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- "use strict";
- var BABYLON = BABYLON || {};
- (function () {
- BABYLON.Collider = function () {
- this.radius = new BABYLON.Vector3(1, 1, 1);
- this.retry = 0;
- this.basePointWorld = BABYLON.Vector3.Zero();
- this.velocityWorld = BABYLON.Vector3.Zero();
- this.normalizedVelocity = BABYLON.Vector3.Zero();
-
- // Internals
- this._collisionPoint = BABYLON.Vector3.Zero();
- this._planeIntersectionPoint = BABYLON.Vector3.Zero();
- this._tempVector = BABYLON.Vector3.Zero();
- this._tempVector2 = BABYLON.Vector3.Zero();
- this._tempVector3 = BABYLON.Vector3.Zero();
- this._tempVector4 = BABYLON.Vector3.Zero();
- this._edge = BABYLON.Vector3.Zero();
- this._baseToVertex = BABYLON.Vector3.Zero();
- this._destinationPoint = BABYLON.Vector3.Zero();
- this._slidePlaneNormal = BABYLON.Vector3.Zero();
- this._displacementVector = BABYLON.Vector3.Zero();
- };
- // Methods
- BABYLON.Collider.prototype._initialize = function (source, dir, e) {
- this.velocity = dir;
- BABYLON.Vector3.NormalizeToRef(dir, this.normalizedVelocity);
- this.basePoint = source;
- source.multiplyToRef(this.radius, this.basePointWorld);
- dir.multiplyToRef(this.radius, this.velocityWorld);
- this.velocityWorldLength = this.velocityWorld.length();
- this.epsilon = e;
- this.collisionFound = false;
- };
- BABYLON.Collider.prototype._checkPointInTriangle = function (point, pa, pb, pc, n) {
- pa.subtractToRef(point, this._tempVector);
- pb.subtractToRef(point, this._tempVector2);
- BABYLON.Vector3.CrossToRef(this._tempVector, this._tempVector2, this._tempVector4);
- var d = BABYLON.Vector3.Dot(this._tempVector4, n);
- if (d < 0)
- return false;
- pc.subtractToRef(point, this._tempVector3);
- BABYLON.Vector3.CrossToRef(this._tempVector2, this._tempVector3, this._tempVector4);
- d = BABYLON.Vector3.Dot(this._tempVector4, n);
- if (d < 0)
- return false;
- BABYLON.Vector3.CrossToRef(this._tempVector3, this._tempVector, this._tempVector4);
- d = BABYLON.Vector3.Dot(this._tempVector4, n);
- return d >= 0;
- };
- var intersectBoxAASphere = function (boxMin, boxMax, sphereCenter, sphereRadius) {
- if (boxMin.x > sphereCenter.x + sphereRadius)
- return false;
- if (sphereCenter.x - sphereRadius > boxMax.x)
- return false;
- if (boxMin.y > sphereCenter.y + sphereRadius)
- return false;
- if (sphereCenter.y - sphereRadius > boxMax.y)
- return false;
- if (boxMin.z > sphereCenter.z + sphereRadius)
- return false;
- if (sphereCenter.z - sphereRadius > boxMax.z)
- return false;
- return true;
- };
- var getLowestRoot = function (a, b, c, maxR) {
- var determinant = b * b - 4.0 * a * c;
- var result = { root: 0, found: false };
- if (determinant < 0)
- return result;
- var sqrtD = Math.sqrt(determinant);
- var r1 = (-b - sqrtD) / (2.0 * a);
- var r2 = (-b + sqrtD) / (2.0 * a);
- if (r1 > r2) {
- var temp = r2;
- r2 = r1;
- r1 = temp;
- }
- if (r1 > 0 && r1 < maxR) {
- result.root = r1;
- result.found = true;
- return result;
- }
- if (r2 > 0 && r2 < maxR) {
- result.root = r2;
- result.found = true;
- return result;
- }
- return result;
- };
- BABYLON.Collider.prototype._canDoCollision = function (sphereCenter, sphereRadius, vecMin, vecMax) {
- var distance = BABYLON.Vector3.Distance(this.basePointWorld, sphereCenter);
- var max = Math.max(this.radius.x, this.radius.y);
- max = Math.max(max, this.radius.z);
- if (distance > this.velocityWorldLength + max + sphereRadius) {
- return false;
- }
- if (!intersectBoxAASphere(vecMin, vecMax, this.basePointWorld, this.velocityWorldLength + max))
- return false;
- return true;
- };
- BABYLON.Collider.prototype._testTriangle = function (faceIndex, subMesh, p1, p2, p3) {
- var t0;
- var embeddedInPlane = false;
- if (!subMesh._trianglePlanes) {
- subMesh._trianglePlanes = [];
- }
-
- if (!subMesh._trianglePlanes[faceIndex]) {
- subMesh._trianglePlanes[faceIndex] = new BABYLON.Plane(0, 0, 0, 0);
- subMesh._trianglePlanes[faceIndex].copyFromPoints(p1, p2, p3);
- }
- var trianglePlane = subMesh._trianglePlanes[faceIndex];
- if ((!subMesh.getMaterial()) && !trianglePlane.isFrontFacingTo(this.normalizedVelocity, 0))
- return;
- var signedDistToTrianglePlane = trianglePlane.signedDistanceTo(this.basePoint);
- var normalDotVelocity = BABYLON.Vector3.Dot(trianglePlane.normal, this.velocity);
- if (normalDotVelocity == 0) {
- if (Math.abs(signedDistToTrianglePlane) >= 1.0)
- return;
- embeddedInPlane = true;
- t0 = 0;
- }
- else {
- t0 = (-1.0 - signedDistToTrianglePlane) / normalDotVelocity;
- var t1 = (1.0 - signedDistToTrianglePlane) / normalDotVelocity;
- if (t0 > t1) {
- var temp = t1;
- t1 = t0;
- t0 = temp;
- }
- if (t0 > 1.0 || t1 < 0.0)
- return;
- if (t0 < 0)
- t0 = 0;
- if (t0 > 1.0)
- t0 = 1.0;
- }
- this._collisionPoint.copyFromFloats(0, 0, 0);
- var found = false;
- var t = 1.0;
- if (!embeddedInPlane) {
- this.basePoint.subtractToRef(trianglePlane.normal, this._planeIntersectionPoint);
- this.velocity.scaleToRef(t0, this._tempVector);
- this._planeIntersectionPoint.addInPlace(this._tempVector);
- if (this._checkPointInTriangle(this._planeIntersectionPoint, p1, p2, p3, trianglePlane.normal)) {
- found = true;
- t = t0;
- this._collisionPoint.copyFrom(this._planeIntersectionPoint);
- }
- }
- if (!found) {
- var velocitySquaredLength = this.velocity.lengthSquared();
- var a = velocitySquaredLength;
- this.basePoint.subtractToRef(p1, this._tempVector);
- var b = 2.0 * (BABYLON.Vector3.Dot(this.velocity, this._tempVector));
- var c = this._tempVector.lengthSquared - 1.0;
- var lowestRoot = getLowestRoot(a, b, c, t);
- if (lowestRoot.found) {
- t = lowestRoot.root;
- found = true;
- this._collisionPoint.copyFrom(p1);
- }
- this.basePoint.subtractToRef(p2, this._tempVector);
- b = 2.0 * (BABYLON.Vector3.Dot(this.velocity, this._tempVector));
- c = this._tempVector.lengthSquared - 1.0;
- lowestRoot = getLowestRoot(a, b, c, t);
- if (lowestRoot.found) {
- t = lowestRoot.root;
- found = true;
- this._collisionPoint.copyFrom(p2);
- }
- this.basePoint.subtractToRef(p3, this._tempVector);
- b = 2.0 * (BABYLON.Vector3.Dot(this.velocity, this._tempVector));
- c = this._tempVector.lengthSquared - 1.0;
- lowestRoot = getLowestRoot(a, b, c, t);
- if (lowestRoot.found) {
- t = lowestRoot.root;
- found = true;
- this._collisionPoint.copyFrom(p3);
- }
- p2.subtractToRef(p1, this._edge);
- p1.subtractToRef(this.basePoint, this._baseToVertex);
- var edgeSquaredLength = this._edge.lengthSquared();
- var edgeDotVelocity = BABYLON.Vector3.Dot(this._edge, this.velocity);
- var edgeDotBaseToVertex = BABYLON.Vector3.Dot(this._edge, this._baseToVertex);
- a = edgeSquaredLength * (-velocitySquaredLength) + edgeDotVelocity * edgeDotVelocity;
- b = edgeSquaredLength * (2.0 * BABYLON.Vector3.Dot(this.velocity, this._baseToVertex)) - 2.0 * edgeDotVelocity * edgeDotBaseToVertex;
- c = edgeSquaredLength * (1.0 - this._baseToVertex.lengthSquared()) + edgeDotBaseToVertex * edgeDotBaseToVertex;
- lowestRoot = getLowestRoot(a, b, c, t);
- if (lowestRoot.found) {
- var f = (edgeDotVelocity * lowestRoot.root - edgeDotBaseToVertex) / edgeSquaredLength;
- if (f >= 0.0 && f <= 1.0) {
- t = lowestRoot.root;
- found = true;
- this._edge.scaleInPlace(f);
- p1.addToRef(this._edge, this._collisionPoint);
- }
- }
- p3.subtractToRef(p2, this._edge);
- p2.subtractToRef(this.basePoint, this._baseToVertex);
- edgeSquaredLength = this._edge.lengthSquared();
- edgeDotVelocity = BABYLON.Vector3.Dot(this._edge, this.velocity);
- edgeDotBaseToVertex = BABYLON.Vector3.Dot(this._edge, this._baseToVertex);
- a = edgeSquaredLength * (-velocitySquaredLength) + edgeDotVelocity * edgeDotVelocity;
- b = edgeSquaredLength * (2.0 * BABYLON.Vector3.Dot(this.velocity, this._baseToVertex)) - 2.0 * edgeDotVelocity * edgeDotBaseToVertex;
- c = edgeSquaredLength * (1.0 - this._baseToVertex.lengthSquared()) + edgeDotBaseToVertex * edgeDotBaseToVertex;
- lowestRoot = getLowestRoot(a, b, c, t);
- if (lowestRoot.found) {
- var f = (edgeDotVelocity * lowestRoot.root - edgeDotBaseToVertex) / edgeSquaredLength;
- if (f >= 0.0 && f <= 1.0) {
- t = lowestRoot.root;
- found = true;
- this._edge.scaleInPlace(f);
- p2.addToRef(this._edge, this._collisionPoint);
- }
- }
- p1.subtractToRef(p3, this._edge);
- p3.subtractToRef(this.basePoint, this._baseToVertex);
- edgeSquaredLength = this._edge.lengthSquared();
- edgeDotVelocity = BABYLON.Vector3.Dot(this._edge, this.velocity);
- edgeDotBaseToVertex = BABYLON.Vector3.Dot(this._edge, this._baseToVertex);
- a = edgeSquaredLength * (-velocitySquaredLength) + edgeDotVelocity * edgeDotVelocity;
- b = edgeSquaredLength * (2.0 * BABYLON.Vector3.Dot(this.velocity, this._baseToVertex)) - 2.0 * edgeDotVelocity * edgeDotBaseToVertex;
- c = edgeSquaredLength * (1.0 - this._baseToVertex.lengthSquared()) + edgeDotBaseToVertex * edgeDotBaseToVertex;
- lowestRoot = getLowestRoot(a, b, c, t);
- if (lowestRoot.found) {
- var f = (edgeDotVelocity * lowestRoot.root - edgeDotBaseToVertex) / edgeSquaredLength;
- if (f >= 0.0 && f <= 1.0) {
- t = lowestRoot.root;
- found = true;
- this._edge.scaleInPlace(f);
- p3.addToRef(this._edge, this._collisionPoint);
- }
- }
- }
- if (found) {
- var distToCollision = t * this.velocity.length();
- if (!this.collisionFound || distToCollision < this.nearestDistance) {
- if (!this.intersectionPoint) {
- this.intersectionPoint = this._collisionPoint.clone();
- } else {
- this.intersectionPoint.copyFrom(this._collisionPoint);
- }
- this.nearestDistance = distToCollision;
- this.collisionFound = true;
- this.collidedMesh = subMesh.getMesh();
- }
- }
- };
- BABYLON.Collider.prototype._collide = function (subMesh, pts, indices, indexStart, indexEnd, decal) {
- for (var i = indexStart; i < indexEnd; i += 3) {
- var p1 = pts[indices[i] - decal];
- var p2 = pts[indices[i + 1] - decal];
- var p3 = pts[indices[i + 2] - decal];
- this._testTriangle(i, subMesh, p3, p2, p1);
- }
- };
-
- BABYLON.Collider.prototype._getResponse = function(pos, vel) {
- pos.addToRef(vel, this._destinationPoint);
- vel.scaleInPlace((this.nearestDistance / vel.length()));
- this.basePoint.addToRef(vel, pos);
- pos.subtractToRef(this.intersectionPoint, this._slidePlaneNormal);
- this._slidePlaneNormal.normalize();
- this._slidePlaneNormal.scaleToRef(this.epsilon, this._displacementVector);
- pos.addInPlace(this._displacementVector);
- this.intersectionPoint.addInPlace(this._displacementVector);
- this._slidePlaneNormal.scaleInPlace(BABYLON.Plane.SignedDistanceToPlaneFromPositionAndNormal(this.intersectionPoint, this._slidePlaneNormal, this._destinationPoint));
- this._destinationPoint.subtractInPlace(this._slidePlaneNormal);
- this._destinationPoint.subtractToRef(this.intersectionPoint, vel);
- };
- })();
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