101 lines
3.1 KiB
C++
101 lines
3.1 KiB
C++
// Copyright (c) 2012-2024 Wojciech Figat. All rights reserved.
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#pragma once
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#include "Engine/Core/Math/Vector3.h"
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#include "Engine/Core/Math/Transform.h"
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#include "Engine/Core/Math/Ray.h"
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#include "Engine/Core/Math/CollisionsHelper.h"
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#include "Engine/Core/Collections/Array.h"
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/// <summary>
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/// Helper container used for detailed triangle mesh intersections tests.
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/// </summary>
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class FLAXENGINE_API CollisionProxy
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{
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public:
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struct CollisionTriangle
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{
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Float3 V0, V1, V2;
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};
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/// <summary>
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/// The triangles.
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/// </summary>
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Array<CollisionTriangle> Triangles;
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public:
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FORCE_INLINE bool HasData() const
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{
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return Triangles.HasItems();
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}
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template<typename IndexType>
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void Init(uint32 vertices, uint32 triangles, const Float3* positions, const IndexType* indices, uint32 positionsStride = sizeof(Float3))
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{
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Triangles.Clear();
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Triangles.EnsureCapacity(triangles, false);
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const IndexType* it = indices;
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for (uint32 i = 0; i < triangles; i++)
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{
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const IndexType i0 = *(it++);
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const IndexType i1 = *(it++);
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const IndexType i2 = *(it++);
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if (i0 < vertices && i1 < vertices && i2 < vertices)
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{
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#define GET_POS(idx) *(const Float3*)((const byte*)positions + positionsStride * idx)
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Triangles.Add({ GET_POS(i0), GET_POS(i1), GET_POS(i2) });
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#undef GET_POS
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}
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}
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}
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void Clear()
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{
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Triangles.Clear();
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}
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bool Intersects(const Ray& ray, const Matrix& world, Real& distance, Vector3& normal) const
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{
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distance = MAX_Real;
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for (int32 i = 0; i < Triangles.Count(); i++)
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{
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CollisionTriangle triangle = Triangles[i];
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Float3::Transform(triangle.V0, world, triangle.V0);
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Float3::Transform(triangle.V1, world, triangle.V1);
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Float3::Transform(triangle.V2, world, triangle.V2);
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// TODO: use 32-bit precision for intersection
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Real d;
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if (CollisionsHelper::RayIntersectsTriangle(ray, triangle.V0, triangle.V1, triangle.V2, d) && d < distance)
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{
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normal = Vector3::Normalize((triangle.V1 - triangle.V0) ^ (triangle.V2 - triangle.V0));
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distance = d;
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}
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}
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return distance < MAX_Real;
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}
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bool Intersects(const Ray& ray, const Transform& transform, Real& distance, Vector3& normal) const
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{
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distance = MAX_Real;
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for (int32 i = 0; i < Triangles.Count(); i++)
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{
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CollisionTriangle triangle = Triangles[i];
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Vector3 v0, v1, v2;
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transform.LocalToWorld(triangle.V0, v0);
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transform.LocalToWorld(triangle.V1, v1);
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transform.LocalToWorld(triangle.V2, v2);
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// TODO: use 32-bit precision for intersection
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Real d;
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if (CollisionsHelper::RayIntersectsTriangle(ray, v0, v1, v2, d) && d < distance)
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{
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normal = Vector3::Normalize((v1 - v0) ^ (v2 - v0));
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distance = d;
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}
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}
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return distance < MAX_Real;
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}
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};
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