KF_ModelAnalyzer/KF_CollisionUtility.h at master · KodFreedom/KF_ModelAnalyzer · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
//--------------------------------------------------------------------------------
//	コリジョン計算関数
//　KF_CollisionUtility.h
//	Author : Xu Wenjie
//	Date   : 2017-08-13
//--------------------------------------------------------------------------------
#pragma once

//--------------------------------------------------------------------------------
//  インクルードファイル
//--------------------------------------------------------------------------------

//--------------------------------------------------------------------------------
//  前方宣言
//--------------------------------------------------------------------------------
class C3DRigidbodyComponent;
class CColliderComponent;
class CBoxColliderComponent;
class CSphereColliderComponent;
class CAABBColliderComponent;
class COBBColliderComponent;
class CFieldColliderComponent;

//--------------------------------------------------------------------------------
//  クラス宣言
//--------------------------------------------------------------------------------
//--------------------------------------------------------------------------------
//  コリジョン
//--------------------------------------------------------------------------------
class CCollision
{
public:
	CCollision()
		: m_pRigidBodyOne(nullptr)
		, m_pRigidBodyTwo(nullptr)
		, m_vCollisionNormal(CKFVec3(0.0f))
		, m_vCollisionPos(CKFVec3(0.0f))
		, m_fPenetration(0.0f)
	{}
	~CCollision() {}

	C3DRigidbodyComponent*	m_pRigidBodyOne;
	C3DRigidbodyComponent*	m_pRigidBodyTwo;
	CKFVec3					m_vCollisionNormal;
	CKFVec3					m_vCollisionPos;
	float					m_fPenetration;
	CKFMtx44				m_mtxToWorld;
};

//--------------------------------------------------------------------------------
//  コリジョン情報
//--------------------------------------------------------------------------------
class CCollisionInfo
{
public:
	CCollisionInfo()
		: m_pColliderThis(nullptr)
		, m_pCollider(nullptr)
	{
		m_listCollision.clear();
	}
	~CCollisionInfo()
	{
		m_listCollision.clear();
	}

	CColliderComponent*		m_pColliderThis;
	CColliderComponent*		m_pCollider;
	list<CCollision*>		m_listCollision;
};

//--------------------------------------------------------------------------------
//  レイ衝突情報(最近点)
//--------------------------------------------------------------------------------
class CRaycastHitInfo
{
public:
	CRaycastHitInfo()
		: m_pCollider(nullptr)
		, m_fDistance(0.0f)
		, m_vNormal(CKFVec3(0.0f))
		, m_vPos(CKFVec3(0.0f))
	{}
	~CRaycastHitInfo() {}

	CColliderComponent*		m_pCollider;	//衝突相手のコライダー
	float					m_fDistance;	//レイの始点と衝突点との距離
	CKFVec3					m_vNormal;		//衝突点の面法線
	CKFVec3					m_vPos;			//衝突点の位置
};

//--------------------------------------------------------------------------------
//  コリジョンテスト
//--------------------------------------------------------------------------------
class CCollisionTest
{
public:


private:
	CCollisionTest() {}
	~CCollisionTest() {}
};

//--------------------------------------------------------------------------------
//  コリジョン計算クラス
//--------------------------------------------------------------------------------
class CCollisionDetector
{
public:
	//衝突判定関数
	static void		CheckSphereWithSphere(CSphereColliderComponent& sphereL, CSphereColliderComponent& sphereR);
	static void		CheckSphereWithAABB(CSphereColliderComponent& sphere, CAABBColliderComponent& aabb);
	static void		CheckSphereWithOBB(CSphereColliderComponent& sphere, COBBColliderComponent& obb);
	static void		CheckAABBWithAABB(CAABBColliderComponent& aabbL, CAABBColliderComponent& aabbR);
	static void		CheckBoxWithBox(CBoxColliderComponent& boxL, CBoxColliderComponent& boxR);

	//Field
	static void		CheckBoxWithField(CBoxColliderComponent& box, CFieldColliderComponent& field);
	static void		CheckSphereWithField(CSphereColliderComponent& sphere, CFieldColliderComponent& field);

	//Ray
	static bool		CheckRayWithBox(const CKFRay& ray, const float& fDistance, CBoxColliderComponent& box, CRaycastHitInfo& infoOut);
	static bool		CheckRayWithSphere(const CKFRay& ray, const float& fDistance, CSphereColliderComponent& sphere, CRaycastHitInfo& infoOut);
	static bool		CheckRayWithField(const CKFRay& ray, const float& fDistance, CFieldColliderComponent& field, CRaycastHitInfo& infoOut);

private:
	CCollisionDetector() {}
	~CCollisionDetector() {}

	//計算用関数
	static bool		checkPointWithAABB(CCollision& collisionOut, const CKFVec3 vPoint, const CAABBColliderComponent& aabb);
	static bool		checkPointWithBox(CCollision& collisionOut, const CKFVec3 vPoint, const CBoxColliderComponent& box);
	static bool		checkLineWithLine(const CKFVec2& vLA, const CKFVec2& vLB, const CKFVec2& vRA, const CKFVec2& vRB, CKFVec2& vOut);
	static bool		checkLineWithLine(const CKFVec3& vLA, const CKFVec3& vLB, const CKFVec3& vRA, const CKFVec3& vRB, CKFVec3& vOut);

	static float	transformBoxToAxis(const CBoxColliderComponent& box, const CKFVec3& vAxis);
	static bool		checkOverlapOnAxis(const CBoxColliderComponent& boxL, const CBoxColliderComponent& boxR, const CKFVec3& vAxis);
	static bool		checkOverlapOnAxis(const CKFVec2& vMinL, const CKFVec2& vMaxL, const CKFVec2& vMinR, const CKFVec2& vMaxR);
	static bool		checkOverlapAABB(const CAABBColliderComponent& aabbL, const CAABBColliderComponent& aabbR);

};