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https://github.com/SantaSpeen/CommandEngine-BeamMP.git
synced 2025-07-01 23:36:22 +00:00
Beta
This commit is contained in:
parent
7f7275b7dc
commit
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1
.gitignore
vendored
1
.gitignore
vendored
@ -47,4 +47,3 @@ luac.out
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BeamMP-Server.exe
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ServerConfig.toml
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*.log
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trafficSync/
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11
LICENSE
Normal file
11
LICENSE
Normal file
@ -0,0 +1,11 @@
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Copyright (c) 2022 Maxim Khomutov
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Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without limitation in the rights to use, copy, modify, merge, publish, and/ or distribute copies of the Software in an educational or personal context, subject to the following conditions:
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||||
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||||
- The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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||||
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||||
Permission is granted to sell and/ or distribute copies of the Software in a commercial context, subject to the following conditions:
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||||
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- Substantial changes: adding, removing, or modifying large parts, shall be developed in the Software. Reorganizing logic in the software does not warrant a substantial change.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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18
README.md
18
README.md
@ -1,2 +1,16 @@
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# TrafficSync-BeamMP for
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Mod to sync traffic signals like those found on East Coast USA on BeamMP servers
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# CommandEngine
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## About
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* Status: **WIP**
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CommandEngine is plugin for BeamMP.\
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Plugin for handle commands from client chat or server console.
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## Wiki
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-- TODO
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* 1
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* 2
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* 3
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119
Resources/Server/CommandEngine/CommandEngine.lua
Normal file
119
Resources/Server/CommandEngine/CommandEngine.lua
Normal file
@ -0,0 +1,119 @@
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---
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--- Created by SantaSpeen.
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--- DateTime: 25.09.2022 13:38
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---
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json = require("json")
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-- -- -- -- -- Init functions -- -- -- -- --
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function log(...)
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print("[".. pluginName .."] " .. tostring(...))
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end
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function SplitString (str, char)
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local res = {};
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for i in string.gmatch(str, "[^" .. char .. "]+") do
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table.insert(res, i)
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end
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return res
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end
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-- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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-- -- -- -- -- Init Variables -- -- -- -- --
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pluginName = "CommandEngine"
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prefix = "/"
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-- Table settings: cmd_name = { "event", "mode", { "command syntax", "Help note." } }
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-- Mods settings: a - all mode; c - only console; u - only from user;
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commandsStorage = {
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help = { "CE_help", "c", "displays this help."},
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stop = { "shutdownServer", "c", "Also as exit."}
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}
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pluginPath = FS.GetParentFolder(string.gsub(debug.getinfo(1).source,"\\", "/"))
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-- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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-- -- -- -- -- Register Events -- -- -- -- -
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log("Register global events.")
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MP.RegisterEvent("CE_addCommand", "addCommandToStorage")
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-- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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function getCommand(commandName, handlerMode)
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for k, v in pairs(commandsStorage) do
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if commandName == k then
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local mode = v[2]
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if mode == "s" then
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return nil
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elseif mode == "a" then
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return v
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elseif mode == handlerMode then
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return v
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end
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end
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end
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end
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function chatHandler(sender_id, sender_name, message)
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if message:sub(1,1) ~= prefix then return 0 end
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local cmd = SplitString(message:sub(2), prefix)[1]
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cmdSettings = getCommand(cmd, "u")
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if cmdSettings then
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local Future = MP.TriggerGlobalEvent(cmdSettings[1], sender_id, sender_name)
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while not Future:IsDone() do MP.Sleep(100) end
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local Results = Future:GetResults()
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MP.SendChatMessage(sender_id, Results[1])
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end
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end
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function consoleHandler(cmd)
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cmdSettings = getCommand(cmd, "c")
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if cmdSettings then
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local Future = MP.TriggerGlobalEvent(cmdSettings[1], -1, "console")
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while not Future:IsDone() do MP.Sleep(100) end
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local Results = Future:GetResults()
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return Results[1]
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end
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end
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function addCommandToStorage(commands)
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log(commands)
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for k,v in pairs(commands) do commandsStorage[k] = v end
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end
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function printHelpCommandEngine(...)
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local wrap = function (text)
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local ltext = string.len(text)
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if ltext > 24 then
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return string.sub(text, 1, 20) .. "... "
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end
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return text .. string.sub(" ", 1, 24 - ltext)
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end
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local helpMessage = "CommandEngine Console:\nM Syntax What it does\n Commands:\n" --> I hate this
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for k, v in pairs(commandsStorage) do
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helpNote = v[3]
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if type(helpNote) == "table" then
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helpMessage = helpMessage .. v[2] .. " " .. wrap(v[3][1]) .. v[3][2] .. "\n"
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else
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helpMessage = helpMessage .. v[2] .. " " .. wrap(k) .. v[3] .. "\n"
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end
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end
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return helpMessage
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end
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function isCommandEngineReady() return true end
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function shutdown() exit() return "Goodbye!" end
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function onInit()
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log("Register default events.")
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MP.RegisterEvent("onConsoleInput", "consoleHandler")
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MP.RegisterEvent("onChatMessage", "chatHandler")
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MP.RegisterEvent("CE_help", "printHelpCommandEngine")
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MP.RegisterEvent("shutdownServer", "shutdown")
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log("Ready.")
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MP.RegisterEvent("CE_isReady", "isCommandEngineReady")
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end
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1012
lua/graphpath.lua
1012
lua/graphpath.lua
File diff suppressed because it is too large
Load Diff
575
lua/json.lua
575
lua/json.lua
@ -1,219 +1,400 @@
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--[[ json.lua
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A compact pure-Lua JSON library.
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The main functions are: json.stringify, json.parse.
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## json.stringify:
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This expects the following to be true of any tables being encoded:
|
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* They only have string or number keys. Number keys must be represented as
|
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strings in json; this is part of the json spec.
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* They are not recursive. Such a structure cannot be specified in json.
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A Lua table is considered to be an array if and only if its set of keys is a
|
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consecutive sequence of positive integers starting at 1. Arrays are encoded like
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so: `[2, 3, false, "hi"]`. Any other type of Lua table is encoded as a json
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object, encoded like so: `{"key1": 2, "key2": false}`.
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Because the Lua nil value cannot be a key, and as a table value is considerd
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equivalent to a missing key, there is no way to express the json "null" value in
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a Lua table. The only way this will output "null" is if your entire input obj is
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nil itself.
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An empty Lua table, {}, could be considered either a json object or array -
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it's an ambiguous edge case. We choose to treat this as an object as it is the
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more general type.
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To be clear, none of the above considerations is a limitation of this code.
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Rather, it is what we get when we completely observe the json specification for
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as arbitrary a Lua object as json is capable of expressing.
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## json.parse:
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This function parses json, with the exception that it does not pay attention to
|
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\u-escaped unicode code points in strings.
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It is difficult for Lua to return null as a value. In order to prevent the loss
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||||
of keys with a null value in a json string, this function uses the one-off
|
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table value json.null (which is just an empty table) to indicate null values.
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This way you can check if a value is null with the conditional
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`val == json.null`.
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If you have control over the data and are using Lua, I would recommend just
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avoiding null values in your data to begin with.
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--]]
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--
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-- json.lua
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--
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||||
-- Copyright (c) 2019 rxi
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||||
--
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||||
-- Permission is hereby granted, free of charge, to any person obtaining a copy of
|
||||
-- this software and associated documentation files (the "Software"), to deal in
|
||||
-- the Software without restriction, including without limitation the rights to
|
||||
-- use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
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||||
-- of the Software, and to permit persons to whom the Software is furnished to do
|
||||
-- so, subject to the following conditions:
|
||||
--
|
||||
-- The above copyright notice and this permission notice shall be included in all
|
||||
-- copies or substantial portions of the Software.
|
||||
--
|
||||
-- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
-- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
-- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
-- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
-- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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||||
-- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
-- SOFTWARE.
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||||
--
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||||
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||||
local json = { _version = "0.1.2" }
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||||
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||||
local json = {}
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-------------------------------------------------------------------------------
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-- Encode
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||||
-------------------------------------------------------------------------------
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||||
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||||
local encode
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||||
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||||
-- Internal functions.
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||||
local escape_char_map = {
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[ "\\" ] = "\\\\",
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[ "\"" ] = "\\\"",
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[ "\b" ] = "\\b",
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||||
[ "\f" ] = "\\f",
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||||
[ "\n" ] = "\\n",
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||||
[ "\r" ] = "\\r",
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[ "\t" ] = "\\t",
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||||
}
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||||
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||||
local function kind_of(obj)
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if type(obj) ~= 'table' then return type(obj) end
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||||
local i = 1
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||||
for _ in pairs(obj) do
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||||
if obj[i] ~= nil then i = i + 1 else return 'table' end
|
||||
end
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||||
if i == 1 then return 'table' else return 'array' end
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end
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||||
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||||
local function escape_str(s)
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||||
local in_char = {'\\', '"', '/', '\b', '\f', '\n', '\r', '\t'}
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||||
local out_char = {'\\', '"', '/', 'b', 'f', 'n', 'r', 't'}
|
||||
for i, c in ipairs(in_char) do
|
||||
s = s:gsub(c, '\\' .. out_char[i])
|
||||
end
|
||||
return s
|
||||
end
|
||||
|
||||
-- Returns pos, did_find; there are two cases:
|
||||
-- 1. Delimiter found: pos = pos after leading space + delim; did_find = true.
|
||||
-- 2. Delimiter not found: pos = pos after leading space; did_find = false.
|
||||
-- This throws an error if err_if_missing is true and the delim is not found.
|
||||
local function skip_delim(str, pos, delim, err_if_missing)
|
||||
pos = pos + #str:match('^%s*', pos)
|
||||
if str:sub(pos, pos) ~= delim then
|
||||
if err_if_missing then
|
||||
error('Expected ' .. delim .. ' near position ' .. pos)
|
||||
end
|
||||
return pos, false
|
||||
end
|
||||
return pos + 1, true
|
||||
end
|
||||
|
||||
-- Expects the given pos to be the first character after the opening quote.
|
||||
-- Returns val, pos; the returned pos is after the closing quote character.
|
||||
local function parse_str_val(str, pos, val)
|
||||
val = val or ''
|
||||
local early_end_error = 'End of input found while parsing string.'
|
||||
if pos > #str then error(early_end_error) end
|
||||
local c = str:sub(pos, pos)
|
||||
if c == '"' then return val, pos + 1 end
|
||||
if c ~= '\\' then return parse_str_val(str, pos + 1, val .. c) end
|
||||
-- We must have a \ character.
|
||||
local esc_map = {b = '\b', f = '\f', n = '\n', r = '\r', t = '\t'}
|
||||
local nextc = str:sub(pos + 1, pos + 1)
|
||||
if not nextc then error(early_end_error) end
|
||||
return parse_str_val(str, pos + 2, val .. (esc_map[nextc] or nextc))
|
||||
end
|
||||
|
||||
-- Returns val, pos; the returned pos is after the number's final character.
|
||||
local function parse_num_val(str, pos)
|
||||
local num_str = str:match('^-?%d+%.?%d*[eE]?[+-]?%d*', pos)
|
||||
local val = tonumber(num_str)
|
||||
if not val then error('Error parsing number at position ' .. pos .. '.') end
|
||||
return val, pos + #num_str
|
||||
local escape_char_map_inv = { [ "\\/" ] = "/" }
|
||||
for k, v in pairs(escape_char_map) do
|
||||
escape_char_map_inv[v] = k
|
||||
end
|
||||
|
||||
|
||||
-- Public values and functions.
|
||||
local function escape_char(c)
|
||||
return escape_char_map[c] or string.format("\\u%04x", c:byte())
|
||||
end
|
||||
|
||||
function json.rawStringify(obj, as_key)
|
||||
local s = {} -- We'll build the string as an array of strings to be concatenated.
|
||||
local kind = kind_of(obj) -- This is 'array' if it's an array or type(obj) otherwise.
|
||||
if kind == 'array' then
|
||||
if as_key then error('Can\'t encode array as key.') end
|
||||
s[#s + 1] = '['
|
||||
for i, val in ipairs(obj) do
|
||||
if i > 1 then s[#s + 1] = ', ' end
|
||||
s[#s + 1] = json.rawStringify(val)
|
||||
|
||||
local function encode_nil(val)
|
||||
return "null"
|
||||
end
|
||||
|
||||
|
||||
local function encode_table(val, stack)
|
||||
local res = {}
|
||||
stack = stack or {}
|
||||
|
||||
-- Circular reference?
|
||||
if stack[val] then error("circular reference") end
|
||||
|
||||
stack[val] = true
|
||||
|
||||
if rawget(val, 1) ~= nil or next(val) == nil then
|
||||
-- Treat as array -- check keys are valid and it is not sparse
|
||||
local n = 0
|
||||
for k in pairs(val) do
|
||||
if type(k) ~= "number" then
|
||||
error("invalid table: mixed or invalid key types")
|
||||
end
|
||||
s[#s + 1] = ']'
|
||||
elseif kind == 'table' then
|
||||
if as_key then error('Can\'t encode table as key.') end
|
||||
s[#s + 1] = '{'
|
||||
for k, v in pairs(obj) do
|
||||
if #s > 1 then s[#s + 1] = ', ' end
|
||||
s[#s + 1] = json.rawStringify(k, true)
|
||||
s[#s + 1] = ':'
|
||||
s[#s + 1] = json.rawStringify(v)
|
||||
n = n + 1
|
||||
end
|
||||
s[#s + 1] = '}'
|
||||
elseif kind == 'string' then
|
||||
return '"' .. escape_str(obj) .. '"'
|
||||
elseif kind == 'number' then
|
||||
if as_key then return '"' .. tostring(obj) .. '"' end
|
||||
return tostring(obj)
|
||||
elseif kind == 'boolean' then
|
||||
return tostring(obj)
|
||||
elseif kind == 'nil' then
|
||||
return 'null'
|
||||
if n ~= #val then
|
||||
error("invalid table: sparse array")
|
||||
end
|
||||
-- Encode
|
||||
for i, v in ipairs(val) do
|
||||
table.insert(res, encode(v, stack))
|
||||
end
|
||||
stack[val] = nil
|
||||
return "[" .. table.concat(res, ",") .. "]"
|
||||
|
||||
else
|
||||
error('Unjsonifiable type: ' .. kind .. '.')
|
||||
-- Treat as an object
|
||||
for k, v in pairs(val) do
|
||||
if type(k) ~= "string" then
|
||||
error("invalid table: mixed or invalid key types")
|
||||
end
|
||||
table.insert(res, encode(k, stack) .. ":" .. encode(v, stack))
|
||||
end
|
||||
stack[val] = nil
|
||||
return "{" .. table.concat(res, ",") .. "}"
|
||||
end
|
||||
return table.concat(s)
|
||||
end
|
||||
|
||||
function json.stringify(obj, as_key)
|
||||
local s = {} -- We'll build the string as an array of strings to be concatenated.
|
||||
local kind = kind_of(obj) -- This is 'array' if it's an array or type(obj) otherwise.
|
||||
if kind == 'array' then
|
||||
if as_key then error('Can\'t encode array as key.') end
|
||||
s[#s + 1] = '['
|
||||
for i, val in ipairs(obj) do
|
||||
if i > 1 then s[#s + 1] = ', ' end
|
||||
s[#s + 1] = json.stringify(val)
|
||||
|
||||
local function encode_string(val)
|
||||
return '"' .. val:gsub('[%z\1-\31\\"]', escape_char) .. '"'
|
||||
end
|
||||
|
||||
|
||||
local function encode_number(val)
|
||||
-- Check for NaN, -inf and inf
|
||||
if val ~= val or val <= -math.huge or val >= math.huge then
|
||||
error("unexpected number value '" .. tostring(val) .. "'")
|
||||
end
|
||||
s[#s + 1] = ']'
|
||||
elseif kind == 'table' then
|
||||
if as_key then error('Can\'t encode table as key.') end
|
||||
s[#s + 1] = '{\t'
|
||||
for k, v in pairs(obj) do
|
||||
if #s > 1 then s[#s + 1] = ',' end
|
||||
if kind_of(v) == 'table' then s[#s + 1] = "\n" else s[#s + 1] = "\n\t" end
|
||||
s[#s + 1] = json.stringify(k, true)
|
||||
s[#s + 1] = ':'
|
||||
s[#s + 1] = json.stringify(v)
|
||||
return string.format("%.14g", val)
|
||||
end
|
||||
|
||||
|
||||
local type_func_map = {
|
||||
[ "nil" ] = encode_nil,
|
||||
[ "table" ] = encode_table,
|
||||
[ "string" ] = encode_string,
|
||||
[ "number" ] = encode_number,
|
||||
[ "boolean" ] = tostring,
|
||||
}
|
||||
|
||||
|
||||
encode = function(val, stack)
|
||||
local t = type(val)
|
||||
local f = type_func_map[t]
|
||||
if f then
|
||||
return f(val, stack)
|
||||
end
|
||||
s[#s + 1] = '\n}'
|
||||
elseif kind == 'string' then
|
||||
return '"' .. escape_str(obj) .. '"'
|
||||
elseif kind == 'number' then
|
||||
if as_key then return '"' .. tostring(obj) .. '"' end
|
||||
return tostring(obj)
|
||||
elseif kind == 'boolean' then
|
||||
return tostring(obj)
|
||||
elseif kind == 'nil' then
|
||||
return 'null'
|
||||
error("unexpected type '" .. t .. "'")
|
||||
end
|
||||
|
||||
|
||||
function json.encode(val)
|
||||
return ( encode(val) )
|
||||
end
|
||||
|
||||
|
||||
-------------------------------------------------------------------------------
|
||||
-- Decode
|
||||
-------------------------------------------------------------------------------
|
||||
|
||||
local parse
|
||||
|
||||
local function create_set(...)
|
||||
local res = {}
|
||||
for i = 1, select("#", ...) do
|
||||
res[ select(i, ...) ] = true
|
||||
end
|
||||
return res
|
||||
end
|
||||
|
||||
local space_chars = create_set(" ", "\t", "\r", "\n")
|
||||
local delim_chars = create_set(" ", "\t", "\r", "\n", "]", "}", ",")
|
||||
local escape_chars = create_set("\\", "/", '"', "b", "f", "n", "r", "t", "u")
|
||||
local literals = create_set("true", "false", "null")
|
||||
|
||||
local literal_map = {
|
||||
[ "true" ] = true,
|
||||
[ "false" ] = false,
|
||||
[ "null" ] = nil,
|
||||
}
|
||||
|
||||
|
||||
local function next_char(str, idx, set, negate)
|
||||
for i = idx, #str do
|
||||
if set[str:sub(i, i)] ~= negate then
|
||||
return i
|
||||
end
|
||||
end
|
||||
return #str + 1
|
||||
end
|
||||
|
||||
|
||||
local function decode_error(str, idx, msg)
|
||||
local line_count = 1
|
||||
local col_count = 1
|
||||
for i = 1, idx - 1 do
|
||||
col_count = col_count + 1
|
||||
if str:sub(i, i) == "\n" then
|
||||
line_count = line_count + 1
|
||||
col_count = 1
|
||||
end
|
||||
end
|
||||
error( string.format("%s at line %d col %d", msg, line_count, col_count) )
|
||||
end
|
||||
|
||||
|
||||
local function codepoint_to_utf8(n)
|
||||
-- http://scripts.sil.org/cms/scripts/page.php?site_id=nrsi&id=iws-appendixa
|
||||
local f = math.floor
|
||||
if n <= 0x7f then
|
||||
return string.char(n)
|
||||
elseif n <= 0x7ff then
|
||||
return string.char(f(n / 64) + 192, n % 64 + 128)
|
||||
elseif n <= 0xffff then
|
||||
return string.char(f(n / 4096) + 224, f(n % 4096 / 64) + 128, n % 64 + 128)
|
||||
elseif n <= 0x10ffff then
|
||||
return string.char(f(n / 262144) + 240, f(n % 262144 / 4096) + 128,
|
||||
f(n % 4096 / 64) + 128, n % 64 + 128)
|
||||
end
|
||||
error( string.format("invalid unicode codepoint '%x'", n) )
|
||||
end
|
||||
|
||||
|
||||
local function parse_unicode_escape(s)
|
||||
local n1 = tonumber( s:sub(3, 6), 16 )
|
||||
local n2 = tonumber( s:sub(9, 12), 16 )
|
||||
-- Surrogate pair?
|
||||
if n2 then
|
||||
return codepoint_to_utf8((n1 - 0xd800) * 0x400 + (n2 - 0xdc00) + 0x10000)
|
||||
else
|
||||
error('Unjsonifiable type: ' .. kind .. '.')
|
||||
end
|
||||
return table.concat(s)
|
||||
end
|
||||
|
||||
json.null = {} -- This is a one-off table to represent the null value.
|
||||
|
||||
function json.parse(str, pos, end_delim)
|
||||
pos = pos or 1
|
||||
if pos > #str then error('Reached unexpected end of input.') end
|
||||
local pos = pos + #str:match('^%s*', pos) -- Skip whitespace.
|
||||
local first = str:sub(pos, pos)
|
||||
if first == '{' then -- Parse an object.
|
||||
local obj, key, delim_found = {}, true, true
|
||||
pos = pos + 1
|
||||
while true do
|
||||
key, pos = json.parse(str, pos, '}')
|
||||
if key == nil then return obj, pos end
|
||||
if not delim_found then error('Comma missing between object items.') end
|
||||
pos = skip_delim(str, pos, ':', true) -- true -> error if missing.
|
||||
obj[key], pos = json.parse(str, pos)
|
||||
pos, delim_found = skip_delim(str, pos, ',')
|
||||
end
|
||||
elseif first == '[' then -- Parse an array.
|
||||
local arr, val, delim_found = {}, true, true
|
||||
pos = pos + 1
|
||||
while true do
|
||||
val, pos = json.parse(str, pos, ']')
|
||||
if val == nil then return arr, pos end
|
||||
if not delim_found then error('Comma missing between array items.') end
|
||||
arr[#arr + 1] = val
|
||||
pos, delim_found = skip_delim(str, pos, ',')
|
||||
end
|
||||
elseif first == '"' then -- Parse a string.
|
||||
return parse_str_val(str, pos + 1)
|
||||
elseif first == '-' or first:match('%d') then -- Parse a number.
|
||||
return parse_num_val(str, pos)
|
||||
elseif first == end_delim then -- End of an object or array.
|
||||
return nil, pos + 1
|
||||
else -- Parse true, false, or null.
|
||||
local literals = {['true'] = true, ['false'] = false, ['null'] = json.null}
|
||||
for lit_str, lit_val in pairs(literals) do
|
||||
local lit_end = pos + #lit_str - 1
|
||||
if str:sub(pos, lit_end) == lit_str then return lit_val, lit_end + 1 end
|
||||
end
|
||||
local pos_info_str = 'position ' .. pos .. ': ' .. str:sub(pos, pos + 10)
|
||||
error('Invalid json syntax starting at ' .. pos_info_str)
|
||||
return codepoint_to_utf8(n1)
|
||||
end
|
||||
end
|
||||
|
||||
|
||||
local function parse_string(str, i)
|
||||
local has_unicode_escape = false
|
||||
local has_surrogate_escape = false
|
||||
local has_escape = false
|
||||
local last
|
||||
for j = i + 1, #str do
|
||||
local x = str:byte(j)
|
||||
|
||||
if x < 32 then
|
||||
decode_error(str, j, "control character in string")
|
||||
end
|
||||
|
||||
if last == 92 then -- "\\" (escape char)
|
||||
if x == 117 then -- "u" (unicode escape sequence)
|
||||
local hex = str:sub(j + 1, j + 5)
|
||||
if not hex:find("%x%x%x%x") then
|
||||
decode_error(str, j, "invalid unicode escape in string")
|
||||
end
|
||||
if hex:find("^[dD][89aAbB]") then
|
||||
has_surrogate_escape = true
|
||||
else
|
||||
has_unicode_escape = true
|
||||
end
|
||||
else
|
||||
local c = string.char(x)
|
||||
if not escape_chars[c] then
|
||||
decode_error(str, j, "invalid escape char '" .. c .. "' in string")
|
||||
end
|
||||
has_escape = true
|
||||
end
|
||||
last = nil
|
||||
|
||||
elseif x == 34 then -- '"' (end of string)
|
||||
local s = str:sub(i + 1, j - 1)
|
||||
if has_surrogate_escape then
|
||||
s = s:gsub("\\u[dD][89aAbB]..\\u....", parse_unicode_escape)
|
||||
end
|
||||
if has_unicode_escape then
|
||||
s = s:gsub("\\u....", parse_unicode_escape)
|
||||
end
|
||||
if has_escape then
|
||||
s = s:gsub("\\.", escape_char_map_inv)
|
||||
end
|
||||
return s, j + 1
|
||||
|
||||
else
|
||||
last = x
|
||||
end
|
||||
end
|
||||
decode_error(str, i, "expected closing quote for string")
|
||||
end
|
||||
|
||||
|
||||
local function parse_number(str, i)
|
||||
local x = next_char(str, i, delim_chars)
|
||||
local s = str:sub(i, x - 1)
|
||||
local n = tonumber(s)
|
||||
if not n then
|
||||
decode_error(str, i, "invalid number '" .. s .. "'")
|
||||
end
|
||||
return n, x
|
||||
end
|
||||
|
||||
|
||||
local function parse_literal(str, i)
|
||||
local x = next_char(str, i, delim_chars)
|
||||
local word = str:sub(i, x - 1)
|
||||
if not literals[word] then
|
||||
decode_error(str, i, "invalid literal '" .. word .. "'")
|
||||
end
|
||||
return literal_map[word], x
|
||||
end
|
||||
|
||||
|
||||
local function parse_array(str, i)
|
||||
local res = {}
|
||||
local n = 1
|
||||
i = i + 1
|
||||
while 1 do
|
||||
local x
|
||||
i = next_char(str, i, space_chars, true)
|
||||
-- Empty / end of array?
|
||||
if str:sub(i, i) == "]" then
|
||||
i = i + 1
|
||||
break
|
||||
end
|
||||
-- Read token
|
||||
x, i = parse(str, i)
|
||||
res[n] = x
|
||||
n = n + 1
|
||||
-- Next token
|
||||
i = next_char(str, i, space_chars, true)
|
||||
local chr = str:sub(i, i)
|
||||
i = i + 1
|
||||
if chr == "]" then break end
|
||||
if chr ~= "," then decode_error(str, i, "expected ']' or ','") end
|
||||
end
|
||||
return res, i
|
||||
end
|
||||
|
||||
|
||||
local function parse_object(str, i)
|
||||
local res = {}
|
||||
i = i + 1
|
||||
while 1 do
|
||||
local key, val
|
||||
i = next_char(str, i, space_chars, true)
|
||||
-- Empty / end of object?
|
||||
if str:sub(i, i) == "}" then
|
||||
i = i + 1
|
||||
break
|
||||
end
|
||||
-- Read key
|
||||
if str:sub(i, i) ~= '"' then
|
||||
decode_error(str, i, "expected string for key")
|
||||
end
|
||||
key, i = parse(str, i)
|
||||
-- Read ':' delimiter
|
||||
i = next_char(str, i, space_chars, true)
|
||||
if str:sub(i, i) ~= ":" then
|
||||
decode_error(str, i, "expected ':' after key")
|
||||
end
|
||||
i = next_char(str, i + 1, space_chars, true)
|
||||
-- Read value
|
||||
val, i = parse(str, i)
|
||||
-- Set
|
||||
res[key] = val
|
||||
-- Next token
|
||||
i = next_char(str, i, space_chars, true)
|
||||
local chr = str:sub(i, i)
|
||||
i = i + 1
|
||||
if chr == "}" then break end
|
||||
if chr ~= "," then decode_error(str, i, "expected '}' or ','") end
|
||||
end
|
||||
return res, i
|
||||
end
|
||||
|
||||
|
||||
local char_func_map = {
|
||||
[ '"' ] = parse_string,
|
||||
[ "0" ] = parse_number,
|
||||
[ "1" ] = parse_number,
|
||||
[ "2" ] = parse_number,
|
||||
[ "3" ] = parse_number,
|
||||
[ "4" ] = parse_number,
|
||||
[ "5" ] = parse_number,
|
||||
[ "6" ] = parse_number,
|
||||
[ "7" ] = parse_number,
|
||||
[ "8" ] = parse_number,
|
||||
[ "9" ] = parse_number,
|
||||
[ "-" ] = parse_number,
|
||||
[ "t" ] = parse_literal,
|
||||
[ "f" ] = parse_literal,
|
||||
[ "n" ] = parse_literal,
|
||||
[ "[" ] = parse_array,
|
||||
[ "{" ] = parse_object,
|
||||
}
|
||||
|
||||
|
||||
parse = function(str, idx)
|
||||
local chr = str:sub(idx, idx)
|
||||
local f = char_func_map[chr]
|
||||
if f then
|
||||
return f(str, idx)
|
||||
end
|
||||
decode_error(str, idx, "unexpected character '" .. chr .. "'")
|
||||
end
|
||||
|
||||
|
||||
function json.decode(str)
|
||||
if type(str) ~= "string" then
|
||||
error("expected argument of type string, got " .. type(str))
|
||||
end
|
||||
local res, idx = parse(str, next_char(str, 1, space_chars, true))
|
||||
idx = next_char(str, idx, space_chars, true)
|
||||
if idx <= #str then
|
||||
decode_error(str, idx, "trailing garbage")
|
||||
end
|
||||
return res
|
||||
end
|
||||
|
||||
|
||||
return json
|
||||
995
lua/mathlib.lua
995
lua/mathlib.lua
@ -1,995 +0,0 @@
|
||||
-- This Source Code Form is subject to the terms of the bCDDL, v. 1.1.
|
||||
-- If a copy of the bCDDL was not distributed with this
|
||||
-- file, You can obtain one at http://beamng.com/bCDDL-1.1.txt
|
||||
|
||||
--[[
|
||||
Usage:
|
||||
|
||||
a = vec3(1,2,3)
|
||||
b = vec3({1,2,3})
|
||||
c = vec3({x = 1, y = 2, z = 3})
|
||||
print(a == b)
|
||||
print( (a-b) == vec3(0, 0, 0) )
|
||||
print( (c*1) )
|
||||
print( vec3(10,0,0):dot(vec3(10,0,0)) )
|
||||
]]
|
||||
|
||||
local min, max, sqrt, abs, random = math.min, math.max, math.sqrt, math.abs, math.random
|
||||
|
||||
local newLuaVec3xyz
|
||||
local LuaVec3 = {}
|
||||
LuaVec3.__index = LuaVec3
|
||||
|
||||
local ffifound, ffi = pcall(require, 'ffi')
|
||||
if ffifound then
|
||||
-- FFI available, so use it
|
||||
ffi.cdef [[struct __luaVec3_t {double x,y,z;};
|
||||
struct __luaQuat_t {double x,y,z,w;};]]
|
||||
newLuaVec3xyz = ffi.typeof("struct __luaVec3_t")
|
||||
ffi.metatype("struct __luaVec3_t", LuaVec3)
|
||||
else
|
||||
ffi = nil
|
||||
-- no FFI available, compatibility mode
|
||||
newLuaVec3xyz = function (x, y, z)
|
||||
return (setmetatable({x = x, y = y, z = z}, LuaVec3)) -- parenthesis needed to workaround extreme slowdown from: NYI return to lower frame
|
||||
end
|
||||
end
|
||||
|
||||
function vec3toString(v)
|
||||
return string.format('vec3(%.9g,%.9g,%.9g)', v.x, v.y, v.z)
|
||||
end
|
||||
|
||||
function stringToVec3(s)
|
||||
local args = split(s, ' ')
|
||||
if #args ~= 3 then return nil end
|
||||
return newLuaVec3xyz(tonumber(args[1]), tonumber(args[2]), tonumber(args[3]))
|
||||
end
|
||||
|
||||
function vec3(x, y, z)
|
||||
if y == nil then
|
||||
if type(x) == 'table' and x[3] ~= nil then
|
||||
return newLuaVec3xyz(x[1], x[2], x[3])
|
||||
else
|
||||
if x ~= nil then
|
||||
return newLuaVec3xyz(x.x, x.y, x.z)
|
||||
else
|
||||
return newLuaVec3xyz(0, 0, 0)
|
||||
end
|
||||
end
|
||||
else
|
||||
return newLuaVec3xyz(x, y, z or 0)
|
||||
end
|
||||
end
|
||||
|
||||
function LuaVec3:set(x, y, z)
|
||||
if y == nil then
|
||||
self.x, self.y, self.z = x.x, x.y, x.z
|
||||
else
|
||||
self.x, self.y, self.z = x, y, z
|
||||
end
|
||||
end
|
||||
|
||||
function LuaVec3:xyz()
|
||||
return self.x, self.y, self.z
|
||||
end
|
||||
|
||||
function LuaVec3:__tostring()
|
||||
return string.format('vec3(%.9g,%.9g,%.9g)', self.x, self.y, self.z)
|
||||
end
|
||||
|
||||
function LuaVec3:toTable()
|
||||
return {self.x, self.y, self.z}
|
||||
end
|
||||
|
||||
function LuaVec3:toDict()
|
||||
return {x = self.x, y = self.y, z = self.z}
|
||||
end
|
||||
|
||||
function LuaVec3:length()
|
||||
return sqrt(self.x * self.x + self.y * self.y + self.z * self.z)
|
||||
end
|
||||
|
||||
function LuaVec3:lengthGuarded()
|
||||
return sqrt(self.x * self.x + self.y * self.y + self.z * self.z) + 1e-30
|
||||
end
|
||||
|
||||
function LuaVec3:squaredLength()
|
||||
return self.x * self.x + self.y * self.y + self.z * self.z
|
||||
end
|
||||
|
||||
function LuaVec3.__add(a, b)
|
||||
return newLuaVec3xyz(a.x + b.x, a.y + b.y, a.z + b.z)
|
||||
end
|
||||
|
||||
function LuaVec3.__sub(a, b)
|
||||
return newLuaVec3xyz(a.x - b.x, a.y - b.y, a.z - b.z)
|
||||
end
|
||||
|
||||
function LuaVec3.__unm(a)
|
||||
return newLuaVec3xyz(-a.x, -a.y, -a.z)
|
||||
end
|
||||
|
||||
function LuaVec3.__mul(a, b)
|
||||
if type(b) == 'number' then
|
||||
return newLuaVec3xyz(b * a.x, b * a.y, b * a.z)
|
||||
else
|
||||
return newLuaVec3xyz(a * b.x, a * b.y, a * b.z)
|
||||
end
|
||||
end
|
||||
|
||||
function LuaVec3.__div(a,b)
|
||||
if type(b) == 'number' then
|
||||
b = 1 / b
|
||||
return newLuaVec3xyz(b * a.x, b * a.y, b * a.z)
|
||||
else
|
||||
a = 1 / a
|
||||
return newLuaVec3xyz(a * b.x, a * b.y, a * b.z)
|
||||
end
|
||||
end
|
||||
|
||||
function LuaVec3.__eq(a, b)
|
||||
return b ~= nil and a.x == b.x and a.y == b.y and a.z == b.z
|
||||
end
|
||||
|
||||
function LuaVec3:dot(a)
|
||||
return self.x * a.x + self.y * a.y + self.z * a.z
|
||||
end
|
||||
|
||||
function LuaVec3:cross(a)
|
||||
return newLuaVec3xyz(self.y * a.z - self.z * a.y, self.z * a.x - self.x * a.z, self.x * a.y - self.y * a.x)
|
||||
end
|
||||
|
||||
function LuaVec3:z0()
|
||||
return newLuaVec3xyz(self.x, self.y, 0)
|
||||
end
|
||||
|
||||
function LuaVec3:perpendicular()
|
||||
local k = abs(self.x) + 0.5
|
||||
k = k - math.floor(k)
|
||||
return newLuaVec3xyz(-self.y, self.x - k * self.z, k * self.y)
|
||||
end
|
||||
|
||||
function LuaVec3:perpendicularN()
|
||||
local p = self:perpendicular()
|
||||
local r = 1 / (p:length() + 1e-30)
|
||||
p.x, p.y, p.z = p.x * r, p.y * r, p.z * r
|
||||
return p
|
||||
end
|
||||
|
||||
function LuaVec3:cosAngle(a)
|
||||
return max(min(self:dot(a) / (sqrt(self:squaredLength() * a:squaredLength()) + 1e-30), 1), -1)
|
||||
end
|
||||
|
||||
function LuaVec3:normalize()
|
||||
local r = 1 / (self:length() + 1e-30)
|
||||
self.x, self.y, self.z = self.x * r, self.y * r, self.z * r
|
||||
end
|
||||
|
||||
function LuaVec3:resize(a)
|
||||
local r = a / (self:length() + 1e-30)
|
||||
self.x, self.y, self.z = self.x * r, self.y * r, self.z * r
|
||||
end
|
||||
|
||||
function LuaVec3:normalized()
|
||||
local r = 1 / (self:length() + 1e-30)
|
||||
return newLuaVec3xyz(self.x * r, self.y * r, self.z * r)
|
||||
end
|
||||
|
||||
function LuaVec3:resized(a)
|
||||
local r = a / (self:length() + 1e-30)
|
||||
return newLuaVec3xyz(self.x * r, self.y * r, self.z * r)
|
||||
end
|
||||
|
||||
function LuaVec3:distance(a)
|
||||
local tmp = self.x - a.x
|
||||
local d = tmp * tmp
|
||||
tmp = self.y - a.y
|
||||
d = d + tmp * tmp
|
||||
tmp = self.z - a.z
|
||||
return sqrt(d + tmp * tmp)
|
||||
end
|
||||
|
||||
function LuaVec3:squaredDistance(a)
|
||||
local tmp = self.x - a.x
|
||||
local d = tmp * tmp
|
||||
tmp = self.y - a.y
|
||||
d = d + tmp * tmp
|
||||
tmp = self.z - a.z
|
||||
return d + tmp * tmp
|
||||
end
|
||||
|
||||
-- a, b are two line points, self is the point
|
||||
function LuaVec3:distanceToLine(a, b)
|
||||
local ab = a - b
|
||||
local an = a - self
|
||||
return an:distance(ab * (ab:dot(an) / (ab:squaredLength() + 1e-30)))
|
||||
end
|
||||
|
||||
function LuaVec3:squaredDistanceToLine(a, b)
|
||||
local ab = a - b
|
||||
local an = a - self
|
||||
return an:squaredDistance(ab * (ab:dot(an) / (ab:squaredLength() + 1e-30)))
|
||||
end
|
||||
|
||||
function LuaVec3:distanceToLineSegment(a, b)
|
||||
local ab, an = a - b, a - self
|
||||
return an:distance(ab * min(max(ab:dot(an) / (ab:squaredLength() + 1e-30), 0), 1))
|
||||
end
|
||||
|
||||
function LuaVec3:xnormDistanceToLineSegment(a, b)
|
||||
local ab, an = a - b, a - self
|
||||
local xnorm = ab:dot(an) / (ab:squaredLength() + 1e-30)
|
||||
return xnorm, an:distance(ab * min(max(xnorm, 0), 1))
|
||||
end
|
||||
|
||||
function LuaVec3:squaredDistanceToLineSegment(a, b)
|
||||
local ab, an = a - b, a - self
|
||||
return an:squaredDistance(ab * min(max(ab:dot(an) / (ab:squaredLength() + 1e-30), 0), 1))
|
||||
end
|
||||
|
||||
function LuaVec3:xnormSquaredDistanceToLineSegment(a, b)
|
||||
local ab, an = a - b, a - self
|
||||
local xnorm = ab:dot(an) / (ab:squaredLength() + 1e-30)
|
||||
return xnorm, an:squaredDistance(ab * min(max(xnorm, 0), 1))
|
||||
end
|
||||
|
||||
function LuaVec3:xnormOnLine(a, b)
|
||||
local ba = b - a
|
||||
return ba:dot(self - a) / (ba:squaredLength() + 1e-30)
|
||||
end
|
||||
|
||||
function LuaVec3:triangleBarycentricNorm(a, b, c)
|
||||
local ca, bc = c - a, b - c
|
||||
local norm = ca:cross(bc)
|
||||
local normsqlen = norm:squaredLength() + 1e-30
|
||||
local pacnorm = (self - c):cross(norm)
|
||||
return bc:dot(pacnorm) / normsqlen, ca:dot(pacnorm) / normsqlen, norm / sqrt(normsqlen)
|
||||
end
|
||||
|
||||
function LuaVec3:toPoint3F()
|
||||
return Point3F(self.x, self.y, self.z)
|
||||
end
|
||||
|
||||
function LuaVec3:toFloat3()
|
||||
return float3(self.x, self.y, self.z)
|
||||
end
|
||||
|
||||
function LuaVec3:projectToOriginPlane(pnorm)
|
||||
return self - (pnorm * (self:dot(pnorm)))
|
||||
end
|
||||
|
||||
-- self is a point in plane
|
||||
function LuaVec3:xnormPlaneWithLine(pnorm, a, b)
|
||||
return (self - a):dot(pnorm) / ((b - a):dot(pnorm) + 1e-30)
|
||||
end
|
||||
|
||||
-- self is center of sphere, returns two xnorms (low, high). It returns pair 1,0 if no hit found
|
||||
function LuaVec3:xnormsSphereWithLine(radius, a, b)
|
||||
local lDif = b - a
|
||||
local invDif2len = 1 / max(lDif:squaredLength(), 1e-30)
|
||||
local ac = a - self
|
||||
local dotab = -ac:dot(lDif) * invDif2len
|
||||
local D = dotab * dotab + (radius * radius - ac:squaredLength()) * invDif2len
|
||||
if D >= 0 then
|
||||
D = sqrt(D)
|
||||
return dotab - D, dotab + D
|
||||
else
|
||||
return 1, 0
|
||||
end
|
||||
end
|
||||
|
||||
function LuaVec3:basisCoordinates(c1, c2, c3)
|
||||
local c2xc3 = c2:cross(c3)
|
||||
local invDet = 1 / c1:dot(c2xc3)
|
||||
return newLuaVec3xyz(c2xc3:dot(self)*invDet, c3:cross(c1):dot(self)*invDet, c1:cross(c2):dot(self)*invDet)
|
||||
end
|
||||
|
||||
function LuaVec3:componentMul(b)
|
||||
return newLuaVec3xyz(self.x * b.x, self.y * b.y, self.z * b.z)
|
||||
end
|
||||
|
||||
function LuaVec3:setMin(b)
|
||||
self.x, self.y, self.z = min(self.x, b.x), min(self.y, b.y), min(self.z, b.z)
|
||||
end
|
||||
|
||||
function LuaVec3:setMax(b)
|
||||
self.x, self.y, self.z = max(self.x, b.x), max(self.y, b.y), max(self.z, b.z)
|
||||
end
|
||||
|
||||
function LuaVec3:setAdd(b)
|
||||
self.x, self.y, self.z = self.x + b.x, self.y + b.y, self.z + b.z
|
||||
end
|
||||
|
||||
function LuaVec3:setSub(b)
|
||||
self.x, self.y, self.z = self.x - b.x, self.y - b.y, self.z - b.z
|
||||
end
|
||||
|
||||
function LuaVec3:setScaled(b)
|
||||
self.x, self.y, self.z = self.x * b, self.y * b, self.z * b
|
||||
end
|
||||
|
||||
local function fractPos(x)
|
||||
return x - math.floor(x)
|
||||
end
|
||||
|
||||
function LuaVec3:getBlueNoise3d()
|
||||
self.x, self.y, self.z = fractPos(self.x + 0.81917251339616443), fractPos(self.y + 0.6710436067037892084), fractPos(self.z + 0.54970047790197026)
|
||||
return self
|
||||
end
|
||||
|
||||
function LuaVec3:getBlueNoise2d()
|
||||
self.x, self.y, self.z = fractPos(self.x + 0.75487766624669276), fractPos(self.y + 0.56984029099805327), 0
|
||||
return self
|
||||
end
|
||||
|
||||
function LuaVec3:getRandomPointInSphere(radius)
|
||||
radius = radius or 1
|
||||
local sx, sy, sz = 0, 0, 0;
|
||||
for i = 1, 4 do
|
||||
local x, y, z = random(), random(), random()
|
||||
sx, sy, sz = sx + x, sy + y, sz + z
|
||||
local xc, yc, zc = x - 0.5, y - 0.5, z - 0.5
|
||||
if xc * xc + yc * yc + zc * zc <= 0.25 then
|
||||
local r2 = radius * 2
|
||||
self.x, self.y, self.z = xc * r2, yc * r2, zc * r2
|
||||
return self
|
||||
end
|
||||
end
|
||||
|
||||
sx, sy, sz = sx - 2, sy - 2, sz - 2
|
||||
local u = random()
|
||||
local norm = sqrt(0.5 * (sqrt(u) + u)/(sx*sx + sy*sy + sz*sz + 1e-25)) * radius
|
||||
self.x, self.y, self.z = sx*norm, sy*norm, sz*norm
|
||||
return self
|
||||
end
|
||||
|
||||
function LuaVec3:getRandomPointInCircle(radius)
|
||||
radius = radius or 1
|
||||
local sx, sy = 0, 0
|
||||
for i = 1, 4 do
|
||||
local x, y = random(), random()
|
||||
sx, sy = sx + x, sy + y
|
||||
local xc, yc = x - 0.5, y - 0.5
|
||||
if xc * xc + yc * yc <= 0.25 then
|
||||
local r2 = radius * 2
|
||||
self.x, self.y, self.z = xc * r2, yc * r2, 0
|
||||
return self
|
||||
end
|
||||
end
|
||||
|
||||
sx, sy = sx - 2, sy - 2
|
||||
local norm = sqrt(random()/(sx*sx+sy*sy + 1e-25)) * radius
|
||||
self.x, self.y, self.z = sx*norm, sy*norm, 0
|
||||
return self
|
||||
end
|
||||
|
||||
function LuaVec3:getBluePointInSphere(radius)
|
||||
radius = radius or 1
|
||||
local bx, by, bz = self.x, self.y, self.z
|
||||
for i = 1, 8 do -- seen up to 6
|
||||
local x, y, z = fractPos(bx + 0.81917251339616443 * i), fractPos(by + 0.6710436067037892084 * i), fractPos(bz + 0.54970047790197026 * i)
|
||||
local xc, yc, zc = x - 0.5, y - 0.5, z - 0.5
|
||||
if xc * xc + yc * yc + zc * zc <= 0.25 then
|
||||
self.x, self.y, self.z = x, y, z
|
||||
local r2 = radius * 2
|
||||
return newLuaVec3xyz(xc * r2, yc * r2, zc * r2)
|
||||
end
|
||||
end
|
||||
return newLuaVec3xyz(0, 0, 0)
|
||||
end
|
||||
|
||||
function LuaVec3:getBluePointInCircle(radius)
|
||||
radius = radius or 1
|
||||
local bx, by = self.x, self.y
|
||||
for i = 1, 5 do -- seen up to 3
|
||||
local x, y = fractPos(bx + 0.75487766624669276 * i), fractPos(by + 0.56984029099805327 * i)
|
||||
local xc, yc = x - 0.5, y - 0.5
|
||||
if xc * xc + yc * yc <= 0.25 then
|
||||
self.x, self.y = x, y
|
||||
local r2 = radius * 2
|
||||
return newLuaVec3xyz(xc * r2, yc * r2, 0)
|
||||
end
|
||||
end
|
||||
return newLuaVec3xyz(0, 0, 0)
|
||||
end
|
||||
|
||||
-- returns random gauss number in [0..3]
|
||||
function randomGauss3()
|
||||
return random() + random() + random()
|
||||
end
|
||||
|
||||
-- returns xnormals for the two lines: http://geomalgorithms.com/a07-_distance.html
|
||||
function closestLinePoints(l1p0, l1p1, l2p0, l2p1)
|
||||
local a, b, c, d, e
|
||||
do
|
||||
-- limit the number of live vars to help out luajit
|
||||
local u = l1p1 - l1p0
|
||||
local v = l2p1 - l2p0
|
||||
local w = l1p0 - l2p0
|
||||
a = u:squaredLength()
|
||||
b = u:dot(v)
|
||||
c = v:squaredLength()
|
||||
d = u:dot(w)
|
||||
e = v:dot(w)
|
||||
end
|
||||
local D = a * c - b * b
|
||||
|
||||
if D < 1e-8 then
|
||||
local tc
|
||||
if b > c then
|
||||
tc = d / b
|
||||
else
|
||||
tc = e / (c + 1e-30)
|
||||
end
|
||||
return 0, tc
|
||||
else
|
||||
return (b * e - c * d) / D, (a * e - b * d) / D
|
||||
end
|
||||
end
|
||||
|
||||
function linePointFromXnorm(p0, p1, xnorm)
|
||||
return newLuaVec3xyz(p0.x + (p1.x-p0.x) * xnorm, p0.y + (p1.y-p0.y) * xnorm, p0.z + (p1.z-p0.z) * xnorm)
|
||||
end
|
||||
|
||||
--------------------------------------------------------------------------------
|
||||
-- Quaternion
|
||||
|
||||
local LuaQuat = {}
|
||||
LuaQuat.__index = LuaQuat
|
||||
local newLuaQuatxyzw
|
||||
|
||||
if ffi then
|
||||
newLuaQuatxyzw = ffi.typeof("struct __luaQuat_t")
|
||||
ffi.metatype("struct __luaQuat_t", LuaQuat)
|
||||
else
|
||||
newLuaQuatxyzw = function (_x, _y, _z, _w)
|
||||
return (setmetatable({ x = _x, y = _y, z = _z, w = _w }, LuaQuat)) -- parenthesis needed to workaround extreme slowdown from: NYI return to lower frame
|
||||
end
|
||||
end
|
||||
|
||||
-- Returns quat. Both inputs should be normalized
|
||||
function LuaVec3:getRotationTo(v)
|
||||
local w = 1 + self:dot(v)
|
||||
local qv
|
||||
|
||||
if (w < 1e-6) then
|
||||
w = 0
|
||||
qv = v:perpendicular()
|
||||
else
|
||||
qv = self:cross(v)
|
||||
end
|
||||
local q = newLuaQuatxyzw(qv.x, qv.y, qv.z, -w)
|
||||
q:normalize()
|
||||
return q
|
||||
end
|
||||
|
||||
-- Rotates by quaternion q
|
||||
function LuaVec3:rotated(q)
|
||||
local qv = newLuaVec3xyz(q.x, q.y, q.z)
|
||||
local t = 2 * qv:cross(self)
|
||||
return self - q.w * t + qv:cross(t)
|
||||
end
|
||||
|
||||
-- we follow t3d's quat convention which has uses a negative w :/
|
||||
function quat(x, y, z, w)
|
||||
if y == nil then
|
||||
if type(x) == 'table' and x[4] ~= nil then
|
||||
return newLuaQuatxyzw(x[1], x[2], x[3], x[4])
|
||||
elseif x == nil then
|
||||
return newLuaQuatxyzw(1, 0, 0, 0)
|
||||
else
|
||||
return newLuaQuatxyzw(x.x, x.y, x.z, x.w)
|
||||
end
|
||||
else
|
||||
return newLuaQuatxyzw(x, y, z, w)
|
||||
end
|
||||
end
|
||||
|
||||
function LuaQuat:__tostring()
|
||||
return string.format('quat(%.9g,%.9g,%.9g,%.9g)', self.x, self.y, self.z, self.w)
|
||||
end
|
||||
|
||||
function LuaQuat:toTable()
|
||||
return {self.x, self.y, self.z, self.w}
|
||||
end
|
||||
|
||||
function LuaQuat:toDict()
|
||||
return {x = self.x, y = self.y, z = self.z, w = self.w}
|
||||
end
|
||||
|
||||
function LuaQuat:set(a)
|
||||
self.x, self.y, self.z, self.w = a.x, a.y, a.z, a.w
|
||||
end
|
||||
|
||||
function LuaQuat:norm()
|
||||
return sqrt(self.x * self.x + self.y * self.y + self.z * self.z + self.w * self.w)
|
||||
end
|
||||
|
||||
function LuaQuat:squaredNorm()
|
||||
return self.x * self.x + self.y * self.y + self.z * self.z + self.w * self.w
|
||||
end
|
||||
|
||||
function LuaQuat:normalize()
|
||||
local r = 1/(self:norm() + 1e-30)
|
||||
self.x, self.y, self.z, self.w = self.x * r, self.y * r, self.z * r, self.w * r
|
||||
end
|
||||
|
||||
function LuaQuat:normalized()
|
||||
local r = 1/(self:norm() + 1e-30)
|
||||
return newLuaQuatxyzw(self.x * r, self.y * r, self.z * r, self.w * r)
|
||||
end
|
||||
|
||||
function LuaQuat:inversed()
|
||||
local InvSqNorm = -1 / (self:squaredNorm() + 1e-30)
|
||||
return newLuaQuatxyzw(self.x * InvSqNorm, self.y * InvSqNorm, self.z * InvSqNorm, -self.w * InvSqNorm)
|
||||
end
|
||||
|
||||
function LuaQuat.__unm(a)
|
||||
return newLuaQuatxyzw(-a.x, -a.y, -a.z, -a.w)
|
||||
end
|
||||
|
||||
function LuaQuat.__mul(a, b)
|
||||
if type(a) == 'number' then
|
||||
return newLuaQuatxyzw(b.x * a, b.y * a, b.z * a, b.w * a)
|
||||
elseif type(b) == 'number' then
|
||||
return newLuaQuatxyzw(a.x * b, a.y * b, a.z * b, a.w * b)
|
||||
elseif (ffi and ffi.istype('struct __luaVec3_t', b)) or b.w == nil then
|
||||
local qv = newLuaVec3xyz(a.x, a.y, a.z)
|
||||
local t = 2 * qv:cross(b)
|
||||
return b - a.w * t + qv:cross(t)
|
||||
else
|
||||
return newLuaQuatxyzw(a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y,
|
||||
a.w * b.y + a.y * b.w + a.z * b.x - a.x * b.z,
|
||||
a.w * b.z + a.z * b.w + a.x * b.y - a.y * b.x,
|
||||
a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z)
|
||||
end
|
||||
end
|
||||
|
||||
function LuaQuat.__sub(a, b)
|
||||
return newLuaQuatxyzw(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w)
|
||||
end
|
||||
|
||||
function LuaQuat.__div(a, b)
|
||||
if type(a) == 'number' then
|
||||
return newLuaQuatxyzw(b.x / a, b.y / a, b.z / a, b.w / a)
|
||||
elseif type(b) == 'number' then
|
||||
return newLuaQuatxyzw(a.x / b, a.y / b, a.z / b, a.w / b)
|
||||
end
|
||||
return a * b:inversed()
|
||||
end
|
||||
|
||||
function LuaQuat.__add(a, b)
|
||||
return newLuaQuatxyzw(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w)
|
||||
end
|
||||
|
||||
function LuaQuat:dot(a)
|
||||
return self.x * a.x + self.y * a.y + self.z * a.z + self.w * a.w
|
||||
end
|
||||
|
||||
function LuaQuat:distance(a)
|
||||
return 0.5 * (self - a):squaredNorm()
|
||||
end
|
||||
|
||||
function LuaQuat:nlerp(a, t)
|
||||
local tmp = (1 - t) * self + (self:dot(a) < 0 and -t or t) * a
|
||||
tmp:normalize()
|
||||
return tmp
|
||||
end
|
||||
|
||||
function LuaQuat:slerp(a, t)
|
||||
local dot = clamp(self:dot(a), -1, 1)
|
||||
|
||||
if dot > 0.9995 then
|
||||
return self:nlerp(a, t)
|
||||
end
|
||||
|
||||
local theta = math.acos(dot)*t
|
||||
return (self*math.cos(theta) + (a - self*dot):normalized()*math.sin(theta)):normalized();
|
||||
end
|
||||
|
||||
-- returns reverse rotation
|
||||
function LuaQuat:conjugated()
|
||||
return newLuaQuatxyzw(-self.x, -self.y, -self.z, self.w)
|
||||
end
|
||||
|
||||
function LuaQuat:scale(a)
|
||||
self.x, self.y, self.z, self.w = self.x * a, self.y * a, self.z * a, self.w * a
|
||||
return self
|
||||
end
|
||||
|
||||
--http://bediyap.com/programming/convert-quaternion-to-euler-rotations/
|
||||
function LuaQuat.toEulerYXZ(q)
|
||||
local wxsq = q.w*q.w-q.x*q.x
|
||||
local yzsq = q.z*q.z-q.y*q.y
|
||||
return newLuaVec3xyz(
|
||||
math.atan2(2*(q.x*q.y + q.w*q.z), wxsq-yzsq),
|
||||
math.asin(max(min(-2*(q.y*q.z - q.w*q.x), 1), -1)),
|
||||
math.atan2(2*(q.x*q.z + q.w*q.y), wxsq+yzsq))
|
||||
end
|
||||
|
||||
function LuaQuat:toTorqueQuat()
|
||||
local sinhalf = math.sqrt(self.x * self.x + self.y * self.y + self.z * self.z)
|
||||
local tw = math.acos(self.w) * 360 / math.pi
|
||||
if sinhalf ~= 0 then
|
||||
return {x = self.x / sinhalf, y = self.y / sinhalf, z = self.z / sinhalf, w = tw}
|
||||
else
|
||||
return {x = 1, y = 0, z = 0, w = tw}
|
||||
end
|
||||
end
|
||||
|
||||
-- function LuaQuat:pow(a)
|
||||
-- self:scale(a)
|
||||
-- local vlen = sqrt( self.x*self.x + self.y*self.y + self.z*self.z )
|
||||
-- local ret = math.exp(self.w)
|
||||
-- local coef = ret * math.sin(vlen) / (vlen + 1e-60)
|
||||
|
||||
-- return newLuaQuatxyzw( coef*self.x, coef*self.y, coef*self.z, -ret* math.cos(vlen) )
|
||||
-- end
|
||||
|
||||
local function quatFromAxesMatrix(m)
|
||||
local q = {[0] = 0, 0, 0, 0}
|
||||
local trace = m[0][0] + m[1][1] + m[2][2];
|
||||
if trace > 0 then
|
||||
local s = sqrt(trace + 1)
|
||||
q[3] = s * 0.5
|
||||
s = 0.5 / s
|
||||
q[0] = (m[1][2] - m[2][1]) * s
|
||||
q[1] = (m[2][0] - m[0][2]) * s
|
||||
q[2] = (m[0][1] - m[1][0]) * s
|
||||
else
|
||||
local i = 0
|
||||
if m[1][1] > m[0][0] then i = 1 end
|
||||
if m[2][2] > m[i][i] then i = 2 end
|
||||
local j = (i + 1) % 3
|
||||
local k = (j + 1) % 3
|
||||
|
||||
local s = sqrt((m[i][i] - (m[j][j] + m[k][k])) + 1)
|
||||
q[i] = s * 0.5
|
||||
s = 0.5 / s
|
||||
q[j] = (m[i][j] + m[j][i]) * s
|
||||
q[k] = (m[i][k] + m[k][i]) * s
|
||||
q[3] = (m[j][k] - m[k][j]) * s
|
||||
end
|
||||
|
||||
local tmp = newLuaQuatxyzw(q[0], q[1], q[2], q[3])
|
||||
tmp:normalize()
|
||||
return tmp
|
||||
end
|
||||
|
||||
function quatFromDir(dir, up)
|
||||
local k = up or vec3(0, 0, 1)
|
||||
local dirNorm = dir:normalized()
|
||||
local i = dirNorm:cross(k)
|
||||
i:normalize()
|
||||
k = i:cross(dirNorm)
|
||||
k:normalize()
|
||||
|
||||
return quatFromAxesMatrix({[0]={[0]=i.x, dirNorm.x, k.x}, {[0]=i.y, dirNorm.y, k.y}, {[0]=i.z, dirNorm.z, k.z}})
|
||||
end
|
||||
|
||||
function lookAt(lookAt, up)
|
||||
up = up or vec3(0, 0, 1)
|
||||
local forward = lookAt:normalized()
|
||||
local right = forward:cross(up)
|
||||
right:normalize()
|
||||
up = right:cross(forward)
|
||||
up:normalize()
|
||||
|
||||
local w = sqrt(1 + right.x + up.y + forward.z) * 0.5
|
||||
local w4_recip = 1 / (4 * w)
|
||||
local x = (forward.y - up.z) * w4_recip
|
||||
local y = (right.z - forward.x) * w4_recip
|
||||
local z = (up.x - right.y) * w4_recip
|
||||
return newLuaQuatxyzw(x,y,z,w)
|
||||
end
|
||||
|
||||
function quatFromAxisAngle(axle, angleRad)
|
||||
angleRad = angleRad * 0.5
|
||||
local fsin = math.sin(angleRad)
|
||||
return newLuaQuatxyzw(fsin * axle.x, fsin * axle.y, fsin * axle.z, math.cos(angleRad))
|
||||
end
|
||||
|
||||
function quatFromEuler(x, y, z)
|
||||
x, y, z = x * 0.5, y * 0.5, z * 0.5
|
||||
local sx = math.sin(x)
|
||||
local cx = math.cos(x)
|
||||
local sy = math.sin(y)
|
||||
local cy = math.cos(y)
|
||||
local sz = math.sin(z)
|
||||
local cz = math.cos(z)
|
||||
|
||||
local cycz, sysz, sycz, cysz = cy*cz, sy*sz, sy*cz, cy*sz
|
||||
return newLuaQuatxyzw(cycz*sx + sysz*cx, sycz*cx + cysz*sx, cysz*cx - sycz*sx, cycz*cx - sysz*sx)
|
||||
end
|
||||
|
||||
-- returns -1, 1
|
||||
function sign2(x)
|
||||
return max(min(x * math.huge, 1), -1)
|
||||
end
|
||||
|
||||
-- returns -1, 0, 1
|
||||
function sign(x)
|
||||
return max(min((x * 1e200) * 1e200, 1), -1)
|
||||
end
|
||||
|
||||
fsign = sign
|
||||
|
||||
-- returns sign(s) * abs(v)
|
||||
function signApply(s, v)
|
||||
local absv = abs(v)
|
||||
return max(min((s * 1e200) * 1e200, absv), -absv)
|
||||
end
|
||||
|
||||
function guardZero(x) --branchless
|
||||
return 1 / max(min(1/x, 1e300), -1e300)
|
||||
end
|
||||
|
||||
function clamp(x, minValue, maxValue )
|
||||
return min(max(x, minValue), maxValue)
|
||||
end
|
||||
|
||||
function square(a)
|
||||
return a * a
|
||||
end
|
||||
|
||||
function round(a)
|
||||
return math.floor(a+.5)
|
||||
end
|
||||
|
||||
function isnan(a)
|
||||
return not(a == a)
|
||||
end
|
||||
|
||||
function isinf(a)
|
||||
return abs(a) == math.huge
|
||||
end
|
||||
|
||||
function isnaninf(a)
|
||||
return a * 0 ~= 0
|
||||
end
|
||||
|
||||
function linearScale(v, minValue, maxValue, minOutput, maxOutput)
|
||||
return minOutput + min(max((v - minValue) / (maxValue - minValue), 0), 1) * (maxOutput - minOutput)
|
||||
end
|
||||
|
||||
function lerp(from, to, t)
|
||||
return from + (to - from) * t -- monotonic
|
||||
end
|
||||
|
||||
function smoothstep(x)
|
||||
x = min(max(x, 0), 1) -- monotonic guard
|
||||
return x*x*(3 - 2*x)
|
||||
end
|
||||
|
||||
function smootherstep(x)
|
||||
return min(max(x*x*x*(x*(x*6 - 15) + 10), 0), 1)
|
||||
end
|
||||
|
||||
function smootheststep(x)
|
||||
x = min(max(x, 0), 1)
|
||||
return square(x*x)*(35-x*(x*(x*20-70)+84))
|
||||
end
|
||||
|
||||
function smoothmin(a, b, k)
|
||||
k = k or 0.1
|
||||
local h = min(max(0.5 + 0.5*(b-a)/k, 0), 1)
|
||||
return a*h - (b - k*h)*(1-h)
|
||||
end
|
||||
|
||||
function biasFun(x, k)
|
||||
local xk = x * k
|
||||
return (x + xk)/(1 + xk)
|
||||
end
|
||||
|
||||
function nanError(x)
|
||||
if x ~= x then
|
||||
error('NaN found')
|
||||
end
|
||||
return x
|
||||
end
|
||||
|
||||
function axisSystemCreate(nx, ny, nz)
|
||||
local rx, ry, rz = vec3(), vec3(), vec3()
|
||||
|
||||
local row = ny:cross(nz)
|
||||
local invdet = 1 / nx:dot(row)
|
||||
row = row * invdet
|
||||
rx.x, ry.x, rz.x = row.x, row.y, row.z
|
||||
|
||||
row = nz:cross(nx) * invdet
|
||||
rx.y, ry.y, rz.y = row.x, row.y, row.z
|
||||
|
||||
row = nx:cross(ny) * invdet
|
||||
rx.z, ry.z, rz.z = row.x, row.y, row.z
|
||||
return rx, ry, rz
|
||||
end
|
||||
|
||||
function axisSystemApply(nx, ny, nz, v)
|
||||
return nx * v.x + ny * v.y + nz * v.z
|
||||
end
|
||||
|
||||
function cardinalSpline(p0, p1, p2, p3, t, s, d1, d2, d3)
|
||||
d1, d2, d3 = max(d1 or 1, 1e-30), d2 or 1, max(d3 or 1, 1e-30)
|
||||
s = (s or 0.5) * 2
|
||||
local sd2 = s * d2
|
||||
local tt, t_1 = t * t, t-1
|
||||
local t_1sq = t_1 * t_1
|
||||
|
||||
local m1 = (p1 - p0) / d1 + (p0 - p2) / (d1 + d2)
|
||||
local m2 = (p1 - p3) / (d2 + d3) + (p3 - p2) / d3
|
||||
|
||||
return t*t_1sq*sd2*m1 + tt*t_1*sd2*m2 + t_1sq * (2 * t + 1) * p1 - tt * (2*t-3) * p2 + s*t_1*(t*t_1 + tt) * (p2 - p1)
|
||||
end
|
||||
|
||||
function catmullRom(p0, p1, p2, p3, t, s)
|
||||
return cardinalSpline(p0, p1, p2, p3, t, s or 0.5, 1, 1, 1)
|
||||
end
|
||||
|
||||
function catmullRomChordal(p0, p1, p2, p3, t, s)
|
||||
return cardinalSpline(p0, p1, p2, p3, t, s or 0.5, p0:distance(p1), p1:distance(p2), p2:distance(p3))
|
||||
end
|
||||
|
||||
function catmullRomCentripetal(p0, p1, p2, p3, t, s)
|
||||
return cardinalSpline(p0, p1, p2, p3, t, s or 0.5, sqrt(p0:distance(p1)), sqrt(p1:distance(p2)), sqrt(p2:distance(p3)))
|
||||
end
|
||||
|
||||
function monotonicSteffen(y0, y1, y2, y3, x0, x1, x2, x3, x)
|
||||
local x1x0, x2x1, x3x2 = x1-x0, x2-x1, x3-x2
|
||||
local delta0, delta1, delta2 = (y1-y0) / (x1x0 + 1e-30), (y2-y1) / (x2x1 + 1e-30), (y3-y2) / (x3x2 + 1e-30)
|
||||
local m1 = (sign(delta0)+sign(delta1)) * min(abs(delta0),abs(delta1), 0.5*abs((x2x1*delta0 + x1x0*delta1) / (x2-x0 + 1e-30)))
|
||||
local m2 = (sign(delta1)+sign(delta2)) * min(abs(delta1),abs(delta2), 0.5*abs((x3x2*delta1 + x2x1*delta2) / (x3-x1 + 1e-30)))
|
||||
local xx1 = x - x1
|
||||
local xrel = xx1 / max(x2x1, 1e-30)
|
||||
return y1 + xx1*(m1 + xrel*(delta1 - m1 + (xrel - 1)*(m1 + m2 - 2*delta1)))
|
||||
end
|
||||
|
||||
function biQuadratic(p0, p1, p2, p3, t)
|
||||
local p12 = p1 + (p2 - p1) * (t * 0.5 + 0.25)
|
||||
if t <= 0.5 then
|
||||
local p01 = p0 + (p1 - p0) * (t * 0.5 + 0.75)
|
||||
return p01 + (p12 - p01) * (t + 0.5)
|
||||
else
|
||||
return p12 + (p2 + (p3 - p2) * (t * 0.5 - 0.25) - p12) * (t - 0.5)
|
||||
end
|
||||
end
|
||||
|
||||
function overlapsOBB_OBB(c1, x1, y1, z1, c2, x2, y2, z2)
|
||||
local cc = c1 - c2
|
||||
local d11, d12, d13 = abs(x1:dot(x2)), abs(x1:dot(y2)), abs(x1:dot(z2))
|
||||
local d21, d22, d23 = abs(y1:dot(x2)), abs(y1:dot(y2)), abs(y1:dot(z2))
|
||||
local d31, d32, d33 = abs(z1:dot(x2)), abs(z1:dot(y2)), abs(z1:dot(z2))
|
||||
|
||||
return abs(cc:dot(x1))-d11-d12-d13<=x1:squaredLength() and abs(cc:dot(y1))-d21-d22-d23<=y1:squaredLength()
|
||||
and abs(cc:dot(z1))-d31-d32-d33<=z1:squaredLength() and abs(cc:dot(x2))-d11-d21-d31<=x2:squaredLength()
|
||||
and abs(cc:dot(y2))-d12-d22-d32<=y2:squaredLength() and abs(cc:dot(z2))-d13-d23-d33<=z2:squaredLength()
|
||||
end
|
||||
|
||||
-- untested
|
||||
function containsOBB_OBB(c1, x1, y1, z1, c2, x2, y2, z2)
|
||||
local cc = c1 - c2
|
||||
return abs(cc:dot(x1))+abs(x1:dot(x2))+abs(x1:dot(y2))+abs(x1:dot(z2))<=x1:squaredLength()
|
||||
and abs(cc:dot(y1))+abs(y1:dot(x2))+abs(y1:dot(y2))+abs(y1:dot(z2))<=y1:squaredLength()
|
||||
and abs(cc:dot(z1))+abs(z1:dot(x2))+abs(z1:dot(y2))+abs(z1:dot(z2))<=z1:squaredLength()
|
||||
end
|
||||
|
||||
function overlapsOBB_Sphere(c1, x1, y1, z1, c2, r2)
|
||||
local cc = c1 - c2
|
||||
local x1len, y1len, z1len = x1:length(), y1:length(), z1:length()
|
||||
local ccx, ccy, ccz = abs(cc:dot(x1)), abs(cc:dot(y1)), abs(cc:dot(z1))
|
||||
|
||||
return ccx<=x1len*(x1len+r2) and ccy<=y1len*(y1len+r2) and ccz<=z1len*(z1len+r2)
|
||||
and (ccx<=x1len*x1len or ccy<=y1len*y1len or ccz<=z1len*z1len or
|
||||
square(ccx/(x1len+1e-30)-x1len)+square(ccy/(y1len+1e-30)-y1len)+square(ccz/(z1len+1e-30)-z1len)<=r2*r2)
|
||||
end
|
||||
|
||||
function overlapsOBB_Plane(c1, x1, y1, z1, plpos, pln)
|
||||
return abs((c1 - plpos):dot(pln))<=abs(x1:dot(pln))+abs(y1:dot(pln))+abs(z1:dot(pln))
|
||||
end
|
||||
|
||||
function containsOBB_Sphere(c1, x1, y1, z1, c2, r2)
|
||||
local cc = c1 - c2
|
||||
local x1len, y1len, z1len = x1:length(), y1:length(), z1:length()
|
||||
return abs(cc:dot(x1))<=x1len*(x1len-r2) and abs(cc:dot(y1))<=y1len*(y1len-r2) and abs(cc:dot(z1))<=z1len*(z1len-r2)
|
||||
end
|
||||
|
||||
function containsSphere_OBB(c1, r1, c2, x2, y2, z2)
|
||||
local cc = c1 - c2
|
||||
local ccx1, cc_x2, y2z2, y2_z2 = cc+x2, cc-x2, y2+z2, y2-z2
|
||||
return max((ccx1+y2z2):squaredLength(), (ccx1+y2_z2):squaredLength(), (ccx1-y2_z2):squaredLength(), (ccx1-y2z2):squaredLength(),
|
||||
(cc_x2+y2z2):squaredLength(), (cc_x2+y2_z2):squaredLength(), (cc_x2-y2_z2):squaredLength(), (cc_x2-y2z2):squaredLength())<=r1*r1
|
||||
end
|
||||
|
||||
function containsOBB_point(c1, x1, y1, z1, p)
|
||||
local cc = c1 - p
|
||||
return abs(cc:dot(x1))<=x1:squaredLength() and abs(cc:dot(y1))<=y1:squaredLength() and abs(cc:dot(z1))<=z1:squaredLength()
|
||||
end
|
||||
|
||||
function containsEllipsoid_Point(c1, x1, y1, z1, p)
|
||||
local cc = p - c1
|
||||
local x, y, z = cc:dot(x1), cc:dot(y1), cc:dot(z1)
|
||||
local a2, b2, c2 = x1:squaredLength(), y1:squaredLength(), z1:squaredLength()
|
||||
a2, b2, c2 = a2*a2, b2*b2, c2*c2
|
||||
local b2c2 = b2*c2
|
||||
return x*x*b2c2 + a2*(y*y*c2 + z*z*b2) <= a2*b2c2
|
||||
end
|
||||
|
||||
function constainsCylinder_Point(cposa, cposb, cR, p)
|
||||
local xnorm, r2 = p:xnormSquaredDistanceToLineSegment(cposa, cposb)
|
||||
return xnorm >=0 and xnorm <= 1 and r2 <= cR*cR
|
||||
end
|
||||
|
||||
function altitudeOBB_Plane(c1, x1, y1, z1, plpos, pln)
|
||||
return (c1 - plpos):dot(pln)+abs(x1:dot(pln))+abs(y1:dot(pln))+abs(z1:dot(pln))
|
||||
end
|
||||
|
||||
-- returns signed distance of plane on the ray
|
||||
function intersectsRay_Plane(rpos, rdir, plpos, pln)
|
||||
return min((plpos - rpos):dot(pln) / rdir:dot(pln), math.huge)
|
||||
end
|
||||
|
||||
-- hit: minhit < maxhit, inside: minhit < 0
|
||||
function intersectsRay_OBB(rpos, rdir, c1, x1, y1, z1)
|
||||
local rposc1 = c1 - rpos
|
||||
local rposc1x1, x1sq, invrdirx1 = rposc1:dot(x1), x1:squaredLength(), 1 / rdir:dot(x1)
|
||||
local dx1, dx2 = (rposc1x1 - x1sq) * invrdirx1, min((rposc1x1 + x1sq) * invrdirx1, math.huge)
|
||||
local rposc1y1, y1sq, invrdiry1 = rposc1:dot(y1), y1:squaredLength(), 1 / rdir:dot(y1)
|
||||
local dy1, dy2 = (rposc1y1 - y1sq) * invrdiry1, min((rposc1y1 + y1sq) * invrdiry1, math.huge)
|
||||
local rposc1z1, z1sq, invrdirz1 = rposc1:dot(z1), z1:squaredLength(), 1 / rdir:dot(z1)
|
||||
local dz1, dz2 = (rposc1z1 - z1sq) * invrdirz1, min((rposc1z1 + z1sq) * invrdirz1, math.huge)
|
||||
|
||||
local minhit, maxhit = max(min(dx1, dx2), min(dy1, dy2), min(dz1, dz2)), min(max(dx1, dx2), max(dy1, dy2), max(dz1, dz2))
|
||||
return (minhit <= maxhit and minhit or math.huge), maxhit
|
||||
end
|
||||
|
||||
function intersectsRay_Sphere(rpos, rdir, cpos, cr)
|
||||
local rcpos = cpos - rpos
|
||||
local dcr = rdir:dot(rcpos)
|
||||
local s = dcr*dcr - rcpos:squaredLength() + cr*cr
|
||||
if s < 0 then return math.huge, math.huge end
|
||||
s = sqrt(s)
|
||||
return dcr - s, dcr + s
|
||||
end
|
||||
|
||||
function intersectsRay_Ellipsoid(rpos, rdir, c1, x1, y1, z1)
|
||||
local invx1, invy1, invz1 = 1 / (x1:squaredLength() + 1e-30), 1 / (y1:squaredLength() + 1e-30), 1 / (z1:squaredLength() + 1e-30)
|
||||
local cc = rpos - c1
|
||||
local pM = vec3(cc:dot(x1)*invx1, cc:dot(y1)*invy1, cc:dot(z1)*invz1)
|
||||
local dirM = vec3(rdir:dot(x1)*invx1, rdir:dot(y1)*invy1, rdir:dot(z1)*invz1)
|
||||
|
||||
local a, b, c = dirM:squaredLength(), 2*pM:dot(dirM), pM:squaredLength() - 1
|
||||
local d = b*b - 4*a*c
|
||||
if d < 0 then return math.huge, math.huge end
|
||||
d = -b -sign(b)*sqrt(d)
|
||||
local r1, r2 = 0.5*d / a, 2*c / d
|
||||
return min(r1, r2), max(r1,r2)
|
||||
end
|
||||
|
||||
function intersectsRay_Cylinder(rpos, rdir, cposa, cposb, cR)
|
||||
local rca, cba = cposa - rpos, cposb - cposa
|
||||
local cpnorm = cba:normalized()
|
||||
local cp = rca:projectToOriginPlane(cpnorm)
|
||||
local rdp = rdir:projectToOriginPlane(cpnorm)
|
||||
local minhit, maxhit = intersectsRay_Sphere(vec3(0,0,0), rdp:normalized(), cp, cR)
|
||||
local invrdplen = 1 / (rdp:length() + 1e-30)
|
||||
minhit, maxhit = minhit * invrdplen, maxhit * invrdplen
|
||||
local plhita, plhitb = intersectsRay_Plane(rpos, rdir, cposa, cpnorm), intersectsRay_Plane(rpos, rdir, cposb, cpnorm)
|
||||
minhit, maxhit = max(minhit, min(plhita, plhitb)), min(maxhit, max(plhita, plhitb))
|
||||
return (minhit <= maxhit and minhit or math.huge), maxhit
|
||||
end
|
||||
|
||||
-- returns hit distance, barycentric x, y
|
||||
function intersectsRay_Triangle(rpos, rdir, a, b, c)
|
||||
local ca, bc = c - a, b - c
|
||||
local norm = ca:cross(bc)
|
||||
local rposc = rpos - c
|
||||
local pOnTri = rposc:dot(norm) / rdir:dot(norm)
|
||||
if pOnTri <= 0 then
|
||||
local pacnorm = (rposc - rdir * pOnTri):cross(norm)
|
||||
local bx, by = bc:dot(pacnorm), ca:dot(pacnorm)
|
||||
local normSq = norm:squaredLength() + 1e-30
|
||||
if min(bx, by) >= 0 and bx + by <= normSq then
|
||||
return -pOnTri, bx / normSq, by / normSq
|
||||
end
|
||||
end
|
||||
return math.huge, -1, -1
|
||||
end
|
||||
Loading…
x
Reference in New Issue
Block a user