Mercurial > games > semicongine

changeset 736:b58bb7381350

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add: collision for hitboxes
author Sam <sam@basx.dev>
date Sat, 03 Jun 2023 01:39:02 +0700
parents acd53dbe1247
children 519bc4861b38
files src/semicongine.nim src/semicongine/collision.nim src/semicongine/core/vector.nim
diffstat 3 files changed, 183 insertions(+), 1 deletions(-) [+]
line wrap: on
line diff
--- a/src/semicongine.nim	Tue May 30 17:00:23 2023 +0700
+++ b/src/semicongine.nim	Sat Jun 03 01:39:02 2023 +0700
@@ -3,6 +3,7 @@
 
 import semicongine/audio
 import semicongine/engine
+import semicongine/collision
 import semicongine/scene
 import semicongine/events
 import semicongine/mesh
@@ -15,6 +16,7 @@
 
 export audio
 export engine
+export collision
 export scene
 export events
 export mesh
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/semicongine/collision.nim	Sat Jun 03 01:39:02 2023 +0700
@@ -0,0 +1,177 @@
+import ./core
+import ./scene
+
+type
+  Hitbox* = ref object of Component
+    transform*: Mat4
+
+#[
+    dir1   
+    from core to point
+    dir_vec = point - cube3d_center
+
+    res1 = np.where( (np.absolute(np.dot(dir_vec, dir1)) * 2) > size1 )[0]
+    res2 = np.where( (np.absolute(np.dot(dir_vec, dir2)) * 2) > size2 )[0]
+    res3 = np.where( (np.absolute(np.dot(dir_vec, dir3)) * 2) > size3 )[0]
+]#
+
+func between(value, b1, b2: float32): bool =
+  min(b1, b2) <= value and value <= max(b1, b2)
+
+func contains*(hitbox: Hitbox, x: Vec3f): bool =
+  # from https://math.stackexchange.com/questions/1472049/check-if-a-point-is-inside-a-rectangular-shaped-area-3d
+  let
+    t = hitbox.entity.getModelTransform() * hitbox.transform
+    P1 = t * newVec4f(0, 0, 0, 1) # origin
+    P2 = t * Z.toVec4(1'f32)
+    P4 = t * X.toVec4(1'f32)
+    P5 = t * Y.toVec4(1'f32)
+    u = (P1 - P4).cross(P1 - P5)
+    v = (P1 - P2).cross(P1 - P5)
+    w = (P1 - P2).cross(P1 - P4)
+    uP1 = u.dot(P1)
+    uP2 = u.dot(P2)
+    vP1 = v.dot(P1)
+    vP4 = v.dot(P4)
+    wP1 = w.dot(P1)
+    wP5 = w.dot(P5)
+    ux = u.dot(x)
+    vx = v.dot(x)
+    wx = w.dot(x)
+
+  result = ux.between(uP1, uP2) and vx.between(vP1, vP4) and wx.between(wP1, wP5)
+
+# implementation of GJK, based on https://blog.winter.dev/2020/gjk-algorithm/
+
+func findFurthestPoint(points: openArray[Vec3f], direction: Vec3f): Vec3f =
+  var maxDist = low(float32)
+  for p in points:
+    let dist = direction.dot(p)
+    if dist > maxDist:
+      maxDist = dist
+      result = p
+
+func supportPoint(a, b: openArray[Vec3f], direction: Vec3f): Vec3f =
+  a.findFurthestPoint(direction) - b.findFurthestPoint(-direction)
+
+func sameDirection(direction: Vec3f, ao: Vec3f): bool =
+  direction.dot(ao) > 0
+
+func line(simplex: var seq[Vec3f], direction: var Vec3f): bool =
+  let
+    a = simplex[0]
+    b = simplex[1]
+    ab = b - a
+    ao =   - a
+
+  if sameDirection(ab, ao):
+    direction = cross(cross(ab, ao), ab)
+  else:
+    simplex = @[a]
+    direction = ao
+
+  return false
+
+func triangle(simplex: var seq[Vec3f], direction: var Vec3f): bool =
+  let
+    a = simplex[0]
+    b = simplex[1]
+    c = simplex[2]
+    ab = b - a
+    ac = c - a
+    ao =   - a
+    abc = ab.cross(ac)
+ 
+  if sameDirection(abc.cross(ac), ao):
+    if sameDirection(ac, ao):
+      simplex = @[a, c]
+      direction = ac.cross(ao).cross(ac);
+    else:
+      simplex = @[a, b]
+      return line(simplex, direction)
+  else:
+    if (sameDirection(ab.cross(abc), ao)):
+      simplex = @[a, b]
+      return line(simplex, direction)
+    else:
+      if (sameDirection(abc, ao)):
+        direction = abc
+      else:
+        simplex = @[ a, c, b]
+        direction = -abc
+
+  return false
+
+func tetrahedron(simplex: var seq[Vec3f], direction: var Vec3f): bool =
+  let
+    a = simplex[0]
+    b = simplex[1]
+    c = simplex[2]
+    d = simplex[3]
+    ab = b - a
+    ac = c - a
+    ad = d - a
+    ao =   - a
+    abc = ab.cross(ac)
+    acd = ac.cross(ad)
+    adb = ad.cross(ab)
+ 
+  if sameDirection(abc, ao):
+    simplex = @[a, b, c]
+    return triangle(simplex, direction)
+  if sameDirection(acd, ao):
+    simplex = @[a, c, d]
+    return triangle(simplex, direction)
+  if sameDirection(adb, ao):
+    simplex = @[a, d, b]
+    return triangle(simplex, direction)
+ 
+  return true
+
+func nextSimplex(simplex: var seq[Vec3f], direction: var Vec3f): bool =
+  case simplex.len
+  of 2: simplex.line(direction)
+  of 3: simplex.triangle(direction)
+  of 4: simplex.tetrahedron(direction)
+  else: raise newException(Exception, "Error in simplex")
+
+func overlaps*(a, b: openArray[Vec3f]): bool =
+  var support = supportPoint(a, b, X)
+  var simplex: seq[Vec3f]
+  simplex.insert(support, 0)
+  var direction = -support;
+  while true:
+    support = supportPoint(a, b, direction)
+    if support.dot(direction) <= 0:
+        return false
+    simplex.insert(support, 0)
+    if nextSimplex(simplex, direction):
+      return true
+    # prevent a numeric instability
+    if direction == newVec3f(0, 0, 0):
+      direction[0] = 0.001
+
+func overlaps*(a, b: Hitbox): bool =
+  let ta = a.entity.getModelTransform() * a.transform
+  let tb = b.entity.getModelTransform() * b.transform
+  let points1 = [
+    (ta * newVec4f(0, 0, 0, 1)).toVec3,
+    (ta * X.toVec4(1'f32)).toVec3,
+    (ta * Y.toVec4(1'f32)).toVec3,
+    (ta * Z.toVec4(1'f32)).toVec3,
+    (ta * (X + Y).toVec4(1'f32)).toVec3,
+    (ta * (X + Z).toVec4(1'f32)).toVec3,
+    (ta * (Y + Z).toVec4(1'f32)).toVec3,
+    (ta * (X + Y + Z).toVec4(1'f32)).toVec3,
+  ]
+  let points2 = [
+    (tb * newVec4f(0, 0, 0, 1)).toVec3,
+    (tb * X.toVec4(1'f32)).toVec3,
+    (tb * Y.toVec4(1'f32)).toVec3,
+    (tb * Z.toVec4(1'f32)).toVec3,
+    (tb * (X + Y).toVec4(1'f32)).toVec3,
+    (tb * (X + Z).toVec4(1'f32)).toVec3,
+    (tb * (Y + Z).toVec4(1'f32)).toVec3,
+    (tb * (X + Y + Z).toVec4(1'f32)).toVec3,
+  ]
+  return overlaps(points1, points2)
--- a/src/semicongine/core/vector.nim	Tue May 30 17:00:23 2023 +0700
+++ b/src/semicongine/core/vector.nim	Sat Jun 03 01:39:02 2023 +0700
@@ -22,7 +22,10 @@
 converter toVec2*[T: SomeNumber](orig: TVec3[T]|TVec4[T]): TVec2[T] =
   TVec2[T]([orig[0], orig[1]])
 converter toVec3*[T: SomeNumber](orig: TVec4[T]): TVec3[T] =
-  TVec2[T]([orig[0], orig[1], orig[2]])
+  TVec3[T]([orig[0], orig[1], orig[2]])
+
+func toVec4*[T: SomeNumber](orig: TVec3[T], value: T = default(T)): TVec4[T] =
+  TVec4[T]([orig[0], orig[1], orig[2], value])
 
 # define some often used constants
 func ConstOne2[T: SomeNumber](): auto {.compiletime.} = TVec2[T]([T(1), T(1)])