d8223ffa75
That year should bring the long-awaited OpenGL ES 3.0 compatible renderer
with state-of-the-art rendering techniques tuned to work as low as middle
end handheld devices - without compromising with the possibilities given
for higher end desktop games of course. Great times ahead for the Godot
community and the gamers that will play our games!
(cherry picked from commit c7bc44d5ad)
1684 lines
33 KiB
C++
1684 lines
33 KiB
C++
/*************************************************************************/
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/* shape_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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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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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 "shape_sw.h"
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#include "geometry.h"
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#include "sort.h"
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#include "quick_hull.h"
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#define _POINT_SNAP 0.001953125
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#define _EDGE_IS_VALID_SUPPORT_TRESHOLD 0.0002
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#define _FACE_IS_VALID_SUPPORT_TRESHOLD 0.9998
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void ShapeSW::configure(const AABB& p_aabb) {
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aabb=p_aabb;
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configured=true;
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for (Map<ShapeOwnerSW*,int>::Element *E=owners.front();E;E=E->next()) {
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ShapeOwnerSW* co=(ShapeOwnerSW*)E->key();
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co->_shape_changed();
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}
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}
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Vector3 ShapeSW::get_support(const Vector3& p_normal) const {
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Vector3 res;
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int amnt;
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get_supports(p_normal,1,&res,amnt);
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return res;
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}
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void ShapeSW::add_owner(ShapeOwnerSW *p_owner) {
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Map<ShapeOwnerSW*,int>::Element *E=owners.find(p_owner);
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if (E) {
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E->get()++;
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} else {
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owners[p_owner]=1;
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}
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}
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void ShapeSW::remove_owner(ShapeOwnerSW *p_owner){
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Map<ShapeOwnerSW*,int>::Element *E=owners.find(p_owner);
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ERR_FAIL_COND(!E);
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E->get()--;
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if (E->get()==0) {
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owners.erase(E);
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}
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}
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bool ShapeSW::is_owner(ShapeOwnerSW *p_owner) const{
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return owners.has(p_owner);
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}
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const Map<ShapeOwnerSW*,int>& ShapeSW::get_owners() const{
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return owners;
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}
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ShapeSW::ShapeSW() {
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custom_bias=0;
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configured=false;
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}
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ShapeSW::~ShapeSW() {
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ERR_FAIL_COND(owners.size());
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}
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Plane PlaneShapeSW::get_plane() const {
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return plane;
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}
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void PlaneShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
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// gibberish, a plane is infinity
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r_min=-1e7;
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r_max=1e7;
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}
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Vector3 PlaneShapeSW::get_support(const Vector3& p_normal) const {
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return p_normal*1e15;
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}
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bool PlaneShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
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bool inters=plane.intersects_segment(p_begin,p_end,&r_result);
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if(inters)
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r_normal=plane.normal;
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return inters;
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}
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Vector3 PlaneShapeSW::get_moment_of_inertia(float p_mass) const {
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return Vector3(); //wtf
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}
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void PlaneShapeSW::_setup(const Plane& p_plane) {
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plane=p_plane;
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configure(AABB(Vector3(-1e4,-1e4,-1e4),Vector3(1e4*2,1e4*2,1e4*2)));
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}
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void PlaneShapeSW::set_data(const Variant& p_data) {
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_setup(p_data);
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}
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Variant PlaneShapeSW::get_data() const {
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return plane;
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}
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PlaneShapeSW::PlaneShapeSW() {
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}
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//
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float RayShapeSW::get_length() const {
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return length;
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}
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void RayShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
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// don't think this will be even used
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r_min=0;
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r_max=1;
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}
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Vector3 RayShapeSW::get_support(const Vector3& p_normal) const {
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if (p_normal.z>0)
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return Vector3(0,0,length);
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else
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return Vector3(0,0,0);
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}
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void RayShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
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if (Math::abs(p_normal.z) < _EDGE_IS_VALID_SUPPORT_TRESHOLD) {
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r_amount=2;
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r_supports[0]=Vector3(0,0,0);
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r_supports[1]=Vector3(0,0,length);
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} if (p_normal.z>0) {
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r_amount=1;
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*r_supports=Vector3(0,0,length);
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} else {
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r_amount=1;
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*r_supports=Vector3(0,0,0);
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}
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}
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bool RayShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
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return false; //simply not possible
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}
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Vector3 RayShapeSW::get_moment_of_inertia(float p_mass) const {
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return Vector3();
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}
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void RayShapeSW::_setup(float p_length) {
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length=p_length;
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configure(AABB(Vector3(0,0,0),Vector3(0.1,0.1,length)));
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}
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void RayShapeSW::set_data(const Variant& p_data) {
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_setup(p_data);
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}
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Variant RayShapeSW::get_data() const {
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return length;
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}
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RayShapeSW::RayShapeSW() {
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length=1;
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}
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/********** SPHERE *************/
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real_t SphereShapeSW::get_radius() const {
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return radius;
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}
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void SphereShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
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float d = p_normal.dot( p_transform.origin );
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// figure out scale at point
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Vector3 local_normal = p_transform.basis.xform_inv(p_normal);
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float 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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Vector3 SphereShapeSW::get_support(const Vector3& p_normal) const {
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return p_normal*radius;
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}
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void SphereShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
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*r_supports=p_normal*radius;
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r_amount=1;
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}
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bool SphereShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
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return Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(),radius,&r_result,&r_normal);
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}
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Vector3 SphereShapeSW::get_moment_of_inertia(float p_mass) const {
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float s = 0.4 * p_mass * radius * radius;
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return Vector3(s,s,s);
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}
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void SphereShapeSW::_setup(real_t p_radius) {
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radius=p_radius;
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configure(AABB( Vector3(-radius,-radius,-radius), Vector3(radius*2.0,radius*2.0,radius*2.0)));
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}
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void SphereShapeSW::set_data(const Variant& p_data) {
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_setup(p_data);
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}
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Variant SphereShapeSW::get_data() const {
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return radius;
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}
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SphereShapeSW::SphereShapeSW() {
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radius=0;
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}
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/********** BOX *************/
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void BoxShapeSW::project_range(const Vector3& p_normal, const Transform& 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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Vector3 local_normal=p_transform.basis.xform_inv(p_normal);
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float length = local_normal.abs().dot(half_extents);
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float distance = p_normal.dot( p_transform.origin );
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r_min = distance - length;
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r_max = distance + length;
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}
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Vector3 BoxShapeSW::get_support(const Vector3& p_normal) const {
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Vector3 point(
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(p_normal.x<0) ? -half_extents.x : half_extents.x,
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(p_normal.y<0) ? -half_extents.y : half_extents.y,
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(p_normal.z<0) ? -half_extents.z : half_extents.z
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);
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return point;
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}
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void BoxShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
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static const int next[3]={1,2,0};
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static const int next2[3]={2,0,1};
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for (int i=0;i<3;i++) {
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Vector3 axis;
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axis[i]=1.0;
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float dot = p_normal.dot( axis );
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if ( Math::abs( dot ) > _FACE_IS_VALID_SUPPORT_TRESHOLD ) {
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//Vector3 axis_b;
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bool neg = dot<0;
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r_amount = 4;
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Vector3 point;
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point[i]=half_extents[i];
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int i_n=next[i];
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int i_n2=next2[i];
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static const float sign[4][2]={
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{-1.0, 1.0},
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{ 1.0, 1.0},
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{ 1.0,-1.0},
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{-1.0,-1.0},
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};
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for (int j=0;j<4;j++) {
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point[i_n]=sign[j][0]*half_extents[i_n];
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point[i_n2]=sign[j][1]*half_extents[i_n2];
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r_supports[j]=neg?-point:point;
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}
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if (neg) {
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SWAP( r_supports[1], r_supports[2] );
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SWAP( r_supports[0], r_supports[3] );
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}
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return;
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}
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r_amount=0;
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}
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for (int i=0;i<3;i++) {
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Vector3 axis;
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axis[i]=1.0;
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if (Math::abs(p_normal.dot(axis))<_EDGE_IS_VALID_SUPPORT_TRESHOLD) {
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r_amount= 2;
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int i_n=next[i];
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int i_n2=next2[i];
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Vector3 point=half_extents;
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if (p_normal[i_n]<0) {
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point[i_n]=-point[i_n];
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}
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if (p_normal[i_n2]<0) {
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point[i_n2]=-point[i_n2];
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}
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r_supports[0] = point;
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point[i]=-point[i];
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r_supports[1] = point;
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return;
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}
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}
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/* USE POINT */
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Vector3 point(
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(p_normal.x<0) ? -half_extents.x : half_extents.x,
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(p_normal.y<0) ? -half_extents.y : half_extents.y,
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(p_normal.z<0) ? -half_extents.z : half_extents.z
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);
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r_amount=1;
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r_supports[0]=point;
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}
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bool BoxShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
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AABB aabb(-half_extents,half_extents*2.0);
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return aabb.intersects_segment(p_begin,p_end,&r_result,&r_normal);
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}
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Vector3 BoxShapeSW::get_moment_of_inertia(float p_mass) const {
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float lx=half_extents.x;
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float ly=half_extents.y;
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float lz=half_extents.z;
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return Vector3( (p_mass/3.0) * (ly*ly + lz*lz), (p_mass/3.0) * (lx*lx + lz*lz), (p_mass/3.0) * (lx*lx + ly*ly) );
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}
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void BoxShapeSW::_setup(const Vector3& p_half_extents) {
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half_extents=p_half_extents.abs();
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configure(AABB(-half_extents,half_extents*2));
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}
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void BoxShapeSW::set_data(const Variant& p_data) {
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_setup(p_data);
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}
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Variant BoxShapeSW::get_data() const {
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return half_extents;
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}
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BoxShapeSW::BoxShapeSW() {
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}
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/********** CAPSULE *************/
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void CapsuleShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
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Vector3 n=p_transform.basis.xform_inv(p_normal).normalized();
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float h = (n.z > 0) ? height : -height;
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n *= radius;
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n.z += h * 0.5;
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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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return;
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n = p_transform.basis.xform(n);
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float distance = p_normal.dot( p_transform.origin );
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float length = Math::abs(p_normal.dot(n));
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r_min = distance - length;
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r_max = distance + length;
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ERR_FAIL_COND( r_max < r_min );
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}
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Vector3 CapsuleShapeSW::get_support(const Vector3& p_normal) const {
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Vector3 n=p_normal;
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float h = (n.z > 0) ? height : -height;
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n*=radius;
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n.z += h*0.5;
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return n;
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}
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void CapsuleShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
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Vector3 n=p_normal;
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float d = n.z;
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if (Math::abs( d )<_EDGE_IS_VALID_SUPPORT_TRESHOLD ) {
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// make it flat
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n.z=0.0;
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n.normalize();
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n*=radius;
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r_amount=2;
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r_supports[0]=n;
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r_supports[0].z+=height*0.5;
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r_supports[1]=n;
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r_supports[1].z-=height*0.5;
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} else {
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float h = (d > 0) ? height : -height;
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n*=radius;
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n.z += h*0.5;
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r_amount=1;
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*r_supports=n;
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}
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}
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bool CapsuleShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
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Vector3 norm=(p_end-p_begin).normalized();
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float min_d=1e20;
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Vector3 res,n;
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bool collision=false;
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Vector3 auxres,auxn;
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bool collided;
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// test against cylinder and spheres :-|
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collided = Geometry::segment_intersects_cylinder(p_begin,p_end,height,radius,&auxres,&auxn);
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if (collided) {
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float d=norm.dot(auxres);
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if (d<min_d) {
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min_d=d;
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res=auxres;
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n=auxn;
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collision=true;
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}
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}
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collided = Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(0,0,height*0.5),radius,&auxres,&auxn);
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if (collided) {
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float d=norm.dot(auxres);
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if (d<min_d) {
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min_d=d;
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res=auxres;
|
|
n=auxn;
|
|
collision=true;
|
|
}
|
|
}
|
|
|
|
collided = Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(0,0,height*-0.5),radius,&auxres,&auxn);
|
|
|
|
if (collided) {
|
|
float d=norm.dot(auxres);
|
|
|
|
if (d<min_d) {
|
|
min_d=d;
|
|
res=auxres;
|
|
n=auxn;
|
|
collision=true;
|
|
}
|
|
}
|
|
|
|
if (collision) {
|
|
|
|
r_result=res;
|
|
r_normal=n;
|
|
}
|
|
return collision;
|
|
}
|
|
|
|
Vector3 CapsuleShapeSW::get_moment_of_inertia(float p_mass) const {
|
|
|
|
// use crappy AABB approximation
|
|
Vector3 extents=get_aabb().size*0.5;
|
|
|
|
return Vector3(
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
|
|
);
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void CapsuleShapeSW::_setup(real_t p_height,real_t p_radius) {
|
|
|
|
height=p_height;
|
|
radius=p_radius;
|
|
configure(AABB(Vector3(-radius,-radius,-height*0.5-radius),Vector3(radius*2,radius*2,height+radius*2.0)));
|
|
|
|
}
|
|
|
|
void CapsuleShapeSW::set_data(const Variant& p_data) {
|
|
|
|
Dictionary d = p_data;
|
|
ERR_FAIL_COND(!d.has("radius"));
|
|
ERR_FAIL_COND(!d.has("height"));
|
|
_setup(d["height"],d["radius"]);
|
|
|
|
}
|
|
|
|
Variant CapsuleShapeSW::get_data() const {
|
|
|
|
Dictionary d;
|
|
d["radius"]=radius;
|
|
d["height"]=height;
|
|
return d;
|
|
|
|
}
|
|
|
|
|
|
CapsuleShapeSW::CapsuleShapeSW() {
|
|
|
|
height=radius=0;
|
|
|
|
}
|
|
|
|
/********** CONVEX POLYGON *************/
|
|
|
|
|
|
void ConvexPolygonShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
|
|
|
|
|
|
int vertex_count=mesh.vertices.size();
|
|
if (vertex_count==0)
|
|
return;
|
|
|
|
const Vector3 *vrts=&mesh.vertices[0];
|
|
|
|
for (int i=0;i<vertex_count;i++) {
|
|
|
|
float d=p_normal.dot( p_transform.xform( vrts[i] ) );
|
|
|
|
if (i==0 || d > r_max)
|
|
r_max=d;
|
|
if (i==0 || d < r_min)
|
|
r_min=d;
|
|
}
|
|
}
|
|
|
|
Vector3 ConvexPolygonShapeSW::get_support(const Vector3& p_normal) const {
|
|
|
|
Vector3 n=p_normal;
|
|
|
|
int vert_support_idx=-1;
|
|
float support_max;
|
|
|
|
int vertex_count=mesh.vertices.size();
|
|
if (vertex_count==0)
|
|
return Vector3();
|
|
|
|
const Vector3 *vrts=&mesh.vertices[0];
|
|
|
|
for (int i=0;i<vertex_count;i++) {
|
|
|
|
float d=n.dot(vrts[i]);
|
|
|
|
if (i==0 || d > support_max) {
|
|
support_max=d;
|
|
vert_support_idx=i;
|
|
}
|
|
}
|
|
|
|
return vrts[vert_support_idx];
|
|
|
|
}
|
|
|
|
|
|
|
|
void ConvexPolygonShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
|
|
|
|
const Geometry::MeshData::Face *faces = mesh.faces.ptr();
|
|
int fc = mesh.faces.size();
|
|
|
|
const Geometry::MeshData::Edge *edges = mesh.edges.ptr();
|
|
int ec = mesh.edges.size();
|
|
|
|
const Vector3 *vertices = mesh.vertices.ptr();
|
|
int vc = mesh.vertices.size();
|
|
|
|
//find vertex first
|
|
real_t max;
|
|
int vtx;
|
|
|
|
for (int i=0;i<vc;i++) {
|
|
|
|
float d=p_normal.dot(vertices[i]);
|
|
|
|
if (i==0 || d > max) {
|
|
max=d;
|
|
vtx=i;
|
|
}
|
|
}
|
|
|
|
|
|
for(int i=0;i<fc;i++) {
|
|
|
|
if (faces[i].plane.normal.dot(p_normal)>_FACE_IS_VALID_SUPPORT_TRESHOLD) {
|
|
|
|
int ic = faces[i].indices.size();
|
|
const int *ind=faces[i].indices.ptr();
|
|
|
|
bool valid=false;
|
|
for(int j=0;j<ic;j++) {
|
|
if (ind[j]==vtx) {
|
|
valid=true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (!valid)
|
|
continue;
|
|
|
|
int m = MIN(p_max,ic);
|
|
for(int j=0;j<m;j++) {
|
|
|
|
r_supports[j]=vertices[ind[j]];
|
|
}
|
|
r_amount=m;
|
|
return;
|
|
}
|
|
}
|
|
|
|
for(int i=0;i<ec;i++) {
|
|
|
|
|
|
float dot=(vertices[edges[i].a]-vertices[edges[i].b]).normalized().dot(p_normal);
|
|
dot=ABS(dot);
|
|
if (dot < _EDGE_IS_VALID_SUPPORT_TRESHOLD && (edges[i].a==vtx || edges[i].b==vtx)) {
|
|
|
|
r_amount=2;
|
|
r_supports[0]=vertices[edges[i].a];
|
|
r_supports[1]=vertices[edges[i].b];
|
|
return;
|
|
}
|
|
}
|
|
|
|
|
|
r_supports[0]=vertices[vtx];
|
|
r_amount=1;
|
|
}
|
|
|
|
bool ConvexPolygonShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
|
|
|
|
|
|
|
|
const Geometry::MeshData::Face *faces = mesh.faces.ptr();
|
|
int fc = mesh.faces.size();
|
|
|
|
const Vector3 *vertices = mesh.vertices.ptr();
|
|
|
|
Vector3 n = p_end-p_begin;
|
|
float min = 1e20;
|
|
bool col=false;
|
|
|
|
for(int i=0;i<fc;i++) {
|
|
|
|
if (faces[i].plane.normal.dot(n) > 0)
|
|
continue; //opposing face
|
|
|
|
int ic = faces[i].indices.size();
|
|
const int *ind=faces[i].indices.ptr();
|
|
|
|
for(int j=1;j<ic-1;j++) {
|
|
|
|
Face3 f(vertices[ind[0]],vertices[ind[j]],vertices[ind[j+1]]);
|
|
Vector3 result;
|
|
if (f.intersects_segment(p_begin,p_end,&result)) {
|
|
float d = n.dot(result);
|
|
if (d<min) {
|
|
min=d;
|
|
r_result=result;
|
|
r_normal=faces[i].plane.normal;
|
|
col=true;
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
return col;
|
|
|
|
}
|
|
|
|
Vector3 ConvexPolygonShapeSW::get_moment_of_inertia(float p_mass) const {
|
|
|
|
// use crappy AABB approximation
|
|
Vector3 extents=get_aabb().size*0.5;
|
|
|
|
return Vector3(
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
|
|
);
|
|
|
|
}
|
|
|
|
void ConvexPolygonShapeSW::_setup(const Vector<Vector3>& p_vertices) {
|
|
|
|
Error err = QuickHull::build(p_vertices,mesh);
|
|
AABB _aabb;
|
|
|
|
for(int i=0;i<mesh.vertices.size();i++) {
|
|
|
|
if (i==0)
|
|
_aabb.pos=mesh.vertices[i];
|
|
else
|
|
_aabb.expand_to(mesh.vertices[i]);
|
|
}
|
|
|
|
configure(_aabb);
|
|
|
|
|
|
}
|
|
|
|
void ConvexPolygonShapeSW::set_data(const Variant& p_data) {
|
|
|
|
_setup(p_data);
|
|
|
|
}
|
|
|
|
Variant ConvexPolygonShapeSW::get_data() const {
|
|
|
|
return mesh.vertices;
|
|
}
|
|
|
|
|
|
ConvexPolygonShapeSW::ConvexPolygonShapeSW() {
|
|
|
|
|
|
}
|
|
|
|
|
|
/********** FACE POLYGON *************/
|
|
|
|
|
|
void FaceShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
|
|
|
|
for (int i=0;i<3;i++) {
|
|
|
|
Vector3 v=p_transform.xform(vertex[i]);
|
|
float d=p_normal.dot(v);
|
|
|
|
if (i==0 || d > r_max)
|
|
r_max=d;
|
|
|
|
if (i==0 || d < r_min)
|
|
r_min=d;
|
|
}
|
|
}
|
|
|
|
Vector3 FaceShapeSW::get_support(const Vector3& p_normal) const {
|
|
|
|
|
|
int vert_support_idx=-1;
|
|
float support_max;
|
|
|
|
for (int i=0;i<3;i++) {
|
|
|
|
float d=p_normal.dot(vertex[i]);
|
|
|
|
if (i==0 || d > support_max) {
|
|
support_max=d;
|
|
vert_support_idx=i;
|
|
}
|
|
}
|
|
|
|
return vertex[vert_support_idx];
|
|
}
|
|
|
|
void FaceShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
|
|
|
|
Vector3 n=p_normal;
|
|
|
|
/** TEST FACE AS SUPPORT **/
|
|
if (normal.dot(n) > _FACE_IS_VALID_SUPPORT_TRESHOLD) {
|
|
|
|
r_amount=3;
|
|
for (int i=0;i<3;i++) {
|
|
|
|
r_supports[i]=vertex[i];
|
|
}
|
|
return;
|
|
|
|
}
|
|
|
|
/** FIND SUPPORT VERTEX **/
|
|
|
|
int vert_support_idx=-1;
|
|
float support_max;
|
|
|
|
for (int i=0;i<3;i++) {
|
|
|
|
float d=n.dot(vertex[i]);
|
|
|
|
if (i==0 || d > support_max) {
|
|
support_max=d;
|
|
vert_support_idx=i;
|
|
}
|
|
}
|
|
|
|
/** TEST EDGES AS SUPPORT **/
|
|
|
|
for (int i=0;i<3;i++) {
|
|
|
|
int nx=(i+1)%3;
|
|
if (i!=vert_support_idx && nx!=vert_support_idx)
|
|
continue;
|
|
|
|
// check if edge is valid as a support
|
|
float dot=(vertex[i]-vertex[nx]).normalized().dot(n);
|
|
dot=ABS(dot);
|
|
if (dot < _EDGE_IS_VALID_SUPPORT_TRESHOLD) {
|
|
|
|
r_amount=2;
|
|
r_supports[0]=vertex[i];
|
|
r_supports[1]=vertex[nx];
|
|
return;
|
|
}
|
|
}
|
|
|
|
r_amount=1;
|
|
r_supports[0]=vertex[vert_support_idx];
|
|
}
|
|
|
|
bool FaceShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
|
|
|
|
|
|
bool c=Geometry::segment_intersects_triangle(p_begin,p_end,vertex[0],vertex[1],vertex[2],&r_result);
|
|
if (c) {
|
|
r_normal=Plane(vertex[0],vertex[1],vertex[2]).normal;
|
|
if (r_normal.dot(p_end-p_begin)>0) {
|
|
r_normal=-r_normal;
|
|
}
|
|
}
|
|
|
|
return c;
|
|
}
|
|
|
|
Vector3 FaceShapeSW::get_moment_of_inertia(float p_mass) const {
|
|
|
|
return Vector3(); // Sorry, but i don't think anyone cares, FaceShape!
|
|
|
|
}
|
|
|
|
FaceShapeSW::FaceShapeSW() {
|
|
|
|
configure(AABB());
|
|
|
|
}
|
|
|
|
|
|
|
|
DVector<Vector3> ConcavePolygonShapeSW::get_faces() const {
|
|
|
|
|
|
DVector<Vector3> rfaces;
|
|
rfaces.resize(faces.size()*3);
|
|
|
|
for(int i=0;i<faces.size();i++) {
|
|
|
|
Face f=faces.get(i);
|
|
|
|
for(int j=0;j<3;j++) {
|
|
|
|
rfaces.set(i*3+j, vertices.get( f.indices[j] ) );
|
|
}
|
|
}
|
|
|
|
return rfaces;
|
|
}
|
|
|
|
void ConcavePolygonShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
|
|
|
|
int count=vertices.size();
|
|
if (count==0) {
|
|
r_min=0;
|
|
r_max=0;
|
|
return;
|
|
}
|
|
DVector<Vector3>::Read r=vertices.read();
|
|
const Vector3 *vptr=r.ptr();
|
|
|
|
for (int i=0;i<count;i++) {
|
|
|
|
float d=p_normal.dot( p_transform.xform( vptr[i] ) );
|
|
|
|
if (i==0 || d > r_max)
|
|
r_max=d;
|
|
if (i==0 || d < r_min)
|
|
r_min=d;
|
|
|
|
}
|
|
}
|
|
|
|
Vector3 ConcavePolygonShapeSW::get_support(const Vector3& p_normal) const {
|
|
|
|
|
|
int count=vertices.size();
|
|
if (count==0)
|
|
return Vector3();
|
|
|
|
DVector<Vector3>::Read r=vertices.read();
|
|
const Vector3 *vptr=r.ptr();
|
|
|
|
Vector3 n=p_normal;
|
|
|
|
int vert_support_idx=-1;
|
|
float support_max;
|
|
|
|
for (int i=0;i<count;i++) {
|
|
|
|
float d=n.dot(vptr[i]);
|
|
|
|
if (i==0 || d > support_max) {
|
|
support_max=d;
|
|
vert_support_idx=i;
|
|
}
|
|
}
|
|
|
|
|
|
return vptr[vert_support_idx];
|
|
|
|
}
|
|
|
|
void ConcavePolygonShapeSW::_cull_segment(int p_idx,_SegmentCullParams *p_params) const {
|
|
|
|
const BVH *bvh=&p_params->bvh[p_idx];
|
|
|
|
|
|
//if (p_params->dir.dot(bvh->aabb.get_support(-p_params->dir))>p_params->min_d)
|
|
// return; //test against whole AABB, which isn't very costly
|
|
|
|
|
|
//printf("addr: %p\n",bvh);
|
|
if (!bvh->aabb.intersects_segment(p_params->from,p_params->to)) {
|
|
|
|
return;
|
|
}
|
|
|
|
|
|
if (bvh->face_index>=0) {
|
|
|
|
|
|
Vector3 res;
|
|
Vector3 vertices[3]={
|
|
p_params->vertices[ p_params->faces[ bvh->face_index ].indices[0] ],
|
|
p_params->vertices[ p_params->faces[ bvh->face_index ].indices[1] ],
|
|
p_params->vertices[ p_params->faces[ bvh->face_index ].indices[2] ]
|
|
};
|
|
|
|
if (Geometry::segment_intersects_triangle(
|
|
p_params->from,
|
|
p_params->to,
|
|
vertices[0],
|
|
vertices[1],
|
|
vertices[2],
|
|
&res)) {
|
|
|
|
|
|
float d=p_params->dir.dot(res) - p_params->dir.dot(p_params->from);
|
|
//TODO, seems segmen/triangle intersection is broken :(
|
|
if (d>0 && d<p_params->min_d) {
|
|
|
|
p_params->min_d=d;
|
|
p_params->result=res;
|
|
p_params->normal=Plane(vertices[0],vertices[1],vertices[2]).normal;
|
|
if (p_params->normal.dot(p_params->dir)>0)
|
|
p_params->normal=-p_params->normal;
|
|
p_params->collisions++;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
} else {
|
|
|
|
if (bvh->left>=0)
|
|
_cull_segment(bvh->left,p_params);
|
|
if (bvh->right>=0)
|
|
_cull_segment(bvh->right,p_params);
|
|
|
|
|
|
}
|
|
}
|
|
|
|
bool ConcavePolygonShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
|
|
|
|
if (faces.size()==0)
|
|
return false;
|
|
|
|
// unlock data
|
|
DVector<Face>::Read fr=faces.read();
|
|
DVector<Vector3>::Read vr=vertices.read();
|
|
DVector<BVH>::Read br=bvh.read();
|
|
|
|
|
|
_SegmentCullParams params;
|
|
params.from=p_begin;
|
|
params.to=p_end;
|
|
params.collisions=0;
|
|
params.dir=(p_end-p_begin).normalized();
|
|
|
|
params.faces=fr.ptr();
|
|
params.vertices=vr.ptr();
|
|
params.bvh=br.ptr();
|
|
|
|
params.min_d=1e20;
|
|
// cull
|
|
_cull_segment(0,¶ms);
|
|
|
|
if (params.collisions>0) {
|
|
|
|
|
|
r_result=params.result;
|
|
r_normal=params.normal;
|
|
return true;
|
|
} else {
|
|
|
|
return false;
|
|
}
|
|
}
|
|
|
|
void ConcavePolygonShapeSW::_cull(int p_idx,_CullParams *p_params) const {
|
|
|
|
const BVH* bvh=&p_params->bvh[p_idx];
|
|
|
|
if (!p_params->aabb.intersects( bvh->aabb ))
|
|
return;
|
|
|
|
if (bvh->face_index>=0) {
|
|
|
|
const Face *f=&p_params->faces[ bvh->face_index ];
|
|
FaceShapeSW *face=p_params->face;
|
|
face->normal=f->normal;
|
|
face->vertex[0]=p_params->vertices[f->indices[0]];
|
|
face->vertex[1]=p_params->vertices[f->indices[1]];
|
|
face->vertex[2]=p_params->vertices[f->indices[2]];
|
|
p_params->callback(p_params->userdata,face);
|
|
|
|
} else {
|
|
|
|
if (bvh->left>=0) {
|
|
|
|
_cull(bvh->left,p_params);
|
|
|
|
}
|
|
|
|
if (bvh->right>=0) {
|
|
|
|
_cull(bvh->right,p_params);
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
void ConcavePolygonShapeSW::cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const {
|
|
|
|
// make matrix local to concave
|
|
if (faces.size()==0)
|
|
return;
|
|
|
|
AABB local_aabb=p_local_aabb;
|
|
|
|
// unlock data
|
|
DVector<Face>::Read fr=faces.read();
|
|
DVector<Vector3>::Read vr=vertices.read();
|
|
DVector<BVH>::Read br=bvh.read();
|
|
|
|
FaceShapeSW face; // use this to send in the callback
|
|
|
|
_CullParams params;
|
|
params.aabb=local_aabb;
|
|
params.face=&face;
|
|
params.faces=fr.ptr();
|
|
params.vertices=vr.ptr();
|
|
params.bvh=br.ptr();
|
|
params.callback=p_callback;
|
|
params.userdata=p_userdata;
|
|
|
|
// cull
|
|
_cull(0,¶ms);
|
|
|
|
}
|
|
|
|
Vector3 ConcavePolygonShapeSW::get_moment_of_inertia(float p_mass) const {
|
|
|
|
// use crappy AABB approximation
|
|
Vector3 extents=get_aabb().size*0.5;
|
|
|
|
return Vector3(
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
|
|
);
|
|
}
|
|
|
|
|
|
struct _VolumeSW_BVH_Element {
|
|
|
|
AABB aabb;
|
|
Vector3 center;
|
|
int face_index;
|
|
};
|
|
|
|
struct _VolumeSW_BVH_CompareX {
|
|
|
|
_FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {
|
|
|
|
return a.center.x<b.center.x;
|
|
}
|
|
};
|
|
|
|
|
|
struct _VolumeSW_BVH_CompareY {
|
|
|
|
_FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {
|
|
|
|
return a.center.y<b.center.y;
|
|
}
|
|
};
|
|
|
|
struct _VolumeSW_BVH_CompareZ {
|
|
|
|
_FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {
|
|
|
|
return a.center.z<b.center.z;
|
|
}
|
|
};
|
|
|
|
struct _VolumeSW_BVH {
|
|
|
|
AABB aabb;
|
|
_VolumeSW_BVH *left;
|
|
_VolumeSW_BVH *right;
|
|
|
|
int face_index;
|
|
};
|
|
|
|
|
|
_VolumeSW_BVH* _volume_sw_build_bvh(_VolumeSW_BVH_Element *p_elements,int p_size,int &count) {
|
|
|
|
_VolumeSW_BVH* bvh = memnew( _VolumeSW_BVH );
|
|
|
|
if (p_size==1) {
|
|
//leaf
|
|
bvh->aabb=p_elements[0].aabb;
|
|
bvh->left=NULL;
|
|
bvh->right=NULL;
|
|
bvh->face_index=p_elements->face_index;
|
|
count++;
|
|
return bvh;
|
|
} else {
|
|
|
|
bvh->face_index=-1;
|
|
}
|
|
|
|
AABB aabb;
|
|
for(int i=0;i<p_size;i++) {
|
|
|
|
if (i==0)
|
|
aabb=p_elements[i].aabb;
|
|
else
|
|
aabb.merge_with(p_elements[i].aabb);
|
|
}
|
|
bvh->aabb=aabb;
|
|
switch(aabb.get_longest_axis_index()) {
|
|
|
|
case 0: {
|
|
|
|
SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareX> sort_x;
|
|
sort_x.sort(p_elements,p_size);
|
|
|
|
} break;
|
|
case 1: {
|
|
|
|
SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareY> sort_y;
|
|
sort_y.sort(p_elements,p_size);
|
|
} break;
|
|
case 2: {
|
|
|
|
SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareZ> sort_z;
|
|
sort_z.sort(p_elements,p_size);
|
|
} break;
|
|
}
|
|
|
|
int split=p_size/2;
|
|
bvh->left=_volume_sw_build_bvh(p_elements,split,count);
|
|
bvh->right=_volume_sw_build_bvh(&p_elements[split],p_size-split,count);
|
|
|
|
// printf("branch at %p - %i: %i\n",bvh,count,bvh->face_index);
|
|
count++;
|
|
return bvh;
|
|
}
|
|
|
|
|
|
void ConcavePolygonShapeSW::_fill_bvh(_VolumeSW_BVH* p_bvh_tree,BVH* p_bvh_array,int& p_idx) {
|
|
|
|
int idx=p_idx;
|
|
|
|
|
|
p_bvh_array[idx].aabb=p_bvh_tree->aabb;
|
|
p_bvh_array[idx].face_index=p_bvh_tree->face_index;
|
|
// printf("%p - %i: %i(%p) -- %p:%p\n",%p_bvh_array[idx],p_idx,p_bvh_array[i]->face_index,&p_bvh_tree->face_index,p_bvh_tree->left,p_bvh_tree->right);
|
|
|
|
|
|
if (p_bvh_tree->left) {
|
|
p_bvh_array[idx].left=++p_idx;
|
|
_fill_bvh(p_bvh_tree->left,p_bvh_array,p_idx);
|
|
|
|
} else {
|
|
|
|
p_bvh_array[p_idx].left=-1;
|
|
}
|
|
|
|
if (p_bvh_tree->right) {
|
|
p_bvh_array[idx].right=++p_idx;
|
|
_fill_bvh(p_bvh_tree->right,p_bvh_array,p_idx);
|
|
|
|
} else {
|
|
|
|
p_bvh_array[p_idx].right=-1;
|
|
}
|
|
|
|
memdelete(p_bvh_tree);
|
|
|
|
}
|
|
|
|
void ConcavePolygonShapeSW::_setup(DVector<Vector3> p_faces) {
|
|
|
|
int src_face_count=p_faces.size();
|
|
if (src_face_count==0) {
|
|
configure(AABB());
|
|
return;
|
|
}
|
|
ERR_FAIL_COND(src_face_count%3);
|
|
src_face_count/=3;
|
|
|
|
DVector<Vector3>::Read r = p_faces.read();
|
|
const Vector3 * facesr= r.ptr();
|
|
|
|
#if 0
|
|
Map<Vector3,int> point_map;
|
|
List<Face> face_list;
|
|
|
|
|
|
for(int i=0;i<src_face_count;i++) {
|
|
|
|
Face3 faceaux;
|
|
|
|
for(int j=0;j<3;j++) {
|
|
|
|
faceaux.vertex[j]=facesr[i*3+j].snapped(_POINT_SNAP);
|
|
//faceaux.vertex[j]=facesr[i*3+j];//facesr[i*3+j].snapped(_POINT_SNAP);
|
|
}
|
|
|
|
ERR_CONTINUE( faceaux.is_degenerate() );
|
|
|
|
Face face;
|
|
|
|
for(int j=0;j<3;j++) {
|
|
|
|
|
|
Map<Vector3,int>::Element *E=point_map.find(faceaux.vertex[j]);
|
|
if (E) {
|
|
|
|
face.indices[j]=E->value();
|
|
} else {
|
|
|
|
face.indices[j]=point_map.size();
|
|
point_map.insert(faceaux.vertex[j],point_map.size());
|
|
|
|
}
|
|
}
|
|
|
|
face_list.push_back(face);
|
|
}
|
|
|
|
vertices.resize( point_map.size() );
|
|
|
|
DVector<Vector3>::Write vw = vertices.write();
|
|
Vector3 *verticesw=vw.ptr();
|
|
|
|
AABB _aabb;
|
|
|
|
for( Map<Vector3,int>::Element *E=point_map.front();E;E=E->next()) {
|
|
|
|
if (E==point_map.front()) {
|
|
_aabb.pos=E->key();
|
|
} else {
|
|
|
|
_aabb.expand_to(E->key());
|
|
}
|
|
verticesw[E->value()]=E->key();
|
|
}
|
|
|
|
point_map.clear(); // not needed anymore
|
|
|
|
faces.resize(face_list.size());
|
|
DVector<Face>::Write w = faces.write();
|
|
Face *facesw=w.ptr();
|
|
|
|
int fc=0;
|
|
|
|
for( List<Face>::Element *E=face_list.front();E;E=E->next()) {
|
|
|
|
facesw[fc++]=E->get();
|
|
}
|
|
|
|
face_list.clear();
|
|
|
|
|
|
DVector<_VolumeSW_BVH_Element> bvh_array;
|
|
bvh_array.resize( fc );
|
|
|
|
DVector<_VolumeSW_BVH_Element>::Write bvhw = bvh_array.write();
|
|
_VolumeSW_BVH_Element *bvh_arrayw=bvhw.ptr();
|
|
|
|
|
|
for(int i=0;i<fc;i++) {
|
|
|
|
AABB face_aabb;
|
|
face_aabb.pos=verticesw[facesw[i].indices[0]];
|
|
face_aabb.expand_to( verticesw[facesw[i].indices[1]] );
|
|
face_aabb.expand_to( verticesw[facesw[i].indices[2]] );
|
|
|
|
bvh_arrayw[i].face_index=i;
|
|
bvh_arrayw[i].aabb=face_aabb;
|
|
bvh_arrayw[i].center=face_aabb.pos+face_aabb.size*0.5;
|
|
|
|
}
|
|
|
|
w=DVector<Face>::Write();
|
|
vw=DVector<Vector3>::Write();
|
|
|
|
|
|
int count=0;
|
|
_VolumeSW_BVH *bvh_tree=_volume_sw_build_bvh(bvh_arrayw,fc,count);
|
|
|
|
ERR_FAIL_COND(count==0);
|
|
|
|
bvhw=DVector<_VolumeSW_BVH_Element>::Write();
|
|
|
|
bvh.resize( count+1 );
|
|
|
|
DVector<BVH>::Write bvhw2 = bvh.write();
|
|
BVH*bvh_arrayw2=bvhw2.ptr();
|
|
|
|
int idx=0;
|
|
_fill_bvh(bvh_tree,bvh_arrayw2,idx);
|
|
|
|
set_aabb(_aabb);
|
|
|
|
#else
|
|
DVector<_VolumeSW_BVH_Element> bvh_array;
|
|
bvh_array.resize( src_face_count );
|
|
|
|
DVector<_VolumeSW_BVH_Element>::Write bvhw = bvh_array.write();
|
|
_VolumeSW_BVH_Element *bvh_arrayw=bvhw.ptr();
|
|
|
|
faces.resize(src_face_count);
|
|
DVector<Face>::Write w = faces.write();
|
|
Face *facesw=w.ptr();
|
|
|
|
vertices.resize( src_face_count*3 );
|
|
|
|
DVector<Vector3>::Write vw = vertices.write();
|
|
Vector3 *verticesw=vw.ptr();
|
|
|
|
AABB _aabb;
|
|
|
|
|
|
for(int i=0;i<src_face_count;i++) {
|
|
|
|
Face3 face( facesr[i*3+0], facesr[i*3+1], facesr[i*3+2] );
|
|
|
|
bvh_arrayw[i].aabb=face.get_aabb();
|
|
bvh_arrayw[i].center = bvh_arrayw[i].aabb.pos + bvh_arrayw[i].aabb.size * 0.5;
|
|
bvh_arrayw[i].face_index=i;
|
|
facesw[i].indices[0]=i*3+0;
|
|
facesw[i].indices[1]=i*3+1;
|
|
facesw[i].indices[2]=i*3+2;
|
|
facesw[i].normal=face.get_plane().normal;
|
|
verticesw[i*3+0]=face.vertex[0];
|
|
verticesw[i*3+1]=face.vertex[1];
|
|
verticesw[i*3+2]=face.vertex[2];
|
|
if (i==0)
|
|
_aabb=bvh_arrayw[i].aabb;
|
|
else
|
|
_aabb.merge_with(bvh_arrayw[i].aabb);
|
|
|
|
}
|
|
|
|
w=DVector<Face>::Write();
|
|
vw=DVector<Vector3>::Write();
|
|
|
|
int count=0;
|
|
_VolumeSW_BVH *bvh_tree=_volume_sw_build_bvh(bvh_arrayw,src_face_count,count);
|
|
|
|
bvh.resize( count+1 );
|
|
|
|
DVector<BVH>::Write bvhw2 = bvh.write();
|
|
BVH*bvh_arrayw2=bvhw2.ptr();
|
|
|
|
int idx=0;
|
|
_fill_bvh(bvh_tree,bvh_arrayw2,idx);
|
|
|
|
configure(_aabb); // this type of shape has no margin
|
|
|
|
|
|
#endif
|
|
}
|
|
|
|
|
|
void ConcavePolygonShapeSW::set_data(const Variant& p_data) {
|
|
|
|
|
|
_setup(p_data);
|
|
}
|
|
|
|
Variant ConcavePolygonShapeSW::get_data() const {
|
|
|
|
return get_faces();
|
|
}
|
|
|
|
ConcavePolygonShapeSW::ConcavePolygonShapeSW() {
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
/* HEIGHT MAP SHAPE */
|
|
|
|
DVector<float> HeightMapShapeSW::get_heights() const {
|
|
|
|
return heights;
|
|
}
|
|
int HeightMapShapeSW::get_width() const {
|
|
|
|
return width;
|
|
}
|
|
int HeightMapShapeSW::get_depth() const {
|
|
|
|
return depth;
|
|
}
|
|
float HeightMapShapeSW::get_cell_size() const {
|
|
|
|
return cell_size;
|
|
}
|
|
|
|
|
|
void HeightMapShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
|
|
|
|
//not very useful, but not very used either
|
|
p_transform.xform(get_aabb()).project_range_in_plane( Plane(p_normal,0),r_min,r_max );
|
|
|
|
}
|
|
|
|
Vector3 HeightMapShapeSW::get_support(const Vector3& p_normal) const {
|
|
|
|
|
|
//not very useful, but not very used either
|
|
return get_aabb().get_support(p_normal);
|
|
|
|
}
|
|
|
|
bool HeightMapShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_point, Vector3 &r_normal) const {
|
|
|
|
|
|
return false;
|
|
}
|
|
|
|
|
|
void HeightMapShapeSW::cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const {
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
Vector3 HeightMapShapeSW::get_moment_of_inertia(float p_mass) const {
|
|
|
|
|
|
// use crappy AABB approximation
|
|
Vector3 extents=get_aabb().size*0.5;
|
|
|
|
return Vector3(
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
|
|
);
|
|
}
|
|
|
|
|
|
void HeightMapShapeSW::_setup(DVector<real_t> p_heights,int p_width,int p_depth,real_t p_cell_size) {
|
|
|
|
heights=p_heights;
|
|
width=p_width;
|
|
depth=p_depth;;
|
|
cell_size=p_cell_size;
|
|
|
|
DVector<real_t>::Read r = heights. read();
|
|
|
|
AABB aabb;
|
|
|
|
for(int i=0;i<depth;i++) {
|
|
|
|
for(int j=0;j<width;j++) {
|
|
|
|
float h = r[i*width+j];
|
|
|
|
Vector3 pos( j*cell_size, h, i*cell_size );
|
|
if (i==0 || j==0)
|
|
aabb.pos=pos;
|
|
else
|
|
aabb.expand_to(pos);
|
|
|
|
}
|
|
}
|
|
|
|
|
|
configure(aabb);
|
|
}
|
|
|
|
void HeightMapShapeSW::set_data(const Variant& p_data) {
|
|
|
|
ERR_FAIL_COND( p_data.get_type()!=Variant::DICTIONARY );
|
|
Dictionary d=p_data;
|
|
ERR_FAIL_COND( !d.has("width") );
|
|
ERR_FAIL_COND( !d.has("depth") );
|
|
ERR_FAIL_COND( !d.has("cell_size") );
|
|
ERR_FAIL_COND( !d.has("heights") );
|
|
|
|
int width=d["width"];
|
|
int depth=d["depth"];
|
|
float cell_size=d["cell_size"];
|
|
DVector<float> heights=d["heights"];
|
|
|
|
ERR_FAIL_COND( width<= 0);
|
|
ERR_FAIL_COND( depth<= 0);
|
|
ERR_FAIL_COND( cell_size<= CMP_EPSILON);
|
|
ERR_FAIL_COND( heights.size() != (width*depth) );
|
|
_setup(heights, width, depth, cell_size );
|
|
|
|
}
|
|
|
|
Variant HeightMapShapeSW::get_data() const {
|
|
|
|
ERR_FAIL_V(Variant());
|
|
|
|
}
|
|
|
|
HeightMapShapeSW::HeightMapShapeSW() {
|
|
|
|
width=0;
|
|
depth=0;
|
|
cell_size=0;
|
|
}
|
|
|
|
|
|
|