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-rw-r--r--servers/physics_3d/shape_3d_sw.cpp387
-rw-r--r--servers/physics_3d/shape_3d_sw.h21
2 files changed, 297 insertions, 111 deletions
diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp
index b81d3272c3..945d0120be 100644
--- a/servers/physics_3d/shape_3d_sw.cpp
+++ b/servers/physics_3d/shape_3d_sw.cpp
@@ -1676,6 +1676,17 @@ struct _HeightmapSegmentCullParams {
FaceShape3DSW *face = nullptr;
};
+struct _HeightmapGridCullState {
+ real_t length = 0.0;
+ real_t length_flat = 0.0;
+
+ real_t dist = 0.0;
+ real_t prev_dist = 0.0;
+
+ int x = 0;
+ int z = 0;
+};
+
_FORCE_INLINE_ bool _heightmap_face_cull_segment(_HeightmapSegmentCullParams &p_params) {
Vector3 res;
Vector3 normal;
@@ -1688,11 +1699,11 @@ _FORCE_INLINE_ bool _heightmap_face_cull_segment(_HeightmapSegmentCullParams &p_
return false;
}
-_FORCE_INLINE_ bool _heightmap_cell_cull_segment(_HeightmapSegmentCullParams &p_params, int p_x, int p_z) {
+_FORCE_INLINE_ bool _heightmap_cell_cull_segment(_HeightmapSegmentCullParams &p_params, const _HeightmapGridCullState &p_state) {
// First triangle.
- p_params.heightmap->_get_point(p_x, p_z, p_params.face->vertex[0]);
- p_params.heightmap->_get_point(p_x + 1, p_z, p_params.face->vertex[1]);
- p_params.heightmap->_get_point(p_x, p_z + 1, p_params.face->vertex[2]);
+ p_params.heightmap->_get_point(p_state.x, p_state.z, p_params.face->vertex[0]);
+ p_params.heightmap->_get_point(p_state.x + 1, p_state.z, p_params.face->vertex[1]);
+ p_params.heightmap->_get_point(p_state.x, p_state.z + 1, p_params.face->vertex[2]);
p_params.face->normal = Plane(p_params.face->vertex[0], p_params.face->vertex[1], p_params.face->vertex[2]).normal;
if (_heightmap_face_cull_segment(p_params)) {
return true;
@@ -1700,7 +1711,7 @@ _FORCE_INLINE_ bool _heightmap_cell_cull_segment(_HeightmapSegmentCullParams &p_
// Second triangle.
p_params.face->vertex[0] = p_params.face->vertex[1];
- p_params.heightmap->_get_point(p_x + 1, p_z + 1, p_params.face->vertex[1]);
+ p_params.heightmap->_get_point(p_state.x + 1, p_state.z + 1, p_params.face->vertex[1]);
p_params.face->normal = Plane(p_params.face->vertex[0], p_params.face->vertex[1], p_params.face->vertex[2]).normal;
if (_heightmap_face_cull_segment(p_params)) {
return true;
@@ -1709,13 +1720,51 @@ _FORCE_INLINE_ bool _heightmap_cell_cull_segment(_HeightmapSegmentCullParams &p_
return false;
}
-bool HeightMapShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const {
- if (heights.is_empty()) {
+_FORCE_INLINE_ bool _heightmap_chunk_cull_segment(_HeightmapSegmentCullParams &p_params, const _HeightmapGridCullState &p_state) {
+ const HeightMapShape3DSW::Range &chunk = p_params.heightmap->_get_bounds_chunk(p_state.x, p_state.z);
+
+ Vector3 enter_pos;
+ Vector3 exit_pos;
+
+ if (p_state.length_flat > CMP_EPSILON) {
+ real_t flat_to_3d = p_state.length / p_state.length_flat;
+ real_t enter_param = p_state.prev_dist * flat_to_3d;
+ real_t exit_param = p_state.dist * flat_to_3d;
+ enter_pos = p_params.from + p_params.dir * enter_param;
+ exit_pos = p_params.from + p_params.dir * exit_param;
+ } else {
+ // Consider the ray vertical.
+ // (though we shouldn't reach this often because there is an early check up-front)
+ enter_pos = p_params.from;
+ exit_pos = p_params.to;
+ }
+
+ // Transform positions to heightmap space.
+ enter_pos *= HeightMapShape3DSW::BOUNDS_CHUNK_SIZE;
+ exit_pos *= HeightMapShape3DSW::BOUNDS_CHUNK_SIZE;
+
+ // We did enter the flat projection of the AABB,
+ // but we have to check if we intersect it on the vertical axis.
+ if ((enter_pos.y > chunk.max) && (exit_pos.y > chunk.max)) {
+ return false;
+ }
+ if ((enter_pos.y < chunk.min) && (exit_pos.y < chunk.min)) {
return false;
}
- Vector3 local_begin = p_begin + local_origin;
- Vector3 local_end = p_end + local_origin;
+ return p_params.heightmap->_intersect_grid_segment(_heightmap_cell_cull_segment, enter_pos, exit_pos, p_params.heightmap->width, p_params.heightmap->depth, p_params.heightmap->local_origin, p_params.result, p_params.normal);
+}
+
+template <typename ProcessFunction>
+bool HeightMapShape3DSW::_intersect_grid_segment(ProcessFunction &p_process, const Vector3 &p_begin, const Vector3 &p_end, int p_width, int p_depth, const Vector3 &offset, Vector3 &r_point, Vector3 &r_normal) const {
+ Vector3 delta = (p_end - p_begin);
+ real_t length = delta.length();
+
+ if (length < CMP_EPSILON) {
+ return false;
+ }
+
+ Vector3 local_begin = p_begin + offset;
FaceShape3DSW face;
face.backface_collision = false;
@@ -1723,136 +1772,181 @@ bool HeightMapShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3
_HeightmapSegmentCullParams params;
params.from = p_begin;
params.to = p_end;
- params.dir = (p_end - p_begin).normalized();
+ params.dir = delta / length;
params.heightmap = this;
params.face = &face;
- // Quantize the ray begin/end.
- int begin_x = floor(local_begin.x);
- int begin_z = floor(local_begin.z);
- int end_x = floor(local_end.x);
- int end_z = floor(local_end.z);
+ _HeightmapGridCullState state;
- if ((begin_x == end_x) && (begin_z == end_z)) {
- // Simple case for rays that don't traverse the grid horizontally.
- // Just perform a test on the given cell.
- int x = CLAMP(begin_x, 0, width - 2);
- int z = CLAMP(begin_z, 0, depth - 2);
- if (_heightmap_cell_cull_segment(params, x, z)) {
- r_point = params.result;
- r_normal = params.normal;
- return true;
- }
- } else {
- // Perform grid query from projected ray.
- Vector2 ray_dir_proj(local_end.x - local_begin.x, local_end.z - local_begin.z);
- real_t ray_dist_proj = ray_dir_proj.length();
+ // Perform grid query from projected ray.
+ Vector2 ray_dir_flat(delta.x, delta.z);
+ state.length = length;
+ state.length_flat = ray_dir_flat.length();
- if (ray_dist_proj < CMP_EPSILON) {
- ray_dir_proj = Vector2();
- } else {
- ray_dir_proj /= ray_dist_proj;
- }
+ if (state.length_flat < CMP_EPSILON) {
+ ray_dir_flat = Vector2();
+ } else {
+ ray_dir_flat /= state.length_flat;
+ }
- const int x_step = (ray_dir_proj.x > CMP_EPSILON) ? 1 : ((ray_dir_proj.x < -CMP_EPSILON) ? -1 : 0);
- const int z_step = (ray_dir_proj.y > CMP_EPSILON) ? 1 : ((ray_dir_proj.y < -CMP_EPSILON) ? -1 : 0);
+ const int x_step = (ray_dir_flat.x > CMP_EPSILON) ? 1 : ((ray_dir_flat.x < -CMP_EPSILON) ? -1 : 0);
+ const int z_step = (ray_dir_flat.y > CMP_EPSILON) ? 1 : ((ray_dir_flat.y < -CMP_EPSILON) ? -1 : 0);
- const real_t infinite = 1e20;
- const real_t delta_x = (x_step != 0) ? 1.f / Math::abs(ray_dir_proj.x) : infinite;
- const real_t delta_z = (z_step != 0) ? 1.f / Math::abs(ray_dir_proj.y) : infinite;
+ const real_t infinite = 1e20;
+ const real_t delta_x = (x_step != 0) ? 1.f / Math::abs(ray_dir_flat.x) : infinite;
+ const real_t delta_z = (z_step != 0) ? 1.f / Math::abs(ray_dir_flat.y) : infinite;
- real_t cross_x; // At which value of `param` we will cross a x-axis lane?
- real_t cross_z; // At which value of `param` we will cross a z-axis lane?
+ real_t cross_x; // At which value of `param` we will cross a x-axis lane?
+ real_t cross_z; // At which value of `param` we will cross a z-axis lane?
- // X initialization.
- if (x_step != 0) {
- if (x_step == 1) {
- cross_x = (ceil(local_begin.x) - local_begin.x) * delta_x;
- } else {
- cross_x = (local_begin.x - floor(local_begin.x)) * delta_x;
- }
+ // X initialization.
+ if (x_step != 0) {
+ if (x_step == 1) {
+ cross_x = (Math::ceil(local_begin.x) - local_begin.x) * delta_x;
} else {
- cross_x = infinite; // Will never cross on X.
+ cross_x = (local_begin.x - Math::floor(local_begin.x)) * delta_x;
}
+ } else {
+ cross_x = infinite; // Will never cross on X.
+ }
- // Z initialization.
- if (z_step != 0) {
- if (z_step == 1) {
- cross_z = (ceil(local_begin.z) - local_begin.z) * delta_z;
- } else {
- cross_z = (local_begin.z - floor(local_begin.z)) * delta_z;
- }
+ // Z initialization.
+ if (z_step != 0) {
+ if (z_step == 1) {
+ cross_z = (Math::ceil(local_begin.z) - local_begin.z) * delta_z;
} else {
- cross_z = infinite; // Will never cross on Z.
+ cross_z = (local_begin.z - Math::floor(local_begin.z)) * delta_z;
}
+ } else {
+ cross_z = infinite; // Will never cross on Z.
+ }
- int x = floor(local_begin.x);
- int z = floor(local_begin.z);
+ int x = Math::floor(local_begin.x);
+ int z = Math::floor(local_begin.z);
- // Workaround cases where the ray starts at an integer position.
- if (Math::is_zero_approx(cross_x)) {
- cross_x += delta_x;
- // If going backwards, we should ignore the position we would get by the above flooring,
- // because the ray is not heading in that direction.
- if (x_step == -1) {
- x -= 1;
- }
+ // Workaround cases where the ray starts at an integer position.
+ if (Math::is_zero_approx(cross_x)) {
+ cross_x += delta_x;
+ // If going backwards, we should ignore the position we would get by the above flooring,
+ // because the ray is not heading in that direction.
+ if (x_step == -1) {
+ x -= 1;
}
+ }
- if (Math::is_zero_approx(cross_z)) {
- cross_z += delta_z;
- if (z_step == -1) {
- z -= 1;
- }
+ if (Math::is_zero_approx(cross_z)) {
+ cross_z += delta_z;
+ if (z_step == -1) {
+ z -= 1;
}
+ }
+
+ // Start inside the grid.
+ int x_start = MAX(MIN(x, p_width - 2), 0);
+ int z_start = MAX(MIN(z, p_depth - 2), 0);
- // Start inside the grid.
- int x_start = CLAMP(x, 0, width - 2);
- int z_start = CLAMP(z, 0, depth - 2);
+ // Adjust initial cross values.
+ cross_x += delta_x * x_step * (x_start - x);
+ cross_z += delta_z * z_step * (z_start - z);
- // Adjust initial cross values.
- cross_x += delta_x * x_step * (x_start - x);
- cross_z += delta_z * z_step * (z_start - z);
+ x = x_start;
+ z = z_start;
- x = x_start;
- z = z_start;
+ while (true) {
+ state.prev_dist = state.dist;
+ state.x = x;
+ state.z = z;
- if (_heightmap_cell_cull_segment(params, x, z)) {
+ if (cross_x < cross_z) {
+ // X lane.
+ x += x_step;
+ // Assign before advancing the param,
+ // to be in sync with the initialization step.
+ state.dist = cross_x;
+ cross_x += delta_x;
+ } else {
+ // Z lane.
+ z += z_step;
+ state.dist = cross_z;
+ cross_z += delta_z;
+ }
+
+ if (state.dist > state.length_flat) {
+ state.dist = state.length_flat;
+ if (p_process(params, state)) {
+ r_point = params.result;
+ r_normal = params.normal;
+ return true;
+ }
+ break;
+ }
+
+ if (p_process(params, state)) {
r_point = params.result;
r_normal = params.normal;
return true;
}
- real_t dist = 0.0;
- while (true) {
- if (cross_x < cross_z) {
- // X lane.
- x += x_step;
- // Assign before advancing the param,
- // to be in sync with the initialization step.
- dist = cross_x;
- cross_x += delta_x;
- } else {
- // Z lane.
- z += z_step;
- dist = cross_z;
- cross_z += delta_z;
- }
+ // Stop when outside the grid.
+ if ((x < 0) || (z < 0) || (x >= p_width - 1) || (z >= p_depth - 1)) {
+ break;
+ }
+ }
- // Stop when outside the grid.
- if ((x < 0) || (z < 0) || (x >= width - 1) || (z >= depth - 1)) {
- break;
- }
+ return false;
+}
- if (_heightmap_cell_cull_segment(params, x, z)) {
- r_point = params.result;
- r_normal = params.normal;
- return true;
- }
+bool HeightMapShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const {
+ if (heights.is_empty()) {
+ return false;
+ }
- if (dist > ray_dist_proj) {
- break;
- }
+ Vector3 local_begin = p_begin + local_origin;
+ Vector3 local_end = p_end + local_origin;
+
+ // Quantize the ray begin/end.
+ int begin_x = Math::floor(local_begin.x);
+ int begin_z = Math::floor(local_begin.z);
+ int end_x = Math::floor(local_end.x);
+ int end_z = Math::floor(local_end.z);
+
+ if ((begin_x == end_x) && (begin_z == end_z)) {
+ // Simple case for rays that don't traverse the grid horizontally.
+ // Just perform a test on the given cell.
+ FaceShape3DSW face;
+ face.backface_collision = false;
+
+ _HeightmapSegmentCullParams params;
+ params.from = p_begin;
+ params.to = p_end;
+ params.dir = (p_end - p_begin).normalized();
+
+ params.heightmap = this;
+ params.face = &face;
+
+ _HeightmapGridCullState state;
+ state.x = MAX(MIN(begin_x, width - 2), 0);
+ state.z = MAX(MIN(begin_z, depth - 2), 0);
+ if (_heightmap_cell_cull_segment(params, state)) {
+ r_point = params.result;
+ r_normal = params.normal;
+ return true;
+ }
+ } else if (bounds_grid.is_empty()) {
+ // Process all cells intersecting the flat projection of the ray.
+ return _intersect_grid_segment(_heightmap_cell_cull_segment, p_begin, p_end, width, depth, local_origin, r_point, r_normal);
+ } else {
+ Vector3 ray_diff = (p_end - p_begin);
+ real_t length_flat_sqr = ray_diff.x * ray_diff.x + ray_diff.z * ray_diff.z;
+ if (length_flat_sqr < BOUNDS_CHUNK_SIZE * BOUNDS_CHUNK_SIZE) {
+ // Don't use chunks, the ray is too short in the plane.
+ return _intersect_grid_segment(_heightmap_cell_cull_segment, p_begin, p_end, width, depth, local_origin, r_point, r_normal);
+ } else {
+ // The ray is long, run raycast on a higher-level grid.
+ Vector3 bounds_from = p_begin / BOUNDS_CHUNK_SIZE;
+ Vector3 bounds_to = p_end / BOUNDS_CHUNK_SIZE;
+ Vector3 bounds_offset = local_origin / BOUNDS_CHUNK_SIZE;
+ return _intersect_grid_segment(_heightmap_chunk_cull_segment, bounds_from, bounds_to, bounds_grid_width, bounds_grid_depth, bounds_offset, r_point, r_normal);
}
}
@@ -1917,7 +2011,7 @@ void HeightMapShape3DSW::cull(const AABB &p_local_aabb, QueryCallback p_callback
_get_point(x, z, face.vertex[0]);
_get_point(x + 1, z, face.vertex[1]);
_get_point(x, z + 1, face.vertex[2]);
- face.normal = Plane(face.vertex[0], face.vertex[2], face.vertex[1]).normal;
+ face.normal = Plane(face.vertex[0], face.vertex[1], face.vertex[2]).normal;
if (p_callback(p_userdata, &face)) {
return;
}
@@ -1925,7 +2019,7 @@ void HeightMapShape3DSW::cull(const AABB &p_local_aabb, QueryCallback p_callback
// Second triangle.
face.vertex[0] = face.vertex[1];
_get_point(x + 1, z + 1, face.vertex[1]);
- face.normal = Plane(face.vertex[0], face.vertex[2], face.vertex[1]).normal;
+ face.normal = Plane(face.vertex[0], face.vertex[1], face.vertex[2]).normal;
if (p_callback(p_userdata, &face)) {
return;
}
@@ -1943,6 +2037,75 @@ Vector3 HeightMapShape3DSW::get_moment_of_inertia(real_t p_mass) const {
(p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y));
}
+void HeightMapShape3DSW::_build_accelerator() {
+ bounds_grid.clear();
+
+ bounds_grid_width = width / BOUNDS_CHUNK_SIZE;
+ bounds_grid_depth = depth / BOUNDS_CHUNK_SIZE;
+
+ if (width % BOUNDS_CHUNK_SIZE > 0) {
+ ++bounds_grid_width; // In case terrain size isn't dividable by chunk size.
+ }
+
+ if (depth % BOUNDS_CHUNK_SIZE > 0) {
+ ++bounds_grid_depth;
+ }
+
+ uint32_t bound_grid_size = (uint32_t)(bounds_grid_width * bounds_grid_depth);
+
+ if (bound_grid_size < 2) {
+ // Grid is empty or just one chunk.
+ return;
+ }
+
+ bounds_grid.resize(bound_grid_size);
+
+ // Compute min and max height for all chunks.
+ for (int cz = 0; cz < bounds_grid_depth; ++cz) {
+ int z0 = cz * BOUNDS_CHUNK_SIZE;
+
+ for (int cx = 0; cx < bounds_grid_width; ++cx) {
+ int x0 = cx * BOUNDS_CHUNK_SIZE;
+
+ Range r;
+
+ r.min = _get_height(x0, z0);
+ r.max = r.min;
+
+ // Compute min and max height for this chunk.
+ // We have to include one extra cell to account for neighbors.
+ // Here is why:
+ // Say we have a flat terrain, and a plateau that fits a chunk perfectly.
+ //
+ // Left Right
+ // 0---0---0---1---1---1
+ // | | | | | |
+ // 0---0---0---1---1---1
+ // | | | | | |
+ // 0---0---0---1---1---1
+ // x
+ //
+ // If the AABB for the Left chunk did not share vertices with the Right,
+ // then we would fail collision tests at x due to a gap.
+ //
+ int z_max = MIN(z0 + BOUNDS_CHUNK_SIZE + 1, depth);
+ int x_max = MIN(x0 + BOUNDS_CHUNK_SIZE + 1, width);
+ for (int z = z0; z < z_max; ++z) {
+ for (int x = x0; x < x_max; ++x) {
+ real_t height = _get_height(x, z);
+ if (height < r.min) {
+ r.min = height;
+ } else if (height > r.max) {
+ r.max = height;
+ }
+ }
+ }
+
+ bounds_grid[cx + cz * bounds_grid_width] = r;
+ }
+ }
+}
+
void HeightMapShape3DSW::_setup(const Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
heights = p_heights;
width = p_width;
@@ -1959,6 +2122,8 @@ void HeightMapShape3DSW::_setup(const Vector<real_t> &p_heights, int p_width, in
aabb.position -= local_origin;
+ _build_accelerator();
+
configure(aabb);
}
@@ -2017,7 +2182,7 @@ void HeightMapShape3DSW::set_data(const Variant &p_data) {
} else {
int heights_size = heights.size();
for (int i = 0; i < heights_size; ++i) {
- float h = heights[i];
+ real_t h = heights[i];
if (h < min_height) {
min_height = h;
} else if (h > max_height) {
diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h
index b05f65f268..73eddc469c 100644
--- a/servers/physics_3d/shape_3d_sw.h
+++ b/servers/physics_3d/shape_3d_sw.h
@@ -32,6 +32,7 @@
#define SHAPE_SW_H
#include "core/math/geometry_3d.h"
+#include "core/templates/local_vector.h"
#include "servers/physics_server_3d.h"
class Shape3DSW;
@@ -385,6 +386,21 @@ struct HeightMapShape3DSW : public ConcaveShape3DSW {
int depth = 0;
Vector3 local_origin;
+ // Accelerator.
+ struct Range {
+ real_t min = 0.0;
+ real_t max = 0.0;
+ };
+ LocalVector<Range> bounds_grid;
+ int bounds_grid_width = 0;
+ int bounds_grid_depth = 0;
+
+ static const int BOUNDS_CHUNK_SIZE = 16;
+
+ _FORCE_INLINE_ const Range &_get_bounds_chunk(int p_x, int p_z) const {
+ return bounds_grid[(p_z * bounds_grid_width) + p_x];
+ }
+
_FORCE_INLINE_ real_t _get_height(int p_x, int p_z) const {
return heights[(p_z * width) + p_x];
}
@@ -397,6 +413,11 @@ struct HeightMapShape3DSW : public ConcaveShape3DSW {
void _get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const;
+ void _build_accelerator();
+
+ template <typename ProcessFunction>
+ bool _intersect_grid_segment(ProcessFunction &p_process, const Vector3 &p_begin, const Vector3 &p_end, int p_width, int p_depth, const Vector3 &offset, Vector3 &r_point, Vector3 &r_normal) const;
+
void _setup(const Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
public:
generated by cgit v1.2.3 (git 2.25.1) at 2025-11-04 00:18:32 +0000