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[GEN] Backport collision test related changes and fixes in WWMath from Zero Hour #772

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Merged
merged 5 commits into from
Apr 28, 2025
Merged

[GEN] Backport collision test related changes and fixes in WWMath from Zero Hour #772

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2395611
[GEN] Backport optimization in CardinalSpline3DClass::Update_Tangents…
xezon Apr 27, 2025
0d5df37
[GEN] Backport normal direction fix in CollisionMath::Collide for AAB…
xezon Apr 27, 2025
9ba3bdf
[GEN] Backport CollisionContext normal origin refactor in aabtri_comp…
xezon Apr 27, 2025
d7a57cc
[GEN] Backport fix for float division by zero in obb_separation_test …
xezon Apr 27, 2025
3e55f5c
[GEN] Backport changes to normal value calculation in CollisionMath::…
xezon Apr 27, 2025
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7 changes: 4 additions & 3 deletions Generals/Code/Libraries/Source/WWVegas/WWMath/cardinalspline.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,13 +22,13 @@
* *
* Project Name : WWMath *
* *
* $Archive:: /VSS_Sync/wwmath/cardinalspline.cpp $*
* $Archive:: /Commando/Code/wwmath/cardinalspline.cpp $*
* *
* Author:: Greg Hjelstrom *
* *
* $Modtime:: 6/13/01 2:18p $*
* $Modtime:: 9/16/01 4:07p $*
* *
* $Revision:: 5 $*
* $Revision:: 6 $*
* *
*---------------------------------------------------------------------------------------------*
* Functions: *
Expand Down Expand Up @@ -108,6 +108,7 @@ void CardinalSpline3DClass::Update_Tangents(void)
Tangents[0].InTangent.Set(0,0,0);
Tangents[0].OutTangent.Set(0,0,0);
}
return;
}

// First and Last Key:
Expand Down
9 changes: 5 additions & 4 deletions Generals/Code/Libraries/Source/WWVegas/WWMath/colmathaabox.cpp
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Expand Up @@ -26,9 +26,9 @@
* *
* Author:: Greg Hjelstrom *
* *
* $Modtime:: 11/14/00 2:46p $*
* $Modtime:: 8/30/01 7:40p $*
* *
* $Revision:: 21 $*
* $Revision:: 22 $*
* *
*---------------------------------------------------------------------------------------------*
* Functions: *
Expand Down Expand Up @@ -583,10 +583,11 @@ bool CollisionMath::Collide(const AABoxClass & box,const Vector3 & move,const AA

result->Fraction = context.MaxFrac;
result->Normal.Set(0,0,0);
result->Normal[context.AxisId] = context.Side;
result->Normal[context.AxisId] = -context.Side;

if (result->ComputeContactPoint) {
WWASSERT(0); // TODO
//WWASSERT(0); // TODO
WWDEBUG_SAY(("AABox-AABox collision does not currently support contact point computation\r\n"));
}

return true;
Expand Down
15 changes: 8 additions & 7 deletions Generals/Code/Libraries/Source/WWVegas/WWMath/colmathaabtri.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,9 +26,9 @@
* *
* Author:: Greg Hjelstrom *
* *
* $Modtime:: 5/08/01 9:52a $*
* $Modtime:: 1/15/02 2:46p $*
* *
* $Revision:: 17 $*
* $Revision:: 19 $*
* *
*---------------------------------------------------------------------------------------------*
* Functions: *
Expand Down Expand Up @@ -503,10 +503,11 @@ static inline void aabtri_compute_contact_normal
switch(CollisionContext.AxisId)
{
case INTERSECTION:
set_norm = *CollisionContext.Tri->N;
set_norm = CollisionContext.N;
set_norm.Normalize();
break;
case AXIS_N:
set_norm = -CollisionContext.Side * *CollisionContext.Tri->N;
set_norm = -CollisionContext.Side * CollisionContext.N;
set_norm.Normalize();
break;
case AXIS_A0:
Expand Down Expand Up @@ -559,7 +560,8 @@ static inline void aabtri_compute_contact_normal
WWASSERT(set_norm.Length2() > 0.0f);

#else
set_norm = *CollisionContext.Tri.N;
set_norm = *CollisionContext.N;
set_norm.Normalize();
if (Vector3::Dot_Product(set_norm,CollisionContext.Move) > 0.0f) {
set_norm = -(set_norm);
}
Expand Down Expand Up @@ -832,8 +834,7 @@ bool CollisionMath::Collide
(Vector3::Dot_Product(tmp_norm,move) < Vector3::Dot_Product(result->Normal,move)))
{
result->Normal = tmp_norm;
#pragma message("fatal assert disabled for demo")
//WWASSERT(WWMath::Fabs(result->Normal.Length() - 1.0f) < WWMATH_EPSILON);
WWASSERT(WWMath::Fabs(result->Normal.Length() - 1.0f) < WWMATH_EPSILON);
}

result->Fraction = CollisionContext.MaxFrac;
Expand Down
8 changes: 4 additions & 4 deletions Generals/Code/Libraries/Source/WWVegas/WWMath/colmathobbobb.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,9 +26,9 @@
* *
* Author:: Greg Hjelstrom *
* *
* $Modtime:: 5/04/01 8:37p $*
* $Modtime:: 1/04/02 6:29p $*
* *
* $Revision:: 14 $*
* $Revision:: 15 $*
* *
*---------------------------------------------------------------------------------------------*
* Functions: *
Expand Down Expand Up @@ -593,7 +593,7 @@ static inline bool obb_separation_test
if ( u1 > rsum ) {
context.MaxFrac = 1.0f;
return true;
} else {
} else if (WWMath::Fabs(u1-u0) > 0.0f) {
tmp = (rsum-u0)/(u1-u0);
if ( tmp > context.MaxFrac ) {
context.MaxFrac = tmp;
Expand All @@ -606,7 +606,7 @@ static inline bool obb_separation_test
if ( u1 < -rsum ) {
context.MaxFrac = 1.0f;
return true;
} else {
} else if (WWMath::Fabs(u1-u0) > 0.0f) {
tmp = (-rsum-u0)/(u1-u0);
if ( tmp > context.MaxFrac ) {
context.MaxFrac = tmp;
Expand Down
59 changes: 31 additions & 28 deletions Generals/Code/Libraries/Source/WWVegas/WWMath/colmathobbtri.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,9 +26,9 @@
* *
* Author:: Greg Hjelstrom *
* *
* $Modtime:: 5/04/01 8:37p $*
* $Modtime:: 11/28/01 5:56p $*
* *
* $Revision:: 15 $*
* $Revision:: 16 $*
* *
*---------------------------------------------------------------------------------------------*
* Functions: *
Expand Down Expand Up @@ -527,7 +527,7 @@ static inline float eval_side(float val,int side)
static inline void obbtri_compute_contact_normal
(
const BTCollisionStruct & context,
CastResultStruct * result
Vector3 * set_normal
)
{
switch(context.AxisId)
Expand All @@ -536,55 +536,55 @@ static inline void obbtri_compute_contact_normal
// WWASSERT(0);
break;
case AXIS_N:
result->Normal = -context.Side * *context.Tri.N;
*set_normal = -context.Side * *context.Tri.N;
break;
case AXIS_A0:
result->Normal = -context.Side * context.A[0];
*set_normal = -context.Side * context.A[0];
break;
case AXIS_A1:
result->Normal = -context.Side * context.A[1];
*set_normal = -context.Side * context.A[1];
break;
case AXIS_A2:
result->Normal = -context.Side * context.A[2];
*set_normal = -context.Side * context.A[2];
break;
case AXIS_A0E0:
result->Normal = -context.Side * context.AxE[0][0];
result->Normal.Normalize();
*set_normal = -context.Side * context.AxE[0][0];
set_normal->Normalize();
break;
case AXIS_A1E0:
result->Normal = -context.Side * context.AxE[1][0];
result->Normal.Normalize();
*set_normal = -context.Side * context.AxE[1][0];
set_normal->Normalize();
break;
case AXIS_A2E0:
result->Normal = -context.Side * context.AxE[2][0];
result->Normal.Normalize();
*set_normal = -context.Side * context.AxE[2][0];
set_normal->Normalize();
break;
case AXIS_A0E1:
result->Normal = -context.Side * context.AxE[0][1];
result->Normal.Normalize();
*set_normal = -context.Side * context.AxE[0][1];
set_normal->Normalize();
break;
case AXIS_A1E1:
result->Normal = -context.Side * context.AxE[1][1];
result->Normal.Normalize();
*set_normal = -context.Side * context.AxE[1][1];
set_normal->Normalize();
break;
case AXIS_A2E1:
result->Normal = -context.Side * context.AxE[2][1];
result->Normal.Normalize();
*set_normal = -context.Side * context.AxE[2][1];
set_normal->Normalize();
break;
case AXIS_A0E2:
result->Normal = -context.Side * context.AxE[0][2];
result->Normal.Normalize();
*set_normal = -context.Side * context.AxE[0][2];
set_normal->Normalize();
break;
case AXIS_A1E2:
result->Normal = -context.Side * context.AxE[1][2];
result->Normal.Normalize();
*set_normal = -context.Side * context.AxE[1][2];
set_normal->Normalize();
break;
case AXIS_A2E2:
result->Normal = -context.Side * context.AxE[2][2];
result->Normal.Normalize();
*set_normal = -context.Side * context.AxE[2][2];
set_normal->Normalize();
break;
}
WWASSERT(result->Normal.Length2() > 0.0f);
WWASSERT(set_normal->Length2() > 0.0f);
}


Expand Down Expand Up @@ -1095,10 +1095,13 @@ bool CollisionMath::Collide

if ((context.MaxFrac < 1.0f) && (context.MaxFrac <= result->Fraction)) {

Vector3 normal;
obbtri_compute_contact_normal(context,&normal);

if ( (WWMath::Fabs(context.MaxFrac - result->Fraction) > WWMATH_EPSILON) ||
(Vector3::Dot_Product(*(tri.N),move) < Vector3::Dot_Product(result->Normal,move)) )
(Vector3::Dot_Product(normal,move) < Vector3::Dot_Product(result->Normal,move)) )
{
obbtri_compute_contact_normal(context,result);
result->Normal = normal; //obbtri_compute_contact_normal(context,result);
}

result->Fraction = context.MaxFrac;
Expand Down
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