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Refactor engine to support double-precision vectors

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This commit is contained in:
Wojtek Figat
2022-06-13 00:40:32 +02:00
parent f82e370392
commit a881c90b2e
744 changed files with 19062 additions and 12467 deletions
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19
Source/Engine/Physics/Colliders/BoxCollider.cpp
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@@ -10,11 +10,10 @@ BoxCollider::BoxCollider(const SpawnParams& params)
{
}
void BoxCollider::SetSize(const Vector3& value)
void BoxCollider::SetSize(const Float3& value)
{
if (Vector3::NearEqual(value, _size))
if (Float3::NearEqual(value, _size))
return;
_size = value;
UpdateGeometry();
@@ -54,12 +53,12 @@ namespace
{
OrientedBoundingBox box;
const Vector3 vec = max - min;
const Vector3 dir = Vector3::Normalize(vec);
const Vector3 dir = Float3::Normalize(vec);
Quaternion orientation;
if (Vector3::Dot(dir, Vector3::Up) >= 0.999f)
Quaternion::RotationAxis(Vector3::Left, PI_HALF, orientation);
if (Vector3::Dot(dir, Float3::Up) >= 0.999f)
Quaternion::RotationAxis(Float3::Left, PI_HALF, orientation);
else
Quaternion::LookRotation(dir, Vector3::Cross(Vector3::Cross(dir, Vector3::Up), dir), orientation);
Quaternion::LookRotation(dir, Float3::Cross(Float3::Cross(dir, Float3::Up), dir), orientation);
const Vector3 up = orientation * Vector3::Up;
Matrix::CreateWorld(min + vec * 0.5f, dir, up, box.Transformation);
Matrix inv;
@@ -101,7 +100,7 @@ void BoxCollider::OnDebugDrawSelected()
#endif
bool BoxCollider::IntersectsItself(const Ray& ray, float& distance, Vector3& normal)
bool BoxCollider::IntersectsItself(const Ray& ray, Real& distance, Vector3& normal)
{
return _bounds.Intersects(ray, distance, normal);
}
@@ -135,8 +134,8 @@ void BoxCollider::UpdateBounds()
void BoxCollider::GetGeometry(CollisionShape& collision)
{
Vector3 size = _size * _cachedScale;
Float3 size = _size * _cachedScale;
const float minSize = 0.001f;
size = Vector3::Max(size.GetAbsolute() * 0.5f, Vector3(minSize));
size = Float3::Max(size.GetAbsolute() * 0.5f, Float3(minSize));
collision.SetBox(size.Raw);
}

8
Source/Engine/Physics/Colliders/BoxCollider.h
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@@ -14,7 +14,7 @@ API_CLASS() class FLAXENGINE_API BoxCollider : public Collider
DECLARE_SCENE_OBJECT(BoxCollider);
private:
Vector3 _size;
Float3 _size;
OrientedBoundingBox _bounds;
public:
@@ -26,7 +26,7 @@ public:
/// The box size will be scaled by the actor's world scale.
/// </remarks>
API_PROPERTY(Attributes="EditorOrder(100), DefaultValue(typeof(Vector3), \"100,100,100\"), EditorDisplay(\"Collider\")")
FORCE_INLINE Vector3 GetSize() const
FORCE_INLINE Float3 GetSize() const
{
return _size;
}
@@ -37,7 +37,7 @@ public:
/// <remarks>
/// The box size will be scaled by the actor's world scale.
/// </remarks>
API_PROPERTY() void SetSize(const Vector3& value);
API_PROPERTY() void SetSize(const Float3& value);
/// <summary>
/// Gets the volume bounding box (oriented).
@@ -54,7 +54,7 @@ public:
void OnDebugDraw() override;
void OnDebugDrawSelected() override;
#endif
bool IntersectsItself(const Ray& ray, float& distance, Vector3& normal) override;
bool IntersectsItself(const Ray& ray, Real& distance, Vector3& normal) override;
void Serialize(SerializeStream& stream, const void* otherObj) override;
void Deserialize(DeserializeStream& stream, ISerializeModifier* modifier) override;

2
Source/Engine/Physics/Colliders/CapsuleCollider.cpp
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@@ -69,7 +69,7 @@ void CapsuleCollider::OnDebugDrawSelected()
#endif
bool CapsuleCollider::IntersectsItself(const Ray& ray, float& distance, Vector3& normal)
bool CapsuleCollider::IntersectsItself(const Ray& ray, Real& distance, Vector3& normal)
{
return _orientedBox.Intersects(ray, distance, normal);
}

2
Source/Engine/Physics/Colliders/CapsuleCollider.h
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@@ -69,7 +69,7 @@ public:
#if USE_EDITOR
void OnDebugDrawSelected() override;
#endif
bool IntersectsItself(const Ray& ray, float& distance, Vector3& normal) override;
bool IntersectsItself(const Ray& ray, Real& distance, Vector3& normal) override;
void Serialize(SerializeStream& stream, const void* otherObj) override;
void Deserialize(DeserializeStream& stream, ISerializeModifier* modifier) override;

4
Source/Engine/Physics/Colliders/CharacterController.cpp
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@@ -360,8 +360,8 @@ void CharacterController::OnTransformChanged()
if (!_isUpdatingTransform && _controller)
{
PhysicsBackend::SetControllerPosition(_controller, _transform.Translation);
const Vector3 scale = GetScale();
if (!Vector3::NearEqual(_cachedScale, scale))
const Float3 scale = GetScale();
if (!Float3::NearEqual(_cachedScale, scale))
UpdateGeometry();
UpdateBounds();
}

6
Source/Engine/Physics/Colliders/Collider.cpp
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@@ -14,7 +14,7 @@
Collider::Collider(const SpawnParams& params)
: PhysicsColliderActor(params)
, _center(Vector3::Zero)
, _center(Float3::Zero)
, _isTrigger(false)
, _shape(nullptr)
, _staticActor(nullptr)
@@ -442,8 +442,8 @@ void Collider::OnTransformChanged()
}
}
const Vector3 scale = GetScale();
if (!Vector3::NearEqual(_cachedScale, scale))
const Float3 scale = GetScale();
if (!Float3::NearEqual(_cachedScale, scale))
UpdateGeometry();
UpdateBounds();
}

2
Source/Engine/Physics/Colliders/Collider.h
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@@ -24,7 +24,7 @@ protected:
bool _isTrigger;
void* _shape;
void* _staticActor;
Vector3 _cachedScale;
Float3 _cachedScale;
float _contactOffset;
Vector3 _cachedLocalPosePos;
Quaternion _cachedLocalPoseRot;

10
Source/Engine/Physics/Colliders/MeshCollider.cpp
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@@ -73,7 +73,7 @@ void MeshCollider::DrawPhysicsDebug(RenderView& view)
return;
if (view.Mode == ViewMode::PhysicsColliders && !GetIsTrigger())
{
Array<Vector3>* vertexBuffer;
Array<Float3>* vertexBuffer;
Array<int32>* indexBuffer;
CollisionData->GetDebugTriangles(vertexBuffer, indexBuffer);
DebugDraw::DrawTriangles(*vertexBuffer, *indexBuffer, _transform.GetWorld(), _staticActor ? Color::CornflowerBlue : Color::Orchid, 0, true);
@@ -90,7 +90,7 @@ void MeshCollider::OnDebugDrawSelected()
if (CollisionData && CollisionData->IsLoaded())
{
const auto& debugLines = CollisionData->GetDebugLines();
DEBUG_DRAW_LINES(Span<Vector3>(debugLines.Get(), debugLines.Count()), _transform.GetWorld(), Color::GreenYellow, 0, false);
DEBUG_DRAW_LINES(Span<Float3>(debugLines.Get(), debugLines.Count()), _transform.GetWorld(), Color::GreenYellow, 0, false);
}
// Base
@@ -99,7 +99,7 @@ void MeshCollider::OnDebugDrawSelected()
#endif
bool MeshCollider::IntersectsItself(const Ray& ray, float& distance, Vector3& normal)
bool MeshCollider::IntersectsItself(const Ray& ray, Real& distance, Vector3& normal)
{
// Use detailed hit
if (_shape)
@@ -149,9 +149,9 @@ void MeshCollider::UpdateBounds()
void MeshCollider::GetGeometry(CollisionShape& collision)
{
// Prepare scale
Vector3 scale = _cachedScale;
Float3 scale = _cachedScale;
const float minSize = 0.001f;
scale = Vector3::Max(scale.GetNegative(), minSize);
scale = Float3::Max(scale.GetAbsolute(), minSize);
// Setup shape (based on type)
CollisionDataType type = CollisionDataType::None;

2
Source/Engine/Physics/Colliders/MeshCollider.h
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@@ -34,7 +34,7 @@ public:
#if USE_EDITOR
void OnDebugDrawSelected() override;
#endif
bool IntersectsItself(const Ray& ray, float& distance, Vector3& normal) override;
bool IntersectsItself(const Ray& ray, Real& distance, Vector3& normal) override;
void Serialize(SerializeStream& stream, const void* otherObj) override;
void Deserialize(DeserializeStream& stream, ISerializeModifier* modifier) override;

2
Source/Engine/Physics/Colliders/SphereCollider.cpp
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@@ -45,7 +45,7 @@ void SphereCollider::OnDebugDrawSelected()
#endif
bool SphereCollider::IntersectsItself(const Ray& ray, float& distance, Vector3& normal)
bool SphereCollider::IntersectsItself(const Ray& ray, Real& distance, Vector3& normal)
{
return _sphere.Intersects(ray, distance, normal);
}

2
Source/Engine/Physics/Colliders/SphereCollider.h
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@@ -43,7 +43,7 @@ public:
#if USE_EDITOR
void OnDebugDrawSelected() override;
#endif
bool IntersectsItself(const Ray& ray, float& distance, Vector3& normal) override;
bool IntersectsItself(const Ray& ray, Real& distance, Vector3& normal) override;
void Serialize(SerializeStream& stream, const void* otherObj) override;
void Deserialize(DeserializeStream& stream, ISerializeModifier* modifier) override;

17
Source/Engine/Physics/Colliders/SplineCollider.cpp
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@@ -34,7 +34,7 @@ void SplineCollider::SetPreTransform(const Transform& value)
UpdateGeometry();
}
void SplineCollider::ExtractGeometry(Array<Vector3>& vertexBuffer, Array<int32>& indexBuffer) const
void SplineCollider::ExtractGeometry(Array<Float3>& vertexBuffer, Array<int32>& indexBuffer) const
{
vertexBuffer.Add(_vertexBuffer);
indexBuffer.Add(_indexBuffer);
@@ -106,7 +106,7 @@ void SplineCollider::OnDebugDrawSelected()
#endif
bool SplineCollider::IntersectsItself(const Ray& ray, float& distance, Vector3& normal)
bool SplineCollider::IntersectsItself(const Ray& ray, Real& distance, Vector3& normal)
{
// Use detailed hit
if (_shape)
@@ -195,7 +195,7 @@ void SplineCollider::GetGeometry(CollisionShape& collision)
// Extract collision geometry
// TODO: cache memory allocation for dynamic colliders
Array<Vector3> collisionVertices;
Array<Float3> collisionVertices;
Array<int32> collisionIndices;
CollisionData->ExtractGeometry(collisionVertices, collisionIndices);
if (collisionIndices.IsEmpty())
@@ -244,15 +244,15 @@ void SplineCollider::GetGeometry(CollisionShape& collision)
for (int32 i = 0; i < collisionVertices.Count(); i++)
{
Vector3 v = srcVertices[i];
const float alpha = Math::Saturate((v.Z - localModelBounds.Minimum.Z) / localModelBoundsSize.Z);
const Real alpha = Math::Saturate((v.Z - localModelBounds.Minimum.Z) / localModelBoundsSize.Z);
v.Z = alpha;
// Evaluate transformation at the curve
AnimationUtils::Bezier(start.Value, leftTangent, rightTangent, end.Value, alpha, curveTransform);
AnimationUtils::Bezier(start.Value, leftTangent, rightTangent, end.Value, (float)alpha, curveTransform);
// Apply spline direction (from position 1st derivative)
Vector3 direction;
AnimationUtils::BezierFirstDerivative(start.Value.Translation, leftTangent.Translation, rightTangent.Translation, end.Value.Translation, alpha, direction);
AnimationUtils::BezierFirstDerivative(start.Value.Translation, leftTangent.Translation, rightTangent.Translation, end.Value.Translation, (float)alpha, direction);
direction.Normalize();
Quaternion orientation;
if (direction.IsZero())
@@ -279,8 +279,8 @@ void SplineCollider::GetGeometry(CollisionShape& collision)
}
// Prepare scale
Vector3 scale = _cachedScale;
scale = Vector3::Max(scale.GetAbsolute(), minSize);
Float3 scale = _cachedScale;
scale = Float3::Max(scale.GetAbsolute(), minSize);
// TODO: add support for cooking collision for static splines in editor and reusing it in game
@@ -311,6 +311,7 @@ void SplineCollider::GetGeometry(CollisionShape& collision)
}
// Transform vertices back to world space for debug shapes drawing and navmesh building
// TODO: large-worlds (keep data in local-space and transform on-the-fly)
for (int32 i = 0; i < _vertexBuffer.Count(); i++)
_vertexBuffer[i] = colliderTransform.LocalToWorld(_vertexBuffer[i]);

6
Source/Engine/Physics/Colliders/SplineCollider.h
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@@ -19,7 +19,7 @@ DECLARE_SCENE_OBJECT(SplineCollider);
private:
Spline* _spline = nullptr;
void* _triangleMesh = nullptr;
Array<Vector3> _vertexBuffer;
Array<Float3> _vertexBuffer;
Array<int32> _indexBuffer;
Transform _preTransform = Transform::Identity;
@@ -47,7 +47,7 @@ public:
/// </summary>
/// <param name="vertexBuffer">The output vertex buffer.</param>
/// <param name="indexBuffer">The output index buffer.</param>
void ExtractGeometry(Array<Vector3>& vertexBuffer, Array<int32>& indexBuffer) const;
void ExtractGeometry(Array<Float3>& vertexBuffer, Array<int32>& indexBuffer) const;
private:
@@ -63,7 +63,7 @@ public:
#if USE_EDITOR
void OnDebugDrawSelected() override;
#endif
bool IntersectsItself(const Ray& ray, float& distance, Vector3& normal) override;
bool IntersectsItself(const Ray& ray, Real& distance, Vector3& normal) override;
void Serialize(SerializeStream& stream, const void* otherObj) override;
void Deserialize(DeserializeStream& stream, ISerializeModifier* modifier) override;
void OnParentChanged() override;