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Document collisionMesh.h
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@Jerboa-app
Jerboa-app committed Dec 1, 2024
1 parent b75f8bf commit 8af625d
Showing 1 changed file with 192 additions and 5 deletions.
197 changes: 192 additions & 5 deletions include/Collision/collisionMesh.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,12 +20,27 @@ namespace Hop::System::Physics
using Hop::Object::Component::cTransform;
using Hop::Object::Component::cPhysics;

/**
* @brief A point in a collision mesh.
*
*/
struct MeshPoint
{
/**
* @brief Construct a new Mesh Point from a position and radius.
*
* @param x x coordinate.
* @param y y coordinate.
* @param r radius.
*/
MeshPoint(double x, double y, double r)
: x(x), y(y), r(r)
{}

/**
* @brief Construct a new Mesh Point at (0,0) with radius 0.
*
*/
MeshPoint()
: x(0.0), y(0.0), r(0.0)
{}
Expand All @@ -40,16 +55,36 @@ namespace Hop::System::Physics
}
};

/**
* @brief A rectangular mesh point.
*
*/
struct MeshRectangle : public MeshPoint
{

/**
* @brief Construct a new Mesh Rectangle with points at 0.0.
*
*/
MeshRectangle()
: MeshRectangle(0.0, 0.0,
0.0, 0.0,
0.0, 0.0,
0.0, 0.0)
{}

/**
* @brief Construct a new Mesh Rectangle from vertices.
*
* @param llx lower left x.
* @param lly lower left y.
* @param ulx upper left x.
* @param uly upper left y.
* @param urx upper right x.
* @param ury upper right y.
* @param lrx lower right x.
* @param lry lower right y.
*/
MeshRectangle
(
double llx, double lly,
Expand Down Expand Up @@ -102,16 +137,24 @@ namespace Hop::System::Physics
double llx, lly, ulx, uly, urx, ury, lrx, lry;
};

/**
* @brief A mesh of collideable primitives.
*
*/
struct CollisionMesh
{
CollisionMesh()
{}
// construct a mesh around a model space polygon
// with vertices v with each mesh vertex having
// radius r in model space
//CollisionMesh(std::vector<Vertex> v, double r = 0.01);

// construct a mesh from given points
/**
* @brief Construct a new Collision Mesh from primitives.
*
* @param v list of collideable primitives.
* @param x x world coordinate of mesh.
* @param y y world coordinate of mesh.
* @param theta orientation of mesh.
* @param scale scale of mesh.
*/
CollisionMesh
(
std::vector<std::shared_ptr<CollisionPrimitive>> v,
Expand All @@ -127,6 +170,11 @@ namespace Hop::System::Physics
updateWorldMesh(transform, phys, 0.0);
}

/**
* @brief Construct a new Collision Mesh from a primitives list.
*
* @param v list of collideable primitives.
*/
CollisionMesh
(
std::vector<std::shared_ptr<CollisionPrimitive>> v
Expand All @@ -141,6 +189,11 @@ namespace Hop::System::Physics
computeRadius();
}

/**
* @brief Construct a new Collision Mesh from another.
*
* @param m the mesh to copy.
*/
CollisionMesh
(
CollisionMesh & m
Expand All @@ -161,6 +214,13 @@ namespace Hop::System::Physics
someRectangles = m.someRectangles;
}

/**
* @brief Construct a new Collision Mesh from model and world vertices.
*
* @param model model positions of mesh primitives.
* @param world world positions of mesh primitives.
* @param tags tags of mesh primitives for sub-meshing.
*/
CollisionMesh
(
std::vector<std::shared_ptr<MeshPoint>> model,
Expand All @@ -177,6 +237,12 @@ namespace Hop::System::Physics
updateTags();
}

/**
* @brief Obtain all primitives with the given tag.
*
* @param t tag to select.
* @return (sub) CollisionMesh selected by tag.
*/
CollisionMesh getSubMesh(uint64_t t)
{
auto model = getModelByTag(t);
Expand All @@ -185,15 +251,29 @@ namespace Hop::System::Physics
return CollisionMesh(model, world, tags);
}

/**
* @brief Flag mesh as needing an initial update.
*
*/
void reinitialise() { needsInit = true; }

/**
* @brief Set the transform of the mesh.
*
* @param t new transform of the mesh.
*/
void transform(cTransform t)
{
needsInit = true;
cPhysics phys(t.x,t.y,t.theta);
updateWorldMesh(t, phys, 0.0);
}

/**
* @brief Add a primitive to the mesh.
*
* @param c new primitive.
*/
void add(std::shared_ptr<CollisionPrimitive> c)
{

Expand Down Expand Up @@ -279,6 +359,11 @@ namespace Hop::System::Physics
needsInit = true;
}

/**
* @brief Remove primitive at index i.
*
* @param i index of primitive to remove.
*/
void remove(size_t i)
{
vertices.erase(vertices.begin()+i);
Expand All @@ -290,6 +375,13 @@ namespace Hop::System::Physics
updateTags();
}

/**
* @brief Check if (x,y) hits a primitive.
*
* @param x x coordinate of test point.
* @param y y coordinate of test point.
* @return int index of the first primitive click (or -1 if not clicked).
*/
int clicked(float x, float y)
{

Expand All @@ -310,21 +402,47 @@ namespace Hop::System::Physics

size_t size(){return vertices.size();}

/**
* @brief Get a model space primitive.
*
* @param i index of primitive
* @return std::shared_ptr<MeshPoint> model space primitive.
*/
std::shared_ptr<MeshPoint> getModelVertex(size_t i)
{
return vertices[i];
}

/**
* @brief Get a world space primitive.
*
* @param i index of primitive.
* @return std::shared_ptr<CollisionPrimitive> world space primitive.
*/
std::shared_ptr<CollisionPrimitive> getMeshVertex(size_t i)
{
return worldVertices[i];
}

/**
* @brief Get a world space primitive.
*
* @param i index of primitive.
* @return std::shared_ptr<CollisionPrimitive> world space primitive.
*/
std::shared_ptr<CollisionPrimitive> operator[](size_t i)
{
return worldVertices[i];
}

/**
* @brief Update the mesh to a new transform and physics component.
*
* @remark Will integrate mesh points (i.e. handle soft meshes).
* @param transform new transform for the mesh.
* @param physics new physics component for the mesh.
* @param dt timestep.
*/
void updateWorldMesh(
cTransform & transform,
cPhysics & physics,
Expand All @@ -342,27 +460,62 @@ namespace Hop::System::Physics
}
}

/**
* @brief Updates the mesh if it is rigid.
*
* @param transform new transform.
* @param dt timestep.
*/
void updateWorldMeshRigid(
const cTransform & transform,
double dt
);

/**
* @brief Update the world mesh if it is soft.
*
* @remark Applies internal soft-body forces.
* @param transform new transform.
* @param physics mesh physics components.
* @param dt timestep.
*/
void updateWorldMeshSoft(
cTransform & transform,
cPhysics & physics,
double dt
);

/**
* @brief The optimal angle to represent the mesh in world space.
*
* @param x x coordinate of the mesh.
* @param y y coordinate of the mesh.
* @param scaleX scale of mesh in x.
* @param scaleY scale of mesh in y.
* @return double optimal orientation.
*/
double bestAngle(double x, double y, double scaleX, double scaleY);

void centerOfMassWorld(double & cx, double & cy);

/**
* @brief Rebase coordinates to centre of mess.
*
*/
void modelToCenterOfMassFrame();

double momentOfInertia(double x, double y, double mass);

void computeRadius();

double getRadius(){return radius;}

bool getIsRigid(){ return isRigid; }

/**
* @brief Determine if all mesh points are rigid.
*
*/
void calculateIsRigid()
{
for (auto v : worldVertices)
Expand Down Expand Up @@ -425,6 +578,12 @@ namespace Hop::System::Physics
}
}

/**
* @brief Get all world space primitives by tag.
*
* @param t tag to match.
* @return std::vector<std::shared_ptr<CollisionPrimitive>> world primitives matching the tag.
*/
std::vector<std::shared_ptr<CollisionPrimitive>> getByTag(uint64_t t)
{
std::vector<std::shared_ptr<CollisionPrimitive>> v;
Expand All @@ -444,6 +603,12 @@ namespace Hop::System::Physics
return v;
}

/**
* @brief Get all model space primitives by tag.
*
* @param t tag to select.
* @return std::vector<std::shared_ptr<MeshPoint>> model primitives matching tag.
*/
std::vector<std::shared_ptr<MeshPoint>> getModelByTag(uint64_t t)
{
std::vector<std::shared_ptr<MeshPoint>> v;
Expand All @@ -463,6 +628,11 @@ namespace Hop::System::Physics
return v;
}

/**
* @brief Remove all primitives matching tag.
*
* @param t tag to match.
*/
void removeByTag(uint64_t t)
{
std::vector<std::shared_ptr<CollisionPrimitive>> v;
Expand All @@ -486,11 +656,22 @@ namespace Hop::System::Physics
}
}

/**
* @brief Get the world-space bounding box.
*
* @return Hop::Maths::BoundingBox
*/
Hop::Maths::BoundingBox getBoundingBox() const
{
return getBoundingBox(worldVertices);
}

/**
* @brief Get the bounding box of a list of primitives.
*
* @param c primitives to bound.
* @return Hop::Maths::BoundingBox
*/
Hop::Maths::BoundingBox getBoundingBox
(
const std::vector<std::shared_ptr<CollisionPrimitive>> & c
Expand Down Expand Up @@ -518,6 +699,12 @@ namespace Hop::System::Physics
return Hop::Maths::boundingBox(v, r);
}

/**
* @brief Get the bounding box of all primitives with tag.
*
* @param tag tag to match.
* @return Hop::Maths::BoundingBox
*/
Hop::Maths::BoundingBox getBoundingBox(uint64_t tag)
{
std::vector<std::shared_ptr<CollisionPrimitive>> c = getByTag(tag);
Expand Down

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