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fix #5964 (plus random missing break)
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coldet is a bad place for apxsqrt's
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rt committed Apr 22, 2018
1 parent 93592ff commit 0848d9b
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Showing 2 changed files with 103 additions and 101 deletions.
200 changes: 101 additions & 99 deletions rts/Sim/Misc/CollisionHandler.cpp
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Expand Up @@ -8,7 +8,6 @@
#include "Sim/Misc/GroundBlockingObjectMap.h"
#include "Sim/Misc/GlobalConstants.h"
#include "Sim/Objects/SolidObject.h"
#include "System/FastMath.h"
#include "System/Matrix44f.h"
#include "System/Log/ILog.h"

Expand Down Expand Up @@ -154,14 +153,13 @@ bool CCollisionHandler::Collision(const CollisionVolume* v, const CMatrix44f& m,
// normally this code is never executed, because the higher
// level Collision() already optimize via early-out tests
hit = (pi.dot(pi) <= v->GetHSqScales().x);

} break;
case CollisionVolume::COLVOL_TYPE_ELLIPSOID: {
const float f1 = (pi.x * pi.x) / v->GetHSqScales().x;
const float f2 = (pi.y * pi.y) / v->GetHSqScales().y;
const float f3 = (pi.z * pi.z) / v->GetHSqScales().z;
hit = ((f1 + f2 + f3) <= 1.0f);
}
} break;
case CollisionVolume::COLVOL_TYPE_CYLINDER: {
switch (v->GetPrimaryAxis()) {
case CollisionVolume::COLVOL_AXIS_X: {
Expand Down Expand Up @@ -364,9 +362,12 @@ bool CCollisionHandler::Intersect(const CollisionVolume* v, const CMatrix44f& m,

// check if ray segment misses (bounding box around) volume
// (if so, then no further intersection tests are necessary)
if (rmaxx < vminx || rminx > vmaxx) { return false; }
if (rmaxy < vminy || rminy > vmaxy) { return false; }
if (rmaxz < vminz || rminz > vmaxz) { return false; }
if (rmaxx < vminx || rminx > vmaxx)
return false;
if (rmaxy < vminy || rminy > vmaxy)
return false;
if (rmaxz < vminz || rminz > vmaxz)
return false;

switch (v->GetVolumeType()) {
case CollisionVolume::COLVOL_TYPE_ELLIPSOID:
Expand Down Expand Up @@ -429,67 +430,65 @@ bool CCollisionHandler::IntersectEllipsoid(const CollisionVolume* v, const float
const float C = pii0.dot(pii0) - rSq;
const float D = (B * B) - (4.0f * A * C);

if (D < -COLLISION_VOLUME_EPS) {
if (D < -COLLISION_VOLUME_EPS)
return false;
} else {
// get the length of the ray segment in volume-space
const float segLenSq = (pi1 - pi0).SqLength();

if (D < COLLISION_VOLUME_EPS) {
// one solution for t
const float t0 = -B * 0.5f;
// const float t0 = -B / (2.0f * A);
// get the intersection point in sphere-space
const float3 pTmp = pii0 + (dir * t0);
// get the intersection point in volume-space
const float3 p0 = pTmp * v->GetHScales();
// get the distance from the start of the segment
// to the intersection point in volume-space
const float dSq0 = (p0 - pi0).SqLength();
// if the intersection point is closer to p0 than
// the end of the ray segment, the hit is valid
const int b0 = (t0 > 0.0f && dSq0 <= segLenSq) * CQ_POINT_ON_RAY;

if (q != nullptr) {
q->b0 = b0; q->b1 = CQ_POINT_NO_INT;
q->t0 = t0; q->t1 = 0.0f;
q->p0 = p0; q->p1 = ZeroVector;
}

return (b0 == CQ_POINT_ON_RAY);
} else {
// two solutions for t
const float rD = fastmath::apxsqrt(D);
const float t0 = (-B - rD) * 0.5f;
const float t1 = (-B + rD) * 0.5f;
// const float t0 = (-B + rD) / (2.0f * A);
// const float t1 = (-B - rD) / (2.0f * A);
// get the intersection points in sphere-space
const float3 pTmp0 = pii0 + (dir * t0);
const float3 pTmp1 = pii0 + (dir * t1);
// get the intersection points in volume-space
const float3 p0 = pTmp0 * v->GetHScales();
const float3 p1 = pTmp1 * v->GetHScales();
// get the distances from the start of the ray
// to the intersection points in volume-space
const float dSq0 = (p0 - pi0).SqLength();
const float dSq1 = (p1 - pi0).SqLength();
// if one of the intersection points is closer to p0
// than the end of the ray segment, the hit is valid
const int b0 = (t0 > 0.0f && dSq0 <= segLenSq) * CQ_POINT_ON_RAY;
const int b1 = (t1 > 0.0f && dSq1 <= segLenSq) * CQ_POINT_ON_RAY;

if (q != nullptr) {
q->b0 = b0; q->b1 = b1;
q->t0 = t0; q->t1 = t1;
q->p0 = p0; q->p1 = p1;
}
// get the length of the ray segment in volume-space
const float segLenSq = (pi1 - pi0).SqLength();

return (b0 == CQ_POINT_ON_RAY || b1 == CQ_POINT_ON_RAY);
if (D < COLLISION_VOLUME_EPS) {
// one solution for t
const float t0 = -B * 0.5f;
// const float t0 = -B / (2.0f * A);
// get the intersection point in sphere-space
const float3 pTmp = pii0 + (dir * t0);
// get the intersection point in volume-space
const float3 p0 = pTmp * v->GetHScales();
// get the distance from the start of the segment
// to the intersection point in volume-space
const float dSq0 = (p0 - pi0).SqLength();
// if the intersection point is closer to p0 than
// the end of the ray segment, the hit is valid
const int b0 = (t0 > 0.0f && dSq0 <= segLenSq) * CQ_POINT_ON_RAY;

if (q != nullptr) {
q->b0 = b0; q->b1 = CQ_POINT_NO_INT;
q->t0 = t0; q->t1 = 0.0f;
q->p0 = p0; q->p1 = ZeroVector;
}

return (b0 == CQ_POINT_ON_RAY);
}
{
// two solutions for t
const float rD = math::sqrt(D);
const float t0 = (-B - rD) * 0.5f;
const float t1 = (-B + rD) * 0.5f;
// const float t0 = (-B + rD) / (2.0f * A);
// const float t1 = (-B - rD) / (2.0f * A);
// get the intersection points in sphere-space
const float3 pTmp0 = pii0 + (dir * t0);
const float3 pTmp1 = pii0 + (dir * t1);
// get the intersection points in volume-space
const float3 p0 = pTmp0 * v->GetHScales();
const float3 p1 = pTmp1 * v->GetHScales();
// get the distances from the start of the ray
// to the intersection points in volume-space
const float dSq0 = (p0 - pi0).SqLength();
const float dSq1 = (p1 - pi0).SqLength();
// if one of the intersection points is closer to p0
// than the end of the ray segment, the hit is valid
const int b0 = (t0 > 0.0f && dSq0 <= segLenSq) * CQ_POINT_ON_RAY;
const int b1 = (t1 > 0.0f && dSq1 <= segLenSq) * CQ_POINT_ON_RAY;

if (q != nullptr) {
q->b0 = b0; q->b1 = b1;
q->t0 = t0; q->t1 = t1;
q->p0 = p0; q->p1 = p1;
}

return false;
return (b0 == CQ_POINT_ON_RAY || b1 == CQ_POINT_ON_RAY);
}
}

bool CCollisionHandler::IntersectCylinder(const CollisionVolume* v, const float3& pi0, const float3& pi1, CollisionQuery* q)
Expand All @@ -498,6 +497,7 @@ bool CCollisionHandler::IntersectCylinder(const CollisionVolume* v, const float3
const int sAx0 = v->GetSecondaryAxis(0);
const int sAx1 = v->GetSecondaryAxis(1);
const float3& ahs = v->GetHScales();
const float3& ahis = v->GetHIScales();
const float3& ahsq = v->GetHSqScales();
const float ratio =
((pi0[sAx0] * pi0[sAx0]) / ahsq[sAx0]) +
Expand Down Expand Up @@ -537,13 +537,13 @@ bool CCollisionHandler::IntersectCylinder(const CollisionVolume* v, const float3

switch (pAx) {
case CollisionVolume::COLVOL_AXIS_X: {
pii0.y = pi0.y * v->GetHIScales().y;
pii0.z = pi0.z * v->GetHIScales().z;
pii1.y = pi1.y * v->GetHIScales().y;
pii1.z = pi1.z * v->GetHIScales().z;
pii0.y = pi0.y * ahis.y;
pii0.z = pi0.z * ahis.z;
pii1.y = pi1.y * ahis.y;
pii1.z = pi1.z * ahis.z;

inv.y = v->GetHScales().y;
inv.z = v->GetHScales().z;
inv.y = ahs.y;
inv.z = ahs.z;
diir = (pii1 - pii0).SafeNormalize();

n0.x = -1.0f; // left
Expand All @@ -555,13 +555,13 @@ bool CCollisionHandler::IntersectCylinder(const CollisionVolume* v, const float3
c = (pii0.y * pii0.y) + (pii0.z * pii0.z) - 1.0f;
} break;
case CollisionVolume::COLVOL_AXIS_Y: {
pii0.x = pi0.x * v->GetHIScales().x;
pii0.z = pi0.z * v->GetHIScales().z;
pii1.x = pi1.x * v->GetHIScales().x;
pii1.z = pi1.z * v->GetHIScales().z;
pii0.x = pi0.x * ahis.x;
pii0.z = pi0.z * ahis.z;
pii1.x = pi1.x * ahis.x;
pii1.z = pi1.z * ahis.z;

inv.x = v->GetHScales().x;
inv.z = v->GetHScales().z;
inv.x = ahs.x;
inv.z = ahs.z;
diir = (pii1 - pii0).SafeNormalize();

n0.y = 1.0f; // top
Expand All @@ -573,13 +573,13 @@ bool CCollisionHandler::IntersectCylinder(const CollisionVolume* v, const float3
c = (pii0.x * pii0.x) + (pii0.z * pii0.z) - 1.0f;
} break;
case CollisionVolume::COLVOL_AXIS_Z: {
pii0.x = pi0.x * v->GetHIScales().x;
pii0.y = pi0.y * v->GetHIScales().y;
pii1.x = pi1.x * v->GetHIScales().x;
pii1.y = pi1.y * v->GetHIScales().y;
pii0.x = pi0.x * ahis.x;
pii0.y = pi0.y * ahis.y;
pii1.x = pi1.x * ahis.x;
pii1.y = pi1.y * ahis.y;

inv.x = v->GetHScales().x;
inv.y = v->GetHScales().y;
inv.x = ahs.x;
inv.y = ahs.y;
diir = (pii1 - pii0).SafeNormalize();

n0.z = 1.0f; // front
Expand Down Expand Up @@ -618,7 +618,7 @@ bool CCollisionHandler::IntersectCylinder(const CollisionVolume* v, const float3
s0 = (p0 - pi0).SqLength();
b0 = (s0 < segLenSq && math::fabs(p0[pAx]) < ahs[pAx]) * CQ_POINT_ON_RAY;
} else {
rd = fastmath::apxsqrt(d);
rd = math::sqrt(d);
t0 = (-b - rd) / (2.0f * a);
t1 = (-b + rd) / (2.0f * a);
p0 = (pii0 + (diir * t0)) * inv;
Expand Down Expand Up @@ -683,9 +683,11 @@ bool CCollisionHandler::IntersectCylinder(const CollisionVolume* v, const float3

bool CCollisionHandler::IntersectBox(const CollisionVolume* v, const float3& pi0, const float3& pi1, CollisionQuery* q)
{
const bool ba = (math::fabs(pi0.x) < v->GetHScales().x);
const bool bb = (math::fabs(pi0.y) < v->GetHScales().y);
const bool bc = (math::fabs(pi0.z) < v->GetHScales().z);
const float3& ahs = v->GetHScales();

const bool ba = (math::fabs(pi0.x) < ahs.x);
const bool bb = (math::fabs(pi0.y) < ahs.y);
const bool bc = (math::fabs(pi0.z) < ahs.z);

if (ba && bb && bc) {
// terminate early in the special case
Expand All @@ -707,16 +709,16 @@ bool CCollisionHandler::IntersectBox(const CollisionVolume* v, const float3& pi0
const float3 dir = (pi1 - pi0).SafeNormalize();

if (math::fabs(dir.x) < COLLISION_VOLUME_EPS) {
if (math::fabs(pi0.x) > v->GetHScales().x) {
if (math::fabs(pi0.x) > ahs.x)
return false;
}

} else {
if (dir.x > 0.0f) {
t0 = (-v->GetHScales().x - pi0.x) / dir.x;
t1 = ( v->GetHScales().x - pi0.x) / dir.x;
t0 = (-ahs.x - pi0.x) / dir.x;
t1 = ( ahs.x - pi0.x) / dir.x;
} else {
t1 = (-v->GetHScales().x - pi0.x) / dir.x;
t0 = ( v->GetHScales().x - pi0.x) / dir.x;
t1 = (-ahs.x - pi0.x) / dir.x;
t0 = ( ahs.x - pi0.x) / dir.x;
}

if (t0 > t1) { t2 = t1; t1 = t0; t0 = t2; }
Expand All @@ -727,16 +729,16 @@ bool CCollisionHandler::IntersectBox(const CollisionVolume* v, const float3& pi0
}

if (math::fabs(dir.y) < COLLISION_VOLUME_EPS) {
if (math::fabs(pi0.y) > v->GetHScales().y) {
if (math::fabs(pi0.y) > ahs.y) {
return false;
}
} else {
if (dir.y > 0.0f) {
t0 = (-v->GetHScales().y - pi0.y) / dir.y;
t1 = ( v->GetHScales().y - pi0.y) / dir.y;
t0 = (-ahs.y - pi0.y) / dir.y;
t1 = ( ahs.y - pi0.y) / dir.y;
} else {
t1 = (-v->GetHScales().y - pi0.y) / dir.y;
t0 = ( v->GetHScales().y - pi0.y) / dir.y;
t1 = (-ahs.y - pi0.y) / dir.y;
t0 = ( ahs.y - pi0.y) / dir.y;
}

if (t0 > t1) { t2 = t1; t1 = t0; t0 = t2; }
Expand All @@ -747,16 +749,16 @@ bool CCollisionHandler::IntersectBox(const CollisionVolume* v, const float3& pi0
}

if (math::fabs(dir.z) < COLLISION_VOLUME_EPS) {
if (math::fabs(pi0.z) > v->GetHScales().z) {
if (math::fabs(pi0.z) > ahs.z) {
return false;
}
} else {
if (dir.z > 0.0f) {
t0 = (-v->GetHScales().z - pi0.z) / dir.z;
t1 = ( v->GetHScales().z - pi0.z) / dir.z;
t0 = (-ahs.z - pi0.z) / dir.z;
t1 = ( ahs.z - pi0.z) / dir.z;
} else {
t1 = (-v->GetHScales().z - pi0.z) / dir.z;
t0 = ( v->GetHScales().z - pi0.z) / dir.z;
t1 = (-ahs.z - pi0.z) / dir.z;
t0 = ( ahs.z - pi0.z) / dir.z;
}

if (t0 > t1) { t2 = t1; t1 = t0; t0 = t2; }
Expand Down
4 changes: 2 additions & 2 deletions rts/Sim/Projectiles/ProjectileHandler.cpp
View file
Expand Up @@ -585,9 +585,9 @@ void CProjectileHandler::CheckUnitFeatureCollisions(ProjectileContainer& pc)
if ( p->deleteMe) continue;

const float3 ppos0 = p->pos;
const float3 ppos1 = p->pos + p->speed;
// const float3 ppos1 = p->pos + p->dir * (p->speed.w + p->radius);

quadField.GetUnitsAndFeaturesColVol(p->pos, p->radius + p->speed.w, tempUnits, tempFeatures, &tempRepulsers);
quadField.GetUnitsAndFeaturesColVol(p->pos, p->speed.w + p->radius, tempUnits, tempFeatures, &tempRepulsers);

CheckShieldCollisions(p, tempRepulsers, ppos0, ppos1); tempRepulsers.clear();
CheckUnitCollisions(p, tempUnits, ppos0, ppos1); tempUnits.clear();
Expand Down

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