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godot/scene/3d/shape_cast_3d.cpp

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/**************************************************************************/
/* shape_cast_3d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
#include "shape_cast_3d.h"
#include "core/core_string_names.h"
#include "scene/3d/collision_object_3d.h"
#include "scene/3d/mesh_instance_3d.h"
#include "scene/resources/concave_polygon_shape_3d.h"
void ShapeCast3D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_ENTER_TREE: {
if (Engine::get_singleton()->is_editor_hint()) {
_update_debug_shape_vertices();
}
if (enabled && !Engine::get_singleton()->is_editor_hint()) {
set_physics_process_internal(true);
} else {
set_physics_process_internal(false);
}
if (get_tree()->is_debugging_collisions_hint()) {
_update_debug_shape();
}
if (Object::cast_to<CollisionObject3D>(get_parent())) {
if (exclude_parent_body) {
exclude.insert(Object::cast_to<CollisionObject3D>(get_parent())->get_rid());
} else {
exclude.erase(Object::cast_to<CollisionObject3D>(get_parent())->get_rid());
}
}
} break;
case NOTIFICATION_EXIT_TREE: {
if (enabled) {
set_physics_process_internal(false);
}
if (debug_shape) {
_clear_debug_shape();
}
} break;
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
if (!enabled) {
break;
}
bool prev_collision_state = collided;
_update_shapecast_state();
if (get_tree()->is_debugging_collisions_hint()) {
if (prev_collision_state != collided) {
_update_debug_shape_material(true);
}
if (collided) {
_update_debug_shape();
}
if (prev_collision_state == collided && !collided) {
_update_debug_shape();
}
}
} break;
}
}
void ShapeCast3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("resource_changed", "resource"), &ShapeCast3D::resource_changed);
ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &ShapeCast3D::set_enabled);
ClassDB::bind_method(D_METHOD("is_enabled"), &ShapeCast3D::is_enabled);
ClassDB::bind_method(D_METHOD("set_shape", "shape"), &ShapeCast3D::set_shape);
ClassDB::bind_method(D_METHOD("get_shape"), &ShapeCast3D::get_shape);
ClassDB::bind_method(D_METHOD("set_target_position", "local_point"), &ShapeCast3D::set_target_position);
ClassDB::bind_method(D_METHOD("get_target_position"), &ShapeCast3D::get_target_position);
ClassDB::bind_method(D_METHOD("set_margin", "margin"), &ShapeCast3D::set_margin);
ClassDB::bind_method(D_METHOD("get_margin"), &ShapeCast3D::get_margin);
ClassDB::bind_method(D_METHOD("set_max_results", "max_results"), &ShapeCast3D::set_max_results);
ClassDB::bind_method(D_METHOD("get_max_results"), &ShapeCast3D::get_max_results);
ClassDB::bind_method(D_METHOD("is_colliding"), &ShapeCast3D::is_colliding);
ClassDB::bind_method(D_METHOD("get_collision_count"), &ShapeCast3D::get_collision_count);
ClassDB::bind_method(D_METHOD("force_shapecast_update"), &ShapeCast3D::force_shapecast_update);
ClassDB::bind_method(D_METHOD("get_collider", "index"), &ShapeCast3D::get_collider);
ClassDB::bind_method(D_METHOD("get_collider_rid", "index"), &ShapeCast3D::get_collider_rid);
ClassDB::bind_method(D_METHOD("get_collider_shape", "index"), &ShapeCast3D::get_collider_shape);
ClassDB::bind_method(D_METHOD("get_collision_point", "index"), &ShapeCast3D::get_collision_point);
ClassDB::bind_method(D_METHOD("get_collision_normal", "index"), &ShapeCast3D::get_collision_normal);
ClassDB::bind_method(D_METHOD("get_closest_collision_safe_fraction"), &ShapeCast3D::get_closest_collision_safe_fraction);
ClassDB::bind_method(D_METHOD("get_closest_collision_unsafe_fraction"), &ShapeCast3D::get_closest_collision_unsafe_fraction);
ClassDB::bind_method(D_METHOD("add_exception_rid", "rid"), &ShapeCast3D::add_exception_rid);
ClassDB::bind_method(D_METHOD("add_exception", "node"), &ShapeCast3D::add_exception);
ClassDB::bind_method(D_METHOD("remove_exception_rid", "rid"), &ShapeCast3D::remove_exception_rid);
ClassDB::bind_method(D_METHOD("remove_exception", "node"), &ShapeCast3D::remove_exception);
ClassDB::bind_method(D_METHOD("clear_exceptions"), &ShapeCast3D::clear_exceptions);
ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &ShapeCast3D::set_collision_mask);
ClassDB::bind_method(D_METHOD("get_collision_mask"), &ShapeCast3D::get_collision_mask);
ClassDB::bind_method(D_METHOD("set_collision_mask_value", "layer_number", "value"), &ShapeCast3D::set_collision_mask_value);
ClassDB::bind_method(D_METHOD("get_collision_mask_value", "layer_number"), &ShapeCast3D::get_collision_mask_value);
ClassDB::bind_method(D_METHOD("set_exclude_parent_body", "mask"), &ShapeCast3D::set_exclude_parent_body);
ClassDB::bind_method(D_METHOD("get_exclude_parent_body"), &ShapeCast3D::get_exclude_parent_body);
ClassDB::bind_method(D_METHOD("set_collide_with_areas", "enable"), &ShapeCast3D::set_collide_with_areas);
ClassDB::bind_method(D_METHOD("is_collide_with_areas_enabled"), &ShapeCast3D::is_collide_with_areas_enabled);
ClassDB::bind_method(D_METHOD("set_collide_with_bodies", "enable"), &ShapeCast3D::set_collide_with_bodies);
ClassDB::bind_method(D_METHOD("is_collide_with_bodies_enabled"), &ShapeCast3D::is_collide_with_bodies_enabled);
ClassDB::bind_method(D_METHOD("_get_collision_result"), &ShapeCast3D::_get_collision_result);
ClassDB::bind_method(D_METHOD("set_debug_shape_custom_color", "debug_shape_custom_color"), &ShapeCast3D::set_debug_shape_custom_color);
ClassDB::bind_method(D_METHOD("get_debug_shape_custom_color"), &ShapeCast3D::get_debug_shape_custom_color);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled");
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "shape", PROPERTY_HINT_RESOURCE_TYPE, "Shape3D"), "set_shape", "get_shape");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "exclude_parent"), "set_exclude_parent_body", "get_exclude_parent_body");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_position", PROPERTY_HINT_NONE, "suffix:m"), "set_target_position", "get_target_position");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "margin", PROPERTY_HINT_RANGE, "0,100,0.01,suffix:m"), "set_margin", "get_margin");
ADD_PROPERTY(PropertyInfo(Variant::INT, "max_results"), "set_max_results", "get_max_results");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "collision_result", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "", "_get_collision_result");
ADD_GROUP("Collide With", "collide_with");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_areas", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collide_with_areas", "is_collide_with_areas_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_bodies", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collide_with_bodies", "is_collide_with_bodies_enabled");
ADD_GROUP("Debug Shape", "debug_shape");
ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_shape_custom_color"), "set_debug_shape_custom_color", "get_debug_shape_custom_color");
}
PackedStringArray ShapeCast3D::get_configuration_warnings() const {
PackedStringArray warnings = Node3D::get_configuration_warnings();
if (shape.is_null()) {
warnings.push_back(RTR("This node cannot interact with other objects unless a Shape3D is assigned."));
}
if (shape.is_valid() && Object::cast_to<ConcavePolygonShape3D>(*shape)) {
warnings.push_back(RTR("ShapeCast3D does not support ConcavePolygonShape3Ds. Collisions will not be reported."));
}
return warnings;
}
void ShapeCast3D::set_enabled(bool p_enabled) {
enabled = p_enabled;
update_gizmos();
if (is_inside_tree() && !Engine::get_singleton()->is_editor_hint()) {
set_physics_process_internal(p_enabled);
}
if (!p_enabled) {
collided = false;
}
if (is_inside_tree() && get_tree()->is_debugging_collisions_hint()) {
if (p_enabled) {
_update_debug_shape();
} else {
_clear_debug_shape();
}
}
}
bool ShapeCast3D::is_enabled() const {
return enabled;
}
void ShapeCast3D::set_target_position(const Vector3 &p_point) {
target_position = p_point;
if (is_inside_tree() && get_tree()->is_debugging_collisions_hint()) {
_update_debug_shape();
}
update_gizmos();
if (Engine::get_singleton()->is_editor_hint()) {
if (is_inside_tree()) {
_update_debug_shape_vertices();
}
} else if (debug_shape) {
_update_debug_shape();
}
}
Vector3 ShapeCast3D::get_target_position() const {
return target_position;
}
void ShapeCast3D::set_margin(real_t p_margin) {
margin = p_margin;
}
real_t ShapeCast3D::get_margin() const {
return margin;
}
void ShapeCast3D::set_max_results(int p_max_results) {
max_results = p_max_results;
}
int ShapeCast3D::get_max_results() const {
return max_results;
}
void ShapeCast3D::set_collision_mask(uint32_t p_mask) {
collision_mask = p_mask;
}
uint32_t ShapeCast3D::get_collision_mask() const {
return collision_mask;
}
void ShapeCast3D::set_collision_mask_value(int p_layer_number, bool p_value) {
ERR_FAIL_COND_MSG(p_layer_number < 1, "Collision layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_MSG(p_layer_number > 32, "Collision layer number must be between 1 and 32 inclusive.");
uint32_t mask = get_collision_mask();
if (p_value) {
mask |= 1 << (p_layer_number - 1);
} else {
mask &= ~(1 << (p_layer_number - 1));
}
set_collision_mask(mask);
}
bool ShapeCast3D::get_collision_mask_value(int p_layer_number) const {
ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Collision layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Collision layer number must be between 1 and 32 inclusive.");
return get_collision_mask() & (1 << (p_layer_number - 1));
}
int ShapeCast3D::get_collision_count() const {
return result.size();
}
bool ShapeCast3D::is_colliding() const {
return collided;
}
Object *ShapeCast3D::get_collider(int p_idx) const {
ERR_FAIL_INDEX_V_MSG(p_idx, result.size(), nullptr, "No collider found.");
if (result[p_idx].collider_id.is_null()) {
return nullptr;
}
return ObjectDB::get_instance(result[p_idx].collider_id);
}
RID ShapeCast3D::get_collider_rid(int p_idx) const {
ERR_FAIL_INDEX_V_MSG(p_idx, result.size(), RID(), "No collider RID found.");
return result[p_idx].rid;
}
int ShapeCast3D::get_collider_shape(int p_idx) const {
ERR_FAIL_INDEX_V_MSG(p_idx, result.size(), -1, "No collider shape found.");
return result[p_idx].shape;
}
Vector3 ShapeCast3D::get_collision_point(int p_idx) const {
ERR_FAIL_INDEX_V_MSG(p_idx, result.size(), Vector3(), "No collision point found.");
return result[p_idx].point;
}
Vector3 ShapeCast3D::get_collision_normal(int p_idx) const {
ERR_FAIL_INDEX_V_MSG(p_idx, result.size(), Vector3(), "No collision normal found.");
return result[p_idx].normal;
}
real_t ShapeCast3D::get_closest_collision_safe_fraction() const {
return collision_safe_fraction;
}
real_t ShapeCast3D::get_closest_collision_unsafe_fraction() const {
return collision_unsafe_fraction;
}
void ShapeCast3D::resource_changed(Ref<Resource> p_res) {
if (is_inside_tree() && get_tree()->is_debugging_collisions_hint()) {
_update_debug_shape();
}
update_gizmos();
}
void ShapeCast3D::_shape_changed() {
update_gizmos();
bool is_editor = Engine::get_singleton()->is_editor_hint();
if (is_inside_tree() && (is_editor || get_tree()->is_debugging_collisions_hint())) {
_update_debug_shape();
}
}
void ShapeCast3D::set_shape(const Ref<Shape3D> &p_shape) {
if (p_shape == shape) {
return;
}
if (!shape.is_null()) {
shape->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &ShapeCast3D::_shape_changed));
shape->unregister_owner(this);
}
shape = p_shape;
if (!shape.is_null()) {
shape->register_owner(this);
shape->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &ShapeCast3D::_shape_changed));
}
if (p_shape.is_valid()) {
shape_rid = shape->get_rid();
}
bool is_editor = Engine::get_singleton()->is_editor_hint();
if (is_inside_tree() && (is_editor || get_tree()->is_debugging_collisions_hint())) {
_update_debug_shape();
}
update_gizmos();
update_configuration_warnings();
}
Ref<Shape3D> ShapeCast3D::get_shape() const {
return shape;
}
void ShapeCast3D::set_exclude_parent_body(bool p_exclude_parent_body) {
if (exclude_parent_body == p_exclude_parent_body) {
return;
}
exclude_parent_body = p_exclude_parent_body;
if (!is_inside_tree()) {
return;
}
if (Object::cast_to<CollisionObject3D>(get_parent())) {
if (exclude_parent_body) {
exclude.insert(Object::cast_to<CollisionObject3D>(get_parent())->get_rid());
} else {
exclude.erase(Object::cast_to<CollisionObject3D>(get_parent())->get_rid());
}
}
}
bool ShapeCast3D::get_exclude_parent_body() const {
return exclude_parent_body;
}
void ShapeCast3D::_update_shapecast_state() {
result.clear();
ERR_FAIL_COND_MSG(shape.is_null(), "Null reference to shape. ShapeCast3D requires a Shape3D to sweep for collisions.");
Ref<World3D> w3d = get_world_3d();
ERR_FAIL_COND(w3d.is_null());
PhysicsDirectSpaceState3D *dss = PhysicsServer3D::get_singleton()->space_get_direct_state(w3d->get_space());
ERR_FAIL_COND(!dss);
Transform3D gt = get_global_transform();
PhysicsDirectSpaceState3D::ShapeParameters params;
params.shape_rid = shape_rid;
params.transform = gt;
params.motion = gt.basis.xform(target_position);
params.margin = margin;
params.exclude = exclude;
params.collision_mask = collision_mask;
params.collide_with_bodies = collide_with_bodies;
params.collide_with_areas = collide_with_areas;
collision_safe_fraction = 0.0;
collision_unsafe_fraction = 0.0;
if (target_position != Vector3()) {
dss->cast_motion(params, collision_safe_fraction, collision_unsafe_fraction);
if (collision_unsafe_fraction < 1.0) {
// Move shape transform to the point of impact,
// so we can collect contact info at that point.
gt.set_origin(gt.get_origin() + params.motion * (collision_unsafe_fraction + CMP_EPSILON));
params.transform = gt;
}
}
// Regardless of whether the shape is stuck or it's moved along
// the motion vector, we'll only consider static collisions from now on.
params.motion = Vector3();
bool intersected = true;
while (intersected && result.size() < max_results) {
PhysicsDirectSpaceState3D::ShapeRestInfo info;
intersected = dss->rest_info(params, &info);
if (intersected) {
result.push_back(info);
params.exclude.insert(info.rid);
}
}
collided = !result.is_empty();
}
void ShapeCast3D::force_shapecast_update() {
_update_shapecast_state();
}
void ShapeCast3D::add_exception_rid(const RID &p_rid) {
exclude.insert(p_rid);
}
void ShapeCast3D::add_exception(const Object *p_object) {
ERR_FAIL_NULL(p_object);
const CollisionObject3D *co = Object::cast_to<CollisionObject3D>(p_object);
if (!co) {
return;
}
add_exception_rid(co->get_rid());
}
void ShapeCast3D::remove_exception_rid(const RID &p_rid) {
exclude.erase(p_rid);
}
void ShapeCast3D::remove_exception(const Object *p_object) {
ERR_FAIL_NULL(p_object);
const CollisionObject3D *co = Object::cast_to<CollisionObject3D>(p_object);
if (!co) {
return;
}
remove_exception_rid(co->get_rid());
}
void ShapeCast3D::clear_exceptions() {
exclude.clear();
}
void ShapeCast3D::set_collide_with_areas(bool p_clip) {
collide_with_areas = p_clip;
}
bool ShapeCast3D::is_collide_with_areas_enabled() const {
return collide_with_areas;
}
void ShapeCast3D::set_collide_with_bodies(bool p_clip) {
collide_with_bodies = p_clip;
}
bool ShapeCast3D::is_collide_with_bodies_enabled() const {
return collide_with_bodies;
}
Array ShapeCast3D::_get_collision_result() const {
Array ret;
for (int i = 0; i < result.size(); ++i) {
const PhysicsDirectSpaceState3D::ShapeRestInfo &sri = result[i];
Dictionary col;
col["point"] = sri.point;
col["normal"] = sri.normal;
col["rid"] = sri.rid;
col["collider"] = ObjectDB::get_instance(sri.collider_id);
col["collider_id"] = sri.collider_id;
col["shape"] = sri.shape;
col["linear_velocity"] = sri.linear_velocity;
ret.push_back(col);
}
return ret;
}
void ShapeCast3D::_update_debug_shape_vertices() {
debug_shape_vertices.clear();
debug_line_vertices.clear();
if (!shape.is_null()) {
debug_shape_vertices.append_array(shape->get_debug_mesh_lines());
for (int i = 0; i < debug_shape_vertices.size(); i++) {
debug_shape_vertices.set(i, debug_shape_vertices[i] + Vector3(target_position * get_closest_collision_safe_fraction()));
}
}
if (target_position == Vector3()) {
return;
}
debug_line_vertices.push_back(Vector3());
debug_line_vertices.push_back(target_position);
}
const Vector<Vector3> &ShapeCast3D::get_debug_shape_vertices() const {
return debug_shape_vertices;
}
const Vector<Vector3> &ShapeCast3D::get_debug_line_vertices() const {
return debug_line_vertices;
}
void ShapeCast3D::set_debug_shape_custom_color(const Color &p_color) {
debug_shape_custom_color = p_color;
if (debug_material.is_valid()) {
_update_debug_shape_material();
}
}
Ref<StandardMaterial3D> ShapeCast3D::get_debug_material() {
_update_debug_shape_material();
return debug_material;
}
const Color &ShapeCast3D::get_debug_shape_custom_color() const {
return debug_shape_custom_color;
}
void ShapeCast3D::_create_debug_shape() {
_update_debug_shape_material();
Ref<ArrayMesh> mesh = memnew(ArrayMesh);
MeshInstance3D *mi = memnew(MeshInstance3D);
mi->set_mesh(mesh);
add_child(mi);
debug_shape = mi;
}
void ShapeCast3D::_update_debug_shape_material(bool p_check_collision) {
if (!debug_material.is_valid()) {
Ref<StandardMaterial3D> material = memnew(StandardMaterial3D);
debug_material = material;
material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
// Use double-sided rendering so that the RayCast can be seen if the camera is inside.
material->set_cull_mode(BaseMaterial3D::CULL_DISABLED);
material->set_transparency(BaseMaterial3D::TRANSPARENCY_ALPHA);
}
Color color = debug_shape_custom_color;
if (color == Color(0.0, 0.0, 0.0)) {
// Use the default debug shape color defined in the Project Settings.
color = get_tree()->get_debug_collisions_color();
}
if (p_check_collision && collided) {
if ((color.get_h() < 0.055 || color.get_h() > 0.945) && color.get_s() > 0.5 && color.get_v() > 0.5) {
// If base color is already quite reddish, highlight collision with green color
color = Color(0.0, 1.0, 0.0, color.a);
} else {
// Else, highlight collision with red color
color = Color(1.0, 0, 0, color.a);
}
}
Ref<StandardMaterial3D> material = static_cast<Ref<StandardMaterial3D>>(debug_material);
material->set_albedo(color);
}
void ShapeCast3D::_update_debug_shape() {
if (!enabled) {
return;
}
if (!debug_shape) {
_create_debug_shape();
}
_update_debug_shape_vertices();
if (Engine::get_singleton()->is_editor_hint()) {
return;
}
MeshInstance3D *mi = static_cast<MeshInstance3D *>(debug_shape);
Ref<ArrayMesh> mesh = mi->get_mesh();
if (!mesh.is_valid()) {
return;
}
mesh->clear_surfaces();
Array a;
a.resize(Mesh::ARRAY_MAX);
uint32_t flags = 0;
int surface_count = 0;
if (!debug_shape_vertices.is_empty()) {
a[Mesh::ARRAY_VERTEX] = debug_shape_vertices;
mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, a, Array(), Dictionary(), flags);
mesh->surface_set_material(surface_count, debug_material);
++surface_count;
}
if (!debug_line_vertices.is_empty()) {
a[Mesh::ARRAY_VERTEX] = debug_line_vertices;
mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, a, Array(), Dictionary(), flags);
mesh->surface_set_material(surface_count, debug_material);
++surface_count;
}
}
void ShapeCast3D::_clear_debug_shape() {
if (!debug_shape) {
return;
}
MeshInstance3D *mi = static_cast<MeshInstance3D *>(debug_shape);
if (mi->is_inside_tree()) {
mi->queue_free();
} else {
memdelete(mi);
}
debug_shape = nullptr;
}
ShapeCast3D::~ShapeCast3D() {
if (!shape.is_null()) {
shape->unregister_owner(this);
}
}
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