added a proper collision system

src/graphics/camera.cpp

@@ -14,6 +14,7 @@
 
 using namespace sim::graphics;
 
+static bool on_ground = false;
 static double yaw = 0, pitch = 0;
 static glm::vec<3, double> pos(0, 0, 2);
 static glm::vec<3, double> velocity(0);
@@ -35,7 +36,7 @@ void camera::move(double xoff, double yoff, double zoff)
 	pos.z += zoff;
 }
 
-void camera::update(double dt)
+void camera::update(const system& sys, double dt)
 {
 	glm::vec<2, double> off(0, 0);
 	double m = 30;
@@ -61,46 +62,24 @@ void camera::update(double dt)
 	};
 	
 	glm::vec<2, double> rotated = glm::vec<2, double>(off.x, off.y) * mat;
-	bool on_ground = false;
-	
 	velocity.z -= 9.81 * dt;
 
-	if(pos.z + velocity.z * dt < 1.6)
+	if(on_ground)
 	{
-		on_ground = true;
+		velocity.x += rotated.x * m * dt;
-
+		velocity.y += rotated.y * m * dt;
-		if(keyboard::is_pressed(GLFW_KEY_SPACE))
-		{
-			velocity.z = 3.5;
-		}
-
-		else
-		{
-			velocity.z = 0;
-			pos.z = 1.6;
-		}
-	}
-
-	else
-	{
-		m = 0;
 	}
 	
-	velocity.x += rotated.x * m * dt;
+	if(on_ground && keyboard::is_pressed(GLFW_KEY_SPACE))
-	velocity.y += rotated.y * m * dt;
+	{
+		velocity.z += 3.5;
+	}
 
-	double nx = pos.x + velocity.x * dt;
+	glm::vec<3, double> velocity2 = sys.scene.check_intersect(pos, velocity * dt) / dt;
-	double ny = pos.y + velocity.y * dt;
 
-	if(nx > 8.9 || nx < -2.9)
+	pos += velocity2 * dt;
-		velocity.x = 0;
+	on_ground = ((velocity * dt / dt).z != velocity2.z);
-	if(std::abs(ny) > 3.9)
+	velocity = velocity2 * std::pow(0.5, dt / (on_ground ? 0.05 : 10));
-		velocity.y = 0;
-
-	float m2 = std::pow(0.5, dt / (on_ground ? 0.05 : 1));
-
-	pos += velocity * dt;
-	velocity *= m2;
 
 	camera_mat = glm::mat4(1);
 	camera_mat = glm::rotate(camera_mat, (float)glm::radians(-pitch), glm::vec3(1, 0, 0));

src/graphics/camera.hpp

@@ -4,13 +4,15 @@
 #include <glm/matrix.hpp>
 #include <glm/vec3.hpp>
 
+#include "../system.hpp"
+
 namespace sim::graphics::camera
 {
 
 glm::mat4 get_matrix();
 void rotate(double pitch, double yaw);
 void move(double x, double y, double z);
-void update(double dt);
+void update(const system& sys, double dt);
 
 };
 

src/graphics/mesh/mesh.cpp

@@ -3,6 +3,9 @@
 #include "arrays.hpp"
 #include "../shader.hpp"
 #include "../camera.hpp"
+#include "../../math.hpp"
+
+#include <iostream>
 
 using namespace sim::graphics;
 
@@ -50,3 +53,85 @@ void mesh::set_indices(const unsigned int* data, size_t size)
 	}
 }
 
+typedef glm::vec<3, double> vec3;
+
+bool ray_intersects_triangle(vec3 ray_origin,
+                             vec3 ray_vector,
+                             const vec3* triangle,
+                             vec3& out_intersection_point)
+{
+    constexpr double epsilon = std::numeric_limits<double>::epsilon();
+
+    vec3 edge1 = triangle[1] - triangle[0];
+    vec3 edge2 = triangle[2] - triangle[0];
+    vec3 ray_cross_e2 = cross(ray_vector, edge2);
+    double det = dot(edge1, ray_cross_e2);
+
+    if (det > -epsilon && det < epsilon)
+        return false;    // This ray is parallel to this triangle.
+
+    double inv_det = 1.0 / det;
+    vec3 s = ray_origin - triangle[0];
+    double u = inv_det * dot(s, ray_cross_e2);
+
+    if (u < 0 || u > 1)
+        return false;
+
+    vec3 s_cross_e1 = cross(s, edge1);
+    double v = inv_det * dot(ray_vector, s_cross_e1);
+
+    if (v < 0 || u + v > 1)
+        return false;
+
+    // At this stage we can compute t to find out where the intersection point is on the line.
+    double t = inv_det * dot(edge2, s_cross_e1);
+    out_intersection_point = ray_origin + ray_vector * t;
+
+    if (t > epsilon) // ray intersection
+    {
+        return true;
+    }
+    else // This means that there is a line intersection but not a ray intersection.
+        return false;
+}
+
+vec3 mesh::check_intersect(vec3 pos, vec3 path) const
+{
+	double l = glm::length(path);
+
+	if(l == 0)
+	{
+		return path;
+	}
+
+	vec3 path_n = path / l;
+	bool intersects = false;
+
+	for(unsigned int i = 0; i < indices.size(); i += 3)
+	{
+		vec3 v[3] = {
+			vec3(this->vertices[indices[i]].pos),
+			vec3(this->vertices[indices[i + 1]].pos),
+			vec3(this->vertices[indices[i + 2]].pos)
+		};
+		
+		vec3 ipoint;
+		vec3 normal = glm::normalize(glm::cross(v[1] - v[0], v[2] - v[0]));
+		double d = glm::dot(normal, path);
+
+		if(d >= 0)
+			continue;
+		if(!ray_intersects_triangle(pos, path_n, v, ipoint))
+			continue;
+		if(l < glm::length(ipoint - pos))
+			continue;
+
+		intersects = true;
+		path -= normal * d;
+		l = glm::length(path);
+		path_n = path / l;
+	}
+
+	return path;
+}
+

src/graphics/mesh/mesh.hpp

@@ -27,6 +27,8 @@ struct mesh
 	void load_text(const char* text, double size);
 	void add(const mesh& o, glm::mat4 mat);
 
+	glm::vec<3, double> check_intersect(glm::vec<3, double> pos, glm::vec<3, double> path) const;
+
 	template <class T>
 	void load_text(const char* header, T& item, double size)
 	{

src/main.cpp

@@ -10,6 +10,8 @@
 #include "coolant/valve.hpp"
 #include "coolant/pump.hpp"
 
+#include "graphics/mesh/mesh.hpp"
+
 #include "graphics/window.hpp"
 #include "graphics/camera.hpp"
 
@@ -39,7 +41,7 @@ int main()
 		clock += passed;
 		
 		sys.update(dt);
-		graphics::camera::update(dt);
+		graphics::camera::update(sys, dt);
 		graphics::window::loop(sys);
 	}
 

src/system.cpp

@@ -41,6 +41,8 @@ system::system()
 	
 	valve = new coolant::valve<reactor::coolant::vessel>(*vessel, 1, 500);
 	pump = new coolant::pump<reactor::coolant::vessel>(*vessel, 1e4, 15);
+
+	scene.load_model("../assets/model", "scene_collisions.stl");
 }
 
 system::system(system&& o)

src/system.hpp

@@ -7,6 +7,7 @@
 #include "reactor/reactor.hpp"
 #include "coolant/pump.hpp"
 #include "coolant/valve.hpp"
+#include "graphics/mesh/mesh.hpp"
 
 namespace sim
 {
@@ -17,6 +18,7 @@ struct system
 	sim::reactor::coolant::vessel* vessel;
 	sim::coolant::valve<sim::reactor::coolant::vessel>* valve;
 	sim::coolant::pump<sim::reactor::coolant::vessel>* pump;
+	sim::graphics::mesh scene;
 
 	system();
 	system(system&& o);