diff options
Diffstat (limited to 'core/math')
| -rw-r--r-- | core/math/a_star.cpp | 24 | ||||
| -rw-r--r-- | core/math/a_star.h | 2 | ||||
| -rw-r--r-- | core/math/aabb.h | 20 | ||||
| -rw-r--r-- | core/math/delaunay.cpp | 1 | ||||
| -rw-r--r-- | core/math/delaunay.h | 145 | ||||
| -rw-r--r-- | core/math/matrix3.cpp | 26 | ||||
| -rw-r--r-- | core/math/matrix3.h | 4 | ||||
| -rw-r--r-- | core/math/quat.cpp | 16 | ||||
| -rw-r--r-- | core/math/quat.h | 4 | ||||
| -rw-r--r-- | core/math/transform.cpp | 4 | ||||
| -rw-r--r-- | core/math/triangle_mesh.cpp | 236 | ||||
| -rw-r--r-- | core/math/triangle_mesh.h | 6 |
12 files changed, 458 insertions, 30 deletions
diff --git a/core/math/a_star.cpp b/core/math/a_star.cpp index 6908d7831d..021391da83 100644 --- a/core/math/a_star.cpp +++ b/core/math/a_star.cpp @@ -96,11 +96,11 @@ void AStar::remove_point(int p_id) { Point *p = points[p_id]; - for (int i = 0; i < p->neighbours.size(); i++) { + for (Set<Point *>::Element *E = p->neighbours.front(); E; E = E->next()) { - Segment s(p_id, p->neighbours[i]->id); + Segment s(p_id, E->get()->id); segments.erase(s); - p->neighbours[i]->neighbours.erase(p); + E->get()->neighbours.erase(p); } memdelete(p); @@ -115,10 +115,10 @@ void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) { Point *a = points[p_id]; Point *b = points[p_with_id]; - a->neighbours.push_back(b); + a->neighbours.insert(b); if (bidirectional) - b->neighbours.push_back(a); + b->neighbours.insert(a); Segment s(p_id, p_with_id); if (s.from == p_id) { @@ -168,8 +168,8 @@ PoolVector<int> AStar::get_point_connections(int p_id) { Point *p = points[p_id]; - for (int i = 0; i < p->neighbours.size(); i++) { - point_list.push_back(p->neighbours[i]->id); + for (Set<Point *>::Element *E = p->neighbours.front(); E; E = E->next()) { + point_list.push_back(E->get()->id); } return point_list; @@ -242,9 +242,9 @@ bool AStar::_solve(Point *begin_point, Point *end_point) { bool found_route = false; - for (int i = 0; i < begin_point->neighbours.size(); i++) { + for (Set<Point *>::Element *E = begin_point->neighbours.front(); E; E = E->next()) { - Point *n = begin_point->neighbours[i]; + Point *n = E->get(); n->prev_point = begin_point; n->distance = _compute_cost(begin_point->id, n->id) * n->weight_scale; n->last_pass = pass; @@ -283,12 +283,10 @@ bool AStar::_solve(Point *begin_point, Point *end_point) { } Point *p = least_cost_point->self(); - // Open the neighbours for search - int es = p->neighbours.size(); - for (int i = 0; i < es; i++) { + for (Set<Point *>::Element *E = p->neighbours.front(); E; E = E->next()) { - Point *e = p->neighbours[i]; + Point *e = E->get(); real_t distance = _compute_cost(p->id, e->id) * e->weight_scale + p->distance; diff --git a/core/math/a_star.h b/core/math/a_star.h index f89e17c7bb..8c1b5f64cb 100644 --- a/core/math/a_star.h +++ b/core/math/a_star.h @@ -54,7 +54,7 @@ class AStar : public Reference { real_t weight_scale; uint64_t last_pass; - Vector<Point *> neighbours; + Set<Point *> neighbours; // Used for pathfinding Point *prev_point; diff --git a/core/math/aabb.h b/core/math/aabb.h index 39b8f403e7..cdb8eb48a3 100644 --- a/core/math/aabb.h +++ b/core/math/aabb.h @@ -76,6 +76,7 @@ public: _FORCE_INLINE_ bool smits_intersect_ray(const Vector3 &p_from, const Vector3 &p_dir, real_t t0, real_t t1) const; _FORCE_INLINE_ bool intersects_convex_shape(const Plane *p_planes, int p_plane_count) const; + _FORCE_INLINE_ bool inside_convex_shape(const Plane *p_planes, int p_plane_count) const; bool intersects_plane(const Plane &p_plane) const; _FORCE_INLINE_ bool has_point(const Vector3 &p_point) const; @@ -207,6 +208,25 @@ bool AABB::intersects_convex_shape(const Plane *p_planes, int p_plane_count) con return true; } +bool AABB::inside_convex_shape(const Plane *p_planes, int p_plane_count) const { + + Vector3 half_extents = size * 0.5; + Vector3 ofs = position + half_extents; + + for (int i = 0; i < p_plane_count; i++) { + const Plane &p = p_planes[i]; + Vector3 point( + (p.normal.x < 0) ? -half_extents.x : half_extents.x, + (p.normal.y < 0) ? -half_extents.y : half_extents.y, + (p.normal.z < 0) ? -half_extents.z : half_extents.z); + point += ofs; + if (p.is_point_over(point)) + return false; + } + + return true; +} + bool AABB::has_point(const Vector3 &p_point) const { if (p_point.x < position.x) diff --git a/core/math/delaunay.cpp b/core/math/delaunay.cpp new file mode 100644 index 0000000000..8cae92b7c0 --- /dev/null +++ b/core/math/delaunay.cpp @@ -0,0 +1 @@ +#include "delaunay.h" diff --git a/core/math/delaunay.h b/core/math/delaunay.h new file mode 100644 index 0000000000..09aebc773f --- /dev/null +++ b/core/math/delaunay.h @@ -0,0 +1,145 @@ +#ifndef DELAUNAY_H +#define DELAUNAY_H + +#include "math_2d.h" + +class Delaunay2D { +public: + struct Triangle { + + int points[3]; + bool bad; + Triangle() { bad = false; } + Triangle(int p_a, int p_b, int p_c) { + points[0] = p_a; + points[1] = p_b; + points[2] = p_c; + bad = false; + } + }; + + struct Edge { + int edge[2]; + bool bad; + Edge() { bad = false; } + Edge(int p_a, int p_b) { + bad = false; + edge[0] = p_a; + edge[1] = p_b; + } + }; + + static bool circum_circle_contains(const Vector<Vector2> &p_vertices, const Triangle &p_triangle, int p_vertex) { + + Vector2 p1 = p_vertices[p_triangle.points[0]]; + Vector2 p2 = p_vertices[p_triangle.points[1]]; + Vector2 p3 = p_vertices[p_triangle.points[2]]; + + real_t ab = p1.x * p1.x + p1.y * p1.y; + real_t cd = p2.x * p2.x + p2.y * p2.y; + real_t ef = p3.x * p3.x + p3.y * p3.y; + + Vector2 circum( + (ab * (p3.y - p2.y) + cd * (p1.y - p3.y) + ef * (p2.y - p1.y)) / (p1.x * (p3.y - p2.y) + p2.x * (p1.y - p3.y) + p3.x * (p2.y - p1.y)), + (ab * (p3.x - p2.x) + cd * (p1.x - p3.x) + ef * (p2.x - p1.x)) / (p1.y * (p3.x - p2.x) + p2.y * (p1.x - p3.x) + p3.y * (p2.x - p1.x))); + + circum *= 0.5; + float r = p1.distance_squared_to(circum); + float d = p_vertices[p_vertex].distance_squared_to(circum); + return d <= r; + } + + static bool edge_compare(const Vector<Vector2> &p_vertices, const Edge &p_a, const Edge &p_b) { + if (p_vertices[p_a.edge[0]].distance_to(p_vertices[p_b.edge[0]]) < CMP_EPSILON && p_vertices[p_a.edge[1]].distance_to(p_vertices[p_b.edge[1]]) < CMP_EPSILON) { + return true; + } + + if (p_vertices[p_a.edge[0]].distance_to(p_vertices[p_b.edge[1]]) < CMP_EPSILON && p_vertices[p_a.edge[1]].distance_to(p_vertices[p_b.edge[0]]) < CMP_EPSILON) { + return true; + } + + return false; + } + + static Vector<Triangle> triangulate(const Vector<Vector2> &p_points) { + + Vector<Vector2> points = p_points; + Vector<Triangle> triangles; + + Rect2 rect; + for (int i = 0; i < p_points.size(); i++) { + if (i == 0) { + rect.position = p_points[i]; + } else { + rect.expand_to(p_points[i]); + } + } + + float delta_max = MAX(rect.size.width, rect.size.height); + Vector2 center = rect.position + rect.size * 0.5; + + points.push_back(Vector2(center.x - 20 * delta_max, center.y - delta_max)); + points.push_back(Vector2(center.x, center.y + 20 * delta_max)); + points.push_back(Vector2(center.x + 20 * delta_max, center.y - delta_max)); + + triangles.push_back(Triangle(p_points.size() + 0, p_points.size() + 1, p_points.size() + 2)); + + for (int i = 0; i < p_points.size(); i++) { + //std::cout << "Traitement du point " << *p << std::endl; + //std::cout << "_triangles contains " << _triangles.size() << " elements" << std::endl; + + Vector<Edge> polygon; + + for (int j = 0; j < triangles.size(); j++) { + if (circum_circle_contains(points, triangles[j], i)) { + triangles[j].bad = true; + polygon.push_back(Edge(triangles[j].points[0], triangles[j].points[1])); + polygon.push_back(Edge(triangles[j].points[1], triangles[j].points[2])); + polygon.push_back(Edge(triangles[j].points[2], triangles[j].points[0])); + } + } + + for (int j = 0; j < triangles.size(); j++) { + if (triangles[j].bad) { + triangles.remove(j); + j--; + } + } + + for (int j = 0; j < polygon.size(); j++) { + for (int k = j + 1; k < polygon.size(); k++) { + if (edge_compare(points, polygon[j], polygon[k])) { + polygon[j].bad = true; + polygon[k].bad = true; + } + } + } + + for (int j = 0; j < polygon.size(); j++) { + + if (polygon[j].bad) { + continue; + } + triangles.push_back(Triangle(polygon[j].edge[0], polygon[j].edge[1], i)); + } + } + + for (int i = 0; i < triangles.size(); i++) { + bool invalid = false; + for (int j = 0; j < 3; j++) { + if (triangles[i].points[j] >= p_points.size()) { + invalid = true; + break; + } + } + if (invalid) { + triangles.remove(i); + i--; + } + } + + return triangles; + } +}; + +#endif // DELAUNAY_H diff --git a/core/math/matrix3.cpp b/core/math/matrix3.cpp index 8ee8ccb457..2371f49561 100644 --- a/core/math/matrix3.cpp +++ b/core/math/matrix3.cpp @@ -356,8 +356,7 @@ void Basis::rotate(const Quat &p_quat) { *this = rotated(p_quat); } -// TODO: rename this to get_rotation_euler -Vector3 Basis::get_rotation() const { +Vector3 Basis::get_rotation_euler() const { // Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S, // and returns the Euler angles corresponding to the rotation part, complementing get_scale(). // See the comment in get_scale() for further information. @@ -371,6 +370,20 @@ Vector3 Basis::get_rotation() const { return m.get_euler(); } +Quat Basis::get_rotation_quat() const { + // Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S, + // and returns the Euler angles corresponding to the rotation part, complementing get_scale(). + // See the comment in get_scale() for further information. + Basis m = orthonormalized(); + real_t det = m.determinant(); + if (det < 0) { + // Ensure that the determinant is 1, such that result is a proper rotation matrix which can be represented by Euler angles. + m.scale(Vector3(-1, -1, -1)); + } + + return m.get_quat(); +} + void Basis::get_rotation_axis_angle(Vector3 &p_axis, real_t &p_angle) const { // Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S, // and returns the Euler angles corresponding to the rotation part, complementing get_scale(). @@ -591,10 +604,9 @@ Basis::operator String() const { } Quat Basis::get_quat() const { - //commenting this check because precision issues cause it to fail when it shouldn't - //#ifdef MATH_CHECKS - //ERR_FAIL_COND_V(is_rotation() == false, Quat()); - //#endif +#ifdef MATH_CHECKS + ERR_FAIL_COND_V(is_rotation() == false, Quat()); +#endif real_t trace = elements[0][0] + elements[1][1] + elements[2][2]; real_t temp[4]; @@ -828,7 +840,7 @@ void Basis::set_diagonal(const Vector3 p_diag) { } Basis Basis::slerp(const Basis &target, const real_t &t) const { - // TODO: implement this directly without using quaternions to make it more efficient +// TODO: implement this directly without using quaternions to make it more efficient #ifdef MATH_CHECKS ERR_FAIL_COND_V(is_rotation() == false, Basis()); ERR_FAIL_COND_V(target.is_rotation() == false, Basis()); diff --git a/core/math/matrix3.h b/core/math/matrix3.h index 63d4f5d79d..cd1b51baa6 100644 --- a/core/math/matrix3.h +++ b/core/math/matrix3.h @@ -84,9 +84,11 @@ public: void rotate(const Quat &p_quat); Basis rotated(const Quat &p_quat) const; - Vector3 get_rotation() const; + Vector3 get_rotation_euler() const; void get_rotation_axis_angle(Vector3 &p_axis, real_t &p_angle) const; void get_rotation_axis_angle_local(Vector3 &p_axis, real_t &p_angle) const; + Quat get_rotation_quat() const; + Vector3 get_rotation() const { return get_rotation_euler(); }; Vector3 rotref_posscale_decomposition(Basis &rotref) const; diff --git a/core/math/quat.cpp b/core/math/quat.cpp index b938fc3cfd..67c9048a41 100644 --- a/core/math/quat.cpp +++ b/core/math/quat.cpp @@ -139,15 +139,15 @@ bool Quat::is_normalized() const { Quat Quat::inverse() const { #ifdef MATH_CHECKS - ERR_FAIL_COND_V(is_normalized() == false, Quat(0, 0, 0, 0)); + ERR_FAIL_COND_V(is_normalized() == false, Quat()); #endif return Quat(-x, -y, -z, w); } Quat Quat::slerp(const Quat &q, const real_t &t) const { #ifdef MATH_CHECKS - ERR_FAIL_COND_V(is_normalized() == false, Quat(0, 0, 0, 0)); - ERR_FAIL_COND_V(q.is_normalized() == false, Quat(0, 0, 0, 0)); + ERR_FAIL_COND_V(is_normalized() == false, Quat()); + ERR_FAIL_COND_V(q.is_normalized() == false, Quat()); #endif Quat to1; real_t omega, cosom, sinom, scale0, scale1; @@ -192,7 +192,10 @@ Quat Quat::slerp(const Quat &q, const real_t &t) const { } Quat Quat::slerpni(const Quat &q, const real_t &t) const { - +#ifdef MATH_CHECKS + ERR_FAIL_COND_V(is_normalized() == false, Quat()); + ERR_FAIL_COND_V(q.is_normalized() == false, Quat()); +#endif const Quat &from = *this; real_t dot = from.dot(q); @@ -211,7 +214,10 @@ Quat Quat::slerpni(const Quat &q, const real_t &t) const { } Quat Quat::cubic_slerp(const Quat &q, const Quat &prep, const Quat &postq, const real_t &t) const { - +#ifdef MATH_CHECKS + ERR_FAIL_COND_V(is_normalized() == false, Quat()); + ERR_FAIL_COND_V(q.is_normalized() == false, Quat()); +#endif //the only way to do slerp :| real_t t2 = (1.0 - t) * t * 2; Quat sp = this->slerp(q, t); diff --git a/core/math/quat.h b/core/math/quat.h index 3e1344a913..6dc8d66f60 100644 --- a/core/math/quat.h +++ b/core/math/quat.h @@ -84,7 +84,9 @@ public: } _FORCE_INLINE_ Vector3 xform(const Vector3 &v) const { - +#ifdef MATH_CHECKS + ERR_FAIL_COND_V(is_normalized() == false, v); +#endif Vector3 u(x, y, z); Vector3 uv = u.cross(v); return v + ((uv * w) + u.cross(uv)) * ((real_t)2); diff --git a/core/math/transform.cpp b/core/math/transform.cpp index 7cd186ca60..d1e190f4b9 100644 --- a/core/math/transform.cpp +++ b/core/math/transform.cpp @@ -120,11 +120,11 @@ Transform Transform::interpolate_with(const Transform &p_transform, real_t p_c) /* not sure if very "efficient" but good enough? */ Vector3 src_scale = basis.get_scale(); - Quat src_rot = basis.orthonormalized(); + Quat src_rot = basis.get_rotation_quat(); Vector3 src_loc = origin; Vector3 dst_scale = p_transform.basis.get_scale(); - Quat dst_rot = p_transform.basis; + Quat dst_rot = p_transform.basis.get_rotation_quat(); Vector3 dst_loc = p_transform.origin; Transform dst; //this could be made faster by using a single function in Basis.. diff --git a/core/math/triangle_mesh.cpp b/core/math/triangle_mesh.cpp index edd4ad3441..5475f733c3 100644 --- a/core/math/triangle_mesh.cpp +++ b/core/math/triangle_mesh.cpp @@ -88,6 +88,26 @@ int TriangleMesh::_create_bvh(BVH *p_bvh, BVH **p_bb, int p_from, int p_size, in return index; } +void TriangleMesh::get_indices(PoolVector<int> *r_triangles_indices) const { + + if (!valid) + return; + + const int triangles_num = triangles.size(); + + // Parse vertices indices + PoolVector<Triangle>::Read triangles_read = triangles.read(); + + r_triangles_indices->resize(triangles_num * 3); + PoolVector<int>::Write r_indices_write = r_triangles_indices->write(); + + for (int i = 0; i < triangles_num; ++i) { + r_indices_write[3 * i + 0] = triangles_read[i].indices[0]; + r_indices_write[3 * i + 1] = triangles_read[i].indices[1]; + r_indices_write[3 * i + 2] = triangles_read[i].indices[2]; + } +} + void TriangleMesh::create(const PoolVector<Vector3> &p_faces) { valid = false; @@ -490,6 +510,222 @@ bool TriangleMesh::intersect_ray(const Vector3 &p_begin, const Vector3 &p_dir, V return inters; } +bool TriangleMesh::intersect_convex_shape(const Plane *p_planes, int p_plane_count) const { + uint32_t *stack = (uint32_t *)alloca(sizeof(int) * max_depth); + + //p_fully_inside = true; + + enum { + TEST_AABB_BIT = 0, + VISIT_LEFT_BIT = 1, + VISIT_RIGHT_BIT = 2, + VISIT_DONE_BIT = 3, + VISITED_BIT_SHIFT = 29, + NODE_IDX_MASK = (1 << VISITED_BIT_SHIFT) - 1, + VISITED_BIT_MASK = ~NODE_IDX_MASK, + + }; + + int level = 0; + + PoolVector<Triangle>::Read trianglesr = triangles.read(); + PoolVector<Vector3>::Read verticesr = vertices.read(); + PoolVector<BVH>::Read bvhr = bvh.read(); + + const Triangle *triangleptr = trianglesr.ptr(); + const Vector3 *vertexptr = verticesr.ptr(); + int pos = bvh.size() - 1; + const BVH *bvhptr = bvhr.ptr(); + + stack[0] = pos; + while (true) { + + uint32_t node = stack[level] & NODE_IDX_MASK; + const BVH &b = bvhptr[node]; + bool done = false; + + switch (stack[level] >> VISITED_BIT_SHIFT) { + case TEST_AABB_BIT: { + + bool valid = b.aabb.intersects_convex_shape(p_planes, p_plane_count); + if (!valid) { + + stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node; + + } else { + + if (b.face_index >= 0) { + + const Triangle &s = triangleptr[b.face_index]; + + for (int j = 0; j < 3; ++j) { + const Vector3 &point = vertexptr[s.indices[j]]; + const Vector3 &next_point = vertexptr[s.indices[(j + 1) % 3]]; + Vector3 res; + bool over = true; + for (int i = 0; i < p_plane_count; i++) { + const Plane &p = p_planes[i]; + + if (p.intersects_segment(point, next_point, &res)) { + bool inisde = true; + for (int k = 0; k < p_plane_count; k++) { + if (k == i) continue; + const Plane &pp = p_planes[k]; + if (pp.is_point_over(res)) { + inisde = false; + break; + } + } + if (inisde) return true; + } + + if (p.is_point_over(point)) { + over = false; + break; + } + } + if (over) return true; + } + + stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node; + + } else { + + stack[level] = (VISIT_LEFT_BIT << VISITED_BIT_SHIFT) | node; + } + } + continue; + } + case VISIT_LEFT_BIT: { + + stack[level] = (VISIT_RIGHT_BIT << VISITED_BIT_SHIFT) | node; + stack[level + 1] = b.left | TEST_AABB_BIT; + level++; + continue; + } + case VISIT_RIGHT_BIT: { + + stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node; + stack[level + 1] = b.right | TEST_AABB_BIT; + level++; + continue; + } + case VISIT_DONE_BIT: { + + if (level == 0) { + done = true; + break; + } else + level--; + continue; + } + } + + if (done) + break; + } + + return false; +} + +bool TriangleMesh::inside_convex_shape(const Plane *p_planes, int p_plane_count, Vector3 p_scale) const { + uint32_t *stack = (uint32_t *)alloca(sizeof(int) * max_depth); + + enum { + TEST_AABB_BIT = 0, + VISIT_LEFT_BIT = 1, + VISIT_RIGHT_BIT = 2, + VISIT_DONE_BIT = 3, + VISITED_BIT_SHIFT = 29, + NODE_IDX_MASK = (1 << VISITED_BIT_SHIFT) - 1, + VISITED_BIT_MASK = ~NODE_IDX_MASK, + + }; + + int level = 0; + + PoolVector<Triangle>::Read trianglesr = triangles.read(); + PoolVector<Vector3>::Read verticesr = vertices.read(); + PoolVector<BVH>::Read bvhr = bvh.read(); + + Transform scale(Basis().scaled(p_scale)); + + const Triangle *triangleptr = trianglesr.ptr(); + const Vector3 *vertexptr = verticesr.ptr(); + int pos = bvh.size() - 1; + const BVH *bvhptr = bvhr.ptr(); + + stack[0] = pos; + while (true) { + + uint32_t node = stack[level] & NODE_IDX_MASK; + const BVH &b = bvhptr[node]; + bool done = false; + + switch (stack[level] >> VISITED_BIT_SHIFT) { + case TEST_AABB_BIT: { + + bool intersects = scale.xform(b.aabb).intersects_convex_shape(p_planes, p_plane_count); + if (!intersects) return false; + + bool inside = scale.xform(b.aabb).inside_convex_shape(p_planes, p_plane_count); + if (inside) { + + stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node; + + } else { + + if (b.face_index >= 0) { + const Triangle &s = triangleptr[b.face_index]; + for (int j = 0; j < 3; ++j) { + Vector3 point = scale.xform(vertexptr[s.indices[j]]); + for (int i = 0; i < p_plane_count; i++) { + const Plane &p = p_planes[i]; + if (p.is_point_over(point)) return false; + } + } + + stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node; + + } else { + + stack[level] = (VISIT_LEFT_BIT << VISITED_BIT_SHIFT) | node; + } + } + continue; + } + case VISIT_LEFT_BIT: { + + stack[level] = (VISIT_RIGHT_BIT << VISITED_BIT_SHIFT) | node; + stack[level + 1] = b.left | TEST_AABB_BIT; + level++; + continue; + } + case VISIT_RIGHT_BIT: { + + stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node; + stack[level + 1] = b.right | TEST_AABB_BIT; + level++; + continue; + } + case VISIT_DONE_BIT: { + + if (level == 0) { + done = true; + break; + } else + level--; + continue; + } + } + + if (done) + break; + } + + return true; +} + bool TriangleMesh::is_valid() const { return valid; diff --git a/core/math/triangle_mesh.h b/core/math/triangle_mesh.h index 9f145f2afb..bf793fc50f 100644 --- a/core/math/triangle_mesh.h +++ b/core/math/triangle_mesh.h @@ -89,9 +89,15 @@ public: bool is_valid() const; bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const; bool intersect_ray(const Vector3 &p_begin, const Vector3 &p_dir, Vector3 &r_point, Vector3 &r_normal) const; + bool intersect_convex_shape(const Plane *p_planes, int p_plane_count) const; + bool inside_convex_shape(const Plane *p_planes, int p_plane_count, Vector3 p_scale = Vector3(1, 1, 1)) const; Vector3 get_area_normal(const AABB &p_aabb) const; PoolVector<Face3> get_faces() const; + PoolVector<Triangle> get_triangles() const { return triangles; } + PoolVector<Vector3> get_vertices() const { return vertices; } + void get_indices(PoolVector<int> *p_triangles_indices) const; + void create(const PoolVector<Vector3> &p_faces); TriangleMesh(); }; |