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love-demo2/src/collision_scene.cpp

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#include "glad/gl.h"
#include "directxmath/directxmath.h"
#include "opengl.h"
#include "collision.h"
#include "collision_scene.h"
namespace collision_scene {
struct location {
struct {
unsigned int position;
} attrib;
struct {
unsigned int transform;
unsigned int use_grid_transform;
unsigned int base_color;
} uniform;
};
static unsigned int program;
static location location;
static unsigned int vertex_array_object;
static unsigned int per_vertex_buffer;
static unsigned int index_buffer;
static XMVECTOR point_position[4];
static unsigned int ray_vertex_buffer;
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wnarrowing"
const _Float16 vertex_data[] = {
// 0: lines
-1.0, 0.0, 1.0, 0.0, // horizontal, left to right
0.0, 1.0, 0.0, -1.0, // vertical, top to bottom
// 4: "cube"
-1.0, 1.0, // tl
1.0, 1.0, // tr
1.0, -1.0, // br
-1.0, -1.0, // bl
// 8: "circle"
0.000000, -1.000000,
-0.195090, -0.980785,
-0.382683, -0.923880,
-0.555570, -0.831470,
-0.707107, -0.707107,
-0.831470, -0.555570,
-0.923880, -0.382683,
-0.980785, -0.195090,
-1.000000, 0.000000,
-0.980785, 0.195090,
-0.923880, 0.382683,
-0.831470, 0.555570,
-0.707107, 0.707107,
-0.555570, 0.831470,
-0.382683, 0.923880,
-0.195090, 0.980785,
0.000000, 1.000000,
0.195090, 0.980785,
0.382683, 0.923880,
0.555570, 0.831470,
0.707107, 0.707107,
0.831470, 0.555570,
0.923880, 0.382683,
0.980785, 0.195090,
1.000000, 0.000000,
0.980785, -0.195090,
0.923880, -0.382683,
0.831470, -0.555570,
0.707107, -0.707107,
0.555570, -0.831470,
0.382683, -0.923880,
0.195090, -0.980785,
};
#pragma GCC diagnostic pop
const int vertex_data_size = (sizeof (vertex_data));
const int per_vertex_size = (sizeof (_Float16)) * 2;
const unsigned short index_data[] = {
// "cube" (line strip)
0, 1, 2, 3, 0,
// "circle" (line strip)
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15,
16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31,
0,
};
const int index_data_size = (sizeof (index_data));
void load_program()
{
program = compile_from_files("shader/collision_scene.vert",
nullptr,
"shader/collision_scene.frag");
location.attrib.position = glGetAttribLocation(program, "Position");
location.uniform.transform = glGetUniformLocation(program, "Transform");
location.uniform.use_grid_transform = glGetUniformLocation(program, "UseGridTransform");
location.uniform.base_color = glGetUniformLocation(program, "BaseColor");
}
void load_vertex_attributes()
{
glGenVertexArrays(1, &vertex_array_object);
glBindVertexArray(vertex_array_object);
glVertexBindingDivisor(0, 0);
glEnableVertexAttribArray(location.attrib.position);
glVertexAttribFormat(location.attrib.position, 2, GL_HALF_FLOAT, GL_FALSE, 0);
glVertexAttribBinding(location.attrib.position, 0);
glBindVertexArray(0);
}
void load_per_vertex_buffer()
{
glGenBuffers(1, &per_vertex_buffer);
glBindBuffer(GL_ARRAY_BUFFER, per_vertex_buffer);
glBufferData(GL_ARRAY_BUFFER, vertex_data_size, vertex_data, GL_STATIC_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, 0);
}
void load_index_buffer()
{
glGenBuffers(1, &index_buffer);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffer);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, index_data_size, index_data, GL_STATIC_DRAW);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
}
void load()
{
load_program();
load_vertex_attributes();
load_per_vertex_buffer();
load_index_buffer();
for (int i = 0; i < 4; i++)
point_position[i] = XMVectorSet(-1, -1, 0, 1);
// ray buffer
glGenBuffers(1, &ray_vertex_buffer);
}
void load_ray_vertex_buffer(XMVECTOR const & a, XMVECTOR const & b)
{
_Float16 data[] = {
(_Float16)XMVectorGetX(a), (_Float16)XMVectorGetY(a),
(_Float16)XMVectorGetX(b), (_Float16)XMVectorGetY(b),
};
glBindBuffer(GL_ARRAY_BUFFER, ray_vertex_buffer);
glBufferData(GL_ARRAY_BUFFER, 2 * 4, data, GL_DYNAMIC_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, 0);
}
static inline XMMATRIX view()
{
XMVECTOR eye = XMVectorSet(0, 0, 1, 0);
XMVECTOR at = XMVectorSet(0, 0, 0, 0);
XMVECTOR up = XMVectorSet(0, 1, 0, 0);
return XMMatrixLookAtRH(eye, at, up);
}
static inline XMMATRIX projection()
{
return XMMatrixOrthographicRH(10, 10, 0, 10);
}
const float point_radius = 0.05f;
void update(int up, int down, int left, int right,
int w, int s, int a, int d,
int t, int g, int f, int h,
int i, int k, int j, int l)
{
float rate = 0.05f;
float forward[4];
float strafe[4];
forward[0] = (rate * up + -rate * down);
strafe[0] = (-rate * left + rate * right);
forward[1] = (rate * w + -rate * s);
strafe[1] = (-rate * a + rate * d);
forward[2] = (rate * t + -rate * g);
strafe[2] = (-rate * f + rate * h);
forward[3] = (rate * i + -rate * k);
strafe[3] = (-rate * j + rate * l);
for (int i = 0; i < 4; i++)
point_position[i] = XMVector3Transform(point_position[i], XMMatrixTranslation(strafe[i], forward[i], 0));
}
static inline void set_transform(XMMATRIX const & transform)
{
XMFLOAT4X4 float_transform;
XMStoreFloat4x4(&float_transform, transform);
glUniformMatrix4fv(location.uniform.transform, 1, false, (float *)&float_transform);
}
const int circle_base_vertex = 8;
const int circle_base_index = 5 * (sizeof (unsigned short));
void draw_line(XMMATRIX const & transform, XMVECTOR const & a, XMVECTOR const & b)
{
load_ray_vertex_buffer(a, b);
set_transform(transform);
glBindVertexBuffer(0, ray_vertex_buffer, 0, per_vertex_size);
glDrawArrays(GL_LINES, 0, 4);
}
void draw_sphere(XMMATRIX const & transform, XMVECTOR const & center, float radius)
{
XMMATRIX sphere_transform
= XMMatrixScaling(radius, radius, radius)
* XMMatrixTranslationFromVector(center)
* transform;
set_transform(sphere_transform);
glBindVertexBuffer(0, per_vertex_buffer, 0, per_vertex_size);
glDrawElementsBaseVertex(GL_LINE_STRIP, 33, GL_UNSIGNED_SHORT, (void*)(circle_base_index), circle_base_vertex);
}
void draw_capsule(XMMATRIX const & transform, XMVECTOR a, XMVECTOR b, float radius)
{
draw_sphere(transform, a, radius);
draw_sphere(transform, b, radius);
XMVECTOR abn = XMVector3Normalize(a - b);
XMVECTOR p = XMVectorSet(0, 0, 1, 0);
XMVECTOR pxabn = XMVector3Cross(abn, p);
draw_line(transform, a + pxabn * radius, b + pxabn * radius);
draw_line(transform, a - pxabn * radius, b - pxabn * radius);
}
void draw_cube(XMMATRIX const & transform, XMVECTOR const & position)
{
float cube_half = 0.5;
XMMATRIX cube_transform
= XMMatrixScaling(cube_half, cube_half, cube_half)
* XMMatrixTranslationFromVector(position)
* transform;
set_transform(cube_transform);
const int cube_base_vertex = 4;
const int cube_base_index = 0;
glDrawElementsBaseVertex(GL_LINE_STRIP, 5, GL_UNSIGNED_SHORT, (void*)(cube_base_index), cube_base_vertex);
}
static const XMVECTOR cubes[] = {
XMVectorSet(1, 1, 0, 1),
XMVectorSet(-1, 1, 0, 1),
XMVectorSet(-2, 1, 0, 1),
XMVectorSet(-2, -2, 0, 1),
XMVectorSet(-2, -3, 0, 1),
};
static const int cubes_length = (sizeof (cubes)) / (sizeof (cubes[0]));
static XMVECTOR min_intersection_point;
static XMVECTOR min_intersection_position;
static float min_t;
static bool min_intersected;
void check_collision(collision::Sphere const & sphere, XMVECTOR const & direction,
XMVECTOR const & cube_center)
{
collision::AABB aabb = collision::cube_aabb(cube_center, 0.5);
float t;
XMVECTOR intersection_point;
bool intersected = collision::intersect_moving_sphere_aabb(sphere, direction,
0, 1, aabb,
t, intersection_point);
XMVECTOR intersection_position = sphere.center + direction * t;
if (intersected && t < min_t) {
min_t = t;
min_intersected = true;
min_intersection_point = intersection_point;
min_intersection_position = intersection_position;
}
}
void draw()
{
glUseProgram(program);
glBlendFunc(GL_ONE, GL_ZERO);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_ALWAYS);
glBindVertexArray(vertex_array_object);
glBindVertexBuffer(0, per_vertex_buffer, 0, per_vertex_size);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffer);
XMMATRIX transform = view() * projection();
// grid
glLineWidth(1.0f);
set_transform(transform);
glUniform3f(location.uniform.base_color, 0, 1, 0);
glUniform1i(location.uniform.use_grid_transform, 1);
glDrawArraysInstanced(GL_LINES, 0, 4, 7);
glUniform1i(location.uniform.use_grid_transform, 0);
collision::Sphere sphere(point_position[0], 0.5);
XMVECTOR direction = point_position[1] - point_position[0];
collision::AABB sphere_aabb = collision::moving_sphere_aabb(sphere, direction);
XMVECTOR min_floor = XMVectorFloor(sphere_aabb.min);
XMVECTOR max_ceiling = XMVectorCeiling(sphere_aabb.max);
//////////////////////////////////////////////////////////////////////
// reset intersections
//////////////////////////////////////////////////////////////////////
min_t = FLT_MAX;
min_intersected = false;
glLineWidth(3.0f);
for (int i = 0; i < cubes_length; i++) {
XMVECTOR center = cubes[i];
XMVECTOR le = XMVectorLessOrEqual(min_floor, center);
XMVECTOR ge = XMVectorGreaterOrEqual(max_ceiling, center);
if (XMVectorGetX(le) == 0 || XMVectorGetY(le) == 0 || XMVectorGetZ(le) == 0 ||
XMVectorGetX(ge) == 0 || XMVectorGetY(ge) == 0 || XMVectorGetZ(ge) == 0) {
glUniform3f(location.uniform.base_color, 0.5, 1.0, 0.0);
} else {
check_collision(sphere, direction, center);
glUniform3f(location.uniform.base_color, 0.5, 0.5, 0.5);
}
draw_cube(transform, center);
}
glUniform3f(location.uniform.base_color, 0, 0.0, 1.0);
draw_sphere(transform, point_position[0], 0.5);
glUniform3f(location.uniform.base_color, 0, 0.5, 1.0);
draw_sphere(transform, point_position[1], point_radius);
draw_line(transform, point_position[0], point_position[1]);
if (min_intersected){
glUniform3f(location.uniform.base_color, 1.0, 0.5, 0.0);
draw_sphere(transform, min_intersection_position, 0.5);
glUniform3f(location.uniform.base_color, 1.0, 0.0, 0.0);
draw_sphere(transform, min_intersection_point, point_radius);
}
XMVECTOR pa = XMVectorSelect(sphere_aabb.min, sphere_aabb.max, g_XMSelect1000);
XMVECTOR pb = XMVectorSelect(sphere_aabb.min, sphere_aabb.max, g_XMSelect0101);
draw_line(transform, sphere_aabb.min, pa);
draw_line(transform, pa, sphere_aabb.max);
draw_line(transform, sphere_aabb.max, pb);
draw_line(transform, pb, sphere_aabb.min);
//sphere_aabb.max,
/*
// segments
glUniform3f(location.uniform.base_color, 0, 0.5, 1.0);
draw_line(transform, point_position[0], point_position[1]);
glUniform3f(location.uniform.base_color, 0, 1.0, 0.5);
draw_line(transform, point_position[2], point_position[3]);
// points
glUniform3f(location.uniform.base_color, 0, 0.5, 1.0);
draw_sphere(transform, point_position[0], point_radius);
draw_sphere(transform, point_position[1], point_radius);
glUniform3f(location.uniform.base_color, 0, 1.0, 0.5);
draw_sphere(transform, point_position[2], point_radius);
draw_sphere(transform, point_position[3], point_radius);
float t1, t2;
XMVECTOR c1, c2;
collision::closest_point_segment_segment(point_position[0], point_position[1],
point_position[2], point_position[3],
t1, t2, c1, c2);
glUniform3f(location.uniform.base_color, 0.0, 0.5, 1.0);
draw_sphere(transform, c1, point_radius);
glUniform3f(location.uniform.base_color, 0.0, 1.0, 0.5);
draw_sphere(transform, c2, point_radius);
collision::Capsule capsule1(point_position[0], point_position[1], 0.5);
collision::Capsule capsule2(point_position[2], point_position[3], 0.0);
glUniform3f(location.uniform.base_color, 0, 0.5, 1.0);
draw_capsule(transform, capsule1.a, capsule1.b, capsule1.radius);
glUniform3f(location.uniform.base_color, 0, 1.0, 0.5);
//draw_capsule(transform, capsule2.a, capsule2.b, capsule2.radius);
XMVECTOR c1_point;
XMVECTOR c2_point;
bool collided = collision::intersect_capsule_capsule(capsule1, capsule2, c1_point, c2_point);
if (collided) {
glUniform3f(location.uniform.base_color, 1.0, 0.0, 0.0);
draw_sphere(transform, c1_point, point_radius);
glUniform3f(location.uniform.base_color, 1.0, 0.5, 0.0);
draw_sphere(transform, c2_point, point_radius);
}
*/
// cube
/*
float cube_half = 0.5;
XMVECTOR cube_position = XMVectorSet(1, 0, 0, 0);
XMMATRIX cube_transform
= XMMatrixScaling(cube_half, cube_half, cube_half)
* XMMatrixTranslationFromVector(cube_position)
* transform;
set_transform(cube_transform);
glUniform3f(location.uniform.base_color, 0, 0.5, 1.0);
glUniform1i(location.uniform.use_grid_transform, 0);
const int cube_base_vertex = 4;
const int cube_base_index = 0;
glDrawElementsBaseVertex(GL_LINE_STRIP, 5, GL_UNSIGNED_SHORT, (void*)(cube_base_index), cube_base_vertex);
// circle
glUniform3f(location.uniform.base_color, 1.0, 0.5, 0.0);
draw_sphere(transform, point_position, point_radius);
draw_sphere(transform, point_1_position, point_radius);
XMVECTOR direction = XMVector3Normalize(point_1_position - point_position);
collision::AABB cube_aabb = collision::cube_aabb(cube_position, cube_half);
XMVECTOR intersection_point;
float t;
bool intersection = intersect_ray_aabb(point_position, direction, cube_aabb, t, intersection_point);
if (intersection && t > 0.0f) {
glUniform3f(location.uniform.base_color, 0.9, 0.0, 0.0);
draw_line(transform, point_position, intersection_point);
draw_sphere(transform, intersection_point, point_radius);
} else {
glUniform3f(location.uniform.base_color, 0.5, 0.5, 0.5);
draw_line(transform, point_position, point_position + direction * 20.0f);
}
glUniform3f(location.uniform.base_color, 0.5, 0.0, 0.5);
XMVECTOR ca = XMVectorSet(1, 2.5, 0, 0);
XMVECTOR cb = XMVectorSet(-1, 2, 0, 0);
draw_capsule(transform, ca, cb, 0.5);
*/
}
}
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