diff options
Diffstat (limited to 'core/math')
-rw-r--r-- | core/math/aabb.h | 28 | ||||
-rw-r--r-- | core/math/audio_frame.h | 2 | ||||
-rw-r--r-- | core/math/geometry.cpp | 43 | ||||
-rw-r--r-- | core/math/geometry.h | 6 | ||||
-rw-r--r-- | core/math/octree.h | 14 | ||||
-rw-r--r-- | core/math/transform.cpp | 4 | ||||
-rw-r--r-- | core/math/transform_2d.cpp | 18 | ||||
-rw-r--r-- | core/math/transform_2d.h | 11 | ||||
-rw-r--r-- | core/math/triangle_mesh.cpp | 8 | ||||
-rw-r--r-- | core/math/triangle_mesh.h | 4 | ||||
-rw-r--r-- | core/math/vector2.h | 15 | ||||
-rw-r--r-- | core/math/vector3.h | 4 |
12 files changed, 120 insertions, 37 deletions
diff --git a/core/math/aabb.h b/core/math/aabb.h index eca74e6755..7fdad07c89 100644 --- a/core/math/aabb.h +++ b/core/math/aabb.h @@ -76,7 +76,7 @@ public: bool intersects_ray(const Vector3 &p_from, const Vector3 &p_dir, Vector3 *r_clip = nullptr, Vector3 *r_normal = nullptr) const; _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 intersects_convex_shape(const Plane *p_planes, int p_plane_count, const Vector3 *p_points, int p_point_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; @@ -190,7 +190,7 @@ Vector3 AABB::get_endpoint(int p_point) const { ERR_FAIL_V(Vector3()); } -bool AABB::intersects_convex_shape(const Plane *p_planes, int p_plane_count) const { +bool AABB::intersects_convex_shape(const Plane *p_planes, int p_plane_count, const Vector3 *p_points, int p_point_count) const { Vector3 half_extents = size * 0.5; Vector3 ofs = position + half_extents; @@ -206,6 +206,30 @@ bool AABB::intersects_convex_shape(const Plane *p_planes, int p_plane_count) con return false; } + // Make sure all points in the shape aren't fully separated from the AABB on + // each axis. + int bad_point_counts_positive[3] = { 0 }; + int bad_point_counts_negative[3] = { 0 }; + + for (int k = 0; k < 3; k++) { + + for (int i = 0; i < p_point_count; i++) { + if (p_points[i].coord[k] > ofs.coord[k] + half_extents.coord[k]) { + bad_point_counts_positive[k]++; + } + if (p_points[i].coord[k] < ofs.coord[k] - half_extents.coord[k]) { + bad_point_counts_negative[k]++; + } + } + + if (bad_point_counts_negative[k] == p_point_count) { + return false; + } + if (bad_point_counts_positive[k] == p_point_count) { + return false; + } + } + return true; } diff --git a/core/math/audio_frame.h b/core/math/audio_frame.h index e1dbb385e4..4665311059 100644 --- a/core/math/audio_frame.h +++ b/core/math/audio_frame.h @@ -104,7 +104,7 @@ struct AudioFrame { r = ::undenormalise(r); } - _FORCE_INLINE_ AudioFrame linear_interpolate(const AudioFrame &p_b, float p_t) const { + _FORCE_INLINE_ AudioFrame lerp(const AudioFrame &p_b, float p_t) const { AudioFrame res = *this; diff --git a/core/math/geometry.cpp b/core/math/geometry.cpp index 3e07e9253e..fa96fc4535 100644 --- a/core/math/geometry.cpp +++ b/core/math/geometry.cpp @@ -911,7 +911,7 @@ Vector<Plane> Geometry::build_sphere_planes(real_t p_radius, int p_lats, int p_l for (int j = 1; j <= p_lats; j++) { // FIXME: This is stupid. - Vector3 angle = normal.linear_interpolate(axis, j / (real_t)p_lats).normalized(); + Vector3 angle = normal.lerp(axis, j / (real_t)p_lats).normalized(); Vector3 pos = angle * p_radius; planes.push_back(Plane(pos, angle)); planes.push_back(Plane(pos * axis_neg, angle * axis_neg)); @@ -943,7 +943,7 @@ Vector<Plane> Geometry::build_capsule_planes(real_t p_radius, real_t p_height, i for (int j = 1; j <= p_lats; j++) { - Vector3 angle = normal.linear_interpolate(axis, j / (real_t)p_lats).normalized(); + Vector3 angle = normal.lerp(axis, j / (real_t)p_lats).normalized(); Vector3 pos = axis * p_height * 0.5 + angle * p_radius; planes.push_back(Plane(pos, angle)); planes.push_back(Plane(pos * axis_neg, angle * axis_neg)); @@ -1178,3 +1178,42 @@ Vector<Vector<Point2>> Geometry::_polypath_offset(const Vector<Point2> &p_polypa } return polypaths; } + +Vector<Vector3> Geometry::compute_convex_mesh_points(const Plane *p_planes, int p_plane_count) { + + Vector<Vector3> points; + + // Iterate through every unique combination of any three planes. + for (int i = p_plane_count - 1; i >= 0; i--) { + for (int j = i - 1; j >= 0; j--) { + for (int k = j - 1; k >= 0; k--) { + + // Find the point where these planes all cross over (if they + // do at all). + Vector3 convex_shape_point; + if (p_planes[i].intersect_3(p_planes[j], p_planes[k], &convex_shape_point)) { + + // See if any *other* plane excludes this point because it's + // on the wrong side. + bool excluded = false; + for (int n = 0; n < p_plane_count; n++) { + if (n != i && n != j && n != k) { + real_t dp = p_planes[n].normal.dot(convex_shape_point); + if (dp - p_planes[n].d > CMP_EPSILON) { + excluded = true; + break; + } + } + } + + // Only add the point if it passed all tests. + if (!excluded) { + points.push_back(convex_shape_point); + } + } + } + } + } + + return points; +} diff --git a/core/math/geometry.h b/core/math/geometry.h index e47d18b056..ea063a8a59 100644 --- a/core/math/geometry.h +++ b/core/math/geometry.h @@ -117,8 +117,8 @@ public: if (mub < 0) mub = 0; if (mua > 1) mua = 1; if (mub > 1) mub = 1; - c1 = p1.linear_interpolate(p2, mua); - c2 = q1.linear_interpolate(q2, mub); + c1 = p1.lerp(p2, mua); + c2 = q1.lerp(q2, mub); } static real_t get_closest_distance_between_segments(const Vector3 &p_from_a, const Vector3 &p_to_a, const Vector3 &p_from_b, const Vector3 &p_to_b) { @@ -1014,6 +1014,8 @@ public: static void make_atlas(const Vector<Size2i> &p_rects, Vector<Point2i> &r_result, Size2i &r_size); + static Vector<Vector3> compute_convex_mesh_points(const Plane *p_planes, int p_plane_count); + private: static Vector<Vector<Point2>> _polypaths_do_operation(PolyBooleanOperation p_op, const Vector<Point2> &p_polypath_a, const Vector<Point2> &p_polypath_b, bool is_a_open = false); static Vector<Vector<Point2>> _polypath_offset(const Vector<Point2> &p_polypath, real_t p_delta, PolyJoinType p_join_type, PolyEndType p_end_type); diff --git a/core/math/octree.h b/core/math/octree.h index 5225fbecb4..2060a61b4b 100644 --- a/core/math/octree.h +++ b/core/math/octree.h @@ -34,6 +34,7 @@ #include "core/list.h" #include "core/map.h" #include "core/math/aabb.h" +#include "core/math/geometry.h" #include "core/math/vector3.h" #include "core/print_string.h" #include "core/variant.h" @@ -341,6 +342,8 @@ private: const Plane *planes; int plane_count; + const Vector3 *points; + int point_count; T **result_array; int *result_idx; int result_max; @@ -1017,8 +1020,7 @@ void Octree<T, use_pairs, AL>::_cull_convex(Octant *p_octant, _CullConvexData *p continue; e->last_pass = pass; - if (e->aabb.intersects_convex_shape(p_cull->planes, p_cull->plane_count)) { - + if (e->aabb.intersects_convex_shape(p_cull->planes, p_cull->plane_count, p_cull->points, p_cull->point_count)) { if (*p_cull->result_idx < p_cull->result_max) { p_cull->result_array[*p_cull->result_idx] = e->userdata; (*p_cull->result_idx)++; @@ -1043,7 +1045,7 @@ void Octree<T, use_pairs, AL>::_cull_convex(Octant *p_octant, _CullConvexData *p continue; e->last_pass = pass; - if (e->aabb.intersects_convex_shape(p_cull->planes, p_cull->plane_count)) { + if (e->aabb.intersects_convex_shape(p_cull->planes, p_cull->plane_count, p_cull->points, p_cull->point_count)) { if (*p_cull->result_idx < p_cull->result_max) { @@ -1059,7 +1061,7 @@ void Octree<T, use_pairs, AL>::_cull_convex(Octant *p_octant, _CullConvexData *p for (int i = 0; i < 8; i++) { - if (p_octant->children[i] && p_octant->children[i]->aabb.intersects_convex_shape(p_cull->planes, p_cull->plane_count)) { + if (p_octant->children[i] && p_octant->children[i]->aabb.intersects_convex_shape(p_cull->planes, p_cull->plane_count, p_cull->points, p_cull->point_count)) { _cull_convex(p_octant->children[i], p_cull); } } @@ -1291,11 +1293,15 @@ int Octree<T, use_pairs, AL>::cull_convex(const Vector<Plane> &p_convex, T **p_r if (!root) return 0; + Vector<Vector3> convex_points = Geometry::compute_convex_mesh_points(&p_convex[0], p_convex.size()); + int result_count = 0; pass++; _CullConvexData cdata; cdata.planes = &p_convex[0]; cdata.plane_count = p_convex.size(); + cdata.points = &convex_points[0]; + cdata.point_count = convex_points.size(); cdata.result_array = p_result_array; cdata.result_max = p_result_max; cdata.result_idx = &result_count; diff --git a/core/math/transform.cpp b/core/math/transform.cpp index 9dad3262d2..82e4005d3e 100644 --- a/core/math/transform.cpp +++ b/core/math/transform.cpp @@ -129,8 +129,8 @@ Transform Transform::interpolate_with(const Transform &p_transform, real_t p_c) Vector3 dst_loc = p_transform.origin; Transform interp; - interp.basis.set_quat_scale(src_rot.slerp(dst_rot, p_c).normalized(), src_scale.linear_interpolate(dst_scale, p_c)); - interp.origin = src_loc.linear_interpolate(dst_loc, p_c); + interp.basis.set_quat_scale(src_rot.slerp(dst_rot, p_c).normalized(), src_scale.lerp(dst_scale, p_c)); + interp.origin = src_loc.lerp(dst_loc, p_c); return interp; } diff --git a/core/math/transform_2d.cpp b/core/math/transform_2d.cpp index f28b664e46..ed95baa233 100644 --- a/core/math/transform_2d.cpp +++ b/core/math/transform_2d.cpp @@ -70,6 +70,18 @@ void Transform2D::rotate(real_t p_phi) { *this = Transform2D(p_phi, Vector2()) * (*this); } +real_t Transform2D::get_skew() const { + + real_t det = basis_determinant(); + return Math::acos(elements[0].normalized().dot(SGN(det) * elements[1].normalized())) - Math_PI * 0.5; +} + +void Transform2D::set_skew(float p_angle) { + + real_t det = basis_determinant(); + elements[1] = SGN(det) * elements[0].rotated((Math_PI * 0.5 + p_angle)).normalized() * elements[1].length(); +} + real_t Transform2D::get_rotation() const { real_t det = basis_determinant(); Transform2D m = orthonormalized(); @@ -267,7 +279,7 @@ Transform2D Transform2D::interpolate_with(const Transform2D &p_transform, real_t Vector2 v; if (dot > 0.9995) { - v = Vector2::linear_interpolate(v1, v2, p_c).normalized(); //linearly interpolate to avoid numerical precision issues + v = v1.lerp(v2, p_c).normalized(); //linearly interpolate to avoid numerical precision issues } else { real_t angle = p_c * Math::acos(dot); Vector2 v3 = (v2 - v1 * dot).normalized(); @@ -275,8 +287,8 @@ Transform2D Transform2D::interpolate_with(const Transform2D &p_transform, real_t } //construct matrix - Transform2D res(Math::atan2(v.y, v.x), Vector2::linear_interpolate(p1, p2, p_c)); - res.scale_basis(Vector2::linear_interpolate(s1, s2, p_c)); + Transform2D res(Math::atan2(v.y, v.x), p1.lerp(p2, p_c)); + res.scale_basis(s1.lerp(s2, p_c)); return res; } diff --git a/core/math/transform_2d.h b/core/math/transform_2d.h index fa43762aa4..459ceed7a9 100644 --- a/core/math/transform_2d.h +++ b/core/math/transform_2d.h @@ -70,7 +70,10 @@ struct Transform2D { void set_rotation(real_t p_rot); real_t get_rotation() const; + real_t get_skew() const; + void set_skew(float p_angle); _FORCE_INLINE_ void set_rotation_and_scale(real_t p_rot, const Size2 &p_scale); + _FORCE_INLINE_ void set_rotation_scale_and_skew(real_t p_rot, const Size2 &p_scale, float p_skew); void rotate(real_t p_phi); void scale(const Size2 &p_scale); @@ -184,6 +187,14 @@ void Transform2D::set_rotation_and_scale(real_t p_rot, const Size2 &p_scale) { elements[0][1] = Math::sin(p_rot) * p_scale.x; } +void Transform2D::set_rotation_scale_and_skew(real_t p_rot, const Size2 &p_scale, float p_skew) { + + elements[0][0] = Math::cos(p_rot) * p_scale.x; + elements[1][1] = Math::cos(p_rot + p_skew) * p_scale.y; + elements[1][0] = -Math::sin(p_rot + p_skew) * p_scale.y; + elements[0][1] = Math::sin(p_rot) * p_scale.x; +} + Rect2 Transform2D::xform_inv(const Rect2 &p_rect) const { Vector2 ends[4] = { diff --git a/core/math/triangle_mesh.cpp b/core/math/triangle_mesh.cpp index 01d38cf24e..5c66721b9d 100644 --- a/core/math/triangle_mesh.cpp +++ b/core/math/triangle_mesh.cpp @@ -502,7 +502,7 @@ 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 { +bool TriangleMesh::intersect_convex_shape(const Plane *p_planes, int p_plane_count, const Vector3 *p_points, int p_point_count) const { uint32_t *stack = (uint32_t *)alloca(sizeof(int) * max_depth); //p_fully_inside = true; @@ -536,7 +536,7 @@ bool TriangleMesh::intersect_convex_shape(const Plane *p_planes, int p_plane_cou switch (stack[level] >> VISITED_BIT_SHIFT) { case TEST_AABB_BIT: { - bool valid = b.aabb.intersects_convex_shape(p_planes, p_plane_count); + bool valid = b.aabb.intersects_convex_shape(p_planes, p_plane_count, p_points, p_point_count); if (!valid) { stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node; @@ -617,7 +617,7 @@ bool TriangleMesh::intersect_convex_shape(const Plane *p_planes, int p_plane_cou return false; } -bool TriangleMesh::inside_convex_shape(const Plane *p_planes, int p_plane_count, Vector3 p_scale) const { +bool TriangleMesh::inside_convex_shape(const Plane *p_planes, int p_plane_count, const Vector3 *p_points, int p_point_count, Vector3 p_scale) const { uint32_t *stack = (uint32_t *)alloca(sizeof(int) * max_depth); enum { @@ -651,7 +651,7 @@ bool TriangleMesh::inside_convex_shape(const Plane *p_planes, int p_plane_count, switch (stack[level] >> VISITED_BIT_SHIFT) { case TEST_AABB_BIT: { - bool intersects = scale.xform(b.aabb).intersects_convex_shape(p_planes, p_plane_count); + bool intersects = scale.xform(b.aabb).intersects_convex_shape(p_planes, p_plane_count, p_points, p_point_count); if (!intersects) return false; bool inside = scale.xform(b.aabb).inside_convex_shape(p_planes, p_plane_count); diff --git a/core/math/triangle_mesh.h b/core/math/triangle_mesh.h index fdbfb90465..64704477cc 100644 --- a/core/math/triangle_mesh.h +++ b/core/math/triangle_mesh.h @@ -90,8 +90,8 @@ 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; + bool intersect_convex_shape(const Plane *p_planes, int p_plane_count, const Vector3 *p_points, int p_point_count) const; + bool inside_convex_shape(const Plane *p_planes, int p_plane_count, const Vector3 *p_points, int p_point_count, Vector3 p_scale = Vector3(1, 1, 1)) const; Vector3 get_area_normal(const AABB &p_aabb) const; Vector<Face3> get_faces() const; diff --git a/core/math/vector2.h b/core/math/vector2.h index 95d2474838..c0057f2543 100644 --- a/core/math/vector2.h +++ b/core/math/vector2.h @@ -82,8 +82,7 @@ struct Vector2 { Vector2 clamped(real_t p_len) const; - _FORCE_INLINE_ static Vector2 linear_interpolate(const Vector2 &p_a, const Vector2 &p_b, real_t p_t); - _FORCE_INLINE_ Vector2 linear_interpolate(const Vector2 &p_b, real_t p_t) const; + _FORCE_INLINE_ Vector2 lerp(const Vector2 &p_b, real_t p_t) const; _FORCE_INLINE_ Vector2 slerp(const Vector2 &p_b, real_t p_t) const; Vector2 cubic_interpolate(const Vector2 &p_b, const Vector2 &p_pre_a, const Vector2 &p_post_b, real_t p_t) const; Vector2 move_toward(const Vector2 &p_to, const real_t p_delta) const; @@ -224,7 +223,7 @@ _FORCE_INLINE_ bool Vector2::operator!=(const Vector2 &p_vec2) const { return x != p_vec2.x || y != p_vec2.y; } -Vector2 Vector2::linear_interpolate(const Vector2 &p_b, real_t p_t) const { +Vector2 Vector2::lerp(const Vector2 &p_b, real_t p_t) const { Vector2 res = *this; @@ -248,16 +247,6 @@ Vector2 Vector2::direction_to(const Vector2 &p_b) const { return ret; } -Vector2 Vector2::linear_interpolate(const Vector2 &p_a, const Vector2 &p_b, real_t p_t) { - - Vector2 res = p_a; - - res.x += (p_t * (p_b.x - p_a.x)); - res.y += (p_t * (p_b.y - p_a.y)); - - return res; -} - typedef Vector2 Size2; typedef Vector2 Point2; diff --git a/core/math/vector3.h b/core/math/vector3.h index 3bf8644af9..a5e9d09208 100644 --- a/core/math/vector3.h +++ b/core/math/vector3.h @@ -89,7 +89,7 @@ struct Vector3 { /* Static Methods between 2 vector3s */ - _FORCE_INLINE_ Vector3 linear_interpolate(const Vector3 &p_b, real_t p_t) const; + _FORCE_INLINE_ Vector3 lerp(const Vector3 &p_b, real_t p_t) const; _FORCE_INLINE_ Vector3 slerp(const Vector3 &p_b, real_t p_t) const; Vector3 cubic_interpolate(const Vector3 &p_b, const Vector3 &p_pre_a, const Vector3 &p_post_b, real_t p_t) const; Vector3 cubic_interpolaten(const Vector3 &p_b, const Vector3 &p_pre_a, const Vector3 &p_post_b, real_t p_t) const; @@ -206,7 +206,7 @@ Vector3 Vector3::round() const { return Vector3(Math::round(x), Math::round(y), Math::round(z)); } -Vector3 Vector3::linear_interpolate(const Vector3 &p_b, real_t p_t) const { +Vector3 Vector3::lerp(const Vector3 &p_b, real_t p_t) const { return Vector3( x + (p_t * (p_b.x - x)), |