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Add visual output for the collision

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This commit is contained in:
karl 2021-01-15 11:44:28 +01:00
parent 3504d878f8
commit 90b6769278
8 changed files with 316 additions and 14 deletions
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1
ECS/Components/Mesh.h
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@ -5,7 +5,6 @@
#ifndef ECSGAME_MESH_H
#define ECSGAME_MESH_H
#include <GLFW/glfw3.h>
#include <glad/glad.h>
#include <vector>

21
ECS/Systems/CollisionSystem.h
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@ -12,6 +12,8 @@ using namespace ECS;
class CollisionSystem : public EntitySystem {
public:
CollisionSystem(Entity *collision_entity) : collision_entity(collision_entity) {}
// Initialize the kdtree
void build() {
std::vector<Triangle *> triangles;
@ -83,14 +85,21 @@ class CollisionSystem : public EntitySystem {
Ray ray(origin, direction * 5.0);
Triangle *result = kdtree->intersect_ray(ray);
Vector collision_position(0, 0, 0);
Triangle *result = kdtree->intersect_ray(ray, collision_position);
if (result) {
std::cout << result->p1[0] << ", " << result->p1[1] << ", " << result->p1[2]
<< std::endl;
}
// Output to console
std::cout << "Triangle: " << result->p1[0] << ", " << result->p1[1] << ", "
<< result->p1[2] << " | " << result->p2[0] << ", " << result->p2[1]
<< ", " << result->p2[2] << " | " << result->p3[0] << ", "
<< result->p3[1] << ", " << result->p3[2] << std::endl;
// TODO: Also output visually
// Ouput visually
glm::vec3 pos =
glm::vec3(collision_position[0], collision_position[1], collision_position[2]);
collision_entity->get<Transform>()->set_origin(pos);
}
});
}
@ -99,4 +108,6 @@ class CollisionSystem : public EntitySystem {
World *myWorld;
KDTree *kdtree;
Entity *collision_entity;
};

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Resources/red.png Normal file
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10
Resources/sphere.mtl Normal file
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@ -0,0 +1,10 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 500
Ka 0.8 0.8 0.8
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

271
Resources/sphere.obj Normal file
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@ -0,0 +1,271 @@
# Blender v2.83.5 OBJ File: ''
# www.blender.org
mtllib sphere.mtl
o Icosphere
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usemtl None
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3
Util/geometry.h
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@ -74,7 +74,7 @@ struct Ray {
Vector direction;
bool intersects_triangle(Triangle *triangle) {
bool intersects_triangle(Triangle *triangle, Vector &result) {
// Ray-triangle-intersection with the Möller–Trumbore algorithm
// https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
const float EPSILON = 0.0000001;
@ -105,6 +105,7 @@ struct Ray {
// line.
float t = f * edge2.dot(q);
if (t > EPSILON) {
result = origin + direction * t;
return true;
} else {
// This means that there is a line intersection but not a ray intersection.

15
Util/kdtree.h
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@ -11,7 +11,9 @@ class KDTree {
~KDTree() = default; // TODO: Delete all allocated Nodes
Triangle *intersect_ray(Ray ray) { return intersect_ray_recurse(ray, root, 1000.0, 0); }
Triangle *intersect_ray(Ray ray, Vector &result) {
return intersect_ray_recurse(result, ray, root, 1000.0, 0);
}
std::string to_string() {
std::string str = "";
@ -85,7 +87,8 @@ class KDTree {
build(right_of_median, depth + 1));
}
Triangle *intersect_ray_recurse(Ray ray, Node *node, float max_distance, int depth) {
Triangle *intersect_ray_recurse(Vector &result, Ray ray, Node *node, float max_distance,
int depth) {
// Exit condition: There was no collision
if (node == nullptr) { return nullptr; }
@ -105,14 +108,14 @@ class KDTree {
? (node->point->pos[node->axis] - ray.origin[node->axis]) /
ray.direction[node->axis]
: max_distance;
Triangle *near_result = intersect_ray_recurse(ray, near, t, depth + 1);
Triangle *near_result = intersect_ray_recurse(result, ray, near, t, depth + 1);
// If the nearer segment had a collision, we're done! We're only interested in the closest
// collision.
if (near_result != nullptr) { return near_result; }
// No collision in the nearer side, so check for a collision directly here
if (ray.intersects_triangle(node->point->triangle)) {
if (ray.intersects_triangle(node->point->triangle, result)) {
// We do have a collision here, so we're done and can return this point!
return node->point->triangle;
}
@ -123,8 +126,8 @@ class KDTree {
// It does make sense to check the far node.
// For this, calculate a new ray origin and continue towards that direction, but with
// the new origin (we can leave behind what we already checked)
return intersect_ray_recurse(Ray(ray.origin + ray.direction * t, ray.direction), far,
max_distance - t, depth + 1);
return intersect_ray_recurse(result, Ray(ray.origin + ray.direction * t, ray.direction),
far, max_distance - t, depth + 1);
}
// If nothing worked, return a nullptr

9
main.cpp
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@ -91,7 +91,14 @@ int main(int argc, char **argv) {
world->registerSystem(new SineAnimationSystem());
world->registerSystem(new InteractivePathSystem());
CollisionSystem *collision_system = new CollisionSystem();
// Create collision indicator
Entity *collision_point = world->create();
collision_point->assign<Transform>();
collision_point->assign<ObjMesh>(ObjMesh("Resources/sphere.obj", ObjMesh::Settings()));
collision_point->assign<Texture>("Resources/red.png", Texture::Settings(true), false);
collision_point->assign<Material>(0.1, 0.9);
CollisionSystem *collision_system = new CollisionSystem(collision_point);
world->registerSystem(collision_system);
RenderSystem *renderSystem = new RenderSystem();