cc43c2ea16
Whenever contact points are not needed, collision checks with concave shapes (triangle mesh and heightmap) stop at the first colliding triangle.
538 lines
22 KiB
C++
538 lines
22 KiB
C++
/*************************************************************************/
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/* shape_2d_sw.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) 2007-2021 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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#ifndef SHAPE_2D_2DSW_H
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#define SHAPE_2D_2DSW_H
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#include "servers/physics_server_2d.h"
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#define _SEGMENT_IS_VALID_SUPPORT_THRESHOLD 0.99998
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class Shape2DSW;
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class ShapeOwner2DSW {
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public:
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virtual void _shape_changed() = 0;
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virtual void remove_shape(Shape2DSW *p_shape) = 0;
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virtual ~ShapeOwner2DSW() {}
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};
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class Shape2DSW {
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RID self;
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Rect2 aabb;
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bool configured;
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real_t custom_bias;
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Map<ShapeOwner2DSW *, int> owners;
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protected:
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void configure(const Rect2 &p_aabb);
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public:
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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 PhysicsServer2D::ShapeType get_type() const = 0;
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_FORCE_INLINE_ Rect2 get_aabb() const { return aabb; }
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_FORCE_INLINE_ bool is_configured() const { return configured; }
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virtual bool allows_one_way_collision() const { return true; }
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virtual bool is_concave() const { return false; }
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virtual bool contains_point(const Vector2 &p_point) const = 0;
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virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const = 0;
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virtual void project_range_castv(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const = 0;
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virtual Vector2 get_support(const Vector2 &p_normal) const;
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virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const = 0;
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virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const = 0;
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virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) 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(ShapeOwner2DSW *p_owner);
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void remove_owner(ShapeOwner2DSW *p_owner);
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bool is_owner(ShapeOwner2DSW *p_owner) const;
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const Map<ShapeOwner2DSW *, int> &get_owners() const;
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_FORCE_INLINE_ void get_supports_transformed_cast(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_xform, Vector2 *r_supports, int &r_amount) const {
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get_supports(p_xform.basis_xform_inv(p_normal).normalized(), r_supports, r_amount);
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for (int i = 0; i < r_amount; i++) {
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r_supports[i] = p_xform.xform(r_supports[i]);
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}
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if (r_amount == 1) {
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if (Math::abs(p_normal.dot(p_cast.normalized())) < (1.0 - _SEGMENT_IS_VALID_SUPPORT_THRESHOLD)) {
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//make line because they are parallel
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r_amount = 2;
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r_supports[1] = r_supports[0] + p_cast;
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} else if (p_cast.dot(p_normal) > 0) {
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//normal points towards cast, add cast
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r_supports[0] += p_cast;
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}
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} else {
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if (Math::abs(p_normal.dot(p_cast.normalized())) < (1.0 - _SEGMENT_IS_VALID_SUPPORT_THRESHOLD)) {
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//optimize line and make it larger because they are parallel
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if ((r_supports[1] - r_supports[0]).dot(p_cast) > 0) {
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//larger towards 1
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r_supports[1] += p_cast;
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} else {
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//larger towards 0
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r_supports[0] += p_cast;
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}
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} else if (p_cast.dot(p_normal) > 0) {
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//normal points towards cast, add cast
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r_supports[0] += p_cast;
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r_supports[1] += p_cast;
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}
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}
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}
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Shape2DSW();
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virtual ~Shape2DSW();
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};
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//let the optimizer do the magic
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#define DEFAULT_PROJECT_RANGE_CAST \
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virtual void project_range_castv(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { \
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project_range_cast(p_cast, p_normal, p_transform, r_min, r_max); \
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} \
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_FORCE_INLINE_ void project_range_cast(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { \
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real_t mina, maxa; \
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real_t minb, maxb; \
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Transform2D ofsb = p_transform; \
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ofsb.elements[2] += p_cast; \
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project_range(p_normal, p_transform, mina, maxa); \
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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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class WorldMarginShape2DSW : public Shape2DSW {
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Vector2 normal;
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real_t d;
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public:
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_FORCE_INLINE_ Vector2 get_normal() const { return normal; }
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_FORCE_INLINE_ real_t get_d() const { return d; }
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virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_WORLD_MARGIN; }
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virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); }
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virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override;
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virtual bool contains_point(const Vector2 &p_point) const override;
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virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override;
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virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) 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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_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
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//real large
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r_min = -1e10;
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r_max = 1e10;
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}
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virtual void project_range_castv(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override {
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project_range_cast(p_cast, p_normal, p_transform, r_min, r_max);
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}
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_FORCE_INLINE_ void project_range_cast(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
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//real large
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r_min = -1e10;
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r_max = 1e10;
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}
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};
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class SeparationRayShape2DSW : public Shape2DSW {
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real_t length;
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bool slide_on_slope;
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public:
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_FORCE_INLINE_ real_t get_length() const { return length; }
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_FORCE_INLINE_ bool get_slide_on_slope() const { return slide_on_slope; }
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virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_SEPARATION_RAY; }
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virtual bool allows_one_way_collision() const override { return false; }
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virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); }
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virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override;
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virtual bool contains_point(const Vector2 &p_point) const override;
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virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override;
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virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) 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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_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
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//real large
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r_max = p_normal.dot(p_transform.get_origin());
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r_min = p_normal.dot(p_transform.xform(Vector2(0, length)));
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if (r_max < r_min) {
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SWAP(r_max, r_min);
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}
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}
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DEFAULT_PROJECT_RANGE_CAST
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_FORCE_INLINE_ SeparationRayShape2DSW() {}
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_FORCE_INLINE_ SeparationRayShape2DSW(real_t p_length) { length = p_length; }
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};
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class SegmentShape2DSW : public Shape2DSW {
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Vector2 a;
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Vector2 b;
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Vector2 n;
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public:
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_FORCE_INLINE_ const Vector2 &get_a() const { return a; }
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_FORCE_INLINE_ const Vector2 &get_b() const { return b; }
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_FORCE_INLINE_ const Vector2 &get_normal() const { return n; }
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virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_SEGMENT; }
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_FORCE_INLINE_ Vector2 get_xformed_normal(const Transform2D &p_xform) const {
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return (p_xform.xform(b) - p_xform.xform(a)).normalized().orthogonal();
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}
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virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); }
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virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override;
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virtual bool contains_point(const Vector2 &p_point) const override;
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virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override;
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virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) 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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_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
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//real large
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r_max = p_normal.dot(p_transform.xform(a));
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r_min = p_normal.dot(p_transform.xform(b));
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if (r_max < r_min) {
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SWAP(r_max, r_min);
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}
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}
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DEFAULT_PROJECT_RANGE_CAST
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_FORCE_INLINE_ SegmentShape2DSW() {}
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_FORCE_INLINE_ SegmentShape2DSW(const Vector2 &p_a, const Vector2 &p_b, const Vector2 &p_n) {
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a = p_a;
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b = p_b;
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n = p_n;
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}
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};
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class CircleShape2DSW : public Shape2DSW {
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real_t radius;
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public:
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_FORCE_INLINE_ const real_t &get_radius() const { return radius; }
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virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_CIRCLE; }
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virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); }
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virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override;
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virtual bool contains_point(const Vector2 &p_point) const override;
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virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override;
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virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) 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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_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
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//real large
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real_t d = p_normal.dot(p_transform.get_origin());
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// figure out scale at point
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Vector2 local_normal = p_transform.basis_xform_inv(p_normal);
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real_t scale = local_normal.length();
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r_min = d - (radius)*scale;
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r_max = d + (radius)*scale;
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}
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DEFAULT_PROJECT_RANGE_CAST
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};
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class RectangleShape2DSW : public Shape2DSW {
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Vector2 half_extents;
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public:
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_FORCE_INLINE_ const Vector2 &get_half_extents() const { return half_extents; }
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virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_RECTANGLE; }
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virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); }
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virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override;
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virtual bool contains_point(const Vector2 &p_point) const override;
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virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override;
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virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) 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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_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
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// no matter the angle, the box is mirrored anyway
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r_max = -1e20;
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r_min = 1e20;
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for (int i = 0; i < 4; i++) {
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real_t d = p_normal.dot(p_transform.xform(Vector2(((i & 1) * 2 - 1) * half_extents.x, ((i >> 1) * 2 - 1) * half_extents.y)));
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if (d > r_max) {
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r_max = d;
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}
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if (d < r_min) {
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r_min = d;
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}
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}
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}
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_FORCE_INLINE_ Vector2 get_circle_axis(const Transform2D &p_xform, const Transform2D &p_xform_inv, const Vector2 &p_circle) const {
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Vector2 local_v = p_xform_inv.xform(p_circle);
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Vector2 he(
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(local_v.x < 0) ? -half_extents.x : half_extents.x,
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(local_v.y < 0) ? -half_extents.y : half_extents.y);
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return (p_xform.xform(he) - p_circle).normalized();
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}
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_FORCE_INLINE_ Vector2 get_box_axis(const Transform2D &p_xform, const Transform2D &p_xform_inv, const RectangleShape2DSW *p_B, const Transform2D &p_B_xform, const Transform2D &p_B_xform_inv) const {
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Vector2 a, b;
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{
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Vector2 local_v = p_xform_inv.xform(p_B_xform.get_origin());
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Vector2 he(
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(local_v.x < 0) ? -half_extents.x : half_extents.x,
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(local_v.y < 0) ? -half_extents.y : half_extents.y);
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a = p_xform.xform(he);
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}
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{
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Vector2 local_v = p_B_xform_inv.xform(p_xform.get_origin());
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Vector2 he(
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(local_v.x < 0) ? -p_B->half_extents.x : p_B->half_extents.x,
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(local_v.y < 0) ? -p_B->half_extents.y : p_B->half_extents.y);
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b = p_B_xform.xform(he);
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}
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return (a - b).normalized();
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}
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DEFAULT_PROJECT_RANGE_CAST
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};
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class CapsuleShape2DSW : public Shape2DSW {
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real_t radius;
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real_t height;
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public:
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_FORCE_INLINE_ const real_t &get_radius() const { return radius; }
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_FORCE_INLINE_ const real_t &get_height() const { return height; }
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virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_CAPSULE; }
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virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); }
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virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override;
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virtual bool contains_point(const Vector2 &p_point) const override;
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virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override;
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virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) 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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_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
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// no matter the angle, the box is mirrored anyway
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Vector2 n = p_transform.basis_xform_inv(p_normal).normalized();
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real_t h = height * 0.5 - radius;
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n *= radius;
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n.y += (n.y > 0) ? h : -h;
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r_max = p_normal.dot(p_transform.xform(n));
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r_min = p_normal.dot(p_transform.xform(-n));
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if (r_max < r_min) {
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SWAP(r_max, r_min);
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}
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|
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//ERR_FAIL_COND( r_max < r_min );
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}
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|
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DEFAULT_PROJECT_RANGE_CAST
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};
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|
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class ConvexPolygonShape2DSW : public Shape2DSW {
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struct Point {
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Vector2 pos;
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Vector2 normal; //normal to next segment
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};
|
|
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Point *points;
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int point_count;
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|
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public:
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_FORCE_INLINE_ int get_point_count() const { return point_count; }
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_FORCE_INLINE_ const Vector2 &get_point(int p_idx) const { return points[p_idx].pos; }
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_FORCE_INLINE_ const Vector2 &get_segment_normal(int p_idx) const { return points[p_idx].normal; }
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_FORCE_INLINE_ Vector2 get_xformed_segment_normal(const Transform2D &p_xform, int p_idx) const {
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|
Vector2 a = points[p_idx].pos;
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|
p_idx++;
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Vector2 b = points[p_idx == point_count ? 0 : p_idx].pos;
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return (p_xform.xform(b) - p_xform.xform(a)).normalized().orthogonal();
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|
}
|
|
|
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virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_CONVEX_POLYGON; }
|
|
|
|
virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); }
|
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virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override;
|
|
|
|
virtual bool contains_point(const Vector2 &p_point) const override;
|
|
virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override;
|
|
virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const override;
|
|
|
|
virtual void set_data(const Variant &p_data) override;
|
|
virtual Variant get_data() const override;
|
|
|
|
_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
|
|
if (!points || point_count <= 0) {
|
|
r_min = r_max = 0;
|
|
return;
|
|
}
|
|
|
|
r_min = r_max = p_normal.dot(p_transform.xform(points[0].pos));
|
|
for (int i = 1; i < point_count; i++) {
|
|
real_t d = p_normal.dot(p_transform.xform(points[i].pos));
|
|
if (d > r_max) {
|
|
r_max = d;
|
|
}
|
|
if (d < r_min) {
|
|
r_min = d;
|
|
}
|
|
}
|
|
}
|
|
|
|
DEFAULT_PROJECT_RANGE_CAST
|
|
|
|
ConvexPolygonShape2DSW();
|
|
~ConvexPolygonShape2DSW();
|
|
};
|
|
|
|
class ConcaveShape2DSW : public Shape2DSW {
|
|
public:
|
|
virtual bool is_concave() const override { return true; }
|
|
|
|
// Returns true to stop the query.
|
|
typedef bool (*QueryCallback)(void *p_userdata, Shape2DSW *p_convex);
|
|
|
|
virtual void cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0;
|
|
};
|
|
|
|
class ConcavePolygonShape2DSW : public ConcaveShape2DSW {
|
|
struct Segment {
|
|
int points[2];
|
|
};
|
|
|
|
Vector<Segment> segments;
|
|
Vector<Point2> points;
|
|
|
|
struct BVH {
|
|
Rect2 aabb;
|
|
int left, right;
|
|
};
|
|
|
|
Vector<BVH> bvh;
|
|
int bvh_depth;
|
|
|
|
struct BVH_CompareX {
|
|
_FORCE_INLINE_ bool operator()(const BVH &a, const BVH &b) const {
|
|
return (a.aabb.position.x + a.aabb.size.x * 0.5) < (b.aabb.position.x + b.aabb.size.x * 0.5);
|
|
}
|
|
};
|
|
|
|
struct BVH_CompareY {
|
|
_FORCE_INLINE_ bool operator()(const BVH &a, const BVH &b) const {
|
|
return (a.aabb.position.y + a.aabb.size.y * 0.5) < (b.aabb.position.y + b.aabb.size.y * 0.5);
|
|
}
|
|
};
|
|
|
|
int _generate_bvh(BVH *p_bvh, int p_len, int p_depth);
|
|
|
|
public:
|
|
virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_CONCAVE_POLYGON; }
|
|
|
|
virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override {
|
|
r_min = 0;
|
|
r_max = 0;
|
|
ERR_FAIL_MSG("Unsupported call to project_rangev in ConcavePolygonShape2DSW");
|
|
}
|
|
|
|
void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
|
|
r_min = 0;
|
|
r_max = 0;
|
|
ERR_FAIL_MSG("Unsupported call to project_range in ConcavePolygonShape2DSW");
|
|
}
|
|
|
|
virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override;
|
|
|
|
virtual bool contains_point(const Vector2 &p_point) const override;
|
|
virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override;
|
|
|
|
virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const override { return 0; }
|
|
|
|
virtual void set_data(const Variant &p_data) override;
|
|
virtual Variant get_data() const override;
|
|
|
|
virtual void cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const override;
|
|
|
|
DEFAULT_PROJECT_RANGE_CAST
|
|
};
|
|
|
|
#undef DEFAULT_PROJECT_RANGE_CAST
|
|
|
|
#endif // SHAPE_2D_2DSW_H
|