diff options
author | Camille Mohr-Daurat <pouleyKetchoup@gmail.com> | 2021-08-27 08:49:49 -0700 |
---|---|---|
committer | GitHub <noreply@github.com> | 2021-08-27 08:49:49 -0700 |
commit | ca4f20529c0b6588464f88fc0b0680a8df0fc77f (patch) | |
tree | 6c2c536eb0544f8073547a7774ab7d8d1ac63055 /servers/physics_3d | |
parent | fec7516010cd2d371800bb3a7d0ff06ebc2c941f (diff) | |
parent | 3d5dc80348b9b377f6d8a33c7101d54b337396a5 (diff) |
Merge pull request #51896 from nekomatata/restore-ray-shape
Refactor RayShape and rename to SeparationRayShape
Diffstat (limited to 'servers/physics_3d')
-rw-r--r-- | servers/physics_3d/collision_solver_3d_sat.cpp | 6 | ||||
-rw-r--r-- | servers/physics_3d/collision_solver_3d_sw.cpp | 57 | ||||
-rw-r--r-- | servers/physics_3d/collision_solver_3d_sw.h | 2 | ||||
-rw-r--r-- | servers/physics_3d/physics_server_3d_sw.cpp | 10 | ||||
-rw-r--r-- | servers/physics_3d/physics_server_3d_sw.h | 3 | ||||
-rw-r--r-- | servers/physics_3d/physics_server_3d_wrap_mt.h | 5 | ||||
-rw-r--r-- | servers/physics_3d/shape_3d_sw.cpp | 85 | ||||
-rw-r--r-- | servers/physics_3d/shape_3d_sw.h | 50 | ||||
-rw-r--r-- | servers/physics_3d/space_3d_sw.cpp | 14 | ||||
-rw-r--r-- | servers/physics_3d/space_3d_sw.h | 2 |
10 files changed, 212 insertions, 22 deletions
diff --git a/servers/physics_3d/collision_solver_3d_sat.cpp b/servers/physics_3d/collision_solver_3d_sat.cpp index 6e6a2cb9e7..de81348b4e 100644 --- a/servers/physics_3d/collision_solver_3d_sat.cpp +++ b/servers/physics_3d/collision_solver_3d_sat.cpp @@ -2273,11 +2273,13 @@ bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_ PhysicsServer3D::ShapeType type_A = p_shape_A->get_type(); ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_PLANE, false); + ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_SEPARATION_RAY, false); ERR_FAIL_COND_V(p_shape_A->is_concave(), false); PhysicsServer3D::ShapeType type_B = p_shape_B->get_type(); ERR_FAIL_COND_V(type_B == PhysicsServer3D::SHAPE_PLANE, false); + ERR_FAIL_COND_V(type_B == PhysicsServer3D::SHAPE_SEPARATION_RAY, false); ERR_FAIL_COND_V(p_shape_B->is_concave(), false); static const CollisionFunc collision_table[6][6] = { @@ -2382,10 +2384,10 @@ bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_ CollisionFunc collision_func; if (margin_A != 0.0 || margin_B != 0.0) { - collision_func = collision_table_margin[type_A - 1][type_B - 1]; + collision_func = collision_table_margin[type_A - 2][type_B - 2]; } else { - collision_func = collision_table[type_A - 1][type_B - 1]; + collision_func = collision_table[type_A - 2][type_B - 2]; } ERR_FAIL_COND_V(!collision_func, false); diff --git a/servers/physics_3d/collision_solver_3d_sw.cpp b/servers/physics_3d/collision_solver_3d_sw.cpp index dcecac1c73..e7b79e8450 100644 --- a/servers/physics_3d/collision_solver_3d_sw.cpp +++ b/servers/physics_3d/collision_solver_3d_sw.cpp @@ -89,6 +89,49 @@ bool CollisionSolver3DSW::solve_static_plane(const Shape3DSW *p_shape_A, const T return found; } +bool CollisionSolver3DSW::solve_separation_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) { + const SeparationRayShape3DSW *ray = static_cast<const SeparationRayShape3DSW *>(p_shape_A); + + Vector3 from = p_transform_A.origin; + Vector3 to = from + p_transform_A.basis.get_axis(2) * (ray->get_length() + p_margin); + Vector3 support_A = to; + + Transform3D 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; + } + + // Discard contacts when the ray is fully contained inside the shape. + if (n == Vector3()) { + return false; + } + + // Discard contacts in the wrong direction. + if (n.dot(from - to) < CMP_EPSILON) { + return false; + } + + Vector3 support_B = p_transform_B.xform(p); + if (ray->get_slide_on_slope()) { + Vector3 global_n = ai.basis.xform_inv(n).normalized(); + support_B = support_A + (support_B - support_A).length() * global_n; + } + + if (p_result_callback) { + if (p_swap_result) { + p_result_callback(support_B, 0, support_A, 0, p_userdata); + } else { + p_result_callback(support_A, 0, support_B, 0, p_userdata); + } + } + return true; +} + struct _SoftBodyContactCollisionInfo { int node_index = 0; CollisionSolver3DSW::CallbackResult result_callback = nullptr; @@ -318,6 +361,9 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo if (type_B == PhysicsServer3D::SHAPE_PLANE) { return false; } + if (type_B == PhysicsServer3D::SHAPE_SEPARATION_RAY) { + return false; + } if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) { return false; } @@ -328,6 +374,17 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo 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 == PhysicsServer3D::SHAPE_SEPARATION_RAY) { + if (type_B == PhysicsServer3D::SHAPE_SEPARATION_RAY) { + return false; + } + + if (swap) { + return solve_separation_ray(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, p_margin_B); + } else { + return solve_separation_ray(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, p_margin_A); + } + } else if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) { if (type_A == PhysicsServer3D::SHAPE_SOFT_BODY) { // Soft Body / Soft Body not supported. diff --git a/servers/physics_3d/collision_solver_3d_sw.h b/servers/physics_3d/collision_solver_3d_sw.h index a5dd7d48eb..c1a69e708f 100644 --- a/servers/physics_3d/collision_solver_3d_sw.h +++ b/servers/physics_3d/collision_solver_3d_sw.h @@ -43,7 +43,7 @@ private: static void soft_body_concave_callback(void *p_userdata, Shape3DSW *p_convex); static void concave_callback(void *p_userdata, Shape3DSW *p_convex); static bool solve_static_plane(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); - static bool solve_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); + static bool solve_separation_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0); static bool solve_soft_body(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); static bool solve_concave(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A = 0, real_t p_margin_B = 0); static void concave_distance_callback(void *p_userdata, Shape3DSW *p_convex); diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp index fbb374bd74..fbc6f7eee8 100644 --- a/servers/physics_3d/physics_server_3d_sw.cpp +++ b/servers/physics_3d/physics_server_3d_sw.cpp @@ -48,6 +48,12 @@ RID PhysicsServer3DSW::plane_shape_create() { shape->set_self(rid); return rid; } +RID PhysicsServer3DSW::separation_ray_shape_create() { + Shape3DSW *shape = memnew(SeparationRayShape3DSW); + RID rid = shape_owner.make_rid(shape); + shape->set_self(rid); + return rid; +} RID PhysicsServer3DSW::sphere_shape_create() { Shape3DSW *shape = memnew(SphereShape3DSW); RID rid = shape_owner.make_rid(shape); @@ -848,7 +854,7 @@ void PhysicsServer3DSW::body_set_ray_pickable(RID p_body, bool p_enable) { body->set_ray_pickable(p_enable); } -bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, MotionResult *r_result, const Set<RID> &p_exclude) { +bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, MotionResult *r_result, bool p_collide_separation_ray, const Set<RID> &p_exclude) { Body3DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, false); ERR_FAIL_COND_V(!body->get_space(), false); @@ -856,7 +862,7 @@ bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, _update_shapes(); - return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result, p_exclude); + return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result, p_collide_separation_ray, p_exclude); } PhysicsDirectBodyState3D *PhysicsServer3DSW::body_get_direct_state(RID p_body) { diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h index 6e59a77e89..a18593c90c 100644 --- a/servers/physics_3d/physics_server_3d_sw.h +++ b/servers/physics_3d/physics_server_3d_sw.h @@ -83,6 +83,7 @@ public: static void _shape_col_cbk(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata); virtual RID plane_shape_create() override; + virtual RID separation_ray_shape_create() override; virtual RID sphere_shape_create() override; virtual RID box_shape_create() override; virtual RID capsule_shape_create() override; @@ -241,7 +242,7 @@ public: virtual void body_set_ray_pickable(RID p_body, bool p_enable) override; - virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, const Set<RID> &p_exclude = Set<RID>()) override; + virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override; // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override; diff --git a/servers/physics_3d/physics_server_3d_wrap_mt.h b/servers/physics_3d/physics_server_3d_wrap_mt.h index 75174628bf..674c52d4a3 100644 --- a/servers/physics_3d/physics_server_3d_wrap_mt.h +++ b/servers/physics_3d/physics_server_3d_wrap_mt.h @@ -79,6 +79,7 @@ public: //FUNC1RID(shape,ShapeType); todo fix FUNCRID(plane_shape) + FUNCRID(separation_ray_shape) FUNCRID(sphere_shape) FUNCRID(box_shape) FUNCRID(capsule_shape) @@ -249,9 +250,9 @@ public: FUNC2(body_set_ray_pickable, RID, bool); - bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, const Set<RID> &p_exclude = Set<RID>()) override { + bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override { ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false); - return physics_3d_server->body_test_motion(p_body, p_from, p_motion, p_margin, r_result, p_exclude); + return physics_3d_server->body_test_motion(p_body, p_from, p_motion, p_margin, r_result, p_collide_separation_ray, p_exclude); } // this function only works on physics process, errors and returns null otherwise diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp index 664308ed7b..0794e7888e 100644 --- a/servers/physics_3d/shape_3d_sw.cpp +++ b/servers/physics_3d/shape_3d_sw.cpp @@ -164,6 +164,91 @@ Variant PlaneShape3DSW::get_data() const { PlaneShape3DSW::PlaneShape3DSW() { } +// + +real_t SeparationRayShape3DSW::get_length() const { + return length; +} + +bool SeparationRayShape3DSW::get_slide_on_slope() const { + return slide_on_slope; +} + +void SeparationRayShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { + // don't think this will be even used + r_min = 0; + r_max = 1; +} + +Vector3 SeparationRayShape3DSW::get_support(const Vector3 &p_normal) const { + if (p_normal.z > 0) { + return Vector3(0, 0, length); + } else { + return Vector3(0, 0, 0); + } +} + +void SeparationRayShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { + if (Math::abs(p_normal.z) < _EDGE_IS_VALID_SUPPORT_THRESHOLD) { + r_amount = 2; + r_type = FEATURE_EDGE; + r_supports[0] = Vector3(0, 0, 0); + r_supports[1] = Vector3(0, 0, length); + } else if (p_normal.z > 0) { + r_amount = 1; + r_type = FEATURE_POINT; + *r_supports = Vector3(0, 0, length); + } else { + r_amount = 1; + r_type = FEATURE_POINT; + *r_supports = Vector3(0, 0, 0); + } +} + +bool SeparationRayShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { + return false; //simply not possible +} + +bool SeparationRayShape3DSW::intersect_point(const Vector3 &p_point) const { + return false; //simply not possible +} + +Vector3 SeparationRayShape3DSW::get_closest_point_to(const Vector3 &p_point) const { + Vector3 s[2] = { + Vector3(0, 0, 0), + Vector3(0, 0, length) + }; + + return Geometry3D::get_closest_point_to_segment(p_point, s); +} + +Vector3 SeparationRayShape3DSW::get_moment_of_inertia(real_t p_mass) const { + return Vector3(); +} + +void SeparationRayShape3DSW::_setup(real_t p_length, bool p_slide_on_slope) { + length = p_length; + slide_on_slope = p_slide_on_slope; + configure(AABB(Vector3(0, 0, 0), Vector3(0.1, 0.1, length))); +} + +void SeparationRayShape3DSW::set_data(const Variant &p_data) { + Dictionary d = p_data; + _setup(d["length"], d["slide_on_slope"]); +} + +Variant SeparationRayShape3DSW::get_data() const { + Dictionary d; + d["length"] = length; + d["slide_on_slope"] = slide_on_slope; + return d; +} + +SeparationRayShape3DSW::SeparationRayShape3DSW() { + length = 1; + slide_on_slope = false; +} + /********** SPHERE *************/ real_t SphereShape3DSW::get_radius() const { diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h index ca58900111..dc35c3b172 100644 --- a/servers/physics_3d/shape_3d_sw.h +++ b/servers/physics_3d/shape_3d_sw.h @@ -117,23 +117,51 @@ class PlaneShape3DSW : public Shape3DSW { public: Plane get_plane() const; - virtual real_t get_area() const { return INFINITY; } - virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_PLANE; } - virtual void project_range(const Vector3 &p_normal, const Transform3D &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 real_t get_area() const override { return INFINITY; } + virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_PLANE; } + virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override; + virtual Vector3 get_support(const Vector3 &p_normal) const override; + virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override { 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 bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override; + virtual bool intersect_point(const Vector3 &p_point) const override; + virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override; + virtual Vector3 get_moment_of_inertia(real_t p_mass) const override; - virtual void set_data(const Variant &p_data); - virtual Variant get_data() const; + virtual void set_data(const Variant &p_data) override; + virtual Variant get_data() const override; PlaneShape3DSW(); }; +class SeparationRayShape3DSW : public Shape3DSW { + real_t length; + bool slide_on_slope; + + void _setup(real_t p_length, bool p_slide_on_slope); + +public: + real_t get_length() const; + bool get_slide_on_slope() const; + + virtual real_t get_area() const override { return 0.0; } + virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_SEPARATION_RAY; } + virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override; + virtual Vector3 get_support(const Vector3 &p_normal) const override; + virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override; + + virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override; + virtual bool intersect_point(const Vector3 &p_point) const override; + virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override; + + virtual Vector3 get_moment_of_inertia(real_t p_mass) const override; + + virtual void set_data(const Variant &p_data) override; + virtual Variant get_data() const override; + + SeparationRayShape3DSW(); +}; + class SphereShape3DSW : public Shape3DSW { real_t radius; diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp index f9e55ad525..37dee436df 100644 --- a/servers/physics_3d/space_3d_sw.cpp +++ b/servers/physics_3d/space_3d_sw.cpp @@ -569,7 +569,7 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) { return amount; } -bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, const Set<RID> &p_exclude) { +bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_collide_separation_ray, const Set<RID> &p_exclude) { //give me back regular physics engine logic //this is madness //and most people using this function will think @@ -714,9 +714,19 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co continue; } - Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j); Shape3DSW *body_shape = p_body->get_shape(j); + // Colliding separation rays allows to properly snap to the ground, + // otherwise it's not needed in regular motion. + if (!p_collide_separation_ray && (body_shape->get_type() == PhysicsServer3D::SHAPE_SEPARATION_RAY)) { + // When slide on slope is on, separation ray shape acts like a regular shape. + if (!static_cast<SeparationRayShape3DSW *>(body_shape)->get_slide_on_slope()) { + continue; + } + } + + Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j); + Transform3D body_shape_xform_inv = body_shape_xform.affine_inverse(); MotionShape3DSW mshape; mshape.shape = body_shape; diff --git a/servers/physics_3d/space_3d_sw.h b/servers/physics_3d/space_3d_sw.h index 9b5b4de069..1c3d1cf9f6 100644 --- a/servers/physics_3d/space_3d_sw.h +++ b/servers/physics_3d/space_3d_sw.h @@ -203,7 +203,7 @@ public: void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; } uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; } - bool test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, const Set<RID> &p_exclude = Set<RID>()); + bool test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()); Space3DSW(); ~Space3DSW(); |