GODOT IS OPEN SOURCE

1 files changed, 241 insertions, 0 deletions

diff --git a/servers/physics/collision_solver_sw.cpp b/servers/physics/collision_solver_sw.cpp
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index 0000000000..da28a4934f
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+++ b/servers/physics/collision_solver_sw.cpp
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+/*************************************************************************/
+/*  collision_solver_sw.cpp                                              */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                    http://www.godotengine.org                         */
+/*************************************************************************/
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                 */
+/*                                                                       */
+/* 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 "collision_solver_sw.h"
+#include "collision_solver_sat.h"
+
+#include "gjk_epa.h"
+#include "collision_solver_sat.h"
+
+
+#define collision_solver sat_calculate_penetration
+//#define collision_solver gjk_epa_calculate_penetration
+
+
+bool CollisionSolverSW::solve_static_plane(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result) {
+
+	const PlaneShapeSW *plane = static_cast<const PlaneShapeSW*>(p_shape_A);
+	if (p_shape_B->get_type()==PhysicsServer::SHAPE_PLANE)
+		return false;
+	Plane p = p_transform_A.xform(plane->get_plane());
+
+	static const int max_supports = 16;
+	Vector3 supports[max_supports];
+	int support_count;
+
+	p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(),max_supports,supports,support_count);
+
+	bool found=false;
+
+	for(int i=0;i<support_count;i++) {
+
+		supports[i] = p_transform_B.xform( supports[i] );
+		if (p.distance_to(supports[i])>=0)
+			continue;
+		found=true;
+
+		Vector3 support_A = p.project(supports[i]);
+
+		if (p_result_callback) {
+			if (p_swap_result)
+				p_result_callback(supports[i],support_A,p_userdata);
+			else
+				p_result_callback(support_A,supports[i],p_userdata);
+		}
+
+	}
+
+
+	return found;
+}
+
+bool CollisionSolverSW::solve_ray(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result) {
+
+
+	const RayShapeSW *ray = static_cast<const RayShapeSW*>(p_shape_A);
+
+	Vector3 from = p_transform_A.origin;
+	Vector3 to = from+p_transform_A.basis.get_axis(2)*ray->get_length();
+	Vector3 support_A=to;
+
+	Transform ai = p_transform_B.affine_inverse();
+
+	from = ai.xform(from);
+	to = ai.xform(to);
+
+	Vector3 p,n;
+	if (!p_shape_B->intersect_segment(from,to,p,n))
+		return false;
+
+	Vector3 support_B=p_transform_B.xform(p);
+
+	if (p_result_callback) {
+		if (p_swap_result)
+			p_result_callback(support_B,support_A,p_userdata);
+		else
+			p_result_callback(support_A,support_B,p_userdata);
+	}
+	return true;
+}
+
+struct _ConcaveCollisionInfo {
+
+	const Transform *transform_A;
+	const ShapeSW *shape_A;
+	const Transform *transform_B;
+	CollisionSolverSW::CallbackResult result_callback;
+	void *userdata;
+	bool swap_result;
+	bool collided;
+	int aabb_tests;
+	int collisions;
+
+};
+
+void CollisionSolverSW::concave_callback(void *p_userdata, ShapeSW *p_convex) {
+
+
+	_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo*)(p_userdata);
+	cinfo.aabb_tests++;
+
+	bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, p_convex,*cinfo.transform_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result );
+	if (!collided)
+		return;
+
+	cinfo.collided=true;
+	cinfo.collisions++;
+
+}
+
+bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result) {
+
+
+	const ConcaveShapeSW *concave_B=static_cast<const ConcaveShapeSW*>(p_shape_B);
+
+	_ConcaveCollisionInfo cinfo;
+	cinfo.transform_A=&p_transform_A;
+	cinfo.shape_A=p_shape_A;
+	cinfo.transform_B=&p_transform_B;
+	cinfo.result_callback=p_result_callback;
+	cinfo.userdata=p_userdata;
+	cinfo.swap_result=p_swap_result;
+	cinfo.collided=false;
+	cinfo.collisions=0;
+
+	cinfo.aabb_tests=0;
+
+	Transform rel_transform = p_transform_A;
+	rel_transform.origin-=p_transform_B.origin;
+
+	//quickly compute a local AABB
+
+	AABB local_aabb;
+	for(int i=0;i<3;i++) {
+
+	     Vector3 axis( p_transform_B.basis.get_axis(i) );
+	     float axis_scale = 1.0/axis.length();
+	     axis*=axis_scale;
+
+	     float smin,smax;
+	     p_shape_A->project_range(axis,rel_transform,smin,smax);
+	     smin*=axis_scale;
+	     smax*=axis_scale;
+
+	     local_aabb.pos[i]=smin;
+	     local_aabb.size[i]=smax-smin;
+	}
+
+	concave_B->cull(local_aabb,concave_callback,&cinfo);
+
+
+	return cinfo.collided;
+}
+
+
+bool CollisionSolverSW::solve_static(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,Vector3 *r_sep_axis) {
+
+
+	PhysicsServer::ShapeType type_A=p_shape_A->get_type();
+	PhysicsServer::ShapeType type_B=p_shape_B->get_type();
+	bool concave_A=p_shape_A->is_concave();
+	bool concave_B=p_shape_B->is_concave();
+
+	bool swap = false;
+
+	if (type_A>type_B) {
+		SWAP(type_A,type_B);
+		SWAP(concave_A,concave_B);
+		swap=true;
+	}
+
+	if (type_A==PhysicsServer::SHAPE_PLANE) {
+
+		if (type_B==PhysicsServer::SHAPE_PLANE)
+			return false;
+		if (type_B==PhysicsServer::SHAPE_RAY) {
+			return false;
+		}
+
+		if (swap) {
+			return solve_static_plane(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_result_callback,p_userdata,true);
+		} else {
+			return solve_static_plane(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_result_callback,p_userdata,false);
+		}
+
+	} else if (type_A==PhysicsServer::SHAPE_RAY) {
+
+		if (type_B==PhysicsServer::SHAPE_RAY)
+			return false;
+
+		if (swap) {
+			return solve_ray(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_result_callback,p_userdata,true);
+		} else {
+			return solve_ray(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_result_callback,p_userdata,false);
+		}
+
+	} else if (concave_B) {
+
+
+		if (concave_A)
+			return false;
+
+		if (!swap)
+			return solve_concave(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_result_callback,p_userdata,false);
+		else
+			return solve_concave(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_result_callback,p_userdata,true);
+
+
+
+	} else {
+
+		return collision_solver(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback,p_userdata,false,r_sep_axis);
+	}
+
+
+	return false;
+}