512 lines
21 KiB
C++
512 lines
21 KiB
C++
/*************************************************************************/
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/* godot_shape_3d.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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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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#ifndef GODOT_SHAPE_3D_H
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#define GODOT_SHAPE_3D_H
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#include "core/math/geometry_3d.h"
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#include "core/templates/local_vector.h"
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#include "servers/physics_server_3d.h"
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class GodotShape3D;
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class GodotShapeOwner3D {
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public:
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virtual void _shape_changed() = 0;
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virtual void remove_shape(GodotShape3D *p_shape) = 0;
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virtual ~GodotShapeOwner3D() {}
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};
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class GodotShape3D {
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RID self;
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AABB aabb;
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bool configured = false;
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real_t custom_bias = 0.0;
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Map<GodotShapeOwner3D *, int> owners;
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protected:
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void configure(const AABB &p_aabb);
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public:
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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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};
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virtual real_t get_volume() const { return aabb.get_volume(); }
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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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virtual PhysicsServer3D::ShapeType get_type() const = 0;
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_FORCE_INLINE_ const AABB &get_aabb() const { return aabb; }
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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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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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virtual Vector3 get_support(const Vector3 &p_normal) const;
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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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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const = 0;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal, bool p_hit_back_faces) const = 0;
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virtual bool intersect_point(const Vector3 &p_point) const = 0;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const = 0;
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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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_FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias = p_bias; }
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_FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; }
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void add_owner(GodotShapeOwner3D *p_owner);
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void remove_owner(GodotShapeOwner3D *p_owner);
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bool is_owner(GodotShapeOwner3D *p_owner) const;
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const Map<GodotShapeOwner3D *, int> &get_owners() const;
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GodotShape3D() {}
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virtual ~GodotShape3D();
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};
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class GodotConcaveShape3D : public GodotShape3D {
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public:
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virtual bool is_concave() const override { return true; }
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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 override { r_amount = 0; }
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// Returns true to stop the query.
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typedef bool (*QueryCallback)(void *p_userdata, GodotShape3D *p_convex);
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virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const = 0;
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GodotConcaveShape3D() {}
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};
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class GodotWorldBoundaryShape3D : public GodotShape3D {
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Plane plane;
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void _setup(const Plane &p_plane);
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public:
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Plane get_plane() const;
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virtual real_t get_volume() const override { return INFINITY; }
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virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_WORLD_BOUNDARY; }
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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 override;
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virtual Vector3 get_support(const Vector3 &p_normal) const override;
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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 override { r_amount = 0; }
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
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virtual bool intersect_point(const Vector3 &p_point) const override;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
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virtual void set_data(const Variant &p_data) override;
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virtual Variant get_data() const override;
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GodotWorldBoundaryShape3D();
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};
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class GodotSeparationRayShape3D : public GodotShape3D {
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real_t length = 1.0;
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bool slide_on_slope = false;
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void _setup(real_t p_length, bool p_slide_on_slope);
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public:
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real_t get_length() const;
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bool get_slide_on_slope() const;
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virtual real_t get_volume() const override { return 0.0; }
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virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_SEPARATION_RAY; }
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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 override;
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virtual Vector3 get_support(const Vector3 &p_normal) const override;
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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 override;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
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virtual bool intersect_point(const Vector3 &p_point) const override;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
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virtual void set_data(const Variant &p_data) override;
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virtual Variant get_data() const override;
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GodotSeparationRayShape3D();
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};
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class GodotSphereShape3D : public GodotShape3D {
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real_t radius = 0.0;
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void _setup(real_t p_radius);
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public:
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real_t get_radius() const;
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virtual real_t get_volume() const override { return 4.0 / 3.0 * Math_PI * radius * radius * radius; }
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virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_SPHERE; }
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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 override;
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virtual Vector3 get_support(const Vector3 &p_normal) const override;
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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 override;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
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virtual bool intersect_point(const Vector3 &p_point) const override;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
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virtual void set_data(const Variant &p_data) override;
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virtual Variant get_data() const override;
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GodotSphereShape3D();
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};
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class GodotBoxShape3D : public GodotShape3D {
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Vector3 half_extents;
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void _setup(const Vector3 &p_half_extents);
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public:
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_FORCE_INLINE_ Vector3 get_half_extents() const { return half_extents; }
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virtual real_t get_volume() const override { return 8 * half_extents.x * half_extents.y * half_extents.z; }
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virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_BOX; }
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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 override;
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virtual Vector3 get_support(const Vector3 &p_normal) const override;
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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 override;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
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virtual bool intersect_point(const Vector3 &p_point) const override;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
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virtual void set_data(const Variant &p_data) override;
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virtual Variant get_data() const override;
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GodotBoxShape3D();
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};
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class GodotCapsuleShape3D : public GodotShape3D {
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real_t height = 0.0;
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real_t radius = 0.0;
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void _setup(real_t p_height, real_t p_radius);
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public:
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_FORCE_INLINE_ real_t get_height() const { return height; }
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_FORCE_INLINE_ real_t get_radius() const { return radius; }
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virtual real_t get_volume() const override { return 4.0 / 3.0 * Math_PI * radius * radius * radius + (height - radius * 2.0) * Math_PI * radius * radius; }
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virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CAPSULE; }
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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 override;
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virtual Vector3 get_support(const Vector3 &p_normal) const override;
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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 override;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
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virtual bool intersect_point(const Vector3 &p_point) const override;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
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virtual void set_data(const Variant &p_data) override;
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virtual Variant get_data() const override;
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GodotCapsuleShape3D();
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};
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class GodotCylinderShape3D : public GodotShape3D {
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real_t height = 0.0;
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real_t radius = 0.0;
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void _setup(real_t p_height, real_t p_radius);
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public:
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_FORCE_INLINE_ real_t get_height() const { return height; }
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_FORCE_INLINE_ real_t get_radius() const { return radius; }
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virtual real_t get_volume() const override { return height * Math_PI * radius * radius; }
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virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CYLINDER; }
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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 override;
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virtual Vector3 get_support(const Vector3 &p_normal) const override;
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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 override;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
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virtual bool intersect_point(const Vector3 &p_point) const override;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
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virtual void set_data(const Variant &p_data) override;
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virtual Variant get_data() const override;
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GodotCylinderShape3D();
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};
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struct GodotConvexPolygonShape3D : public GodotShape3D {
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Geometry3D::MeshData mesh;
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void _setup(const Vector<Vector3> &p_vertices);
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public:
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const Geometry3D::MeshData &get_mesh() const { return mesh; }
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virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONVEX_POLYGON; }
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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 override;
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virtual Vector3 get_support(const Vector3 &p_normal) const override;
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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 override;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
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virtual bool intersect_point(const Vector3 &p_point) const override;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
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virtual void set_data(const Variant &p_data) override;
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virtual Variant get_data() const override;
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GodotConvexPolygonShape3D();
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};
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struct _Volume_BVH;
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struct GodotFaceShape3D;
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struct GodotConcavePolygonShape3D : public GodotConcaveShape3D {
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// always a trimesh
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struct Face {
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Vector3 normal;
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int indices[3] = {};
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};
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Vector<Face> faces;
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Vector<Vector3> vertices;
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struct BVH {
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AABB aabb;
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int left = 0;
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int right = 0;
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int face_index = 0;
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};
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Vector<BVH> bvh;
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struct _CullParams {
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AABB aabb;
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QueryCallback callback = nullptr;
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void *userdata = nullptr;
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const Face *faces = nullptr;
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const Vector3 *vertices = nullptr;
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const BVH *bvh = nullptr;
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GodotFaceShape3D *face = nullptr;
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};
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struct _SegmentCullParams {
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Vector3 from;
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Vector3 to;
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Vector3 dir;
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const Face *faces = nullptr;
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const Vector3 *vertices = nullptr;
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const BVH *bvh = nullptr;
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GodotFaceShape3D *face = nullptr;
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Vector3 result;
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Vector3 normal;
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real_t min_d = 1e20;
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int collisions = 0;
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};
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bool backface_collision = false;
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void _cull_segment(int p_idx, _SegmentCullParams *p_params) const;
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bool _cull(int p_idx, _CullParams *p_params) const;
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void _fill_bvh(_Volume_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx);
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void _setup(const Vector<Vector3> &p_faces, bool p_backface_collision);
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public:
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Vector<Vector3> get_faces() const;
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virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONCAVE_POLYGON; }
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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 override;
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virtual Vector3 get_support(const Vector3 &p_normal) const override;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
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virtual bool intersect_point(const Vector3 &p_point) const override;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
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virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const override;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
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virtual void set_data(const Variant &p_data) override;
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virtual Variant get_data() const override;
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GodotConcavePolygonShape3D();
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};
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struct GodotHeightMapShape3D : public GodotConcaveShape3D {
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Vector<real_t> heights;
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int width = 0;
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int depth = 0;
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Vector3 local_origin;
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// Accelerator.
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struct Range {
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real_t min = 0.0;
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real_t max = 0.0;
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};
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LocalVector<Range> bounds_grid;
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int bounds_grid_width = 0;
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int bounds_grid_depth = 0;
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static const int BOUNDS_CHUNK_SIZE = 16;
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_FORCE_INLINE_ const Range &_get_bounds_chunk(int p_x, int p_z) const {
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return bounds_grid[(p_z * bounds_grid_width) + p_x];
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}
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_FORCE_INLINE_ real_t _get_height(int p_x, int p_z) const {
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return heights[(p_z * width) + p_x];
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}
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_FORCE_INLINE_ void _get_point(int p_x, int p_z, Vector3 &r_point) const {
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r_point.x = p_x - 0.5 * (width - 1.0);
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r_point.y = _get_height(p_x, p_z);
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r_point.z = p_z - 0.5 * (depth - 1.0);
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}
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void _get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const;
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void _build_accelerator();
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template <typename ProcessFunction>
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bool _intersect_grid_segment(ProcessFunction &p_process, const Vector3 &p_begin, const Vector3 &p_end, int p_width, int p_depth, const Vector3 &offset, Vector3 &r_point, Vector3 &r_normal) const;
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void _setup(const Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
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public:
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Vector<real_t> get_heights() const;
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int get_width() const;
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int get_depth() const;
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virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_HEIGHTMAP; }
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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 override;
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virtual Vector3 get_support(const Vector3 &p_normal) const override;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal, bool p_hit_back_faces) const override;
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virtual bool intersect_point(const Vector3 &p_point) const override;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
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virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const override;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
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virtual void set_data(const Variant &p_data) override;
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virtual Variant get_data() const override;
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GodotHeightMapShape3D();
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};
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//used internally
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struct GodotFaceShape3D : public GodotShape3D {
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Vector3 normal; //cache
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Vector3 vertex[3];
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bool backface_collision = false;
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bool invert_backface_collision = false;
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virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONCAVE_POLYGON; }
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const Vector3 &get_vertex(int p_idx) const { return vertex[p_idx]; }
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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 override;
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virtual Vector3 get_support(const Vector3 &p_normal) const override;
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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 override;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
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virtual bool intersect_point(const Vector3 &p_point) const override;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
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virtual void set_data(const Variant &p_data) override {}
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virtual Variant get_data() const override { return Variant(); }
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GodotFaceShape3D();
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};
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struct GodotMotionShape3D : public GodotShape3D {
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GodotShape3D *shape = nullptr;
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Vector3 motion;
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virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONVEX_POLYGON; }
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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 override {
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Vector3 cast = p_transform.basis.xform(motion);
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real_t mina, maxa;
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real_t minb, maxb;
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Transform3D ofsb = p_transform;
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ofsb.origin += cast;
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shape->project_range(p_normal, p_transform, mina, maxa);
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shape->project_range(p_normal, ofsb, minb, maxb);
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r_min = MIN(mina, minb);
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r_max = MAX(maxa, maxb);
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}
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virtual Vector3 get_support(const Vector3 &p_normal) const override {
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Vector3 support = shape->get_support(p_normal);
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if (p_normal.dot(motion) > 0) {
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support += motion;
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}
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return support;
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}
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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 override { r_amount = 0; }
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override { return false; }
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virtual bool intersect_point(const Vector3 &p_point) const override { return false; }
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override { return p_point; }
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const override { return Vector3(); }
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virtual void set_data(const Variant &p_data) override {}
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virtual Variant get_data() const override { return Variant(); }
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GodotMotionShape3D() { configure(AABB()); }
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};
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#endif // GODOT_SHAPE_3D_H
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