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-rw-r--r--COPYRIGHT.txt2
-rw-r--r--doc/classes/HeightMapShape3D.xml2
-rw-r--r--modules/bullet/shape_bullet.cpp25
-rw-r--r--modules/bullet/shape_bullet.h6
-rw-r--r--scene/resources/height_map_shape_3d.cpp12
-rw-r--r--scene/resources/height_map_shape_3d.h4
-rw-r--r--servers/physics_3d/shape_3d_sw.cpp372
-rw-r--r--servers/physics_3d/shape_3d_sw.h28
8 files changed, 379 insertions, 72 deletions
diff --git a/COPYRIGHT.txt b/COPYRIGHT.txt
index 6684978318..03baf65930 100644
--- a/COPYRIGHT.txt
+++ b/COPYRIGHT.txt
@@ -89,6 +89,8 @@ Files: ./servers/physics_3d/gjk_epa.cpp
./servers/physics_3d/joints/slider_joint_3d_sw.h
./servers/physics_3d/soft_body_3d_sw.cpp
./servers/physics_3d/soft_body_3d_sw.h
+ ./servers/physics_3d/shape_3d_sw.cpp
+ ./servers/physics_3d/shape_3d_sw.h
Comment: Bullet Continuous Collision Detection and Physics Library
Copyright: 2003-2008, Erwin Coumans
2007-2021, Juan Linietsky, Ariel Manzur.
diff --git a/doc/classes/HeightMapShape3D.xml b/doc/classes/HeightMapShape3D.xml
index 6d230bdab8..f6f2a27891 100644
--- a/doc/classes/HeightMapShape3D.xml
+++ b/doc/classes/HeightMapShape3D.xml
@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="HeightMapShape3D" inherits="Shape3D" version="4.0">
<brief_description>
- Height map shape for 3D physics (Bullet only).
+ Height map shape for 3D physics.
</brief_description>
<description>
Height map shape resource, which can be added to a [PhysicsBody3D] or [Area3D].
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index 471b154813..40e785d699 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -142,7 +142,7 @@ btScaledBvhTriangleMeshShape *ShapeBullet::create_shape_concave(btBvhTriangleMes
}
}
-btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
+btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
const btScalar ignoredHeightScale(1);
const int YAxis = 1; // 0=X, 1=Y, 2=Z
const bool flipQuadEdges = false;
@@ -480,17 +480,10 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
ERR_FAIL_COND_MSG(l_width < 2, "Map width must be at least 2.");
ERR_FAIL_COND_MSG(l_depth < 2, "Map depth must be at least 2.");
- // TODO This code will need adjustments if real_t is set to `double`,
- // because that precision is unnecessary for a heightmap and Bullet doesn't support it...
-
- Vector<real_t> l_heights;
+ Vector<float> l_heights;
Variant l_heights_v = d["heights"];
-#ifdef REAL_T_IS_DOUBLE
- if (l_heights_v.get_type() == Variant::PACKED_FLOAT64_ARRAY) {
-#else
if (l_heights_v.get_type() == Variant::PACKED_FLOAT32_ARRAY) {
-#endif
// Ready-to-use heights can be passed
l_heights = l_heights_v;
@@ -511,9 +504,9 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
l_heights.resize(l_image->get_width() * l_image->get_height());
- real_t *w = l_heights.ptrw();
+ float *w = l_heights.ptrw();
const uint8_t *r = im_data.ptr();
- real_t *rp = (real_t *)r;
+ float *rp = (float *)r;
// At this point, `rp` could be used directly for Bullet, but I don't know how safe it would be.
for (int i = 0; i < l_heights.size(); ++i) {
@@ -521,11 +514,7 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
}
} else {
-#ifdef REAL_T_IS_DOUBLE
- ERR_FAIL_MSG("Expected PackedFloat64Array or float Image.");
-#else
ERR_FAIL_MSG("Expected PackedFloat32Array or float Image.");
-#endif
}
ERR_FAIL_COND(l_width <= 0);
@@ -534,11 +523,11 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
// Compute min and max heights if not specified.
if (!d.has("min_height") && !d.has("max_height")) {
- const real_t *r = l_heights.ptr();
+ const float *r = l_heights.ptr();
int heights_size = l_heights.size();
for (int i = 0; i < heights_size; ++i) {
- real_t h = r[i];
+ float h = r[i];
if (h < l_min_height) {
l_min_height = h;
@@ -559,7 +548,7 @@ PhysicsServer3D::ShapeType HeightMapShapeBullet::get_type() const {
return PhysicsServer3D::SHAPE_HEIGHTMAP;
}
-void HeightMapShapeBullet::setup(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
+void HeightMapShapeBullet::setup(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
// TODO cell size must be tweaked using localScaling, which is a shared property for all Bullet shapes
// If this array is resized outside of here, it should be preserved due to CoW
diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h
index bfd95747eb..5080d13d99 100644
--- a/modules/bullet/shape_bullet.h
+++ b/modules/bullet/shape_bullet.h
@@ -89,7 +89,7 @@ public:
/// IMPORTANT: Remember to delete the shape interface by calling: delete my_shape->getMeshInterface();
static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
static class btScaledBvhTriangleMeshShape *create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
- static class btHeightfieldTerrainShape *create_shape_height_field(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
+ static class btHeightfieldTerrainShape *create_shape_height_field(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
static class btRayShape *create_shape_ray(real_t p_length, bool p_slips_on_slope);
};
@@ -212,7 +212,7 @@ private:
class HeightMapShapeBullet : public ShapeBullet {
public:
- Vector<real_t> heights;
+ Vector<float> heights;
int width = 0;
int depth = 0;
real_t min_height = 0.0;
@@ -226,7 +226,7 @@ public:
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
- void setup(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
+ void setup(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
};
class RayShapeBullet : public ShapeBullet {
diff --git a/scene/resources/height_map_shape_3d.cpp b/scene/resources/height_map_shape_3d.cpp
index 5593bb766f..6bb0faf098 100644
--- a/scene/resources/height_map_shape_3d.cpp
+++ b/scene/resources/height_map_shape_3d.cpp
@@ -41,7 +41,7 @@ Vector<Vector3> HeightMapShape3D::get_debug_mesh_lines() const {
Vector2 size(map_width - 1, map_depth - 1);
Vector2 start = size * -0.5;
- const real_t *r = map_data.ptr();
+ const float *r = map_data.ptr();
// reserve some memory for our points..
points.resize(((map_width - 1) * map_depth * 2) + (map_width * (map_depth - 1) * 2));
@@ -100,7 +100,7 @@ void HeightMapShape3D::set_map_width(int p_new) {
int new_size = map_width * map_depth;
map_data.resize(map_width * map_depth);
- real_t *w = map_data.ptrw();
+ float *w = map_data.ptrw();
while (was_size < new_size) {
w[was_size++] = 0.0;
}
@@ -124,7 +124,7 @@ void HeightMapShape3D::set_map_depth(int p_new) {
int new_size = map_width * map_depth;
map_data.resize(new_size);
- real_t *w = map_data.ptrw();
+ float *w = map_data.ptrw();
while (was_size < new_size) {
w[was_size++] = 0.0;
}
@@ -146,8 +146,8 @@ void HeightMapShape3D::set_map_data(PackedFloat32Array p_new) {
}
// copy
- real_t *w = map_data.ptrw();
- const real_t *r = p_new.ptr();
+ float *w = map_data.ptrw();
+ const float *r = p_new.ptr();
for (int i = 0; i < size; i++) {
float val = r[i];
w[i] = val;
@@ -189,7 +189,7 @@ void HeightMapShape3D::_bind_methods() {
HeightMapShape3D::HeightMapShape3D() :
Shape3D(PhysicsServer3D::get_singleton()->shape_create(PhysicsServer3D::SHAPE_HEIGHTMAP)) {
map_data.resize(map_width * map_depth);
- real_t *w = map_data.ptrw();
+ float *w = map_data.ptrw();
w[0] = 0.0;
w[1] = 0.0;
w[2] = 0.0;
diff --git a/scene/resources/height_map_shape_3d.h b/scene/resources/height_map_shape_3d.h
index 6fc88cff90..1219791c56 100644
--- a/scene/resources/height_map_shape_3d.h
+++ b/scene/resources/height_map_shape_3d.h
@@ -39,8 +39,8 @@ class HeightMapShape3D : public Shape3D {
int map_width = 2;
int map_depth = 2;
PackedFloat32Array map_data;
- float min_height = 0.0;
- float max_height = 0.0;
+ real_t min_height = 0.0;
+ real_t max_height = 0.0;
protected:
static void _bind_methods();
diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp
index bf0946a0e2..48fa9c2813 100644
--- a/servers/physics_3d/shape_3d_sw.cpp
+++ b/servers/physics_3d/shape_3d_sw.cpp
@@ -30,10 +30,28 @@
#include "shape_3d_sw.h"
+#include "core/io/image.h"
#include "core/math/geometry_3d.h"
#include "core/math/quick_hull.h"
#include "core/templates/sort_array.h"
+// HeightMapShape3DSW is based on Bullet btHeightfieldTerrainShape.
+
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
#define _EDGE_IS_VALID_SUPPORT_THRESHOLD 0.0002
#define _FACE_IS_VALID_SUPPORT_THRESHOLD 0.9998
@@ -1614,7 +1632,7 @@ ConcavePolygonShape3DSW::ConcavePolygonShape3DSW() {
/* HEIGHT MAP SHAPE */
-Vector<real_t> HeightMapShape3DSW::get_heights() const {
+Vector<float> HeightMapShape3DSW::get_heights() const {
return heights;
}
@@ -1626,10 +1644,6 @@ int HeightMapShape3DSW::get_depth() const {
return depth;
}
-real_t HeightMapShape3DSW::get_cell_size() const {
- return cell_size;
-}
-
void HeightMapShape3DSW::project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const {
//not very useful, but not very used either
p_transform.xform(get_aabb()).project_range_in_plane(Plane(p_normal, 0), r_min, r_max);
@@ -1640,7 +1654,198 @@ Vector3 HeightMapShape3DSW::get_support(const Vector3 &p_normal) const {
return get_aabb().get_support(p_normal);
}
+struct _HeightmapSegmentCullParams {
+ Vector3 from;
+ Vector3 to;
+ Vector3 dir;
+
+ Vector3 result;
+ Vector3 normal;
+
+ const HeightMapShape3DSW *heightmap = nullptr;
+ FaceShape3DSW *face = nullptr;
+};
+
+_FORCE_INLINE_ bool _heightmap_face_cull_segment(_HeightmapSegmentCullParams &p_params) {
+ Vector3 res;
+ Vector3 normal;
+ if (p_params.face->intersect_segment(p_params.from, p_params.to, res, normal)) {
+ p_params.result = res;
+ p_params.normal = normal;
+ return true;
+ }
+
+ return false;
+}
+
+_FORCE_INLINE_ bool _heightmap_cell_cull_segment(_HeightmapSegmentCullParams &p_params, int p_x, int p_z) {
+ // 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.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;
+ }
+
+ // 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.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;
+ }
+
+ 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()) {
+ return false;
+ }
+
+ Vector3 local_begin = p_begin + local_origin;
+ Vector3 local_end = p_end + local_origin;
+
+ 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;
+
+ // 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);
+
+ 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();
+
+ if (ray_dist_proj < CMP_EPSILON) {
+ ray_dir_proj = Vector2();
+ } else {
+ ray_dir_proj /= ray_dist_proj;
+ }
+
+ 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 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;
+
+ 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;
+ }
+ } 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;
+ }
+ } else {
+ cross_z = infinite; // Will never cross on Z.
+ }
+
+ int x = floor(local_begin.x);
+ int z = floor(local_begin.z);
+
+ // Workaround cases where the ray starts at an integer position.
+ if (Math::abs(cross_x) < CMP_EPSILON) {
+ 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::abs(cross_z) < CMP_EPSILON) {
+ cross_z += delta_z;
+ if (z_step == -1) {
+ z -= 1;
+ }
+ }
+
+ // 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);
+
+ x = x_start;
+ z = z_start;
+
+ if (_heightmap_cell_cull_segment(params, x, z)) {
+ 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 >= width - 1) || (z >= depth - 1)) {
+ break;
+ }
+
+ if (_heightmap_cell_cull_segment(params, x, z)) {
+ r_point = params.result;
+ r_normal = params.normal;
+ return true;
+ }
+
+ if (dist > ray_dist_proj) {
+ break;
+ }
+ }
+ }
+
return false;
}
@@ -1652,7 +1857,66 @@ Vector3 HeightMapShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
return Vector3();
}
+void HeightMapShape3DSW::_get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const {
+ const AABB &aabb = get_aabb();
+
+ Vector3 pos_local = aabb.position + local_origin;
+
+ Vector3 clamped_point(p_point);
+ clamped_point.x = CLAMP(p_point.x, pos_local.x, pos_local.x + aabb.size.x);
+ clamped_point.y = CLAMP(p_point.y, pos_local.y, pos_local.y + aabb.size.y);
+ clamped_point.z = CLAMP(p_point.z, pos_local.z, pos_local.x + aabb.size.z);
+
+ r_x = (clamped_point.x < 0.0) ? (clamped_point.x - 0.5) : (clamped_point.x + 0.5);
+ r_y = (clamped_point.y < 0.0) ? (clamped_point.y - 0.5) : (clamped_point.y + 0.5);
+ r_z = (clamped_point.z < 0.0) ? (clamped_point.z - 0.5) : (clamped_point.z + 0.5);
+}
+
void HeightMapShape3DSW::cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const {
+ if (heights.is_empty()) {
+ return;
+ }
+
+ AABB local_aabb = p_local_aabb;
+ local_aabb.position += local_origin;
+
+ // Quantize the aabb, and adjust the start/end ranges.
+ int aabb_min[3];
+ int aabb_max[3];
+ _get_cell(local_aabb.position, aabb_min[0], aabb_min[1], aabb_min[2]);
+ _get_cell(local_aabb.position + local_aabb.size, aabb_max[0], aabb_max[1], aabb_max[2]);
+
+ // Expand the min/max quantized values.
+ // This is to catch the case where the input aabb falls between grid points.
+ for (int i = 0; i < 3; ++i) {
+ aabb_min[i]--;
+ aabb_max[i]++;
+ }
+
+ int start_x = MAX(0, aabb_min[0]);
+ int end_x = MIN(width - 1, aabb_max[0]);
+ int start_z = MAX(0, aabb_min[2]);
+ int end_z = MIN(depth - 1, aabb_max[2]);
+
+ FaceShape3DSW face;
+ face.backface_collision = true;
+
+ for (int z = start_z; z < end_z; z++) {
+ for (int x = start_x; x < end_x; x++) {
+ // First triangle.
+ _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;
+ p_callback(p_userdata, &face);
+
+ // 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;
+ p_callback(p_userdata, &face);
+ }
+ }
}
Vector3 HeightMapShape3DSW::get_moment_of_inertia(real_t p_mass) const {
@@ -1665,58 +1929,102 @@ 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::_setup(Vector<real_t> p_heights, int p_width, int p_depth, real_t p_cell_size) {
+void HeightMapShape3DSW::_setup(const Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
heights = p_heights;
width = p_width;
depth = p_depth;
- cell_size = p_cell_size;
-
- const real_t *r = heights.ptr();
+ // Initialize aabb.
AABB aabb;
+ aabb.position = Vector3(0.0, p_min_height, 0.0);
+ aabb.size = Vector3(p_width - 1, p_max_height - p_min_height, p_depth - 1);
- for (int i = 0; i < depth; i++) {
- for (int j = 0; j < width; j++) {
- real_t h = r[i * width + j];
+ // Initialize origin as the aabb center.
+ local_origin = aabb.position + 0.5 * aabb.size;
+ local_origin.y = 0.0;
- Vector3 pos(j * cell_size, h, i * cell_size);
- if (i == 0 || j == 0) {
- aabb.position = pos;
- } else {
- aabb.expand_to(pos);
- }
- }
- }
+ aabb.position -= local_origin;
configure(aabb);
}
void HeightMapShape3DSW::set_data(const Variant &p_data) {
ERR_FAIL_COND(p_data.get_type() != Variant::DICTIONARY);
+
Dictionary d = p_data;
ERR_FAIL_COND(!d.has("width"));
ERR_FAIL_COND(!d.has("depth"));
- ERR_FAIL_COND(!d.has("cell_size"));
ERR_FAIL_COND(!d.has("heights"));
int width = d["width"];
int depth = d["depth"];
- real_t cell_size = d["cell_size"];
- Vector<real_t> heights = d["heights"];
- ERR_FAIL_COND(width <= 0);
- ERR_FAIL_COND(depth <= 0);
- ERR_FAIL_COND(cell_size <= CMP_EPSILON);
- ERR_FAIL_COND(heights.size() != (width * depth));
- _setup(heights, width, depth, cell_size);
+ ERR_FAIL_COND(width <= 0.0);
+ ERR_FAIL_COND(depth <= 0.0);
+
+ Variant heights_variant = d["heights"];
+ Vector<float> heights_buffer;
+ if (heights_variant.get_type() == Variant::PACKED_FLOAT32_ARRAY) {
+ // Ready-to-use heights can be passed.
+ heights_buffer = heights_variant;
+ } else if (heights_variant.get_type() == Variant::OBJECT) {
+ // If an image is passed, we have to convert it.
+ // This would be expensive to do with a script, so it's nice to have it here.
+ Ref<Image> image = heights_variant;
+ ERR_FAIL_COND(image.is_null());
+ ERR_FAIL_COND(image->get_format() != Image::FORMAT_RF);
+
+ PackedByteArray im_data = image->get_data();
+ heights_buffer.resize(image->get_width() * image->get_height());
+
+ float *w = heights_buffer.ptrw();
+ float *rp = (float *)im_data.ptr();
+ for (int i = 0; i < heights_buffer.size(); ++i) {
+ w[i] = rp[i];
+ }
+ } else {
+ ERR_FAIL_MSG("Expected PackedFloat32Array or float Image.");
+ }
+
+ // Compute min and max heights or use precomputed values.
+ real_t min_height = 0.0;
+ real_t max_height = 0.0;
+ if (d.has("min_height") && d.has("max_height")) {
+ min_height = d["min_height"];
+ max_height = d["max_height"];
+ } else {
+ int heights_size = heights.size();
+ for (int i = 0; i < heights_size; ++i) {
+ float h = heights[i];
+ if (h < min_height) {
+ min_height = h;
+ } else if (h > max_height) {
+ max_height = h;
+ }
+ }
+ }
+
+ ERR_FAIL_COND(min_height > max_height);
+
+ ERR_FAIL_COND(heights_buffer.size() != (width * depth));
+
+ // If specified, min and max height will be used as precomputed values.
+ _setup(heights_buffer, width, depth, min_height, max_height);
}
Variant HeightMapShape3DSW::get_data() const {
- ERR_FAIL_V(Variant());
+ Dictionary d;
+ d["width"] = width;
+ d["depth"] = depth;
+
+ const AABB &aabb = get_aabb();
+ d["min_height"] = aabb.position.y;
+ d["max_height"] = aabb.position.y + aabb.size.y;
+
+ d["heights"] = heights;
+
+ return d;
}
HeightMapShape3DSW::HeightMapShape3DSW() {
- width = 0;
- depth = 0;
- cell_size = 0;
}
diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h
index 988e76c699..4d2b6ffbed 100644
--- a/servers/physics_3d/shape_3d_sw.h
+++ b/servers/physics_3d/shape_3d_sw.h
@@ -81,7 +81,7 @@ public:
virtual PhysicsServer3D::ShapeType get_type() const = 0;
- _FORCE_INLINE_ AABB get_aabb() const { return aabb; }
+ _FORCE_INLINE_ const AABB &get_aabb() const { return aabb; }
_FORCE_INLINE_ bool is_configured() const { return configured; }
virtual bool is_concave() const { return false; }
@@ -389,21 +389,29 @@ public:
};
struct HeightMapShape3DSW : public ConcaveShape3DSW {
- Vector<real_t> heights;
- int width;
- int depth;
- real_t cell_size;
+ Vector<float> heights;
+ int width = 0;
+ int depth = 0;
+ Vector3 local_origin;
- //void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
- //void _cull(int p_idx,_CullParams *p_params) const;
+ _FORCE_INLINE_ float _get_height(int p_x, int p_z) const {
+ return heights[(p_z * width) + p_x];
+ }
+
+ _FORCE_INLINE_ void _get_point(int p_x, int p_z, Vector3 &r_point) const {
+ r_point.x = p_x - 0.5 * (width - 1.0);
+ r_point.y = _get_height(p_x, p_z);
+ r_point.z = p_z - 0.5 * (depth - 1.0);
+ }
+
+ void _get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const;
- void _setup(Vector<real_t> p_heights, int p_width, int p_depth, real_t p_cell_size);
+ void _setup(const Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
public:
- Vector<real_t> get_heights() const;
+ Vector<float> get_heights() const;
int get_width() const;
int get_depth() const;
- real_t get_cell_size() const;
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_HEIGHTMAP; }
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 13:51:36 +0000