106 lines
3.7 KiB
C++
106 lines
3.7 KiB
C++
//
|
|
// Created by Иван Ильин on 13.01.2021.
|
|
//
|
|
|
|
#include "World.h"
|
|
#include "utils/Log.h"
|
|
#include "Plane.h"
|
|
|
|
using namespace std;
|
|
|
|
void World::addBody(std::shared_ptr<RigidBody> body, const string &name) {
|
|
_objects.emplace(name, body);
|
|
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 Vec3D& 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.");
|
|
}
|
|
|
|
std::pair<Vec3D, string> World::rayCast(const Vec3D& from, const Vec3D& to, const std::string& tag) {
|
|
|
|
std::pair<Vec3D, string> result;
|
|
std::unique_ptr<Vec3D> point = std::make_unique<Vec3D>();
|
|
std::string name;
|
|
double minDistance = Consts::RAY_CAST_MAX_DISTANCE;
|
|
|
|
for(auto& object : _objects) {
|
|
if(!tag.empty() && object.first.find(tag) == std::string::npos)
|
|
continue;
|
|
|
|
for(auto& tri : object.second->triangles()) {
|
|
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);
|
|
auto intersection = plane.intersection(from, to);
|
|
double distance = (intersection.first - from).sqrAbs();
|
|
if(intersection.second > 0 && distance < minDistance && tri_translated.isPointInside(intersection.first)) {
|
|
minDistance = distance;
|
|
point = std::make_unique<Vec3D>(intersection.first);
|
|
name = object.first;
|
|
}
|
|
}
|
|
}
|
|
return {*point, name};
|
|
}
|
|
|
|
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);
|
|
for(unsigned i = 0; i < objs.size(); i++) {
|
|
string meshName = name + "_" + to_string(i);
|
|
addBody(std::make_shared<RigidBody>(*objs[i]), meshName);
|
|
}
|
|
}
|
|
|
|
void World::removeBody(string name) {
|
|
if(_objects.erase(name) > 0)
|
|
Log::log("World::removeBody(): removed body '" + name + "'");
|
|
else
|
|
Log::log("World::removeBody(): cannot remove body '" + name + "': body does not exist.");
|
|
}
|
|
|
|
void World::checkCollision(const std::string& body) {
|
|
if (_objects[body]->isCollision()) {
|
|
|
|
_objects[body]->setInCollision(false);
|
|
|
|
for (auto it = _objects.begin(); it != _objects.end();) {
|
|
|
|
auto obj = it->second;
|
|
std::string name = it->first;
|
|
it++;
|
|
|
|
if(name != body) {
|
|
std::pair<bool, Simplex> gjk = _objects[body]->checkGJKCollision(obj);
|
|
if (gjk.first) {
|
|
if (obj->isCollider()) {
|
|
CollisionPoint epa = _objects[body]->EPA(gjk.second, obj);
|
|
_objects[body]->solveCollision(epa);
|
|
}
|
|
if (_objects[body]->collisionCallBack() != nullptr)
|
|
_objects[body]->collisionCallBack()(name, obj);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void World::update() {
|
|
for (auto &m : _objects) {
|
|
m.second->updatePhysicsState();
|
|
checkCollision(m.first);
|
|
}
|
|
}
|
|
|
|
void World::projectObjectsInCamera(std::shared_ptr<Camera> camera) {
|
|
for (auto &m : _objects)
|
|
camera->project(m.second);
|
|
}
|
|
|
|
std::shared_ptr<RigidBody> World::body(const string &name) {
|
|
if(_objects.count(name) == 0)
|
|
return nullptr;
|
|
return _objects.find(name)->second;
|
|
}
|