capsule voxelization

Content/Documentation/ScriptingAPI-Documentation.md

@@ -1745,6 +1745,7 @@ Tracks a physics pick drag operation. Use it with `phyiscs.PickDrag()` function.
 - InjectTriangle(Vector a,b,c, opt bool subtract = false) -- voxelizes triangle, and either adds it to the voxels (default), or removes voxels
 - InjectAABB(AABB aabb, opt bool subtract = false) -- voxelizes axis aligned bounding box, and either adds it to the voxels (default), or removes voxels
 - InjectSphere(Sphere sphere, opt bool subtract = false) -- voxelizes sphere, and either adds it to the voxels (default), or removes voxels
+- InjectCapsule(Capsule capsule, opt bool subtract = false) -- voxelizes capsule, and either adds it to the voxels (default), or removes voxels
 - WorldToCoord(Vector pos) : int x,y,z  -- converts a position in world space to voxel coordinate
 - CoordToWorld(int x,y,z) : Vector -- converts voxel coordinate to world space position
 - CheckVoxel(Vector pos) : bool -- returns false if voxel is empty, true if it's valid

Content/scripts/pathfinding.lua

@@ -14,6 +14,7 @@ voxelgrid.InjectAABB(AABB(Vector(4, 0, 0.8), Vector(8, voxelsize.GetY() * 2, 5))
 voxelgrid.InjectAABB(AABB(Vector(4, 0, 3), Vector(8, voxelsize.GetY() * 3.5, 7)))
 voxelgrid.InjectAABB(AABB(Vector(4, 0, 6), Vector(8, voxelsize.GetY() * 4.5, 7)))
 voxelgrid.InjectSphere(Sphere(Vector(-4.8,1.6,-2.5), 1.6))
+voxelgrid.InjectCapsule(Capsule(Vector(4.8,-0.6,-2.5), Vector(2, 1, 1), 0.4))
 
 -- If teapot model can be loaded, then load it and voxelize it too:
 local scene = Scene()

WickedEngine/wiScene.cpp

@@ -5843,10 +5843,10 @@ namespace wi::scene
 				break;
 				case ColliderComponent::Shape::Capsule:
 				{
-					AABB aabb = collider.capsule.getAABB();
+					Capsule capsule = collider.capsule;
 					// TODO: fix heap allocating lambda capture!
-					wi::jobsystem::Execute(ctx, [&voxelgrid, subtract, aabb](wi::jobsystem::JobArgs args) {
-						voxelgrid.inject_aabb(aabb, subtract);
+					wi::jobsystem::Execute(ctx, [&voxelgrid, subtract, capsule](wi::jobsystem::JobArgs args) {
+						voxelgrid.inject_capsule(capsule, subtract);
 						});
 				}
 				break;

WickedEngine/wiVoxelGrid.cpp

@@ -236,6 +236,76 @@ namespace wi
 			}
 		}
 	}
+	void VoxelGrid::inject_capsule(const wi::primitive::Capsule& capsule, bool subtract)
+	{
+		const XMVECTOR CENTER = XMLoadFloat3(&center);
+		const XMVECTOR RESOLUTION = XMLoadUInt3(&resolution);
+		const XMVECTOR RESOLUTION_RCP = XMLoadFloat3(&resolution_rcp);
+		const XMVECTOR VOXELSIZE_RCP = XMLoadFloat3(&voxelSize_rcp);
+
+		AABB aabb = capsule.getAABB();
+
+		XMVECTOR _MIN = XMLoadFloat3(&aabb._min);
+		XMVECTOR _MAX = XMLoadFloat3(&aabb._max);
+
+		// world -> uvw space:
+		_MIN = world_to_uvw(_MIN, CENTER, RESOLUTION_RCP, VOXELSIZE_RCP);
+		_MAX = world_to_uvw(_MAX, CENTER, RESOLUTION_RCP, VOXELSIZE_RCP);
+
+		// pixel space:
+		_MIN *= RESOLUTION;
+		_MAX *= RESOLUTION;
+
+		// After changing spaces, need to minmax again:
+		XMVECTOR MIN = XMVectorMin(_MIN, _MAX);
+		XMVECTOR MAX = XMVectorMax(_MIN, _MAX);
+
+		MIN = XMVectorFloor(MIN);
+		MAX = XMVectorCeiling(MAX + XMVectorSet(0.5f, 0.5f, 0.5f, 0));
+
+		MIN = XMVectorMax(MIN, XMVectorZero());
+		MAX = XMVectorMin(MAX, RESOLUTION);
+
+		XMUINT3 mini, maxi;
+		XMStoreUInt3(&mini, MIN);
+		XMStoreUInt3(&maxi, MAX);
+
+		volatile long long* data = (volatile long long*)voxels.data();
+		for (uint32_t x = mini.x; x < maxi.x; ++x)
+		{
+			for (uint32_t y = mini.y; y < maxi.y; ++y)
+			{
+				for (uint32_t z = mini.z; z < maxi.z; ++z)
+				{
+					wi::primitive::AABB voxel_aabb;
+					XMUINT3 voxel_center_coord = XMUINT3(x, y, z);
+					XMFLOAT3 voxel_center_world = coord_to_world(voxel_center_coord);
+					voxel_aabb.createFromHalfWidth(voxel_center_world, voxelSize);
+					for (int c = 0; c < 8; ++c)
+					{
+						// This capsule-box test can fail if capsule doesn't contain any of the corners,
+						//	but it intersects with the cube. But for now this simple method is used.
+						if (capsule.intersects(voxel_aabb.corner(c)))
+						{
+							const uint3 coord = uint3(x / 4u, y / 4u, z / 4u);
+							const uint3 sub_coord = uint3(x % 4u, y % 4u, z % 4u);
+							const uint32_t idx = flatten3D(coord, resolution_div4);
+							const uint32_t bit = flatten3D(sub_coord, uint3(4, 4, 4));
+							const uint64_t mask = 1ull << bit;
+							if (subtract)
+							{
+								AtomicAnd(data + idx, ~mask);
+							}
+							else
+							{
+								AtomicOr(data + idx, mask);
+							}
+						}
+					}
+				}
+			}
+		}
+	}
 
 	XMUINT3 VoxelGrid::world_to_coord(const XMFLOAT3& worldpos) const
 	{

WickedEngine/wiVoxelGrid.h

@@ -34,6 +34,7 @@ namespace wi
 		void inject_triangle(XMVECTOR A, XMVECTOR B, XMVECTOR C, bool subtract = false);
 		void inject_aabb(const wi::primitive::AABB& aabb, bool subtract = false);
 		void inject_sphere(const wi::primitive::Sphere& sphere, bool subtract = false);
+		void inject_capsule(const wi::primitive::Capsule& capsule, bool subtract = false);
 		XMUINT3 world_to_coord(const XMFLOAT3& worldpos) const;
 		XMFLOAT3 coord_to_world(const XMUINT3& coord) const;
 		bool check_voxel(XMUINT3 coord) const;

WickedEngine/wiVoxelGrid_BindLua.cpp

@@ -11,6 +11,7 @@ namespace wi::lua
 		lunamethod(VoxelGrid_BindLua, InjectTriangle),
 		lunamethod(VoxelGrid_BindLua, InjectAABB),
 		lunamethod(VoxelGrid_BindLua, InjectSphere),
+		lunamethod(VoxelGrid_BindLua, InjectCapsule),
 		lunamethod(VoxelGrid_BindLua, WorldToCoord),
 		lunamethod(VoxelGrid_BindLua, CoordToWorld),
 		lunamethod(VoxelGrid_BindLua, CheckVoxel),
@@ -156,6 +157,28 @@ namespace wi::lua
 		voxelgrid->inject_sphere(sphere->sphere, subtract);
 		return 0;
 	}
+	int VoxelGrid_BindLua::InjectCapsule(lua_State* L)
+	{
+		int argc = wi::lua::SGetArgCount(L);
+		if (argc < 1)
+		{
+			wi::lua::SError(L, "VoxelGrid::InjectCapsule(Capsule capsule, opt bool subtract = false) not enough arguments!");
+			return 0;
+		}
+		primitive::Capsule_BindLua* capsule = Luna<primitive::Capsule_BindLua>::lightcheck(L, 1);
+		if (capsule == nullptr)
+		{
+			wi::lua::SError(L, "VoxelGrid::InjectCapsule(Capsule capsule, opt bool subtract = false) first argument is not a Vector!");
+			return 0;
+		}
+		bool subtract = false;
+		if (argc > 1)
+		{
+			subtract = wi::lua::SGetBool(L, 2);
+		}
+		voxelgrid->inject_capsule(capsule->capsule, subtract);
+		return 0;
+	}
 	int VoxelGrid_BindLua::WorldToCoord(lua_State* L)
 	{
 		int argc = wi::lua::SGetArgCount(L);

WickedEngine/wiVoxelGrid_BindLua.h

@@ -28,6 +28,7 @@ namespace wi::lua
 		int InjectTriangle(lua_State* L);
 		int InjectAABB(lua_State* L);
 		int InjectSphere(lua_State* L);
+		int InjectCapsule(lua_State* L);
 		int WorldToCoord(lua_State* L);
 		int CoordToWorld(lua_State* L);
 		int CheckVoxel(lua_State* L);