407 lines
13 KiB
C++
407 lines
13 KiB
C++
/*************************************************************************/
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/* collision_solver_sw.cpp */
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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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 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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#include "collision_solver_sw.h"
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#include "collision_solver_sat.h"
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#include "gjk_epa.h"
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#define collision_solver sat_calculate_penetration
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//#define collision_solver gjk_epa_calculate_penetration
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bool CollisionSolverSW::solve_static_plane(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
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const PlaneShapeSW *plane = static_cast<const PlaneShapeSW *>(p_shape_A);
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if (p_shape_B->get_type() == PhysicsServer::SHAPE_PLANE)
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return false;
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Plane p = p_transform_A.xform(plane->get_plane());
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static const int max_supports = 16;
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Vector3 supports[max_supports];
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int support_count;
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ShapeSW::FeatureType support_type;
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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type);
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if (support_type == ShapeSW::FEATURE_CIRCLE) {
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ERR_FAIL_COND_V(support_count != 3, false);
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Vector3 circle_pos = supports[0];
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Vector3 circle_axis_1 = supports[1] - circle_pos;
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Vector3 circle_axis_2 = supports[2] - circle_pos;
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// Use 3 equidistant points on the circle.
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for (int i = 0; i < 3; ++i) {
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Vector3 vertex_pos = circle_pos;
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vertex_pos += circle_axis_1 * Math::cos(2.0 * Math_PI * i / 3.0);
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vertex_pos += circle_axis_2 * Math::sin(2.0 * Math_PI * i / 3.0);
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supports[i] = vertex_pos;
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}
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}
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bool found = false;
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for (int i = 0; i < support_count; i++) {
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supports[i] = p_transform_B.xform(supports[i]);
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if (p.distance_to(supports[i]) >= 0)
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continue;
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found = true;
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Vector3 support_A = p.project(supports[i]);
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if (p_result_callback) {
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if (p_swap_result)
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p_result_callback(supports[i], support_A, p_userdata);
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else
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p_result_callback(support_A, supports[i], p_userdata);
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}
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}
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return found;
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}
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bool CollisionSolverSW::solve_ray(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
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const RayShapeSW *ray = static_cast<const RayShapeSW *>(p_shape_A);
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Vector3 from = p_transform_A.origin;
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Vector3 to = from + p_transform_A.basis.get_axis(2) * ray->get_length();
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Vector3 support_A = to;
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Transform ai = p_transform_B.affine_inverse();
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from = ai.xform(from);
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to = ai.xform(to);
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Vector3 p, n;
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if (!p_shape_B->intersect_segment(from, to, p, n))
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return false;
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Vector3 support_B = p_transform_B.xform(p);
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if (ray->get_slips_on_slope()) {
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Vector3 global_n = ai.basis.xform_inv(n).normalized();
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support_B = support_A + (support_B - support_A).length() * global_n;
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}
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if (p_result_callback) {
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if (p_swap_result)
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p_result_callback(support_B, support_A, p_userdata);
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else
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p_result_callback(support_A, support_B, p_userdata);
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}
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return true;
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}
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struct _ConcaveCollisionInfo {
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const Transform *transform_A;
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const ShapeSW *shape_A;
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const Transform *transform_B;
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CollisionSolverSW::CallbackResult result_callback;
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void *userdata;
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bool swap_result;
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bool collided;
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int aabb_tests;
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int collisions;
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bool tested;
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real_t margin_A;
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real_t margin_B;
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Vector3 close_A, close_B;
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};
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void CollisionSolverSW::concave_callback(void *p_userdata, ShapeSW *p_convex) {
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_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
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cinfo.aabb_tests++;
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bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result, NULL, cinfo.margin_A, cinfo.margin_B);
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if (!collided)
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return;
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cinfo.collided = true;
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cinfo.collisions++;
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}
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bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A, real_t p_margin_B) {
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const ConcaveShapeSW *concave_B = static_cast<const ConcaveShapeSW *>(p_shape_B);
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_ConcaveCollisionInfo cinfo;
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cinfo.transform_A = &p_transform_A;
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cinfo.shape_A = p_shape_A;
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cinfo.transform_B = &p_transform_B;
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cinfo.result_callback = p_result_callback;
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cinfo.userdata = p_userdata;
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cinfo.swap_result = p_swap_result;
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cinfo.collided = false;
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cinfo.collisions = 0;
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cinfo.margin_A = p_margin_A;
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cinfo.margin_B = p_margin_B;
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cinfo.aabb_tests = 0;
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Transform rel_transform = p_transform_A;
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rel_transform.origin -= p_transform_B.origin;
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//quickly compute a local AABB
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AABB local_aabb;
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for (int i = 0; i < 3; i++) {
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Vector3 axis(p_transform_B.basis.get_axis(i));
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real_t axis_scale = 1.0 / axis.length();
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axis *= axis_scale;
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real_t smin, smax;
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p_shape_A->project_range(axis, rel_transform, smin, smax);
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smin -= p_margin_A;
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smax += p_margin_A;
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smin *= axis_scale;
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smax *= axis_scale;
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local_aabb.position[i] = smin;
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local_aabb.size[i] = smax - smin;
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}
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concave_B->cull(local_aabb, concave_callback, &cinfo);
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return cinfo.collided;
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}
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bool CollisionSolverSW::solve_static(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
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PhysicsServer::ShapeType type_A = p_shape_A->get_type();
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PhysicsServer::ShapeType type_B = p_shape_B->get_type();
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bool concave_A = p_shape_A->is_concave();
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bool concave_B = p_shape_B->is_concave();
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bool swap = false;
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if (type_A > type_B) {
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SWAP(type_A, type_B);
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SWAP(concave_A, concave_B);
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swap = true;
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}
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if (type_A == PhysicsServer::SHAPE_PLANE) {
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if (type_B == PhysicsServer::SHAPE_PLANE)
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return false;
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if (type_B == PhysicsServer::SHAPE_RAY) {
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return false;
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}
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if (swap) {
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return solve_static_plane(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
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} else {
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return solve_static_plane(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
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}
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} else if (type_A == PhysicsServer::SHAPE_RAY) {
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if (type_B == PhysicsServer::SHAPE_RAY)
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return false;
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if (swap) {
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return solve_ray(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
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} else {
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return solve_ray(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
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}
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} else if (concave_B) {
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if (concave_A)
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return false;
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if (!swap)
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return solve_concave(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, p_margin_A, p_margin_B);
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else
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return solve_concave(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, p_margin_A, p_margin_B);
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} else {
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return collision_solver(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, r_sep_axis, p_margin_A, p_margin_B);
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}
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}
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void CollisionSolverSW::concave_distance_callback(void *p_userdata, ShapeSW *p_convex) {
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_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
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cinfo.aabb_tests++;
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if (cinfo.collided)
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return;
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Vector3 close_A, close_B;
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cinfo.collided = !gjk_epa_calculate_distance(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, close_A, close_B);
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if (cinfo.collided)
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return;
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if (!cinfo.tested || close_A.distance_squared_to(close_B) < cinfo.close_A.distance_squared_to(cinfo.close_B)) {
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cinfo.close_A = close_A;
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cinfo.close_B = close_B;
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cinfo.tested = true;
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}
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cinfo.collisions++;
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}
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bool CollisionSolverSW::solve_distance_plane(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) {
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const PlaneShapeSW *plane = static_cast<const PlaneShapeSW *>(p_shape_A);
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if (p_shape_B->get_type() == PhysicsServer::SHAPE_PLANE)
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return false;
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Plane p = p_transform_A.xform(plane->get_plane());
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static const int max_supports = 16;
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Vector3 supports[max_supports];
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int support_count;
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ShapeSW::FeatureType support_type;
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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type);
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if (support_type == ShapeSW::FEATURE_CIRCLE) {
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ERR_FAIL_COND_V(support_count != 3, false);
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Vector3 circle_pos = supports[0];
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Vector3 circle_axis_1 = supports[1] - circle_pos;
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Vector3 circle_axis_2 = supports[2] - circle_pos;
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// Use 3 equidistant points on the circle.
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for (int i = 0; i < 3; ++i) {
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Vector3 vertex_pos = circle_pos;
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vertex_pos += circle_axis_1 * Math::cos(2.0 * Math_PI * i / 3.0);
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vertex_pos += circle_axis_2 * Math::sin(2.0 * Math_PI * i / 3.0);
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supports[i] = vertex_pos;
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}
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}
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bool collided = false;
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Vector3 closest;
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real_t closest_d = 0;
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for (int i = 0; i < support_count; i++) {
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supports[i] = p_transform_B.xform(supports[i]);
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real_t d = p.distance_to(supports[i]);
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if (i == 0 || d < closest_d) {
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closest = supports[i];
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closest_d = d;
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if (d <= 0)
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collided = true;
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}
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}
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r_point_A = p.project(closest);
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r_point_B = closest;
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return collided;
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}
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bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis) {
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if (p_shape_A->is_concave())
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return false;
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if (p_shape_B->get_type() == PhysicsServer::SHAPE_PLANE) {
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Vector3 a, b;
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bool col = solve_distance_plane(p_shape_B, p_transform_B, p_shape_A, p_transform_A, a, b);
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r_point_A = b;
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r_point_B = a;
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return !col;
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} else if (p_shape_B->is_concave()) {
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if (p_shape_A->is_concave())
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return false;
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const ConcaveShapeSW *concave_B = static_cast<const ConcaveShapeSW *>(p_shape_B);
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_ConcaveCollisionInfo cinfo;
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cinfo.transform_A = &p_transform_A;
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cinfo.shape_A = p_shape_A;
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cinfo.transform_B = &p_transform_B;
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cinfo.result_callback = NULL;
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cinfo.userdata = NULL;
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cinfo.swap_result = false;
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cinfo.collided = false;
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cinfo.collisions = 0;
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cinfo.aabb_tests = 0;
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cinfo.tested = false;
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Transform rel_transform = p_transform_A;
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rel_transform.origin -= p_transform_B.origin;
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//quickly compute a local AABB
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bool use_cc_hint = p_concave_hint != AABB();
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AABB cc_hint_aabb;
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if (use_cc_hint) {
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cc_hint_aabb = p_concave_hint;
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cc_hint_aabb.position -= p_transform_B.origin;
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}
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AABB local_aabb;
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for (int i = 0; i < 3; i++) {
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Vector3 axis(p_transform_B.basis.get_axis(i));
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real_t axis_scale = ((real_t)1.0) / axis.length();
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axis *= axis_scale;
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real_t smin, smax;
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if (use_cc_hint) {
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cc_hint_aabb.project_range_in_plane(Plane(axis, 0), smin, smax);
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} else {
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p_shape_A->project_range(axis, rel_transform, smin, smax);
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}
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smin *= axis_scale;
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smax *= axis_scale;
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local_aabb.position[i] = smin;
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local_aabb.size[i] = smax - smin;
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}
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concave_B->cull(local_aabb, concave_distance_callback, &cinfo);
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if (!cinfo.collided) {
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r_point_A = cinfo.close_A;
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r_point_B = cinfo.close_B;
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}
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return !cinfo.collided;
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} else {
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return gjk_epa_calculate_distance(p_shape_A, p_transform_A, p_shape_B, p_transform_B, r_point_A, r_point_B); //should pass sepaxis..
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}
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}
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