1426cd3b3a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see". Backported from #70885.
530 lines
19 KiB
C++
530 lines
19 KiB
C++
/**************************************************************************/
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/* shape_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) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 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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#ifndef SHAPE_SW_H
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#define SHAPE_SW_H
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#include "core/local_vector.h"
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#include "core/math/bsp_tree.h"
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#include "core/math/geometry.h"
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#include "servers/physics_server.h"
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/*
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SHAPE_LINE, ///< plane:"plane"
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SHAPE_SEGMENT, ///< real_t:"length"
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SHAPE_CIRCLE, ///< real_t:"radius"
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SHAPE_RECTANGLE, ///< vec3:"extents"
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SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
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SHAPE_CONCAVE_POLYGON, ///< Vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array)
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SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
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*/
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class ShapeSW;
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class ShapeOwnerSW : public RID_Data {
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public:
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virtual void _shape_changed() = 0;
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virtual void remove_shape(ShapeSW *p_shape) = 0;
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virtual ~ShapeOwnerSW() {}
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};
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class ShapeSW : public RID_Data {
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RID self;
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AABB aabb;
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bool configured;
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real_t custom_bias;
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Map<ShapeOwnerSW *, int> owners;
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protected:
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void configure(const AABB &p_aabb);
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public:
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enum FeatureType {
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FEATURE_POINT,
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FEATURE_EDGE,
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FEATURE_FACE,
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FEATURE_CIRCLE,
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};
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virtual real_t get_area() const { return aabb.get_area(); }
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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 PhysicsServer::ShapeType get_type() const = 0;
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_FORCE_INLINE_ const AABB &get_aabb() const { return aabb; }
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_FORCE_INLINE_ bool is_configured() const { return configured; }
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virtual bool is_concave() const { return false; }
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virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const = 0;
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const = 0;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const = 0;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const = 0;
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virtual bool intersect_point(const Vector3 &p_point) const = 0;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const = 0;
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virtual void set_data(const Variant &p_data) = 0;
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virtual Variant get_data() const = 0;
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_FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias = p_bias; }
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_FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; }
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void add_owner(ShapeOwnerSW *p_owner);
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void remove_owner(ShapeOwnerSW *p_owner);
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bool is_owner(ShapeOwnerSW *p_owner) const;
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const Map<ShapeOwnerSW *, int> &get_owners() const;
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ShapeSW();
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virtual ~ShapeSW();
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};
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class ConcaveShapeSW : public ShapeSW {
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public:
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// Returns true to stop the query.
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typedef bool (*QueryCallback)(void *p_userdata, ShapeSW *p_convex);
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virtual bool is_concave() const { return true; }
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; }
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virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0;
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ConcaveShapeSW() {}
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};
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class PlaneShapeSW : public ShapeSW {
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Plane plane;
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void _setup(const Plane &p_plane);
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public:
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Plane get_plane() const;
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virtual real_t get_area() const { return Math_INF; }
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_PLANE; }
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virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; }
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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PlaneShapeSW();
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};
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class RayShapeSW : public ShapeSW {
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real_t length;
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bool slips_on_slope;
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void _setup(real_t p_length, bool p_slips_on_slope);
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public:
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real_t get_length() const;
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bool get_slips_on_slope() const;
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virtual real_t get_area() const { return 0.0; }
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_RAY; }
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virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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RayShapeSW();
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};
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class SphereShapeSW : public ShapeSW {
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real_t radius;
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void _setup(real_t p_radius);
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public:
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real_t get_radius() const;
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virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius; }
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_SPHERE; }
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virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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SphereShapeSW();
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};
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class BoxShapeSW : public ShapeSW {
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Vector3 half_extents;
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void _setup(const Vector3 &p_half_extents);
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public:
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_FORCE_INLINE_ Vector3 get_half_extents() const { return half_extents; }
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virtual real_t get_area() const { return 8 * half_extents.x * half_extents.y * half_extents.z; }
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_BOX; }
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virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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BoxShapeSW();
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};
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class CapsuleShapeSW : public ShapeSW {
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real_t height;
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real_t radius;
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void _setup(real_t p_height, real_t p_radius);
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public:
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_FORCE_INLINE_ real_t get_height() const { return height; }
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_FORCE_INLINE_ real_t get_radius() const { return radius; }
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virtual real_t get_area() const { return height * Math_PI * radius * radius; }
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CAPSULE; }
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virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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CapsuleShapeSW();
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};
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class CylinderShapeSW : public ShapeSW {
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real_t height;
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real_t radius;
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void _setup(real_t p_height, real_t p_radius);
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public:
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_FORCE_INLINE_ real_t get_height() const { return height; }
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_FORCE_INLINE_ real_t get_radius() const { return radius; }
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virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius + height * Math_PI * radius * radius; }
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CYLINDER; }
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virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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CylinderShapeSW();
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};
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struct ConvexPolygonShapeSW : public ShapeSW {
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Geometry::MeshData mesh;
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void _setup(const Vector<Vector3> &p_vertices);
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public:
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const Geometry::MeshData &get_mesh() const { return mesh; }
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }
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virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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ConvexPolygonShapeSW();
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};
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struct _VolumeSW_BVH;
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struct FaceShapeSW;
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struct ConcavePolygonShapeSW : public ConcaveShapeSW {
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// always a trimesh
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struct Face {
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Vector3 normal;
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int indices[3];
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};
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PoolVector<Face> faces;
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PoolVector<Vector3> vertices;
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struct BVH {
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AABB aabb;
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int left;
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int right;
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int face_index;
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};
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PoolVector<BVH> bvh;
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struct _CullParams {
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AABB aabb;
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QueryCallback callback;
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void *userdata;
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const Face *faces;
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const Vector3 *vertices;
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const BVH *bvh;
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FaceShapeSW *face;
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};
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struct _SegmentCullParams {
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Vector3 from;
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Vector3 to;
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const Face *faces;
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const Vector3 *vertices;
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const BVH *bvh;
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Vector3 dir;
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Vector3 result;
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Vector3 normal;
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real_t min_d;
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int collisions;
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};
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void _cull_segment(int p_idx, _SegmentCullParams *p_params) const;
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bool _cull(int p_idx, _CullParams *p_params) const;
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void _fill_bvh(_VolumeSW_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx);
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void _setup(PoolVector<Vector3> p_faces);
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public:
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PoolVector<Vector3> get_faces() const;
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }
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virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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ConcavePolygonShapeSW();
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};
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struct HeightMapShapeSW : public ConcaveShapeSW {
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friend struct _HeightmapSegmentCullParams;
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PoolVector<real_t> heights;
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int width;
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int depth;
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Vector3 local_origin;
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// Accelerator.
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struct Range {
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float min = 0.0;
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float max = 0.0;
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};
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LocalVector<Range> bounds_grid;
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int bounds_grid_width = 0;
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int bounds_grid_depth = 0;
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static const int BOUNDS_CHUNK_SIZE = 16;
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_FORCE_INLINE_ const Range &_get_bounds_chunk(int p_x, int p_z) const {
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return bounds_grid[(p_z * bounds_grid_width) + p_x];
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}
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_FORCE_INLINE_ real_t _get_height(int p_x, int p_z) const {
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return heights[(p_z * width) + p_x];
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}
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_FORCE_INLINE_ void _get_point(int p_x, int p_z, Vector3 &r_point) const {
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r_point.x = p_x - 0.5 * (width - 1.0);
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r_point.y = _get_height(p_x, p_z);
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r_point.z = p_z - 0.5 * (depth - 1.0);
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}
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void _get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const;
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void _build_accelerator();
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template <typename ProcessFunction>
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bool _intersect_grid_segment(ProcessFunction &p_process, const Vector3 &p_begin, const Vector3 &p_end, int p_width, int p_depth, const Vector3 &offset, Vector3 &r_point, Vector3 &r_normal) const;
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void _setup(const PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
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public:
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PoolVector<real_t> get_heights() const;
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int get_width() const;
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int get_depth() const;
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_HEIGHTMAP; }
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virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3 &p_normal) const;
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const;
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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HeightMapShapeSW();
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};
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//used internally
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struct FaceShapeSW : public ShapeSW {
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Vector3 normal; //cache
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Vector3 vertex[3];
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }
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const Vector3 &get_vertex(int p_idx) const { return vertex[p_idx]; }
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void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
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Vector3 get_support(const Vector3 &p_normal) const;
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
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bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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Vector3 get_moment_of_inertia(real_t p_mass) const;
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virtual void set_data(const Variant &p_data) {}
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virtual Variant get_data() const { return Variant(); }
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FaceShapeSW();
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};
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struct MotionShapeSW : public ShapeSW {
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ShapeSW *shape;
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Vector3 motion;
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }
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void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const {
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Vector3 cast = p_transform.basis.xform(motion);
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real_t mina, maxa;
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real_t minb, maxb;
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Transform ofsb = p_transform;
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ofsb.origin += cast;
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shape->project_range(p_normal, p_transform, mina, maxa);
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shape->project_range(p_normal, ofsb, minb, maxb);
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r_min = MIN(mina, minb);
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r_max = MAX(maxa, maxb);
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}
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Vector3 get_support(const Vector3 &p_normal) const {
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Vector3 support = shape->get_support(p_normal);
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if (p_normal.dot(motion) > 0) {
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support += motion;
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}
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return support;
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}
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; }
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bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { return false; }
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virtual bool intersect_point(const Vector3 &p_point) const { return false; }
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const { return p_point; }
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Vector3 get_moment_of_inertia(real_t p_mass) const { return Vector3(); }
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virtual void set_data(const Variant &p_data) {}
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virtual Variant get_data() const { return Variant(); }
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MotionShapeSW() { configure(AABB()); }
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};
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struct _ShapeTestConvexBSPSW {
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const BSP_Tree *bsp;
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const ShapeSW *shape;
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Transform transform;
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_FORCE_INLINE_ void project_range(const Vector3 &p_normal, real_t &r_min, real_t &r_max) const {
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shape->project_range(p_normal, transform, r_min, r_max);
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}
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};
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#endif // SHAPE_SW_H
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