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Merge pull request #55073 from nekomatata/fix-backface-collision

This commit is contained in:
Rémi Verschelde 2021-11-18 09:14:03 +01:00 committed by GitHub
parent 15062513c0 d630269593
commit 27691637ab
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 78 additions and 22 deletions
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6
servers/physics_3d/godot_collision_solver_3d.cpp
View File

@ -264,7 +264,7 @@ bool GodotCollisionSolver3D::solve_soft_body(const GodotShape3D *p_shape_A, cons
local_aabb.size[i] = smax - smin;
}
concave_shape_A->cull(local_aabb, soft_body_concave_callback, &query_cinfo);
concave_shape_A->cull(local_aabb, soft_body_concave_callback, &query_cinfo, true);
} else {
AABB shape_aabb = p_transform_A.xform(p_shape_A->get_aabb());
shape_aabb.grow_by(collision_margin);
@ -346,7 +346,7 @@ bool GodotCollisionSolver3D::solve_concave(const GodotShape3D *p_shape_A, const
local_aabb.size[i] = smax - smin;
}
concave_B->cull(local_aabb, concave_callback, &cinfo);
concave_B->cull(local_aabb, concave_callback, &cinfo, false);
return cinfo.collided;
}
@ -559,7 +559,7 @@ bool GodotCollisionSolver3D::solve_distance(const GodotShape3D *p_shape_A, const
local_aabb.size[i] = smax - smin;
}
concave_B->cull(local_aabb, concave_distance_callback, &cinfo);
concave_B->cull(local_aabb, concave_distance_callback, &cinfo, false);
if (!cinfo.collided) {
r_point_A = cinfo.close_A;
r_point_B = cinfo.close_B;

79
servers/physics_3d/godot_collision_solver_3d_sat.cpp
View File

@ -36,6 +36,8 @@
#define fallback_collision_solver gjk_epa_calculate_penetration
#define _BACKFACE_NORMAL_THRESHOLD -0.0002
// Cylinder SAT analytic methods and face-circle contact points for cylinder-trimesh and cylinder-box collision are based on ODE colliders.
/*
@ -612,13 +614,14 @@ class SeparatorAxisTest {
const Transform3D *transform_A = nullptr;
const Transform3D *transform_B = nullptr;
real_t best_depth = 1e15;
Vector3 best_axis;
_CollectorCallback *callback = nullptr;
real_t margin_A = 0.0;
real_t margin_B = 0.0;
Vector3 separator_axis;
public:
Vector3 best_axis;
_FORCE_INLINE_ bool test_previous_axis() {
if (callback && callback->prev_axis && *callback->prev_axis != Vector3()) {
return test_axis(*callback->prev_axis);
@ -627,7 +630,7 @@ public:
}
}
_FORCE_INLINE_ bool test_axis(const Vector3 &p_axis, bool p_directional = false) {
_FORCE_INLINE_ bool test_axis(const Vector3 &p_axis) {
Vector3 axis = p_axis;
if (axis.is_equal_approx(Vector3())) {
@ -661,12 +664,7 @@ public:
//use the smallest depth
if (min_B < 0.0) { // could be +0.0, we don't want it to become -0.0
if (p_directional) {
min_B = max_B;
axis = -axis;
} else {
min_B = -min_B;
}
min_B = -min_B;
}
if (max_B < min_B) {
@ -1014,7 +1012,7 @@ static void _collision_sphere_face(const GodotShape3D *p_a, const Transform3D &p
Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized();
if (!separator.test_axis(normal, !face_B->backface_collision)) {
if (!separator.test_axis(normal)) {
return;
}
@ -1041,6 +1039,17 @@ static void _collision_sphere_face(const GodotShape3D *p_a, const Transform3D &p
}
}
if (!face_B->backface_collision) {
if (separator.best_axis.dot(normal) < _BACKFACE_NORMAL_THRESHOLD) {
if (face_B->invert_backface_collision) {
separator.best_axis = separator.best_axis.bounce(normal);
} else {
// Just ignore backface collision.
return;
}
}
}
separator.generate_contacts();
}
@ -1486,7 +1495,7 @@ static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_tr
Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized();
if (!separator.test_axis(normal, !face_B->backface_collision)) {
if (!separator.test_axis(normal)) {
return;
}
@ -1591,6 +1600,17 @@ static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_tr
}
}
if (!face_B->backface_collision) {
if (separator.best_axis.dot(normal) < _BACKFACE_NORMAL_THRESHOLD) {
if (face_B->invert_backface_collision) {
separator.best_axis = separator.best_axis.bounce(normal);
} else {
// Just ignore backface collision.
return;
}
}
}
separator.generate_contacts();
}
@ -1802,7 +1822,7 @@ static void _collision_capsule_face(const GodotShape3D *p_a, const Transform3D &
Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized();
if (!separator.test_axis(normal, !face_B->backface_collision)) {
if (!separator.test_axis(normal)) {
return;
}
@ -1858,6 +1878,17 @@ static void _collision_capsule_face(const GodotShape3D *p_a, const Transform3D &
}
}
if (!face_B->backface_collision) {
if (separator.best_axis.dot(normal) < _BACKFACE_NORMAL_THRESHOLD) {
if (face_B->invert_backface_collision) {
separator.best_axis = separator.best_axis.bounce(normal);
} else {
// Just ignore backface collision.
return;
}
}
}
separator.generate_contacts();
}
@ -1952,7 +1983,7 @@ static void _collision_cylinder_face(const GodotShape3D *p_a, const Transform3D
Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized();
// Face B normal.
if (!separator.test_axis(normal, !face_B->backface_collision)) {
if (!separator.test_axis(normal)) {
return;
}
@ -2034,6 +2065,17 @@ static void _collision_cylinder_face(const GodotShape3D *p_a, const Transform3D
}
}
if (!face_B->backface_collision) {
if (separator.best_axis.dot(normal) < _BACKFACE_NORMAL_THRESHOLD) {
if (face_B->invert_backface_collision) {
separator.best_axis = separator.best_axis.bounce(normal);
} else {
// Just ignore backface collision.
return;
}
}
}
separator.generate_contacts();
}
@ -2174,7 +2216,7 @@ static void _collision_convex_polygon_face(const GodotShape3D *p_a, const Transf
Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized();
if (!separator.test_axis(normal, !face_B->backface_collision)) {
if (!separator.test_axis(normal)) {
return;
}
@ -2266,6 +2308,17 @@ static void _collision_convex_polygon_face(const GodotShape3D *p_a, const Transf
}
}
if (!face_B->backface_collision) {
if (separator.best_axis.dot(normal) < _BACKFACE_NORMAL_THRESHOLD) {
if (face_B->invert_backface_collision) {
separator.best_axis = separator.best_axis.bounce(normal);
} else {
// Just ignore backface collision.
return;
}
}
}
separator.generate_contacts();
}

8
servers/physics_3d/godot_shape_3d.cpp
View File

@ -1401,7 +1401,7 @@ bool GodotConcavePolygonShape3D::_cull(int p_idx, _CullParams *p_params) const {
return false;
}
void GodotConcavePolygonShape3D::cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const {
void GodotConcavePolygonShape3D::cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const {
// make matrix local to concave
if (faces.size() == 0) {
return;
@ -1416,6 +1416,7 @@ void GodotConcavePolygonShape3D::cull(const AABB &p_local_aabb, QueryCallback p_
GodotFaceShape3D face; // use this to send in the callback
face.backface_collision = backface_collision;
face.invert_backface_collision = p_invert_backface_collision;
_CullParams params;
params.aabb = local_aabb;
@ -1961,7 +1962,7 @@ void GodotHeightMapShape3D::_get_cell(const Vector3 &p_point, int &r_x, int &r_y
r_z = (clamped_point.z < 0.0) ? (clamped_point.z - 0.5) : (clamped_point.z + 0.5);
}
void GodotHeightMapShape3D::cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const {
void GodotHeightMapShape3D::cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const {
if (heights.is_empty()) {
return;
}
@ -1988,7 +1989,8 @@ void GodotHeightMapShape3D::cull(const AABB &p_local_aabb, QueryCallback p_callb
int end_z = MIN(depth - 1, aabb_max[2]);
GodotFaceShape3D face;
face.backface_collision = true;
face.backface_collision = !p_invert_backface_collision;
face.invert_backface_collision = p_invert_backface_collision;
for (int z = start_z; z < end_z; z++) {
for (int x = start_x; x < end_x; x++) {

7
servers/physics_3d/godot_shape_3d.h
View File

@ -107,7 +107,7 @@ public:
// Returns true to stop the query.
typedef bool (*QueryCallback)(void *p_userdata, GodotShape3D *p_convex);
virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0;
virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const = 0;
GodotConcaveShape3D() {}
};
@ -370,7 +370,7 @@ public:
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const override;
virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
@ -433,7 +433,7 @@ public:
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const override;
virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
@ -448,6 +448,7 @@ struct GodotFaceShape3D : public GodotShape3D {
Vector3 normal; //cache
Vector3 vertex[3];
bool backface_collision = false;
bool invert_backface_collision = false;
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONCAVE_POLYGON; }