Merge pull request #51522 from nekomatata/capsule-3d-independent-height

Make radius & height in CapsuleShape3D independent

3 files changed, 25 insertions, 25 deletions

diff --git a/servers/physics_3d/collision_solver_3d_sat.cpp b/servers/physics_3d/collision_solver_3d_sat.cpp
index e6a17b3a1a..6e6a2cb9e7 100644
--- a/servers/physics_3d/collision_solver_3d_sat.cpp
+++ b/servers/physics_3d/collision_solver_3d_sat.cpp
@@ -848,7 +848,7 @@ static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform3D &p
 
 	//capsule sphere 1, sphere
 
-	Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5);
+	Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius());
 
 	Vector3 capsule_ball_1 = p_transform_b.origin + capsule_axis;
 
@@ -1207,7 +1207,7 @@ static void _collision_box_capsule(const Shape3DSW *p_a, const Transform3D &p_tr
 	// capsule balls, edges of A
 
 	for (int i = 0; i < 2; i++) {
-		Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5);
+		Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius());
 
 		Vector3 sphere_pos = p_transform_b.origin + ((i == 0) ? capsule_axis : -capsule_axis);
 
@@ -1607,8 +1607,8 @@ static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform3D &
 
 	// some values
 
-	Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5);
-	Vector3 capsule_B_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5);
+	Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
+	Vector3 capsule_B_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius());
 
 	Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis;
 	Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis;
@@ -1679,8 +1679,8 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform3D
 
 	Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1);
 
-	Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis * (capsule_A->get_height() * 0.5);
-	Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis * (capsule_A->get_height() * 0.5);
+	Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
+	Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
 
 	if (!separator.test_axis((p_transform_b.origin - capsule_A_ball_1).cross(cylinder_B_axis).cross(cylinder_B_axis).normalized())) {
 		return;
@@ -1768,7 +1768,7 @@ static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transf
 	for (int i = 0; i < 2; i++) {
 		// edges of B, capsule cylinder
 
-		Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5);
+		Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
 
 		Vector3 sphere_pos = p_transform_a.origin + ((i == 0) ? capsule_axis : -capsule_axis);
 
@@ -1808,7 +1808,7 @@ static void _collision_capsule_face(const Shape3DSW *p_a, const Transform3D &p_t
 
 	// edges of B, capsule cylinder
 
-	Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5);
+	Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
 
 	for (int i = 0; i < 3; i++) {
 		// edge-cylinder
diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp
index 526a098a05..a84405de81 100644
--- a/servers/physics_3d/shape_3d_sw.cpp
+++ b/servers/physics_3d/shape_3d_sw.cpp
@@ -424,10 +424,10 @@ BoxShape3DSW::BoxShape3DSW() {
 
 void CapsuleShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const {
 	Vector3 n = p_transform.basis.xform_inv(p_normal).normalized();
-	real_t h = (n.y > 0) ? height : -height;
+	real_t h = height * 0.5 - radius;
 
 	n *= radius;
-	n.y += h * 0.5;
+	n.y += (n.y > 0) ? h : -h;
 
 	r_max = p_normal.dot(p_transform.xform(n));
 	r_min = p_normal.dot(p_transform.xform(-n));
@@ -436,10 +436,10 @@ void CapsuleShape3DSW::project_range(const Vector3 &p_normal, const Transform3D
 Vector3 CapsuleShape3DSW::get_support(const Vector3 &p_normal) const {
 	Vector3 n = p_normal;
 
-	real_t h = (n.y > 0) ? height : -height;
+	real_t h = height * 0.5 - radius;
 
 	n *= radius;
-	n.y += h * 0.5;
+	n.y += (n.y > 0) ? h : -h;
 	return n;
 }
 
@@ -457,15 +457,15 @@ void CapsuleShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3
 		r_amount = 2;
 		r_type = FEATURE_EDGE;
 		r_supports[0] = n;
-		r_supports[0].y += height * 0.5;
+		r_supports[0].y += height * 0.5 - radius;
 		r_supports[1] = n;
-		r_supports[1].y -= height * 0.5;
+		r_supports[1].y -= height * 0.5 - radius;
 
 	} else {
-		real_t h = (d > 0) ? height : -height;
+		real_t h = height * 0.5 - radius;
 
 		n *= radius;
-		n.y += h * 0.5;
+		n.y += (d > 0) ? h : -h;
 		r_amount = 1;
 		r_type = FEATURE_POINT;
 		*r_supports = n;
@@ -484,7 +484,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
 
 	// test against cylinder and spheres :-|
 
-	collided = Geometry3D::segment_intersects_cylinder(p_begin, p_end, height, radius, &auxres, &auxn, 1);
+	collided = Geometry3D::segment_intersects_cylinder(p_begin, p_end, height - radius * 2.0, radius, &auxres, &auxn, 1);
 
 	if (collided) {
 		real_t d = norm.dot(auxres);
@@ -496,7 +496,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
 		}
 	}
 
-	collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * 0.5, 0), radius, &auxres, &auxn);
+	collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * 0.5 - radius, 0), radius, &auxres, &auxn);
 
 	if (collided) {
 		real_t d = norm.dot(auxres);
@@ -508,7 +508,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
 		}
 	}
 
-	collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * -0.5, 0), radius, &auxres, &auxn);
+	collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * -0.5 + radius, 0), radius, &auxres, &auxn);
 
 	if (collided) {
 		real_t d = norm.dot(auxres);
@@ -529,19 +529,19 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
 }
 
 bool CapsuleShape3DSW::intersect_point(const Vector3 &p_point) const {
-	if (Math::abs(p_point.y) < height * 0.5) {
+	if (Math::abs(p_point.y) < height * 0.5 - radius) {
 		return Vector3(p_point.x, 0, p_point.z).length() < radius;
 	} else {
 		Vector3 p = p_point;
-		p.y = Math::abs(p.y) - height * 0.5;
+		p.y = Math::abs(p.y) - height * 0.5 + radius;
 		return p.length() < radius;
 	}
 }
 
 Vector3 CapsuleShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
 	Vector3 s[2] = {
-		Vector3(0, -height * 0.5, 0),
-		Vector3(0, height * 0.5, 0),
+		Vector3(0, -height * 0.5 + radius, 0),
+		Vector3(0, height * 0.5 - radius, 0),
 	};
 
 	Vector3 p = Geometry3D::get_closest_point_to_segment(p_point, s);
@@ -566,7 +566,7 @@ Vector3 CapsuleShape3DSW::get_moment_of_inertia(real_t p_mass) const {
 void CapsuleShape3DSW::_setup(real_t p_height, real_t p_radius) {
 	height = p_height;
 	radius = p_radius;
-	configure(AABB(Vector3(-radius, -height * 0.5 - radius, -radius), Vector3(radius * 2, height + radius * 2.0, radius * 2)));
+	configure(AABB(Vector3(-radius, -height * 0.5, -radius), Vector3(radius * 2, height, radius * 2)));
 }
 
 void CapsuleShape3DSW::set_data(const Variant &p_data) {
diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h
index dde423ad60..c11c3a08f6 100644
--- a/servers/physics_3d/shape_3d_sw.h
+++ b/servers/physics_3d/shape_3d_sw.h
@@ -207,7 +207,7 @@ public:
 	_FORCE_INLINE_ real_t get_height() const { return height; }
 	_FORCE_INLINE_ real_t get_radius() const { return radius; }
 
-	virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius + height * Math_PI * radius * radius; }
+	virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius + (height - radius * 2.0) * Math_PI * radius * radius; }
 
 	virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_CAPSULE; }