0 - cos(rv))*nv.x()*nv.y() + sin(rv)*nv.z();
Rv._arr[1][1] = cos(rv) + (1.0 - cos(rv))*v.y()*v.y(); Rv._arr[1][1] = cos(rv) + (1.0 - cos(rv))*nv.y()*nv.y();
Rv._arr[1][2] = (1.0 - cos(rv))*v.y()*v.z() - sin(rv)*v.x(); Rv._arr[1][2] = (1.0 - cos(rv))*nv.y()*nv.z() - sin(rv)*nv.x();
Rv._arr[2][0] = (1.0 - cos(rv))*v.z()*v.x() - sin(rv)*v.y(); Rv._arr[2][0] = (1.0 - cos(rv))*nv.z()*nv.x() - sin(rv)*nv.y();
Rv._arr[2][1] = (1.0 - cos(rv))*v.z()*v.y() + sin(rv)*v.x(); Rv._arr[2][1] = (1.0 - cos(rv))*nv.z()*nv.y() + sin(rv)*nv.x();
Rv._arr[2][2] = cos(rv) + (1.0 - cos(rv))*v.z()*v.z(); Rv._arr[2][2] = cos(rv) + (1.0 - cos(rv))*nv.z()*nv.z();
Rv._arr[3][3] = 1.0; Rv._arr[3][3] = 1.0;
@ -181,22 +183,22 @@ Matrix4x4 Matrix4x4::ScreenSpace(int width, int height) {
return s; return s;
} }
Matrix4x4 Matrix4x4::View(const Point4D &left, const Point4D &up, const Point4D &lookAt, const Point4D &eye) { Matrix4x4 Matrix4x4::View(const Vec3D &left, const Vec3D &up, const Vec3D &lookAt, const Vec3D &eye) {
Matrix4x4 V = Zero(); Matrix4x4 V = Zero();
V._arr[0][0] = left[0]; V._arr[0][0] = left.x();
V._arr[0][1] = left[1]; V._arr[0][1] = left.y();
V._arr[0][2] = left[2]; V._arr[0][2] = left.z();
V._arr[0][3] = -eye.dot(left); V._arr[0][3] = -eye.dot(left);
V._arr[1][0] = up[0]; V._arr[1][0] = up.x();
V._arr[1][1] = up[1]; V._arr[1][1] = up.y();
V._arr[1][2] = up[2]; V._arr[1][2] = up.z();
V._arr[1][3] = -eye.dot(up); V._arr[1][3] = -eye.dot(up);
V._arr[2][0] = lookAt[0]; V._arr[2][0] = lookAt.x();
V._arr[2][1] = lookAt[1]; V._arr[2][1] = lookAt.y();
V._arr[2][2] = lookAt[2]; V._arr[2][2] = lookAt.z();
V._arr[2][3] = -eye.dot(lookAt); V._arr[2][3] = -eye.dot(lookAt);
V._arr[3][3] = 1.0; V._arr[3][3] = 1.0;

12
engine/utils/Matrix4x4.h → engine/Matrix4x4.h
View File

@ -7,6 +7,7 @@
#include <array> #include <array>
#include "Point4D.h" #include "Point4D.h"
#include "Vec3D.h"
class Matrix4x4 { class Matrix4x4 {
private: private:
@ -18,21 +19,22 @@ public:
[[nodiscard]] Matrix4x4 operator*(const Matrix4x4& matrix4X4) const; [[nodiscard]] Matrix4x4 operator*(const Matrix4x4& matrix4X4) const;
[[nodiscard]] Point4D operator*(const Point4D& point4D) const; [[nodiscard]] Point4D operator*(const Point4D& point4D) const;
[[nodiscard]] Vec3D operator*(const Vec3D& vec) const;
// Any useful matrix (static methods) // Any useful matrix (static methods)
Matrix4x4 static Identity(); Matrix4x4 static Identity();
Matrix4x4 static Zero(); Matrix4x4 static Zero();
Matrix4x4 static Constant (double value); Matrix4x4 static Constant (double value);
Matrix4x4 static Scale(const Point4D& factor); Matrix4x4 static Scale(const Vec3D& factor);
Matrix4x4 static Translation(const Point4D& v); Matrix4x4 static Translation(const Vec3D& v);
Matrix4x4 static Rotation(const Point4D& r); Matrix4x4 static Rotation(const Vec3D& r);
Matrix4x4 static RotationX (double rx); Matrix4x4 static RotationX (double rx);
Matrix4x4 static RotationY (double ry); Matrix4x4 static RotationY (double ry);
Matrix4x4 static RotationZ (double rz); Matrix4x4 static RotationZ (double rz);
Matrix4x4 static Rotation (Point4D v, double rv); Matrix4x4 static Rotation (const Vec3D& v, double rv);
Matrix4x4 static View(const Point4D& left, const Point4D& up, const Point4D& lookAt, const Point4D& eye); Matrix4x4 static View(const Vec3D &left, const Vec3D &up, const Vec3D &lookAt, const Vec3D &eye);
Matrix4x4 static Projection (double fov = 90.0, double aspect = 1.0, double ZNear = 1.0, double ZFar = 10.0); Matrix4x4 static Projection (double fov = 90.0, double aspect = 1.0, double ZNear = 1.0, double ZFar = 10.0);
Matrix4x4 static ScreenSpace (int width, int height); Matrix4x4 static ScreenSpace (int width, int height);
}; };

94
engine/Mesh.cpp
View File

@ -12,13 +12,16 @@
using namespace std; using namespace std;
Mesh &Mesh::operator*=(const Matrix4x4 &matrix4X4) { Mesh &Mesh::operator*=(const Matrix4x4 &matrix4X4) {
for (auto& t : _tris) std::vector<Triangle> newTriangles;
t = t * matrix4X4; for(auto &t : _tris) {
newTriangles.emplace_back(t * matrix4X4);
}
setTriangles(newTriangles);
return *this; return *this;
} }
Mesh &Mesh::loadObj(const std::string& filename, const std::string &materials, const Point4D& scale) { Mesh &Mesh::loadObj(const std::string& filename, const std::string &materials, const Vec3D& scale) {
auto objects = Mesh::LoadObjects(filename, materials, scale); auto objects = Mesh::LoadObjects(filename, materials, scale);
for(auto& obj : objects) { for(auto& obj : objects) {
@ -29,61 +32,54 @@ Mesh &Mesh::loadObj(const std::string& filename, const std::string &materials, c
return *this; return *this;
} }
Mesh::Mesh(const std::string& filename, const std::string &materials, const Point4D& scale){ Mesh::Mesh(const std::string& filename, const std::string &materials, const Vec3D& scale){
loadObj(filename, materials, scale); loadObj(filename, materials, scale);
} }
Mesh::Mesh(const vector<Triangle> &tries){ Mesh::Mesh(const vector<Triangle> &tries) : _tris(tries) {
_tris = tries;
}
Mesh::Mesh(const Mesh& mesh) {
*this = mesh;
} }
Mesh Mesh::Obj(const std::string& filename) { Mesh Mesh::Obj(const std::string& filename) {
return Mesh(filename); return Mesh(filename);
} }
void Mesh::rotate(const Point4D &r) { void Mesh::rotate(const Vec3D &r) {
Object::rotate(r); Object::rotate(r);
*this *= Matrix4x4::Rotation(r); *this *= Matrix4x4::Rotation(r);
} }
void Mesh::rotate(const Point4D &v, double r) { void Mesh::rotate(const Vec3D &v, double r) {
Object::rotate(v, r); Object::rotate(v, r);
*this *= Matrix4x4::Rotation(v, r); *this *= Matrix4x4::Rotation(v, r);
} }
void Mesh::scale(const Point4D &s) { void Mesh::scale(const Vec3D &s) {
Object::scale(s); Object::scale(s);
*this *= Matrix4x4::Scale(s); *this *= Matrix4x4::Scale(s);
} }
Mesh &Mesh::operator=(const Mesh &mesh) { void Mesh::rotateRelativePoint(const Vec3D &s, const Vec3D &r) {
_tris = mesh._tris;
_position = mesh._position;
_color = mesh._color;
return *this;
}
void Mesh::rotateRelativePoint(const Point4D &s, const Point4D &r) {
Object::rotateRelativePoint(s, r); Object::rotateRelativePoint(s, r);
*this *= Matrix4x4::Rotation(r); *this *= Matrix4x4::Rotation(r);
} }
void Mesh::rotateRelativePoint(const Point4D &s, const Point4D &v, double r) { void Mesh::rotateRelativePoint(const Vec3D &s, const Vec3D &v, double r) {
Object::rotateRelativePoint(s, v, r); Object::rotateRelativePoint(s, v, r);
*this *= Matrix4x4::Rotation(v, r); *this *= Matrix4x4::Rotation(v, r);
} }
void Mesh::setColor(sf::Color c) { void Mesh::setColor(const sf::Color& c) {
_color = c; _color = c;
for (auto& t : _tris)
t = Triangle(t[0], t[1], t[2], _color); // change color of all mesh triangles:
std::vector<Triangle> newTriangles;
for(auto &t : _tris) {
newTriangles.emplace_back(Triangle(t[0], t[1], t[2], c));
}
setTriangles(newTriangles);
} }
std::vector<std::shared_ptr<Mesh>> Mesh::LoadObjects(const string &filename, const string &materials, const Point4D &scale) { std::vector<std::shared_ptr<Mesh>> Mesh::LoadObjects(const string &filename, const string &materials, const Vec3D &scale) {
std::vector<std::shared_ptr<Mesh>> objects; std::vector<std::shared_ptr<Mesh>> objects;
map<string, sf::Color> maters; map<string, sf::Color> maters;
@ -170,26 +166,27 @@ std::vector<std::shared_ptr<Mesh>> Mesh::LoadObjects(const string &filename, con
return objects; return objects;
} }
Mesh Mesh::LineTo(const Point4D& from, const Point4D& to, double line_width, sf::Color color) { Mesh Mesh::LineTo(const Vec3D& from, const Vec3D& to, double line_width, const sf::Color& color) {
Mesh line; Mesh line;
Point4D v1 = (to - from).normalized(); Vec3D v1 = (to - from).normalized();
Point4D v2 = from.cross3D(from + Point4D{1, 0, 0}).normalized(); Vec3D v2 = from.cross(from + Vec3D{1, 0, 0}).normalized();
Point4D v3 = v1.cross3D(v2).normalized(); Vec3D v3 = v1.cross(v2).normalized();
// from plane // from plane
Point4D p1 = from - v2 * line_width/2.0 - v3 * line_width/2.0; Point4D p1 = (from - v2 * line_width/2.0 - v3 * line_width/2.0).makePoint4D();
Point4D p2 = from - v2 * line_width/2.0 + v3 * line_width/2.0; Point4D p2 = (from - v2 * line_width/2.0 + v3 * line_width/2.0).makePoint4D();
Point4D p3 = from + v2 * line_width/2.0 + v3 * line_width/2.0; Point4D p3 = (from + v2 * line_width/2.0 + v3 * line_width/2.0).makePoint4D();
Point4D p4 = from + v2 * line_width/2.0 - v3 * line_width/2.0; Point4D p4 = (from + v2 * line_width/2.0 - v3 * line_width/2.0).makePoint4D();
// to plane // to plane
Point4D p5 = to - v2 * line_width/2.0 - v3 * line_width/2.0; Point4D p5 = (to - v2 * line_width/2.0 - v3 * line_width/2.0).makePoint4D();
Point4D p6 = to - v2 * line_width/2.0 + v3 * line_width/2.0; Point4D p6 = (to - v2 * line_width/2.0 + v3 * line_width/2.0).makePoint4D();
Point4D p7 = to + v2 * line_width/2.0 + v3 * line_width/2.0; Point4D p7 = (to + v2 * line_width/2.0 + v3 * line_width/2.0).makePoint4D();
Point4D p8 = to + v2 * line_width/2.0 - v3 * line_width/2.0; Point4D p8 = (to + v2 * line_width/2.0 - v3 * line_width/2.0).makePoint4D();
line._tris = {
line._tris = std::move(std::vector<Triangle>{
{ p2, p4, p1 }, { p2, p4, p1 },
{ p2, p3, p4 }, { p2, p3, p4 },
{ p1, p6, p2 }, { p1, p6, p2 },
@ -202,14 +199,19 @@ Mesh Mesh::LineTo(const Point4D& from, const Point4D& to, double line_width, sf:
{ p4, p7, p8 }, { p4, p7, p8 },
{ p1, p8, p5 }, { p1, p8, p5 },
{ p1, p4, p8 } { p1, p4, p8 }
}; });
line.setColor(color); line.setColor(color);
for(auto& triangle : line._tris)
triangle = Triangle(Point4D{triangle[0].x(), triangle[0].y(), triangle[0].z(), 1},
Point4D{triangle[1].x(), triangle[1].y(), triangle[1].z(), 1},
Point4D{triangle[2].x(), triangle[2].y(), triangle[2].z(), 1}, line.color());
return line; return line;
} }
Mesh::Mesh(const Mesh &mesh) : _tris(mesh._tris), _color(mesh._color), _visible(mesh._visible) {
}
void Mesh::setTriangles(const vector<Triangle> &t) {
_tris.clear();
for (auto & tri : t) {
_tris.push_back(tri);
}
}

24
engine/Mesh.h
View File

@ -19,38 +19,38 @@ private:
Mesh& operator*=(const Matrix4x4& matrix4X4); Mesh& operator*=(const Matrix4x4& matrix4X4);
public: public:
Mesh() = default; Mesh() = default;
Mesh& operator=(const Mesh& mesh) = delete;
Mesh(const Mesh& mesh); Mesh(const Mesh& mesh);
explicit Mesh(const std::vector<Triangle>& tries); explicit Mesh(const std::vector<Triangle>& tries);
Mesh& operator=(const Mesh& mesh); explicit Mesh(const std::string& filename, const std::string &materials = "", const Vec3D& scale = Vec3D{1, 1, 1});
explicit Mesh(const std::string& filename, const std::string &materials = "", const Point4D& scale = Point4D{1, 1, 1});
Mesh& loadObj(const std::string& filename, const std::string &materials = "", const Point4D& scale = Point4D{1, 1, 1}); Mesh& loadObj(const std::string& filename, const std::string &materials = "", const Vec3D& scale = Vec3D{1, 1, 1});
[[nodiscard]] std::vector<Triangle>const &triangles() const { return _tris; } [[nodiscard]] std::vector<Triangle>const &triangles() const { return _tris; }
[[nodiscard]] std::vector<Triangle>& triangles() { return _tris; } [[nodiscard]] std::vector<Triangle>& triangles() { return _tris; }
void setTriangles(const std::vector<Triangle>& t) { _tris = t; } void setTriangles(const std::vector<Triangle>& t);
// Translate body // Translate body
// Rotate body around XYZ axes // Rotate body around XYZ axes
void rotate(const Point4D& r) override; void rotate(const Vec3D& r) override;
// Rotate body around normalised vector 'v' by 'r' radians // Rotate body around normalised vector 'v' by 'r' radians
void rotate(const Point4D& v, double r) override; void rotate(const Vec3D& v, double r) override;
// Rotate body around XYZ by (r._x, r._y, r.z) radians relative val 'point4D' // Rotate body around XYZ by (r._x, r._y, r.z) radians relative val 'point4D'
void rotateRelativePoint(const Point4D& point4D, const Point4D& r) override; void rotateRelativePoint(const Vec3D& point, const Vec3D& r) override;
// Rotate body around normalised vector 'v' by 'r' radians relative val 'point4D' // Rotate body around normalised vector 'v' by 'r' radians relative val 'point4D'
void rotateRelativePoint(const Point4D& point4D, const Point4D& v, double r) override; void rotateRelativePoint(const Vec3D& point4D, const Vec3D& v, double r) override;
void scale(const Point4D& s) override; void scale(const Vec3D& s) override;
[[nodiscard]] sf::Color color() const { return _color; } [[nodiscard]] sf::Color color() const { return _color; }
void setColor(sf::Color c); void setColor(const sf::Color& c);
void setVisible(bool visibility) { _visible = visibility; } void setVisible(bool visibility) { _visible = visibility; }
[[nodiscard]] bool isVisible() const { return _visible; } [[nodiscard]] bool isVisible() const { return _visible; }
Mesh static Obj(const std::string& filename); Mesh static Obj(const std::string& filename);
std::vector<std::shared_ptr<Mesh>> static LoadObjects(const std::string& filename, const std::string &materials = "", const Point4D& scale = Point4D{1, 1, 1}); std::vector<std::shared_ptr<Mesh>> static LoadObjects(const std::string& filename, const std::string &materials = "", const Vec3D& scale = Vec3D{1, 1, 1});
Mesh static LineTo(const Point4D& from, const Point4D& to, double line_width = 0.1, sf::Color color = {150, 150, 150, 255}); Mesh static LineTo(const Vec3D& from, const Vec3D& to, double line_width = 0.1, const sf::Color& color = {150, 150, 150, 255});
}; };
#endif //INC_3DZAVR_MESH_H #endif //INC_3DZAVR_MESH_H

8
engine/Mouse.cpp
View File

@ -5,18 +5,18 @@
#include "Mouse.h" #include "Mouse.h"
#include "utils/Time.h" #include "utils/Time.h"
Point4D Mouse::getMousePosition() const { Vec2D Mouse::getMousePosition() const {
sf::Vector2<int> pos = sf::Mouse::getPosition(*_window); sf::Vector2<int> pos = sf::Mouse::getPosition(*_window);
return Point4D(pos.x, pos.y, 0, 0); return Vec2D(pos.x, pos.y);
} }
Point4D Mouse::getMouseDisplacement() const { Vec2D Mouse::getMouseDisplacement() const {
sf::Vector2<int> mousePos = sf::Mouse::getPosition(*_window); sf::Vector2<int> mousePos = sf::Mouse::getPosition(*_window);
sf::Vector2<int> center = sf::Vector2<int>(_window->getSize().x/2, _window->getSize().y/2); sf::Vector2<int> center = sf::Vector2<int>(_window->getSize().x/2, _window->getSize().y/2);
sf::Vector2<int> displacement = mousePos - center; sf::Vector2<int> displacement = mousePos - center;
//setMouseInCenter(); //setMouseInCenter();
return Point4D(displacement.x, displacement.y, 0, 0); return Vec2D(displacement.x, displacement.y);
} }
void Mouse::setMouseInCenter() const { void Mouse::setMouseInCenter() const {

6
engine/Mouse.h
View File

@ -7,7 +7,7 @@
#include <memory> #include <memory>
#include <SFML/Graphics.hpp> #include <SFML/Graphics.hpp>
#include "utils/Point4D.h" #include "Vec2D.h"
class Mouse { class Mouse {
private: private:
@ -22,8 +22,8 @@ public:
static bool isButtonPressed(sf::Mouse::Button button); // returns true if this _button is _pressed static bool isButtonPressed(sf::Mouse::Button button); // returns true if this _button is _pressed
bool isButtonTapped(sf::Mouse::Button button); // returns true if this _button is tapped and 1/5 sec passed (_button bouncing problem solved) bool isButtonTapped(sf::Mouse::Button button); // returns true if this _button is tapped and 1/5 sec passed (_button bouncing problem solved)
[[nodiscard]] Point4D getMousePosition() const; [[nodiscard]] Vec2D getMousePosition() const;
[[nodiscard]] Point4D getMouseDisplacement() const; [[nodiscard]] Vec2D getMouseDisplacement() const;
void setMouseInCenter() const; void setMouseInCenter() const;
void setMouseCursorVisible(bool visible); void setMouseCursorVisible(bool visible);
}; };

93
engine/Object.cpp
View File

@ -3,114 +3,121 @@
// //
#include "Object.h" #include "Object.h"
#include "utils/Matrix4x4.h" #include "Matrix4x4.h"
#include "utils/Log.h" #include "utils/Log.h"
void Object::translate(const Point4D &dv) { void Object::translate(const Vec3D &dv) {
_position = _position + dv; _position = std::make_unique<Vec3D>(*_position + dv);
for(auto attached : _attachedObjects) for(auto attached : _attachedObjects)
attached.second->translate(dv); attached.second->translate(dv);
} }
void Object::scale(const Point4D &s) { void Object::scale(const Vec3D &s) {
for(auto attached : _attachedObjects) for(auto attached : _attachedObjects)
attached.second->scale(s); attached.second->scale(s);
} }
void Object::rotate(const Point4D &r) { void Object::rotate(const Vec3D &r) {
_angle = _angle + r; _angle = std::make_unique<Vec3D>(*_angle + r);
Matrix4x4 rotationMatrix = Matrix4x4::RotationZ(r.z())*Matrix4x4::RotationY(r.y())*Matrix4x4::RotationX(r.z()); Matrix4x4 rotationMatrix = Matrix4x4::RotationZ(r.z())*Matrix4x4::RotationY(r.y())*Matrix4x4::RotationX(r.z());
_left = rotationMatrix * _left; _left = std::make_unique<Vec3D>(rotationMatrix * *_left);
_up = rotationMatrix * _up; _up = std::make_unique<Vec3D>(rotationMatrix * *_up);
_lookAt = rotationMatrix * _lookAt; _lookAt = std::make_unique<Vec3D>(rotationMatrix * *_lookAt);
for(auto attached : _attachedObjects) for(auto attached : _attachedObjects)
attached.second->rotateRelativePoint(position(), r); attached.second->rotateRelativePoint(position(), r);
} }
void Object::rotate(const Point4D &v, double rv) { void Object::rotate(const Vec3D &v, double rv) {
Matrix4x4 rotationMatrix = Matrix4x4::Rotation(v, rv); Matrix4x4 rotationMatrix = Matrix4x4::Rotation(v, rv);
_left = rotationMatrix * _left;
_up = rotationMatrix * _up; _left = std::make_unique<Vec3D>(rotationMatrix * *_left);
_lookAt = rotationMatrix * _lookAt; _up = std::make_unique<Vec3D>(rotationMatrix * *_up);
_lookAt = std::make_unique<Vec3D>(rotationMatrix * *_lookAt);
for(auto attached : _attachedObjects) for(auto attached : _attachedObjects)
attached.second->rotateRelativePoint(position(), v, rv); attached.second->rotateRelativePoint(position(), v, rv);
} }
void Object::rotateRelativePoint(const Point4D &s, const Point4D &r) { void Object::rotateRelativePoint(const Vec3D &s, const Vec3D &r) {
_angle = _angle + r; _angle = std::make_unique<Vec3D>(*_angle + r);
// Translate XYZ by vector r1 // Translate XYZ by vector r1
Point4D r1 = _position - s; Vec3D r1(*_position - s);
// In translated coordinate system we rotate body and position // In translated coordinate system we rotate body and position
Matrix4x4 rotationMatrix = Matrix4x4::Rotation(r); Matrix4x4 rotationMatrix = Matrix4x4::Rotation(r);
Point4D r2 = rotationMatrix*r1; Vec3D r2(rotationMatrix*r1);
_left = rotationMatrix * _left; _left = std::make_unique<Vec3D>(rotationMatrix * *_left);
_up = rotationMatrix * _up; _up = std::make_unique<Vec3D>(rotationMatrix * *_up);
_lookAt = rotationMatrix * _lookAt; _lookAt = std::make_unique<Vec3D>(rotationMatrix * *_lookAt);
// After rotation we translate XYZ by vector -r2 and recalculate position // After rotation we translate XYZ by vector -r2 and recalculate position
_position = s + r2; _position = std::make_unique<Vec3D>(s + r2);
for(auto attached : _attachedObjects) for(auto attached : _attachedObjects)
attached.second->rotateRelativePoint(s, r); attached.second->rotateRelativePoint(s, r);
} }
void Object::rotateRelativePoint(const Point4D &s, const Point4D &v, double r) { void Object::rotateRelativePoint(const Vec3D &s, const Vec3D &v, double r) {
// Translate XYZ by vector r1 // Translate XYZ by vector r1
Point4D r1 = _position - s; Vec3D r1(*_position - s);
// In translated coordinate system we rotate body and position // In translated coordinate system we rotate body and position
Matrix4x4 rotationMatrix = Matrix4x4::Rotation(v, r); Matrix4x4 rotationMatrix = Matrix4x4::Rotation(v, r);
Point4D r2 = rotationMatrix*r1; Vec3D r2 = rotationMatrix*r1;
_left = rotationMatrix * _left; _left = std::make_unique<Vec3D>(rotationMatrix * *_left);
_up = rotationMatrix * _up; _up = std::make_unique<Vec3D>(rotationMatrix * *_up);
_lookAt = rotationMatrix * _lookAt; _lookAt = std::make_unique<Vec3D>(rotationMatrix * *_lookAt);
// After rotation we translate XYZ by vector -r2 and recalculate position // After rotation we translate XYZ by vector -r2 and recalculate position
_position = s + r2; _position = std::make_unique<Vec3D>(s + r2);
for(auto attached : _attachedObjects) for(auto attached : _attachedObjects)
attached.second->rotateRelativePoint(s, v, r); attached.second->rotateRelativePoint(s, v, r);
} }
void Object::rotateLeft(double rl) { void Object::rotateLeft(double rl) {
_angleLeftUpLookAt = Point4D{_angleLeftUpLookAt.x() + rl, _angleLeftUpLookAt.y(), _angleLeftUpLookAt.z()}; _angleLeftUpLookAt = std::make_unique<Vec3D>(Vec3D{_angleLeftUpLookAt->x() + rl,
_angleLeftUpLookAt->y(),
_angleLeftUpLookAt->z()});
rotate(_left, rl); rotate(*_left, rl);
for(auto attached : _attachedObjects) for(auto attached : _attachedObjects)
attached.second->rotateRelativePoint(position(), _left, rl); attached.second->rotateRelativePoint(position(), *_left, rl);
} }
void Object::rotateUp(double ru) { void Object::rotateUp(double ru) {
_angleLeftUpLookAt = Point4D{_angleLeftUpLookAt.x(), _angleLeftUpLookAt.y() + ru, _angleLeftUpLookAt.z()}; _angleLeftUpLookAt = std::make_unique<Vec3D>(Vec3D{_angleLeftUpLookAt->x(),
rotate(_up, ru); _angleLeftUpLookAt->y() + ru,
_angleLeftUpLookAt->z()});
rotate(*_up, ru);
for(auto attached : _attachedObjects) for(auto attached : _attachedObjects)
attached.second->rotateRelativePoint(position(), _up, ru); attached.second->rotateRelativePoint(position(), *_up, ru);
} }
void Object::rotateLookAt(double rlAt) { void Object::rotateLookAt(double rlAt) {
_angleLeftUpLookAt = Point4D{_angleLeftUpLookAt.x(), _angleLeftUpLookAt.y(), _angleLeftUpLookAt.z() + rlAt}; _angleLeftUpLookAt = std::make_unique<Vec3D>(Vec3D{_angleLeftUpLookAt->x(),
rotate(_lookAt, rlAt); _angleLeftUpLookAt->y(),
_angleLeftUpLookAt->z() + rlAt});
rotate(*_lookAt, rlAt);
for(auto attached : _attachedObjects) for(auto attached : _attachedObjects)
attached.second->rotateRelativePoint(position(), _lookAt, rlAt); attached.second->rotateRelativePoint(position(), *_lookAt, rlAt);
} }
void Object::translateToPoint(const Point4D &point) { void Object::translateToPoint(const Vec3D &point) {
translate(point - _position); translate(point - *_position);
} }
void Object::rotateToAngle(const Point4D &v) { void Object::rotateToAngle(const Vec3D &v) {
rotate(v - _angle); rotate(v - *_angle);
} }
std::shared_ptr<Object> Object::attached(const std::string &name) { std::shared_ptr<Object> Object::attached(const std::string &name) {
@ -120,7 +127,11 @@ std::shared_ptr<Object> Object::attached(const std::string &name) {
} }
void Object::attach(std::shared_ptr<Object> object, const std::string &name) { void Object::attach(std::shared_ptr<Object> object, const std::string &name) {
// TODO: solve problem with possible infinite recursive call chains
if(this != object.get())
_attachedObjects.emplace(name, object); _attachedObjects.emplace(name, object);
else
throw std::invalid_argument{"Object::attach: You cannot attach object to itself"};
} }
void Object::unattach(const std::string &name) { void Object::unattach(const std::string &name) {

42
engine/Object.h
View File

@ -6,40 +6,40 @@
#define ENGINE_OBJECT_H #define ENGINE_OBJECT_H
#include <map> #include <map>
#include "utils/Point4D.h" #include "Vec3D.h"
#include <memory> #include <memory>
#include <string> #include <string>
class Object { class Object {
protected: protected:
Point4D _left = Point4D{1, 0, 0, 0}; // internal X std::unique_ptr<Vec3D> _left = std::make_unique<Vec3D>(Vec3D{1, 0, 0}); // internal X
Point4D _up = Point4D{0, 1, 0, 0}; // internal Y std::unique_ptr<Vec3D> _up = std::make_unique<Vec3D>(Vec3D{0, 1, 0}); // internal Y
Point4D _lookAt = Point4D{0, 0, 1, 0}; // internal Z std::unique_ptr<Vec3D> _lookAt = std::make_unique<Vec3D>(Vec3D{0, 0, 1}); // internal Z
std::map<std::string, std::shared_ptr<Object>> _attachedObjects; std::map<std::string, std::shared_ptr<Object>> _attachedObjects;
Point4D _position; std::unique_ptr<Vec3D> _position = std::make_unique<Vec3D>(Vec3D{0, 0, 0});
Point4D _angle; std::unique_ptr<Vec3D> _angle = std::make_unique<Vec3D>(Vec3D{0, 0, 0});
Point4D _angleLeftUpLookAt; std::unique_ptr<Vec3D> _angleLeftUpLookAt = std::make_unique<Vec3D>(Vec3D{0, 0, 0});
public: public:
Object() = default; Object() = default;
virtual void translate(const Point4D& dv); virtual void translate(const Vec3D& dv);
virtual void translateToPoint(const Point4D& point); virtual void translateToPoint(const Vec3D& point);
virtual void scale(const Point4D& s); virtual void scale(const Vec3D& s);
virtual void rotate(const Point4D& r); virtual void rotate(const Vec3D& r);
virtual void rotate(const Point4D& v, double rv); virtual void rotate(const Vec3D& v, double rv);
virtual void rotateToAngle(const Point4D& v); virtual void rotateToAngle(const Vec3D& v);
virtual void rotateRelativePoint(const Point4D& s, const Point4D& r); virtual void rotateRelativePoint(const Vec3D& s, const Vec3D& r);
virtual void rotateRelativePoint(const Point4D& s, const Point4D& v, double r); virtual void rotateRelativePoint(const Vec3D& s, const Vec3D& v, double r);
[[nodiscard]] Point4D position() const { return _position; } [[nodiscard]] Vec3D position() const { return *_position; }
[[nodiscard]] Point4D angle() const { return _angle; } [[nodiscard]] Vec3D angle() const { return *_angle; }
[[nodiscard]] Point4D angleLeftUpLookAt() const { return _angleLeftUpLookAt; } [[nodiscard]] Vec3D angleLeftUpLookAt() const { return *_angleLeftUpLookAt; }
[[nodiscard]] Point4D left() const { return _left; } [[nodiscard]] Vec3D left() const { return *_left; }
[[nodiscard]] Point4D up() const { return _up; } [[nodiscard]] Vec3D up() const { return *_up; }
[[nodiscard]] Point4D lookAt() const { return _lookAt; } [[nodiscard]] Vec3D lookAt() const { return *_lookAt; }
void rotateLeft(double rl); void rotateLeft(double rl);
void rotateUp(double ru); void rotateUp(double ru);

84
engine/Plane.cpp
View File

@ -4,75 +4,71 @@
#include "Plane.h" #include "Plane.h"
Plane::Plane(const Triangle& tri) { Plane::Plane(const Triangle& tri) : _triangle(tri), _n(tri.norm()), _p(tri[0]) {
_triangle = tri;
_n = tri.norm();
_p = tri[0];
} }
Plane::Plane(const Point4D &N, const Point4D &P) { Plane::Plane(const Vec3D &N, const Vec3D &P) : _n(N.normalized()), _p(P) {
_n = N.normalized();
_p = P;
} }
Plane::Plane(const Plane &plane) { double Plane::distance(const Vec3D &point) const {
_triangle = plane._triangle; return point.dot(_n) - _p.dot(_n);
_n = plane._n;
_p = plane._p;
} }
double Plane::distance(const Point4D &point4D) const { std::pair<Vec3D, double> Plane::intersection(const Vec3D &start, const Vec3D &end) const {
return point4D.dot(_n) - _p.dot(_n);
}
std::pair<Point4D, double> Plane::intersection(const Point4D &start, const Point4D &end) const {
double s_dot_n = start.dot(_n); double s_dot_n = start.dot(_n);
double k = (s_dot_n - _p.dot(_n)) / (s_dot_n - end.dot(_n)); double k = (s_dot_n - _p.dot(_n)) / (s_dot_n - end.dot(_n));
Point4D res = start + (end - start)*k; Vec3D res = start + (end - start)*k;
return std::make_pair(res, k); return std::make_pair(res, k);
} }
int Plane::clip(Triangle &tri, Triangle &additional_tri) const { std::vector<Triangle> Plane::clip(const Triangle &tri) const {
Point4D insidePoints[3]; int inside = 0; std::vector<Triangle> result;
Point4D outsidePoints[3]; int outside = 0;
double distances[3] = {distance(tri[0]), distance(tri[1]), distance(tri[2])}; std::vector<Vec3D> insidePoints;
std::vector<Vec3D> outsidePoints;
double distances[3] = {distance(Vec3D(tri[0])),
distance(Vec3D(tri[1])),
distance(Vec3D(tri[2]))};
for(int i = 0; i < 3; i++) { for(int i = 0; i < 3; i++) {
if (distances[i] >= 0) { if (distances[i] >= 0) {
insidePoints[inside++] = tri[i]; insidePoints.emplace_back(tri[i]);
} else { } else {
outsidePoints[outside++] = tri[i]; outsidePoints.emplace_back(tri[i]);
} }
} }
if(inside == 0) { if(insidePoints.size() == 1) {
return 0; std::pair<Vec3D, double> intersect1 = intersection(insidePoints[0], outsidePoints[0]);
std::pair<Vec3D, double> intersect2 = intersection(insidePoints[0], outsidePoints[1]);
result.emplace_back(insidePoints[0].makePoint4D(),
intersect1.first.makePoint4D(),
intersect2.first.makePoint4D(),
tri.color());
} }
if(inside == 1) { if(insidePoints.size() == 2) {
std::pair<Point4D, double> intersect1 = intersection(insidePoints[0], outsidePoints[0]); std::pair<Vec3D, double> intersect1 = intersection(insidePoints[0], outsidePoints[0]);
std::pair<Point4D, double> intersect2 = intersection(insidePoints[0], outsidePoints[1]); std::pair<Vec3D, double> intersect2 = intersection(insidePoints[1], outsidePoints[0]);
tri = Triangle(insidePoints[0], intersect1.first, intersect2.first, tri.color()); result.emplace_back(insidePoints[0].makePoint4D(),
intersect1.first.makePoint4D(),
return 1; insidePoints[1].makePoint4D(),
tri.color());
result.emplace_back(intersect1.first.makePoint4D(),
intersect2.first.makePoint4D(),
insidePoints[1].makePoint4D(),
tri.color());
} }
if(inside == 2) { if(insidePoints.size() == 3) {
std::pair<Point4D, double> intersect1 = intersection(insidePoints[0], outsidePoints[0]); result.emplace_back(tri);
std::pair<Point4D, double> intersect2 = intersection(insidePoints[1], outsidePoints[0]);
tri = Triangle(insidePoints[0], intersect1.first, insidePoints[1], tri.color());
additional_tri = Triangle(intersect1.first, intersect2.first, insidePoints[1], tri.color());
return 2;
} }
if(inside == 3) { return result;
return 1;
}
return 0;
} }

20
engine/Plane.h
View File

@ -5,7 +5,7 @@
#ifndef ENGINE_PLANE_H #ifndef ENGINE_PLANE_H
#define ENGINE_PLANE_H #define ENGINE_PLANE_H
#include "utils/Point4D.h" #include "Point4D.h"
#include "Triangle.h" #include "Triangle.h"
class Plane { class Plane {
@ -13,22 +13,22 @@ private:
// You can define plane by defining the points in 3D space // You can define plane by defining the points in 3D space
Triangle _triangle; Triangle _triangle;
// Or by defining normal vector and one val laying on the plane // Or by defining normal vector and one val laying on the plane
Point4D _n = Point4D{0, 0, 1, 0}; Vec3D _n = Vec3D{0, 0, 1};
Point4D _p{}; Vec3D _p{};
public: public:
// A plain with normal vector '_n' and val '_p' lays on the plane // A plain with normal vector '_n' and val '_p' lays on the plane
Plane() = default; Plane() = default;
Plane(const Point4D& N, const Point4D& P); Plane(const Vec3D& N, const Vec3D& P);
Plane(const Plane& plane); Plane(const Plane& plane) = default;
explicit Plane(const Triangle& tri); explicit Plane(const Triangle& tri);
[[nodiscard]] double distance(const Point4D& point4D) const; [[nodiscard]] double distance(const Vec3D& point4D) const;
// Point4D in space where line ('start' to 'end') intersects plain with normal vector '_n' and val '_p' lays on the plane // Point4D in space where line ('start' to 'end') intersects plain with normal vector '_n' and val '_p' lays on the plane
[[nodiscard]] std::pair<Point4D, double> intersection(const Point4D& start, const Point4D& end) const; [[nodiscard]] std::pair<Vec3D, double> intersection(const Vec3D& start, const Vec3D& end) const;
int clip(Triangle& tri, Triangle& additional_tri) const; [[nodiscard]] std::vector<Triangle> clip(const Triangle& tri) const;
[[nodiscard]] Point4D N() const { return _n; } [[nodiscard]] Vec3D N() const { return _n; }
[[nodiscard]] Point4D P() const { return _p; } [[nodiscard]] Vec3D P() const { return _p; }
}; };

40
engine/utils/Point4D.cpp → engine/Point4D.cpp
View File

@ -4,6 +4,7 @@
#include "Point4D.h" #include "Point4D.h"
#include <cmath> #include <cmath>
#include <stdexcept>
Point4D::Point4D (double x, double y, double z, double w) { Point4D::Point4D (double x, double y, double z, double w) {
_arr_point[0] = x; _arr_point[0] = x;
@ -19,60 +20,51 @@ Point4D::Point4D(const Point4D &point4D) {
_arr_point[3] = point4D.w(); _arr_point[3] = point4D.w();
} }
[[nodiscard]] double Point4D::operator[] (int i) const {
return _arr_point[i];
}
[[nodiscard]] Point4D Point4D::operator-() const { [[nodiscard]] Point4D Point4D::operator-() const {
return Point4D(-x(), -y(), -z(), -w()); return Point4D(-x(), -y(), -z(), -w());
} }
bool Point4D::operator==(const Point4D& point4D) const bool Point4D::operator==(const Point4D& point4D) const {
{ return (*this - point4D).sqrAbs() < Consts::EPS;
return this == &point4D || (*this - point4D).sqrAbs() < 0.0000000001;
} }
bool Point4D::operator!=(const Point4D& point4D) const
{ bool Point4D::operator!=(const Point4D& point4D) const {
return this != &point4D && (*this - point4D).sqrAbs() > 0.0000000001; return !(*this == point4D);
} }
// Operations with Point4D // Operations with Point4D
Point4D Point4D::operator+(const Point4D& point4D) const { Point4D Point4D::operator+(const Point4D& point4D) const {
return Point4D(x()+point4D.x(), y()+point4D.y(), z()+point4D.z(), w()+point4D.w()); return Point4D(x()+point4D.x(), y()+point4D.y(), z()+point4D.z(), w()+point4D.w());
} }
Point4D Point4D::operator-(const Point4D& point4D) const { Point4D Point4D::operator-(const Point4D& point4D) const {
return Point4D(*this) + -point4D; return Point4D(*this) + -point4D;
} }
double Point4D::dot(const Point4D& point4D) const
{
return point4D.x() * x() + point4D.y() * y() + point4D.z() * z();
}
[[nodiscard]] Point4D Point4D::cross3D(const Point4D& point4D) const {
return Point4D {y() * point4D.z() - point4D.y() * z(),
z() * point4D.x() - point4D.z() * x(),
x() * point4D.y() - point4D.x() * y()};
}
Point4D Point4D::operator*(double number) const { Point4D Point4D::operator*(double number) const {
return Point4D(x()*number, y()*number, z()*number, w()*number); return Point4D(x()*number, y()*number, z()*number, w()*number);
} }
Point4D Point4D::operator/(double number) const { Point4D Point4D::operator/(double number) const {
if(number != 0) if(std::abs(number) > Consts::EPS)
return Point4D(*this)*(1.0/number); return Point4D(*this)*(1.0/number);
else else
return Point4D(); throw std::domain_error{"Point4D::operator/(double number): division by zero"};
} }
// Other useful methods // Other useful methods
double Point4D::sqrAbs() const double Point4D::sqrAbs() const {
{
return x()*x() + y()*y() + z()*z(); return x()*x() + y()*y() + z()*z();
} }
double Point4D::abs() const { double Point4D::abs() const {
return sqrt(sqrAbs()); return sqrt(sqrAbs());
} }
Point4D Point4D::normalized() const { Point4D Point4D::normalized() const {
double vecAbs = abs();
if(vecAbs > Consts::EPS)
return Point4D(*this)/abs(); return Point4D(*this)/abs();
else
return Point4D(0);
} }

9
engine/utils/Point4D.h → engine/Point4D.h
View File

@ -6,6 +6,7 @@
#define ENGINE_POINT4D_H #define ENGINE_POINT4D_H
#include <array> #include <array>
#include "Consts.h"
class Point4D { class Point4D {
private: private:
@ -14,16 +15,15 @@ private:
public: public:
Point4D () = default; Point4D () = default;
Point4D (const Point4D& point4D); Point4D (const Point4D& point4D);
Point4D& operator=(const Point4D& point4D) { _arr_point = point4D._arr_point; return *this; };
explicit Point4D (double x, double y = 0.0, double z = 0.0, double w = 0.0); explicit Point4D (double x, double y = 0.0, double z = 0.0, double w = 0.0);
Point4D& operator=(const Point4D& point4D) = delete;
[[nodiscard]] double x() const { return _arr_point[0]; } [[nodiscard]] double x() const { return _arr_point[0]; }
[[nodiscard]] double y() const { return _arr_point[1]; } [[nodiscard]] double y() const { return _arr_point[1]; }
[[nodiscard]] double z() const { return _arr_point[2]; } [[nodiscard]] double z() const { return _arr_point[2]; }
[[nodiscard]] double w() const { return _arr_point[3]; } [[nodiscard]] double w() const { return _arr_point[3]; }
[[nodiscard]] double operator[] (int i) const;
[[nodiscard]] Point4D operator-() const; [[nodiscard]] Point4D operator-() const;
// Boolean operations // Boolean operations
@ -34,9 +34,6 @@ public:
[[nodiscard]] Point4D operator+(const Point4D& point4D) const; [[nodiscard]] Point4D operator+(const Point4D& point4D) const;
[[nodiscard]] Point4D operator-(const Point4D& point4D) const; [[nodiscard]] Point4D operator-(const Point4D& point4D) const;
[[nodiscard]] double dot(const Point4D& point4D) const; // Returns dot product
[[nodiscard]] Point4D cross3D(const Point4D& point4D) const; // Returns cross product
// Operations with numbers // Operations with numbers
[[nodiscard]] Point4D operator*(double number) const; [[nodiscard]] Point4D operator*(double number) const;
[[nodiscard]] Point4D operator/(double number) const; [[nodiscard]] Point4D operator/(double number) const;

4
engine/Screen.cpp
View File

@ -78,7 +78,7 @@ void Screen::debugText(const std::string& text) {
_window->draw(t); _window->draw(t);
} }
void Screen::drawTetragon(const Point4D &p1, const Point4D &p2, const Point4D &p3, const Point4D &p4, sf::Color color) { void Screen::drawTetragon(const Vec2D &p1, const Vec2D &p2, const Vec2D &p3, const Vec2D &p4, sf::Color color) {
sf::ConvexShape polygon; sf::ConvexShape polygon;
polygon.setPointCount(4); polygon.setPointCount(4);
polygon.setPoint(0, sf::Vector2f((float)p1.x(), (float)p1.y())); polygon.setPoint(0, sf::Vector2f((float)p1.x(), (float)p1.y()));
@ -89,7 +89,7 @@ void Screen::drawTetragon(const Point4D &p1, const Point4D &p2, const Point4D &p
_window->draw(polygon); _window->draw(polygon);
} }
void Screen::drawText(const std::string& string, const Point4D &position, int size, sf::Color color) { void Screen::drawText(const std::string& string, const Vec2D &position, int size, sf::Color color) {
sf::Text text; sf::Text text;
text.setFont(*ResourceManager::loadFont("engine/fonts/Roboto-Medium.ttf")); text.setFont(*ResourceManager::loadFont("engine/fonts/Roboto-Medium.ttf"));

4
engine/Screen.h
View File

@ -33,8 +33,8 @@ public:
bool hasFocus() const { return _window->hasFocus(); } bool hasFocus() const { return _window->hasFocus(); }
void drawTriangle(const Triangle& triangle); void drawTriangle(const Triangle& triangle);
void drawTetragon(const Point4D& p1, const Point4D& p2, const Point4D& p3, const Point4D& p4, sf::Color color); void drawTetragon(const Vec2D& p1, const Vec2D& p2, const Vec2D& p3, const Vec2D& p4, sf::Color color);
void drawText(const std::string& string, const Point4D& position, int size, sf::Color color); void drawText(const std::string& string, const Vec2D& position, int size, sf::Color color);
void drawText(const sf::Text& text); void drawText(const sf::Text& text);
void drawSprite(const sf::Sprite& sprite); void drawSprite(const sf::Sprite& sprite);

58
engine/Triangle.cpp
View File

@ -5,53 +5,47 @@
#include "Triangle.h" #include "Triangle.h"
Triangle::Triangle () { Triangle::Triangle () {
_p[0] = Point4D{0, 0, 0, 1}; _points.emplace_back(Point4D(0, 0, 0, 1));
_p[1] = Point4D{0, 0, 0, 1}; _points.emplace_back(Point4D(0, 0, 0, 1));
_p[2] = Point4D{0, 0, 0, 1}; _points.emplace_back(Point4D(0, 0, 0, 1));
} }
Triangle::Triangle(const Point4D& p1, const Point4D& p2, const Point4D& p3, sf::Color color) { Triangle::Triangle(const Point4D& p1, const Point4D& p2, const Point4D& p3, sf::Color color) : _color(color) {
_p[0] = p1; _points.emplace_back(Point4D(p1));
_p[1] = p2; _points.emplace_back(Point4D(p2));
_p[2] = p3; _points.emplace_back(Point4D(p3));
_color = color; }
Triangle::Triangle(const Triangle &triangle) : _points(triangle._points), _color(triangle._color) {
} }
Triangle Triangle::operator*(const Matrix4x4 &matrix4X4) const { Triangle Triangle::operator*(const Matrix4x4 &matrix4X4) const {
Triangle res(*this); return Triangle(matrix4X4 * _points[0], matrix4X4 * _points[1], matrix4X4 * _points[2], _color);
res._p[0] = matrix4X4 * _p[0];
res._p[1] = matrix4X4 * _p[1];
res._p[2] = matrix4X4 * _p[2];
return res;
} }
Point4D Triangle::norm() const { Vec3D Triangle::norm() const {
Point4D v1 = _p[1] - _p[0]; Vec3D v1 = Vec3D(_points[1] - _points[0]);
Point4D v2 = _p[2] - _p[0]; Vec3D v2 = Vec3D(_points[2] - _points[0]);
Vec3D crossProduct = v1.cross(v2);
return v1.cross3D(v2).normalized(); if(crossProduct.sqrAbs() > Consts::EPS)
return crossProduct.normalized();
else
return Vec3D(0);
} }
Point4D Triangle::operator[](int i) const { Point4D Triangle::operator[](int i) const {
return _p[i]; return _points[i];
} }
Triangle::Triangle(const Triangle &triangle) { bool Triangle::isPointInside(const Vec3D &point) const {
_color = triangle._color; Vec3D triangleNorm = norm();
_p[0] = triangle[0];
_p[1] = triangle[1];
_p[2] = triangle[2];
}
bool Triangle::isPointInside(const Point4D &point) const { double dot1 = (point - Vec3D(_points[0])).cross(Vec3D(_points[1] - _points[0])).dot(triangleNorm);
Point4D triangleNorm = norm(); double dot2 = (point - Vec3D(_points[1])).cross(Vec3D(_points[2] - _points[1])).dot(triangleNorm);
double dot3 = (point - Vec3D(_points[2])).cross(Vec3D(_points[0] - _points[2])).dot(triangleNorm);
double dot1 = (point - _p[0]).cross3D(_p[1] - _p[0]).dot(triangleNorm);
double dot2 = (point - _p[1]).cross3D(_p[2] - _p[1]).dot(triangleNorm);
double dot3 = (point - _p[2]).cross3D(_p[0] - _p[2]).dot(triangleNorm);
if((dot1 >= 0 && dot2 >= 0 && dot3 >= 0) || (dot1 <= 0 && dot2 <= 0 && dot3 <= 0)) if((dot1 >= 0 && dot2 >= 0 && dot3 >= 0) || (dot1 <= 0 && dot2 <= 0 && dot3 <= 0))
return true; return true;

14
engine/Triangle.h
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@ -5,30 +5,32 @@
#ifndef ENGINE_TRIANGLE_H #ifndef ENGINE_TRIANGLE_H
#define ENGINE_TRIANGLE_H #define ENGINE_TRIANGLE_H
#include "utils/Point4D.h" #include "Point4D.h"
#include "utils/Matrix4x4.h" #include "Vec3D.h"
#include "Matrix4x4.h"
#include <SFML/Graphics.hpp> #include <SFML/Graphics.hpp>
class Triangle { class Triangle {
private: private:
sf::Color _color; sf::Color _color;
Point4D _p[3]; std::vector<Point4D> _points;
public: public:
Triangle (); Triangle ();
Triangle (const Triangle& triangle); Triangle (const Triangle& triangle);
Triangle (const Point4D& p1, const Point4D& p2, const Point4D& p3, sf::Color color = {0, 0, 0}); Triangle (const Point4D& p1, const Point4D& p2, const Point4D& p3, sf::Color color = {0, 0, 0});
Triangle& operator=(const Triangle&) = delete;
[[nodiscard]] Point4D operator[] (int i) const; [[nodiscard]] Point4D operator[] (int i) const;
[[nodiscard]] Point4D norm() const; [[nodiscard]] Vec3D norm() const;
// Operations with Matrix4x4 // Operations with Matrix4x4
[[nodiscard]] Triangle operator*(const Matrix4x4& matrix4X4) const; [[nodiscard]] Triangle operator*(const Matrix4x4& matrix4X4) const;
[[nodiscard]] bool isPointInside(const Point4D& point) const; [[nodiscard]] bool isPointInside(const Vec3D& point) const;
[[nodiscard]] sf::Color color() const { return _color; } [[nodiscard]] sf::Color color() const { return _color; }
}; };

71
engine/Vec2D.cpp Normal file
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@ -0,0 +1,71 @@
//
// Created by Иван Ильин on 10.10.2021.
//
#include <cmath>
#include "Vec2D.h"
Vec2D::Vec2D(const Vec2D &vec) {
_arr_point[0] = vec.x();
_arr_point[1] = vec.y();
}
Vec2D::Vec2D (double x, double y) {
_arr_point[0] = x;
_arr_point[1] = y;
}
Vec2D::Vec2D(const Point4D &point4D) {
_arr_point[0] = point4D.x();
_arr_point[1] = point4D.y();
}
Vec2D Vec2D::operator-() const {
return Vec2D(-x(), -y());
}
bool Vec2D::operator==(const Vec2D& vec) const {
return (*this - vec).sqrAbs() < Consts::EPS;
}
bool Vec2D::operator!=(const Vec2D& vec) const {
return !(*this == vec);
}
Vec2D Vec2D::operator+(const Vec2D& vec) const {
return Vec2D(x()+vec.x(), y()+vec.y());
}
Vec2D Vec2D::operator-(const Vec2D& vec) const {
return Vec2D(*this) + -vec;
}
Vec2D Vec2D::operator*(double number) const {
return Vec2D(x()*number, y()*number);
}
Vec2D Vec2D::operator/(double number) const {
if(std::abs(number) > Consts::EPS)
return Vec2D(*this)*(1.0/number);
else
throw std::domain_error{"Vec2D::operator/(double number): division by zero"};
}
// Other useful methods
double Vec2D::sqrAbs() const {
return x()*x() + y()*y();
}
double Vec2D::abs() const {
return sqrt(sqrAbs());
}
Vec2D Vec2D::normalized() const {
double vecAbs = abs();
if(vecAbs > Consts::EPS)
return Vec2D(*this)/abs();
else
return Vec2D(0);
}
double Vec2D::dot(const Vec2D& vec) const {
return vec.x() * x() + vec.y() * y();
}

48
engine/Vec2D.h Normal file
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@ -0,0 +1,48 @@
//
// Created by Иван Ильин on 10.10.2021.
//
#ifndef SHOOTER_VEC2D_H
#define SHOOTER_VEC2D_H
#include <array>
#include "Point4D.h"
class Vec2D {
private:
std::array<double, 2> _arr_point{};
public:
Vec2D () = default;
Vec2D (const Vec2D& vec);
Vec2D (const Point4D& point4D);
explicit Vec2D (double x, double y = 0.0);
Vec2D& operator=(const Vec2D&) = delete;
[[nodiscard]] double x() const { return _arr_point[0]; }
[[nodiscard]] double y() const { return _arr_point[1]; }
[[nodiscard]] Vec2D operator-() const;
// Boolean operations
bool operator==(const Vec2D& vec) const;
bool operator!=(const Vec2D& vec) const;
[[nodiscard]] Vec2D operator+(const Vec2D& vec) const;
[[nodiscard]] Vec2D operator-(const Vec2D& vec) const;
[[nodiscard]] double dot(const Vec2D& vec) const; // Returns dot product
// Operations with numbers
[[nodiscard]] Vec2D operator*(double number) const;
[[nodiscard]] Vec2D operator/(double number) const;
// Other useful methods
[[nodiscard]] double sqrAbs() const; // Returns squared vector length
[[nodiscard]] double abs() const; // Returns vector length
[[nodiscard]] Vec2D normalized() const; // Returns normalized vector without changing
};
#endif //SHOOTER_VEC2D_H

86
engine/Vec3D.cpp Normal file
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@ -0,0 +1,86 @@
//
// Created by Иван Ильин on 09.10.2021.
//
#include "Vec3D.h"
#include <cmath>
#include <stdexcept>
Vec3D::Vec3D(const Vec3D &vec) {
_arr_point[0] = vec.x();
_arr_point[1] = vec.y();
_arr_point[2] = vec.z();
}
Vec3D::Vec3D (const Point4D& point4D) {
_arr_point[0] = point4D.x();
_arr_point[1] = point4D.y();
_arr_point[2] = point4D.z();
}
Vec3D::Vec3D (double x, double y, double z) {
_arr_point[0] = x;
_arr_point[1] = y;
_arr_point[2] = z;
}
Vec3D Vec3D::operator-() const {
return Vec3D(-x(), -y(), -z());
}
bool Vec3D::operator==(const Vec3D& vec) const {
return (*this - vec).sqrAbs() < Consts::EPS;
}
bool Vec3D::operator!=(const Vec3D& vec) const {
return !(*this == vec);
}
// Operations with Vec3D
Vec3D Vec3D::operator+(const Vec3D& vec) const {
return Vec3D(x()+vec.x(), y()+vec.y(), z()+vec.z());
}
Vec3D Vec3D::operator-(const Vec3D& vec) const {
return Vec3D(*this) + -vec;
}
Vec3D Vec3D::operator*(double number) const {
return Vec3D(x()*number, y()*number, z()*number);
}
Vec3D Vec3D::operator/(double number) const {
if(std::abs(number) > Consts::EPS)
return Vec3D(*this)*(1.0/number);
else
throw std::domain_error{"Vec3D::operator/(double number): division by zero"};
}
// Other useful methods
double Vec3D::sqrAbs() const {
return x()*x() + y()*y() + z()*z();
}
double Vec3D::abs() const {
return sqrt(sqrAbs());
}
Vec3D Vec3D::normalized() const {
double vecAbs = abs();
if(vecAbs > Consts::EPS)
return Vec3D(*this)/abs();
else
return Vec3D(0);
}
double Vec3D::dot(const Vec3D& vec) const {
return vec.x() * x() + vec.y() * y() + vec.z() * z();
}
Vec3D Vec3D::cross(const Vec3D& vec) const {
return Vec3D{y() * vec.z() - vec.y() * z(),
z() * vec.x() - vec.z() * x(),
x() * vec.y() - vec.x() * y()};
}
Point4D Vec3D::makePoint4D() const {
return Point4D(x(), y(), z(), 1.0);
}

51
engine/Vec3D.h Normal file
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@ -0,0 +1,51 @@
//
// Created by Иван Ильин on 09.10.2021.
//
#ifndef SHOOTER_VEC3D_H
#define SHOOTER_VEC3D_H
#include <array>
#include "Point4D.h"
class Vec3D {
private:
std::array<double, 3> _arr_point{};
public:
Vec3D () = default;
Vec3D (const Vec3D& vec);
explicit Vec3D (const Point4D& vec);
explicit Vec3D (double x, double y = 0.0, double z = 0.0);
Vec3D& operator=(const Vec3D&) = delete;
[[nodiscard]] double x() const { return _arr_point[0]; }
[[nodiscard]] double y() const { return _arr_point[1]; }
[[nodiscard]] double z() const { return _arr_point[2]; }
[[nodiscard]] Vec3D operator-() const;
// Boolean operations
bool operator==(const Vec3D& vec) const;
bool operator!=(const Vec3D& vec) const;
// Operations with Point4D
[[nodiscard]] Vec3D operator+(const Vec3D& vec) const;
[[nodiscard]] Vec3D operator-(const Vec3D& vec) const;
[[nodiscard]] double dot(const Vec3D& vec) const; // Returns dot product
[[nodiscard]] Vec3D cross(const Vec3D& vec) const; // Returns cross product
// Operations with numbers
[[nodiscard]] Vec3D operator*(double number) const;
[[nodiscard]] Vec3D operator/(double number) const;
// Other useful methods
[[nodiscard]] double sqrAbs() const; // Returns squared vector length
[[nodiscard]] double abs() const; // Returns vector length
[[nodiscard]] Vec3D normalized() const; // Returns normalized vector without changing
[[nodiscard]] Point4D makePoint4D() const;
};
#endif //SHOOTER_VEC3D_H

19
engine/World.cpp
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@ -14,36 +14,39 @@ void World::addBody(std::shared_ptr<RigidBody> body, const string &name) {
Log::log("World::addBody(): inserted body '" + name + "' with " + std::to_string(_objects[name]->triangles().size()) + " tris."); Log::log("World::addBody(): inserted body '" + name + "' with " + std::to_string(_objects[name]->triangles().size()) + " tris.");
} }
void World::loadBody(const string &name, const string &filename, const std::string &materials, const Point4D& scale) { void World::loadBody(const string &name, const string &filename, const std::string &materials, const Vec3D& scale) {
_objects.emplace(name, std::make_shared<RigidBody>(Mesh(filename, materials, scale))); _objects.emplace(name, std::make_shared<RigidBody>(Mesh(filename, materials, scale)));
Log::log("World::loadBody(): inserted body from " + filename + " with title '" + name + "' with " + std::to_string(_objects[name]->triangles().size()) + " tris."); Log::log("World::loadBody(): inserted body from " + filename + " with title '" + name + "' with " + std::to_string(_objects[name]->triangles().size()) + " tris.");
} }
std::pair<Point4D, string> World::rayCast(const Point4D& from, const Point4D& to) { std::pair<Vec3D, string> World::rayCast(const Vec3D& from, const Vec3D& to) {
std::pair<Point4D, string> result{Point4D{0, 0,0, -1}, ""}; std::pair<Vec3D, string> result;
double minDistance = 10000; std::unique_ptr<Vec3D> point = std::make_unique<Vec3D>();
std::string name;
double minDistance = Consts::RAY_CAST_MAX_DISTANCE;
for(auto& object : _objects) { for(auto& object : _objects) {
if((object.first.find("Player") != std::string::npos) || (object.first.find("Bonus") != std::string::npos)) if((object.first.find("Player") != std::string::npos) || (object.first.find("Bonus") != std::string::npos))
continue; continue;
for(auto& tri : object.second->triangles()) { for(auto& tri : object.second->triangles()) {
Triangle tri_translated(tri[0] + object.second->position(), tri[1] + object.second->position(), tri[2] + object.second->position()); Triangle tri_translated(tri[0] + object.second->position().makePoint4D(), tri[1] + object.second->position().makePoint4D(), tri[2] + object.second->position().makePoint4D());
Plane plane(tri_translated); Plane plane(tri_translated);
auto intersection = plane.intersection(from, to); auto intersection = plane.intersection(from, to);
double distance = (intersection.first - from).sqrAbs(); double distance = (intersection.first - from).sqrAbs();
if(intersection.second > 0 && distance < minDistance && tri_translated.isPointInside(intersection.first)) { if(intersection.second > 0 && distance < minDistance && tri_translated.isPointInside(intersection.first)) {
minDistance = distance; minDistance = distance;
result = {intersection.first, object.first}; point = std::make_unique<Vec3D>(intersection.first);
name = object.first;
} }
} }
} }
return result; return {*point, name};
} }
void World::loadMap(const std::string& filename, const std::string& materials, const std::string& name, const Point4D& scale) { void World::loadMap(const std::string& filename, const std::string& materials, const std::string& name, const Vec3D& scale) {
auto objs = Mesh::LoadObjects(filename, materials, scale); auto objs = Mesh::LoadObjects(filename, materials, scale);
for(unsigned i = 0; i < objs.size(); i++) { for(unsigned i = 0; i < objs.size(); i++) {
string meshName = name + "_" + to_string(i); string meshName = name + "_" + to_string(i);

8
engine/World.h
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@ -22,14 +22,14 @@ public:
void addBody(std::shared_ptr<RigidBody> mesh, const std::string& name = ""); void addBody(std::shared_ptr<RigidBody> mesh, const std::string& name = "");
std::shared_ptr<RigidBody> body(const std::string& name); std::shared_ptr<RigidBody> body(const std::string& name);
void removeBody(std::string name); void removeBody(std::string name);
void loadBody(const std::string &name, const std::string &filename, const std::string &materials = "", const Point4D& scale = Point4D{1, 1, 1}); void loadBody(const std::string &name, const std::string &filename, const std::string &materials = "", const Vec3D& scale = Vec3D{1, 1, 1});
// rayCast returns pair of Point4D and std::string: // rayCast returns pair of Point4D and std::string:
// 1) Point4D is point of collision (the last coordinate is -1 if there are no collisions) // 1) Point4D is point of collision
// 2) std::string - title of the object // 2) std::string - title of the object
std::pair<Point4D, std::string> rayCast(const Point4D& from, const Point4D& to); std::pair<Vec3D, std::string> rayCast(const Vec3D& from, const Vec3D& to);
void loadMap(const std::string& filename, const std::string& materials, const std::string& name = "map", const Point4D & scale = Point4D{1, 1, 1}); void loadMap(const std::string& filename, const std::string& materials, const std::string& name = "map", const Vec3D & scale = Vec3D{1, 1, 1});
}; };

6
engine/animation/ARotate.h
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@ -12,15 +12,13 @@ class ARotate : public Animation {
private: private:
std::shared_ptr<Object> _object; std::shared_ptr<Object> _object;
Point4D value; Vec3D value;
public: public:
ARotate(std::shared_ptr<Object> object, const Point4D& r, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) { ARotate(std::shared_ptr<Object> object, const Vec3D& r, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) : value(r) {
_object = object; _object = object;
_duration = duration; _duration = duration;
_looped = looped; _looped = looped;
_intType = interpolationType; _intType = interpolationType;
value = r;
} }
bool update() override { bool update() override {

6
engine/animation/AScale.h
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@ -13,17 +13,15 @@ class AScale : public Animation {
private: private:
std::shared_ptr<Mesh> _mesh; std::shared_ptr<Mesh> _mesh;
Point4D value; Vec3D value;
std::vector<Triangle> triangles{}; std::vector<Triangle> triangles{};
public: public:
AScale(std::shared_ptr<Mesh> mesh, const Point4D &s, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) { AScale(std::shared_ptr<Mesh> mesh, const Vec3D &s, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) : value(s) {
_mesh = mesh; _mesh = mesh;
_duration = duration; _duration = duration;
_looped = looped; _looped = looped;
_intType = interpolationType; _intType = interpolationType;
_waitFor = true; _waitFor = true;
value = s;
} }
bool update() override { bool update() override {

6
engine/animation/ATranslate.h
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@ -12,15 +12,13 @@ class ATranslate : public Animation {
private: private:
std::shared_ptr<Object> _object; std::shared_ptr<Object> _object;
Point4D value; Vec3D value;
public: public:
ATranslate(std::shared_ptr<Object> object, const Point4D& t, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) { ATranslate(std::shared_ptr<Object> object, const Vec3D& t, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) : value(t){
_object = object; _object = object;
_duration = duration; _duration = duration;
_looped = looped; _looped = looped;
_intType = interpolationType; _intType = interpolationType;
value = t;
} }
bool update() override { bool update() override {

12
engine/animation/ATranslateToPoint.h
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@ -12,23 +12,21 @@ class ATranslateToPoint : public Animation {
private: private:
std::shared_ptr<Object> _object; std::shared_ptr<Object> _object;
Point4D point; Vec3D point;
Point4D value; std::unique_ptr<Vec3D> value;
public: public:
ATranslateToPoint(std::shared_ptr<Object> object, const Point4D& p, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) { ATranslateToPoint(std::shared_ptr<Object> object, const Vec3D& p, double duration = 1, LoopOut looped = LoopOut::None, InterpolationType interpolationType = InterpolationType::bezier) : point(p) {
_object = object; _object = object;
_duration = duration; _duration = duration;
_looped = looped; _looped = looped;
_intType = interpolationType; _intType = interpolationType;
point = p;
} }
bool update() override { bool update() override {
if(!_started) { if(!_started) {
value = point - _object->position(); value = std::make_unique<Vec3D>(point - _object->position());
} }
_object->translate(value * _dp); _object->translate(*value * _dp);
return updateState(); return updateState();
} }

4
engine/animation/Animation.cpp
View File

@ -25,8 +25,8 @@ bool Animation::updateState() {
switch (_intType) { switch (_intType) {
case InterpolationType::bezier: case InterpolationType::bezier:
_p = Interpolation::Bezier(_bezier[0], _bezier[1], _time); _p = Interpolation::Bezier(*_bezier[0], *_bezier[1], _time);
_dp = Interpolation::dBezier(_bezier[0], _bezier[1], _time, _dtime); _dp = Interpolation::dBezier(*_bezier[0], *_bezier[1], _time, _dtime);
break; break;
case InterpolationType::bouncing: case InterpolationType::bouncing:
_p = Interpolation::Bouncing(_time); _p = Interpolation::Bouncing(_time);

9
engine/animation/Animation.h
View File

@ -8,6 +8,7 @@
#include "../utils/Time.h" #include "../utils/Time.h"
#include "../Triangle.h" #include "../Triangle.h"
#include "Interpolation.h" #include "Interpolation.h"
#include "../Vec2D.h"
class Animation { class Animation {
public: public:
@ -37,7 +38,8 @@ protected:
double _dp = 0; double _dp = 0;
InterpolationType _intType = InterpolationType::bezier; InterpolationType _intType = InterpolationType::bezier;
Point4D _bezier[2] = {Point4D{0.8, 0}, Point4D{0.2, 1}}; std::unique_ptr<Vec2D> _bezier[2] = {std::make_unique<Vec2D>(Vec2D{0.8, 0}),
std::make_unique<Vec2D>(Vec2D{0.2, 1})};
// If '_waitFor' == true then we need to finish all animation before starting this one. (for example for a_wait() or a_scale()) // If '_waitFor' == true then we need to finish all animation before starting this one. (for example for a_wait() or a_scale())
bool _waitFor = false; bool _waitFor = false;
@ -47,7 +49,10 @@ public:
Animation() = default; Animation() = default;
virtual ~Animation() = default; virtual ~Animation() = default;
void setBezierParams(const Point4D& p1, const Point4D& p2) { _bezier[0] = p1; _bezier[1] = p2; } void setBezierPoints(const Vec2D& p1, const Vec2D& p2) {
_bezier[0] = std::make_unique<Vec2D>(p1);
_bezier[1] = std::make_unique<Vec2D>(p2);
}
[[nodiscard]] bool waitFor() const { return _waitFor; } [[nodiscard]] bool waitFor() const { return _waitFor; }

14
engine/animation/Interpolation.h
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@ -5,7 +5,7 @@
#ifndef ENGINE_INTERPOLATION_H #ifndef ENGINE_INTERPOLATION_H
#define ENGINE_INTERPOLATION_H #define ENGINE_INTERPOLATION_H
#include "../utils/Point4D.h" #include "../Vec2D.h"
#include <cmath> #include <cmath>
#include "../Consts.h" #include "../Consts.h"
@ -13,12 +13,12 @@
namespace Interpolation { namespace Interpolation {
static double Linear(double t); static double Linear(double t);
static double Cos(double t); static double Cos(double t);
static double Bezier(const Point4D& p1, const Point4D& p2, double t); static double Bezier(const Vec2D& p1, const Vec2D& p2, double t);
static double Bouncing(double t); static double Bouncing(double t);
static double dLinear(double t, double dt); static double dLinear(double t, double dt);
static double dCos(double t, double dt); static double dCos(double t, double dt);
static double dBezier(const Point4D& p1, const Point4D& p2, double t, double dt); static double dBezier(const Vec2D& p1, const Vec2D& p2, double t, double dt);
static double dBouncing(double t, double dt); static double dBouncing(double t, double dt);
}; };
@ -32,11 +32,11 @@ double Interpolation::Cos(double t) {
return 0.5*(1 - cos(Consts::PI*Interpolation::Linear(t))); return 0.5*(1 - cos(Consts::PI*Interpolation::Linear(t)));
} }
double Interpolation::Bezier(const Point4D &p1, const Point4D &p2, double t) { double Interpolation::Bezier(const Vec2D &p1, const Vec2D &p2, double t) {
t = Interpolation::Linear(t); t = Interpolation::Linear(t);
double h = 0.000001; double h = Consts::EPS;
double eps = 0.000001; double eps = Consts::EPS;
// We are trying to find 's' when px = t // We are trying to find 's' when px = t
auto f = [=](double s){ auto f = [=](double s){
@ -77,7 +77,7 @@ double Interpolation::dCos(double t, double dt) {
return 0.5*Consts::PI*sin(Consts::PI*t)*dt; return 0.5*Consts::PI*sin(Consts::PI*t)*dt;
} }
double Interpolation::dBezier(const Point4D &p1, const Point4D &p2, double t, double dt) { double Interpolation::dBezier(const Vec2D &p1, const Vec2D &p2, double t, double dt) {
return Interpolation::Bezier(p1, p2, t + dt) - Interpolation::Bezier(p1, p2, t); return Interpolation::Bezier(p1, p2, t + dt) - Interpolation::Bezier(p1, p2, t);
} }

6
engine/gui/Window.cpp
View File

@ -19,8 +19,8 @@ void Window::update() {
_screen->setTitle(_name); _screen->setTitle(_name);
_screen->drawSprite(_back); _screen->drawSprite(_back);
Point4D mousePos = _mouse->getMousePosition(); Vec2D mousePos = _mouse->getMousePosition();
Point4D dMousePos = mousePos - _prevMousePosition; Vec2D dMousePos = mousePos - *_prevMousePosition;
_back.setPosition(_back.getPosition() - sf::Vector2f((float)(dMousePos.x() / 30), (float)(dMousePos.y() / 30))); _back.setPosition(_back.getPosition() - sf::Vector2f((float)(dMousePos.x() / 30), (float)(dMousePos.y() / 30)));
bool isPressed = _mouse->isButtonTapped(sf::Mouse::Left); bool isPressed = _mouse->isButtonTapped(sf::Mouse::Left);
@ -40,7 +40,7 @@ void Window::update() {
} }
} }
_prevMousePosition = mousePos; _prevMousePosition = std::make_unique<Vec2D>(mousePos);
} }
void Window::setBackgroundTexture(const std::string &texture, double sx, double sy, int w, int h) { void Window::setBackgroundTexture(const std::string &texture, double sx, double sy, int w, int h) {

2
engine/gui/Window.h
View File

@ -20,7 +20,7 @@ private:
sf::Sprite _back; sf::Sprite _back;
Point4D _prevMousePosition; std::unique_ptr<Vec2D> _prevMousePosition = std::make_unique<Vec2D>(Vec2D{0, 0});
std::shared_ptr<Screen> _screen; std::shared_ptr<Screen> _screen;
std::shared_ptr<Mouse> _mouse; std::shared_ptr<Mouse> _mouse;

2
engine/network/ClientUDP.cpp
View File

@ -9,7 +9,7 @@
#include <cmath> #include <cmath>
#include "../utils/Log.h" #include "../utils/Log.h"
ClientUDP::ClientUDP() : _lastBroadcast(std::numeric_limits<double>::min()), _working(false) ClientUDP::ClientUDP() : _lastBroadcast(-std::numeric_limits<double>::max()), _working(false)
{ {
_socket.setTimeoutCallback(std::bind(&ClientUDP::timeout, this, std::placeholders::_1)); _socket.setTimeoutCallback(std::bind(&ClientUDP::timeout, this, std::placeholders::_1));
} }

2
engine/network/ReliableMsg.cpp
View File

@ -7,7 +7,7 @@
#include "../utils/Time.h" #include "../utils/Time.h"
#include "config.h" #include "config.h"
ReliableMsg::ReliableMsg(sf::Packet& packet, sf::IpAddress address, sf::Uint16 port) : packet(packet), address(address), port(port), lastTry(std::numeric_limits<double>::min()), firstTry(Time::time()) {} ReliableMsg::ReliableMsg(sf::Packet& packet, sf::IpAddress address, sf::Uint16 port) : packet(packet), address(address), port(port), lastTry(-std::numeric_limits<double>::max()), firstTry(Time::time()) {}
ReliableMsg::ReliableMsg(const ReliableMsg& msg) : packet(msg.packet), address(msg.address), port(msg.port), lastTry(msg.lastTry), firstTry(msg.firstTry) {} ReliableMsg::ReliableMsg(const ReliableMsg& msg) : packet(msg.packet), address(msg.address), port(msg.port), lastTry(msg.lastTry), firstTry(msg.firstTry) {}
bool ReliableMsg::trySend(sf::UdpSocket& socket) bool ReliableMsg::trySend(sf::UdpSocket& socket)

2
engine/network/ServerUDP.cpp
View File

@ -9,7 +9,7 @@
#include "../utils/Log.h" #include "../utils/Log.h"
#include <cmath> #include <cmath>
ServerUDP::ServerUDP() : _lastBroadcast(std::numeric_limits<double>::min()), _working(false) ServerUDP::ServerUDP() : _lastBroadcast(-std::numeric_limits<double>::max()), _working(false)
{ {
_socket.setTimeoutCallback(std::bind(&ServerUDP::timeout, this, std::placeholders::_1)); _socket.setTimeoutCallback(std::bind(&ServerUDP::timeout, this, std::placeholders::_1));
} }

301
engine/physics/RigidBody.cpp
View File

@ -9,167 +9,171 @@
#include <iostream> #include <iostream>
#include <cmath> #include <cmath>
Point4D RigidBody::_findFurthestPoint(const Point4D& direction) { Vec3D RigidBody::_findFurthestPoint(const Vec3D& direction) {
Point4D maxPoint = {}; std::unique_ptr<Vec3D> maxPoint = std::make_unique<Vec3D>(Vec3D{0, 0, 0});
auto maxDistance = (double)-INFINITY; auto maxDistance = -std::numeric_limits<double>::max();
for(auto& tri : triangles()){ for(auto& tri : triangles()){
for(int i = 0; i < 3; i++){ for(int i = 0; i < 3; i++){
Point4D point = tri[i]; Vec3D point = Vec3D(tri[i] + position().makePoint4D());
point = point + position();
double distance = point.dot(direction); double distance = point.dot(direction);
if(distance > maxDistance) { if(distance > maxDistance) {
maxDistance = distance; maxDistance = distance;
maxPoint = point; maxPoint = std::make_unique<Vec3D>(point);
} }
} }
} }
return maxPoint; return *maxPoint;
} }
Point4D RigidBody::_support(std::shared_ptr<RigidBody> obj, const Point4D& direction) { Vec3D RigidBody::_support(std::shared_ptr<RigidBody> obj, const Vec3D& direction) {
Point4D p1 = _findFurthestPoint(direction); Vec3D p1 = _findFurthestPoint(direction);
Point4D p2 = obj->_findFurthestPoint(-direction); Vec3D p2 = obj->_findFurthestPoint(-direction);
return p1 - p2; return p1 - p2;
} }
bool RigidBody::_nextSimplex(Simplex &points, Point4D &direction) { NextSimplex RigidBody::_nextSimplex(const Simplex &points) {
switch (points.size()) { switch (points.type()) {
case 2: return _line(points, direction); case SimplexType::Line: return _lineCase(points);
case 3: return _triangle(points, direction); case SimplexType::Triangle: return _triangleCase(points);
case 4: return _tetrahedron(points, direction); case SimplexType::Tetrahedron: return _tetrahedronCase(points);
}
// never should be here default: throw std::logic_error{"RigidBody::_nextSimplex: simplex is not Line, Triangle or Tetrahedron"};
return false; }
} }
bool RigidBody::_line(Simplex& points, Point4D& direction) { NextSimplex RigidBody::_lineCase(const Simplex& points) {
Point4D a = points[0]; std::unique_ptr<Simplex> newPoints = std::make_unique<Simplex>(points);
Point4D b = points[1]; std::unique_ptr<Vec3D> newDirection;
Point4D ab = b - a; Vec3D a = points[0];
Point4D ao = - a; Vec3D b = points[1];
Vec3D ab = b - a;
Vec3D ao = - a;
if (ab.dot(ao) > 0) { if (ab.dot(ao) > 0) {
direction = ab.cross3D(ao).cross3D(ab); newDirection = std::make_unique<Vec3D>(ab.cross(ao).cross(ab));
} else { } else {
points = { a }; newPoints = std::make_unique<Simplex>(Simplex{a});
direction = ao; newDirection = std::make_unique<Vec3D>(ao);
} }
return false; return NextSimplex{*newPoints, *newDirection, false};
} }
bool RigidBody::_triangle(Simplex &points, Point4D &direction) { NextSimplex RigidBody::_triangleCase(const Simplex &points) {
Point4D a = points[0]; std::unique_ptr<Simplex> newPoints = std::make_unique<Simplex>(points);
Point4D b = points[1]; std::unique_ptr<Vec3D> newDirection;
Point4D c = points[2];
Point4D ab = b - a; Vec3D a = points[0];
Point4D ac = c - a; Vec3D b = points[1];
Point4D ao = - a; Vec3D c = points[2];
Point4D abc = ab.cross3D(ac); Vec3D ab = b - a;
Vec3D ac = c - a;
Vec3D ao = - a;
if (abc.cross3D(ac).dot(ao) > 0) { Vec3D abc = ab.cross(ac);
if (abc.cross(ac).dot(ao) > 0) {
if (ac.dot(ao) > 0) { if (ac.dot(ao) > 0) {
points = { a, c }; newPoints = std::make_unique<Simplex>(Simplex{ a, c });
direction = ac.cross3D(ao).cross3D(ac); newDirection = std::make_unique<Vec3D>(ac.cross(ao).cross(ac));
} }
else else {
{ return _lineCase(Simplex { a, b });
return _line(points = { a, b }, direction);
} }
}
else
{
if (ab.cross3D(abc).dot(ao) > 0) {
return _line(points = { a, b }, direction);
}
else
{
if (abc.dot(ao) > 0) {
direction = abc;
} else { } else {
points = { a, c, b }; if (ab.cross(abc).dot(ao) > 0) {
direction = -abc; return _lineCase(Simplex { a, b });
}
else {
if (abc.dot(ao) > 0) {
newDirection = std::make_unique<Vec3D>(abc);
} else {
newPoints = std::make_unique<Simplex>(Simplex{ a, c, b });
newDirection = std::make_unique<Vec3D>(-abc);
} }
} }
} }
return false; return NextSimplex{*newPoints, *newDirection, false};
} }
bool RigidBody::_tetrahedron(Simplex &points, Point4D &direction) { NextSimplex RigidBody::_tetrahedronCase(const Simplex &points) {
Point4D a = points[0]; Vec3D a = points[0];
Point4D b = points[1]; Vec3D b = points[1];
Point4D c = points[2]; Vec3D c = points[2];
Point4D d = points[3]; Vec3D d = points[3];
Point4D ab = b - a; Vec3D ab = b - a;
Point4D ac = c - a; Vec3D ac = c - a;
Point4D ad = d - a; Vec3D ad = d - a;
Point4D ao = - a; Vec3D ao = - a;
Point4D abc = ab.cross3D(ac); Vec3D abc = ab.cross(ac);
Point4D acd = ac.cross3D(ad); Vec3D acd = ac.cross(ad);
Point4D adb = ad.cross3D(ab); Vec3D adb = ad.cross(ab);
if (abc.dot(ao) > 0) { if (abc.dot(ao) > 0) {
return _triangle(points = { a, b, c }, direction); return _triangleCase(Simplex{ a, b, c });
} }
if (acd.dot(ao) > 0) { if (acd.dot(ao) > 0) {
return _triangle(points = { a, c, d }, direction); return _triangleCase(Simplex{ a, c, d });
} }
if (adb.dot(ao) > 0) { if (adb.dot(ao) > 0) {
return _triangle(points = { a, d, b }, direction); return _triangleCase(Simplex{ a, d, b });
} }
return true; return NextSimplex{points, Vec3D(), true};
} }
std::pair<bool, Simplex> RigidBody::checkGJKCollision(std::shared_ptr<RigidBody> obj) { std::pair<bool, Simplex> RigidBody::checkGJKCollision(std::shared_ptr<RigidBody> obj) {
// Get initial support point in any direction // Get initial support point in any direction
Point4D support = _support(obj, Point4D{1, 0, 0}); std::unique_ptr<Vec3D> support = std::make_unique<Vec3D>(_support(obj, Vec3D{1, 0, 0}));
// Simplex is an array of points, max count is 4 // Simplex is an array of points, max count is 4
Simplex points; std::unique_ptr<Simplex> points = std::make_unique<Simplex>();
points.push_front(support); points->push_front(*support);
// New direction is towards the origin // New direction is towards the origin
Point4D direction = -support; std::unique_ptr<Vec3D> direction = std::make_unique<Vec3D>(-*support);
int iterations = 0; int iterations = 0;
while (iterations < 50) { while (iterations < Consts::GJK_MAX_ITERATIONS) {
support = _support(obj, direction); support = std::make_unique<Vec3D>(_support(obj, *direction));
if (support.dot(direction) <= 0) if (support->dot(*direction) <= 0)
return std::make_pair(false, points); // no collision return std::make_pair(false, *points); // no collision
points.push_front(support); points->push_front(*support);
if (_nextSimplex(points, direction)) { NextSimplex nextSimplex = _nextSimplex(*points);
direction = std::make_unique<Vec3D>(nextSimplex.newDirection);
points = std::make_unique<Simplex>(nextSimplex.newSimplex);
if (nextSimplex.finishSearching) {
if(obj->isCollider()) if(obj->isCollider())
_inCollision = true; _inCollision = true;
return std::make_pair(true, points); return std::make_pair(true, *points);
} }
iterations++; iterations++;
} }
return std::make_pair(false, points); // no collision return std::make_pair(false, *points); // no collision
} }
CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody> obj) { CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody> obj) {
std::vector<Point4D> polytope(simplex.begin(), simplex.end()); std::vector<Vec3D> polytope(simplex.begin(), simplex.end());
std::vector<size_t> faces = { std::vector<size_t> faces = {
0, 1, 2, 0, 1, 2,
0, 3, 1, 0, 3, 1,
@ -178,41 +182,39 @@ CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody>
}; };
// list: vector4(normal, distance), index: min distance // list: vector4(normal, distance), index: min distance
auto [normals, minFace] = _getFaceNormals(polytope, faces); auto [normals, minFace] = std::move(_getFaceNormals(polytope, faces));
Point4D minNormal; std::shared_ptr<Vec3D> minNormal{};
double minDistance = INFINITY; double minDistance = std::numeric_limits<double>::max();
int iterations = 0; int iterations = 0;
while ((minDistance == INFINITY) && (iterations < 50)) { while ((minDistance == std::numeric_limits<double>::max()) && (iterations < Consts::GJK_MAX_ITERATIONS)) {
minNormal = Point4D{normals[minFace].x(), normals[minFace].y(), normals[minFace].z()}; minNormal = std::make_shared<Vec3D>(normals[minFace]->normal);
minDistance = normals[minFace].w(); minDistance = normals[minFace]->distance;
Point4D support = _support(obj, minNormal); Vec3D support = _support(obj, *minNormal);
double sDistance = minNormal.dot(support); double sDistance = minNormal->dot(support);
if (std::abs(sDistance - minDistance) > 0.0001) { if (std::abs(sDistance - minDistance) > Consts::EPA_EPS) {
minDistance = INFINITY; minDistance = std::numeric_limits<double>::max();
std::vector<std::pair<size_t, size_t>> uniqueEdges; std::vector<std::pair<size_t, size_t>> uniqueEdges;
for (size_t i = 0; i < normals.size(); i++) { for (size_t i = 0; i < normals.size(); i++) {
if (normals[i].dot(support) > 0) { if (normals[i]->normal.dot(support) > 0) {
size_t f = i * 3; size_t f = i * 3;
_addIfUniqueEdge(uniqueEdges, faces, f, f + 1); uniqueEdges = _addIfUniqueEdge(uniqueEdges, faces, f + 0, f + 1);
_addIfUniqueEdge(uniqueEdges, faces, f + 1, f + 2); uniqueEdges = _addIfUniqueEdge(uniqueEdges, faces, f + 1, f + 2);
_addIfUniqueEdge(uniqueEdges, faces, f + 2, f); uniqueEdges = _addIfUniqueEdge(uniqueEdges, faces, f + 2, f + 0);
faces[f + 2] = faces.back(); faces.pop_back(); faces.erase(faces.begin() + f);
faces[f + 1] = faces.back(); faces.pop_back(); faces.erase(faces.begin() + f);
faces[f ] = faces.back(); faces.pop_back(); faces.erase(faces.begin() + f);
normals.erase(normals.begin() + i--);
normals[i] = normals.back(); normals.pop_back();
i--;
} }
} }
std::vector<size_t> newFaces; std::vector<size_t> newFaces;
for (auto [edgeIndex1, edgeIndex2] : uniqueEdges) { for (auto [edgeIndex1, edgeIndex2] : uniqueEdges) {
newFaces.push_back(edgeIndex1); newFaces.push_back(edgeIndex1);
@ -227,15 +229,15 @@ CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody>
if(newNormals.empty()) if(newNormals.empty())
break; break;
double oldMinDistance = INFINITY; double oldMinDistance = std::numeric_limits<double>::max();
for (size_t i = 0; i < normals.size(); i++) { for (size_t i = 0; i < normals.size(); i++) {
if (normals[i].w() < oldMinDistance) { if (normals[i]->distance < oldMinDistance) {
oldMinDistance = normals[i].w(); oldMinDistance = normals[i]->distance;
minFace = i; minFace = i;
} }
} }
if (newNormals[newMinFace].w() < oldMinDistance) { if (newNormals[newMinFace]->distance < oldMinDistance) {
minFace = newMinFace + normals.size(); minFace = newMinFace + normals.size();
} }
@ -244,79 +246,80 @@ CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody>
} }
iterations++; iterations++;
} }
CollisionPoint point;
point.normal = minNormal;
point.depth = minDistance + 0.0001;
point.hasCollision = minDistance < INFINITY;
_collisionNormal = minNormal; _collisionNormal = minNormal;
return CollisionPoint{*minNormal, minDistance + Consts::EPA_EPS, minDistance < std::numeric_limits<double>::max()};
return point;
} }
std::pair<std::vector<Point4D>, size_t> RigidBody::_getFaceNormals(const std::vector<Point4D>& polytope, const std::vector<size_t>& faces) { std::pair<std::vector<std::shared_ptr<FaceNormal>>, size_t> RigidBody::_getFaceNormals(const std::vector<Vec3D>& polytope, const std::vector<size_t>& faces) {
std::vector<Point4D> normals; std::vector<std::shared_ptr<FaceNormal>> normals;
size_t minTriangle = 0; size_t nearestFaceIndex = 0;
double minDistance = INFINITY;
double minDistance = std::numeric_limits<double>::max();
for (size_t i = 0; i < faces.size(); i += 3) { for (size_t i = 0; i < faces.size(); i += 3) {
Point4D a = polytope[faces[i ]]; Vec3D a = polytope[faces[i + 0]];
Point4D b = polytope[faces[i + 1]]; Vec3D b = polytope[faces[i + 1]];
Point4D c = polytope[faces[i + 2]]; Vec3D c = polytope[faces[i + 2]];
Point4D normal = (b - a).cross3D(c - a).normalized(); std::shared_ptr<Vec3D> normal = std::make_shared<Vec3D>((b - a).cross(c - a).normalized());
double distance = normal.dot(a); if(normal->sqrAbs() < Consts::EPS)
continue;
double distance = normal->dot(a);
if (distance < 0) { if (distance < 0) {
normal = -normal; normal = std::make_unique<Vec3D>(-*normal);
distance *= -1; distance *= -1;
} }
normal = Point4D{normal.x(), normal.y(), normal.z(), distance}; normal = std::make_shared<Vec3D>(Vec3D{normal->x(), normal->y(), normal->z()});
normals.emplace_back(normal); normals.emplace_back(std::make_shared<FaceNormal>(FaceNormal{*normal, distance}));
if (distance < minDistance) { if (distance < minDistance) {
minTriangle = i / 3; nearestFaceIndex = i / 3;
minDistance = distance; minDistance = distance;
} }
} }
return { normals, minTriangle }; return {normals, nearestFaceIndex};
} }
void RigidBody::_addIfUniqueEdge(std::vector<std::pair<size_t, size_t>>& edges, const std::vector<size_t>& faces, size_t a, size_t b) { std::vector<std::pair<size_t, size_t>> RigidBody::_addIfUniqueEdge(const std::vector<std::pair<size_t, size_t>>& edges, const std::vector<size_t>& faces, size_t a, size_t b) {
auto reverse = std::find( // 0--<--3 std::vector<std::pair<size_t, size_t>> newEdges = edges;
edges.begin(), // / \ B / A: 2-0
edges.end(), // / A \ / B: 0-2
std::make_pair(faces[b], faces[a]) // 1-->--2
);
if (reverse != edges.end()) { // We are interested in reversed edge
edges.erase(reverse); // 0--<--3
// / \ B / A: 2-0
// / A \ / B: 0-2
// 1-->--2
auto reverse = std::find(newEdges.begin(), newEdges.end(), std::make_pair(faces[b], faces[a]));
if (reverse != newEdges.end()) {
newEdges.erase(reverse);
} else {
newEdges.emplace_back(faces[a], faces[b]);
} }
else { return newEdges;
edges.emplace_back(faces[a], faces[b]);
}
} }
void RigidBody::updatePhysicsState() { void RigidBody::updatePhysicsState() {
translate(_velocity * Time::deltaTime()); translate(*_velocity * Time::deltaTime());
_velocity = _velocity + _acceleration * Time::deltaTime(); _velocity = std::make_unique<Vec3D>(*_velocity + *_acceleration * Time::deltaTime());
} }
void RigidBody::setVelocity(const Point4D& velocity) { void RigidBody::setVelocity(const Vec3D& velocity) {
_velocity = velocity; _velocity = std::make_unique<Vec3D>(velocity);
} }
void RigidBody::addVelocity(const Point4D &velocity) { void RigidBody::addVelocity(const Vec3D &velocity) {
_velocity = _velocity + velocity; _velocity = std::make_unique<Vec3D>(*_velocity + velocity);
} }
void RigidBody::setAcceleration(const Point4D& acceleration) { void RigidBody::setAcceleration(const Vec3D& acceleration) {
_acceleration = acceleration; _acceleration = std::make_unique<Vec3D>(acceleration);
} }
RigidBody::RigidBody(const Mesh &mesh) : Mesh(mesh) { RigidBody::RigidBody(const Mesh &mesh) : Mesh(mesh) {

58
engine/physics/RigidBody.h
View File

@ -8,52 +8,60 @@
#include <vector> #include <vector>
#include <memory> #include <memory>
#include <functional> #include <functional>
#include "../utils/Point4D.h"
#include "../Triangle.h" #include "../Triangle.h"
#include "Simplex.h" #include "Simplex.h"
#include "../Mesh.h" #include "../Mesh.h"
struct CollisionPoint { struct CollisionPoint {
Point4D a; // Furthest point of a into b const Vec3D normal;
Point4D b; // Furthest point of b into a const double depth;
Point4D normal; // b – a normalized const bool hasCollision;
double depth; // Length of b – a };
bool hasCollision;
struct FaceNormal {
const Vec3D normal;
const double distance;
};
struct NextSimplex {
const Simplex newSimplex;
const Vec3D newDirection;
const bool finishSearching;
}; };
class RigidBody : public Mesh { class RigidBody : public Mesh {
private: private:
Point4D _findFurthestPoint(const Point4D& direction); Vec3D _findFurthestPoint(const Vec3D& direction);
Point4D _support(std::shared_ptr<RigidBody> obj, const Point4D& direction); Vec3D _support(std::shared_ptr<RigidBody> obj, const Vec3D& direction);
std::function<void(const std::string&, std::shared_ptr<RigidBody>)> _collisionCallBack; std::function<void(const std::string&, std::shared_ptr<RigidBody>)> _collisionCallBack;
static bool _nextSimplex(Simplex& points, Point4D& direction); static NextSimplex _nextSimplex(const Simplex& points);
static bool _line(Simplex& points, Point4D& direction); static NextSimplex _lineCase(const Simplex& points);
static bool _triangle(Simplex& points, Point4D& direction); static NextSimplex _triangleCase(const Simplex& points);
static bool _tetrahedron(Simplex& points, Point4D& direction); static NextSimplex _tetrahedronCase(const Simplex& points);
static std::pair<std::vector<Point4D>, size_t> _getFaceNormals(const std::vector<Point4D>& polytope, const std::vector<size_t>& faces); static std::pair<std::vector<std::shared_ptr<FaceNormal>>, size_t> _getFaceNormals(const std::vector<Vec3D>& polytope, const std::vector<size_t>& faces);
static void _addIfUniqueEdge(std::vector<std::pair<size_t, size_t>>& edges, const std::vector<size_t>& faces, size_t a, size_t b); static std::vector<std::pair<size_t, size_t>> _addIfUniqueEdge(const std::vector<std::pair<size_t, size_t>>& edges, const std::vector<size_t>& faces, size_t a, size_t b);
protected: protected:
Point4D _velocity; std::unique_ptr<Vec3D> _velocity = std::make_unique<Vec3D>(Vec3D{0, 0, 0});;
Point4D _acceleration; std::unique_ptr<Vec3D> _acceleration = std::make_unique<Vec3D>(Vec3D{0, 0, 0});;
bool _collision = false; bool _collision = false;
bool _isCollider = true; bool _isCollider = true;
bool _inCollision = false; bool _inCollision = false;
Point4D _collisionNormal; std::shared_ptr<Vec3D> _collisionNormal = std::make_unique<Vec3D>(Vec3D{0, 0, 0});;
public: public:
RigidBody() = default; RigidBody() = default;
explicit RigidBody(const Mesh& mesh); explicit RigidBody(const Mesh& mesh);
std::pair<bool, Simplex> checkGJKCollision(std::shared_ptr<RigidBody> obj); [[nodiscard]] std::pair<bool, Simplex> checkGJKCollision(std::shared_ptr<RigidBody> obj);
CollisionPoint EPA(const Simplex& simplex, std::shared_ptr<RigidBody> obj); [[nodiscard]] CollisionPoint EPA(const Simplex& simplex, std::shared_ptr<RigidBody> obj);
[[nodiscard]] Point4D collisionNormal() const { return _collisionNormal; } [[nodiscard]] Vec3D collisionNormal() const { return *_collisionNormal; }
[[nodiscard]] bool isCollision() const { return _collision; } [[nodiscard]] bool isCollision() const { return _collision; }
[[nodiscard]] bool inCollision() const {return _inCollision; } [[nodiscard]] bool inCollision() const {return _inCollision; }
@ -64,12 +72,12 @@ public:
void updatePhysicsState(); void updatePhysicsState();
void setVelocity(const Point4D& velocity); void setVelocity(const Vec3D& velocity);
void addVelocity(const Point4D& velocity); void addVelocity(const Vec3D& velocity);
void setAcceleration(const Point4D& acceleration); void setAcceleration(const Vec3D& acceleration);
[[nodiscard]] Point4D velocity() const { return _velocity; } [[nodiscard]] Vec3D velocity() const { return *_velocity; }
[[nodiscard]] Point4D acceleration() const { return _acceleration; } [[nodiscard]] Vec3D acceleration() const { return *_acceleration; }
[[nodiscard]] const std::function<void(const std::string&, std::shared_ptr<RigidBody>)>& collisionCallBack() const { return _collisionCallBack; } [[nodiscard]] const std::function<void(const std::string&, std::shared_ptr<RigidBody>)>& collisionCallBack() const { return _collisionCallBack; }
void setCollisionCallBack(const std::function<void(const std::string&, std::shared_ptr<RigidBody>)>& f) { _collisionCallBack = f; } void setCollisionCallBack(const std::function<void(const std::string&, std::shared_ptr<RigidBody>)>& f) { _collisionCallBack = f; }

41
engine/physics/Simplex.h
View File

@ -5,34 +5,45 @@
#ifndef ENGINE_SIMPLEX_H #ifndef ENGINE_SIMPLEX_H
#define ENGINE_SIMPLEX_H #define ENGINE_SIMPLEX_H
#include "../utils/Point4D.h" #include "../Vec3D.h"
#include <deque>
enum class SimplexType {
Zero,
Point,
Line,
Triangle,
Tetrahedron
};
struct Simplex { struct Simplex {
private: private:
std::array<Point4D, 4> m_points{}; std::deque<Vec3D> _points{};
unsigned m_size = 0;
public: public:
Simplex() = default; Simplex() = default;
Simplex& operator=(std::initializer_list<Point4D> list) { Simplex(std::initializer_list<Vec3D> list) {
for (auto v = list.begin(); v != list.end(); v++) { for (const auto & v : list) {
m_points[std::distance(list.begin(), v)] = *v; _points.push_back(v);
if(_points.size() > 4)
_points.pop_front();
} }
m_size = list.size();
return *this;
} }
void push_front(const Point4D& point) { void push_front(const Vec3D& point) {
m_points = { point, m_points[0], m_points[1], m_points[2] }; _points.push_front(point);
m_size = std::min(m_size + 1, 4u); if(_points.size() > 4)
_points.pop_back();
} }
Point4D& operator[](unsigned i) { return m_points[i]; } Vec3D operator[](unsigned i) const { return _points[i]; }
[[nodiscard]] unsigned size() const { return m_size; } [[nodiscard]] unsigned size() const { return _points.size(); }
[[nodiscard]] auto begin() const { return m_points.begin(); } [[nodiscard]] auto begin() const { return _points.begin(); }
[[nodiscard]] auto end() const { return m_points.end() - (4 - m_size); } [[nodiscard]] auto end() const { return _points.end(); }
[[nodiscard]] SimplexType type() const { return static_cast<SimplexType>(_points.size()); }
}; };
#endif //INC_3DZAVR_SIMPLEX_H #endif //INC_3DZAVR_SIMPLEX_H

11
engine/physics/Solver.cpp
View File

@ -9,14 +9,11 @@ void Solver::solveCollision(std::shared_ptr<RigidBody> obj1, std::shared_ptr<Rig
if(!collision.hasCollision) if(!collision.hasCollision)
return; return;
Point4D obj1_velocity_parallel = collision.normal * obj1->velocity().dot(collision.normal); Vec3D obj1_velocity_parallel = collision.normal * obj1->velocity().dot(collision.normal);
Vec3D obj1_velocity_perpendicular = obj1->velocity() - obj1_velocity_parallel;
obj1_velocity_parallel = Point4D{obj1_velocity_parallel.x(), obj1_velocity_parallel.y(), obj1_velocity_parallel.z(), 0}; Vec3D obj2_velocity_parallel = collision.normal * obj2->velocity().dot(collision.normal);
Vec3D obj2_velocity_perpendicular = obj2->velocity() - obj2_velocity_parallel;
Point4D obj1_velocity_perpendicular = obj1->velocity() - obj1_velocity_parallel;
Point4D obj2_velocity_parallel = collision.normal * obj2->velocity().dot(collision.normal);
Point4D obj2_velocity_perpendicular = obj2->velocity() - obj2_velocity_parallel;
if(obj1->isCollision()) { if(obj1->isCollision()) {
if(obj1->velocity().dot(collision.normal) > 0) { if(obj1->velocity().dot(collision.normal) > 0) {

2
weapon/Ak47.cpp
View File

@ -7,7 +7,7 @@
using namespace std; using namespace std;
Ak47::Ak47(int ammo, const std::string& weaponName) : Weapon(weaponName, "obj/ak47.obj", "obj/ak47_mat.txt", Point4D{3, 3, 3}, Point4D{-0.8, 1.3, 0.3}, Point4D{0, Consts::PI, 0}) { Ak47::Ak47(int ammo, const std::string& weaponName) : Weapon(weaponName, "obj/ak47.obj", "obj/ak47_mat.txt", Vec3D{3, 3, 3}, Vec3D{-0.8, 1.3, 0.3}, Vec3D{0, Consts::PI, 0}) {
fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/ak47.ogg")); fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/ak47.ogg"));
reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_ak47.ogg")); reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_ak47.ogg"));

2
weapon/Gold_Ak47.h
View File

@ -9,7 +9,7 @@
class Gold_Ak47 : public Weapon { class Gold_Ak47 : public Weapon {
public: public:
explicit Gold_Ak47(int ammo = 200, const std::string& weaponName = "gold_ak47") : Weapon(weaponName, "obj/ak47.obj", "obj/gold_ak47_mat.txt", Point4D{3, 3, 3}, Point4D{-0.8, 1.3, 0.3}, Point4D{0, Consts::PI, 0}) { explicit Gold_Ak47(int ammo = 200, const std::string& weaponName = "gold_ak47") : Weapon(weaponName, "obj/ak47.obj", "obj/gold_ak47_mat.txt", Vec3D{3, 3, 3}, Vec3D{-0.8, 1.3, 0.3}, Vec3D{0, Consts::PI, 0}) {
fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/ak47.ogg")); fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/ak47.ogg"));
reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_ak47.ogg")); reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_ak47.ogg"));

2
weapon/Gun.cpp
View File

@ -7,7 +7,7 @@
using namespace std; using namespace std;
Gun::Gun(int ammo, const std::string& weaponName) : Weapon(weaponName, "obj/gun.obj", "obj/gun_mat.txt", Point4D{3, 3, 3}, Point4D{-0.8, 1.3, 0.3}, Point4D{0, Consts::PI, 0}) { Gun::Gun(int ammo, const std::string& weaponName) : Weapon(weaponName, "obj/gun.obj", "obj/gun_mat.txt", Vec3D{3, 3, 3}, Vec3D{-0.8, 1.3, 0.3}, Vec3D{0, Consts::PI, 0}) {
fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/gun.ogg")); fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/gun.ogg"));
reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_gun.ogg")); reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_gun.ogg"));

2
weapon/Rifle.cpp
View File

@ -5,7 +5,7 @@
#include "../engine/ResourceManager.h" #include "../engine/ResourceManager.h"
#include "Rifle.h" #include "Rifle.h"
Rifle::Rifle(int ammo, const std::string &weaponName) : Weapon(weaponName, "obj/rifle.obj", "obj/rifle_mat.txt", Point4D{3, 3, 3}, Point4D{-1.2, 1, 0.3}, Point4D{0, Consts::PI, 0}) { Rifle::Rifle(int ammo, const std::string &weaponName) : Weapon(weaponName, "obj/rifle.obj", "obj/rifle_mat.txt", Vec3D{3, 3, 3}, Vec3D{-1.2, 1, 0.3}, Vec3D{0, Consts::PI, 0}) {
fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/shotgun.ogg")); fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/shotgun.ogg"));
reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_ak47.ogg")); reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_ak47.ogg"));

10
weapon/Shotgun.cpp
View File

@ -9,7 +9,7 @@
using namespace std; using namespace std;
Shotgun::Shotgun(int ammo, const std::string& weaponName) : Weapon(weaponName, "obj/shotgun.obj", "obj/shotgun_mat.txt", Point4D{3, 3, 3}, Point4D{-0.95, 1.3, -0.6}, Point4D{0, Consts::PI, 0}) { Shotgun::Shotgun(int ammo, const std::string& weaponName) : Weapon(weaponName, "obj/shotgun.obj", "obj/shotgun_mat.txt", Vec3D{3, 3, 3}, Vec3D{-0.95, 1.3, -0.6}, Vec3D{0, Consts::PI, 0}) {
fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/shotgun.ogg")); fireSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/shotgun.ogg"));
reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_shotgun.ogg")); reloadSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/reload_shotgun.ogg"));
@ -25,12 +25,12 @@ Shotgun::Shotgun(int ammo, const std::string& weaponName) : Weapon(weaponName, "
} }
std::map<std::string, double> std::map<std::string, double>
Shotgun::processFire(std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> rayCastFunction, const Point4D& pos, const Point4D& direction) { Shotgun::processFire(std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> rayCastFunction, const Vec3D& pos, const Vec3D& direction) {
std::map<std::string, double> damagedPlayers; std::map<std::string, double> damagedPlayers;
for(int i = 0; i < 15; i++) { for(int i = 0; i < 15; i++) {
//generate random vector //generate random vector
Point4D randV(10*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX)); Vec3D randV(10*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX));
// damage player // damage player
auto rayCast = rayCastFunction(pos, pos + direction * 1000 + randV); auto rayCast = rayCastFunction(pos, pos + direction * 1000 + randV);
@ -38,8 +38,8 @@ Shotgun::processFire(std::function<std::pair<Point4D, std::string>(const Point4D
damagedPlayers[rayCast.second] += _damage / (1.0 + (pos - rayCast.first).abs()); damagedPlayers[rayCast.second] += _damage / (1.0 + (pos - rayCast.first).abs());
} }
Point4D to = rayCast.first.w() == -1 ? pos + direction * 1000 + randV: rayCast.first; Vec3D to = rayCast.first == Vec3D(0) ? pos + direction * 1000 + randV: rayCast.first;
Point4D from = position() + triangles().back()[0]; Vec3D from = position() + Vec3D(triangles().back()[0]);
_addTraceCallBack(from, to); _addTraceCallBack(from, to);
} }

2
weapon/Shotgun.h
View File

@ -10,7 +10,7 @@
class Shotgun : public Weapon { class Shotgun : public Weapon {
public: public:
explicit Shotgun(int ammo = 15, const std::string& weaponName = "shotgun"); explicit Shotgun(int ammo = 15, const std::string& weaponName = "shotgun");
std::map<std::string, double> processFire(std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> rayCastFunction, const Point4D& position, const Point4D& direction) override; std::map<std::string, double> processFire(std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> rayCastFunction, const Vec3D& position, const Vec3D& direction) override;
}; };

12
weapon/Weapon.cpp
View File

@ -12,7 +12,7 @@
using namespace std; using namespace std;
Weapon::Weapon(const std::string& weaponName, const std::string& objFileName, const std::string& matFileName, const Point4D& scale, const Point4D& t, const Point4D& r) { Weapon::Weapon(const std::string& weaponName, const std::string& objFileName, const std::string& matFileName, const Vec3D& scale, const Vec3D& t, const Vec3D& r) {
_name = weaponName; _name = weaponName;
loadObj(objFileName, matFileName, scale); loadObj(objFileName, matFileName, scale);
@ -23,7 +23,7 @@ Weapon::Weapon(const std::string& weaponName, const std::string& objFileName, co
noAmmoSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/no_ammo.ogg")); noAmmoSound.setBuffer(*ResourceManager::loadSoundBuffer("sound/weapons/no_ammo.ogg"));
} }
std::map<std::string, double> Weapon::fire(std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> rayCastFunction, const Point4D& position, const Point4D& direction) { std::map<std::string, double> Weapon::fire(std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> rayCastFunction, const Vec3D& position, const Vec3D& direction) {
if(_clipAmmo == 0) { if(_clipAmmo == 0) {
reload(); reload();
if(_clipAmmo == 0) if(_clipAmmo == 0)
@ -58,11 +58,11 @@ void Weapon::reload() {
_lastReloadTime = Time::time(); _lastReloadTime = Time::time();
} }
std::map<std::string, double> Weapon::processFire(std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> rayCastFunction, const Point4D& pos, const Point4D& direction) { std::map<std::string, double> Weapon::processFire(std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> rayCastFunction, const Vec3D& pos, const Vec3D& direction) {
std::map<std::string, double> damagedPlayers; std::map<std::string, double> damagedPlayers;
//generate random vector //generate random vector
Point4D randV(10.0*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10.0*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10.0*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX)); Vec3D randV(10.0*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10.0*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX), 10.0*_spreading*(1.0 - 2.0*(double)rand()/RAND_MAX));
// damage player // damage player
auto rayCast = rayCastFunction(pos, pos + direction * 1000 + randV); auto rayCast = rayCastFunction(pos, pos + direction * 1000 + randV);
@ -71,8 +71,8 @@ std::map<std::string, double> Weapon::processFire(std::function<std::pair<Point4
} }
// add trace line // add trace line
Point4D to = rayCast.first.w() == -1 ? pos + direction * 1000 + randV: rayCast.first; Vec3D to = rayCast.first == Vec3D(0) ? pos + direction * 1000 + randV: rayCast.first;
Point4D from = position() + triangles().back()[0]; Vec3D from = position() + Vec3D(triangles().back()[0]);
_addTraceCallBack(from, to); _addTraceCallBack(from, to);
return damagedPlayers; return damagedPlayers;

10
weapon/Weapon.h
View File

@ -40,19 +40,19 @@ protected:
int fireTraces = 0; int fireTraces = 0;
std::function<void(const Point4D&, const Point4D&)> _addTraceCallBack; std::function<void(const Vec3D&, const Vec3D&)> _addTraceCallBack;
virtual std::map<std::string, double> processFire(std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> rayCastFunction, const Point4D& position, const Point4D& direction); virtual std::map<std::string, double> processFire(std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> rayCastFunction, const Vec3D& position, const Vec3D& direction);
public: public:
Weapon(const std::string& weaponName, const std::string& objFileName, const std::string& matFileName, const Point4D& scale, const Point4D& translate, const Point4D& rotate); Weapon(const std::string& weaponName, const std::string& objFileName, const std::string& matFileName, const Vec3D& scale, const Vec3D& translate, const Vec3D& rotate);
std::map<std::string, double> fire(std::function<std::pair<Point4D, std::string>(const Point4D&, const Point4D&)> rayCastFunction, const Point4D& position, const Point4D& direction); std::map<std::string, double> fire(std::function<std::pair<Vec3D, std::string>(const Vec3D&, const Vec3D&)> rayCastFunction, const Vec3D& position, const Vec3D& direction);
void reload(); void reload();
[[nodiscard]] std::pair<double, double> balance() const{ return std::make_pair(_clipAmmo, _stockAmmo); } [[nodiscard]] std::pair<double, double> balance() const{ return std::make_pair(_clipAmmo, _stockAmmo); }
void setAddTraceCallBack(std::function<void(Point4D, Point4D)> add) { void setAddTraceCallBack(std::function<void(Vec3D, Vec3D)> add) {
_addTraceCallBack = std::move(add); _addTraceCallBack = std::move(add);
} }