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532 lines
19 KiB
C++
532 lines
19 KiB
C++
#ifndef SHAPE_SW_H
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#define SHAPE_SW_H
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/*************************************************************************/
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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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "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 // SHAPESW_H
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