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1<html>
2<head>
3<title>Irrlicht Engine Tutorial</title>
4<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
5</head>
6
7<body bgcolor="#FFFFFF" leftmargin="0" topmargin="0" marginwidth="0" marginheight="0">
8<br>
9<table width="95%" border="0" cellspacing="0" cellpadding="2" align="center">
10 <tr>
11 <td bgcolor="#666699" width="10"><b><a href="http://irrlicht.sourceforge.net" target="_blank"><img src="../../media/irrlichtlogo.jpg" width="88" height="31" border="0"></a></b></td>
12 <td bgcolor="#666699" width="100%">
13<div align="center">
14<div align="center"></div>
15 <div align="left"><b><font color="#FFFFFF">Tutorial 7. Collision detection
16 and response</font></b></div>
17 </div>
18 </td>
19 </tr>
20 <tr bgcolor="#eeeeff">
21 <td height="90" colspan="2">
22 <div align="left">
23 <p>In this tutorial, I will show how to collision detection with the Irrlicht
24 Engine. I will describe 3 methods: Automatic collision detection for
25 moving through 3d worlds with stair climbing and sliding, manual triangle
26 picking and manual scene node picking.</p>
27 <p>The program which is described here will look like this:</p>
28 <p align="center"><img src="../../media/007shot.jpg" width="259" height="204"><br>
29 </p>
30 </div>
31 </td>
32 </tr>
33</table>
34<br>
35<table width="95%" border="0" cellspacing="0" cellpadding="2" align="center">
36 <tr>
37 <td bgcolor="#666699"> <div align="center"><b><font color="#FFFFFF"></font></b></div>
38 <b><font color="#FFFFFF">Lets start!</font></b></td>
39 </tr>
40 <tr>
41 <td height="90" bgcolor="#eeeeff" valign="top"> <div align="left">
42 <div align="left">
43 <p>To start, we take the program from tutorial 2, which loaded and displayed
44 a quake 3 level. We will use the level to walk in it and to pick triangles
45 from it. In addition we'll place 3 animated models into it for scene
46 node picking. The following code starts up the engine and loads a
47 quake 3 level. I will not explain it, because it should already be
48 known from tutorial 2.</p>
49 <table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
50 <tr>
51 <td> <pre><font size="2"><font color="#008000">#include &lt;irrlicht.h&gt;
52#include &lt;iostream&gt;<br>
53</font><b>using namespace </b>irr;
54
55<font color="#008000">#pragma comment(lib, &quot;Irrlicht.lib&quot;)
56
57</font><b>int </b>main()
58{
59<font color="#008000"> // let user select driver type</font>
60<br> video::E_DRIVER_TYPE driverType;<br><br> printf(&quot;Please select the driver you want for this example:\n&quot;\<br> &quot; (a) Direct3D 9.0c\n (b) Direct3D 8.1\n (c) OpenGL 1.5\n&quot;\<br> &quot; (d) Software Renderer\n (e) Apfelbaum Software Renderer\n&quot;\<br> &quot; (f) NullDevice\n (otherKey) exit\n\n&quot;);<br><br> char i;<br> std::cin &gt;&gt; i;<br><br> switch(i)<br> {<br> case 'a': driverType = video::EDT_DIRECT3D9;break;<br> case 'b': driverType = video::EDT_DIRECT3D8;break;<br> case 'c': driverType = video::EDT_OPENGL; break;<br> case 'd': driverType = video::EDT_SOFTWARE; break;<br> case 'e': driverType = video::EDT_BURNINGSVIDEO;break; <br> case 'f': driverType = video::EDT_NULL; break;<br> default: return 0;<br> } <br>
61<font color="#008000"> // create device</font></font></pre>
62 <pre> IrrlichtDevice *device = createDevice(driverType,
63 core::dimension2d&lt;s32&gt;(640, 480), 16, false);<br>
64 if (device == 0)<br> return 1; // could not create selected driver.<br><br> video::IVideoDriver* driver = device-&gt;getVideoDriver();<br> scene::ISceneManager* smgr = device-&gt;getSceneManager();<br><br> <font size="2">device-&gt;getFileSystem()-&gt;addZipFileArchive<br> (<font color="#FF0000">&quot;../../media/map-20kdm2.pk3&quot;</font>);
65
66
67 scene::IAnimatedMesh* q3levelmesh = smgr-&gt;getMesh(<font color="#FF0000">&quot;20kdm2.bsp&quot;</font>);
68 scene::ISceneNode* q3node = <font color="#800080">0</font>;
69
70 <b>if </b>(q3levelmesh)
71 q3node = smgr-&gt;addOctTreeSceneNode(q3levelmesh-&gt;getMesh(<font color="#800080">0</font>));
72</font></pre>
73 </td>
74 </tr>
75 </table>
76 <p> So far so good, we've loaded the quake 3 level like in tutorial
77 2. Now, here comes something different: We create a triangle selector.
78 A triangle selector is a class which can fetch the triangles from
79 scene nodes for doing different things with them, for example collision
80 detection. There are different triangle selectors, and all can be
81 created with the ISceneManager. In this example, we create an OctTreeTriangleSelector,
82 which optimizes the triangle output a little bit by reducing it like
83 an octree. This is very useful for huge meshes like quake 3 levels.<br>
84 Afte we created the triangle selector, we attach it to the q3node.
85 This is not necessary, but in this way, we do not need to care for
86 the selector, for example dropping it after we do not need it anymore.</p>
87 <table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
88 <tr>
89 <td> <pre><font size="2">scene::ITriangleSelector* selector = <font color="#800080">0</font>;
90
91 <b>if </b>(q3node)
92 {
93 q3node-&gt;setPosition(core::vector3df(-<font color="#800080">1370</font>,-<font color="#800080">130</font>,-<font color="#800080">1400</font>));
94
95 selector = smgr-&gt;createOctTreeTriangleSelector(
96 q3levelmesh-&gt;getMesh(<font color="#800080">0</font>), q3node, <font color="#800080">128</font>);
97 q3node-&gt;setTriangleSelector(selector);
98 }</font></pre></td>
99 </tr>
100 </table>
101 <p> We add a first person shooter camera to the scene for being able
102 to move in the quake 3 level like in tutorial 2. But this, time, we
103 add a special animator to the camera: A Collision Response animator.
104 This thing modifies the scene node to which it is attached to in that
105 way, that it may no more move through walls and is affected by gravity.
106 The only thing we have to tell the animator is how the world looks
107 like, how big the scene node is, how gravity and so on. After the
108 collision response animator is attached to the camera, we do not have
109 to do anything more for collision detection, anything is done automaticly,
110 all other collision detection code below is for picking. And please
111 note another cool feature: The collsion response animator can be attached
112 also to all other scene nodes, not only to cameras. And it can be
113 mixed with other scene node animators. In this way, collision detection
114 and response in the Irrlicht<br>
115 engine is really, really easy.<br>
116 Now we'll take a closer look on the parameters of createCollisionResponseAnimator().
117 The first parameter is the TriangleSelector, which specifies how the
118 world, against collision detection is done looks like. The second
119 parameter is the scene node, which is the object, which is affected
120 by collision detection, in our case it is the camera. The third defines
121 how big the object is, it is the radius of an ellipsoid. Try it out
122 and change the radius to smaller values, the camera will be able to
123 move closer to walls after this. The next parameter is the direction
124 and speed of gravity. You could set it to (0,0,0) to disable gravity.
125 And the last value is just a translation: Without this, the ellipsoid
126 with which collision detection is done would be around the camera,
127 and the camera would be in the middle of the ellipsoid. But as human
128 beings, we are used to have our eyes on top of the body, with which
129 we collide with our world, not in the middle of it. So we place the
130 scene node 50 units over the center of the ellipsoid with this parameter.
131 And that's it, collision detection works now. <br>
132 </p>
133 <table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
134 <tr>
135 <td> <pre><font size="2"> scene::ICameraSceneNode* camera = <br> camera = smgr-&gt;addCameraSceneNodeFPS(<font color="#800080">0</font>,<font color="#800080">100.0f</font>,<font color="#800080">300.0f</font>);
136 camera-&gt;setPosition(core::vector3df(-10<font color="#800080">0</font>,<font color="#800080">50</font>,-15<font color="#800080">0</font>));
137
138 scene::ISceneNodeAnimator* anim =<br> smgr-&gt;createCollisionResponseAnimator(
139 selector, camera, core::vector3df(<font color="#800080">30</font>,<font color="#800080">50</font>,<font color="#800080">30</font>),
140 core::vector3df(<font color="#800080">0</font>,<font color="#800080">-3</font>,<font color="#800080">0</font>),
141 core::vector3df(<font color="#800080">0</font>,<font color="#800080">50</font>,<font color="#800080">0</font>));<br>
142 selector-&gt;drop();<br>
143 camera-&gt;addAnimator(anim);
144 anim-&gt;drop();</font></pre></td>
145 </tr>
146 </table>
147 <p> Because collision detection is no big deal in irrlicht, I'll describe
148 how to do two different types of picking in the next section. But
149 before this, I'll prepare the scene a little. I need three animated
150 characters which we <br>
151 could pick later, a dynamic light for lighting them, a billboard for
152 drawing where we found an intersection, and, yes, I need to get rid
153 of this mouse cursor. :)</p>
154 <table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
155 <tr>
156 <td> <pre><font size="2"> <font color="#0A246A"><i>// disable mouse cursor
157
158</i></font> device-&gt;getCursorControl()-&gt;setVisible(<b>false</b>);
159
160 <font color="#0A246A"><i>// add billboard
161
162</i></font> scene::IBillboardSceneNode * bill = smgr-&gt;addBillboardSceneNode();
163 bill-&gt;setMaterialType(video::EMT_TRANSPARENT_ADD_COLOR );
164 bill-&gt;setMaterialTexture(<font color="#800080">0</font>, driver-&gt;getTexture(<br> <font color="#FF0000">&quot;../../media/particle.bmp&quot;</font>));
165 bill-&gt;setMaterialFlag(video::EMF_LIGHTING, <b>false</b>);
166 bill-&gt;setSize(core::dimension2d&lt;f32&gt;(<font color="#800080">20.0f</font>, <font color="#800080">20.0f</font>));
167
168 <font color="#0A246A"><i>// add 3 animated faeries.
169
170</i></font> video::SMaterial material;
171 material.Texture1 = driver-&gt;getTexture(<font color="#FF0000"><br> &quot;../../media/faerie2.bmp&quot;</font>);
172 material.Lighting = <b>true</b>;
173
174 scene::IAnimatedMeshSceneNode* node = <font color="#800080">0</font>;
175 scene::IAnimatedMesh* faerie = smgr-&gt;getMesh(<br> <font color="#FF0000">&quot;../../media/faerie.md2&quot;</font>);
176
177 <b>if </b>(faerie)
178 {
179 node = smgr-&gt;addAnimatedMeshSceneNode(faerie);
180 node-&gt;setPosition(core::vector3df(-<font color="#800080">70</font>,<font color="#800080">0</font>,-<font color="#800080">90</font>));
181 node-&gt;setMD2Animation(scene::EMAT_RUN);
182 node-&gt;getMaterial(<font color="#800080">0</font>) = material;
183
184 node = smgr-&gt;addAnimatedMeshSceneNode(faerie);
185 node-&gt;setPosition(core::vector3df(-<font color="#800080">70</font>,<font color="#800080">0</font>,-<font color="#800080">30</font>));
186 node-&gt;setMD2Animation(scene::EMAT_SALUTE);
187 node-&gt;getMaterial(<font color="#800080">0</font>) = material;
188
189 node = smgr-&gt;addAnimatedMeshSceneNode(faerie);
190 node-&gt;setPosition(core::vector3df(-<font color="#800080">70</font>,<font color="#800080">0</font>,-<font color="#800080">60</font>));
191 node-&gt;setMD2Animation(scene::EMAT_JUMP);
192 node-&gt;getMaterial(<font color="#800080">0</font>) = material;
193 }
194
195 material.Texture1 = <font color="#800080">0</font>;
196 material.Lighting = <b>false</b>;
197
198 <font color="#0A246A"><i>// Add a light
199
200</i></font> smgr-&gt;addLightSceneNode(<font color="#800080">0</font>, core::vector3df(-<font color="#800080">60</font>,<font color="#800080">100</font>,<font color="#800080">400</font>),
201 video::SColorf(<font color="#800080">1.0f</font>,<font color="#800080">1.0f</font>,<font color="#800080">1.0f</font>,<font color="#800080">1.0f</font>),
202 <font color="#800080">600.0f</font>);</font></pre></td>
203 </tr>
204 </table>
205 <p>For not making it to complicated, I'm doing picking inside the drawing
206 loop. We take two pointers for storing the current and the last selected
207 scene node and start the loop.</p>
208 </div>
209 <table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
210 <tr>
211 <td> <pre><font size="2"> scene::ISceneNode* selectedSceneNode = <font color="#800080">0</font>;
212 scene::ISceneNode* lastSelectedSceneNode = <font color="#800080">0</font>;
213
214
215 <b>int </b>lastFPS = -<font color="#800080">1</font>;
216
217 <b>while</b>(device-&gt;run())<br> <strong>if</strong> (device-&gt;isWindowActive())
218 {
219 driver-&gt;beginScene(<b>true</b>, <b>true</b>, <font color="#800080">0</font>);
220
221 smgr-&gt;drawAll();</font></pre></td>
222 </tr>
223 </table>
224 <p> After we've drawn the whole scene whit smgr-&gt;drawAll(), we'll do
225 the first picking: We want to know which triangle of the world we are
226 looking at. In addition, we want the exact point of the quake 3 level
227 we are looking at. For this, we create a 3d line starting at the position
228 of the camera and going through the lookAt-target of it. Then we ask
229 the collision manager if this line collides with a triangle of the world
230 stored in the triangle selector. If yes, we draw the 3d triangle and
231 set the position of the billboard to the intersection point. </p>
232 <table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
233 <tr>
234 <td><pre><font size="2"> core::line3d&lt;f32&gt; line;
235 line.start = camera-&gt;getPosition();
236 line.end = line.start +
237 (camera-&gt;getTarget() - line.start).normalize() * <font color="#800080">1000.0f</font>;
238
239 core::vector3df intersection;
240 core::triangle3df tri;
241
242 <b>if </b>(smgr-&gt;getSceneCollisionManager()-&gt;getCollisionPoint(
243 line, selector, intersection, tri))
244 {
245 bill-&gt;setPosition(intersection);
246
247 driver-&gt;setTransform(video::ETS_WORLD, core::matrix4());
248 driver-&gt;setMaterial(material);
249 driver-&gt;draw3DTriangle(tri, video::SColor(<font color="#800080">0</font>,<font color="#800080">255</font>,<font color="#800080">0</font>,<font color="#800080">0</font>));
250 }</font></pre></td>
251 </tr>
252 </table>
253 <p> Another type of picking supported by the Irrlicht Engine is scene
254 node picking based on bouding boxes. Every scene node has got a bounding
255 box, and because of that, it's very fast for example to get the scene
256 node which the camera looks<br>
257 at. Again, we ask the collision manager for this, and if we've got a
258 scene node, we highlight it by disabling Lighting in its material, if
259 it is not the billboard or the quake 3 level. </p>
260 <table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
261 <tr>
262 <td><pre><font size="2"> selectedSceneNode = smgr-&gt;getSceneCollisionManager()-&gt;
263 getSceneNodeFromCameraBB(camera);
264
265 <b>if </b>(lastSelectedSceneNode)
266 lastSelectedSceneNode-&gt;setMaterialFlag(
267 video::EMF_LIGHTING, <b>true</b>);
268
269 <b>if </b>(selectedSceneNode == q3node ||
270 selectedSceneNode == bill)
271 selectedSceneNode = <font color="#800080">0</font>;
272
273 <b>if </b>(selectedSceneNode)
274 selectedSceneNode-&gt;setMaterialFlag(
275 video::EMF_LIGHTING, <b>false</b>);
276
277 lastSelectedSceneNode = selectedSceneNode;</font></pre></td>
278 </tr>
279 </table>
280 <p> That's it, we just have to finish drawing.</p>
281 <table width="95%" border="0" cellspacing="2" cellpadding="0" bgcolor="#CCCCCC" align="center">
282 <tr>
283 <td> <pre><font size="2"> driver-&gt;endScene();
284
285 <b>int </b>fps = driver-&gt;getFPS();
286
287 <b>if </b>(lastFPS != fps)
288 {
289 core::stringw str = L&quot;Collision detection example - Irrlicht Engine [&quot;;<br> str += driver-&gt;getName();<br> str += &quot;] FPS:&quot;;<br> str += fps;<br><br> device-&gt;setWindowCaption(str.c_str());<br> lastFPS = fps;<br> }
290 }
291
292 device-&gt;drop();
293
294 <b>return </b><font color="#800080">0</font>;
295}
296
297</font></pre></td>
298 </tr>
299 </table>
300 <p>&nbsp;</p>
301 <p>&nbsp;</p>
302 </div>
303 </td>
304 </tr>
305</table>
306<p>&nbsp;</p>
307 </body>
308</html>
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