319 lines
9.9 KiB
C++
319 lines
9.9 KiB
C++
//
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// Created by Иван Ильин on 05.02.2021.
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//
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#include "RigidBody.h"
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#include "../Plane.h"
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#include "../utils/Log.h"
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#include "../utils/Time.h"
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#include <iostream>
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#include <cmath>
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Vec3D RigidBody::_findFurthestPoint(const Vec3D& direction) {
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std::unique_ptr<Vec3D> maxPoint = std::make_unique<Vec3D>(Vec3D{0, 0, 0});
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auto maxDistance = -std::numeric_limits<double>::max();
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for(auto& tri : triangles()){
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for(int i = 0; i < 3; i++){
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Vec3D point = Vec3D(tri[i] + position().makePoint4D());
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double distance = point.dot(direction);
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if(distance > maxDistance) {
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maxDistance = distance;
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maxPoint = std::make_unique<Vec3D>(point);
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}
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}
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}
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return *maxPoint;
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}
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Vec3D RigidBody::_support(std::shared_ptr<RigidBody> obj, const Vec3D& direction) {
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Vec3D p1 = _findFurthestPoint(direction);
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Vec3D p2 = obj->_findFurthestPoint(-direction);
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return p1 - p2;
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}
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NextSimplex RigidBody::_nextSimplex(const Simplex &points) {
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switch (points.type()) {
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case SimplexType::Line: return _lineCase(points);
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case SimplexType::Triangle: return _triangleCase(points);
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case SimplexType::Tetrahedron: return _tetrahedronCase(points);
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default: throw std::logic_error{"RigidBody::_nextSimplex: simplex is not Line, Triangle or Tetrahedron"};
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}
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}
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NextSimplex RigidBody::_lineCase(const Simplex& points) {
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std::unique_ptr<Simplex> newPoints = std::make_unique<Simplex>(points);
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std::unique_ptr<Vec3D> newDirection;
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Vec3D a = points[0];
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Vec3D b = points[1];
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Vec3D ab = b - a;
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Vec3D ao = - a;
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if (ab.dot(ao) > 0) {
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newDirection = std::make_unique<Vec3D>(ab.cross(ao).cross(ab));
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} else {
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newPoints = std::make_unique<Simplex>(Simplex{a});
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newDirection = std::make_unique<Vec3D>(ao);
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}
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return NextSimplex{*newPoints, *newDirection, false};
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}
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NextSimplex RigidBody::_triangleCase(const Simplex &points) {
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std::unique_ptr<Simplex> newPoints = std::make_unique<Simplex>(points);
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std::unique_ptr<Vec3D> newDirection;
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Vec3D a = points[0];
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Vec3D b = points[1];
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Vec3D c = points[2];
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Vec3D ab = b - a;
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Vec3D ac = c - a;
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Vec3D ao = - a;
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Vec3D abc = ab.cross(ac);
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if (abc.cross(ac).dot(ao) > 0) {
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if (ac.dot(ao) > 0) {
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newPoints = std::make_unique<Simplex>(Simplex{ a, c });
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newDirection = std::make_unique<Vec3D>(ac.cross(ao).cross(ac));
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}
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else {
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return _lineCase(Simplex { a, b });
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}
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} else {
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if (ab.cross(abc).dot(ao) > 0) {
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return _lineCase(Simplex { a, b });
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}
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else {
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if (abc.dot(ao) > 0) {
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newDirection = std::make_unique<Vec3D>(abc);
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} else {
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newPoints = std::make_unique<Simplex>(Simplex{ a, c, b });
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newDirection = std::make_unique<Vec3D>(-abc);
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}
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}
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}
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return NextSimplex{*newPoints, *newDirection, false};
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}
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NextSimplex RigidBody::_tetrahedronCase(const Simplex &points) {
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Vec3D a = points[0];
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Vec3D b = points[1];
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Vec3D c = points[2];
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Vec3D d = points[3];
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Vec3D ab = b - a;
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Vec3D ac = c - a;
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Vec3D ad = d - a;
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Vec3D ao = - a;
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Vec3D abc = ab.cross(ac);
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Vec3D acd = ac.cross(ad);
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Vec3D adb = ad.cross(ab);
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if (abc.dot(ao) > 0) {
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return _triangleCase(Simplex{ a, b, c });
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}
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if (acd.dot(ao) > 0) {
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return _triangleCase(Simplex{ a, c, d });
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}
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if (adb.dot(ao) > 0) {
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return _triangleCase(Simplex{ a, d, b });
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}
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return NextSimplex{points, Vec3D(), true};
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}
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std::pair<bool, Simplex> RigidBody::checkGJKCollision(std::shared_ptr<RigidBody> obj) {
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// Get initial support point in any direction
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std::unique_ptr<Vec3D> support = std::make_unique<Vec3D>(_support(obj, Vec3D{1, 0, 0}));
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// Simplex is an array of points, max count is 4
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std::unique_ptr<Simplex> points = std::make_unique<Simplex>();
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points->push_front(*support);
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// New direction is towards the origin
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std::unique_ptr<Vec3D> direction = std::make_unique<Vec3D>(-*support);
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while (true) {
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support = std::make_unique<Vec3D>(_support(obj, *direction));
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if (support->dot(*direction) <= 0)
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return std::make_pair(false, *points); // no collision
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points->push_front(*support);
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NextSimplex nextSimplex = _nextSimplex(*points);
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direction = std::make_unique<Vec3D>(nextSimplex.newDirection);
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points = std::make_unique<Simplex>(nextSimplex.newSimplex);
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if (nextSimplex.finishSearching) {
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if(obj->isCollider())
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_inCollision = true;
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return std::make_pair(true, *points);
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}
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}
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}
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CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody> obj) {
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std::vector<Vec3D> polytope(simplex.begin(), simplex.end());
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std::vector<size_t> faces = {
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0, 1, 2,
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0, 3, 1,
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0, 2, 3,
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1, 3, 2
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};
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// list: vector4(normal, distance), index: min distance
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auto [normals, minFace] = std::move(_getFaceNormals(polytope, faces));
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std::shared_ptr<Vec3D> minNormal{};
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double minDistance = std::numeric_limits<double>::max();
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while (minDistance == std::numeric_limits<double>::max()) {
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minNormal = std::make_shared<Vec3D>(normals[minFace]->normal);
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minDistance = normals[minFace]->distance;
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Vec3D support = _support(obj, *minNormal);
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double sDistance = minNormal->dot(support);
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if (std::abs(sDistance - minDistance) > Consts::EPA_EPS) {
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minDistance = std::numeric_limits<double>::max();
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std::vector<std::pair<size_t, size_t>> uniqueEdges;
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for (size_t i = 0; i < normals.size(); i++) {
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if (normals[i]->normal.dot(support) > 0) {
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size_t f = i * 3;
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uniqueEdges = _addIfUniqueEdge(uniqueEdges, faces, f + 0, f + 1);
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uniqueEdges = _addIfUniqueEdge(uniqueEdges, faces, f + 1, f + 2);
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uniqueEdges = _addIfUniqueEdge(uniqueEdges, faces, f + 2, f + 0);
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faces.erase(faces.begin() + f);
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faces.erase(faces.begin() + f);
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faces.erase(faces.begin() + f);
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normals.erase(normals.begin() + i--);
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}
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}
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std::vector<size_t> newFaces;
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for (auto [edgeIndex1, edgeIndex2] : uniqueEdges) {
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newFaces.push_back(edgeIndex1);
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newFaces.push_back(edgeIndex2);
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newFaces.push_back(polytope.size());
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}
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polytope.push_back(support);
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auto [newNormals, newMinFace] = _getFaceNormals(polytope, newFaces);
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if(newNormals.empty())
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break;
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double oldMinDistance = std::numeric_limits<double>::max();
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for (size_t i = 0; i < normals.size(); i++) {
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if (normals[i]->distance < oldMinDistance) {
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oldMinDistance = normals[i]->distance;
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minFace = i;
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}
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}
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if (newNormals[newMinFace]->distance < oldMinDistance) {
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minFace = newMinFace + normals.size();
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}
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faces .insert(faces .end(), newFaces .begin(), newFaces .end());
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normals.insert(normals.end(), newNormals.begin(), newNormals.end());
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}
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}
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_collisionNormal = minNormal;
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return CollisionPoint{*minNormal, minDistance + Consts::EPA_EPS, minDistance < std::numeric_limits<double>::max()};
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}
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std::pair<std::vector<std::shared_ptr<FaceNormal>>, size_t> RigidBody::_getFaceNormals(const std::vector<Vec3D>& polytope, const std::vector<size_t>& faces) {
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std::vector<std::shared_ptr<FaceNormal>> normals;
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size_t nearestFaceIndex = 0;
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double minDistance = std::numeric_limits<double>::max();
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for (size_t i = 0; i < faces.size(); i += 3) {
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Vec3D a = polytope[faces[i + 0]];
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Vec3D b = polytope[faces[i + 1]];
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Vec3D c = polytope[faces[i + 2]];
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std::shared_ptr<Vec3D> normal = std::make_shared<Vec3D>((b - a).cross(c - a).normalized());
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if(normal->sqrAbs() < Consts::EPS)
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continue;
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double distance = normal->dot(a);
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if (distance < 0) {
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normal = std::make_unique<Vec3D>(-*normal);
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distance *= -1;
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}
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normal = std::make_shared<Vec3D>(Vec3D{normal->x(), normal->y(), normal->z()});
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normals.emplace_back(std::make_shared<FaceNormal>(FaceNormal{*normal, distance}));
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if (distance < minDistance) {
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nearestFaceIndex = i / 3;
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minDistance = distance;
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}
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}
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return {normals, nearestFaceIndex};
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}
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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) {
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std::vector<std::pair<size_t, size_t>> newEdges = edges;
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// We are interested in reversed edge
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// 0--<--3
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// / \ B / A: 2-0
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// / A \ / B: 0-2
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// 1-->--2
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auto reverse = std::find(newEdges.begin(), newEdges.end(), std::make_pair(faces[b], faces[a]));
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if (reverse != newEdges.end()) {
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newEdges.erase(reverse);
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} else {
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newEdges.emplace_back(faces[a], faces[b]);
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}
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return newEdges;
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}
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void RigidBody::updatePhysicsState() {
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translate(*_velocity * Time::deltaTime());
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_velocity = std::make_unique<Vec3D>(*_velocity + *_acceleration * Time::deltaTime());
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}
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void RigidBody::setVelocity(const Vec3D& velocity) {
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_velocity = std::make_unique<Vec3D>(velocity);
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}
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void RigidBody::addVelocity(const Vec3D &velocity) {
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_velocity = std::make_unique<Vec3D>(*_velocity + velocity);
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}
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void RigidBody::setAcceleration(const Vec3D& acceleration) {
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_acceleration = std::make_unique<Vec3D>(acceleration);
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}
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RigidBody::RigidBody(const Mesh &mesh) : Mesh(mesh) {
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}
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