diff options
author | RĂ©mi Verschelde <remi@verschelde.fr> | 2022-10-13 20:34:00 +0200 |
---|---|---|
committer | GitHub <noreply@github.com> | 2022-10-13 20:34:00 +0200 |
commit | 46a1b92bb7756ff3934c643ecf49d86982ff754d (patch) | |
tree | fd00d7d2c0118d209c3de9841d7c8a1debd3bcb8 | |
parent | 01ae26d31befb6679ecd92cd3c73aa5a76162e95 (diff) | |
parent | 71d2e38cb528c95b0b154c5c9b22b0be4f04884a (diff) |
Merge pull request #66294 from reduz/optimize-convex-collision
-rw-r--r-- | core/math/convex_hull.cpp | 54 | ||||
-rw-r--r-- | core/math/convex_hull.h | 6 | ||||
-rw-r--r-- | core/math/geometry_3d.cpp | 50 | ||||
-rw-r--r-- | core/math/geometry_3d.h | 12 | ||||
-rw-r--r-- | core/math/quick_hull.cpp | 19 | ||||
-rw-r--r-- | editor/plugins/node_3d_editor_gizmos.cpp | 6 | ||||
-rw-r--r-- | modules/navigation/navigation_mesh_generator.cpp | 12 | ||||
-rw-r--r-- | scene/resources/convex_polygon_shape_3d.cpp | 6 | ||||
-rw-r--r-- | servers/physics_3d/godot_collision_solver_3d_sat.cpp | 61 | ||||
-rw-r--r-- | servers/physics_3d/godot_shape_3d.cpp | 21 | ||||
-rw-r--r-- | servers/rendering_server.cpp | 4 |
11 files changed, 170 insertions, 81 deletions
diff --git a/core/math/convex_hull.cpp b/core/math/convex_hull.cpp index 996f4f4d67..561970d2ee 100644 --- a/core/math/convex_hull.cpp +++ b/core/math/convex_hull.cpp @@ -62,6 +62,7 @@ subject to the following restrictions: #include "core/math/aabb.h" #include "core/math/math_defs.h" #include "core/os/memory.h" +#include "core/templates/oa_hash_map.h" #include "core/templates/paged_allocator.h" #include <string.h> @@ -2252,19 +2253,62 @@ Error ConvexHullComputer::convex_hull(const Vector<Vector3> &p_points, Geometry3 r_mesh.vertices = ch.vertices; + // Tag which face each edge belongs to + LocalVector<int32_t> edge_faces; + edge_faces.resize(ch.edges.size()); + + for (uint32_t i = 0; i < ch.edges.size(); i++) { + edge_faces[i] = -1; + } + + for (uint32_t i = 0; i < ch.faces.size(); i++) { + const Edge *e_start = &ch.edges[ch.faces[i]]; + const Edge *e = e_start; + do { + int64_t ofs = e - ch.edges.ptr(); + edge_faces[ofs] = i; + + e = e->get_next_edge_of_face(); + } while (e != e_start); + } + // Copy the edges over. There's two "half-edges" for every edge, so we pick only one of them. r_mesh.edges.resize(ch.edges.size() / 2); + OAHashMap<uint64_t, int32_t> edge_map; + edge_map.reserve(ch.edges.size() * 4); // The higher the capacity, the faster the insert + uint32_t edges_copied = 0; for (uint32_t i = 0; i < ch.edges.size(); i++) { + ERR_CONTINUE(edge_faces[i] == -1); // Sanity check + uint32_t a = (&ch.edges[i])->get_source_vertex(); uint32_t b = (&ch.edges[i])->get_target_vertex(); if (a < b) { // Copy only the "canonical" edge. For the reverse edge, this will be false. ERR_BREAK(edges_copied >= (uint32_t)r_mesh.edges.size()); - r_mesh.edges.write[edges_copied].a = a; - r_mesh.edges.write[edges_copied].b = b; + r_mesh.edges[edges_copied].vertex_a = a; + r_mesh.edges[edges_copied].vertex_b = b; + r_mesh.edges[edges_copied].face_a = edge_faces[i]; + r_mesh.edges[edges_copied].face_b = -1; + + uint64_t key = a; + key <<= 32; + key |= b; + edge_map.insert(key, edges_copied); + edges_copied++; + } else { + uint64_t key = b; + key <<= 32; + key |= a; + int32_t index; + if (!edge_map.lookup(key, index)) { + ERR_PRINT("Invalid edge"); + } else { + r_mesh.edges[index].face_b = edge_faces[i]; + } } } + if (edges_copied != (uint32_t)r_mesh.edges.size()) { ERR_PRINT("Invalid edge count."); } @@ -2273,7 +2317,7 @@ Error ConvexHullComputer::convex_hull(const Vector<Vector3> &p_points, Geometry3 for (uint32_t i = 0; i < ch.faces.size(); i++) { const Edge *e_start = &ch.edges[ch.faces[i]]; const Edge *e = e_start; - Geometry3D::MeshData::Face &face = r_mesh.faces.write[i]; + Geometry3D::MeshData::Face &face = r_mesh.faces[i]; do { face.indices.push_back(e->get_target_vertex()); @@ -2284,8 +2328,8 @@ Error ConvexHullComputer::convex_hull(const Vector<Vector3> &p_points, Geometry3 // reverse indices: Godot wants clockwise, but this is counter-clockwise if (face.indices.size() > 2) { // reverse all but the first index. - int *indices = face.indices.ptrw(); - for (int c = 0; c < (face.indices.size() - 1) / 2; c++) { + int *indices = face.indices.ptr(); + for (uint32_t c = 0; c < (face.indices.size() - 1) / 2; c++) { SWAP(indices[c + 1], indices[face.indices.size() - 1 - c]); } } diff --git a/core/math/convex_hull.h b/core/math/convex_hull.h index cc41a794bd..ab6671a7d0 100644 --- a/core/math/convex_hull.h +++ b/core/math/convex_hull.h @@ -62,6 +62,10 @@ public: friend class ConvexHullComputer; public: + int32_t get_next_relative() const { + return next; + } + int32_t get_source_vertex() const { return (this + reverse)->target_vertex; } @@ -86,7 +90,7 @@ public: }; // Vertices of the output hull - Vector<Vector3> vertices; + LocalVector<Vector3> vertices; // Edges of the output hull LocalVector<Edge> edges; diff --git a/core/math/geometry_3d.cpp b/core/math/geometry_3d.cpp index c5871358ed..548b9e4620 100644 --- a/core/math/geometry_3d.cpp +++ b/core/math/geometry_3d.cpp @@ -141,21 +141,21 @@ real_t Geometry3D::get_closest_distance_between_segments(const Vector3 &p_p0, co void Geometry3D::MeshData::optimize_vertices() { HashMap<int, int> vtx_remap; - for (int i = 0; i < faces.size(); i++) { - for (int j = 0; j < faces[i].indices.size(); j++) { + for (uint32_t i = 0; i < faces.size(); i++) { + for (uint32_t j = 0; j < faces[i].indices.size(); j++) { int idx = faces[i].indices[j]; if (!vtx_remap.has(idx)) { int ni = vtx_remap.size(); vtx_remap[idx] = ni; } - faces.write[i].indices.write[j] = vtx_remap[idx]; + faces[i].indices[j] = vtx_remap[idx]; } } - for (int i = 0; i < edges.size(); i++) { - int a = edges[i].a; - int b = edges[i].b; + for (uint32_t i = 0; i < edges.size(); i++) { + int a = edges[i].vertex_a; + int b = edges[i].vertex_b; if (!vtx_remap.has(a)) { int ni = vtx_remap.size(); @@ -166,16 +166,16 @@ void Geometry3D::MeshData::optimize_vertices() { vtx_remap[b] = ni; } - edges.write[i].a = vtx_remap[a]; - edges.write[i].b = vtx_remap[b]; + edges[i].vertex_a = vtx_remap[a]; + edges[i].vertex_b = vtx_remap[b]; } - Vector<Vector3> new_vertices; + LocalVector<Vector3> new_vertices; new_vertices.resize(vtx_remap.size()); - for (int i = 0; i < vertices.size(); i++) { + for (uint32_t i = 0; i < vertices.size(); i++) { if (vtx_remap.has(i)) { - new_vertices.write[vtx_remap[i]] = vertices[i]; + new_vertices[vtx_remap[i]] = vertices[i]; } } vertices = new_vertices; @@ -751,7 +751,7 @@ Geometry3D::MeshData Geometry3D::build_convex_mesh(const Vector<Plane> &p_planes Vector3 center = p.center(); // make a quad clockwise - Vector<Vector3> vertices = { + LocalVector<Vector3> vertices = { center - up * subplane_size + right * subplane_size, center - up * subplane_size - right * subplane_size, center + up * subplane_size - right * subplane_size, @@ -763,7 +763,7 @@ Geometry3D::MeshData Geometry3D::build_convex_mesh(const Vector<Plane> &p_planes continue; } - Vector<Vector3> new_vertices; + LocalVector<Vector3> new_vertices; Plane clip = p_planes[j]; if (clip.normal.dot(p.normal) > 0.95f) { @@ -774,7 +774,7 @@ Geometry3D::MeshData Geometry3D::build_convex_mesh(const Vector<Plane> &p_planes break; } - for (int k = 0; k < vertices.size(); k++) { + for (uint32_t k = 0; k < vertices.size(); k++) { int k_n = (k + 1) % vertices.size(); Vector3 edge0_A = vertices[k]; @@ -816,9 +816,9 @@ Geometry3D::MeshData Geometry3D::build_convex_mesh(const Vector<Plane> &p_planes MeshData::Face face; // Add face indices. - for (int j = 0; j < vertices.size(); j++) { + for (uint32_t j = 0; j < vertices.size(); j++) { int idx = -1; - for (int k = 0; k < mesh.vertices.size(); k++) { + for (uint32_t k = 0; k < mesh.vertices.size(); k++) { if (mesh.vertices[k].distance_to(vertices[j]) < 0.001f) { idx = k; break; @@ -837,28 +837,34 @@ Geometry3D::MeshData Geometry3D::build_convex_mesh(const Vector<Plane> &p_planes // Add edge. - for (int j = 0; j < face.indices.size(); j++) { + for (uint32_t j = 0; j < face.indices.size(); j++) { int a = face.indices[j]; int b = face.indices[(j + 1) % face.indices.size()]; bool found = false; - for (int k = 0; k < mesh.edges.size(); k++) { - if (mesh.edges[k].a == a && mesh.edges[k].b == b) { + int found_idx = -1; + for (uint32_t k = 0; k < mesh.edges.size(); k++) { + if (mesh.edges[k].vertex_a == a && mesh.edges[k].vertex_b == b) { found = true; + found_idx = k; break; } - if (mesh.edges[k].b == a && mesh.edges[k].a == b) { + if (mesh.edges[k].vertex_b == a && mesh.edges[k].vertex_a == b) { found = true; + found_idx = k; break; } } if (found) { + mesh.edges[found_idx].face_b = j; continue; } MeshData::Edge edge; - edge.a = a; - edge.b = b; + edge.vertex_a = a; + edge.vertex_b = b; + edge.face_a = j; + edge.face_b = -1; mesh.edges.push_back(edge); } } diff --git a/core/math/geometry_3d.h b/core/math/geometry_3d.h index e5ace9db72..4b4c173a1e 100644 --- a/core/math/geometry_3d.h +++ b/core/math/geometry_3d.h @@ -33,6 +33,7 @@ #include "core/math/face3.h" #include "core/object/object.h" +#include "core/templates/local_vector.h" #include "core/templates/vector.h" class Geometry3D { @@ -539,18 +540,19 @@ public: struct MeshData { struct Face { Plane plane; - Vector<int> indices; + LocalVector<int> indices; }; - Vector<Face> faces; + LocalVector<Face> faces; struct Edge { - int a, b; + int vertex_a, vertex_b; + int face_a, face_b; }; - Vector<Edge> edges; + LocalVector<Edge> edges; - Vector<Vector3> vertices; + LocalVector<Vector3> vertices; void optimize_vertices(); }; diff --git a/core/math/quick_hull.cpp b/core/math/quick_hull.cpp index c7727a44a1..c194e1cc21 100644 --- a/core/math/quick_hull.cpp +++ b/core/math/quick_hull.cpp @@ -369,7 +369,7 @@ Error QuickHull::build(const Vector<Vector3> &p_points, Geometry3D::MeshData &r_ for (List<Geometry3D::MeshData::Face>::Element *E = ret_faces.front(); E; E = E->next()) { Geometry3D::MeshData::Face &f = E->get(); - for (int i = 0; i < f.indices.size(); i++) { + for (uint32_t i = 0; i < f.indices.size(); i++) { int a = E->get().indices[i]; int b = E->get().indices[(i + 1) % f.indices.size()]; Edge e(a, b); @@ -436,17 +436,24 @@ Error QuickHull::build(const Vector<Vector3> &p_points, Geometry3D::MeshData &r_ r_mesh.faces.clear(); r_mesh.faces.resize(ret_faces.size()); + HashMap<List<Geometry3D::MeshData::Face>::Element *, int> face_indices; + int idx = 0; - for (const Geometry3D::MeshData::Face &E : ret_faces) { - r_mesh.faces.write[idx++] = E; + for (List<Geometry3D::MeshData::Face>::Element *E = ret_faces.front(); E; E = E->next()) { + face_indices[E] = idx; + r_mesh.faces[idx++] = E->get(); } r_mesh.edges.resize(ret_edges.size()); idx = 0; for (const KeyValue<Edge, RetFaceConnect> &E : ret_edges) { Geometry3D::MeshData::Edge e; - e.a = E.key.vertices[0]; - e.b = E.key.vertices[1]; - r_mesh.edges.write[idx++] = e; + e.vertex_a = E.key.vertices[0]; + e.vertex_b = E.key.vertices[1]; + ERR_CONTINUE(!face_indices.has(E.value.left)); + ERR_CONTINUE(!face_indices.has(E.value.right)); + e.face_a = face_indices[E.value.left]; + e.face_b = face_indices[E.value.right]; + r_mesh.edges[idx++] = e; } r_mesh.vertices = p_points; diff --git a/editor/plugins/node_3d_editor_gizmos.cpp b/editor/plugins/node_3d_editor_gizmos.cpp index 7194cd9d27..26af5e3f2d 100644 --- a/editor/plugins/node_3d_editor_gizmos.cpp +++ b/editor/plugins/node_3d_editor_gizmos.cpp @@ -4751,9 +4751,9 @@ void CollisionShape3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { if (err == OK) { Vector<Vector3> points2; points2.resize(md.edges.size() * 2); - for (int i = 0; i < md.edges.size(); i++) { - points2.write[i * 2 + 0] = md.vertices[md.edges[i].a]; - points2.write[i * 2 + 1] = md.vertices[md.edges[i].b]; + for (uint32_t i = 0; i < md.edges.size(); i++) { + points2.write[i * 2 + 0] = md.vertices[md.edges[i].vertex_a]; + points2.write[i * 2 + 1] = md.vertices[md.edges[i].vertex_b]; } p_gizmo->add_lines(points2, material); diff --git a/modules/navigation/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp index f989fc45a5..f0d3e329ce 100644 --- a/modules/navigation/navigation_mesh_generator.cpp +++ b/modules/navigation/navigation_mesh_generator.cpp @@ -266,10 +266,10 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans if (err == OK) { PackedVector3Array faces; - for (int j = 0; j < md.faces.size(); ++j) { - Geometry3D::MeshData::Face face = md.faces[j]; + for (uint32_t j = 0; j < md.faces.size(); ++j) { + const Geometry3D::MeshData::Face &face = md.faces[j]; - for (int k = 2; k < face.indices.size(); ++k) { + for (uint32_t k = 2; k < face.indices.size(); ++k) { faces.push_back(md.vertices[face.indices[0]]); faces.push_back(md.vertices[face.indices[k - 1]]); faces.push_back(md.vertices[face.indices[k]]); @@ -392,10 +392,10 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans if (err == OK) { PackedVector3Array faces; - for (int j = 0; j < md.faces.size(); ++j) { - Geometry3D::MeshData::Face face = md.faces[j]; + for (uint32_t j = 0; j < md.faces.size(); ++j) { + const Geometry3D::MeshData::Face &face = md.faces[j]; - for (int k = 2; k < face.indices.size(); ++k) { + for (uint32_t k = 2; k < face.indices.size(); ++k) { faces.push_back(md.vertices[face.indices[0]]); faces.push_back(md.vertices[face.indices[k - 1]]); faces.push_back(md.vertices[face.indices[k]]); diff --git a/scene/resources/convex_polygon_shape_3d.cpp b/scene/resources/convex_polygon_shape_3d.cpp index 4eaae111a1..5bcefcd0e4 100644 --- a/scene/resources/convex_polygon_shape_3d.cpp +++ b/scene/resources/convex_polygon_shape_3d.cpp @@ -42,9 +42,9 @@ Vector<Vector3> ConvexPolygonShape3D::get_debug_mesh_lines() const { if (err == OK) { Vector<Vector3> lines; lines.resize(md.edges.size() * 2); - for (int i = 0; i < md.edges.size(); i++) { - lines.write[i * 2 + 0] = md.vertices[md.edges[i].a]; - lines.write[i * 2 + 1] = md.vertices[md.edges[i].b]; + for (uint32_t i = 0; i < md.edges.size(); i++) { + lines.write[i * 2 + 0] = md.vertices[md.edges[i].vertex_a]; + lines.write[i * 2 + 1] = md.vertices[md.edges[i].vertex_b]; } return lines; } diff --git a/servers/physics_3d/godot_collision_solver_3d_sat.cpp b/servers/physics_3d/godot_collision_solver_3d_sat.cpp index 933a5e28df..96253cb452 100644 --- a/servers/physics_3d/godot_collision_solver_3d_sat.cpp +++ b/servers/physics_3d/godot_collision_solver_3d_sat.cpp @@ -964,8 +964,8 @@ static void _collision_sphere_convex_polygon(const GodotShape3D *p_a, const Tran // edges of B for (int i = 0; i < edge_count; i++) { - Vector3 v1 = p_transform_b.xform(vertices[edges[i].a]); - Vector3 v2 = p_transform_b.xform(vertices[edges[i].b]); + Vector3 v1 = p_transform_b.xform(vertices[edges[i].vertex_a]); + Vector3 v2 = p_transform_b.xform(vertices[edges[i].vertex_b]); Vector3 v3 = p_transform_a.origin; Vector3 n1 = v2 - v1; @@ -1404,7 +1404,7 @@ static void _collision_box_convex_polygon(const GodotShape3D *p_a, const Transfo Vector3 e1 = p_transform_a.basis.get_column(i); for (int j = 0; j < edge_count; j++) { - Vector3 e2 = p_transform_b.basis.xform(vertices[edges[j].a]) - p_transform_b.basis.xform(vertices[edges[j].b]); + Vector3 e2 = p_transform_b.basis.xform(vertices[edges[j].vertex_a]) - p_transform_b.basis.xform(vertices[edges[j].vertex_b]); Vector3 axis = e1.cross(e2).normalized(); @@ -1460,8 +1460,8 @@ static void _collision_box_convex_polygon(const GodotShape3D *p_a, const Transfo } for (int e = 0; e < edge_count; e++) { - Vector3 p1 = p_transform_b.xform(vertices[edges[e].a]); - Vector3 p2 = p_transform_b.xform(vertices[edges[e].b]); + Vector3 p1 = p_transform_b.xform(vertices[edges[e].vertex_a]); + Vector3 p2 = p_transform_b.xform(vertices[edges[e].vertex_b]); Vector3 n = (p2 - p1); if (!separator.test_axis((point - p2).cross(n).cross(n).normalized())) { @@ -1771,7 +1771,7 @@ static void _collision_capsule_convex_polygon(const GodotShape3D *p_a, const Tra for (int i = 0; i < edge_count; i++) { // cylinder - Vector3 edge_axis = p_transform_b.basis.xform(vertices[edges[i].a]) - p_transform_b.basis.xform(vertices[edges[i].b]); + Vector3 edge_axis = p_transform_b.basis.xform(vertices[edges[i].vertex_a]) - p_transform_b.basis.xform(vertices[edges[i].vertex_b]); Vector3 axis = edge_axis.cross(p_transform_a.basis.get_column(1)).normalized(); if (!separator.test_axis(axis)) { @@ -1789,8 +1789,8 @@ static void _collision_capsule_convex_polygon(const GodotShape3D *p_a, const Tra Vector3 sphere_pos = p_transform_a.origin + ((i == 0) ? capsule_axis : -capsule_axis); for (int j = 0; j < edge_count; j++) { - Vector3 n1 = sphere_pos - p_transform_b.xform(vertices[edges[j].a]); - Vector3 n2 = p_transform_b.basis.xform(vertices[edges[j].a]) - p_transform_b.basis.xform(vertices[edges[j].b]); + Vector3 n1 = sphere_pos - p_transform_b.xform(vertices[edges[j].vertex_a]); + Vector3 n2 = p_transform_b.basis.xform(vertices[edges[j].vertex_a]) - p_transform_b.basis.xform(vertices[edges[j].vertex_b]); Vector3 axis = n1.cross(n2).cross(n2).normalized(); @@ -2075,6 +2075,16 @@ static void _collision_cylinder_face(const GodotShape3D *p_a, const Transform3D separator.generate_contacts(); } +static _FORCE_INLINE_ bool is_minkowski_face(const Vector3 &A, const Vector3 &B, const Vector3 &B_x_A, const Vector3 &C, const Vector3 &D, const Vector3 &D_x_C) { + // Test if arcs AB and CD intersect on the unit sphere + real_t CBA = C.dot(B_x_A); + real_t DBA = D.dot(B_x_A); + real_t ADC = A.dot(D_x_C); + real_t BDC = B.dot(D_x_C); + + return (CBA * DBA < 0.0f) && (ADC * BDC < 0.0f) && (CBA * BDC > 0.0f); +} + template <bool withMargin> static void _collision_convex_polygon_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { const GodotConvexPolygonShape3D *convex_polygon_A = static_cast<const GodotConvexPolygonShape3D *>(p_a); @@ -2129,16 +2139,27 @@ static void _collision_convex_polygon_convex_polygon(const GodotShape3D *p_a, co } // A<->B edges + for (int i = 0; i < edge_count_A; i++) { - Vector3 e1 = p_transform_a.basis.xform(vertices_A[edges_A[i].a]) - p_transform_a.basis.xform(vertices_A[edges_A[i].b]); + Vector3 p1 = p_transform_a.xform(vertices_A[edges_A[i].vertex_a]); + Vector3 q1 = p_transform_a.xform(vertices_A[edges_A[i].vertex_b]); + Vector3 e1 = q1 - p1; + Vector3 u1 = p_transform_a.basis.xform(faces_A[edges_A[i].face_a].plane.normal).normalized(); + Vector3 v1 = p_transform_a.basis.xform(faces_A[edges_A[i].face_b].plane.normal).normalized(); for (int j = 0; j < edge_count_B; j++) { - Vector3 e2 = p_transform_b.basis.xform(vertices_B[edges_B[j].a]) - p_transform_b.basis.xform(vertices_B[edges_B[j].b]); + Vector3 p2 = p_transform_b.xform(vertices_B[edges_B[j].vertex_a]); + Vector3 q2 = p_transform_b.xform(vertices_B[edges_B[j].vertex_b]); + Vector3 e2 = q2 - p2; + Vector3 u2 = p_transform_b.basis.xform(faces_B[edges_B[j].face_a].plane.normal).normalized(); + Vector3 v2 = p_transform_b.basis.xform(faces_B[edges_B[j].face_b].plane.normal).normalized(); - Vector3 axis = e1.cross(e2).normalized(); + if (is_minkowski_face(u1, v1, -e1, -u2, -v2, -e2)) { + Vector3 axis = e1.cross(e2).normalized(); - if (!separator.test_axis(axis)) { - return; + if (!separator.test_axis(axis)) { + return; + } } } } @@ -2157,8 +2178,8 @@ static void _collision_convex_polygon_convex_polygon(const GodotShape3D *p_a, co //edge-vertex (shell) for (int i = 0; i < edge_count_A; i++) { - Vector3 e1 = p_transform_a.basis.xform(vertices_A[edges_A[i].a]); - Vector3 e2 = p_transform_a.basis.xform(vertices_A[edges_A[i].b]); + Vector3 e1 = p_transform_a.basis.xform(vertices_A[edges_A[i].vertex_a]); + Vector3 e2 = p_transform_a.basis.xform(vertices_A[edges_A[i].vertex_b]); Vector3 n = (e2 - e1); for (int j = 0; j < vertex_count_B; j++) { @@ -2171,8 +2192,8 @@ static void _collision_convex_polygon_convex_polygon(const GodotShape3D *p_a, co } for (int i = 0; i < edge_count_B; i++) { - Vector3 e1 = p_transform_b.basis.xform(vertices_B[edges_B[i].a]); - Vector3 e2 = p_transform_b.basis.xform(vertices_B[edges_B[i].b]); + Vector3 e1 = p_transform_b.basis.xform(vertices_B[edges_B[i].vertex_a]); + Vector3 e2 = p_transform_b.basis.xform(vertices_B[edges_B[i].vertex_b]); Vector3 n = (e2 - e1); for (int j = 0; j < vertex_count_A; j++) { @@ -2231,7 +2252,7 @@ static void _collision_convex_polygon_face(const GodotShape3D *p_a, const Transf // A<->B edges for (int i = 0; i < edge_count; i++) { - Vector3 e1 = p_transform_a.xform(vertices[edges[i].a]) - p_transform_a.xform(vertices[edges[i].b]); + Vector3 e1 = p_transform_a.xform(vertices[edges[i].vertex_a]) - p_transform_a.xform(vertices[edges[i].vertex_b]); for (int j = 0; j < 3; j++) { Vector3 e2 = vertex[j] - vertex[(j + 1) % 3]; @@ -2266,8 +2287,8 @@ static void _collision_convex_polygon_face(const GodotShape3D *p_a, const Transf //edge-vertex (shell) for (int i = 0; i < edge_count; i++) { - Vector3 e1 = p_transform_a.basis.xform(vertices[edges[i].a]); - Vector3 e2 = p_transform_a.basis.xform(vertices[edges[i].b]); + Vector3 e1 = p_transform_a.basis.xform(vertices[edges[i].vertex_a]); + Vector3 e2 = p_transform_a.basis.xform(vertices[edges[i].vertex_b]); Vector3 n = (e2 - e1); for (int j = 0; j < 3; j++) { diff --git a/servers/physics_3d/godot_shape_3d.cpp b/servers/physics_3d/godot_shape_3d.cpp index e051c688fa..cd61ceab62 100644 --- a/servers/physics_3d/godot_shape_3d.cpp +++ b/servers/physics_3d/godot_shape_3d.cpp @@ -915,13 +915,13 @@ void GodotConvexPolygonShape3D::get_supports(const Vector3 &p_normal, int p_max, } for (int i = 0; i < ec; i++) { - real_t dot = (vertices[edges[i].a] - vertices[edges[i].b]).normalized().dot(p_normal); + real_t dot = (vertices[edges[i].vertex_a] - vertices[edges[i].vertex_b]).normalized().dot(p_normal); dot = ABS(dot); - if (dot < edge_support_threshold && (edges[i].a == vtx || edges[i].b == vtx)) { + if (dot < edge_support_threshold && (edges[i].vertex_a == vtx || edges[i].vertex_b == vtx)) { r_amount = 2; r_type = FEATURE_EDGE; - r_supports[0] = vertices[edges[i].a]; - r_supports[1] = vertices[edges[i].b]; + r_supports[0] = vertices[edges[i].vertex_a]; + r_supports[1] = vertices[edges[i].vertex_b]; return; } } @@ -1025,8 +1025,8 @@ Vector3 GodotConvexPolygonShape3D::get_closest_point_to(const Vector3 &p_point) int ec = mesh.edges.size(); for (int i = 0; i < ec; i++) { Vector3 s[2] = { - vertices[edges[i].a], - vertices[edges[i].b] + vertices[edges[i].vertex_a], + vertices[edges[i].vertex_b] }; Vector3 closest = Geometry3D::get_closest_point_to_segment(p_point, s); @@ -1058,7 +1058,7 @@ void GodotConvexPolygonShape3D::_setup(const Vector<Vector3> &p_vertices) { AABB _aabb; - for (int i = 0; i < mesh.vertices.size(); i++) { + for (uint32_t i = 0; i < mesh.vertices.size(); i++) { if (i == 0) { _aabb.position = mesh.vertices[i]; } else { @@ -1074,7 +1074,12 @@ void GodotConvexPolygonShape3D::set_data(const Variant &p_data) { } Variant GodotConvexPolygonShape3D::get_data() const { - return mesh.vertices; + Vector<Vector3> vertices; + vertices.resize(mesh.vertices.size()); + for (uint32_t i = 0; i < mesh.vertices.size(); i++) { + vertices.write[i] = mesh.vertices[i]; + } + return vertices; } GodotConvexPolygonShape3D::GodotConvexPolygonShape3D() { diff --git a/servers/rendering_server.cpp b/servers/rendering_server.cpp index e12c4fc79a..cf13118451 100644 --- a/servers/rendering_server.cpp +++ b/servers/rendering_server.cpp @@ -2791,10 +2791,10 @@ void RenderingServer::mesh_add_surface_from_mesh_data(RID p_mesh, const Geometry Vector<Vector3> vertices; Vector<Vector3> normals; - for (int i = 0; i < p_mesh_data.faces.size(); i++) { + for (uint32_t i = 0; i < p_mesh_data.faces.size(); i++) { const Geometry3D::MeshData::Face &f = p_mesh_data.faces[i]; - for (int j = 2; j < f.indices.size(); j++) { + for (uint32_t j = 2; j < f.indices.size(); j++) { vertices.push_back(p_mesh_data.vertices[f.indices[0]]); normals.push_back(f.plane.normal); |