Examples with CollisionResult com.jme3.collision.CollisionResult used on opensource projects

Example 6 with CollisionResult

use of com.jme3.collision.CollisionResult in project jmonkeyengine by jMonkeyEngine.

the class BoundingSphere method collideWithTri.

private int collideWithTri(Triangle tri, CollisionResults results) {
    TempVars tvars = TempVars.get();
    try {
        // Much of this is based on adaptation from this algorithm:
        // http://realtimecollisiondetection.net/blog/?p=103
        // ...mostly the stuff about eliminating sqrts wherever
        // possible.
        // Math is done in center-relative space.
        Vector3f a = tri.get1().subtract(center, tvars.vect1);
        Vector3f b = tri.get2().subtract(center, tvars.vect2);
        Vector3f c = tri.get3().subtract(center, tvars.vect3);
        Vector3f ab = b.subtract(a, tvars.vect4);
        Vector3f ac = c.subtract(a, tvars.vect5);
        // Check the plane... if it doesn't intersect the plane
        // then it doesn't intersect the triangle.
        Vector3f n = ab.cross(ac, tvars.vect6);
        float d = a.dot(n);
        float e = n.dot(n);
        if (d * d > radius * radius * e) {
            // Can't possibly intersect
            return 0;
        }
        // We intersect the verts, or the edges, or the face...
        // First check against the face since it's the most
        // specific.
        // Calculate the barycentric coordinates of the
        // sphere center
        Vector3f v0 = ac;
        Vector3f v1 = ab;
        // a was P relative, so p.subtract(a) is just -a
        // instead of wasting a vector we'll just negate the
        // dot products below... it's all v2 is used for.
        Vector3f v2 = a;
        float dot00 = v0.dot(v0);
        float dot01 = v0.dot(v1);
        float dot02 = -v0.dot(v2);
        float dot11 = v1.dot(v1);
        float dot12 = -v1.dot(v2);
        float invDenom = 1 / (dot00 * dot11 - dot01 * dot01);
        float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
        float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
        if (u >= 0 && v >= 0 && (u + v) <= 1) {
            // We intersect... and we even know where
            Vector3f part1 = ac;
            Vector3f part2 = ab;
            Vector3f p = center.add(a.add(part1.mult(u)).addLocal(part2.mult(v)));
            CollisionResult r = new CollisionResult();
            Vector3f normal = n.normalize();
            // a is center relative, so -a points to center
            float dist = -normal.dot(a);
            dist = dist - radius;
            r.setDistance(dist);
            r.setContactNormal(normal);
            r.setContactPoint(p);
            results.addCollision(r);
            return 1;
        }
        // Check the edges looking for the nearest point
        // that is also less than the radius.  We don't care
        // about points that are farther away than that.
        Vector3f nearestPt = null;
        float nearestDist = radius * radius;
        Vector3f base;
        Vector3f edge;
        float t;
        // Edge AB
        base = a;
        edge = ab;
        t = -edge.dot(base) / edge.dot(edge);
        if (t >= 0 && t <= 1) {
            Vector3f Q = base.add(edge.mult(t, tvars.vect7), tvars.vect8);
            // distance squared to origin
            float distSq = Q.dot(Q);
            if (distSq < nearestDist) {
                nearestPt = Q;
                nearestDist = distSq;
            }
        }
        // Edge AC
        base = a;
        edge = ac;
        t = -edge.dot(base) / edge.dot(edge);
        if (t >= 0 && t <= 1) {
            Vector3f Q = base.add(edge.mult(t, tvars.vect7), tvars.vect9);
            // distance squared to origin
            float distSq = Q.dot(Q);
            if (distSq < nearestDist) {
                nearestPt = Q;
                nearestDist = distSq;
            }
        }
        // Edge BC
        base = b;
        Vector3f bc = c.subtract(b);
        edge = bc;
        t = -edge.dot(base) / edge.dot(edge);
        if (t >= 0 && t <= 1) {
            Vector3f Q = base.add(edge.mult(t, tvars.vect7), tvars.vect10);
            // distance squared to origin
            float distSq = Q.dot(Q);
            if (distSq < nearestDist) {
                nearestPt = Q;
                nearestDist = distSq;
            }
        }
        // done.       
        if (nearestPt != null) {
            // We have a hit
            float dist = FastMath.sqrt(nearestDist);
            Vector3f cn = nearestPt.divide(-dist);
            CollisionResult r = new CollisionResult();
            r.setDistance(dist - radius);
            r.setContactNormal(cn);
            r.setContactPoint(nearestPt.add(center));
            results.addCollision(r);
            return 1;
        }
        // Finally check each of the triangle corners
        // Vert A
        base = a;
        // distance squared to origin
        t = base.dot(base);
        if (t < nearestDist) {
            nearestDist = t;
            nearestPt = base;
        }
        // Vert B
        base = b;
        // distance squared to origin
        t = base.dot(base);
        if (t < nearestDist) {
            nearestDist = t;
            nearestPt = base;
        }
        // Vert C
        base = c;
        // distance squared to origin
        t = base.dot(base);
        if (t < nearestDist) {
            nearestDist = t;
            nearestPt = base;
        }
        if (nearestPt != null) {
            // We have a hit
            float dist = FastMath.sqrt(nearestDist);
            Vector3f cn = nearestPt.divide(-dist);
            CollisionResult r = new CollisionResult();
            r.setDistance(dist - radius);
            r.setContactNormal(cn);
            r.setContactPoint(nearestPt.add(center));
            results.addCollision(r);
            return 1;
        }
        // Nothing hit... oh, well 
        return 0;
    } finally {
        tvars.release();
    }
}

Example 7 with CollisionResult

use of com.jme3.collision.CollisionResult in project jmonkeyengine by jMonkeyEngine.

the class BIHNode method intersectWhere.

public final int intersectWhere(Ray r, Matrix4f worldMatrix, BIHTree tree, float sceneMin, float sceneMax, CollisionResults results) {
    TempVars vars = TempVars.get();
    ArrayList<BIHStackData> stack = vars.bihStack;
    stack.clear();
    //        float tHit = Float.POSITIVE_INFINITY;
    Vector3f o = vars.vect1.set(r.getOrigin());
    Vector3f d = vars.vect2.set(r.getDirection());
    Matrix4f inv = vars.tempMat4.set(worldMatrix).invertLocal();
    inv.mult(r.getOrigin(), r.getOrigin());
    // Fixes rotation collision bug
    inv.multNormal(r.getDirection(), r.getDirection());
    //        inv.multNormalAcross(r.getDirection(), r.getDirection());
    float[] origins = { r.getOrigin().x, r.getOrigin().y, r.getOrigin().z };
    float[] invDirections = { 1f / r.getDirection().x, 1f / r.getDirection().y, 1f / r.getDirection().z };
    r.getDirection().normalizeLocal();
    Vector3f v1 = vars.vect3, v2 = vars.vect4, v3 = vars.vect5;
    int cols = 0;
    stack.add(new BIHStackData(this, sceneMin, sceneMax));
    stackloop: while (stack.size() > 0) {
        BIHStackData data = stack.remove(stack.size() - 1);
        BIHNode node = data.node;
        float tMin = data.min, tMax = data.max;
        if (tMax < tMin) {
            continue;
        }
        leafloop: while (node.axis != 3) {
            // while node is not a leaf
            int a = node.axis;
            // find the origin and direction value for the given axis
            float origin = origins[a];
            float invDirection = invDirections[a];
            float tNearSplit, tFarSplit;
            BIHNode nearNode, farNode;
            tNearSplit = (node.leftPlane - origin) * invDirection;
            tFarSplit = (node.rightPlane - origin) * invDirection;
            nearNode = node.left;
            farNode = node.right;
            if (invDirection < 0) {
                float tmpSplit = tNearSplit;
                tNearSplit = tFarSplit;
                tFarSplit = tmpSplit;
                BIHNode tmpNode = nearNode;
                nearNode = farNode;
                farNode = tmpNode;
            }
            if (tMin > tNearSplit && tMax < tFarSplit) {
                continue stackloop;
            }
            if (tMin > tNearSplit) {
                tMin = max(tMin, tFarSplit);
                node = farNode;
            } else if (tMax < tFarSplit) {
                tMax = min(tMax, tNearSplit);
                node = nearNode;
            } else {
                stack.add(new BIHStackData(farNode, max(tMin, tFarSplit), tMax));
                tMax = min(tMax, tNearSplit);
                node = nearNode;
            }
        }
        // a leaf
        for (int i = node.leftIndex; i <= node.rightIndex; i++) {
            tree.getTriangle(i, v1, v2, v3);
            float t = r.intersects(v1, v2, v3);
            if (!Float.isInfinite(t)) {
                if (worldMatrix != null) {
                    worldMatrix.mult(v1, v1);
                    worldMatrix.mult(v2, v2);
                    worldMatrix.mult(v3, v3);
                    float t_world = new Ray(o, d).intersects(v1, v2, v3);
                    t = t_world;
                }
                Vector3f contactNormal = Triangle.computeTriangleNormal(v1, v2, v3, null);
                Vector3f contactPoint = new Vector3f(d).multLocal(t).addLocal(o);
                float worldSpaceDist = o.distance(contactPoint);
                CollisionResult cr = new CollisionResult(contactPoint, worldSpaceDist);
                cr.setContactNormal(contactNormal);
                cr.setTriangleIndex(tree.getTriangleIndex(i));
                results.addCollision(cr);
                cols++;
            }
        }
    }
    vars.release();
    r.setOrigin(o);
    r.setDirection(d);
    return cols;
}

Example 8 with CollisionResult

use of com.jme3.collision.CollisionResult in project jmonkeyengine by jMonkeyEngine.

the class BIHNode method intersectBrute.

public final int intersectBrute(Ray r, Matrix4f worldMatrix, BIHTree tree, float sceneMin, float sceneMax, CollisionResults results) {
    float tHit = Float.POSITIVE_INFINITY;
    TempVars vars = TempVars.get();
    Vector3f v1 = vars.vect1, v2 = vars.vect2, v3 = vars.vect3;
    int cols = 0;
    ArrayList<BIHStackData> stack = vars.bihStack;
    stack.clear();
    stack.add(new BIHStackData(this, 0, 0));
    stackloop: while (stack.size() > 0) {
        BIHStackData data = stack.remove(stack.size() - 1);
        BIHNode node = data.node;
        leafloop: while (node.axis != 3) {
            // while node is not a leaf
            BIHNode nearNode, farNode;
            nearNode = node.left;
            farNode = node.right;
            stack.add(new BIHStackData(farNode, 0, 0));
            node = nearNode;
        }
        // a leaf
        for (int i = node.leftIndex; i <= node.rightIndex; i++) {
            tree.getTriangle(i, v1, v2, v3);
            if (worldMatrix != null) {
                worldMatrix.mult(v1, v1);
                worldMatrix.mult(v2, v2);
                worldMatrix.mult(v3, v3);
            }
            float t = r.intersects(v1, v2, v3);
            if (t < tHit) {
                tHit = t;
                Vector3f contactPoint = new Vector3f(r.direction).multLocal(tHit).addLocal(r.origin);
                CollisionResult cr = new CollisionResult(contactPoint, tHit);
                cr.setTriangleIndex(tree.getTriangleIndex(i));
                results.addCollision(cr);
                cols++;
            }
        }
    }
    vars.release();
    return cols;
}

Example 9 with CollisionResult

use of com.jme3.collision.CollisionResult in project jmonkeyengine by jMonkeyEngine.

the class BoundingBox method collideWith.

@Override
public int collideWith(Collidable other, CollisionResults results) {
    if (other instanceof Ray) {
        Ray ray = (Ray) other;
        return collideWithRay(ray, results);
    } else if (other instanceof Triangle) {
        Triangle t = (Triangle) other;
        if (intersects(t.get1(), t.get2(), t.get3())) {
            CollisionResult r = new CollisionResult();
            results.addCollision(r);
            return 1;
        }
        return 0;
    } else if (other instanceof BoundingVolume) {
        if (intersects((BoundingVolume) other)) {
            CollisionResult r = new CollisionResult();
            results.addCollision(r);
            return 1;
        }
        return 0;
    } else if (other instanceof Spatial) {
        return ((Spatial) other).collideWith(this, results);
    } else {
        throw new UnsupportedCollisionException("With: " + other.getClass().getSimpleName());
    }
}

Example 10 with CollisionResult

use of com.jme3.collision.CollisionResult in project jmonkeyengine by jMonkeyEngine.

the class TestJoystick method pickGamePad.

private void pickGamePad(Vector2f mouseLoc) {
    if (lastButton != null) {
        CollisionResults cresults = pick(cam, mouseLoc, gamepad);
        for (CollisionResult cr : cresults) {
            Node n = cr.getGeometry().getParent();
            if (n != null && (n instanceof ButtonView)) {
                String b = ((ButtonView) n).getName().substring("Button:".length());
                String name = lastButton.getJoystick().getName().replaceAll(" ", "\\\\ ");
                String id = lastButton.getLogicalId().replaceAll(" ", "\\\\ ");
                System.out.println(name + "." + id + "=" + b);
                return;
            }
        }
    }
}