Merge pull request #117 from Wellinator/feature/tyrav2-physics

[Tyra2] Physics directory

engine/inc/physics/ray.hpp

@@ -0,0 +1,77 @@
+/*
+# ______       ____   ___
+#   |     \/   ____| |___|
+#   |     |   |   \  |   |
+#-----------------------------------------------------------------------
+# Copyright 2020-2022, tyra - https://github.com/h4570/tyra
+# Licenced under Apache License 2.0
+# Wellington Carvalho <wellcoj@gmail.com>
+*/
+
+#include "math/vec4.hpp"
+
+#pragma once
+
+namespace Tyra {
+
+/**
+ * Class for raycasting.
+ */
+class Ray {
+ public:
+  /** @brief Constructor create a ampty ray */
+  Ray();
+
+  /** 
+   * @param origin The origin of the ray
+   * @param direction The direction of the ray (normalized Vec4)
+   */
+  Ray(const Vec4& origin, const Vec4& direction);
+  ~Ray();
+
+  // Methods
+
+  /**
+   * @param origin Vec4 starting point of the ray;  
+   * @param direction Vec4 normalized vector pointing to direction;
+   */
+  void set(const Vec4& origin, const Vec4& direction);
+
+  /** 
+   * @brief Set origin of the ray;
+   * @param origin Vec4 starting point of the ray;   
+   */
+  void setOrigin(const Vec4& origin);
+
+  /** 
+   * @brief Set direction of the ray;
+   * @param direction Vec4 normalized vector pointing to direction;
+   */
+  void setDirection(const Vec4& direction);
+
+  /**
+   * @return Vec4 that is a given distance along this Ray
+   * @param t - the distance along the Ray to retrieve a position for.
+   */
+  Vec4 at(const float& t);
+
+  /** @return Distance from the Vec4 point to the origin */
+  float distanceToPoint(const Vec4& point);
+
+  /**
+   * @param minCorner - pointer to min corner position. (bottom left)
+   * @param maxCorner - pointer to max corner position. (top right)
+   * @param distance - the box to intersect with.
+   * @return Vec4 point of intersection
+   */
+  u8 intersectBox(const Vec4& minCorner, const Vec4& maxCorner, float& distance);
+
+  /** Returns inverse direction */
+  const Vec4 invDir();
+
+ private:
+  Vec4 _origin;
+  Vec4 _direction;
+};
+
+}  // namespace Tyra

engine/inc/renderer/3d/bbox/bbox.hpp

@@ -41,6 +41,17 @@ class BBox : public CoreBBox {
   /** @returns the bottom face (nearer on y-axis) */
   const BBoxFace& getBottomFace() { return _bottomFace; }
 
+  /** @returns the lower (x, y, z) boundary of the box. */
+  Vec4 min();
+  /** @returns the upper (x, y, z) boundary of the box. */
+  Vec4 max();
+  /**
+   * @param res_min Vec4 to store the min result
+   * @param res_max Vec4 to store the min result
+   * @brief Calc and stores the min and max points of box at a single loop
+   * */
+  void getMinMax(Vec4* res_min, Vec4* res_max);
+
  protected:
   float _height, _depth, _width;
   Vec4 _centerVector;

engine/inc/renderer/core/3d/bbox/core_bbox.hpp

@@ -36,6 +36,9 @@ class CoreBBox {
   void print(const std::string& name) const { print(name.c_str()); }
   std::string getPrint(const char* name = nullptr) const;
 
+  CoreBBoxFrustum isInFrustum(const Plane* frustumPlanes, const M4x4& model,
+                              const float* margins = nullptr) const;
+
  protected:
   Vec4 _vertices[8];
 };

engine/inc/renderer/core/3d/bbox/render_bbox.hpp

@@ -25,9 +25,6 @@ class RenderBBox : public CoreBBox {
   explicit RenderBBox(const std::vector<CoreBBox>& t_bboxes,
                       const u32& startIndex, const u32& stopIndex);
 
-  CoreBBoxFrustum isInFrustum(const Plane* frustumPlanes, const M4x4& model,
-                              const float* margins = nullptr) const;
-
   CoreBBoxFrustum clipIsInFrustum(const Plane* frustumPlanes,
                                   const M4x4& model) const;
 };

engine/src/physics/ray.cpp

@@ -0,0 +1,89 @@
+/*
+# ______       ____   ___
+#   |     \/   ____| |___|
+#   |     |   |   \  |   |
+#-----------------------------------------------------------------------
+# Copyright 2020-2022, tyra - https://github.com/h4570/tyra
+# Licenced under Apache License 2.0
+# Wellinator Carvalho <wellcoj@gmail.com>
+*/
+
+#include "physics/ray.hpp"
+#include <tamtypes.h>
+#include <math.h>
+#include <algorithm>
+
+namespace Tyra {
+
+Ray::Ray() {}
+Ray::Ray(const Vec4& origin, const Vec4& direction) {
+  this->_origin.set(origin);
+  this->_direction.set(direction);
+}
+
+Ray::~Ray() {}
+
+void Ray::set(const Vec4& origin, const Vec4& direction) {
+  this->_origin.set(origin);
+  this->_direction.set(direction);
+}
+
+void Ray::setOrigin(const Vec4& origin) { this->_origin.set(origin); }
+
+void Ray::setDirection(const Vec4& direction) {
+  this->_direction.set(direction);
+}
+
+Vec4 Ray::at(const float& t) { return (this->_direction * t) + this->_origin; }
+
+float Ray::distanceToPoint(const Vec4& point) {
+  return this->_origin.distanceTo(point);
+}
+
+u8 Ray::intersectBox(const Vec4& minCorner, const Vec4& maxCorner,
+                     float& distance) {
+  float tmin, tmax, tymin, tymax, tzmin, tzmax;
+  Vec4 invDir = this->invDir();
+  invDir.normalize();
+
+  tmin = (minCorner.x - this->_origin.x) * invDir.x;
+  tmax = (maxCorner.x - this->_origin.x) * invDir.x;
+  tymin = (minCorner.y - this->_origin.y) * invDir.y;
+  tymax = (maxCorner.y - this->_origin.y) * invDir.y;
+
+  if ((tmin > tymax) || (tymin > tmax)) {
+    distance = -1.0f;
+    return 0;
+  }
+
+  if (tymin > tmin) tmin = tymin;
+
+  if (tymax < tmax) tmax = tymax;
+
+  tzmin = (minCorner.z - this->_origin.z) * invDir.z;
+  tzmax = (maxCorner.z - this->_origin.z) * invDir.z;
+
+  if ((tmin > tzmax) || (tzmin > tmax)) {
+    distance = -1.0f;
+    return 0;
+  }
+
+  if (tzmin > tmin) tmin = tzmin;
+
+  if (tzmax < tmax) tmax = tzmax;
+
+  if (tmax < 0) {
+    distance = -1.0f;
+    return 0;
+  }
+
+  distance = tmin >= 0 ? tmin : tmax;
+  return 1;
+}
+
+const Vec4 Ray::invDir() {
+  return Vec4(1 / this->_direction.x, 1 / this->_direction.y,
+              1 / this->_direction.z, 1);
+}
+
+}  // Namespace Tyra

engine/src/renderer/3d/bbox/bbox.cpp

@@ -50,4 +50,68 @@ void BBox::setData() {
   _bottomFace = BBoxFace(_vertices[0], _vertices[5], _vertices[0].y);
 }
 
+Vec4 BBox::min() {
+  Vec4 temp, _min;
+  u8 isInitialized = 0;
+
+  const Vec4* vertices = getVertices();
+  for (u8 i = 0; i < 8; i++) {
+    temp.set(vertices[i].x, vertices[i].y, vertices[i].z, 1.0F);
+    if (isInitialized == 0) {
+      isInitialized = 1;
+      _min.set(temp);
+    }
+
+    if (_min.x > temp.x) _min.x = temp.x;
+    if (_min.y > temp.y) _min.y = temp.y;
+    if (_min.z > temp.z) _min.z = temp.z;
+  }
+
+  return _min;
+}
+
+Vec4 BBox::max() {
+  Vec4 temp, _max;
+  u8 isInitialized = 0;
+
+  const Vec4* vertices = getVertices();
+  for (u8 i = 0; i < 8; i++) {
+    temp.set(vertices[i].x, vertices[i].y, vertices[i].z, 1.0F);
+    if (isInitialized == 0) {
+      isInitialized = 1;
+      _max.set(temp);
+    }
+
+    if (temp.x > _max.x) _max.x = temp.x;
+    if (temp.y > _max.y) _max.y = temp.y;
+    if (temp.z > _max.z) _max.z = temp.z;
+  }
+
+  return _max;
+}
+
+void BBox::getMinMax(Vec4* res_min, Vec4* res_max) {
+  Vec4 temp = Vec4();
+
+  u8 isInitialized = 0;
+  const Vec4* vertices = getVertices();
+  for (u8 i = 0; i < 8; i++) {
+    temp.set(vertices[i].x, vertices[i].y, vertices[i].z, 1.0F);
+    if (isInitialized == 0) {
+      isInitialized = 1;
+      res_min->set(temp);
+      res_max->set(temp);
+    }
+
+    if (res_min->x > temp.x) res_min->x = temp.x;
+    if (temp.x > res_max->x) res_max->x = temp.x;
+
+    if (res_min->y > temp.y) res_min->y = temp.y;
+    if (temp.y > res_max->y) res_max->y = temp.y;
+
+    if (res_min->z > temp.z) res_min->z = temp.z;
+    if (temp.z > res_max->z) res_max->z = temp.z;
+  }
+}
+
 }  // namespace Tyra

engine/src/renderer/core/3d/bbox/core_bbox.cpp

@@ -166,4 +166,37 @@ std::string CoreBBox::getPrint(const char* name) const {
   return res.str();
 }
 
+CoreBBoxFrustum CoreBBox::isInFrustum(const Plane* frustumPlanes,
+                                        const M4x4& model,
+                                        const float* margins) const {
+  CoreBBoxFrustum result = IN_FRUSTUM;
+  Vec4 boxCalcTemp;
+  u8 boxIn = 0, boxOut = 0;
+
+  for (u8 i = 0; i < 6; i++) {
+    const auto margin = margins == nullptr ? 0.0F : margins[i];
+    boxOut = 0;
+    boxIn = 0;
+    // for each corner of the box do ...
+    // get out of the cycle as soon as a box as corners
+    // both inside and out of the frustum
+    for (u8 y = 0; y < 8 && (boxIn == 0 || boxOut == 0); y++) {
+      boxCalcTemp = model * _vertices[y];
+
+      auto isOut = frustumPlanes[i].distanceTo(boxCalcTemp) < margin;
+
+      if (isOut)
+        boxOut++;
+      else
+        boxIn++;
+    }
+    // if all corners are out
+    if (!boxIn)
+      return OUTSIDE_FRUSTUM;
+    else if (boxOut)
+      result = PARTIALLY_IN_FRUSTUM;
+  }
+  return result;
+}
+
 }  // namespace Tyra

engine/src/renderer/core/3d/bbox/render_bbox.cpp

@@ -58,37 +58,4 @@ CoreBBoxFrustum RenderBBox::clipIsInFrustum(const Plane* frustumPlanes,
   return isInFrustum(frustumPlanes, model, margins);  // Let's check it again
 }
 
-CoreBBoxFrustum RenderBBox::isInFrustum(const Plane* frustumPlanes,
-                                        const M4x4& model,
-                                        const float* margins) const {
-  CoreBBoxFrustum result = IN_FRUSTUM;
-  Vec4 boxCalcTemp;
-  u8 boxIn = 0, boxOut = 0;
-
-  for (u8 i = 0; i < 6; i++) {
-    const auto margin = margins == nullptr ? 0.0F : margins[i];
-    boxOut = 0;
-    boxIn = 0;
-    // for each corner of the box do ...
-    // get out of the cycle as soon as a box as corners
-    // both inside and out of the frustum
-    for (u8 y = 0; y < 8 && (boxIn == 0 || boxOut == 0); y++) {
-      boxCalcTemp = model * _vertices[y];
-
-      auto isOut = frustumPlanes[i].distanceTo(boxCalcTemp) < margin;
-
-      if (isOut)
-        boxOut++;
-      else
-        boxIn++;
-    }
-    // if all corners are out
-    if (!boxIn)
-      return OUTSIDE_FRUSTUM;
-    else if (boxOut)
-      result = PARTIALLY_IN_FRUSTUM;
-  }
-  return result;
-}
-
 }  // namespace Tyra