More collision additions. ...

More collision additions.  ISceneCollisionManager::getCollisionResultPosition() now returns the node that was hit. ISceneNodeAnimatorCollisionResponse stores and exposes the node that was hit.

git-svn-id: svn://svn.code.sf.net/p/irrlicht/code/trunk@2127 dfc29bdd-3216-0410-991c-e03cc46cb475

include/ISceneCollisionManager.h

@@ -64,6 +64,7 @@ namespace scene
 		causing a collision is stored, if there is a collision.
 		\param outFalling: Is set to true if the ellipsoid is falling
 		down, caused by gravity.
+		\param outNode: the node with which the ellipoid collided (if any)
 		\param slidingSpeed: DOCUMENTATION NEEDED.
 		\param gravityDirectionAndSpeed: Direction and force of gravity.
 		\return New position of the ellipsoid. */
@@ -75,6 +76,7 @@ namespace scene
 			core::triangle3df& triout,
 			core::vector3df& hitPosition,
 			bool& outFalling,
+			const ISceneNode*& outNode,
 			f32 slidingSpeed = 0.0005f,
 			const core::vector3df& gravityDirectionAndSpeed
 			= core::vector3df(0.0f, 0.0f, 0.0f)) = 0;

include/ISceneNodeAnimatorCollisionResponse.h

@@ -148,6 +148,9 @@ namespace scene
 		move fully to the position that caused the collision to occur. */
 		virtual const core::vector3df & getCollisionResultPosition(void) const = 0;
 
+		//! Returns the node that was collided with.
+		virtual const ISceneNode* getCollisionNode(void) const = 0;
+
 		//! Sets a callback interface which will be called if a collision occurs.
 		/** \param callback: collision callback handler that will be called when a collision
 		occurs. Set this to 0 to disable the callback.

source/Irrlicht/CSceneCollisionManager.cpp

@@ -313,6 +313,7 @@ core::vector3df CSceneCollisionManager::getCollisionResultPosition(
 	core::triangle3df& triout,
 	core::vector3df& hitPosition,
 	bool& outFalling,
+	const ISceneNode*& outNode,
 	f32 slidingSpeed,
 	const core::vector3df& gravity)
 {
@@ -320,18 +321,18 @@ core::vector3df CSceneCollisionManager::getCollisionResultPosition(
 		return position;
 
 	return collideEllipsoidWithWorld(selector, position,
-		radius, direction, slidingSpeed, gravity, triout, hitPosition, outFalling);
+		radius, direction, slidingSpeed, gravity, triout, hitPosition, outFalling, outNode);
 }
 
 
-void CSceneCollisionManager::testTriangleIntersection(SCollisionData* colData,
+bool CSceneCollisionManager::testTriangleIntersection(SCollisionData* colData,
 			const core::triangle3df& triangle)
 {
 	const core::plane3d<f32> trianglePlane = triangle.getPlane();
 
 	// only check front facing polygons
 	if ( !trianglePlane.isFrontFacing(colData->normalizedVelocity) )
-		return;
+		return false;
 
 	// get interval of plane intersection
 
@@ -350,7 +351,7 @@ void CSceneCollisionManager::testTriangleIntersection(SCollisionData* colData,
 		// sphere is traveling parallel to plane
 
 		if (fabs(signedDistToTrianglePlane) >= 1.0f)
-			return; // no collision possible
+			return false; // no collision possible
 		else
 		{
 			// sphere is embedded in plane
@@ -372,7 +373,7 @@ void CSceneCollisionManager::testTriangleIntersection(SCollisionData* colData,
 
 		// check if at least one value is within the range
 		if (t0 > 1.0f || t1 < 0.0f)
-			return; // both t values are outside 1 and 0, no collision possible
+			return false; // both t values are outside 1 and 0, no collision possible
 
 		// clamp to 0 and 1
 		t0 = core::clamp ( t0, 0.f, 1.f );
@@ -565,9 +566,11 @@ void CSceneCollisionManager::testTriangleIntersection(SCollisionData* colData,
 			colData->foundCollision = true;
 			colData->intersectionTriangle = triangle;
 			++colData->triangleHits;
+			return true;
 		}
-
 	}// end found collision
+
+	return false;
 }
 
 
@@ -581,7 +584,8 @@ core::vector3df CSceneCollisionManager::collideEllipsoidWithWorld(
 	const core::vector3df& gravity,
 	core::triangle3df& triout,
 	core::vector3df& hitPosition,
-	bool& outFalling)
+	bool& outFalling,
+	const ISceneNode*& outNode)
 {
 	if (!selector || radius.X == 0.0f || radius.Y == 0.0f || radius.Z == 0.0f)
 		return position;
@@ -597,6 +601,7 @@ core::vector3df CSceneCollisionManager::collideEllipsoidWithWorld(
 	colData.selector = selector;
 	colData.slidingSpeed = slidingSpeed;
 	colData.triangleHits = 0;
+	colData.triangleIndex = -1;
 
 	core::vector3df eSpacePosition = colData.R3Position / colData.eRadius;
 	core::vector3df eSpaceVelocity = colData.R3Velocity / colData.eRadius;
@@ -630,6 +635,7 @@ core::vector3df CSceneCollisionManager::collideEllipsoidWithWorld(
 		triout.pointA *= colData.eRadius;
 		triout.pointB *= colData.eRadius;
 		triout.pointC *= colData.eRadius;
+		outNode = selector->getSceneNodeForTriangle(colData.triangleIndex);
 	}
 
 	finalPos *= colData.eRadius;
@@ -672,10 +678,10 @@ core::vector3df CSceneCollisionManager::collideWithWorld(s32 recursionDepth,
 
 	s32 triangleCnt = 0;
 	colData.selector->getTriangles(Triangles.pointer(), totalTriangleCnt, triangleCnt, box, &scaleMatrix);
-	//colData.selector->getTriangles(Triangles.pointer(), totalTriangleCnt, triangleCnt, &scaleMatrix);
 
 	for (s32 i=0; i<triangleCnt; ++i)
-		testTriangleIntersection(&colData, Triangles[i]);
+		if(testTriangleIntersection(&colData, Triangles[i]))
+			colData.triangleIndex = i;
 
 	//---------------- end collide with world
 

source/Irrlicht/CSceneCollisionManager.h

@@ -57,6 +57,7 @@ namespace scene
 			core::triangle3df& triout,
 			core::vector3df& hitPosition,
 			bool& outFalling,
+			const ISceneNode*& outNode,
 			f32 slidingSpeed,
 			const core::vector3df& gravityDirectionAndSpeed);
 
@@ -94,6 +95,7 @@ namespace scene
 			core::vector3df intersectionPoint;
 
 			core::triangle3df intersectionTriangle;
+			s32 triangleIndex;
 			s32 triangleHits;
 
 			f32 slidingSpeed;
@@ -101,7 +103,12 @@ namespace scene
 			ITriangleSelector* selector;
 		};
 
-		void testTriangleIntersection(SCollisionData* colData, 
+		//! Tests the current collision data against an individual triangle.
+		/**
+		\param colData: the collision data.
+		\param triangle: the triangle to test against.
+		\return true if the triangle is hit (and is the closest hit), false otherwise */
+		bool testTriangleIntersection(SCollisionData* colData, 
 			const core::triangle3df& triangle);
 
 		//! recursive method for doing collision response
@@ -111,7 +118,8 @@ namespace scene
 			f32 slidingSpeed,
 			const core::vector3df& gravity, core::triangle3df& triout,
 			core::vector3df& hitPosition,
-			bool& outFalling);
+			bool& outFalling,
+			const ISceneNode*& outNode);
 
 		core::vector3df collideWithWorld(s32 recursionDepth, SCollisionData &colData,
 			core::vector3df pos, core::vector3df vel);

source/Irrlicht/CSceneNodeAnimatorCollisionResponse.cpp

@@ -159,6 +159,7 @@ void CSceneNodeAnimatorCollisionResponse::animateNode(ISceneNode* node, u32 time
 	CollisionTriangle = RefTriangle;
 	CollisionPoint = core::vector3df();
 	CollisionResultPosition = core::vector3df();
+	CollisionNode = 0;
 
 	core::vector3df force = vel + FallingVelocity;
 
@@ -172,7 +173,8 @@ void CSceneNodeAnimatorCollisionResponse::animateNode(ISceneNode* node, u32 time
 		CollisionResultPosition
 			= SceneManager->getSceneCollisionManager()->getCollisionResultPosition(
 				World, LastPosition-Translation,
-				Radius, vel, CollisionTriangle, CollisionPoint, f, SlidingSpeed, FallingVelocity);
+				Radius, vel, CollisionTriangle, CollisionPoint, f, 
+				CollisionNode, SlidingSpeed, FallingVelocity);
 
 		CollisionOccurred = (CollisionTriangle != RefTriangle);
 

source/Irrlicht/CSceneNodeAnimatorCollisionResponse.h

@@ -106,6 +106,9 @@ namespace scene
 
 		virtual const core::vector3df & getCollisionResultPosition(void) const { return CollisionResultPosition; }
 
+		virtual const ISceneNode* getCollisionNode(void) const { return CollisionNode; }
+
+
 		//! Sets a callback interface which will be called if a collision occurs.
 		/** \param callback: collision callback handler that will be called when a collision
 		occurs. Set this to 0 to disable the callback.
@@ -137,6 +140,7 @@ namespace scene
 		core::vector3df CollisionPoint;
 		core::triangle3df CollisionTriangle;
 		core::vector3df CollisionResultPosition;
+		const ISceneNode * CollisionNode;
 
 		ICollisionCallback* CollisionCallback;
 	};

tests/sceneCollisionManager.cpp

@@ -20,6 +20,7 @@ static bool testGetCollisionResultPosition(IrrlichtDevice * device,
 	triangle3df triOut;
 	vector3df hitPosition;
 	bool falling;
+	const ISceneNode* hitNode;
 
 	vector3df resultPosition =
 		collMgr->getCollisionResultPosition(cubeSelector,
@@ -28,9 +29,18 @@ static bool testGetCollisionResultPosition(IrrlichtDevice * device,
 						vector3df(0, -100, 0),
 						triOut,
 						hitPosition,
-						falling);
+						falling,
+						hitNode);
 
 	bool result = true;
+
+	if(hitNode != cubeNode)
+	{
+		logTestString("Unexpected collision node\n");
+		assert(false);
+		result = false;
+	}
+
 	if(!equals(resultPosition.Y, 25.f, 0.01f))
 	{
 		logTestString("Unexpected collision response position\n");
@@ -52,7 +62,15 @@ static bool testGetCollisionResultPosition(IrrlichtDevice * device,
 						vector3df(100, 0, 0),
 						triOut,
 						hitPosition,
-						falling);
+						falling,
+						hitNode);
+
+	if(hitNode != cubeNode)
+	{
+		logTestString("Unexpected collision node\n");
+		assert(false);
+		result = false;
+	}
 
 	if(!equals(resultPosition.X, -15.f, 0.01f))
 	{

tests/tests-last-passed-at.txt

-Test suite pass at GMT Thu Jan 22 15:48:42 2009
+Test suite pass at GMT Thu Jan 22 18:20:21 2009