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Collision.pas
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Collision.pas
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{Copyright (c) 2008 Ville Krumlinde
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.}
unit Collision;
interface
uses ZClasses,Meshes;
type
//Action to take when colliding
TCollisionAction =
(
caCollision, //Actor.collision is called
caStopMovement //Position is adjusted out of collision, and collision is called
);
TCollisionChecks = class
strict private
Checks : TZArrayList;
Models : TModels;
HitList : TZArrayList;
HitListCat : integer;
function Test(const Act1, Act2: TModel) : boolean;
procedure PerformActionOnHitList(const Act1 : TModel; const Action : TCollisionAction);
private
App : pointer;
public
constructor Create(Models : TModels; App : pointer);
destructor Destroy; override;
procedure Add(Cat1,Cat2 : integer; Action : TCollisionAction = caCollision);
procedure Update;
{$ifndef minimal}
procedure ClearAll;
{$endif}
end;
TDefineCollision = class(TCommand)
protected
procedure DefineProperties(List: TZPropertyList); override;
public
Cat1,Cat2 : integer;
Action : TCollisionAction;
procedure Execute; override;
{$ifndef minimal}
function GetDisplayName: AnsiString; override;
{$endif}
end;
implementation
uses ZApplication,ZMath
{$IFNDEF MINIMAL},ZLog,Sysutils{$ENDIF}
;
type
TCollisionCheck = class
Cat1,Cat2 : integer;
Action : TCollisionAction;
end;
TCollisionHelper = class helper for TCollisionChecks
private
function ZApp : TZApplication;
end;
//http://www.gamedev.net/community/forums/topic.asp?topic_id=364789
function GetProjectedRadius(const O : TOBB_2D; const D : TZVector2f) : single;
begin
Result := O.E[0] * Abs( VecDot2(D,O.U[0]) ) +
O.E[1] * Abs( VecDot2(D,O.U[1]) );
end;
function SeparatedOnAxis(const A,B : TOBB_2D; const D : TZVector2f) : boolean;
var
R : single;
Tmp : TZVector2f;
begin
// Get projected distance between OBB centers
VecSub2(A.C,B.C,Tmp);
R := Abs( VecDot2(Tmp,D) );
Result := GetProjectedRadius(A,D) + GetProjectedRadius(B,D) < R;
end;
function IntersectObb(const A,B : TOBB_2D) : boolean;
begin
Result := False;
// Exit early if not overlapping
if (SeparatedOnAxis(a, b, a.u[0])) then Exit;
if (SeparatedOnAxis(a, b, a.u[1])) then Exit;
if (SeparatedOnAxis(a, b, b.u[0])) then Exit;
if (SeparatedOnAxis(a, b, b.u[1])) then Exit;
// Must be overlapping
Result := True;
end;
function IntersectRect(const R1,R2 : TZRectf) : boolean;
//Kod utgått ifrån Types.pas
var
Rect : TZRectf;
begin
Rect := R1;
if R2.TopLeft.X > R1.TopLeft.X then Rect.TopLeft.X := R2.TopLeft.X;
if R2.TopLeft.Y > R1.TopLeft.Y then Rect.TopLeft.Y := R2.TopLeft.Y;
if R2.BottomRight.X < R1.BottomRight.X then Rect.BottomRight.X := R2.BottomRight.X;
if R2.BottomRight.Y < R1.BottomRight.Y then Rect.BottomRight.Y := R2.BottomRight.Y;
Result := not ((Rect.BottomRight.X <= Rect.TopLeft.X) or (Rect.BottomRight.Y <= Rect.TopLeft.Y));
end;
function IntersectSphereSphere(const R1,R2 : TZRectf) : boolean;
var
Tmp : TZVector3f;
L : single;
begin
// return sphereA[1].distanceto(sphereB[1]) - (sphereA[2] + sphereB[2]) <= 0
VecSub3(PZVector3f(@R1)^,PZVector3f(@R2)^,Tmp);
L := VecLength3(Tmp);
Result := L<R1.Area[3]+R2.Area[3];
end;
//2D circle intersection
function IntersectCircle(const R1,R2 : TZRectf) : boolean;
var
L : single;
begin
L := Vec2DDistance(PZVector2f(@R1)^,PZVector2f(@R2)^);
Result := L<R1.Area[2]+R2.Area[2];
end;
//http://www.geometrictools.com/LibFoundation/Intersection/Intersection.html
//http://www.geometrictools.com/LibFoundation/Intersection/Wm4IntrBox3Sphere3.cpp
function IntersectObbCircle(const A : TOBB_2D; const B : TZRectf) : boolean;
var
kCDiff : TZVector2f;
fAx,fAy,fDx,fDy,Radius : single;
begin
VecSub2(PZVector2f(@B)^,A.C,kCDiff);
fAx := Abs( VecDot2(kCDiff,A.U[0]) );
fAy := Abs( VecDot2(kCDiff,A.U[1]) );
fDx := fAx - A.E[0];
fDy := fAy - A.E[1];
Radius := B.Area[2];
if fAx <= A.E[0] then
begin
if fAy <= A.E[1] then
Result := True
else
Result := fDy <= Radius;
end else
begin
if fAy <= A.E[1] then
Result := fDx<=Radius
else
Result := (fDx * fDx) + (fDy * fDy) <= (Radius * Radius);
end;
end;
function IntersectBoxSphere(const Box : TZBox3D; const Sphere : TZRectf) : boolean;
var
S,D : single;
I : integer;
begin
D := 0;
for I := 0 to 2 do
begin
if Sphere.Area[I]<Box.Min[I] then
begin
S := Sphere.Area[I] - Box.Min[I];
D := D + S * S;
end else if Sphere.Area[I]>Box.Max[I] then
begin
S := Sphere.Area[I] - Box.Max[I];
D := D + S * S;
end;
end;
Result := D <= (Sphere.Area[3]*Sphere.Area[3]);
end;
//http://www.andrewaye.com/tgs_collision.html
function IntersectBoxBox(const Box1,Box2 : TZBox3D) : boolean;
begin
Result :=
(Box2.Max[0] >= Box1.Min[0]) and (Box1.Max[0] >= Box2.Min[0]) and
(Box2.Max[1] >= Box1.Min[1]) and (Box1.Max[1] >= Box2.Min[1]) and
(Box2.Max[2] >= Box1.Min[2]) and (Box1.Max[2] >= Box2.Min[2]);
end;
{ TCollisionChecks }
{$ifndef minimal}
procedure TCollisionChecks.ClearAll;
begin
Checks.Clear;
end;
{$endif}
constructor TCollisionChecks.Create(Models : TModels; App : pointer);
begin
Self.Models := Models;
Checks := TZArrayList.Create;
HitList := TZArrayList.CreateReferenced;
Self.App := App;
end;
destructor TCollisionChecks.Destroy;
begin
Checks.Free;
HitList.Free;
inherited;
end;
procedure TCollisionChecks.PerformActionOnHitList(const Act1: TModel; const Action : TCollisionAction);
var
I : integer;
Act2 : TModel;
function InTestAll : boolean;
var
J : integer;
L : TZArrayList;
begin
Result := False;
for J := 0 to HitList.Count - 1 do
if Test(Act1,TModel(HitList[J])) then
Exit(True);
//No hit against hitlist, but tests still need to be made against
//the complete original list because axis-adjusted movement may
//have moved the actor into a new objects bounding box.
L := Models.Get(Self.HitListCat);
for J := 0 to L.Count - 1 do
if Test(Act1,TModel(L[J])) then
Exit(True);
end;
procedure InStopMovement;
//Act1 har slagit i väggen mot objekten i HitList, försök backa position så att kollision ej sker
//Testar hela tiden mot listan med alla träff-objekt, det är enda sättet att få det
//att stämma.
const
MaxSteps = 20;
var
MoveV,StartV : TZVector3f;
I,ProblemAxis : integer;
Scale,Tmp : single;
begin
VecSub3(Act1.Position,Act1.LastPosition,MoveV);
//VecSub3(Act1.Position,MoveV,StartV);
//if VecIsNull3(MoveV) then
// Exit;
//MoveX,MoveY är pixels som act har flyttats i denna frame
//Loopa tills move är noll, eller ej kollision
//Testa först ifall det räcker med att nolla ut rörelse i en axis.
//Detta gör att man kan glida mot väggar när man rör sig diagonalt.
VecCopy3(Act1.LastPosition,StartV);
ProblemAxis := -1;
for I := 0 to 2 do
begin
if MoveV[I]=0 then
Continue;
Tmp:=Act1.Position[I];
Act1.Position[I]:=StartV[I];
Act1.CollisionCoordinatesUpdatedTime := 0;
if not InTestAll then
begin
ProblemAxis := I;
Break;
end;
Act1.Position[I] := Tmp;
end;
if ProblemAxis>=0 then
begin
//Step back until no collision occurs
for I := 1 to MaxSteps do
begin
//Note: Scale must be zero on last iteration so that movement is completely reversed (object already in contact when movement started)
Scale := 1.0 - I*(1.0/MaxSteps);
Act1.Position[ProblemAxis] := StartV[ProblemAxis] + MoveV[ProblemAxis] * Scale;
Act1.CollisionCoordinatesUpdatedTime := 0;
if not InTestAll then
Break;
end;
//Act1.LastPosition[ ProblemAxis ] := Act1.Position[ ProblemAxis ];
Act1.Velocity[ ProblemAxis ] := 0.0;
end
else
begin
//Ifall det är problem med fler än 1 axis, backa hela rörelsen
VecCopy3(StartV,Act1.Position);
FillChar(Act1.Velocity,SizeOf(Act1.Velocity),0);
{$ifdef zlog}
//ZLog.GetLog(Self.ClassName).Write('Collision multi-axis');
{$endif}
//Act1.Velocity := Vector3f(0,0,0);
{Scale:=1;
while Scale>=0 do
begin
VecCopy3( VecAdd3(StartV,VecScalarMult3(MoveV,Scale)), Act1.Position);
if not InTestAll then
Break;
Scale := Scale - 0.1;
end;
if Scale<0.5 then
VecCopy3(StartV,Act1.Position);}
end;
end;
begin
if Action=caStopMovement then
InStopMovement;
for I := 0 to Self.HitList.Count - 1 do
begin
Act2 := TModel(HitList[I]);
Act1.Collision(Act2);
Act2.Collision(Act1);
end;
end;
procedure TCollisionChecks.Add(Cat1, Cat2: integer; Action : TCollisionAction = caCollision);
var
Check : TCollisionCheck;
begin
Check := TCollisionCheck.Create;
Check.Cat1 := Cat1;
Check.Cat2 := Cat2;
Check.Action := Action;
Checks.Add(Check);
ZApp.Models.RegisterCat(Cat1);
ZApp.Models.RegisterCat(Cat2);
end;
procedure TCollisionChecks.Update;
var
Act1,Act2 : TModel;
L1,L2 : TZArrayList;
Check : TCollisionCheck;
I,J,K,StartK : integer;
begin
//todo: optimize, håll listor y-sorterade, då kan loop brytas när man passerat y-gräns
for I := 0 to Checks.Count-1 do
begin
Check := TCollisionCheck(Checks[I]);
L1 := Models.Get(Check.Cat1);
L2 := Models.Get(Check.Cat2);
Self.HitListCat := Check.Cat2;
for J := 0 to L1.Count-1 do
begin
Act1 := TModel(L1[J]);
Self.HitList.Clear;
if not Act1.Active then
Continue;
//Om samma kategori testas mot sig själv så kan antal tester reduceras
//Skippa test om act1=act2, samt act2 vs act1 ifall act1 vs act2 har redan testats
if L1=L2 then
StartK := J + 1
else
StartK := 0;
for K := StartK to L2.Count-1 do
begin
Act2 := TModel(L2[K]);
if not Act2.Active then
Continue;
if Test(Act1,Act2) then
HitList.Add(Act2);
end; //actor list cat 2
if Hitlist.Count>0 then
PerformActionOnHitList(Act1, Check.Action);
end; //actor list cat 1
end; //checks
Models.FlushRemoveList; //Collisions can cause removal of models, remove them now
end;
function TCollisionChecks.Test(const Act1, Act2: TModel): boolean;
type
TCollMethod = (Unknown,Rect2D_vs_Rect2D,Sphere_vs_Sphere,Box_vs_Sphere,
Box_vs_Box,Obb_vs_Obb,Circle_Vs_Circle,Obb_Vs_Circle);
var
RedAct,BlueAct : TModel;
Style : TCollMethod;
SwapAct : boolean;
RedB,BlueB : PCollisionCoordinates;
const
HitMap : packed array[TCollisionStyle,TCollisionStyle] of
record
M : TCollMethod;
Swap : boolean;
end = (
//(csRect2D,csSphere3D,csBox3D,csRect2D_OBB,csCircle2D)
{csRect2D} ((M:Rect2D_vs_Rect2D; Swap:False; ),(M:Unknown; Swap:False; ), (M:Unknown; Swap:False) , (M:Unknown; Swap:False), (M:Unknown; Swap:False)),
{csSphere3D} ((M:Unknown; Swap:False; ), (M:Sphere_vs_Sphere; Swap:False; ),(M:Box_vs_Sphere; Swap:True) ,(M:Unknown; Swap:False), (M:Unknown; Swap:False)),
{csBox3D} ((M:Unknown; Swap:False; ), (M:Box_vs_Sphere; Swap:False; ), (M:Box_Vs_Box; Swap:False), (M:Unknown; Swap:False), (M:Unknown; Swap:False)),
{csRect2D_OBB} ((M:Unknown; Swap:False; ), (M:Unknown; Swap:False; ), (M:Unknown; Swap:False), (M:Obb_Vs_Obb; Swap:False),(M:Obb_Vs_Circle; Swap:False)),
{csCircle2D} ((M:Unknown; Swap:False; ), (M:Unknown; Swap:False; ), (M:Unknown; Swap:False), (M:Obb_Vs_Circle; Swap:True),(M:Circle_Vs_Circle; Swap:False))
);
begin
Result := False;
Style := HitMap[ Act1.CollisionStyle, Act2.CollisionStyle ].M;
SwapAct := HitMap[ Act1.CollisionStyle, Act2.CollisionStyle ].Swap;
if Style=Unknown then
begin
//Unsupported collision style
{$ifndef minimal}
ZLog.GetLog(Self.ClassName).Warning('Collision combination not supported: ' + CollisionStyleNames[Ord(Act1.CollisionStyle)] + ' ' + CollisionStyleNames[Ord(Act2.CollisionStyle)]);
{$endif}
Exit;
end;
if SwapAct then
begin
RedAct := Act2;
BlueAct := Act1;
end
else
begin
RedAct := Act1;
BlueAct := Act2;
end;
RedAct.UpdateCollisionCoordinates;
RedB := @RedAct.CollisionCoordinates;
BlueAct.UpdateCollisionCoordinates;
BlueB := @BlueAct.CollisionCoordinates;
case Style of
Rect2D_vs_Rect2D :
begin
Result := IntersectRect(RedB.Rect,BlueB.Rect);
end;
Sphere_vs_Sphere :
begin
Result := IntersectSphereSphere(RedB.Rect,BlueB.Rect);
end;
Box_vs_Sphere :
begin
Result := IntersectBoxSphere(RedB.Box,BlueB.Rect);
end;
Box_vs_Box :
begin
Result := IntersectBoxBox(RedB.Box,BlueB.Box);
end;
Obb_vs_Obb :
begin
Result := IntersectObb(RedB.Obb,BlueB.Obb);
end;
Circle_Vs_Circle : Result := IntersectCircle(RedB.Rect,BlueB.Rect);
Obb_vs_Circle : Result := IntersectObbCircle(RedB.Obb,BlueB.Rect);
{$ifndef minimal}
else
Assert(False,'bad collision style');
{$endif}
end;
end;
{ TDefineCollision }
procedure TDefineCollision.DefineProperties(List: TZPropertyList);
begin
inherited;
List.AddProperty({$IFNDEF MINIMAL}'Cat1',{$ENDIF}(@Cat1), zptInteger);
{$ifndef minimal}List.GetLast.NeedRefreshNodeName := True;{$endif}
List.AddProperty({$IFNDEF MINIMAL}'Cat2',{$ENDIF}(@Cat2), zptInteger);
{$ifndef minimal}List.GetLast.NeedRefreshNodeName := True;{$endif}
List.AddProperty({$IFNDEF MINIMAL}'Action',{$ENDIF}(@Action), zptByte);
{$ifndef minimal}List.GetLast.SetOptions(['Collision','Stop']);{$endif}
end;
procedure TDefineCollision.Execute;
begin
ZApp.Collisions.Add(Cat1,Cat2,Action);
end;
{$ifndef minimal}
function TDefineCollision.GetDisplayName: AnsiString;
begin
Result := inherited GetDisplayName;
Result := Result + ' ' + AnsiString(IntToStr(Self.Cat1)) + ' vs. ' + AnsiString(IntToStr(Self.Cat2));
end;
{$endif}
{ TCollisionHelper }
function TCollisionHelper.ZApp: TZApplication;
begin
Result := TZApplication(App);
end;
initialization
ZClasses.Register(TDefineCollision,DefineCollisionClassId);
{$ifndef minimal}ComponentManager.LastAdded.ImageIndex := 60;{$endif}
end.