Ogre碰撞检测

Ogre采用树桩管理场景中的各种"元素"(摄像机、灯光、物体等)，所有的东西都挂在"树"上，不在"树"上的东西不会被渲染。
Ogre::SceneManager就是"树"的管理者，Ogre::SceneNode是从SceneManager中创建的（当然BSP和8*树的管理也和这两个类有关，这暂时不讨论）。

AABB(轴对齐包围盒)

这个东西是碰撞检测的基础，和它类似的还有OBB(有向包围盒)，由于OBB创建复杂，所以Ogre采用了AABB。

最简单的碰撞检测：

通过Ogre::SceneNode::_getWorldAABB()可以取得这个叶子节点的AABB(Ogre::AxisAlignedBox)，Ogre::AxisAlignedBox封装了对AABB的支持，该类的成员函数Ogre::AxisAlignedBox::intersects()可以判断一个AABB和"球体、点、面以及其他面"的相交情况（碰撞情况）。

m_SphereNode树的叶子，挂了一个"球"
m_CubeNode树的叶子，挂了一个"正方体"

AxisAlignedBox spbox = m_SphereNode->_getWorldAABB();
AxisAlignedBox cbbox = m_CubeNode->_getWorldAABB();
if(spbox.intersects(cbbox))
{
      //相交
}

附上简单的AABB测试程序，碰撞之后模型放大十倍，当然碰撞之后的事情你可以随意修改

#include"ExampleApplication.h"
#include <stdio.h>
class CollionFrameListener:public ExampleFrameListener
{
private:
 SceneNode* m_node;
 SceneNode*m_node2;
 SceneManager* mSceneMgr;
public:
 CollionFrameListener(RenderWindow* win, Camera* cam,SceneNode* node,SceneNode*node22,SceneManager* manager)
  :ExampleFrameListener(win,cam),m_node(node),m_node2(node22),mSceneMgr(manager)
 {
 }
 bool frameStarted(const FrameEvent& evt)
 {
  AxisAlignedBox spbox=m_node->_getWorldAABB();
  AxisAlignedBox cbbox=m_node2->_getWorldAABB();
  if(spbox.intersects(cbbox))
  {
   m_node2->setScale(10,10,10);
  }
  return ExampleFrameListener::frameStarted(evt);
 }
};

class CollionApplication:public ExampleApplication
{
protected:
 SceneNode*node1;
 SceneNode* node2;
 void createScene()
 {
  mSceneMgr->setAmbientLight(ColourValue(1,1,1));
  Entity* ent1=mSceneMgr->createEntity("robot","robot.mesh");
  node1=mSceneMgr->getRootSceneNode()->createChildSceneNode("robotnode");
  node1->attachObject(ent1);
  Entity *ent2=mSceneMgr->createEntity("ogrehead","ogreHead.mesh");
  node2=mSceneMgr->getRootSceneNode()->createChildSceneNode("ogreheadnode",Vector3(2,0,0));
  node2->attachObject(ent2);
  
 }
void createFrameListener()
 {
  mFrameListener=new CollionFrameListener(mWindow,mCamera,node1,node2,mSceneMgr);
  mFrameListener->showDebugOverlay(true);
  mRoot->addFrameListener(mFrameListener);
 }
};
INT WINAPI WinMain( HINSTANCE hInstance, HINSTANCE,  LPSTR, int )
{
 CollionApplication app;
 app.go();
}

区域查询：

简单的讲就是，查询某一区域中有什么东西，分为AABB、球体、面查询。

    //创建一个球体查询，这里的100是m_SphereNode挂着的那个球体的半径
    SphereSceneQuery * pQuery=m_SceneMgr-＞createSphereQuery(Sphere(m_SphereNode-＞getPosition(),100));
    //执行这个查询
    SceneQueryResult QResult=pQuery-＞execute();
    //遍历查询列表找出范围内的物体
    for (SceneQueryResultMovableList::iterator iter = QResult.movables.begin(); iter != QResult.movables.end();++iter)
    {
     MovableObject* pObject=static_cast＜MovableObject*＞(*iter);
     if(pObject)
     {
      if(pObject-＞getMovableType()=="Entity")
      {
       Entity* ent = static_cast＜Entity*＞(pObject);
       //这里简化了操作，由于只有一个"球体"和一个"正方体"，
       //所以只判断了球体和正方体的相交

       if(ent-＞getName()=="cube")
       {
        //改变位置防止物体重叠
        vtl=-vtl;
        m_SphereNode-＞translate(vtl);
        break;
       }
      }
     }
    }

新建一个空的ogre程序，将这个代码添加到你的cpp文件中就可以运行，这个例子是如果碰撞就将模型放大十倍，当然碰撞之后的代码你可以随便修改

#include"ExampleApplication.h"
#include <stdio.h>
class CollionFrameListener:public ExampleFrameListener
{
private:
 SceneNode* m_node;
 SceneManager* mSceneMgr;
public:
 CollionFrameListener(RenderWindow* win, Camera* cam,SceneNode* node,SceneManager* manager)
  :ExampleFrameListener(win,cam),m_node(node),mSceneMgr(manager)
 {
 }
 bool frameStarted(const FrameEvent& evt)
 {
   SphereSceneQuery * pQuery=mSceneMgr->createSphereQuery(Sphere(m_node->getPosition(),10));
   SceneQueryResult QResult=pQuery->execute();
   for (SceneQueryResultMovableList::iterator iter = QResult.movables.begin(); iter != QResult.movables.end();++iter)
   {
    MovableObject* pObject=static_cast<MovableObject*>(*iter);
    if(pObject)
    {
     if(pObject->getMovableType()=="Entity")
     {
      Entity* ent = static_cast<Entity*>(pObject);
      if(ent->getName()=="ogrehead")
      {
       m_node->setScale(10,10,10);
       break;
      }
     }
    }
   }
  return ExampleFrameListener::frameStarted(evt);
 }
};

class CollionApplication:public ExampleApplication
{
protected:
 SceneNode*node1;
 void createScene()
 {
  mSceneMgr->setAmbientLight(ColourValue(1,1,1));
  Entity* ent1=mSceneMgr->createEntity("robot","robot.mesh");
  node1=mSceneMgr->getRootSceneNode()->createChildSceneNode("robotnode");
  node1->attachObject(ent1);
  Entity *ent2=mSceneMgr->createEntity("ogrehead","ogreHead.mesh");
  SceneNode* node2=mSceneMgr->getRootSceneNode()->createChildSceneNode("ogreheadnode",Vector3(2,0,0));
  node2->attachObject(ent2);
 }
 void createFrameListener()
 {
  mFrameListener=new CollionFrameListener(mWindow,mCamera,node1,mSceneMgr);
  mFrameListener->showDebugOverlay(true);
  mRoot->addFrameListener(mFrameListener);
 }
};


INT WINAPI WinMain( HINSTANCE hInstance, HINSTANCE,  LPSTR, int )
{
 CollionApplication app;
 app.go();
}

相交查询:

遍历所有的对象，找到一对一对的相交物体（废话呀，相交当然至少两个物体）。        

//创建相交检测
 IntersectionSceneQuery* pISQuery=m_SceneMgr-＞createIntersectionQuery();
 //执行查询
 IntersectionSceneQueryResult QResult=pISQuery-＞execute();
 //遍历查询列表找出两个相交的物体
 for (SceneQueryMovableIntersectionList::iterator iter = QResult.movables2movables.begin();
 iter != QResult.movables2movables.end();++iter)
 {
 
SceneQueryMovableObjectPair pObject=static_cast＜SceneQueryMovableObjectPair＞(*iter);
 //if(pObject)
 {
 String strFirst=pObject.first-＞getName();
 String strSecond=pObject.second-＞getName();
 //下面加入你自己的两个物体相交判断代码，或者简单的用AABB的判断方法，
 }
 }

在Ogre中，可以创建一个查询器，比如球体查询器，AABB查询器，面查询器等。下面我们以最常用的球形查询器为例来说明：

如下面的代码，我们首先创建一个球形查询器，它需要定义一个球体，我们把它的位置，设置为摄像机的位置，半径为10，掩码为第二个参数，默认为-1，

通过掩码，可以把碰撞的物体分成不同的组，比如我们设置球形场景查询器的掩码为0x1,则它只检测和它掩码相同物体的碰撞。该摄像机检测到entity对象后，就把摄像机位置沿摄像机方向，向后移动一个单位，这样会实现碰撞检测，但是摄像机因为向后有个移动，所以会有抖动。

  //创建球形查询器,第二个参数表示掩码,默认情况下为-1
        SphereSceneQuery * pQuery=mSceneMgr->createSphereQuery(Sphere(mCamera->getPosition(),10));
        SceneQueryResult QResult=pQuery->execute();
        for (std::list<MovableObject*>::iterator iter = QResult.movables.begin(); iter != QResult.movables.end();++iter)
        {
            MovableObject* pObject=static_cast<MovableObject*>(*iter);
            if(pObject)
            {
                if(pObject->getMovableType()=="Entity")
                {
                    Entity* ent = static_cast<Entity*>(pObject);
                    //if(ent->getName()=="Head")
                    //{
                    //    //m_node->setScale(10,10,10);
                    //    pObject->getParentNode()->scale(0.5,0.5,0.5);
                    //    break;
                    //}
                    Ogre::Vector3 v = mCamera->getPosition();
                    Ogre::Vector3 d = mCamera->getDirection();
                    v = v + d*(-1);
                    mCamera->setPosition(v);

                }
            }
        }全部的代码:

#include "ExampleApplication.h"

RaySceneQuery* raySceneQuery = 0;

// Event handler to add ability to alter curvature
class TerrainFrameListener : public ExampleFrameListener
{
public:
    SceneManager* mSceneMgr;
    TerrainFrameListener(SceneManager *sceneMgr,RenderWindow* win, Camera* cam)
        : ExampleFrameListener(win, cam)
    {
        // Reduce move speed
        mMoveSpeed = 50;
        mSceneMgr = sceneMgr;
    }

    bool frameRenderingQueued(const FrameEvent& evt)
    {
        if( ExampleFrameListener::frameRenderingQueued(evt) == false )
        return false;

        // clamp to terrain
        static Ray updateRay;
        updateRay.setOrigin(mCamera->getPosition());
        updateRay.setDirection(Vector3::NEGATIVE_UNIT_Y);
        raySceneQuery->setRay(updateRay);
        RaySceneQueryResult& qryResult = raySceneQuery->execute();
        RaySceneQueryResult::iterator i = qryResult.begin();
        if (i != qryResult.end() && i->worldFragment)//把摄像机定在地形10个单位高的地方。
        {
            mCamera->setPosition(mCamera->getPosition().x, 
                i->worldFragment->singleIntersection.y + 10, 
                mCamera->getPosition().z);
        }
        //创建球形查询器,第二个参数表示掩码,默认情况下为-1
        SphereSceneQuery * pQuery=mSceneMgr->createSphereQuery(Sphere(mCamera->getPosition(),10));
        SceneQueryResult QResult=pQuery->execute();
        for (std::list<MovableObject*>::iterator iter = QResult.movables.begin(); iter != QResult.movables.end();++iter)
        {
            MovableObject* pObject=static_cast<MovableObject*>(*iter);
            if(pObject)
            {
                if(pObject->getMovableType()=="Entity")
                {
                    Entity* ent = static_cast<Entity*>(pObject);
                    //if(ent->getName()=="Head")
                    //{
                    //    //m_node->setScale(10,10,10);
                    //    pObject->getParentNode()->scale(0.5,0.5,0.5);
                    //    break;
                    //}
                    Ogre::Vector3 v = mCamera->getPosition();
                    Ogre::Vector3 d = mCamera->getDirection();
                    v = v + d*(-1);
                    mCamera->setPosition(v);

                }
            }
        }

        return true;

    }

};



class TerrainApplication : public ExampleApplication
{
public:
    TerrainApplication() {}

    ~TerrainApplication()
    {
        delete raySceneQuery;
    }

protected:


    virtual void chooseSceneManager(void)
    {
        // Get the SceneManager, in this case a generic one
        mSceneMgr = mRoot->createSceneManager("TerrainSceneManager");
    }

    virtual void createCamera(void)
    {
        // Create the camera
        mCamera = mSceneMgr->createCamera("PlayerCam");

        // Position it at 500 in Z direction
        mCamera->setPosition(Vector3(128,25,128));
        // Look back along -Z
        mCamera->lookAt(Vector3(0,0,-300));
        mCamera->setNearClipDistance( 1 );
        mCamera->setFarClipDistance( 1000 );

    }
   
    // Just override the mandatory create scene method
    void createScene(void)
    {

        // Set ambient light
        mSceneMgr->setAmbientLight(ColourValue(0.5, 0.5, 0.5));

        // Create a light
        Light* l = mSceneMgr->createLight("MainLight");
        // Accept default settings: point light, white diffuse, just set position
        // NB I could attach the light to a SceneNode if I wanted it to move automatically with
        //  other objects, but I don't
        l->setPosition(20,80,50);

        // Fog
        // NB it's VERY important to set this before calling setWorldGeometry 
        // because the vertex program picked will be different
        ColourValue fadeColour(0.93, 0.86, 0.76);
        mSceneMgr->setFog( FOG_LINEAR, fadeColour, .001, 500, 1000);
        mWindow->getViewport(0)->setBackgroundColour(fadeColour);

        std::string terrain_cfg("terrain.cfg");
        mSceneMgr -> setWorldGeometry( terrain_cfg );
        // Infinite far plane?
        if (mRoot->getRenderSystem()->getCapabilities()->hasCapability(RSC_INFINITE_FAR_PLANE))
        {
            mCamera->setFarClipDistance(0);
        }

        // Set a nice viewpoint
        mCamera->setPosition(707,2500,528);
        mCamera->setOrientation(Quaternion(-0.3486, 0.0122, 0.9365, 0.0329));
        //mRoot -> showDebugOverlay( true );

        raySceneQuery = mSceneMgr->createRayQuery(
            Ray(mCamera->getPosition(), Vector3::NEGATIVE_UNIT_Y));//光线的位置和方向，垂直向下

        Entity* ogreHead = mSceneMgr->createEntity("Head", "ogrehead.mesh");

        //创建ogre head实体，测试通过射线查询movable来实现摄像机碰撞检测
        SceneNode* headNode = mSceneMgr->getRootSceneNode()->createChildSceneNode("ogreHead");
        headNode->attachObject(ogreHead);
        headNode->setPosition(500.0, 100.0, 500.0);
        headNode->scale(Vector3(2,2,2));

    }
    // Create new frame listener
    void createFrameListener(void)
    {
        mFrameListener= new TerrainFrameListener(mSceneMgr,mWindow, mCamera);
        mRoot->addFrameListener(mFrameListener);
    }

};

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