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diff --git a/servers/physics/collision_solver_sw.cpp b/servers/physics/collision_solver_sw.cpp
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-/*************************************************************************/
-/* collision_solver_sw.cpp */
-/*************************************************************************/
-/* This file is part of: */
-/* GODOT ENGINE */
-/* https://godotengine.org */
-/*************************************************************************/
-/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
-/* */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the */
-/* "Software"), to deal in the Software without restriction, including */
-/* without limitation the rights to use, copy, modify, merge, publish, */
-/* distribute, sublicense, and/or sell copies of the Software, and to */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions: */
-/* */
-/* The above copyright notice and this permission notice shall be */
-/* included in all copies or substantial portions of the Software. */
-/* */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
-/*************************************************************************/
-
-#include "collision_solver_sw.h"
-#include "collision_solver_sat.h"
-
-#include "gjk_epa.h"
-
-#define collision_solver sat_calculate_penetration
-//#define collision_solver gjk_epa_calculate_penetration
-
-bool CollisionSolverSW::solve_static_plane(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
-
- const PlaneShapeSW *plane = static_cast<const PlaneShapeSW *>(p_shape_A);
- if (p_shape_B->get_type() == PhysicsServer::SHAPE_PLANE)
- return false;
- Plane p = p_transform_A.xform(plane->get_plane());
-
- static const int max_supports = 16;
- Vector3 supports[max_supports];
- int support_count;
-
- p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count);
-
- bool found = false;
-
- for (int i = 0; i < support_count; i++) {
-
- supports[i] = p_transform_B.xform(supports[i]);
- if (p.distance_to(supports[i]) >= 0)
- continue;
- found = true;
-
- Vector3 support_A = p.project(supports[i]);
-
- if (p_result_callback) {
- if (p_swap_result)
- p_result_callback(supports[i], support_A, p_userdata);
- else
- p_result_callback(support_A, supports[i], p_userdata);
- }
- }
-
- return found;
-}
-
-bool CollisionSolverSW::solve_ray(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
-
- const RayShapeSW *ray = static_cast<const RayShapeSW *>(p_shape_A);
-
- Vector3 from = p_transform_A.origin;
- Vector3 to = from + p_transform_A.basis.get_axis(2) * ray->get_length();
- Vector3 support_A = to;
-
- Transform ai = p_transform_B.affine_inverse();
-
- from = ai.xform(from);
- to = ai.xform(to);
-
- Vector3 p, n;
- if (!p_shape_B->intersect_segment(from, to, p, n))
- return false;
-
- Vector3 support_B = p_transform_B.xform(p);
- if (ray->get_slips_on_slope()) {
- Vector3 global_n = ai.basis.xform_inv(n).normalized();
- support_B = support_A + (support_B - support_A).length() * global_n;
- }
-
- if (p_result_callback) {
- if (p_swap_result)
- p_result_callback(support_B, support_A, p_userdata);
- else
- p_result_callback(support_A, support_B, p_userdata);
- }
- return true;
-}
-
-struct _ConcaveCollisionInfo {
-
- const Transform *transform_A;
- const ShapeSW *shape_A;
- const Transform *transform_B;
- CollisionSolverSW::CallbackResult result_callback;
- void *userdata;
- bool swap_result;
- bool collided;
- int aabb_tests;
- int collisions;
- bool tested;
- real_t margin_A;
- real_t margin_B;
- Vector3 close_A, close_B;
-};
-
-void CollisionSolverSW::concave_callback(void *p_userdata, ShapeSW *p_convex) {
-
- _ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
- cinfo.aabb_tests++;
-
- bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result, NULL, cinfo.margin_A, cinfo.margin_B);
- if (!collided)
- return;
-
- cinfo.collided = true;
- cinfo.collisions++;
-}
-
-bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A, real_t p_margin_B) {
-
- const ConcaveShapeSW *concave_B = static_cast<const ConcaveShapeSW *>(p_shape_B);
-
- _ConcaveCollisionInfo cinfo;
- cinfo.transform_A = &p_transform_A;
- cinfo.shape_A = p_shape_A;
- cinfo.transform_B = &p_transform_B;
- cinfo.result_callback = p_result_callback;
- cinfo.userdata = p_userdata;
- cinfo.swap_result = p_swap_result;
- cinfo.collided = false;
- cinfo.collisions = 0;
- cinfo.margin_A = p_margin_A;
- cinfo.margin_B = p_margin_B;
-
- cinfo.aabb_tests = 0;
-
- Transform rel_transform = p_transform_A;
- rel_transform.origin -= p_transform_B.origin;
-
- //quickly compute a local AABB
-
- AABB local_aabb;
- for (int i = 0; i < 3; i++) {
-
- Vector3 axis(p_transform_B.basis.get_axis(i));
- real_t axis_scale = 1.0 / axis.length();
- axis *= axis_scale;
-
- real_t smin, smax;
- p_shape_A->project_range(axis, rel_transform, smin, smax);
- smin -= p_margin_A;
- smax += p_margin_A;
- smin *= axis_scale;
- smax *= axis_scale;
-
- local_aabb.position[i] = smin;
- local_aabb.size[i] = smax - smin;
- }
-
- concave_B->cull(local_aabb, concave_callback, &cinfo);
-
- return cinfo.collided;
-}
-
-bool CollisionSolverSW::solve_static(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
-
- PhysicsServer::ShapeType type_A = p_shape_A->get_type();
- PhysicsServer::ShapeType type_B = p_shape_B->get_type();
- bool concave_A = p_shape_A->is_concave();
- bool concave_B = p_shape_B->is_concave();
-
- bool swap = false;
-
- if (type_A > type_B) {
- SWAP(type_A, type_B);
- SWAP(concave_A, concave_B);
- swap = true;
- }
-
- if (type_A == PhysicsServer::SHAPE_PLANE) {
-
- if (type_B == PhysicsServer::SHAPE_PLANE)
- return false;
- if (type_B == PhysicsServer::SHAPE_RAY) {
- return false;
- }
-
- if (swap) {
- return solve_static_plane(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
- } else {
- return solve_static_plane(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
- }
-
- } else if (type_A == PhysicsServer::SHAPE_RAY) {
-
- if (type_B == PhysicsServer::SHAPE_RAY)
- return false;
-
- if (swap) {
- return solve_ray(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
- } else {
- return solve_ray(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
- }
-
- } else if (concave_B) {
-
- if (concave_A)
- return false;
-
- if (!swap)
- return solve_concave(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, p_margin_A, p_margin_B);
- else
- return solve_concave(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, p_margin_A, p_margin_B);
-
- } else {
-
- return collision_solver(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, r_sep_axis, p_margin_A, p_margin_B);
- }
-}
-
-void CollisionSolverSW::concave_distance_callback(void *p_userdata, ShapeSW *p_convex) {
-
- _ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
- cinfo.aabb_tests++;
- if (cinfo.collided)
- return;
-
- Vector3 close_A, close_B;
- cinfo.collided = !gjk_epa_calculate_distance(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, close_A, close_B);
-
- if (cinfo.collided)
- return;
- if (!cinfo.tested || close_A.distance_squared_to(close_B) < cinfo.close_A.distance_squared_to(cinfo.close_B)) {
-
- cinfo.close_A = close_A;
- cinfo.close_B = close_B;
- cinfo.tested = true;
- }
-
- cinfo.collisions++;
-}
-
-bool CollisionSolverSW::solve_distance_plane(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) {
-
- const PlaneShapeSW *plane = static_cast<const PlaneShapeSW *>(p_shape_A);
- if (p_shape_B->get_type() == PhysicsServer::SHAPE_PLANE)
- return false;
- Plane p = p_transform_A.xform(plane->get_plane());
-
- static const int max_supports = 16;
- Vector3 supports[max_supports];
- int support_count;
-
- p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count);
-
- bool collided = false;
- Vector3 closest;
- real_t closest_d = 0;
-
- for (int i = 0; i < support_count; i++) {
-
- supports[i] = p_transform_B.xform(supports[i]);
- real_t d = p.distance_to(supports[i]);
- if (i == 0 || d < closest_d) {
- closest = supports[i];
- closest_d = d;
- if (d <= 0)
- collided = true;
- }
- }
-
- r_point_A = p.project(closest);
- r_point_B = closest;
-
- return collided;
-}
-
-bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis) {
-
- if (p_shape_A->is_concave())
- return false;
-
- if (p_shape_B->get_type() == PhysicsServer::SHAPE_PLANE) {
-
- Vector3 a, b;
- bool col = solve_distance_plane(p_shape_B, p_transform_B, p_shape_A, p_transform_A, a, b);
- r_point_A = b;
- r_point_B = a;
- return !col;
-
- } else if (p_shape_B->is_concave()) {
-
- if (p_shape_A->is_concave())
- return false;
-
- const ConcaveShapeSW *concave_B = static_cast<const ConcaveShapeSW *>(p_shape_B);
-
- _ConcaveCollisionInfo cinfo;
- cinfo.transform_A = &p_transform_A;
- cinfo.shape_A = p_shape_A;
- cinfo.transform_B = &p_transform_B;
- cinfo.result_callback = NULL;
- cinfo.userdata = NULL;
- cinfo.swap_result = false;
- cinfo.collided = false;
- cinfo.collisions = 0;
- cinfo.aabb_tests = 0;
- cinfo.tested = false;
-
- Transform rel_transform = p_transform_A;
- rel_transform.origin -= p_transform_B.origin;
-
- //quickly compute a local AABB
-
- bool use_cc_hint = p_concave_hint != AABB();
- AABB cc_hint_aabb;
- if (use_cc_hint) {
- cc_hint_aabb = p_concave_hint;
- cc_hint_aabb.position -= p_transform_B.origin;
- }
-
- AABB local_aabb;
- for (int i = 0; i < 3; i++) {
-
- Vector3 axis(p_transform_B.basis.get_axis(i));
- real_t axis_scale = ((real_t)1.0) / axis.length();
- axis *= axis_scale;
-
- real_t smin, smax;
-
- if (use_cc_hint) {
- cc_hint_aabb.project_range_in_plane(Plane(axis, 0), smin, smax);
- } else {
- p_shape_A->project_range(axis, rel_transform, smin, smax);
- }
-
- smin *= axis_scale;
- smax *= axis_scale;
-
- local_aabb.position[i] = smin;
- local_aabb.size[i] = smax - smin;
- }
-
- concave_B->cull(local_aabb, concave_distance_callback, &cinfo);
- if (!cinfo.collided) {
- r_point_A = cinfo.close_A;
- r_point_B = cinfo.close_B;
- }
-
- return !cinfo.collided;
- } else {
-
- return gjk_epa_calculate_distance(p_shape_A, p_transform_A, p_shape_B, p_transform_B, r_point_A, r_point_B); //should pass sepaxis..
- }
-}
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