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Fix floor collisions

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a dinosaur
2024-05-07 19:49:40 +10:00
parent 608cf45822
commit 446c444728
4 changed files with 6131 additions and 3001 deletions
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57
Sources/Test/Objects/Colin.swift
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@ -120,40 +120,33 @@ class Colin: Actor
response3D(plainPos: origin, plainNorm: normal)
case .triangle(let normal, let origin, let verts):
let p = (verts.1 - verts.0, verts.2 - verts.0, _pos - verts.0)
let invDenom = 1.0 / (p.0.x * p.1.z - p.1.x * p.0.z);
let v = invDenom * (p.2.x * p.1.z - p.1.x * p.2.z);
let w = invDenom * (p.0.x * p.2.z - p.2.x * p.0.z);
let x = 1.0 - v - w
//guard v >= 0.0 && w >= 0.0 && v + w <= 1.0 else { break }
guard v >= 0.0 && w >= 0.0 && 0 <= x && x <= 1.0 else { break }
response3D(plainPos: origin, plainNorm: normal)
case .quad(let verts, let winding):
let vn = (
(verts.1 - verts.0).cross(verts.3 - verts.0),
(verts.2 - verts.1).cross(verts.0 - verts.1),
(verts.3 - verts.2).cross(verts.1 - verts.2),
(verts.0 - verts.3).cross(verts.2 - verts.3)
)
let uv = Collision.quadSpaceFromCartesian(quad:
winding == .ccw ? (verts.3, verts.2, verts.1, verts.0) : (verts.0, verts.1, verts.2, verts.3)
, position: _pos)
if uv.x >= 0.0 && uv.x <= 1.0 && uv.y >= 0.0 && uv.y <= 1.0
case .triangle(let normal, let origin, let triangle):
if triangle.inside(point: _pos)
{
//var pp = p.0
//pp += (p.1 - p.0) * uv.x
//pp += (p.3 - p.0) * uv.y
//pp += (p.0 - p.1 + p.2 - p.3) * uv.x * uv.y
let p = verts.0.lerp(verts.1, uv.x).lerp(
verts.3.lerp(verts.2, uv.x), winding == .cw ? uv.y : 1.0 - uv.y)
let n = vn.0.lerp(vn.3, uv.x).lerp(
vn.2.lerp(vn.1, uv.x), winding == .cw ? uv.y : 1.0 - uv.y).normalised
response3D(plainPos: Vec3f(_pos.x, p.y, _pos.z), plainNorm: n)
response3D(plainPos: origin, plainNorm: normal)
}
case .flatQuad(let quad, let normal):
if quad.inside(point: _pos)
{
response3D(plainPos: quad.a, plainNorm: normal)
}
case .quad(let quad, let winding):
if !quad.inside(point: _pos) { continue }
let d = winding == .ccw ? quad.reverse : quad
let uv = d.project(point: _pos)
//var pp = p.0
//pp += (p.1 - p.0) * uv.x
//pp += (p.3 - p.0) * uv.y
//pp += (p.0 - p.1 + p.2 - p.3) * uv.x * uv.y
let p = quad.a.lerp(quad.b, uv.x).lerp(
quad.d.lerp(quad.c, uv.x), winding == .cw ? uv.y : 1.0 - uv.y)
let vn = quad.normals
let n = vn.0.lerp(vn.1, uv.x).lerp(
vn.3.lerp(vn.2, uv.x), winding == .cw ? uv.y : 1.0 - uv.y).normalised
response3D(plainPos: Vec3f(_pos.x, p.y, _pos.z), plainNorm: n)
/*
let p = (
verts.0 + (verts.1 - verts.0) * _pos.x,