pandemonium_engine/servers/physics/shape_sw.h

#ifndef SHAPE_SW_H
#define SHAPE_SW_H
/*************************************************************************/
/*  shape_sw.h                                                           */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                      https://godotengine.org                          */
/*************************************************************************/
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
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/*************************************************************************/

#include "core/local_vector.h"
#include "core/math/bsp_tree.h"
#include "core/math/geometry.h"
#include "servers/physics_server.h"
/*

SHAPE_LINE, ///< plane:"plane"
SHAPE_SEGMENT, ///< real_t:"length"
SHAPE_CIRCLE, ///< real_t:"radius"
SHAPE_RECTANGLE, ///< vec3:"extents"
SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
SHAPE_CONCAVE_POLYGON, ///< Vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array)
SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error

*/

class ShapeSW;

class ShapeOwnerSW : public RID_Data {
public:
	virtual void _shape_changed() = 0;
	virtual void remove_shape(ShapeSW *p_shape) = 0;

	virtual ~ShapeOwnerSW() {}
};

class ShapeSW : public RID_Data {
	RID self;
	AABB aabb;
	bool configured;
	real_t custom_bias;

	Map<ShapeOwnerSW *, int> owners;

protected:
	void configure(const AABB &p_aabb);

public:
	enum FeatureType {
		FEATURE_POINT,
		FEATURE_EDGE,
		FEATURE_FACE,
		FEATURE_CIRCLE,
	};

	virtual real_t get_area() const { return aabb.get_volume(); }

	_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
	_FORCE_INLINE_ RID get_self() const { return self; }

	virtual PhysicsServer::ShapeType get_type() const = 0;

	_FORCE_INLINE_ const AABB &get_aabb() const { return aabb; }
	_FORCE_INLINE_ bool is_configured() const { return configured; }

	virtual bool is_concave() const { return false; }

	virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const = 0;
	virtual Vector3 get_support(const Vector3 &p_normal) const;
	virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const = 0;
	virtual Vector3 get_closest_point_to(const Vector3 &p_point) const = 0;
	virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const = 0;
	virtual bool intersect_point(const Vector3 &p_point) const = 0;
	virtual Vector3 get_moment_of_inertia(real_t p_mass) const = 0;

	virtual void set_data(const Variant &p_data) = 0;
	virtual Variant get_data() const = 0;

	_FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias = p_bias; }
	_FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; }

	void add_owner(ShapeOwnerSW *p_owner);
	void remove_owner(ShapeOwnerSW *p_owner);
	bool is_owner(ShapeOwnerSW *p_owner) const;
	const Map<ShapeOwnerSW *, int> &get_owners() const;

	ShapeSW();
	virtual ~ShapeSW();
};

class ConcaveShapeSW : public ShapeSW {
public:
	// Returns true to stop the query.
	typedef bool (*QueryCallback)(void *p_userdata, ShapeSW *p_convex);

	virtual bool is_concave() const { return true; }
	virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; }

	virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0;

	ConcaveShapeSW() {}
};

class PlaneShapeSW : public ShapeSW {
	Plane plane;

	void _setup(const Plane &p_plane);

public:
	Plane get_plane() const;

	virtual real_t get_area() const { return Math_INF; }
	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_PLANE; }
	virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
	virtual Vector3 get_support(const Vector3 &p_normal) const;
	virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; }

	virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
	virtual bool intersect_point(const Vector3 &p_point) const;
	virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
	virtual Vector3 get_moment_of_inertia(real_t p_mass) const;

	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;

	PlaneShapeSW();
};

class RayShapeSW : public ShapeSW {
	real_t length;
	bool slips_on_slope;

	void _setup(real_t p_length, bool p_slips_on_slope);

public:
	real_t get_length() const;
	bool get_slips_on_slope() const;

	virtual real_t get_area() const { return 0.0; }
	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_RAY; }
	virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
	virtual Vector3 get_support(const Vector3 &p_normal) const;
	virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;

	virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
	virtual bool intersect_point(const Vector3 &p_point) const;
	virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;

	virtual Vector3 get_moment_of_inertia(real_t p_mass) const;

	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;

	RayShapeSW();
};

class SphereShapeSW : public ShapeSW {
	real_t radius;

	void _setup(real_t p_radius);

public:
	real_t get_radius() const;

	virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius; }

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_SPHERE; }

	virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
	virtual Vector3 get_support(const Vector3 &p_normal) const;
	virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
	virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
	virtual bool intersect_point(const Vector3 &p_point) const;
	virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;

	virtual Vector3 get_moment_of_inertia(real_t p_mass) const;

	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;

	SphereShapeSW();
};

class BoxShapeSW : public ShapeSW {
	Vector3 half_extents;
	void _setup(const Vector3 &p_half_extents);

public:
	_FORCE_INLINE_ Vector3 get_half_extents() const { return half_extents; }
	virtual real_t get_area() const { return 8 * half_extents.x * half_extents.y * half_extents.z; }

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_BOX; }

	virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
	virtual Vector3 get_support(const Vector3 &p_normal) const;
	virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
	virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
	virtual bool intersect_point(const Vector3 &p_point) const;
	virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;

	virtual Vector3 get_moment_of_inertia(real_t p_mass) const;

	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;

	BoxShapeSW();
};

class CapsuleShapeSW : public ShapeSW {
	real_t height;
	real_t radius;

	void _setup(real_t p_height, real_t p_radius);

public:
	_FORCE_INLINE_ real_t get_height() const { return height; }
	_FORCE_INLINE_ real_t get_radius() const { return radius; }

	virtual real_t get_area() const { return height * Math_PI * radius * radius; }

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CAPSULE; }

	virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
	virtual Vector3 get_support(const Vector3 &p_normal) const;
	virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
	virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
	virtual bool intersect_point(const Vector3 &p_point) const;
	virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;

	virtual Vector3 get_moment_of_inertia(real_t p_mass) const;

	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;

	CapsuleShapeSW();
};

class CylinderShapeSW : public ShapeSW {
	real_t height;
	real_t radius;

	void _setup(real_t p_height, real_t p_radius);

public:
	_FORCE_INLINE_ real_t get_height() const { return height; }
	_FORCE_INLINE_ real_t get_radius() const { return radius; }

	virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius + height * Math_PI * radius * radius; }

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CYLINDER; }

	virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
	virtual Vector3 get_support(const Vector3 &p_normal) const;
	virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
	virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
	virtual bool intersect_point(const Vector3 &p_point) const;
	virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;

	virtual Vector3 get_moment_of_inertia(real_t p_mass) const;

	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;

	CylinderShapeSW();
};

struct ConvexPolygonShapeSW : public ShapeSW {
	Geometry::MeshData mesh;

	void _setup(const Vector<Vector3> &p_vertices);

public:
	const Geometry::MeshData &get_mesh() const { return mesh; }

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }

	virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
	virtual Vector3 get_support(const Vector3 &p_normal) const;
	virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
	virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
	virtual bool intersect_point(const Vector3 &p_point) const;
	virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;

	virtual Vector3 get_moment_of_inertia(real_t p_mass) const;

	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;

	ConvexPolygonShapeSW();
};

struct _VolumeSW_BVH;
struct FaceShapeSW;

struct ConcavePolygonShapeSW : public ConcaveShapeSW {
	// always a trimesh

	struct Face {
		Vector3 normal;
		int indices[3];
	};

	PoolVector<Face> faces;
	PoolVector<Vector3> vertices;

	struct BVH {
		AABB aabb;
		int left;
		int right;

		int face_index;
	};

	PoolVector<BVH> bvh;

	struct _CullParams {
		AABB aabb;
		QueryCallback callback;
		void *userdata;
		const Face *faces;
		const Vector3 *vertices;
		const BVH *bvh;
		FaceShapeSW *face;
	};

	struct _SegmentCullParams {
		Vector3 from;
		Vector3 to;
		const Face *faces;
		const Vector3 *vertices;
		const BVH *bvh;
		Vector3 dir;

		Vector3 result;
		Vector3 normal;
		real_t min_d;
		int collisions;
	};

	void _cull_segment(int p_idx, _SegmentCullParams *p_params) const;
	bool _cull(int p_idx, _CullParams *p_params) const;

	void _fill_bvh(_VolumeSW_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx);

	void _setup(PoolVector<Vector3> p_faces);

public:
	PoolVector<Vector3> get_faces() const;

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }

	virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
	virtual Vector3 get_support(const Vector3 &p_normal) const;

	virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
	virtual bool intersect_point(const Vector3 &p_point) const;
	virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;

	virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const;

	virtual Vector3 get_moment_of_inertia(real_t p_mass) const;

	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;

	ConcavePolygonShapeSW();
};

struct HeightMapShapeSW : public ConcaveShapeSW {
	friend struct _HeightmapSegmentCullParams;

	PoolVector<real_t> heights;
	int width;
	int depth;
	Vector3 local_origin;

	// Accelerator.
	struct Range {
		float min = 0.0;
		float max = 0.0;
	};
	LocalVector<Range> bounds_grid;
	int bounds_grid_width = 0;
	int bounds_grid_depth = 0;

	static const int BOUNDS_CHUNK_SIZE = 16;

	_FORCE_INLINE_ const Range &_get_bounds_chunk(int p_x, int p_z) const {
		return bounds_grid[(p_z * bounds_grid_width) + p_x];
	}

	_FORCE_INLINE_ real_t _get_height(int p_x, int p_z) const {
		return heights[(p_z * width) + p_x];
	}

	_FORCE_INLINE_ void _get_point(int p_x, int p_z, Vector3 &r_point) const {
		r_point.x = p_x - 0.5 * (width - 1.0);
		r_point.y = _get_height(p_x, p_z);
		r_point.z = p_z - 0.5 * (depth - 1.0);
	}

	void _get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const;

	void _build_accelerator();

	template <typename ProcessFunction>
	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;

	void _setup(const PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);

public:
	PoolVector<real_t> get_heights() const;
	int get_width() const;
	int get_depth() const;

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_HEIGHTMAP; }

	virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
	virtual Vector3 get_support(const Vector3 &p_normal) const;
	virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const;
	virtual bool intersect_point(const Vector3 &p_point) const;

	virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
	virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const;

	virtual Vector3 get_moment_of_inertia(real_t p_mass) const;

	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;

	HeightMapShapeSW();
};

//used internally
struct FaceShapeSW : public ShapeSW {
	Vector3 normal; //cache
	Vector3 vertex[3];

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }

	const Vector3 &get_vertex(int p_idx) const { return vertex[p_idx]; }

	void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
	Vector3 get_support(const Vector3 &p_normal) const;
	virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
	bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
	virtual bool intersect_point(const Vector3 &p_point) const;
	virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;

	Vector3 get_moment_of_inertia(real_t p_mass) const;

	virtual void set_data(const Variant &p_data) {}
	virtual Variant get_data() const { return Variant(); }

	FaceShapeSW();
};

struct MotionShapeSW : public ShapeSW {
	ShapeSW *shape;
	Vector3 motion;

	virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }

	void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const {
		Vector3 cast = p_transform.basis.xform(motion);
		real_t mina, maxa;
		real_t minb, maxb;
		Transform ofsb = p_transform;
		ofsb.origin += cast;
		shape->project_range(p_normal, p_transform, mina, maxa);
		shape->project_range(p_normal, ofsb, minb, maxb);
		r_min = MIN(mina, minb);
		r_max = MAX(maxa, maxb);
	}

	Vector3 get_support(const Vector3 &p_normal) const {
		Vector3 support = shape->get_support(p_normal);
		if (p_normal.dot(motion) > 0) {
			support += motion;
		}
		return support;
	}
	virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; }
	bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { return false; }
	virtual bool intersect_point(const Vector3 &p_point) const { return false; }
	virtual Vector3 get_closest_point_to(const Vector3 &p_point) const { return p_point; }

	Vector3 get_moment_of_inertia(real_t p_mass) const { return Vector3(); }

	virtual void set_data(const Variant &p_data) {}
	virtual Variant get_data() const { return Variant(); }

	MotionShapeSW() { configure(AABB()); }
};

struct _ShapeTestConvexBSPSW {
	const BSP_Tree *bsp;
	const ShapeSW *shape;
	Transform transform;

	_FORCE_INLINE_ void project_range(const Vector3 &p_normal, real_t &r_min, real_t &r_max) const {
		shape->project_range(p_normal, transform, r_min, r_max);
	}
};

#endif // SHAPESW_H