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Modified source engine (2017) developed by valve and leaked in 2020. Not for commercial purporses
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source-engine/vphysics/physics_collide.cpp

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//========= Copyright Valve Corporation, All rights reserved. ============//
//
// Purpose:
//
// $NoKeywords: $
//
//=============================================================================//
#include "cbase.h"
#include "ivp_surbuild_pointsoup.hxx"
#include "ivp_surbuild_ledge_soup.hxx"
#include "ivp_surman_polygon.hxx"
#include "ivp_compact_surface.hxx"
#include "ivp_compact_ledge.hxx"
#include "ivp_compact_ledge_solver.hxx"
#include "ivp_halfspacesoup.hxx"
#include "ivp_surbuild_halfspacesoup.hxx"
#include "ivp_template_surbuild.hxx"
#include "hk_mopp/ivp_surbuild_mopp.hxx"
#include "hk_mopp/ivp_surman_mopp.hxx"
#include "hk_mopp/ivp_compact_mopp.hxx"
#include "ivp_surbuild_polygon_convex.hxx"
#include "ivp_templates_intern.hxx"
#include "cmodel.h"
#include "physics_trace.h"
#include "vcollide_parse_private.h"
#include "physics_virtualmesh.h"
#include "mathlib/polyhedron.h"
#include "tier1/byteswap.h"
// memdbgon must be the last include file in a .cpp file!!!
#include "tier0/memdbgon.h"
class CPhysCollideCompactSurface;
struct bboxcache_t
{
Vector mins;
Vector maxs;
CPhysCollideCompactSurface *pCollide;
};
class CPhysicsCollision : public IPhysicsCollision
{
public:
CPhysicsCollision()
{
}
CPhysConvex *ConvexFromVerts( Vector **pVerts, int vertCount );
CPhysConvex *ConvexFromVertsFast( Vector **pVerts, int vertCount );
CPhysConvex *ConvexFromPlanes( float *pPlanes, int planeCount, float mergeDistance );
CPhysConvex *ConvexFromConvexPolyhedron( const CPolyhedron &ConvexPolyhedron );
void ConvexesFromConvexPolygon( const Vector &vPolyNormal, const Vector *pPoints, int iPointCount, CPhysConvex **pOutput );
CPhysConvex *RebuildConvexFromPlanes( CPhysConvex *pConvex, float mergeDistance );
float ConvexVolume( CPhysConvex *pConvex );
float ConvexSurfaceArea( CPhysConvex *pConvex );
CPhysCollide *ConvertConvexToCollide( CPhysConvex **pConvex, int convexCount );
CPhysCollide *ConvertConvexToCollideParams( CPhysConvex **pConvex, int convexCount, const convertconvexparams_t &convertParams );
CPolyhedron *PolyhedronFromConvex( CPhysConvex * const pConvex, bool bUseTempPolyhedron );
int GetConvexesUsedInCollideable( const CPhysCollide *pCollideable, CPhysConvex **pOutputArray, int iOutputArrayLimit );
// store game-specific data in a convex solid
void SetConvexGameData( CPhysConvex *pConvex, unsigned int gameData );
void ConvexFree( CPhysConvex *pConvex );
CPhysPolysoup *PolysoupCreate( void );
void PolysoupDestroy( CPhysPolysoup *pSoup );
void PolysoupAddTriangle( CPhysPolysoup *pSoup, const Vector &a, const Vector &b, const Vector &c, int materialIndex7bits );
CPhysCollide *ConvertPolysoupToCollide( CPhysPolysoup *pSoup, bool useMOPP = true );
int CollideSize( CPhysCollide *pCollide );
int CollideWrite( char *pDest, CPhysCollide *pCollide, bool bSwap = false );
// Get the AABB of an oriented collide
virtual void CollideGetAABB( Vector *pMins, Vector *pMaxs, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles );
virtual Vector CollideGetExtent( const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, const Vector &direction );
// compute the volume of a collide
virtual float CollideVolume( CPhysCollide *pCollide );
virtual float CollideSurfaceArea( CPhysCollide *pCollide );
// Free a collide that was created with ConvertConvexToCollide()
// UNDONE: Move this up near the other Collide routines when the version is changed
virtual void DestroyCollide( CPhysCollide *pCollide );
CPhysCollide *BBoxToCollide( const Vector &mins, const Vector &maxs );
CPhysConvex *BBoxToConvex( const Vector &mins, const Vector &maxs );
// loads a set of solids into a vcollide_t
virtual void VCollideLoad( vcollide_t *pOutput, int solidCount, const char *pBuffer, int size, bool swap );
// destroyts the set of solids created by VCollideLoad
virtual void VCollideUnload( vcollide_t *pVCollide );
// Trace an AABB against a collide
void TraceBox( const Vector &start, const Vector &end, const Vector &mins, const Vector &maxs, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, trace_t *ptr );
void TraceBox( const Ray_t &ray, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, trace_t *ptr );
void TraceBox( const Ray_t &ray, unsigned int contentsMask, IConvexInfo *pConvexInfo, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, trace_t *ptr );
// Trace one collide against another
void TraceCollide( const Vector &start, const Vector &end, const CPhysCollide *pSweepCollide, const QAngle &sweepAngles, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, trace_t *ptr );
bool IsBoxIntersectingCone( const Vector &boxAbsMins, const Vector &boxAbsMaxs, const truncatedcone_t &cone );
// begins parsing a vcollide. NOTE: This keeps pointers to the text
// If you delete the text and call members of IVPhysicsKeyParser, it will crash
virtual IVPhysicsKeyParser *VPhysicsKeyParserCreate( const char *pKeyData );
// Free the parser created by VPhysicsKeyParserCreate
virtual void VPhysicsKeyParserDestroy( IVPhysicsKeyParser *pParser );
// creates a list of verts from a collision mesh
int CreateDebugMesh( const CPhysCollide *pCollisionModel, Vector **outVerts );
// destroy the list of verts created by CreateDebugMesh
void DestroyDebugMesh( int vertCount, Vector *outVerts );
// create a queryable version of the collision model
ICollisionQuery *CreateQueryModel( CPhysCollide *pCollide );
// destroy the queryable version
void DestroyQueryModel( ICollisionQuery *pQuery );
virtual IPhysicsCollision *ThreadContextCreate( void );
virtual void ThreadContextDestroy( IPhysicsCollision *pThreadContex );
virtual unsigned int ReadStat( int statID ) { return 0; }
virtual void CollideGetMassCenter( CPhysCollide *pCollide, Vector *pOutMassCenter );
virtual void CollideSetMassCenter( CPhysCollide *pCollide, const Vector &massCenter );
virtual int CollideIndex( const CPhysCollide *pCollide );
virtual Vector CollideGetOrthographicAreas( const CPhysCollide *pCollide );
virtual void OutputDebugInfo( const CPhysCollide *pCollide );
virtual CPhysCollide *CreateVirtualMesh(const virtualmeshparams_t &params) { return ::CreateVirtualMesh(params); }
virtual bool GetBBoxCacheSize( int *pCachedSize, int *pCachedCount );
virtual bool SupportsVirtualMesh() { return true; }
virtual CPhysCollide *UnserializeCollide( char *pBuffer, int size, int index );
virtual void CollideSetOrthographicAreas( CPhysCollide *pCollide, const Vector &areas );
private:
void InitBBoxCache();
bool IsBBoxCache( CPhysCollide *pCollide );
void AddBBoxCache( CPhysCollideCompactSurface *pCollide, const Vector &mins, const Vector &maxs );
CPhysCollideCompactSurface *GetBBoxCache( const Vector &mins, const Vector &maxs );
CPhysCollideCompactSurface *FastBboxCollide( const CPhysCollideCompactSurface *pCollide, const Vector &mins, const Vector &maxs );
private:
CPhysicsTrace m_traceapi;
CUtlVector<bboxcache_t> m_bboxCache;
byte m_bboxVertMap[8];
};
CPhysicsCollision g_PhysicsCollision;
IPhysicsCollision *physcollision = &g_PhysicsCollision;
EXPOSE_SINGLE_INTERFACE_GLOBALVAR( CPhysicsCollision, IPhysicsCollision, VPHYSICS_COLLISION_INTERFACE_VERSION, g_PhysicsCollision );
//-----------------------------------------------------------------------------
// Abstract compact_surface vs. compact_mopp
//-----------------------------------------------------------------------------
#define IVP_COMPACT_SURFACE_ID MAKEID('I','V','P','S')
#define IVP_COMPACT_SURFACE_ID_SWAPPED MAKEID('S','P','V','I')
#define IVP_COMPACT_MOPP_ID MAKEID('M','O','P','P')
#define VPHYSICS_COLLISION_ID MAKEID('V','P','H','Y')
#define VPHYSICS_COLLISION_VERSION 0x0100
// You can disable all of the havok Mopp collision model building by undefining this symbol
#define ENABLE_IVP_MOPP 0
struct physcollideheader_t
{
DECLARE_BYTESWAP_DATADESC();
int vphysicsID;
short version;
short modelType;
void Defaults( short inputModelType )
{
vphysicsID = VPHYSICS_COLLISION_ID;
version = VPHYSICS_COLLISION_VERSION;
modelType = inputModelType;
}
};
struct compactsurfaceheader_t : public physcollideheader_t
{
DECLARE_BYTESWAP_DATADESC();
int surfaceSize;
Vector dragAxisAreas;
int axisMapSize;
void CompactSurface( const IVP_Compact_Surface *pSurface, const Vector &orthoAreas )
{
Defaults( COLLIDE_POLY );
surfaceSize = pSurface->byte_size;
dragAxisAreas = orthoAreas;
axisMapSize = 0; // NOTE: not yet supported
}
};
BEGIN_BYTESWAP_DATADESC( physcollideheader_t )
DEFINE_FIELD( vphysicsID, FIELD_INTEGER ),
DEFINE_FIELD( version, FIELD_SHORT),
DEFINE_FIELD( modelType, FIELD_SHORT ),
END_BYTESWAP_DATADESC()
BEGIN_BYTESWAP_DATADESC_( compactsurfaceheader_t, physcollideheader_t )
DEFINE_FIELD( surfaceSize, FIELD_INTEGER ),
DEFINE_FIELD( dragAxisAreas, FIELD_VECTOR ),
DEFINE_FIELD( axisMapSize, FIELD_INTEGER ),
END_BYTESWAP_DATADESC()
#if ENABLE_IVP_MOPP
struct moppheader_t : public physcollideheader_t
{
int moppSize;
void Mopp( const IVP_Compact_Mopp *pMopp )
{
Defaults( COLLIDE_MOPP );
moppSize = pMopp->byte_size;
}
};
#endif
#if ENABLE_IVP_MOPP
class CPhysCollideMopp : public CPhysCollide
{
public:
CPhysCollideMopp( const moppheader_t *pHeader );
CPhysCollideMopp( IVP_Compact_Mopp *pMopp );
CPhysCollideMopp( const char *pBuffer, unsigned int size );
~CPhysCollideMopp();
void Init( const char *pBuffer, unsigned int size );
// IPhysCollide
virtual int GetVCollideIndex() const { return 0; }
virtual IVP_SurfaceManager *CreateSurfaceManager( short & ) const;
virtual void GetAllLedges( IVP_U_BigVector<IVP_Compact_Ledge> &ledges ) const;
virtual unsigned int GetSerializationSize() const;
virtual Vector GetMassCenter() const;
virtual void SetMassCenter( const Vector &massCenter );
virtual unsigned int SerializeToBuffer( char *pDest, bool bSwap = false ) const;
virtual void OutputDebugInfo() const;
private:
IVP_Compact_Mopp *m_pMopp;
};
#endif
class CPhysCollideCompactSurface : public CPhysCollide
{
public:
~CPhysCollideCompactSurface();
CPhysCollideCompactSurface( const char *pBuffer, unsigned int size, int index, bool swap = false );
CPhysCollideCompactSurface( const compactsurfaceheader_t *pHeader, int index, bool swap = false );
CPhysCollideCompactSurface( IVP_Compact_Surface *pSurface );
void Init( const char *pBuffer, unsigned int size, int index, bool swap = false );
// IPhysCollide
virtual int GetVCollideIndex() const { return m_pCompactSurface->dummy[0]; }
virtual IVP_SurfaceManager *CreateSurfaceManager( short & ) const;
virtual void GetAllLedges( IVP_U_BigVector<IVP_Compact_Ledge> &ledges ) const;
virtual unsigned int GetSerializationSize() const;
virtual Vector GetMassCenter() const;
virtual void SetMassCenter( const Vector &massCenter );
virtual unsigned int SerializeToBuffer( char *pDest, bool bSwap = false ) const;
virtual Vector GetOrthographicAreas() const;
void SetOrthographicAreas( const Vector &areas );
virtual void ComputeOrthographicAreas( float epsilon );
virtual void OutputDebugInfo() const;
const IVP_Compact_Surface *GetCompactSurface() const { return m_pCompactSurface; }
virtual const collidemap_t *GetCollideMap() const { return m_pCollideMap; }
private:
struct hullinfo_t
{
hullinfo_t()
{
hasOuterHull = false;
convexCount = 0;
}
bool hasOuterHull;
int convexCount;
};
void ComputeHullInfo_r( hullinfo_t *pOut, const IVP_Compact_Ledgetree_Node *node ) const;
void InitCollideMap();
IVP_Compact_Surface *m_pCompactSurface;
Vector m_orthoAreas;
collidemap_t *m_pCollideMap;
};
static const IVP_Compact_Surface *ConvertPhysCollideToCompactSurface( const CPhysCollide *pCollide )
{
return pCollide->GetCompactSurface();
}
IVP_SurfaceManager *CreateSurfaceManager( const CPhysCollide *pCollisionModel, short &collideType )
{
return pCollisionModel ? pCollisionModel->CreateSurfaceManager( collideType ) : NULL;
}
void OutputCollideDebugInfo( const CPhysCollide *pCollisionModel )
{
pCollisionModel->OutputDebugInfo();
}
CPhysCollide *CPhysCollide::UnserializeFromBuffer( const char *pBuffer, unsigned int size, int index, bool swap )
{
const physcollideheader_t *pHeader = reinterpret_cast<const physcollideheader_t *>(pBuffer);
if ( pHeader->vphysicsID == VPHYSICS_COLLISION_ID )
{
Assert(pHeader->version == VPHYSICS_COLLISION_VERSION);
switch( pHeader->modelType )
{
case COLLIDE_POLY:
return new CPhysCollideCompactSurface( (compactsurfaceheader_t *)pHeader, index, swap );
case COLLIDE_MOPP:
#if ENABLE_IVP_MOPP
return new CPhysCollideMopp( (moppheader_t *)pHeader );
#else
DevMsg( 2, "Null physics model\n");
return NULL;
#endif
default:
Assert(0);
return NULL;
}
}
const IVP_Compact_Surface *pSurface = reinterpret_cast<const IVP_Compact_Surface *>(pBuffer);
if ( pSurface->dummy[2] == IVP_COMPACT_MOPP_ID )
{
#if ENABLE_IVP_MOPP
return new CPhysCollideMopp( pBuffer, size );
#else
Assert(0);
return NULL;
#endif
}
if ( pSurface->dummy[2] == IVP_COMPACT_SURFACE_ID ||
pSurface->dummy[2] == IVP_COMPACT_SURFACE_ID_SWAPPED ||
pSurface->dummy[2] == 0 )
{
if ( pSurface->dummy[2] == 0 )
{
// UNDONE: Print a name here?
DevMsg( 1, "Old format .PHY file loaded!!!\n" );
}
return new CPhysCollideCompactSurface( pBuffer, size, index, swap );
}
Assert(0);
return NULL;
}
#if ENABLE_IVP_MOPP
void CPhysCollideMopp::Init( const char *pBuffer, unsigned int size )
{
m_pMopp = (IVP_Compact_Mopp *)ivp_malloc_aligned( size, 32 );
memcpy( m_pMopp, pBuffer, size );
}
CPhysCollideMopp::CPhysCollideMopp( const char *pBuffer, unsigned int size )
{
Init( pBuffer, size );
}
CPhysCollideMopp::CPhysCollideMopp( const moppheader_t *pHeader )
{
Init( (const char *)(pHeader+1), pHeader->moppSize );
}
CPhysCollideMopp::CPhysCollideMopp( IVP_Compact_Mopp *pMopp )
{
m_pMopp = pMopp;
pMopp->dummy = IVP_COMPACT_MOPP_ID;
}
CPhysCollideMopp::~CPhysCollideMopp()
{
ivp_free_aligned(m_pMopp);
}
void CPhysCollideMopp::GetAllLedges( IVP_U_BigVector<IVP_Compact_Ledge> &ledges ) const
{
IVP_Compact_Ledge_Solver::get_all_ledges( m_pMopp, &ledges );
}
IVP_SurfaceManager *CPhysCollideMopp::CreateSurfaceManager( short &collideType ) const
{
collideType = COLLIDE_MOPP;
return new IVP_SurfaceManager_Mopp( m_pMopp );
}
unsigned int CPhysCollideMopp::GetSerializationSize() const
{
return m_pMopp->byte_size + sizeof(moppheader_t);
}
unsigned int CPhysCollideMopp::SerializeToBuffer( char *pDest, bool bSwap ) const
{
moppheader_t header;
header.Mopp( m_pMopp );
memcpy( pDest, &header, sizeof(header) );
pDest += sizeof(header);
memcpy( pDest, m_pMopp, m_pMopp->byte_size );
return GetSerializationSize();
}
Vector CPhysCollideMopp::GetMassCenter() const
{
Vector massCenterHL;
ConvertPositionToHL( m_pMopp->mass_center, massCenterHL );
return massCenterHL;
}
void CPhysCollideMopp::SetMassCenter( const Vector &massCenterHL )
{
ConvertPositionToIVP( massCenterHL, m_pMopp->mass_center );
}
void CPhysCollideMopp::OutputDebugInfo() const
{
Msg("CollisionModel: MOPP\n");
}
#endif
void CPhysCollideCompactSurface::InitCollideMap()
{
m_pCollideMap = NULL;
if ( m_pCompactSurface )
{
IVP_U_BigVector<IVP_Compact_Ledge> ledges;
GetAllLedges( ledges );
// don't make these for really large models because there's a linear search involved in using this atm.
if ( !ledges.len() || ledges.len() > 32 )
return;
int allocSize = sizeof(collidemap_t) + ((ledges.len()-1) * sizeof(leafmap_t));
m_pCollideMap = (collidemap_t *)malloc(allocSize);
m_pCollideMap->leafCount = ledges.len();
for ( int i = 0; i < ledges.len(); i++ )
{
InitLeafmap( ledges.element_at(i), &m_pCollideMap->leafmap[i] );
}
}
}
void CPhysCollideCompactSurface::Init( const char *pBuffer, unsigned int size, int index, bool bSwap )
{
m_pCompactSurface = (IVP_Compact_Surface *)ivp_malloc_aligned( size, 32 );
memcpy( m_pCompactSurface, pBuffer, size );
if ( bSwap )
{
m_pCompactSurface->byte_swap_all();
}
m_pCompactSurface->dummy[0] = index;
m_orthoAreas.Init(1,1,1);
InitCollideMap();
}
CPhysCollideCompactSurface::CPhysCollideCompactSurface( const char *pBuffer, unsigned int size, int index, bool swap )
{
Init( pBuffer, size, index, swap );
}
CPhysCollideCompactSurface::CPhysCollideCompactSurface( const compactsurfaceheader_t *pHeader, int index, bool swap )
{
Init( (const char *)(pHeader+1), pHeader->surfaceSize, index, swap );
m_orthoAreas = pHeader->dragAxisAreas;
}
CPhysCollideCompactSurface::CPhysCollideCompactSurface( IVP_Compact_Surface *pSurface )
{
m_pCompactSurface = pSurface;
pSurface->dummy[2] = IVP_COMPACT_SURFACE_ID;
m_pCompactSurface->dummy[0] = 0;
m_orthoAreas.Init(1,1,1);
InitCollideMap();
}
CPhysCollideCompactSurface::~CPhysCollideCompactSurface()
{
ivp_free_aligned(m_pCompactSurface);
if ( m_pCollideMap )
{
free(m_pCollideMap);
}
}
IVP_SurfaceManager *CPhysCollideCompactSurface::CreateSurfaceManager( short &collideType ) const
{
collideType = COLLIDE_POLY;
return new IVP_SurfaceManager_Polygon( m_pCompactSurface );
}
void CPhysCollideCompactSurface::GetAllLedges( IVP_U_BigVector<IVP_Compact_Ledge> &ledges ) const
{
IVP_Compact_Ledge_Solver::get_all_ledges( m_pCompactSurface, &ledges );
}
unsigned int CPhysCollideCompactSurface::GetSerializationSize() const
{
return m_pCompactSurface->byte_size + sizeof(compactsurfaceheader_t);
}
unsigned int CPhysCollideCompactSurface::SerializeToBuffer( char *pDest, bool bSwap ) const
{
compactsurfaceheader_t header;
header.CompactSurface( m_pCompactSurface, m_orthoAreas );
if ( bSwap )
{
CByteswap swap;
swap.ActivateByteSwapping( true );
swap.SwapFieldsToTargetEndian( &header );
}
memcpy( pDest, &header, sizeof(header) );
pDest += sizeof(header);
int surfaceSize = m_pCompactSurface->byte_size;
int serializationSize = GetSerializationSize();
if ( bSwap )
{
m_pCompactSurface->byte_swap_all();
}
memcpy( pDest, m_pCompactSurface, surfaceSize );
return serializationSize;
}
Vector CPhysCollideCompactSurface::GetMassCenter() const
{
Vector massCenterHL;
ConvertPositionToHL( m_pCompactSurface->mass_center, massCenterHL );
return massCenterHL;
}
void CPhysCollideCompactSurface::SetMassCenter( const Vector &massCenterHL )
{
ConvertPositionToIVP( massCenterHL, m_pCompactSurface->mass_center );
}
Vector CPhysCollideCompactSurface::GetOrthographicAreas() const
{
return m_orthoAreas;
}
void CPhysCollideCompactSurface::SetOrthographicAreas( const Vector &areas )
{
m_orthoAreas = areas;
}
void CPhysCollideCompactSurface::ComputeOrthographicAreas( float epsilon )
{
Vector mins, maxs, areas;
physcollision->CollideGetAABB( &mins, &maxs, this, vec3_origin, vec3_angle );
float side = sqrt( epsilon );
if ( side < 1e-4f )
side = 1e-4f;
Vector size = maxs-mins;
m_orthoAreas.Init(1,1,1);
trace_t tr;
for ( int axis = 0; axis < 3; axis++ )
{
int u = (axis+1)%3;
int v = (axis+2)%3;
int hits = 0;
int total = 0;
float halfSide = side * 0.5;
for ( float u0 = mins[u] + halfSide; u0 < maxs[u]; u0 += side )
{
for ( float v0 = mins[v] + halfSide; v0 < maxs[v]; v0 += side )
{
Vector start, end;
start[axis] = mins[axis]-1;
end[axis] = maxs[axis]+1;
start[u] = u0;
end[u] = u0;
start[v] = v0;
end[v] = v0;
physcollision->TraceBox( start, end, vec3_origin, vec3_origin, this, vec3_origin, vec3_angle, &tr );
if ( tr.DidHit() )
{
hits++;
}
total++;
}
}
if ( total <= 0 )
total = 1;
m_orthoAreas[axis] = (float)hits / (float)total;
}
}
void CPhysCollideCompactSurface::ComputeHullInfo_r( hullinfo_t *pOut, const IVP_Compact_Ledgetree_Node *node ) const
{
if ( !node->is_terminal() )
{
if ( node->get_compact_hull() )
pOut->hasOuterHull = true;
ComputeHullInfo_r( pOut, node->left_son() );
ComputeHullInfo_r( pOut, node->right_son() );
}
else
{
// terminal node, add one ledge
pOut->convexCount++;
}
}
void CPhysCollideCompactSurface::OutputDebugInfo() const
{
hullinfo_t info;
ComputeHullInfo_r( &info, m_pCompactSurface->get_compact_ledge_tree_root() );
const char *pOuterHull = info.hasOuterHull ? "with" : "no";
Msg("CollisionModel: Compact Surface: %d convex pieces %s outer hull\n", info.convexCount, pOuterHull );
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// Purpose: Create a convex element from a point cloud
// Input : **pVerts - array of points
// vertCount - length of array
// Output : opaque pointer to convex element
//-----------------------------------------------------------------------------
CPhysConvex *CPhysicsCollision::ConvexFromVertsFast( Vector **pVerts, int vertCount )
{
IVP_U_Vector<IVP_U_Point> points;
int i;
for ( i = 0; i < vertCount; i++ )
{
IVP_U_Point *tmp = new IVP_U_Point;
ConvertPositionToIVP( *pVerts[i], *tmp );
BEGIN_IVP_ALLOCATION();
points.add( tmp );
END_IVP_ALLOCATION();
}
BEGIN_IVP_ALLOCATION();
IVP_Compact_Ledge *pLedge = IVP_SurfaceBuilder_Pointsoup::convert_pointsoup_to_compact_ledge( &points );
END_IVP_ALLOCATION();
for ( i = 0; i < points.len(); i++ )
{
delete points.element_at(i);
}
points.clear();
return reinterpret_cast<CPhysConvex *>(pLedge);
}
CPhysConvex *CPhysicsCollision::RebuildConvexFromPlanes( CPhysConvex *pConvex, float mergeTolerance )
{
if ( !pConvex )
return NULL;
IVP_Compact_Ledge *pLedge = (IVP_Compact_Ledge *)pConvex;
int triangleCount = pLedge->get_n_triangles();
IVP_Compact_Triangle *pTri = pLedge->get_first_triangle();
IVP_U_Hesse plane;
IVP_Halfspacesoup halfspaces;
for ( int j = 0; j < triangleCount; j++ )
{
const IVP_Compact_Edge *pEdge = pTri->get_edge( 0 );
const IVP_U_Float_Point *p0 = IVP_Compact_Ledge_Solver::give_object_coords(pEdge, pLedge);
const IVP_U_Float_Point *p2 = IVP_Compact_Ledge_Solver::give_object_coords(pEdge->get_next(), pLedge);
const IVP_U_Float_Point *p1 = IVP_Compact_Ledge_Solver::give_object_coords(pEdge->get_prev(), pLedge);
plane.calc_hesse(p0, p2, p1);
float testLen = plane.real_length();
// if the triangle is less than 1mm on each side then skip it
if ( testLen > 1e-6f )
{
plane.normize();
halfspaces.add_halfspace( &plane );
}
pTri = pTri->get_next_tri();
}
IVP_Compact_Ledge *pLedgeOut = IVP_SurfaceBuilder_Halfspacesoup::convert_halfspacesoup_to_compact_ledge( &halfspaces, mergeTolerance );
return reinterpret_cast<CPhysConvex *>( pLedgeOut );
}
CPhysConvex *CPhysicsCollision::ConvexFromVerts( Vector **pVerts, int vertCount )
{
CPhysConvex *pConvex = ConvexFromVertsFast( pVerts, vertCount );
CPhysConvex *pReturn = RebuildConvexFromPlanes( pConvex, 0.01f ); // remove interior coplanar verts!
if ( pReturn )
{
ConvexFree( pConvex );
return pReturn;
}
return pConvex;
}
// produce a convex element from planes (csg of planes)
CPhysConvex *CPhysicsCollision::ConvexFromPlanes( float *pPlanes, int planeCount, float mergeDistance )
{
// NOTE: We're passing in planes with outward-facing normals
// Ipion expects inward facing ones; we'll need to reverse plane directon
struct listplane_t
{
float normal[3];
float dist;
};
listplane_t *pList = (listplane_t *)pPlanes;
IVP_U_Hesse plane;
IVP_Halfspacesoup halfspaces;
mergeDistance = ConvertDistanceToIVP( mergeDistance );
for ( int i = 0; i < planeCount; i++ )
{
Vector tmp( -pList[i].normal[0], -pList[i].normal[1], -pList[i].normal[2] );
ConvertPlaneToIVP( tmp, -pList[i].dist, plane );
halfspaces.add_halfspace( &plane );
}
IVP_Compact_Ledge *pLedge = IVP_SurfaceBuilder_Halfspacesoup::convert_halfspacesoup_to_compact_ledge( &halfspaces, mergeDistance );
return reinterpret_cast<CPhysConvex *>( pLedge );
}
CPhysConvex *CPhysicsCollision::ConvexFromConvexPolyhedron( const CPolyhedron &ConvexPolyhedron )
{
IVP_Template_Polygon polyTemplate(ConvexPolyhedron.iVertexCount, ConvexPolyhedron.iLineCount, ConvexPolyhedron.iPolygonCount );
//convert/copy coordinates
for( int i = 0; i != ConvexPolyhedron.iVertexCount; ++i )
ConvertPositionToIVP( ConvexPolyhedron.pVertices[i], polyTemplate.points[i] );
//copy lines
for( int i = 0; i != ConvexPolyhedron.iLineCount; ++i )
polyTemplate.lines[i].set( ConvexPolyhedron.pLines[i].iPointIndices[0], ConvexPolyhedron.pLines[i].iPointIndices[1] );
//copy polygons
for( int i = 0; i != ConvexPolyhedron.iPolygonCount; ++i )
{
polyTemplate.surfaces[i].init_surface( ConvexPolyhedron.pPolygons[i].iIndexCount ); //num vertices in a convex polygon == num lines
polyTemplate.surfaces[i].templ_poly = &polyTemplate;
ConvertPositionToIVP( ConvexPolyhedron.pPolygons[i].polyNormal, polyTemplate.surfaces[i].normal );
Polyhedron_IndexedLineReference_t *pLineReferences = &ConvexPolyhedron.pIndices[ConvexPolyhedron.pPolygons[i].iFirstIndex];
for( int j = 0; j != ConvexPolyhedron.pPolygons[i].iIndexCount; ++j )
{
polyTemplate.surfaces[i].lines[j] = pLineReferences[j].iLineIndex;
polyTemplate.surfaces[i].revert_line[j] = pLineReferences[j].iEndPointIndex;
}
}
//final conversion
IVP_Compact_Ledge *pLedge = IVP_SurfaceBuilder_Polygon_Convex::convert_template_to_ledge(&polyTemplate);
//cleanup
for( int i = 0; i != ConvexPolyhedron.iPolygonCount; ++i )
polyTemplate.surfaces[i].close_surface();
return reinterpret_cast<CPhysConvex *>(pLedge);
}
struct PolyhedronMesh_Triangle
{
struct
{
int iPointIndices[2];
} Edges[3];
};
//TODO: Optimize the returned polyhedron to get away from the triangulated mesh
CPolyhedron *CPhysicsCollision::PolyhedronFromConvex( CPhysConvex * const pConvex, bool bUseTempPolyhedron )
{
IVP_Compact_Ledge *pLedge = (IVP_Compact_Ledge *)pConvex;
int iTriangles = pLedge->get_n_triangles();
PolyhedronMesh_Triangle *pTriangles = (PolyhedronMesh_Triangle *)stackalloc( iTriangles * sizeof( PolyhedronMesh_Triangle ) );
int iHighestPointIndex = 0;
const IVP_Compact_Triangle *pTri = pLedge->get_first_triangle();
for( int i = 0; i != iTriangles; ++i )
{
//reverse point ordering while creating edges
pTriangles[i].Edges[2].iPointIndices[1] = pTriangles[i].Edges[0].iPointIndices[0] = pTri->get_edge( 2 )->get_start_point_index();
pTriangles[i].Edges[0].iPointIndices[1] = pTriangles[i].Edges[1].iPointIndices[0] = pTri->get_edge( 1 )->get_start_point_index();
pTriangles[i].Edges[1].iPointIndices[1] = pTriangles[i].Edges[2].iPointIndices[0] = pTri->get_edge( 0 )->get_start_point_index();
for( int j = 0; j != 3; ++j )
{
//get_n_points() has a whole bunch of ifdefs that apparently disable it in this case, detect number of points
if( pTriangles[i].Edges[j].iPointIndices[0] > iHighestPointIndex )
iHighestPointIndex = pTriangles[i].Edges[j].iPointIndices[0];
}
pTri = pTri->get_next_tri();
}
++iHighestPointIndex;
//apparently points might be shared between ledges and not all points will be used. So now we get to compress them into a smaller set
int *pPointRemapping = (int *)stackalloc( iHighestPointIndex * sizeof( int ) );
memset( pPointRemapping, 0, iHighestPointIndex * sizeof( int ) );
for( int i = 0; i != iTriangles; ++i )
{
for( int j = 0; j != 3; ++j )
++(pPointRemapping[pTriangles[i].Edges[j].iPointIndices[0]]);
}
int iInsertIndex = 0;
for( int i = 0; i != iHighestPointIndex; ++i )
{
if( pPointRemapping[i] )
{
pPointRemapping[i] = iInsertIndex;
++iInsertIndex;
}
else
{
pPointRemapping[i] = -1;
}
}
const int iNumPoints = iInsertIndex;
for( int i = 0; i != iTriangles; ++i )
{
for( int j = 0; j != 3; ++j )
{
for( int k = 0; k != 2; ++k )
pTriangles[i].Edges[j].iPointIndices[k] = pPointRemapping[pTriangles[i].Edges[j].iPointIndices[k]];
}
}
bool *bLinks = (bool *)stackalloc( iNumPoints * iNumPoints * sizeof( bool ) );
memset( bLinks, 0, iNumPoints * iNumPoints * sizeof( bool ) );
int iLinkCount = 0;
for( int i = 0; i != iTriangles; ++i )
{
for( int j = 0; j != 3; ++j )
{
const int *pIndices = pTriangles[i].Edges[j].iPointIndices;
int iLow = ((pIndices[0] > pIndices[1])?1:(0));
++iLinkCount; //this will technically make the link count double the actual number
bLinks[(pIndices[iLow] * iNumPoints) + pIndices[1-iLow]] = true;
}
}
iLinkCount /= 2; //cut the link count in half since we overcounted
CPolyhedron *pReturn;
if( bUseTempPolyhedron )
pReturn = GetTempPolyhedron( iNumPoints, iLinkCount, iLinkCount * 2, iTriangles );
else
pReturn = CPolyhedron_AllocByNew::Allocate( iNumPoints, iLinkCount, iLinkCount * 2, iTriangles );
//copy/convert vertices
const IVP_Compact_Poly_Point *pLedgePoints = pLedge->get_point_array();
Vector *pWriteVertices = pReturn->pVertices;
for( int i = 0; i != iHighestPointIndex; ++i )
{
if( pPointRemapping[i] != -1 )
ConvertPositionToHL( pLedgePoints[i], pWriteVertices[pPointRemapping[i]] );
}
//convert lines
iInsertIndex = 0;
for( int i = 0; i != iNumPoints; ++i )
{
for( int j = i + 1; j != iNumPoints; ++j )
{
if( bLinks[(i * iNumPoints) + j] )
{
pReturn->pLines[iInsertIndex].iPointIndices[0] = i;
pReturn->pLines[iInsertIndex].iPointIndices[1] = j;
++iInsertIndex;
}
}
}
int *pStartIndices = (int *)stackalloc( iNumPoints * sizeof( int ) ); //for quicker lookup of which edges to use in polygons
pStartIndices[0] = 0; //the lowest index point drives links, so if the first point isn't the first link, then something is extremely messed up
Assert( pReturn->pLines[0].iPointIndices[0] == 0 );
iInsertIndex = 1;
for( int i = 1; i != iNumPoints; ++i )
{
for( int j = iInsertIndex; j != iLinkCount; ++j )
{
if( pReturn->pLines[j].iPointIndices[0] == i )
{
pStartIndices[i] = j;
iInsertIndex = j + 1;
break;
}
}
}
//convert polygons and setup line references as a subtask
iInsertIndex = 0;
for( int i = 0; i != iTriangles; ++i )
{
pReturn->pPolygons[i].iFirstIndex = iInsertIndex;
pReturn->pPolygons[i].iIndexCount = 3;
Vector *p1, *p2, *p3;
p1 = &pReturn->pVertices[pTriangles[i].Edges[0].iPointIndices[0]];
p2 = &pReturn->pVertices[pTriangles[i].Edges[1].iPointIndices[0]];
p3 = &pReturn->pVertices[pTriangles[i].Edges[2].iPointIndices[0]];
Vector v1to2, v1to3;
v1to2 = *p2 - *p1;
v1to3 = *p3 - *p1;
pReturn->pPolygons[i].polyNormal = v1to3.Cross( v1to2 );
pReturn->pPolygons[i].polyNormal.NormalizeInPlace();
for( int j = 0; j != 3; ++j, ++iInsertIndex )
{
const int *pIndices = pTriangles[i].Edges[j].iPointIndices;
int iLow = (pIndices[0] > pIndices[1])?1:0;
int iLineIndex;
for( iLineIndex = pStartIndices[pIndices[iLow]]; iLineIndex != iLinkCount; ++iLineIndex )
{
if( (pReturn->pLines[iLineIndex].iPointIndices[0] == pIndices[iLow]) &&
(pReturn->pLines[iLineIndex].iPointIndices[1] == pIndices[1 - iLow]) )
{
break;
}
}
pReturn->pIndices[iInsertIndex].iLineIndex = iLineIndex;
pReturn->pIndices[iInsertIndex].iEndPointIndex = 1 - iLow;
}
}
return pReturn;
}
int CPhysicsCollision::GetConvexesUsedInCollideable( const CPhysCollide *pCollideable, CPhysConvex **pOutputArray, int iOutputArrayLimit )
{
IVP_U_BigVector<IVP_Compact_Ledge> ledges;
pCollideable->GetAllLedges( ledges );
int iLedgeCount = ledges.len();
if( iLedgeCount > iOutputArrayLimit )
iLedgeCount = iOutputArrayLimit;
for( int i = 0; i != iLedgeCount; ++i )
{
IVP_Compact_Ledge *pLedge = ledges.element_at(i); //doing as a 2 step since a single convert seems more error prone (without compile error) in this case
pOutputArray[i] = (CPhysConvex *)pLedge;
}
return iLedgeCount;
}
void CPhysicsCollision::ConvexesFromConvexPolygon( const Vector &vPolyNormal, const Vector *pPoints, int iPointCount, CPhysConvex **pOutput )
{
IVP_U_Point *pIVP_Points = (IVP_U_Point *)stackalloc( sizeof( IVP_U_Point ) * iPointCount );
IVP_U_Point **pTriangulator = (IVP_U_Point **)stackalloc( sizeof( IVP_U_Point * ) * iPointCount );
IVP_U_Point **pRead = pTriangulator;
IVP_U_Point **pWrite = pTriangulator;
//convert coordinates
{
for( int i = 0; i != iPointCount; ++i )
ConvertPositionToIVP( pPoints[i], pIVP_Points[i] );
}
int iOutputCount = 0;
//chunk this out like a triangle strip
int iForwardCounter = 1;
int iReverseCounter = iPointCount - 1; //guaranteed to be >= 2 to start
*pWrite = &pIVP_Points[0];
++pWrite;
*pWrite = &pIVP_Points[iReverseCounter];
++pWrite;
--iReverseCounter;
do
{
//forward
*pWrite = &pIVP_Points[iForwardCounter];
++iForwardCounter;
pOutput[iOutputCount] = reinterpret_cast<CPhysConvex *>(IVP_SurfaceBuilder_Pointsoup::convert_triangle_to_compace_ledge( pRead[0], pRead[1], pRead[2] ));
Assert( pOutput[iOutputCount] );
++iOutputCount;
if( iForwardCounter > iReverseCounter )
break;
++pRead;
++pWrite;
//backward
*pWrite = &pIVP_Points[iReverseCounter];
--iReverseCounter;
pOutput[iOutputCount] = reinterpret_cast<CPhysConvex *>(IVP_SurfaceBuilder_Pointsoup::convert_triangle_to_compace_ledge( pRead[0], pRead[1], pRead[2] ));
Assert( pOutput[iOutputCount] );
++iOutputCount;
if( iForwardCounter > iReverseCounter )
break;
++pRead;
++pWrite;
} while( true );
}
//-----------------------------------------------------------------------------
// Purpose: copies the first vert int pLedge to out
// Input : *pLedge - compact ledge
// *out - destination float array for the vert
//-----------------------------------------------------------------------------
static void LedgeInsidePoint( IVP_Compact_Ledge *pLedge, Vector& out )
{
IVP_Compact_Triangle *pTri = pLedge->get_first_triangle();
const IVP_Compact_Edge *pEdge = pTri->get_edge( 0 );
const IVP_U_Float_Point *pPoint = pEdge->get_start_point( pLedge );
ConvertPositionToHL( *pPoint, out );
}
//-----------------------------------------------------------------------------
// Purpose: Calculate the volume of a tetrahedron with these vertices
// Input : p0 - points of tetrahedron
// p1 -
// p2 -
// p3 -
// Output : float (volume in units^3)
//-----------------------------------------------------------------------------
static float TetrahedronVolume( const Vector &p0, const Vector &p1, const Vector &p2, const Vector &p3 )
{
Vector a, b, c, cross;
float volume = 1.0f / 6.0f;
a = p1 - p0;
b = p2 - p0;
c = p3 - p0;
cross = CrossProduct( b, c );
volume *= DotProduct( a, cross );
if ( volume < 0 )
return -volume;
return volume;
}
static float TriangleArea( const Vector &p0, const Vector &p1, const Vector &p2 )
{
Vector e0 = p1 - p0;
Vector e1 = p2 - p0;
Vector cross;
CrossProduct( e0, e1, cross );
return 0.5 * cross.Length();
}
//-----------------------------------------------------------------------------
// Purpose: Tetrahedronalize this ledge and compute it's volume in BSP space
// Input : convex - the ledge
// Output : float - volume in HL units (in^3)
//-----------------------------------------------------------------------------
float CPhysicsCollision::ConvexVolume( CPhysConvex *pConvex )
{
IVP_Compact_Ledge *pLedge = (IVP_Compact_Ledge *)pConvex;
int triangleCount = pLedge->get_n_triangles();
IVP_Compact_Triangle *pTri = pLedge->get_first_triangle();
Vector vert;
float volume = 0;
// vert is in HL units
LedgeInsidePoint( pLedge, vert );
for ( int j = 0; j < triangleCount; j++ )
{
Vector points[3];
for ( int k = 0; k < 3; k++ )
{
const IVP_Compact_Edge *pEdge = pTri->get_edge( k );
const IVP_U_Float_Point *pPoint = pEdge->get_start_point( pLedge );
ConvertPositionToHL( *pPoint, points[k] );
}
volume += TetrahedronVolume( vert, points[0], points[1], points[2] );
pTri = pTri->get_next_tri();
}
return volume;
}
float CPhysicsCollision::ConvexSurfaceArea( CPhysConvex *pConvex )
{
IVP_Compact_Ledge *pLedge = (IVP_Compact_Ledge *)pConvex;
int triangleCount = pLedge->get_n_triangles();
IVP_Compact_Triangle *pTri = pLedge->get_first_triangle();
float area = 0;
for ( int j = 0; j < triangleCount; j++ )
{
Vector points[3];
for ( int k = 0; k < 3; k++ )
{
const IVP_Compact_Edge *pEdge = pTri->get_edge( k );
const IVP_U_Float_Point *pPoint = pEdge->get_start_point( pLedge );
ConvertPositionToHL( *pPoint, points[k] );
}
area += TriangleArea( points[0], points[1], points[2] );
pTri = pTri->get_next_tri();
}
return area;
}
// Convert an array of convex elements to a compiled collision model (this deletes the convex elements)
CPhysCollide *CPhysicsCollision::ConvertConvexToCollide( CPhysConvex **pConvex, int convexCount )
{
convertconvexparams_t convertParams;
convertParams.Defaults();
return ConvertConvexToCollideParams( pConvex, convexCount, convertParams );
}
CPhysCollide *CPhysicsCollision::ConvertConvexToCollideParams( CPhysConvex **pConvex, int convexCount, const convertconvexparams_t &convertParams )
{
if ( !convexCount || !pConvex )
return NULL;
int validConvex = 0;
BEGIN_IVP_ALLOCATION();
IVP_SurfaceBuilder_Ledge_Soup builder;
IVP_Compact_Surface *pSurface = NULL;
for ( int i = 0; i < convexCount; i++ )
{
if ( pConvex[i] )
{
validConvex++;
builder.insert_ledge( (IVP_Compact_Ledge *)pConvex[i] );
}
}
// if the outside code does something stupid, don't crash
if ( validConvex )
{
IVP_Template_Surbuild_LedgeSoup params;
params.force_convex_hull = (IVP_Compact_Ledge *)convertParams.pForcedOuterHull;
params.build_root_convex_hull = convertParams.buildOuterConvexHull ? IVP_TRUE : IVP_FALSE;
// NOTE: THIS FREES THE LEDGES in pConvex!!!
pSurface = builder.compile( &params );
CPhysCollide *pCollide = new CPhysCollideCompactSurface( pSurface );
if ( convertParams.buildDragAxisAreas )
{
pCollide->ComputeOrthographicAreas( convertParams.dragAreaEpsilon );
}
END_IVP_ALLOCATION();
return pCollide;
}
END_IVP_ALLOCATION();
return NULL;
}
static void InitBoxVerts( Vector *boxVerts, Vector **ppVerts, const Vector &mins, const Vector &maxs )
{
for (int i = 0; i < 8; ++i)
{
boxVerts[i][0] = (i & 0x1) ? maxs[0] : mins[0];
boxVerts[i][1] = (i & 0x2) ? maxs[1] : mins[1];
boxVerts[i][2] = (i & 0x4) ? maxs[2] : mins[2];
if ( ppVerts )
{
ppVerts[i] = &boxVerts[i];
}
}
}
#define FAST_BBOX 1
CPhysCollideCompactSurface *CPhysicsCollision::FastBboxCollide( const CPhysCollideCompactSurface *pCollide, const Vector &mins, const Vector &maxs )
{
Vector boxVerts[8];
InitBoxVerts( boxVerts, NULL, mins, maxs );
// copy the compact ledge at bboxCache 0
// stuff the verts in there
const IVP_Compact_Surface *pSurface = ConvertPhysCollideToCompactSurface( pCollide );
Assert( pSurface );
const IVP_Compact_Ledgetree_Node *node = pSurface->get_compact_ledge_tree_root();
Assert( node->is_terminal() == IVP_TRUE );
const IVP_Compact_Ledge *pLedge = node->get_compact_ledge();
int ledgeSize = pLedge->get_size();
IVP_Compact_Ledge *pNewLedge = (IVP_Compact_Ledge *)ivp_malloc_aligned( ledgeSize, 16 );
memcpy( pNewLedge, pLedge, ledgeSize );
pNewLedge->set_client_data(0);
IVP_Compact_Poly_Point *pPoints = pNewLedge->get_point_array();
for ( int i = 0; i < 8; i++ )
{
IVP_U_Float_Hesse ivp;
ConvertPositionToIVP( boxVerts[m_bboxVertMap[i]], ivp );
ivp.hesse_val = 0;
pPoints[i].set4(&ivp);
}
CPhysConvex *pConvex = (CPhysConvex *)pNewLedge;
return (CPhysCollideCompactSurface *)ConvertConvexToCollide( &pConvex, 1 );
}
void CPhysicsCollision::InitBBoxCache()
{
Vector boxVerts[8], *ppVerts[8];
Vector mins(-16,-16,0), maxs(16,16,72);
// init with the player box
InitBoxVerts( boxVerts, ppVerts, mins, maxs );
// Generate a convex hull from the verts
CPhysConvex *pConvex = ConvexFromVertsFast( ppVerts, 8 );
IVP_Compact_Poly_Point *pPoints = reinterpret_cast<IVP_Compact_Ledge *>(pConvex)->get_point_array();
for ( int i = 0; i < 8; i++ )
{
int nearest = -1;
float minDist = 0.1;
Vector tmp;
ConvertPositionToHL( pPoints[i], tmp );
for ( int j = 0; j < 8; j++ )
{
float dist = (boxVerts[j] - tmp).Length();
if ( dist < minDist )
{
minDist = dist;
nearest = j;
}
}
m_bboxVertMap[i] = nearest;
#if _DEBUG
for ( int k = 0; k < i; k++ )
{
Assert( m_bboxVertMap[k] != m_bboxVertMap[i] );
}
#endif
// NOTE: If this is wrong, you can disable FAST_BBOX above to fix
AssertMsg( nearest != -1, "CPhysCollide: Vert map is wrong\n" );
}
CPhysCollide *pCollide = ConvertConvexToCollide( &pConvex, 1 );
AddBBoxCache( (CPhysCollideCompactSurface *)pCollide, mins, maxs );
}
CPhysConvex *CPhysicsCollision::BBoxToConvex( const Vector &mins, const Vector &maxs )
{
Vector boxVerts[8], *ppVerts[8];
InitBoxVerts( boxVerts, ppVerts, mins, maxs );
// Generate a convex hull from the verts
return ConvexFromVertsFast( ppVerts, 8 );
}
CPhysCollide *CPhysicsCollision::BBoxToCollide( const Vector &mins, const Vector &maxs )
{
// can't create a collision model for an empty box !
if ( mins == maxs )
{
Assert(0);
return NULL;
}
// find this bbox in the cache
CPhysCollide *pCollide = GetBBoxCache( mins, maxs );
if ( pCollide )
return pCollide;
// FAST_BBOX: uses an existing compact ledge as a template for fast generation
// building convex hulls from points is slow
#if FAST_BBOX
if ( m_bboxCache.Count() == 0 )
{
InitBBoxCache();
}
pCollide = FastBboxCollide( m_bboxCache[0].pCollide, mins, maxs );
#else
CPhysConvex *pConvex = BBoxToConvex( mins, maxs );
pCollide = ConvertConvexToCollide( &pConvex, 1 );
#endif
AddBBoxCache( (CPhysCollideCompactSurface *)pCollide, mins, maxs );
return pCollide;
}
bool CPhysicsCollision::IsBBoxCache( CPhysCollide *pCollide )
{
// UNDONE: Sort the list so it can be searched spatially instead of linearly?
for ( int i = m_bboxCache.Count()-1; i >= 0; i-- )
{
if ( m_bboxCache[i].pCollide == pCollide )
return true;
}
return false;
}
void CPhysicsCollision::AddBBoxCache( CPhysCollideCompactSurface *pCollide, const Vector &mins, const Vector &maxs )
{
int index = m_bboxCache.AddToTail();
bboxcache_t *pCache = &m_bboxCache[index];
pCache->pCollide = pCollide;
pCache->mins = mins;
pCache->maxs = maxs;
}
CPhysCollideCompactSurface *CPhysicsCollision::GetBBoxCache( const Vector &mins, const Vector &maxs )
{
for ( int i = m_bboxCache.Count()-1; i >= 0; i-- )
{
if ( m_bboxCache[i].mins == mins && m_bboxCache[i].maxs == maxs )
return m_bboxCache[i].pCollide;
}
return NULL;
}
void CPhysicsCollision::ConvexFree( CPhysConvex *pConvex )
{
if ( !pConvex )
return;
ivp_free_aligned( pConvex );
}
// Get the size of the collision model for serialization
int CPhysicsCollision::CollideSize( CPhysCollide *pCollide )
{
return pCollide->GetSerializationSize();
}
int CPhysicsCollision::CollideWrite( char *pDest, CPhysCollide *pCollide, bool bSwap )
{
return pCollide->SerializeToBuffer( pDest, bSwap );
}
CPhysCollide *CPhysicsCollision::UnserializeCollide( char *pBuffer, int size, int index )
{
return CPhysCollide::UnserializeFromBuffer( pBuffer, size, index );
}
class CPhysPolysoup
{
public:
CPhysPolysoup();
#if ENABLE_IVP_MOPP
IVP_SurfaceBuilder_Mopp m_builder;
#endif
IVP_SurfaceBuilder_Ledge_Soup m_builderSoup;
IVP_U_Vector<IVP_U_Point> m_points;
IVP_U_Point m_triangle[3];
bool m_isValid;
};
CPhysPolysoup::CPhysPolysoup()
{
m_isValid = false;
m_points.add( &m_triangle[0] );
m_points.add( &m_triangle[1] );
m_points.add( &m_triangle[2] );
}
CPhysPolysoup *CPhysicsCollision::PolysoupCreate( void )
{
return new CPhysPolysoup;
}
void CPhysicsCollision::PolysoupDestroy( CPhysPolysoup *pSoup )
{
delete pSoup;
}
void CPhysicsCollision::PolysoupAddTriangle( CPhysPolysoup *pSoup, const Vector &a, const Vector &b, const Vector &c, int materialIndex7bits )
{
pSoup->m_isValid = true;
ConvertPositionToIVP( a, pSoup->m_triangle[0] );
ConvertPositionToIVP( b, pSoup->m_triangle[1] );
ConvertPositionToIVP( c, pSoup->m_triangle[2] );
IVP_Compact_Ledge *pLedge = IVP_SurfaceBuilder_Pointsoup::convert_pointsoup_to_compact_ledge(&pSoup->m_points);
if ( !pLedge )
{
Warning("Degenerate Triangle\n");
Warning("(%.2f, %.2f, %.2f), ", a.x, a.y, a.z );
Warning("(%.2f, %.2f, %.2f), ", b.x, b.y, b.z );
Warning("(%.2f, %.2f, %.2f)\n", c.x, c.y, c.z );
return;
}
IVP_Compact_Triangle *pTriangle = pLedge->get_first_triangle();
pTriangle->set_material_index( materialIndex7bits );
#if ENABLE_IVP_MOPP
pSoup->m_builder.insert_ledge(pLedge);
#endif
pSoup->m_builderSoup.insert_ledge(pLedge);
}
CPhysCollide *CPhysicsCollision::ConvertPolysoupToCollide( CPhysPolysoup *pSoup, bool useMOPP )
{
if ( !pSoup->m_isValid )
return NULL;
CPhysCollide *pCollide = NULL;
#if ENABLE_IVP_MOPP
if ( useMOPP )
{
IVP_Compact_Mopp *pSurface = pSoup->m_builder.compile();
pCollide = new CPhysCollideMopp( pSurface );
}
else
#endif
{
IVP_Compact_Surface *pSurface = pSoup->m_builderSoup.compile();
pCollide = new CPhysCollideCompactSurface( pSurface );
}
Assert(pCollide);
// There's a bug in IVP where the duplicated triangles (for 2D)
// don't get the materials set properly, so copy them
IVP_U_BigVector<IVP_Compact_Ledge> ledges;
pCollide->GetAllLedges( ledges );
for ( int i = 0; i < ledges.len(); i++ )
{
IVP_Compact_Ledge *pLedge = ledges.element_at( i );
int triangleCount = pLedge->get_n_triangles();
IVP_Compact_Triangle *pTri = pLedge->get_first_triangle();
int materialIndex = pTri->get_material_index();
if ( !materialIndex )
{
for ( int j = 0; j < triangleCount; j++ )
{
if ( pTri->get_material_index() != 0 )
{
materialIndex = pTri->get_material_index();
}
pTri = pTri->get_next_tri();
}
}
for ( int j = 0; j < triangleCount; j++ )
{
pTri->set_material_index( materialIndex );
pTri = pTri->get_next_tri();
}
}
return pCollide;
}
int CPhysicsCollision::CreateDebugMesh( const CPhysCollide *pCollisionModel, Vector **outVerts )
{
int i;
IVP_U_BigVector<IVP_Compact_Ledge> ledges;
pCollisionModel->GetAllLedges( ledges );
int vertCount = 0;
for ( i = 0; i < ledges.len(); i++ )
{
IVP_Compact_Ledge *pLedge = ledges.element_at( i );
vertCount += pLedge->get_n_triangles() * 3;
}
Vector *verts = new Vector[ vertCount ];
int vertIndex = 0;
for ( i = 0; i < ledges.len(); i++ )
{
IVP_Compact_Ledge *pLedge = ledges.element_at( i );
int triangleCount = pLedge->get_n_triangles();
IVP_Compact_Triangle *pTri = pLedge->get_first_triangle();
for ( int j = 0; j < triangleCount; j++ )
{
for ( int k = 2; k >= 0; k-- )
{
const IVP_Compact_Edge *pEdge = pTri->get_edge( k );
const IVP_U_Float_Point *pPoint = pEdge->get_start_point( pLedge );
Vector* pVec = verts + vertIndex;
ConvertPositionToHL( *pPoint, *pVec );
vertIndex++;
}
pTri = pTri->get_next_tri();
}
}
*outVerts = verts;
return vertCount;
}
void CPhysicsCollision::DestroyDebugMesh( int vertCount, Vector *outVerts )
{
delete[] outVerts;
}
void CPhysicsCollision::SetConvexGameData( CPhysConvex *pConvex, unsigned int gameData )
{
IVP_Compact_Ledge *pLedge = reinterpret_cast<IVP_Compact_Ledge *>( pConvex );
pLedge->set_client_data( gameData );
}
void CPhysicsCollision::TraceBox( const Vector &start, const Vector &end, const Vector &mins, const Vector &maxs, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, trace_t *ptr )
{
m_traceapi.SweepBoxIVP( start, end, mins, maxs, pCollide, collideOrigin, collideAngles, ptr );
}
void CPhysicsCollision::TraceBox( const Ray_t &ray, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, trace_t *ptr )
{
TraceBox( ray, MASK_ALL, NULL, pCollide, collideOrigin, collideAngles, ptr );
}
void CPhysicsCollision::TraceBox( const Ray_t &ray, unsigned int contentsMask, IConvexInfo *pConvexInfo, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, trace_t *ptr )
{
m_traceapi.SweepBoxIVP( ray, contentsMask, pConvexInfo, pCollide, collideOrigin, collideAngles, ptr );
}
// Trace one collide against another
void CPhysicsCollision::TraceCollide( const Vector &start, const Vector &end, const CPhysCollide *pSweepCollide, const QAngle &sweepAngles, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, trace_t *ptr )
{
m_traceapi.SweepIVP( start, end, pSweepCollide, sweepAngles, pCollide, collideOrigin, collideAngles, ptr );
}
void CPhysicsCollision::CollideGetAABB( Vector *pMins, Vector *pMaxs, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles )
{
m_traceapi.GetAABB( pMins, pMaxs, pCollide, collideOrigin, collideAngles );
}
Vector CPhysicsCollision::CollideGetExtent( const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, const Vector &direction )
{
if ( !pCollide )
return collideOrigin;
return m_traceapi.GetExtent( pCollide, collideOrigin, collideAngles, direction );
}
bool CPhysicsCollision::IsBoxIntersectingCone( const Vector &boxAbsMins, const Vector &boxAbsMaxs, const truncatedcone_t &cone )
{
return m_traceapi.IsBoxIntersectingCone( boxAbsMins, boxAbsMaxs, cone );
}
// Free a collide that was created with ConvertConvexToCollide()
void CPhysicsCollision::DestroyCollide( CPhysCollide *pCollide )
{
if ( !IsBBoxCache( pCollide ) )
{
delete pCollide;
}
}
// calculate the volume of a collide by calling ConvexVolume on its parts
float CPhysicsCollision::CollideVolume( CPhysCollide *pCollide )
{
IVP_U_BigVector<IVP_Compact_Ledge> ledges;
pCollide->GetAllLedges( ledges );
float volume = 0;
for ( int i = 0; i < ledges.len(); i++ )
{
volume += ConvexVolume( (CPhysConvex *)ledges.element_at(i) );
}
return volume;
}
// calculate the volume of a collide by calling ConvexVolume on its parts
float CPhysicsCollision::CollideSurfaceArea( CPhysCollide *pCollide )
{
IVP_U_BigVector<IVP_Compact_Ledge> ledges;
pCollide->GetAllLedges( ledges );
float area = 0;
for ( int i = 0; i < ledges.len(); i++ )
{
area += ConvexSurfaceArea( (CPhysConvex *)ledges.element_at(i) );
}
return area;
}
// loads a set of solids into a vcollide_t
void CPhysicsCollision::VCollideLoad( vcollide_t *pOutput, int solidCount, const char *pBuffer, int bufferSize, bool swap )
{
memset( pOutput, 0, sizeof(*pOutput) );
int position = 0;
pOutput->solidCount = solidCount;
pOutput->solids = new CPhysCollide *[solidCount];
BEGIN_IVP_ALLOCATION();
for ( int i = 0; i < solidCount; i++ )
{
int size = *(int*)(pBuffer + position);
// memcpy( &size, pBuffer + position, sizeof(int) );
position += sizeof(int);
char *tmpbuf = new char[size];
memcpy(tmpbuf, pBuffer + position, size);
pOutput->solids[i] = CPhysCollide::UnserializeFromBuffer( tmpbuf, size, i, swap );
position += size;
delete[] tmpbuf;
}
END_IVP_ALLOCATION();
pOutput->isPacked = false;
int keySize = bufferSize - position;
pOutput->pKeyValues = new char[keySize];
memcpy( pOutput->pKeyValues, pBuffer + position, keySize );
pOutput->descSize = 0;
}
// destroys the set of solids created by VCollideCreateCPhysCollide
void CPhysicsCollision::VCollideUnload( vcollide_t *pVCollide )
{
for ( int i = 0; i < pVCollide->solidCount; i++ )
{
#if _DEBUG
// HACKHACK: 1024 is just "some big number"
// GetActiveEnvironmentByIndex() will eventually return NULL when there are no more environments.
// In HL2 & TF2, there are only 2 environments - so j > 1 is probably an error!
for ( int j = 0; j < 1024; j++ )
{
IPhysicsEnvironment *pEnv = g_PhysicsInternal->GetActiveEnvironmentByIndex( j );
if ( !pEnv )
break;
if ( pEnv->IsCollisionModelUsed( (CPhysCollide *)pVCollide->solids[i] ) )
{
AssertMsg(0, "Freed collision model while in use!!!\n");
return;
}
}
#endif
delete pVCollide->solids[i];
}
delete[] pVCollide->solids;
delete[] pVCollide->pKeyValues;
memset( pVCollide, 0, sizeof(*pVCollide) );
}
// begins parsing a vcollide. NOTE: This keeps pointers to the vcollide_t
// If you delete the vcollide_t and call members of IVCollideParse, it will crash
IVPhysicsKeyParser *CPhysicsCollision::VPhysicsKeyParserCreate( const char *pKeyData )
{
return CreateVPhysicsKeyParser( pKeyData );
}
// Free the parser created by VPhysicsKeyParserCreate
void CPhysicsCollision::VPhysicsKeyParserDestroy( IVPhysicsKeyParser *pParser )
{
DestroyVPhysicsKeyParser( pParser );
}
IPhysicsCollision *CPhysicsCollision::ThreadContextCreate( void )
{
return this;
}
void CPhysicsCollision::ThreadContextDestroy( IPhysicsCollision *pThreadContext )
{
}
void CPhysicsCollision::CollideGetMassCenter( CPhysCollide *pCollide, Vector *pOutMassCenter )
{
*pOutMassCenter = pCollide->GetMassCenter();
}
void CPhysicsCollision::CollideSetMassCenter( CPhysCollide *pCollide, const Vector &massCenter )
{
pCollide->SetMassCenter( massCenter );
}
int CPhysicsCollision::CollideIndex( const CPhysCollide *pCollide )
{
if ( !pCollide )
return 0;
return pCollide->GetVCollideIndex();
}
Vector CPhysicsCollision::CollideGetOrthographicAreas( const CPhysCollide *pCollide )
{
if ( !pCollide )
return vec3_origin;
return pCollide->GetOrthographicAreas();
}
void CPhysicsCollision::CollideSetOrthographicAreas( CPhysCollide *pCollide, const Vector &areas )
{
if ( pCollide )
pCollide->SetOrthographicAreas( areas );
}
// returns true if this collide has an outer hull built
void CPhysicsCollision::OutputDebugInfo( const CPhysCollide *pCollide )
{
pCollide->OutputDebugInfo();
}
bool CPhysicsCollision::GetBBoxCacheSize( int *pCachedSize, int *pCachedCount )
{
*pCachedSize = 0;
*pCachedCount = m_bboxCache.Count();
for ( int i = 0; i < *pCachedCount; i++ )
{
*pCachedSize += m_bboxCache[i].pCollide->GetSerializationSize();
}
return true;
}
class CCollisionQuery : public ICollisionQuery
{
public:
CCollisionQuery( CPhysCollide *pCollide );
~CCollisionQuery( void ) {}
// number of convex pieces in the whole solid
virtual int ConvexCount( void );
// triangle count for this convex piece
virtual int TriangleCount( int convexIndex );
// get the stored game data
virtual unsigned int GetGameData( int convexIndex );
// Gets the triangle's verts to an array
virtual void GetTriangleVerts( int convexIndex, int triangleIndex, Vector *verts );
// UNDONE: This doesn't work!!!
virtual void SetTriangleVerts( int convexIndex, int triangleIndex, const Vector *verts );
// returns the 7-bit material index
virtual int GetTriangleMaterialIndex( int convexIndex, int triangleIndex );
// sets a 7-bit material index for this triangle
virtual void SetTriangleMaterialIndex( int convexIndex, int triangleIndex, int index7bits );
private:
IVP_Compact_Triangle *Triangle( IVP_Compact_Ledge *pLedge, int triangleIndex );
IVP_U_BigVector <IVP_Compact_Ledge> m_ledges;
};
// create a queryable version of the collision model
ICollisionQuery *CPhysicsCollision::CreateQueryModel( CPhysCollide *pCollide )
{
return new CCollisionQuery( pCollide );
}
// destroy the queryable version
void CPhysicsCollision::DestroyQueryModel( ICollisionQuery *pQuery )
{
delete pQuery;
}
CCollisionQuery::CCollisionQuery( CPhysCollide *pCollide )
{
pCollide->GetAllLedges( m_ledges );
}
// number of convex pieces in the whole solid
int CCollisionQuery::ConvexCount( void )
{
return m_ledges.len();
}
// triangle count for this convex piece
int CCollisionQuery::TriangleCount( int convexIndex )
{
IVP_Compact_Ledge *pLedge = m_ledges.element_at(convexIndex);
if ( pLedge )
{
return pLedge->get_n_triangles();
}
return 0;
}
unsigned int CCollisionQuery::GetGameData( int convexIndex )
{
IVP_Compact_Ledge *pLedge = m_ledges.element_at( convexIndex );
if ( pLedge )
return pLedge->get_client_data();
return 0;
}
// Gets the triangle's verts to an array
void CCollisionQuery::GetTriangleVerts( int convexIndex, int triangleIndex, Vector *verts )
{
IVP_Compact_Ledge *pLedge = m_ledges.element_at( convexIndex );
IVP_Compact_Triangle *pTriangle = Triangle( pLedge, triangleIndex );
int vertIndex = 0;
for ( int k = 2; k >= 0; k-- )
{
const IVP_Compact_Edge *pEdge = pTriangle->get_edge( k );
const IVP_U_Float_Point *pPoint = pEdge->get_start_point( pLedge );
Vector* pVec = verts + vertIndex;
ConvertPositionToHL( *pPoint, *pVec );
vertIndex++;
}
}
// UNDONE: This doesn't work!!!
void CCollisionQuery::SetTriangleVerts( int convexIndex, int triangleIndex, const Vector *verts )
{
IVP_Compact_Ledge *pLedge = m_ledges.element_at( convexIndex );
Triangle( pLedge, triangleIndex );
}
int CCollisionQuery::GetTriangleMaterialIndex( int convexIndex, int triangleIndex )
{
IVP_Compact_Ledge *pLedge = m_ledges.element_at( convexIndex );
IVP_Compact_Triangle *pTriangle = Triangle( pLedge, triangleIndex );
return pTriangle->get_material_index();
}
void CCollisionQuery::SetTriangleMaterialIndex( int convexIndex, int triangleIndex, int index7bits )
{
IVP_Compact_Ledge *pLedge = m_ledges.element_at( convexIndex );
IVP_Compact_Triangle *pTriangle = Triangle( pLedge, triangleIndex );
pTriangle->set_material_index( index7bits );
}
IVP_Compact_Triangle *CCollisionQuery::Triangle( IVP_Compact_Ledge *pLedge, int triangleIndex )
{
if ( !pLedge )
return NULL;
return pLedge->get_first_triangle() + triangleIndex;
}
#if 0
void TestCubeVolume( void )
{
float volume = 0;
Vector verts[8];
typedef struct
{
int a, b, c;
} triangle_t;
triangle_t triangles[12] =
{
{0,1,3}, // front 0123
{0,3,2},
{4,5,1}, // top 4501
{4,1,0},
{2,3,7}, // bottom 2367
{2,7,6},
{1,5,7}, // right 1537
{1,7,3},
{4,0,2}, // left 4062
{4,2,6},
{5,4,6}, // back 5476
{5,6,7}
};
int i = 0;
for ( int x = -1; x <= 1; x +=2 )
for ( int y = -1; y <= 1; y +=2 )
for ( int z = -1; z <= 1; z +=2 )
{
verts[i][0] = x;
verts[i][1] = y;
verts[i][2] = z;
i++;
}
for ( i = 0; i < 12; i++ )
{
triangle_t *pTri = triangles + i;
volume += TetrahedronVolume( verts[0], verts[pTri->a], verts[pTri->b], verts[pTri->c] );
}
// should report a volume of 8. This is a cube that is 2 on a side
printf("Test volume %.4f\n", volume );
}
#endif