2014-02-10 01:10:30 +00:00
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/*************************************************************************/
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2020-03-28 12:19:05 +00:00
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/* shape_3d_sw.h */
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2014-02-10 01:10:30 +00:00
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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2017-08-27 12:16:55 +00:00
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/* https://godotengine.org */
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2014-02-10 01:10:30 +00:00
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/*************************************************************************/
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2021-01-01 19:13:46 +00:00
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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2014-02-10 01:10:30 +00:00
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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2018-01-04 23:50:27 +00:00
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2014-09-03 02:13:40 +00:00
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#ifndef SHAPE_SW_H
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#define SHAPE_SW_H
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2020-05-25 17:20:45 +00:00
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#include "core/math/geometry_3d.h"
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2020-03-27 18:21:27 +00:00
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#include "servers/physics_server_3d.h"
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2014-09-03 02:13:40 +00:00
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/*
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SHAPE_LINE, ///< plane:"plane"
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2017-02-13 23:25:05 +00:00
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SHAPE_SEGMENT, ///< real_t:"length"
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SHAPE_CIRCLE, ///< real_t:"radius"
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2014-09-03 02:13:40 +00:00
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SHAPE_RECTANGLE, ///< vec3:"extents"
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SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
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SHAPE_CONCAVE_POLYGON, ///< Vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array)
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SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
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*/
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2020-03-27 18:21:27 +00:00
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class Shape3DSW;
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2014-09-03 02:13:40 +00:00
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2020-03-27 18:21:27 +00:00
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class ShapeOwner3DSW {
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2014-09-03 02:13:40 +00:00
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public:
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2017-03-05 15:44:50 +00:00
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virtual void _shape_changed() = 0;
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2020-03-27 18:21:27 +00:00
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virtual void remove_shape(Shape3DSW *p_shape) = 0;
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2014-09-03 02:13:40 +00:00
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2020-03-27 18:21:27 +00:00
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virtual ~ShapeOwner3DSW() {}
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2014-09-03 02:13:40 +00:00
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};
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2020-03-27 18:21:27 +00:00
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class Shape3DSW {
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2014-09-03 02:13:40 +00:00
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RID self;
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2017-11-17 02:09:00 +00:00
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AABB aabb;
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2014-09-03 02:13:40 +00:00
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bool configured;
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real_t custom_bias;
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2020-03-27 18:21:27 +00:00
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Map<ShapeOwner3DSW *, int> owners;
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2017-03-05 15:44:50 +00:00
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2014-09-03 02:13:40 +00:00
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protected:
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2017-11-17 02:09:00 +00:00
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void configure(const AABB &p_aabb);
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2014-09-03 02:13:40 +00:00
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public:
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2021-02-09 18:25:29 +00:00
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enum FeatureType {
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FEATURE_POINT,
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FEATURE_EDGE,
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FEATURE_FACE,
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FEATURE_CIRCLE,
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2014-09-03 02:13:40 +00:00
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};
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2017-03-05 15:44:50 +00:00
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virtual real_t get_area() const { return aabb.get_area(); }
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2016-12-31 14:39:25 +00:00
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2017-03-05 15:44:50 +00:00
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_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
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_FORCE_INLINE_ RID get_self() const { return self; }
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2014-09-03 02:13:40 +00:00
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2020-03-27 18:21:27 +00:00
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virtual PhysicsServer3D::ShapeType get_type() const = 0;
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2014-09-03 02:13:40 +00:00
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2021-03-25 01:49:04 +00:00
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_FORCE_INLINE_ const AABB &get_aabb() const { return aabb; }
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2014-09-03 02:13:40 +00:00
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_FORCE_INLINE_ bool is_configured() const { return configured; }
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virtual bool is_concave() const { return false; }
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2020-10-17 05:08:21 +00:00
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virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const = 0;
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2017-03-05 15:44:50 +00:00
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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2021-02-09 18:25:29 +00:00
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const = 0;
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2017-07-15 04:23:10 +00:00
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const = 0;
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2017-03-05 15:44:50 +00:00
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const = 0;
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2017-07-15 04:23:10 +00:00
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virtual bool intersect_point(const Vector3 &p_point) const = 0;
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2017-03-05 15:44:50 +00:00
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const = 0;
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2014-09-03 02:13:40 +00:00
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2017-03-05 15:44:50 +00:00
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virtual void set_data(const Variant &p_data) = 0;
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virtual Variant get_data() const = 0;
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2014-09-03 02:13:40 +00:00
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2017-03-05 15:44:50 +00:00
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_FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias = p_bias; }
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2014-09-03 02:13:40 +00:00
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_FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; }
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2020-03-27 18:21:27 +00:00
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void add_owner(ShapeOwner3DSW *p_owner);
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void remove_owner(ShapeOwner3DSW *p_owner);
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bool is_owner(ShapeOwner3DSW *p_owner) const;
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const Map<ShapeOwner3DSW *, int> &get_owners() const;
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2014-09-03 02:13:40 +00:00
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2020-03-27 18:21:27 +00:00
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Shape3DSW();
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virtual ~Shape3DSW();
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2014-09-03 02:13:40 +00:00
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};
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2020-03-27 18:21:27 +00:00
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class ConcaveShape3DSW : public Shape3DSW {
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2014-09-03 02:13:40 +00:00
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public:
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virtual bool is_concave() const { return true; }
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2020-03-27 18:21:27 +00:00
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typedef void (*Callback)(void *p_userdata, Shape3DSW *p_convex);
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2021-02-09 18:25:29 +00:00
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; }
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2014-09-03 02:13:40 +00:00
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2017-11-17 02:09:00 +00:00
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virtual void cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const = 0;
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2014-09-03 02:13:40 +00:00
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2020-03-27 18:21:27 +00:00
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ConcaveShape3DSW() {}
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2014-09-03 02:13:40 +00:00
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};
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2020-03-27 18:21:27 +00:00
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class PlaneShape3DSW : public Shape3DSW {
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2014-09-03 02:13:40 +00:00
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Plane plane;
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2017-03-05 15:44:50 +00:00
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void _setup(const Plane &p_plane);
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2014-09-03 02:13:40 +00:00
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2017-03-05 15:44:50 +00:00
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public:
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2014-09-03 02:13:40 +00:00
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Plane get_plane() const;
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2021-07-21 08:40:31 +00:00
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virtual real_t get_area() const { return INFINITY; }
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2020-03-27 18:21:27 +00:00
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virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_PLANE; }
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2020-10-17 05:08:21 +00:00
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virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const;
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2017-03-05 15:44:50 +00:00
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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2021-02-09 18:25:29 +00:00
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; }
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2014-09-03 02:13:40 +00:00
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2017-03-05 15:44:50 +00:00
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
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2017-07-15 04:23:10 +00:00
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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2017-02-13 23:25:05 +00:00
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
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2014-09-03 02:13:40 +00:00
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2017-03-05 15:44:50 +00:00
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virtual void set_data(const Variant &p_data);
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2014-09-03 02:13:40 +00:00
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virtual Variant get_data() const;
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2020-03-27 18:21:27 +00:00
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PlaneShape3DSW();
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2014-09-03 02:13:40 +00:00
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};
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2020-03-27 18:21:27 +00:00
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class RayShape3DSW : public Shape3DSW {
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2017-02-13 23:25:05 +00:00
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real_t length;
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2018-02-19 19:59:57 +00:00
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bool slips_on_slope;
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2014-09-03 02:13:40 +00:00
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2018-02-19 19:59:57 +00:00
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void _setup(real_t p_length, bool p_slips_on_slope);
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2014-09-03 02:13:40 +00:00
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2017-03-05 15:44:50 +00:00
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public:
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2017-02-13 23:25:05 +00:00
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real_t get_length() const;
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2018-02-19 19:59:57 +00:00
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bool get_slips_on_slope() const;
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2014-09-03 02:13:40 +00:00
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2016-12-31 14:39:25 +00:00
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virtual real_t get_area() const { return 0.0; }
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2020-03-27 18:21:27 +00:00
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virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_RAY; }
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2020-10-17 05:08:21 +00:00
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virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const;
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2017-03-05 15:44:50 +00:00
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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2021-02-09 18:25:29 +00:00
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
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2014-09-03 02:13:40 +00:00
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2017-03-05 15:44:50 +00:00
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
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2017-07-15 04:23:10 +00:00
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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2014-09-03 02:13:40 +00:00
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2017-02-13 23:25:05 +00:00
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
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2014-09-03 02:13:40 +00:00
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2017-03-05 15:44:50 +00:00
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virtual void set_data(const Variant &p_data);
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2014-09-03 02:13:40 +00:00
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virtual Variant get_data() const;
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2020-03-27 18:21:27 +00:00
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RayShape3DSW();
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2014-09-03 02:13:40 +00:00
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};
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2020-03-27 18:21:27 +00:00
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class SphereShape3DSW : public Shape3DSW {
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2014-09-03 02:13:40 +00:00
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real_t radius;
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void _setup(real_t p_radius);
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2017-03-05 15:44:50 +00:00
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public:
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2014-09-03 02:13:40 +00:00
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real_t get_radius() const;
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2017-03-05 15:44:50 +00:00
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virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius; }
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2016-12-31 14:39:25 +00:00
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2020-03-27 18:21:27 +00:00
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virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_SPHERE; }
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2014-09-03 02:13:40 +00:00
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2020-10-17 05:08:21 +00:00
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virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const;
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2017-03-05 15:44:50 +00:00
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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2021-02-09 18:25:29 +00:00
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
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2017-03-05 15:44:50 +00:00
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
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2017-07-15 04:23:10 +00:00
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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2014-09-03 02:13:40 +00:00
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2017-02-13 23:25:05 +00:00
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
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2014-09-03 02:13:40 +00:00
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2017-03-05 15:44:50 +00:00
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virtual void set_data(const Variant &p_data);
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2014-09-03 02:13:40 +00:00
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virtual Variant get_data() const;
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2020-03-27 18:21:27 +00:00
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SphereShape3DSW();
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2014-09-03 02:13:40 +00:00
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};
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2020-03-27 18:21:27 +00:00
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class BoxShape3DSW : public Shape3DSW {
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2014-09-03 02:13:40 +00:00
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Vector3 half_extents;
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2017-03-05 15:44:50 +00:00
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void _setup(const Vector3 &p_half_extents);
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2014-09-03 02:13:40 +00:00
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2017-03-05 15:44:50 +00:00
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public:
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2014-09-03 02:13:40 +00:00
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_FORCE_INLINE_ Vector3 get_half_extents() const { return half_extents; }
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2017-03-05 15:44:50 +00:00
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virtual real_t get_area() const { return 8 * half_extents.x * half_extents.y * half_extents.z; }
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2014-09-03 02:13:40 +00:00
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2020-03-27 18:21:27 +00:00
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virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_BOX; }
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2014-09-03 02:13:40 +00:00
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2020-10-17 05:08:21 +00:00
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virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const;
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2017-03-05 15:44:50 +00:00
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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2021-02-09 18:25:29 +00:00
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
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2017-03-05 15:44:50 +00:00
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
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2017-07-15 04:23:10 +00:00
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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2014-09-03 02:13:40 +00:00
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2017-02-13 23:25:05 +00:00
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
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2014-09-03 02:13:40 +00:00
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2017-03-05 15:44:50 +00:00
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virtual void set_data(const Variant &p_data);
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2014-09-03 02:13:40 +00:00
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virtual Variant get_data() const;
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2020-03-27 18:21:27 +00:00
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BoxShape3DSW();
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2014-09-03 02:13:40 +00:00
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};
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2020-03-27 18:21:27 +00:00
|
|
|
class CapsuleShape3DSW : public Shape3DSW {
|
2014-09-03 02:13:40 +00:00
|
|
|
real_t height;
|
|
|
|
real_t radius;
|
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
void _setup(real_t p_height, real_t p_radius);
|
2014-09-03 02:13:40 +00:00
|
|
|
|
|
|
|
public:
|
|
|
|
_FORCE_INLINE_ real_t get_height() const { return height; }
|
|
|
|
_FORCE_INLINE_ real_t get_radius() const { return radius; }
|
|
|
|
|
2018-03-22 02:58:40 +00:00
|
|
|
virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius + height * Math_PI * radius * radius; }
|
2016-12-31 14:39:25 +00:00
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_CAPSULE; }
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2020-10-17 05:08:21 +00:00
|
|
|
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const;
|
2017-03-05 15:44:50 +00:00
|
|
|
virtual Vector3 get_support(const Vector3 &p_normal) const;
|
2021-02-09 18:25:29 +00:00
|
|
|
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
|
2017-03-05 15:44:50 +00:00
|
|
|
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
|
2017-07-15 04:23:10 +00:00
|
|
|
virtual bool intersect_point(const Vector3 &p_point) const;
|
|
|
|
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-02-13 23:25:05 +00:00
|
|
|
virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
virtual void set_data(const Variant &p_data);
|
2014-09-03 02:13:40 +00:00
|
|
|
virtual Variant get_data() const;
|
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
CapsuleShape3DSW();
|
2014-09-03 02:13:40 +00:00
|
|
|
};
|
|
|
|
|
2021-02-09 18:25:29 +00:00
|
|
|
class CylinderShape3DSW : public Shape3DSW {
|
|
|
|
real_t height;
|
|
|
|
real_t radius;
|
|
|
|
|
|
|
|
void _setup(real_t p_height, real_t p_radius);
|
|
|
|
|
|
|
|
public:
|
|
|
|
_FORCE_INLINE_ real_t get_height() const { return height; }
|
|
|
|
_FORCE_INLINE_ real_t get_radius() const { return radius; }
|
|
|
|
|
|
|
|
virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius + height * Math_PI * radius * radius; }
|
|
|
|
|
|
|
|
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_CYLINDER; }
|
|
|
|
|
2020-10-17 05:08:21 +00:00
|
|
|
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const;
|
2021-02-09 18:25:29 +00:00
|
|
|
virtual Vector3 get_support(const Vector3 &p_normal) const;
|
|
|
|
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
|
|
|
|
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
|
|
|
|
virtual bool intersect_point(const Vector3 &p_point) const;
|
|
|
|
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
|
|
|
|
|
|
|
|
virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
|
|
|
|
|
|
|
|
virtual void set_data(const Variant &p_data);
|
|
|
|
virtual Variant get_data() const;
|
|
|
|
|
|
|
|
CylinderShape3DSW();
|
|
|
|
};
|
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
struct ConvexPolygonShape3DSW : public Shape3DSW {
|
2020-05-25 17:20:45 +00:00
|
|
|
Geometry3D::MeshData mesh;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
void _setup(const Vector<Vector3> &p_vertices);
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
public:
|
2020-05-25 17:20:45 +00:00
|
|
|
const Geometry3D::MeshData &get_mesh() const { return mesh; }
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_CONVEX_POLYGON; }
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2020-10-17 05:08:21 +00:00
|
|
|
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const;
|
2017-03-05 15:44:50 +00:00
|
|
|
virtual Vector3 get_support(const Vector3 &p_normal) const;
|
2021-02-09 18:25:29 +00:00
|
|
|
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
|
2017-03-05 15:44:50 +00:00
|
|
|
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
|
2017-07-15 04:23:10 +00:00
|
|
|
virtual bool intersect_point(const Vector3 &p_point) const;
|
|
|
|
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-02-13 23:25:05 +00:00
|
|
|
virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
virtual void set_data(const Variant &p_data);
|
2014-09-03 02:13:40 +00:00
|
|
|
virtual Variant get_data() const;
|
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
ConvexPolygonShape3DSW();
|
2014-09-03 02:13:40 +00:00
|
|
|
};
|
|
|
|
|
|
|
|
struct _VolumeSW_BVH;
|
2020-03-27 18:21:27 +00:00
|
|
|
struct FaceShape3DSW;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
|
2014-09-03 02:13:40 +00:00
|
|
|
// always a trimesh
|
|
|
|
|
|
|
|
struct Face {
|
|
|
|
Vector3 normal;
|
|
|
|
int indices[3];
|
|
|
|
};
|
|
|
|
|
2020-02-17 21:06:54 +00:00
|
|
|
Vector<Face> faces;
|
|
|
|
Vector<Vector3> vertices;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
|
|
|
struct BVH {
|
2017-11-17 02:09:00 +00:00
|
|
|
AABB aabb;
|
2014-09-03 02:13:40 +00:00
|
|
|
int left;
|
|
|
|
int right;
|
|
|
|
|
|
|
|
int face_index;
|
|
|
|
};
|
|
|
|
|
2020-02-17 21:06:54 +00:00
|
|
|
Vector<BVH> bvh;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
|
|
|
struct _CullParams {
|
2017-11-17 02:09:00 +00:00
|
|
|
AABB aabb;
|
2021-03-12 01:15:31 +00:00
|
|
|
Callback callback = nullptr;
|
|
|
|
void *userdata = nullptr;
|
|
|
|
const Face *faces = nullptr;
|
|
|
|
const Vector3 *vertices = nullptr;
|
|
|
|
const BVH *bvh = nullptr;
|
|
|
|
FaceShape3DSW *face = nullptr;
|
2014-09-03 02:13:40 +00:00
|
|
|
};
|
|
|
|
|
|
|
|
struct _SegmentCullParams {
|
|
|
|
Vector3 from;
|
|
|
|
Vector3 to;
|
|
|
|
Vector3 dir;
|
2021-03-12 01:15:31 +00:00
|
|
|
const Face *faces = nullptr;
|
|
|
|
const Vector3 *vertices = nullptr;
|
|
|
|
const BVH *bvh = nullptr;
|
|
|
|
FaceShape3DSW *face = nullptr;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
|
|
|
Vector3 result;
|
|
|
|
Vector3 normal;
|
2021-03-12 01:15:31 +00:00
|
|
|
real_t min_d = 1e20;
|
|
|
|
int collisions = 0;
|
2014-09-03 02:13:40 +00:00
|
|
|
};
|
|
|
|
|
2021-03-12 01:15:31 +00:00
|
|
|
bool backface_collision = false;
|
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
void _cull_segment(int p_idx, _SegmentCullParams *p_params) const;
|
|
|
|
void _cull(int p_idx, _CullParams *p_params) const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
void _fill_bvh(_VolumeSW_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx);
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2021-03-12 01:15:31 +00:00
|
|
|
void _setup(const Vector<Vector3> &p_faces, bool p_backface_collision);
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
public:
|
2020-02-17 21:06:54 +00:00
|
|
|
Vector<Vector3> get_faces() const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_CONCAVE_POLYGON; }
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2020-10-17 05:08:21 +00:00
|
|
|
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const;
|
2017-03-05 15:44:50 +00:00
|
|
|
virtual Vector3 get_support(const Vector3 &p_normal) const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
|
2017-07-15 04:23:10 +00:00
|
|
|
virtual bool intersect_point(const Vector3 &p_point) const;
|
|
|
|
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-11-17 02:09:00 +00:00
|
|
|
virtual void cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-02-13 23:25:05 +00:00
|
|
|
virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
virtual void set_data(const Variant &p_data);
|
2014-09-03 02:13:40 +00:00
|
|
|
virtual Variant get_data() const;
|
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
ConcavePolygonShape3DSW();
|
2014-09-03 02:13:40 +00:00
|
|
|
};
|
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
struct HeightMapShape3DSW : public ConcaveShape3DSW {
|
2021-08-09 22:15:17 +00:00
|
|
|
Vector<real_t> heights;
|
2021-03-25 01:49:04 +00:00
|
|
|
int width = 0;
|
|
|
|
int depth = 0;
|
|
|
|
Vector3 local_origin;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2021-08-09 22:15:17 +00:00
|
|
|
_FORCE_INLINE_ real_t _get_height(int p_x, int p_z) const {
|
2021-03-25 01:49:04 +00:00
|
|
|
return heights[(p_z * width) + p_x];
|
|
|
|
}
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2021-03-25 01:49:04 +00:00
|
|
|
_FORCE_INLINE_ void _get_point(int p_x, int p_z, Vector3 &r_point) const {
|
|
|
|
r_point.x = p_x - 0.5 * (width - 1.0);
|
|
|
|
r_point.y = _get_height(p_x, p_z);
|
|
|
|
r_point.z = p_z - 0.5 * (depth - 1.0);
|
|
|
|
}
|
|
|
|
|
|
|
|
void _get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const;
|
|
|
|
|
2021-08-09 22:15:17 +00:00
|
|
|
void _setup(const Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
public:
|
2021-08-09 22:15:17 +00:00
|
|
|
Vector<real_t> get_heights() const;
|
2014-09-03 02:13:40 +00:00
|
|
|
int get_width() const;
|
|
|
|
int get_depth() const;
|
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_HEIGHTMAP; }
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2020-10-17 05:08:21 +00:00
|
|
|
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const;
|
2017-03-05 15:44:50 +00:00
|
|
|
virtual Vector3 get_support(const Vector3 &p_normal) const;
|
2017-08-11 19:10:05 +00:00
|
|
|
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const;
|
2017-07-15 04:23:10 +00:00
|
|
|
virtual bool intersect_point(const Vector3 &p_point) const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-07-15 04:23:10 +00:00
|
|
|
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
|
2017-11-17 02:09:00 +00:00
|
|
|
virtual void cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-02-13 23:25:05 +00:00
|
|
|
virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
virtual void set_data(const Variant &p_data);
|
2014-09-03 02:13:40 +00:00
|
|
|
virtual Variant get_data() const;
|
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
HeightMapShape3DSW();
|
2014-09-03 02:13:40 +00:00
|
|
|
};
|
|
|
|
|
|
|
|
//used internally
|
2020-03-27 18:21:27 +00:00
|
|
|
struct FaceShape3DSW : public Shape3DSW {
|
2014-09-03 02:13:40 +00:00
|
|
|
Vector3 normal; //cache
|
|
|
|
Vector3 vertex[3];
|
2021-03-12 01:15:31 +00:00
|
|
|
bool backface_collision = false;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_CONCAVE_POLYGON; }
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
const Vector3 &get_vertex(int p_idx) const { return vertex[p_idx]; }
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2020-10-17 05:08:21 +00:00
|
|
|
void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const;
|
2017-03-05 15:44:50 +00:00
|
|
|
Vector3 get_support(const Vector3 &p_normal) const;
|
2021-02-09 18:25:29 +00:00
|
|
|
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
|
2017-03-05 15:44:50 +00:00
|
|
|
bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
|
2017-07-15 04:23:10 +00:00
|
|
|
virtual bool intersect_point(const Vector3 &p_point) const;
|
|
|
|
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-02-13 23:25:05 +00:00
|
|
|
Vector3 get_moment_of_inertia(real_t p_mass) const;
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
virtual void set_data(const Variant &p_data) {}
|
2014-09-03 02:13:40 +00:00
|
|
|
virtual Variant get_data() const { return Variant(); }
|
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
FaceShape3DSW();
|
2014-09-03 02:13:40 +00:00
|
|
|
};
|
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
struct MotionShape3DSW : public Shape3DSW {
|
|
|
|
Shape3DSW *shape;
|
2014-09-03 02:13:40 +00:00
|
|
|
Vector3 motion;
|
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_CONVEX_POLYGON; }
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2020-10-17 05:08:21 +00:00
|
|
|
void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const {
|
2014-09-03 02:13:40 +00:00
|
|
|
Vector3 cast = p_transform.basis.xform(motion);
|
2017-03-05 15:44:50 +00:00
|
|
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real_t mina, maxa;
|
|
|
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real_t minb, maxb;
|
2020-10-17 05:08:21 +00:00
|
|
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Transform3D ofsb = p_transform;
|
2017-03-05 15:44:50 +00:00
|
|
|
ofsb.origin += cast;
|
|
|
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shape->project_range(p_normal, p_transform, mina, maxa);
|
|
|
|
shape->project_range(p_normal, ofsb, minb, maxb);
|
|
|
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r_min = MIN(mina, minb);
|
|
|
|
r_max = MAX(maxa, maxb);
|
2014-09-03 02:13:40 +00:00
|
|
|
}
|
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
Vector3 get_support(const Vector3 &p_normal) const {
|
2014-09-03 02:13:40 +00:00
|
|
|
Vector3 support = shape->get_support(p_normal);
|
2017-03-05 15:44:50 +00:00
|
|
|
if (p_normal.dot(motion) > 0) {
|
|
|
|
support += motion;
|
2014-09-03 02:13:40 +00:00
|
|
|
}
|
|
|
|
return support;
|
|
|
|
}
|
2021-02-09 18:25:29 +00:00
|
|
|
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; }
|
2017-03-05 15:44:50 +00:00
|
|
|
bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { return false; }
|
2017-07-15 04:23:10 +00:00
|
|
|
virtual bool intersect_point(const Vector3 &p_point) const { return false; }
|
|
|
|
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const { return p_point; }
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-02-13 23:25:05 +00:00
|
|
|
Vector3 get_moment_of_inertia(real_t p_mass) const { return Vector3(); }
|
2014-09-03 02:13:40 +00:00
|
|
|
|
2017-03-05 15:44:50 +00:00
|
|
|
virtual void set_data(const Variant &p_data) {}
|
2014-09-03 02:13:40 +00:00
|
|
|
virtual Variant get_data() const { return Variant(); }
|
|
|
|
|
2020-03-27 18:21:27 +00:00
|
|
|
MotionShape3DSW() { configure(AABB()); }
|
2014-09-03 02:13:40 +00:00
|
|
|
};
|
|
|
|
|
2020-02-17 21:06:54 +00:00
|
|
|
#endif // SHAPE_SW_H
|