godot/servers/physics/shape_sw.h

/*************************************************************************/
/*  shape_sw.h                                                           */
/*************************************************************************/
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/*                           GODOT ENGINE                                */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                 */
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#ifndef SHAPE_SW_H
#define SHAPE_SW_H

#include "servers/physics_server.h"
#include "bsp_tree.h"
#include "geometry.h"
/*

SHAPE_LINE, ///< plane:"plane"
SHAPE_SEGMENT, ///< float:"length"
SHAPE_CIRCLE, ///< float:"radius"
SHAPE_RECTANGLE, ///< vec3:"extents"
SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
SHAPE_CONCAVE_POLYGON, ///< Vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array)
SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error

*/

class ShapeSW;

class ShapeOwnerSW {
public:

	virtual void _shape_changed()=0;
	virtual void remove_shape(ShapeSW *p_shape)=0;

	virtual ~ShapeOwnerSW() {}
};


class ShapeSW {

	RID self;
	AABB aabb;
	bool configured;
	real_t custom_bias;

	Map<ShapeOwnerSW*,int> owners;
protected:

	void configure(const AABB& p_aabb);
public:

	enum {
		MAX_SUPPORTS=8
	};

	_FORCE_INLINE_ void set_self(const RID& p_self) { self=p_self; }
	_FORCE_INLINE_ RID get_self() const {return  self; }

	virtual PhysicsServer::ShapeType get_type() const=0;

	_FORCE_INLINE_ AABB get_aabb() const { return aabb; }
	_FORCE_INLINE_ bool is_configured() const { return configured; }

	virtual bool is_concave() const { return false; }

	virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const=0;
	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) const=0;

	virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_point, Vector3 &r_normal) const=0;
	virtual Vector3 get_moment_of_inertia(float p_mass) const=0;

	virtual void set_data(const Variant& p_data)=0;
	virtual Variant get_data() const=0;

	_FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias=p_bias; }
	_FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; }

	void add_owner(ShapeOwnerSW *p_owner);
	void remove_owner(ShapeOwnerSW *p_owner);
	bool is_owner(ShapeOwnerSW *p_owner) const;
	const Map<ShapeOwnerSW*,int>& get_owners() const;

	ShapeSW();
	virtual ~ShapeSW();
};


class ConcaveShapeSW : public ShapeSW {

public:

	virtual bool is_concave() const { return true; }
	typedef void (*Callback)(void* p_userdata,ShapeSW *p_convex);
	virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const { r_amount=0; }

	virtual void cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const=0;

	ConcaveShapeSW() {}
};

class PlaneShapeSW : public ShapeSW {

	Plane plane;

	void _setup(const Plane& p_plane);
public:

	Plane get_plane() const;

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_PLANE; }
	virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
	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) const { r_amount=0; }

	virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;

	virtual Vector3 get_moment_of_inertia(float p_mass) const;

	virtual void set_data(const Variant& p_data);
	virtual Variant get_data() const;

	PlaneShapeSW();
};

class RayShapeSW : public ShapeSW {

	float length;

	void _setup(float p_length);
public:

	float get_length() const;

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_RAY; }
	virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
	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) const;

	virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;

	virtual Vector3 get_moment_of_inertia(float p_mass) const;

	virtual void set_data(const Variant& p_data);
	virtual Variant get_data() const;

	RayShapeSW();
};

class SphereShapeSW : public ShapeSW {

	real_t radius;

	void _setup(real_t p_radius);
public:

	real_t get_radius() const;

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_SPHERE; }

	virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
	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) const;
	virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;

	virtual Vector3 get_moment_of_inertia(float p_mass) const;

	virtual void set_data(const Variant& p_data);
	virtual Variant get_data() const;

	SphereShapeSW();
};

class BoxShapeSW : public ShapeSW {

	Vector3 half_extents;
	void _setup(const Vector3& p_half_extents);
public:

	_FORCE_INLINE_ Vector3 get_half_extents() const { return half_extents; }

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_BOX; }

	virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
	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) const;
	virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;

	virtual Vector3 get_moment_of_inertia(float p_mass) const;

	virtual void set_data(const Variant& p_data);
	virtual Variant get_data() const;

	BoxShapeSW();
};

class CapsuleShapeSW : public ShapeSW {

	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 PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CAPSULE; }

	virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
	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) const;
	virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;

	virtual Vector3 get_moment_of_inertia(float p_mass) const;

	virtual void set_data(const Variant& p_data);
	virtual Variant get_data() const;

	CapsuleShapeSW();
};

struct ConvexPolygonShapeSW : public ShapeSW {

	Geometry::MeshData mesh;

	void _setup(const Vector<Vector3>& p_vertices);
public:

	const Geometry::MeshData& get_mesh() const { return mesh; }

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }

	virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
	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) const;
	virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;

	virtual Vector3 get_moment_of_inertia(float p_mass) const;

	virtual void set_data(const Variant& p_data);
	virtual Variant get_data() const;

	ConvexPolygonShapeSW();

};


struct _VolumeSW_BVH;
struct FaceShapeSW;

struct ConcavePolygonShapeSW : public ConcaveShapeSW {
	// always a trimesh

	struct Face {

		Vector3 normal;
		int indices[3];
	};

	DVector<Face> faces;
	DVector<Vector3> vertices;

	struct BVH {

		AABB aabb;
		int left;
		int right;

		int face_index;
	};

	DVector<BVH> bvh;

	struct _CullParams {

		AABB aabb;
		Callback callback;
		void *userdata;
		const Face *faces;
		const Vector3 *vertices;
		const BVH *bvh;
		FaceShapeSW *face;
	};

	struct _SegmentCullParams {

		Vector3 from;
		Vector3 to;
		const Face *faces;
		const Vector3 *vertices;
		const BVH *bvh;
		Vector3 dir;

		Vector3 result;
		Vector3 normal;
		real_t min_d;
		int collisions;

	};

	void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
	void _cull(int p_idx,_CullParams *p_params) const;

	void _fill_bvh(_VolumeSW_BVH* p_bvh_tree,BVH* p_bvh_array,int& p_idx);


	void _setup(DVector<Vector3> p_faces);
public:

	DVector<Vector3> get_faces() const;

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }

	virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
	virtual Vector3 get_support(const Vector3& p_normal) const;

	virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;

	virtual void cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const;

	virtual Vector3 get_moment_of_inertia(float p_mass) const;

	virtual void set_data(const Variant& p_data);
	virtual Variant get_data() const;

	ConcavePolygonShapeSW();

};


struct HeightMapShapeSW : public ConcaveShapeSW {

	DVector<real_t> heights;
	int width;
	int depth;
	float cell_size;

//	void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
//	void _cull(int p_idx,_CullParams *p_params) const;

	void _setup(DVector<float> p_heights,int p_width,int p_depth,float p_cell_size);
public:

	DVector<real_t> get_heights() const;
	int get_width() const;
	int get_depth() const;
	float get_cell_size() const;

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_HEIGHTMAP; }

	virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
	virtual Vector3 get_support(const Vector3& p_normal) const;
	virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;

	virtual void cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const;

	virtual Vector3 get_moment_of_inertia(float p_mass) const;

	virtual void set_data(const Variant& p_data);
	virtual Variant get_data() const;

	HeightMapShapeSW();

};

//used internally
struct FaceShapeSW : public ShapeSW {

	Vector3 normal; //cache
	Vector3 vertex[3];

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }

	const Vector3& get_vertex(int p_idx) const { return vertex[p_idx]; }

	void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
	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) const;
	bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;

	Vector3 get_moment_of_inertia(float p_mass) const;

	virtual void set_data(const Variant& p_data) {}
	virtual Variant get_data() const { return Variant(); }

	FaceShapeSW();
};


struct MotionShapeSW : public ShapeSW {

	ShapeSW *shape;
	Vector3 motion;

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }


	void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {

		Vector3 cast = p_transform.basis.xform(motion);
		real_t mina,maxa;
		real_t minb,maxb;
		Transform ofsb = p_transform;
		ofsb.origin+=cast;
		shape->project_range(p_normal,p_transform,mina,maxa);
		shape->project_range(p_normal,ofsb,minb,maxb);
		r_min=MIN(mina,minb);
		r_max=MAX(maxa,maxb);
	}

	Vector3 get_support(const Vector3& p_normal) const {

		Vector3 support = shape->get_support(p_normal);
		if (p_normal.dot(motion)>0) {
			support+=motion;
		}
		return support;
	}
	virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const { r_amount=0; }
	bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const { return false; }

	Vector3 get_moment_of_inertia(float p_mass) const { return Vector3(); }

	virtual void set_data(const Variant& p_data) {}
	virtual Variant get_data() const { return Variant(); }

	MotionShapeSW()  { configure(AABB()); }
};




struct _ShapeTestConvexBSPSW {

	const BSP_Tree *bsp;
	const ShapeSW *shape;
	Transform transform;

	_FORCE_INLINE_ void project_range(const Vector3& p_normal, real_t& r_min, real_t& r_max) const {

		shape->project_range(p_normal,transform,r_min,r_max);
	}

};




#endif // SHAPESW_H