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pandemonium_engine_minimal/servers/physics_2d/shape_2d_sw.h
Relintai 5bfd2d6d53 Initial Commit.
2023-12-14 21:54:22 +01:00

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#ifndef SHAPE_2D_2DSW_H
#define SHAPE_2D_2DSW_H
/*************************************************************************/
/* shape_2d_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). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "servers/physics_2d_server.h"
#define _SEGMENT_IS_VALID_SUPPORT_THRESHOLD 0.99998
/*
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, ///< Vector2 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector2 array)
SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
*/
class Shape2DSW;
class ShapeOwner2DSW : public RID_Data {
public:
virtual void _shape_changed() = 0;
virtual void remove_shape(Shape2DSW *p_shape) = 0;
virtual ~ShapeOwner2DSW() {}
};
class Shape2DSW : public RID_Data {
RID self;
Rect2 aabb;
bool configured;
real_t custom_bias;
RBMap<ShapeOwner2DSW *, int> owners;
protected:
void configure(const Rect2 &p_aabb);
public:
_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
_FORCE_INLINE_ RID get_self() const { return self; }
virtual Physics2DServer::ShapeType get_type() const = 0;
_FORCE_INLINE_ Rect2 get_aabb() const { return aabb; }
_FORCE_INLINE_ bool is_configured() const { return configured; }
virtual bool is_concave() const { return false; }
virtual bool contains_point(const Vector2 &p_point) const = 0;
virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const = 0;
virtual void project_range_castv(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const = 0;
virtual Vector2 get_support(const Vector2 &p_normal) const;
virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const = 0;
virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const = 0;
virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) 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(ShapeOwner2DSW *p_owner);
void remove_owner(ShapeOwner2DSW *p_owner);
bool is_owner(ShapeOwner2DSW *p_owner) const;
const RBMap<ShapeOwner2DSW *, int> &get_owners() const;
_FORCE_INLINE_ void get_supports_transformed_cast(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_xform, Vector2 *r_supports, int &r_amount) const {
get_supports(p_xform.basis_xform_inv(p_normal).normalized(), r_supports, r_amount);
for (int i = 0; i < r_amount; i++) {
r_supports[i] = p_xform.xform(r_supports[i]);
}
if (r_amount == 1) {
if (Math::abs(p_normal.dot(p_cast.normalized())) < (1.0 - _SEGMENT_IS_VALID_SUPPORT_THRESHOLD)) {
//make line because they are parallel
r_amount = 2;
r_supports[1] = r_supports[0] + p_cast;
} else if (p_cast.dot(p_normal) > 0) {
//normal points towards cast, add cast
r_supports[0] += p_cast;
}
} else {
if (Math::abs(p_normal.dot(p_cast.normalized())) < (1.0 - _SEGMENT_IS_VALID_SUPPORT_THRESHOLD)) {
//optimize line and make it larger because they are parallel
if ((r_supports[1] - r_supports[0]).dot(p_cast) > 0) {
//larger towards 1
r_supports[1] += p_cast;
} else {
//larger towards 0
r_supports[0] += p_cast;
}
} else if (p_cast.dot(p_normal) > 0) {
//normal points towards cast, add cast
r_supports[0] += p_cast;
r_supports[1] += p_cast;
}
}
}
Shape2DSW();
virtual ~Shape2DSW();
};
//let the optimizer do the magic
#define DEFAULT_PROJECT_RANGE_CAST \
virtual void project_range_castv(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { \
project_range_cast(p_cast, p_normal, p_transform, r_min, r_max); \
} \
_FORCE_INLINE_ void project_range_cast(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { \
real_t mina, maxa; \
real_t minb, maxb; \
Transform2D ofsb = p_transform; \
ofsb.columns[2] += p_cast; \
project_range(p_normal, p_transform, mina, maxa); \
project_range(p_normal, ofsb, minb, maxb); \
r_min = MIN(mina, minb); \
r_max = MAX(maxa, maxb); \
}
class LineShape2DSW : public Shape2DSW {
Vector2 normal;
real_t d;
public:
_FORCE_INLINE_ Vector2 get_normal() const { return normal; }
_FORCE_INLINE_ real_t get_d() const { return d; }
virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_LINE; }
virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); }
virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const;
virtual bool contains_point(const Vector2 &p_point) const;
virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const;
virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const;
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
//real large
r_min = -1e10;
r_max = 1e10;
}
virtual void project_range_castv(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
project_range_cast(p_cast, p_normal, p_transform, r_min, r_max);
}
_FORCE_INLINE_ void project_range_cast(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
//real large
r_min = -1e10;
r_max = 1e10;
}
};
class RayShape2DSW : public Shape2DSW {
real_t length;
bool slips_on_slope;
public:
_FORCE_INLINE_ real_t get_length() const { return length; }
_FORCE_INLINE_ bool get_slips_on_slope() const { return slips_on_slope; }
virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_RAY; }
virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); }
virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const;
virtual bool contains_point(const Vector2 &p_point) const;
virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const;
virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const;
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
//real large
r_max = p_normal.dot(p_transform.get_origin());
r_min = p_normal.dot(p_transform.xform(Vector2(0, length)));
if (r_max < r_min) {
SWAP(r_max, r_min);
}
}
DEFAULT_PROJECT_RANGE_CAST
_FORCE_INLINE_ RayShape2DSW() {}
_FORCE_INLINE_ RayShape2DSW(real_t p_length) { length = p_length; }
};
class SegmentShape2DSW : public Shape2DSW {
Vector2 a;
Vector2 b;
Vector2 n;
public:
_FORCE_INLINE_ const Vector2 &get_a() const { return a; }
_FORCE_INLINE_ const Vector2 &get_b() const { return b; }
_FORCE_INLINE_ const Vector2 &get_normal() const { return n; }
virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_SEGMENT; }
_FORCE_INLINE_ Vector2 get_xformed_normal(const Transform2D &p_xform) const {
return (p_xform.xform(b) - p_xform.xform(a)).normalized().tangent();
}
virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); }
virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const;
virtual bool contains_point(const Vector2 &p_point) const;
virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const;
virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const;
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
//real large
r_max = p_normal.dot(p_transform.xform(a));
r_min = p_normal.dot(p_transform.xform(b));
if (r_max < r_min) {
SWAP(r_max, r_min);
}
}
DEFAULT_PROJECT_RANGE_CAST
_FORCE_INLINE_ SegmentShape2DSW() {}
_FORCE_INLINE_ SegmentShape2DSW(const Vector2 &p_a, const Vector2 &p_b, const Vector2 &p_n) {
a = p_a;
b = p_b;
n = p_n;
}
};
class CircleShape2DSW : public Shape2DSW {
real_t radius;
public:
_FORCE_INLINE_ const real_t &get_radius() const { return radius; }
virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_CIRCLE; }
virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); }
virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const;
virtual bool contains_point(const Vector2 &p_point) const;
virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const;
virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const;
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
//real large
real_t d = p_normal.dot(p_transform.get_origin());
// figure out scale at point
Vector2 local_normal = p_transform.basis_xform_inv(p_normal);
real_t scale = local_normal.length();
r_min = d - (radius)*scale;
r_max = d + (radius)*scale;
}
DEFAULT_PROJECT_RANGE_CAST
};
class RectangleShape2DSW : public Shape2DSW {
Vector2 half_extents;
public:
_FORCE_INLINE_ const Vector2 &get_half_extents() const { return half_extents; }
virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_RECTANGLE; }
virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); }
virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const;
virtual bool contains_point(const Vector2 &p_point) const;
virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const;
virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const;
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
// no matter the angle, the box is mirrored anyway
r_max = -1e20;
r_min = 1e20;
for (int i = 0; i < 4; i++) {
real_t d = p_normal.dot(p_transform.xform(Vector2(((i & 1) * 2 - 1) * half_extents.x, ((i >> 1) * 2 - 1) * half_extents.y)));
if (d > r_max) {
r_max = d;
}
if (d < r_min) {
r_min = d;
}
}
}
_FORCE_INLINE_ Vector2 get_circle_axis(const Transform2D &p_xform, const Transform2D &p_xform_inv, const Vector2 &p_circle) const {
Vector2 local_v = p_xform_inv.xform(p_circle);
Vector2 he(
(local_v.x < 0) ? -half_extents.x : half_extents.x,
(local_v.y < 0) ? -half_extents.y : half_extents.y);
return (p_xform.xform(he) - p_circle).normalized();
}
_FORCE_INLINE_ Vector2 get_box_axis(const Transform2D &p_xform, const Transform2D &p_xform_inv, const RectangleShape2DSW *p_B, const Transform2D &p_B_xform, const Transform2D &p_B_xform_inv) const {
Vector2 a, b;
{
Vector2 local_v = p_xform_inv.xform(p_B_xform.get_origin());
Vector2 he(
(local_v.x < 0) ? -half_extents.x : half_extents.x,
(local_v.y < 0) ? -half_extents.y : half_extents.y);
a = p_xform.xform(he);
}
{
Vector2 local_v = p_B_xform_inv.xform(p_xform.get_origin());
Vector2 he(
(local_v.x < 0) ? -p_B->half_extents.x : p_B->half_extents.x,
(local_v.y < 0) ? -p_B->half_extents.y : p_B->half_extents.y);
b = p_B_xform.xform(he);
}
return (a - b).normalized();
}
DEFAULT_PROJECT_RANGE_CAST
};
class CapsuleShape2DSW : public Shape2DSW {
real_t radius;
real_t height;
public:
_FORCE_INLINE_ const real_t &get_radius() const { return radius; }
_FORCE_INLINE_ const real_t &get_height() const { return height; }
virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_CAPSULE; }
virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); }
virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const;
virtual bool contains_point(const Vector2 &p_point) const;
virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const;
virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const;
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
// no matter the angle, the box is mirrored anyway
Vector2 n = p_transform.basis_xform_inv(p_normal).normalized();
real_t h = (n.y > 0) ? height : -height;
n *= radius;
n.y += h * 0.5;
r_max = p_normal.dot(p_transform.xform(n));
r_min = p_normal.dot(p_transform.xform(-n));
if (r_max < r_min) {
SWAP(r_max, r_min);
}
//ERR_FAIL_COND( r_max < r_min );
}
DEFAULT_PROJECT_RANGE_CAST
};
class ConvexPolygonShape2DSW : public Shape2DSW {
struct Point {
Vector2 pos;
Vector2 normal; //normal to next segment
};
Point *points;
int point_count;
public:
_FORCE_INLINE_ int get_point_count() const { return point_count; }
_FORCE_INLINE_ const Vector2 &get_point(int p_idx) const { return points[p_idx].pos; }
_FORCE_INLINE_ const Vector2 &get_segment_normal(int p_idx) const { return points[p_idx].normal; }
_FORCE_INLINE_ Vector2 get_xformed_segment_normal(const Transform2D &p_xform, int p_idx) const {
Vector2 a = points[p_idx].pos;
p_idx++;
Vector2 b = points[p_idx == point_count ? 0 : p_idx].pos;
return (p_xform.xform(b) - p_xform.xform(a)).normalized().tangent();
}
virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_CONVEX_POLYGON; }
virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); }
virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const;
virtual bool contains_point(const Vector2 &p_point) const;
virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const;
virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const;
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
if (!points || point_count <= 0) {
r_min = r_max = 0;
return;
}
r_min = r_max = p_normal.dot(p_transform.xform(points[0].pos));
for (int i = 1; i < point_count; i++) {
real_t d = p_normal.dot(p_transform.xform(points[i].pos));
if (d > r_max) {
r_max = d;
}
if (d < r_min) {
r_min = d;
}
}
}
DEFAULT_PROJECT_RANGE_CAST
ConvexPolygonShape2DSW();
~ConvexPolygonShape2DSW();
};
class ConcaveShape2DSW : public Shape2DSW {
public:
// Returns true to stop the query.
typedef bool (*QueryCallback)(void *p_userdata, Shape2DSW *p_convex);
virtual bool is_concave() const { return true; }
virtual void cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0;
};
class ConcavePolygonShape2DSW : public ConcaveShape2DSW {
struct Segment {
int points[2];
};
Vector<Segment> segments;
Vector<Point2> points;
struct BVH {
Rect2 aabb;
int left, right;
};
Vector<BVH> bvh;
int bvh_depth;
struct BVH_CompareX {
_FORCE_INLINE_ bool operator()(const BVH &a, const BVH &b) const {
return (a.aabb.position.x + a.aabb.size.x * 0.5) < (b.aabb.position.x + b.aabb.size.x * 0.5);
}
};
struct BVH_CompareY {
_FORCE_INLINE_ bool operator()(const BVH &a, const BVH &b) const {
return (a.aabb.position.y + a.aabb.size.y * 0.5) < (b.aabb.position.y + b.aabb.size.y * 0.5);
}
};
int _generate_bvh(BVH *p_bvh, int p_len, int p_depth);
public:
virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_CONCAVE_POLYGON; }
virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { /*project_range(p_normal,p_transform,r_min,r_max);*/
}
virtual void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { /*project_range(p_normal,p_transform,r_min,r_max);*/
}
virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const;
virtual bool contains_point(const Vector2 &p_point) const;
virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const;
virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { return 0; }
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual void cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const;
DEFAULT_PROJECT_RANGE_CAST
};
#undef DEFAULT_PROJECT_RANGE_CAST
#endif // SHAPE_2D_2DSW_H
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