106 lines
3.8 KiB
C++
106 lines
3.8 KiB
C++
//
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// Created by Иван Ильин on 13.01.2021.
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//
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#include "World.h"
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#include "utils/Log.h"
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#include "Plane.h"
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using namespace std;
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void World::addBody(std::shared_ptr<RigidBody> body, const ObjectNameTag& tag) {
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_objects.emplace(tag, body);
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Log::log("World::addBody(): inserted body '" + tag.str() + "' with " + std::to_string(_objects[tag]->triangles().size()) + " tris.");
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}
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void World::loadBody(const ObjectNameTag& tag, const string &filename, const std::string &materials, const Vec3D& scale) {
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_objects.emplace(tag, std::make_shared<RigidBody>(Mesh(filename, materials, scale)));
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Log::log("World::loadBody(): inserted body from " + filename + " with title '" + tag.str() + "' with " + std::to_string(_objects[tag]->triangles().size()) + " tris.");
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}
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std::pair<Vec3D, ObjectNameTag> World::rayCast(const Vec3D& from, const Vec3D& to, const std::string& tag) {
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std::pair<Vec3D, string> result;
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std::unique_ptr<Vec3D> point = std::make_unique<Vec3D>();
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std::string bodyName;
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double minDistance = Consts::RAY_CAST_MAX_DISTANCE;
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for(auto& [name, body] : _objects) {
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if(!tag.empty() && name.str().find(tag) == std::string::npos)
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continue;
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for(auto& tri : body->triangles()) {
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Triangle tri_translated(tri[0] + body->position().makePoint4D(), tri[1] + body->position().makePoint4D(), tri[2] + body->position().makePoint4D());
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Plane plane(tri_translated);
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auto intersection = plane.intersection(from, to);
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double distance = (intersection.first - from).sqrAbs();
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if(intersection.second > 0 && distance < minDistance && tri_translated.isPointInside(intersection.first)) {
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minDistance = distance;
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point = std::make_unique<Vec3D>(intersection.first);
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bodyName = name.str();
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}
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}
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}
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return {*point, ObjectNameTag(bodyName)};
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}
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void World::loadMap(const std::string& filename, const std::string& materials, const std::string& name, const Vec3D& scale) {
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auto objs = Mesh::LoadObjects(filename, materials, scale);
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for(unsigned i = 0; i < objs.size(); i++) {
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ObjectNameTag meshName = ObjectNameTag(name + "_" + to_string(i));
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addBody(std::make_shared<RigidBody>(*objs[i]), meshName);
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}
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}
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void World::removeBody(const ObjectNameTag& tag) {
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if(_objects.erase(tag) > 0)
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Log::log("World::removeBody(): removed body '" + tag.str() + "'");
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else
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Log::log("World::removeBody(): cannot remove body '" + tag.str() + "': body does not exist.");
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}
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void World::checkCollision(const ObjectNameTag& tag) {
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if (_objects[tag]->isCollision()) {
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_objects[tag]->setInCollision(false);
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for (auto it = _objects.begin(); it != _objects.end();) {
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auto obj = it->second;
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ObjectNameTag name = it->first;
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it++;
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if(name != tag) {
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std::pair<bool, Simplex> gjk = _objects[tag]->checkGJKCollision(obj);
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if (gjk.first) {
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if (obj->isCollider()) {
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CollisionPoint epa = _objects[tag]->EPA(gjk.second, obj);
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_objects[tag]->solveCollision(epa);
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}
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if (_objects[tag]->collisionCallBack() != nullptr)
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_objects[tag]->collisionCallBack()(name, obj);
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}
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}
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}
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}
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}
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void World::update() {
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for (auto &m : _objects) {
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m.second->updatePhysicsState();
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checkCollision(m.first);
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}
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}
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void World::projectObjectsInCamera(std::shared_ptr<Camera> camera) {
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for (auto &[name, body] : _objects)
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camera->project(body);
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}
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std::shared_ptr<RigidBody> World::body(const ObjectNameTag& tag) {
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if(_objects.count(tag) == 0)
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return nullptr;
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return _objects.find(tag)->second;
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}
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