From 4c302f3e79996996a67dd1e026069cc4fe72dd42 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Martin=20=C5=A0toura=C4=8D?= <525032@mail.muni.cz>
Date: Wed, 8 May 2024 13:10:35 +0200
Subject: [PATCH] collision detection uses spheres, add connecting to cardinal
directions
---
src/edit/include/edit/editor.hpp | 2 +-
src/edit/src/editor.cpp | 50 +++++++++++++++++------------
src/gui/src/ui.cpp | 8 ++---
src/rofi/include/rofi/connector.hpp | 2 +-
src/rofi/include/rofi/rofiworld.hpp | 2 +-
src/rofi/src/connector.cpp | 25 ++++++++-------
src/rofi/src/rofiworld.cpp | 30 +++++------------
src/utils/include/utils/math.hpp | 2 ++
8 files changed, 59 insertions(+), 62 deletions(-)
diff --git a/src/edit/include/edit/editor.hpp b/src/edit/include/edit/editor.hpp
index 5a91cf6..e1e2a11 100644
--- a/src/edit/include/edit/editor.hpp
+++ b/src/edit/include/edit/editor.hpp
@@ -476,7 +476,7 @@ private:
void addRofiWorldNodeTreeToScene(const std::vector<node_ptr> &node_tree);
void removeRofiWorldNodeTreeFromScene(const std::vector<node_ptr> &node_tree);
- bool rebuildRofiWorldNodeTree(module_ptr module, rofiworld_ptr rofiworld);
+ bool rebuildRofiWorldNodeTree(module_ptr module, node_ptr root_node, rofiworld_ptr rofiworld);
bool rebuildRofiWorldNodeTree(voxel_ptr voxel, node_ptr root_component_node, rofiworld_ptr rofiworld);
/* COLLISION DETECTION */
diff --git a/src/edit/src/editor.cpp b/src/edit/src/editor.cpp
index a1853a0..c3a8493 100644
--- a/src/edit/src/editor.cpp
+++ b/src/edit/src/editor.cpp
@@ -2365,7 +2365,7 @@ void Editor::manipulateModule()
return;
if (mouse.just_released().contains("MouseLeft"))
- rebuildRofiWorldNodeTree(selected_module, rofiworld);
+ rebuildRofiWorldNodeTree(selected_module, selected_module->getNode(), rofiworld);
if (is_removing_module)
removeModule(selected_module);
@@ -2431,7 +2431,8 @@ void Editor::connectModule()
// Connect
else if (checkConnectModuleValid(selected_connectors.first, selected_connectors.second))
{
- rebuildRofiWorldNodeTree(rofiworld->getModuleWithNode(selected_connectors.first->getNode()), rofiworld);
+ auto source_node = selected_connectors.first->getNode();
+ rebuildRofiWorldNodeTree(rofiworld->getModuleWithNode(source_node), source_node, rofiworld);
voxel_graph->joinConnectors(selected_connectors.first, selected_connectors.second);
@@ -2463,8 +2464,7 @@ bool Editor::checkConnectModuleValid(const connector_ptr fst_connector, const co
auto snd_node = snd_connector->getNode();
if (fst_connector->isFull()
- || snd_connector->isFull()
- || !face_each_other(fst_node, snd_node, rofi::enum_to_vec(rofi::side::z_neg)))
+ || snd_connector->isFull())
return false;
float epsilon = 0.0001f;
@@ -2477,23 +2477,31 @@ bool Editor::checkConnectModuleValid(const connector_ptr fst_connector, const co
void Editor::teleportModulesByConnectors(const connector_ptr source_connector, const connector_ptr destination_connector)
{
- auto first_con_node = source_connector->getNode();
- auto first_parent = first_con_node->getRootParent().lock();
- auto second_world_pos = destination_connector->getNode()->getPositionWorld();
- auto first_con_parent_diff = first_con_node->getPositionWorld() - first_parent->getPositionWorld();
- first_parent->setPosVec(second_world_pos - first_con_parent_diff);
+ const auto source_node = source_connector->getNode();
+ const auto destination_node = destination_connector->getNode();
+ const auto source_parent = source_node->getRootParent().lock();
- auto destination_facing = -destination_connector->getNode()->getRotationAxisZWorld();
- auto destination_north = destination_connector->getNode()->getRotationAxisXWorld();
- auto source_facing = -first_con_node->getRotationAxisZWorld();
- auto source_north = source_connector->getNode()->getRotationAxisXWorld();
+ //Rotation
- // rotate to face each other
- // first_parent->rotateRotationQuat(glm::angleAxis)
-
- // rotate to selected cardinality
- // auto north_delta = glm::orientedAngle(source_north, destination_north, )
- // first_parent->rotateRotationQuat(glm::angleAxis())
+ // Rotate to equal plane
+ const auto &source_facing = source_node->getRotationAxisZWorld();
+ const auto &destination_facing = destination_node->getRotationAxisZWorld();
+ source_parent->rotateRotationQuat(glm::rotation(source_facing, -destination_facing));
+ // Rotate North to North
+ const auto &source_north = source_connector->getNode()->getRotationAxisXWorld();
+ const auto &destination_north = destination_node->getRotationAxisXWorld();
+ const auto oriented_angle = glm::orientedAngle(source_north, destination_north, destination_facing);
+
+ source_parent->rotateRotationQuat(glm::angleAxis(oriented_angle, destination_facing));
+ // Rotate to selected cardinality
+ // Have to use -radians because carinality is from destination to source and this needs to rotate the source to the destination
+ source_parent->rotateRotationQuat(glm::angleAxis(-glm::radians(rofi::cardinal_to_degree(selected_cardinality)), destination_facing));
+
+ // Translation
+
+ const auto &destination_world_pos = destination_node->getPositionWorld();
+ const auto &source_world_pos = source_node->getPositionWorld();
+ source_parent->translatePosVec(destination_world_pos - source_world_pos);
}
void Editor::rotateModule(module_ptr selected_module, glm::vec3 &rotation_angles)
@@ -2607,11 +2615,11 @@ void Editor::removeRofiWorldNodeTreeFromScene(const std::vector<node_ptr> &node_
{ return std::find(node_tree.begin(), node_tree.end(), node) != node_tree.end(); });
}
-bool Editor::rebuildRofiWorldNodeTree(module_ptr module, rofiworld_ptr rofiworld)
+bool Editor::rebuildRofiWorldNodeTree(module_ptr module, node_ptr root_node, rofiworld_ptr rofiworld)
{
removeRofiWorldNodeTreeFromScene(rofiworld->getNodeTree());
- rofiworld->rebuildNodeTree(module);
+ rofiworld->rebuildNodeTree(module, root_node);
addRofiWorldNodeTreeToScene(rofiworld->getNodeTree());
diff --git a/src/gui/src/ui.cpp b/src/gui/src/ui.cpp
index 95cc086..fd507e7 100644
--- a/src/gui/src/ui.cpp
+++ b/src/gui/src/ui.cpp
@@ -625,10 +625,10 @@ void module_rotation_ui(const osi::Window &window, edit::UIData &data)
ImGui::DragFloat("Step", &data.module_rotation_step, 0.25f, 0.0f, 90.0f, "%.3f", ImGuiSliderFlags_AlwaysClamp);
- glm::vec3 euler_angles;
- euler_angles.x = glm::orientedAngle(glm::vec3(0.0f, 0.0f, 1.0f), data.selected_module->getNode()->getRotationAxisZLocal(), glm::vec3(1.0f, 0.0f, 0.0f));
- euler_angles.y = glm::orientedAngle(glm::vec3(1.0f, 0.0f, 0.0f), data.selected_module->getNode()->getRotationAxisXLocal(), glm::vec3(0.0f, 1.0f, 0.0f));
- euler_angles.z = glm::orientedAngle(glm::vec3(1.0f, 0.0f, 0.0f), data.selected_module->getNode()->getRotationAxisXLocal(), glm::vec3(0.0f, 0.0f, 1.0f));
+ glm::vec3 euler_angles = glm::eulerAngles(data.selected_module->getNode()->getRotationWorld());
+ // euler_angles.x = glm::orientedAngle(glm::vec3(0.0f, 0.0f, 1.0f), data.selected_module->getNode()->getRotationAxisZLocal(), glm::vec3(1.0f, 0.0f, 0.0f));
+ // euler_angles.y = glm::orientedAngle(glm::vec3(1.0f, 0.0f, 0.0f), data.selected_module->getNode()->getRotationAxisXLocal(), glm::vec3(0.0f, 1.0f, 0.0f));
+ // euler_angles.z = glm::orientedAngle(glm::vec3(1.0f, 0.0f, 0.0f), data.selected_module->getNode()->getRotationAxisXLocal(), glm::vec3(0.0f, 0.0f, 1.0f));
euler_angles = glm::degrees(euler_angles);
glm::vec3 prev_euler_angles = euler_angles;
diff --git a/src/rofi/include/rofi/connector.hpp b/src/rofi/include/rofi/connector.hpp
index fa8bbf7..9ee57d9 100644
--- a/src/rofi/include/rofi/connector.hpp
+++ b/src/rofi/include/rofi/connector.hpp
@@ -47,7 +47,7 @@ public:
static connector_ptr copy(connector_ptr other_connector);
static bool shares_module_link(connector_ptr fst_connector, connector_ptr snd_connector);
- static cardinal get_mutual_orientation(connector_ptr fst_connector, connector_ptr snd_connector);
+ static cardinal get_mutual_orientation(connector_ptr source_connector, connector_ptr destination_connector);
bool isFull() const { return !connection.first.expired() && !connection.second.expired(); }
bool isEmpty() const { return connection.first.expired() && connection.second.expired(); }
diff --git a/src/rofi/include/rofi/rofiworld.hpp b/src/rofi/include/rofi/rofiworld.hpp
index ba1ac0a..613dffe 100644
--- a/src/rofi/include/rofi/rofiworld.hpp
+++ b/src/rofi/include/rofi/rofiworld.hpp
@@ -47,7 +47,7 @@ public:
bool reachable(module_ptr fst_module, module_ptr snd_module) const;
- bool rebuildNodeTree(module_ptr module);
+ bool rebuildNodeTree(module_ptr module, node_ptr root_node);
bool rebuildNodeTree(voxel_ptr voxel, node_ptr root_node);
bool detectCollision() const;
diff --git a/src/rofi/src/connector.cpp b/src/rofi/src/connector.cpp
index f90561c..9019983 100644
--- a/src/rofi/src/connector.cpp
+++ b/src/rofi/src/connector.cpp
@@ -75,15 +75,15 @@ bool Connector::shares_module_link(connector_ptr fst_connector, connector_ptr sn
return false;
}
-cardinal Connector::get_mutual_orientation(connector_ptr fst_connector, connector_ptr snd_connector)
+cardinal Connector::get_mutual_orientation(connector_ptr source_connector, connector_ptr destination_connector)
{
- ASSUMPTION(Connector::shares_module_link(fst_connector, snd_connector));
+ ASSUMPTION(Connector::shares_module_link(source_connector, destination_connector));
- auto fst_north = fst_connector->getNode()->getRotationAxisXWorld();
- auto snd_north = snd_connector->getNode()->getRotationAxisXWorld();
- auto oriented_angle = glm::degrees(glm::orientedAngle(fst_north,
- snd_north,
- fst_connector->getNode()->getRotationAxisZWorld()));
+ auto source_north = source_connector->getNode()->getRotationAxisXWorld();
+ auto destination_north = destination_connector->getNode()->getRotationAxisXWorld();
+ auto oriented_angle = glm::degrees(glm::orientedAngle(destination_north,
+ source_north,
+ destination_connector->getNode()->getRotationAxisZWorld()));
return degree_to_cardinal(oriented_angle);
}
@@ -387,14 +387,15 @@ cardinal degree_to_cardinal(float degree_angle)
float epsilon = 0.001f;
if (glm::epsilonEqual(degree_angle, 0.0f, epsilon))
return North;
- if (glm::epsilonEqual(degree_angle, -90.0f, epsilon))
+ if (glm::epsilonEqual(degree_angle, 90.0f, epsilon))
return East;
if (glm::epsilonEqual(degree_angle, 180.0f, epsilon))
return South;
- if (glm::epsilonEqual(degree_angle, 90.0f, epsilon))
+ if (glm::epsilonEqual(degree_angle, -90.0f, epsilon))
return West;
- ASSUMPTION(false);
+ ASSUMPTION(false);
+ return North;
}
float cardinal_to_degree(cardinal orientation)
{
@@ -404,11 +405,11 @@ float cardinal_to_degree(cardinal orientation)
case North:
return 0.0f;
case East:
- return -90.0f;
+ return 90.0f;
case South:
return 180.0f;
case West:
- return 90.0f;
+ return -90.0f;
default:
ASSUMPTION(false);
return 0.0f;
diff --git a/src/rofi/src/rofiworld.cpp b/src/rofi/src/rofiworld.cpp
index 87c9404..f9682c1 100644
--- a/src/rofi/src/rofiworld.cpp
+++ b/src/rofi/src/rofiworld.cpp
@@ -90,7 +90,7 @@ bool RofiWorld::reachable(module_ptr fst_module, module_ptr snd_module) const
return found_modules.contains(snd_module);
}
-bool RofiWorld::rebuildNodeTree(module_ptr module) // NOTE: Maybe could use views if I knew how to.
+bool RofiWorld::rebuildNodeTree(module_ptr module, node_ptr root_node) // NOTE: Maybe could use views if I knew how to.
{
std::set<module_ptr> found_modules;
bool has_cycle = false; // Not being detected here
@@ -104,7 +104,7 @@ bool RofiWorld::rebuildNodeTree(module_ptr module) // NOTE: Maybe could use view
// found modules are set as children of selected module, their frame is automatically recalculated into selected module base
std::vector<node_ptr> found_modules_nodes;
std::ranges::transform(found_modules, std::back_inserter(found_modules_nodes), [](const auto m) { return m->getNode(); } );
- module->getNode()->extendChildren(found_modules_nodes, true);
+ root_node->extendChildren(found_modules_nodes, true);
// Remaining modules are placed into the tree vector, including the selected module
std::set<module_ptr> independent_modules;
@@ -170,30 +170,16 @@ bool RofiWorld::detectCollision() const
{
for (const auto &voxel : module->getParts()->getVoxels())
{
- for (const auto &object : voxel->getNode()->getObjects())
+
+ for (const auto &[module_node2, module2] : nodes_map)
{
- auto mesh = std::dynamic_pointer_cast<Mesh>(object);
- if (!mesh)
+ if (module_node == module_node2)
continue;
- for (const auto &[module_node2, module2] : nodes_map)
+ for (const auto &voxel2 : module2->getParts()->getVoxels())
{
- if (module_node == module_node2)
- continue;
-
- for (const auto &voxel2 : module2->getParts()->getVoxels())
- {
- for (const auto &object2 : voxel2->getNode()->getObjects())
- {
- auto mesh2 = std::dynamic_pointer_cast<Mesh>(object2);
- if (!mesh2)
- continue;
-
- if (AABB_intersect(mesh->getAABB(), mesh2->getAABB(), voxel->getNode(), voxel2->getNode()))
- return true;
-
- }
- }
+ if (glm::distance(voxel->getNode()->getPositionWorld(), voxel2->getNode()->getPositionWorld()) < 0.86f)
+ return true;
}
}
}
diff --git a/src/utils/include/utils/math.hpp b/src/utils/include/utils/math.hpp
index 9ff0162..3666188 100644
--- a/src/utils/include/utils/math.hpp
+++ b/src/utils/include/utils/math.hpp
@@ -18,4 +18,6 @@
#include "glm/gtc/epsilon.hpp"
#include <glm/gtx/vector_angle.hpp>
+#include <cmath>
+
#endif
--
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