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+/*************************************************************************/
+/* shape_sw.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* http://www.godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
+/* */
+/* 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 "shape_sw.h"
+#include "geometry.h"
+#include "sort.h"
+#include "quick_hull.h"
+#define _POINT_SNAP 0.001953125
+#define _EDGE_IS_VALID_SUPPORT_TRESHOLD 0.0002
+#define _FACE_IS_VALID_SUPPORT_TRESHOLD 0.9998
+
+
+void ShapeSW::configure(const AABB& p_aabb) {
+ aabb=p_aabb;
+ configured=true;
+ for (Map<ShapeOwnerSW*,int>::Element *E=owners.front();E;E=E->next()) {
+ ShapeOwnerSW* co=(ShapeOwnerSW*)E->key();
+ co->_shape_changed();
+ }
+}
+
+
+Vector3 ShapeSW::get_support(const Vector3& p_normal) const {
+
+ Vector3 res;
+ int amnt;
+ get_supports(p_normal,1,&res,amnt);
+ return res;
+}
+
+void ShapeSW::add_owner(ShapeOwnerSW *p_owner) {
+
+ Map<ShapeOwnerSW*,int>::Element *E=owners.find(p_owner);
+ if (E) {
+ E->get()++;
+ } else {
+ owners[p_owner]=1;
+ }
+}
+
+void ShapeSW::remove_owner(ShapeOwnerSW *p_owner){
+
+ Map<ShapeOwnerSW*,int>::Element *E=owners.find(p_owner);
+ ERR_FAIL_COND(!E);
+ E->get()--;
+ if (E->get()==0) {
+ owners.erase(E);
+ }
+
+}
+
+bool ShapeSW::is_owner(ShapeOwnerSW *p_owner) const{
+
+ return owners.has(p_owner);
+
+}
+
+const Map<ShapeOwnerSW*,int>& ShapeSW::get_owners() const{
+ return owners;
+}
+
+
+ShapeSW::ShapeSW() {
+
+ custom_bias=0;
+ configured=false;
+}
+
+
+ShapeSW::~ShapeSW() {
+
+ ERR_FAIL_COND(owners.size());
+}
+
+
+
+Plane PlaneShapeSW::get_plane() const {
+
+ return plane;
+}
+
+void PlaneShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
+
+ // gibberish, a plane is infinity
+ r_min=-1e7;
+ r_max=1e7;
+}
+
+Vector3 PlaneShapeSW::get_support(const Vector3& p_normal) const {
+
+ return p_normal*1e15;
+}
+
+
+bool PlaneShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
+
+ bool inters=plane.intersects_segment(p_begin,p_end,&r_result);
+ if(inters)
+ r_normal=plane.normal;
+ return inters;
+}
+
+Vector3 PlaneShapeSW::get_moment_of_inertia(float p_mass) const {
+
+ return Vector3(); //wtf
+}
+
+void PlaneShapeSW::_setup(const Plane& p_plane) {
+
+ plane=p_plane;
+ configure(AABB(Vector3(-1e4,-1e4,-1e4),Vector3(1e4*2,1e4*2,1e4*2)));
+}
+
+void PlaneShapeSW::set_data(const Variant& p_data) {
+
+ _setup(p_data);
+
+}
+
+Variant PlaneShapeSW::get_data() const {
+
+ return plane;
+}
+
+PlaneShapeSW::PlaneShapeSW() {
+
+
+}
+
+//
+
+float RayShapeSW::get_length() const {
+
+ return length;
+}
+
+void RayShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
+
+ // don't think this will be even used
+ r_min=0;
+ r_max=1;
+}
+
+Vector3 RayShapeSW::get_support(const Vector3& p_normal) const {
+
+ if (p_normal.z>0)
+ return Vector3(0,0,length);
+ else
+ return Vector3(0,0,0);
+}
+
+void RayShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
+
+ if (Math::abs(p_normal.z) < _EDGE_IS_VALID_SUPPORT_TRESHOLD) {
+
+ r_amount=2;
+ r_supports[0]=Vector3(0,0,0);
+ r_supports[1]=Vector3(0,0,length);
+ } if (p_normal.z>0) {
+ r_amount=1;
+ *r_supports=Vector3(0,0,length);
+ } else {
+ r_amount=1;
+ *r_supports=Vector3(0,0,0);
+ }
+}
+
+
+bool RayShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
+
+ return false; //simply not possible
+}
+
+Vector3 RayShapeSW::get_moment_of_inertia(float p_mass) const {
+
+ return Vector3();
+}
+
+void RayShapeSW::_setup(float p_length) {
+
+ length=p_length;
+ configure(AABB(Vector3(0,0,0),Vector3(0.1,0.1,length)));
+}
+
+void RayShapeSW::set_data(const Variant& p_data) {
+
+ _setup(p_data);
+
+}
+
+Variant RayShapeSW::get_data() const {
+
+ return length;
+}
+
+RayShapeSW::RayShapeSW() {
+
+ length=1;
+}
+
+
+
+/********** SPHERE *************/
+
+real_t SphereShapeSW::get_radius() const {
+
+ return radius;
+}
+
+void SphereShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
+
+ float d = p_normal.dot( p_transform.origin );
+
+ // figure out scale at point
+ Vector3 local_normal = p_transform.basis.xform_inv(p_normal);
+ float scale = local_normal.length();
+
+ r_min = d - (radius) * scale;
+ r_max = d + (radius) * scale;
+
+}
+
+Vector3 SphereShapeSW::get_support(const Vector3& p_normal) const {
+
+ return p_normal*radius;
+}
+
+void SphereShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
+
+ *r_supports=p_normal*radius;
+ r_amount=1;
+}
+
+bool SphereShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
+
+ return Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(),radius,&r_result,&r_normal);
+}
+
+Vector3 SphereShapeSW::get_moment_of_inertia(float p_mass) const {
+
+ float s = 0.4 * p_mass * radius * radius;
+ return Vector3(s,s,s);
+}
+
+void SphereShapeSW::_setup(real_t p_radius) {
+
+
+ radius=p_radius;
+ configure(AABB( Vector3(-radius,-radius,-radius), Vector3(radius*2.0,radius*2.0,radius*2.0)));
+
+}
+
+void SphereShapeSW::set_data(const Variant& p_data) {
+
+ _setup(p_data);
+}
+
+Variant SphereShapeSW::get_data() const {
+
+ return radius;
+}
+
+SphereShapeSW::SphereShapeSW() {
+
+ radius=0;
+}
+
+
+/********** BOX *************/
+
+
+void BoxShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
+
+ // no matter the angle, the box is mirrored anyway
+ Vector3 local_normal=p_transform.basis.xform_inv(p_normal);
+
+ float length = local_normal.abs().dot(half_extents);
+ float distance = p_normal.dot( p_transform.origin );
+
+ r_min = distance - length;
+ r_max = distance + length;
+
+
+}
+
+Vector3 BoxShapeSW::get_support(const Vector3& p_normal) const {
+
+
+ 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
+ );
+
+ return point;
+}
+
+void BoxShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
+
+ static const int next[3]={1,2,0};
+ static const int next2[3]={2,0,1};
+
+ for (int i=0;i<3;i++) {
+
+ Vector3 axis;
+ axis[i]=1.0;
+ float dot = p_normal.dot( axis );
+ if ( Math::abs( dot ) > _FACE_IS_VALID_SUPPORT_TRESHOLD ) {
+
+ //Vector3 axis_b;
+
+ bool neg = dot<0;
+ r_amount = 4;
+
+ Vector3 point;
+ point[i]=half_extents[i];
+
+ int i_n=next[i];
+ int i_n2=next2[i];
+
+ static const float sign[4][2]={
+
+ {-1.0, 1.0},
+ { 1.0, 1.0},
+ { 1.0,-1.0},
+ {-1.0,-1.0},
+ };
+
+ for (int j=0;j<4;j++) {
+
+ point[i_n]=sign[j][0]*half_extents[i_n];
+ point[i_n2]=sign[j][1]*half_extents[i_n2];
+ r_supports[j]=neg?-point:point;
+
+ }
+
+ if (neg) {
+ SWAP( r_supports[1], r_supports[2] );
+ SWAP( r_supports[0], r_supports[3] );
+ }
+
+ return;
+ }
+
+ r_amount=0;
+
+ }
+
+ for (int i=0;i<3;i++) {
+
+ Vector3 axis;
+ axis[i]=1.0;
+
+ if (Math::abs(p_normal.dot(axis))<_EDGE_IS_VALID_SUPPORT_TRESHOLD) {
+
+ r_amount= 2;
+
+ int i_n=next[i];
+ int i_n2=next2[i];
+
+ Vector3 point=half_extents;
+
+ if (p_normal[i_n]<0) {
+ point[i_n]=-point[i_n];
+ }
+ if (p_normal[i_n2]<0) {
+ point[i_n2]=-point[i_n2];
+ }
+
+ r_supports[0] = point;
+ point[i]=-point[i];
+ r_supports[1] = point;
+ return;
+ }
+ }
+ /* USE POINT */
+
+ 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
+ );
+
+ r_amount=1;
+ r_supports[0]=point;
+}
+
+bool BoxShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
+
+ AABB aabb(-half_extents,half_extents*2.0);
+
+ return aabb.intersects_segment(p_begin,p_end,&r_result,&r_normal);
+
+}
+
+Vector3 BoxShapeSW::get_moment_of_inertia(float p_mass) const {
+
+ float lx=half_extents.x;
+ float ly=half_extents.y;
+ float lz=half_extents.z;
+
+ return Vector3( (p_mass/3.0) * (ly*ly + lz*lz), (p_mass/3.0) * (lx*lx + lz*lz), (p_mass/3.0) * (lx*lx + ly*ly) );
+
+}
+
+void BoxShapeSW::_setup(const Vector3& p_half_extents) {
+
+ half_extents=p_half_extents.abs();
+
+ configure(AABB(-half_extents,half_extents*2));
+
+
+}
+
+void BoxShapeSW::set_data(const Variant& p_data) {
+
+
+ _setup(p_data);
+}
+
+Variant BoxShapeSW::get_data() const {
+
+ return half_extents;
+}
+
+BoxShapeSW::BoxShapeSW() {
+
+
+}
+
+
+/********** CAPSULE *************/
+
+
+void CapsuleShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
+
+ Vector3 n=p_transform.basis.xform_inv(p_normal).normalized();
+ float h = (n.z > 0) ? height : -height;
+
+ n *= radius;
+ n.z += h * 0.5;
+
+ r_max=p_normal.dot(p_transform.xform(n));
+ r_min=p_normal.dot(p_transform.xform(-n));
+ return;
+
+ n = p_transform.basis.xform(n);
+
+ float distance = p_normal.dot( p_transform.origin );
+ float length = Math::abs(p_normal.dot(n));
+ r_min = distance - length;
+ r_max = distance + length;
+
+ ERR_FAIL_COND( r_max < r_min );
+
+}
+
+Vector3 CapsuleShapeSW::get_support(const Vector3& p_normal) const {
+
+ Vector3 n=p_normal;
+
+ float h = (n.z > 0) ? height : -height;
+
+ n*=radius;
+ n.z += h*0.5;
+ return n;
+}
+
+void CapsuleShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
+
+
+ Vector3 n=p_normal;
+
+ float d = n.z;
+
+ if (Math::abs( d )<_EDGE_IS_VALID_SUPPORT_TRESHOLD ) {
+
+ // make it flat
+ n.z=0.0;
+ n.normalize();
+ n*=radius;
+
+ r_amount=2;
+ r_supports[0]=n;
+ r_supports[0].z+=height*0.5;
+ r_supports[1]=n;
+ r_supports[1].z-=height*0.5;
+
+ } else {
+
+ float h = (d > 0) ? height : -height;
+
+ n*=radius;
+ n.z += h*0.5;
+ r_amount=1;
+ *r_supports=n;
+
+ }
+
+}
+
+
+bool CapsuleShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
+
+ Vector3 norm=(p_end-p_begin).normalized();
+ float min_d=1e20;
+
+
+ Vector3 res,n;
+ bool collision=false;
+
+ Vector3 auxres,auxn;
+ bool collided;
+
+ // test against cylinder and spheres :-|
+
+ collided = Geometry::segment_intersects_cylinder(p_begin,p_end,height,radius,&auxres,&auxn);
+
+ if (collided) {
+ float d=norm.dot(auxres);
+ if (d<min_d) {
+ min_d=d;
+ res=auxres;
+ n=auxn;
+ collision=true;
+ }
+ }
+
+ collided = Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(0,0,height*0.5),radius,&auxres,&auxn);
+
+ if (collided) {
+ float d=norm.dot(auxres);
+ if (d<min_d) {
+ min_d=d;
+ res=auxres;
+ n=auxn;
+ collision=true;
+ }
+ }
+
+ collided = Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(0,0,height*-0.5),radius,&auxres,&auxn);
+
+ if (collided) {
+ float d=norm.dot(auxres);
+
+ if (d<min_d) {
+ min_d=d;
+ res=auxres;
+ n=auxn;
+ collision=true;
+ }
+ }
+
+ if (collision) {
+
+ r_result=res;
+ r_normal=n;
+ }
+ return collision;
+}
+
+Vector3 CapsuleShapeSW::get_moment_of_inertia(float p_mass) const {
+
+ // use crappy AABB approximation
+ Vector3 extents=get_aabb().size*0.5;
+
+ return Vector3(
+ (p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
+ (p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
+ (p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
+ );
+
+}
+
+
+
+
+void CapsuleShapeSW::_setup(real_t p_height,real_t p_radius) {
+
+ height=p_height;
+ radius=p_radius;
+ configure(AABB(Vector3(-radius,-radius,-height*0.5-radius),Vector3(radius*2,radius*2,height+radius*2.0)));
+
+}
+
+void CapsuleShapeSW::set_data(const Variant& p_data) {
+
+ Dictionary d = p_data;
+ ERR_FAIL_COND(!d.has("radius"));
+ ERR_FAIL_COND(!d.has("height"));
+ _setup(d["height"],d["radius"]);
+
+}
+
+Variant CapsuleShapeSW::get_data() const {
+
+ Dictionary d;
+ d["radius"]=radius;
+ d["height"]=height;
+ return d;
+
+}
+
+
+CapsuleShapeSW::CapsuleShapeSW() {
+
+ height=radius=0;
+
+}
+
+/********** CONVEX POLYGON *************/
+
+
+void ConvexPolygonShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
+
+
+ int vertex_count=mesh.vertices.size();
+ if (vertex_count==0)
+ return;
+
+ const Vector3 *vrts=&mesh.vertices[0];
+
+ for (int i=0;i<vertex_count;i++) {
+
+ float d=p_normal.dot( p_transform.xform( vrts[i] ) );
+
+ if (i==0 || d > r_max)
+ r_max=d;
+ if (i==0 || d < r_min)
+ r_min=d;
+ }
+}
+
+Vector3 ConvexPolygonShapeSW::get_support(const Vector3& p_normal) const {
+
+ Vector3 n=p_normal;
+
+ int vert_support_idx=-1;
+ float support_max;
+
+ int vertex_count=mesh.vertices.size();
+ if (vertex_count==0)
+ return Vector3();
+
+ const Vector3 *vrts=&mesh.vertices[0];
+
+ for (int i=0;i<vertex_count;i++) {
+
+ float d=n.dot(vrts[i]);
+
+ if (i==0 || d > support_max) {
+ support_max=d;
+ vert_support_idx=i;
+ }
+ }
+
+ return vrts[vert_support_idx];
+
+}
+
+
+
+void ConvexPolygonShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
+
+ const Geometry::MeshData::Face *faces = mesh.faces.ptr();
+ int fc = mesh.faces.size();
+
+ const Geometry::MeshData::Edge *edges = mesh.edges.ptr();
+ int ec = mesh.edges.size();
+
+ const Vector3 *vertices = mesh.vertices.ptr();
+ int vc = mesh.vertices.size();
+
+ //find vertex first
+ real_t max;
+ int vtx;
+
+ for (int i=0;i<vc;i++) {
+
+ float d=p_normal.dot(vertices[i]);
+
+ if (i==0 || d > max) {
+ max=d;
+ vtx=i;
+ }
+ }
+
+
+ for(int i=0;i<fc;i++) {
+
+ if (faces[i].plane.normal.dot(p_normal)>_FACE_IS_VALID_SUPPORT_TRESHOLD) {
+
+ int ic = faces[i].indices.size();
+ const int *ind=faces[i].indices.ptr();
+
+ bool valid=false;
+ for(int j=0;j<ic;j++) {
+ if (ind[j]==vtx) {
+ valid=true;
+ break;
+ }
+ }
+
+ if (!valid)
+ continue;
+
+ int m = MIN(p_max,ic);
+ for(int j=0;j<m;j++) {
+
+ r_supports[j]=vertices[ind[j]];
+ }
+ r_amount=m;
+ return;
+ }
+ }
+
+ for(int i=0;i<ec;i++) {
+
+
+ float dot=(vertices[edges[i].a]-vertices[edges[i].b]).normalized().dot(p_normal);
+ dot=ABS(dot);
+ if (dot < _EDGE_IS_VALID_SUPPORT_TRESHOLD && (edges[i].a==vtx || edges[i].b==vtx)) {
+
+ r_amount=2;
+ r_supports[0]=vertices[edges[i].a];
+ r_supports[1]=vertices[edges[i].b];
+ return;
+ }
+ }
+
+
+ r_supports[0]=vertices[vtx];
+ r_amount=1;
+}
+
+bool ConvexPolygonShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
+
+
+
+ const Geometry::MeshData::Face *faces = mesh.faces.ptr();
+ int fc = mesh.faces.size();
+
+ const Vector3 *vertices = mesh.vertices.ptr();
+ int vc = mesh.vertices.size();
+
+ Vector3 n = p_end-p_begin;
+ float min = 1e20;
+ bool col=false;
+
+ for(int i=0;i<fc;i++) {
+
+ if (faces[i].plane.normal.dot(n) > 0)
+ continue; //opposing face
+
+ int ic = faces[i].indices.size();
+ const int *ind=faces[i].indices.ptr();
+
+ for(int j=1;j<ic-1;j++) {
+
+ Face3 f(vertices[ind[0]],vertices[ind[i]],vertices[ind[i+1]]);
+ Vector3 result;
+ if (f.intersects_segment(p_begin,p_end,&result)) {
+ float d = n.dot(result);
+ if (d<min) {
+ min=d;
+ r_result=result;
+ r_normal=faces[i].plane.normal;
+ col=true;
+ }
+
+ break;
+ }
+
+ }
+ }
+
+ return col;
+
+}
+
+Vector3 ConvexPolygonShapeSW::get_moment_of_inertia(float p_mass) const {
+
+ // use crappy AABB approximation
+ Vector3 extents=get_aabb().size*0.5;
+
+ return Vector3(
+ (p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
+ (p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
+ (p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
+ );
+
+}
+
+void ConvexPolygonShapeSW::_setup(const Vector<Vector3>& p_vertices) {
+
+ Error err = QuickHull::build(p_vertices,mesh);
+ AABB _aabb;
+
+ for(int i=0;i<mesh.vertices.size();i++) {
+
+ if (i==0)
+ _aabb.pos=mesh.vertices[i];
+ else
+ _aabb.expand_to(mesh.vertices[i]);
+ }
+
+ configure(_aabb);
+
+
+}
+
+void ConvexPolygonShapeSW::set_data(const Variant& p_data) {
+
+ _setup(p_data);
+
+}
+
+Variant ConvexPolygonShapeSW::get_data() const {
+
+ return mesh.vertices;
+}
+
+
+ConvexPolygonShapeSW::ConvexPolygonShapeSW() {
+
+
+}
+
+
+/********** FACE POLYGON *************/
+
+
+void FaceShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
+
+ for (int i=0;i<3;i++) {
+
+ Vector3 v=p_transform.xform(vertex[i]);
+ float d=p_normal.dot(v);
+
+ if (i==0 || d > r_max)
+ r_max=d;
+
+ if (i==0 || d < r_min)
+ r_min=d;
+ }
+}
+
+Vector3 FaceShapeSW::get_support(const Vector3& p_normal) const {
+
+
+ Vector3 n=p_normal;
+
+ int vert_support_idx=-1;
+ float support_max;
+
+ for (int i=0;i<3;i++) {
+
+ //float d=n.dot(vertex[i]);
+ float d=p_normal.dot(vertex[i]);
+
+ if (i==0 || d > support_max) {
+ support_max=d;
+ vert_support_idx=i;
+ }
+ }
+
+ return vertex[vert_support_idx];
+}
+
+void FaceShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
+
+ Vector3 n=p_normal;
+
+ /** TEST FACE AS SUPPORT **/
+ if (normal.dot(n) > _FACE_IS_VALID_SUPPORT_TRESHOLD) {
+
+ r_amount=3;
+ for (int i=0;i<3;i++) {
+
+ r_supports[i]=vertex[i];
+ }
+ return;
+
+ }
+
+ /** FIND SUPPORT VERTEX **/
+
+ int vert_support_idx=-1;
+ float support_max;
+
+ for (int i=0;i<3;i++) {
+
+ float d=n.dot(vertex[i]);
+
+ if (i==0 || d > support_max) {
+ support_max=d;
+ vert_support_idx=i;
+ }
+ }
+
+ /** TEST EDGES AS SUPPORT **/
+
+ for (int i=0;i<3;i++) {
+
+ int nx=(i+1)%3;
+ //if (i!=vert_support_idx && nx!=vert_support_idx)
+ // continue;
+
+ // check if edge is valid as a support
+ float dot=(vertex[i]-vertex[nx]).normalized().dot(n);
+ dot=ABS(dot);
+ if (dot < _EDGE_IS_VALID_SUPPORT_TRESHOLD) {
+
+ r_amount=2;
+ r_supports[0]=vertex[i];
+ r_supports[1]=vertex[nx];
+ return;
+ }
+ }
+
+ r_amount=1;
+ r_supports[0]=vertex[vert_support_idx];
+}
+
+bool FaceShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
+
+
+ bool c=Geometry::segment_intersects_triangle(p_begin,p_end,vertex[0],vertex[1],vertex[2],&r_result);
+ if (c)
+ r_normal=Plane(vertex[0],vertex[1],vertex[2]).normal;
+
+ return c;
+}
+
+Vector3 FaceShapeSW::get_moment_of_inertia(float p_mass) const {
+
+ return Vector3(); // Sorry, but i don't think anyone cares, FaceShape!
+
+}
+
+FaceShapeSW::FaceShapeSW() {
+
+ configure(AABB());
+
+}
+
+
+
+DVector<Vector3> ConcavePolygonShapeSW::get_faces() const {
+
+
+ DVector<Vector3> rfaces;
+ rfaces.resize(faces.size()*3);
+
+ for(int i=0;i<faces.size();i++) {
+
+ Face f=faces.get(i);
+
+ for(int j=0;j<3;j++) {
+
+ rfaces.set(i*3+j, vertices.get( f.indices[j] ) );
+ }
+ }
+
+ return rfaces;
+}
+
+void ConcavePolygonShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
+
+ int count=vertices.size();
+ DVector<Vector3>::Read r=vertices.read();
+ const Vector3 *vptr=r.ptr();
+
+ for (int i=0;i<count;i++) {
+
+ float d=p_normal.dot( p_transform.xform( vptr[i] ) );
+
+ if (i==0 || d > r_max)
+ r_max=d;
+ if (i==0 || d < r_min)
+ r_min=d;
+
+ }
+}
+
+Vector3 ConcavePolygonShapeSW::get_support(const Vector3& p_normal) const {
+
+
+ int count=vertices.size();
+ DVector<Vector3>::Read r=vertices.read();
+ const Vector3 *vptr=r.ptr();
+
+ Vector3 n=p_normal;
+
+ int vert_support_idx=-1;
+ float support_max;
+
+ for (int i=0;i<count;i++) {
+
+ float d=n.dot(vptr[i]);
+
+ if (i==0 || d > support_max) {
+ support_max=d;
+ vert_support_idx=i;
+ }
+ }
+
+
+ return vptr[vert_support_idx];
+
+}
+
+void ConcavePolygonShapeSW::_cull_segment(int p_idx,_SegmentCullParams *p_params) const {
+
+ const BVH *bvh=&p_params->bvh[p_idx];
+
+
+ //if (p_params->dir.dot(bvh->aabb.get_support(-p_params->dir))>p_params->min_d)
+ // return; //test against whole AABB, which isn't very costly
+
+
+ //printf("addr: %p\n",bvh);
+ if (!bvh->aabb.intersects_segment(p_params->from,p_params->to)) {
+
+ return;
+ }
+
+
+ if (bvh->face_index>=0) {
+
+
+ Vector3 res;
+ Vector3 vertices[3]={
+ p_params->vertices[ p_params->faces[ bvh->face_index ].indices[0] ],
+ p_params->vertices[ p_params->faces[ bvh->face_index ].indices[1] ],
+ p_params->vertices[ p_params->faces[ bvh->face_index ].indices[2] ]
+ };
+
+ if (Geometry::segment_intersects_triangle(
+ p_params->from,
+ p_params->to,
+ vertices[0],
+ vertices[1],
+ vertices[2],
+ &res)) {
+
+
+ float d=p_params->normal.dot(res) - p_params->normal.dot(p_params->from);
+ //TODO, seems segmen/triangle intersection is broken :(
+ if (d>0 && d<p_params->min_d) {
+
+ p_params->min_d=d;
+ p_params->result=res;
+ p_params->normal=Plane(vertices[0],vertices[1],vertices[2]).normal;
+ p_params->collisions++;
+ }
+
+ }
+
+
+
+ } else {
+
+ if (bvh->left>=0)
+ _cull_segment(bvh->left,p_params);
+ if (bvh->right>=0)
+ _cull_segment(bvh->right,p_params);
+
+
+ }
+}
+
+bool ConcavePolygonShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
+
+ // unlock data
+ DVector<Face>::Read fr=faces.read();
+ DVector<Vector3>::Read vr=vertices.read();
+ DVector<BVH>::Read br=bvh.read();
+
+
+ _SegmentCullParams params;
+ params.from=p_begin;
+ params.to=p_end;
+ params.collisions=0;
+ params.normal=(p_end-p_begin).normalized();
+
+ params.faces=fr.ptr();
+ params.vertices=vr.ptr();
+ params.bvh=br.ptr();
+
+ params.min_d=1e20;
+ // cull
+ _cull_segment(0,&params);
+
+ if (params.collisions>0) {
+
+
+ r_result=params.result;
+ r_normal=params.normal;
+ return true;
+ } else {
+
+ return false;
+ }
+}
+
+void ConcavePolygonShapeSW::_cull(int p_idx,_CullParams *p_params) const {
+
+ const BVH* bvh=&p_params->bvh[p_idx];
+
+ if (!p_params->aabb.intersects( bvh->aabb ))
+ return;
+
+ if (bvh->face_index>=0) {
+
+ const Face *f=&p_params->faces[ bvh->face_index ];
+ FaceShapeSW *face=p_params->face;
+ face->normal=f->normal;
+ face->vertex[0]=p_params->vertices[f->indices[0]];
+ face->vertex[1]=p_params->vertices[f->indices[1]];
+ face->vertex[2]=p_params->vertices[f->indices[2]];
+ p_params->callback(p_params->userdata,face);
+
+ } else {
+
+ if (bvh->left>=0) {
+
+ _cull(bvh->left,p_params);
+
+ }
+
+ if (bvh->right>=0) {
+
+ _cull(bvh->right,p_params);
+ }
+
+ }
+}
+
+void ConcavePolygonShapeSW::cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const {
+
+ // make matrix local to concave
+
+ AABB local_aabb=p_local_aabb;
+
+ // unlock data
+ DVector<Face>::Read fr=faces.read();
+ DVector<Vector3>::Read vr=vertices.read();
+ DVector<BVH>::Read br=bvh.read();
+
+ FaceShapeSW face; // use this to send in the callback
+
+ _CullParams params;
+ params.aabb=local_aabb;
+ params.face=&face;
+ params.faces=fr.ptr();
+ params.vertices=vr.ptr();
+ params.bvh=br.ptr();
+ params.callback=p_callback;
+ params.userdata=p_userdata;
+
+ // cull
+ _cull(0,&params);
+
+}
+
+Vector3 ConcavePolygonShapeSW::get_moment_of_inertia(float p_mass) const {
+
+ // use crappy AABB approximation
+ Vector3 extents=get_aabb().size*0.5;
+
+ return Vector3(
+ (p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
+ (p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
+ (p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
+ );
+}
+
+
+struct _VolumeSW_BVH_Element {
+
+ AABB aabb;
+ Vector3 center;
+ int face_index;
+};
+
+struct _VolumeSW_BVH_CompareX {
+
+ _FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {
+
+ return a.center.x<b.center.x;
+ }
+};
+
+
+struct _VolumeSW_BVH_CompareY {
+
+ _FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {
+
+ return a.center.y<b.center.y;
+ }
+};
+
+struct _VolumeSW_BVH_CompareZ {
+
+ _FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {
+
+ return a.center.z<b.center.z;
+ }
+};
+
+struct _VolumeSW_BVH {
+
+ AABB aabb;
+ _VolumeSW_BVH *left;
+ _VolumeSW_BVH *right;
+
+ int face_index;
+};
+
+
+_VolumeSW_BVH* _volume_sw_build_bvh(_VolumeSW_BVH_Element *p_elements,int p_size,int &count) {
+
+ _VolumeSW_BVH* bvh = memnew( _VolumeSW_BVH );
+
+ if (p_size==1) {
+ //leaf
+ bvh->aabb=p_elements[0].aabb;
+ bvh->left=NULL;
+ bvh->right=NULL;
+ bvh->face_index=p_elements->face_index;
+ count++;
+ return bvh;
+ } else {
+
+ bvh->face_index=-1;
+ }
+
+ AABB aabb;
+ for(int i=0;i<p_size;i++) {
+
+ if (i==0)
+ aabb=p_elements[i].aabb;
+ else
+ aabb.merge_with(p_elements[i].aabb);
+ }
+ bvh->aabb=aabb;
+ switch(aabb.get_longest_axis_index()) {
+
+ case 0: {
+
+ SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareX> sort_x;
+ sort_x.sort(p_elements,p_size);
+
+ } break;
+ case 1: {
+
+ SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareY> sort_y;
+ sort_y.sort(p_elements,p_size);
+ } break;
+ case 2: {
+
+ SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareZ> sort_z;
+ sort_z.sort(p_elements,p_size);
+ } break;
+ }
+
+ int split=p_size/2;
+ bvh->left=_volume_sw_build_bvh(p_elements,split,count);
+ bvh->right=_volume_sw_build_bvh(&p_elements[split],p_size-split,count);
+
+// printf("branch at %p - %i: %i\n",bvh,count,bvh->face_index);
+ count++;
+ return bvh;
+}
+
+
+void ConcavePolygonShapeSW::_fill_bvh(_VolumeSW_BVH* p_bvh_tree,BVH* p_bvh_array,int& p_idx) {
+
+ int idx=p_idx;
+
+
+ p_bvh_array[idx].aabb=p_bvh_tree->aabb;
+ p_bvh_array[idx].face_index=p_bvh_tree->face_index;
+// printf("%p - %i: %i(%p) -- %p:%p\n",%p_bvh_array[idx],p_idx,p_bvh_array[i]->face_index,&p_bvh_tree->face_index,p_bvh_tree->left,p_bvh_tree->right);
+
+
+ if (p_bvh_tree->left) {
+ p_bvh_array[idx].left=++p_idx;
+ _fill_bvh(p_bvh_tree->left,p_bvh_array,p_idx);
+
+ } else {
+
+ p_bvh_array[p_idx].left=-1;
+ }
+
+ if (p_bvh_tree->right) {
+ p_bvh_array[idx].right=++p_idx;
+ _fill_bvh(p_bvh_tree->right,p_bvh_array,p_idx);
+
+ } else {
+
+ p_bvh_array[p_idx].right=-1;
+ }
+
+ memdelete(p_bvh_tree);
+
+}
+
+void ConcavePolygonShapeSW::_setup(DVector<Vector3> p_faces) {
+
+ int src_face_count=p_faces.size();
+ ERR_FAIL_COND(src_face_count%3);
+ src_face_count/=3;
+
+ DVector<Vector3>::Read r = p_faces.read();
+ const Vector3 * facesr= r.ptr();
+
+#if 0
+ Map<Vector3,int> point_map;
+ List<Face> face_list;
+
+
+ for(int i=0;i<src_face_count;i++) {
+
+ Face3 faceaux;
+
+ for(int j=0;j<3;j++) {
+
+ faceaux.vertex[j]=facesr[i*3+j].snapped(_POINT_SNAP);
+ //faceaux.vertex[j]=facesr[i*3+j];//facesr[i*3+j].snapped(_POINT_SNAP);
+ }
+
+ ERR_CONTINUE( faceaux.is_degenerate() );
+
+ Face face;
+
+ for(int j=0;j<3;j++) {
+
+
+ Map<Vector3,int>::Element *E=point_map.find(faceaux.vertex[j]);
+ if (E) {
+
+ face.indices[j]=E->value();
+ } else {
+
+ face.indices[j]=point_map.size();
+ point_map.insert(faceaux.vertex[j],point_map.size());
+
+ }
+ }
+
+ face_list.push_back(face);
+ }
+
+ vertices.resize( point_map.size() );
+
+ DVector<Vector3>::Write vw = vertices.write();
+ Vector3 *verticesw=vw.ptr();
+
+ AABB _aabb;
+
+ for( Map<Vector3,int>::Element *E=point_map.front();E;E=E->next()) {
+
+ if (E==point_map.front()) {
+ _aabb.pos=E->key();
+ } else {
+
+ _aabb.expand_to(E->key());
+ }
+ verticesw[E->value()]=E->key();
+ }
+
+ point_map.clear(); // not needed anymore
+
+ faces.resize(face_list.size());
+ DVector<Face>::Write w = faces.write();
+ Face *facesw=w.ptr();
+
+ int fc=0;
+
+ for( List<Face>::Element *E=face_list.front();E;E=E->next()) {
+
+ facesw[fc++]=E->get();
+ }
+
+ face_list.clear();
+
+
+ DVector<_VolumeSW_BVH_Element> bvh_array;
+ bvh_array.resize( fc );
+
+ DVector<_VolumeSW_BVH_Element>::Write bvhw = bvh_array.write();
+ _VolumeSW_BVH_Element *bvh_arrayw=bvhw.ptr();
+
+
+ for(int i=0;i<fc;i++) {
+
+ AABB face_aabb;
+ face_aabb.pos=verticesw[facesw[i].indices[0]];
+ face_aabb.expand_to( verticesw[facesw[i].indices[1]] );
+ face_aabb.expand_to( verticesw[facesw[i].indices[2]] );
+
+ bvh_arrayw[i].face_index=i;
+ bvh_arrayw[i].aabb=face_aabb;
+ bvh_arrayw[i].center=face_aabb.pos+face_aabb.size*0.5;
+
+ }
+
+ w=DVector<Face>::Write();
+ vw=DVector<Vector3>::Write();
+
+
+ int count=0;
+ _VolumeSW_BVH *bvh_tree=_volume_sw_build_bvh(bvh_arrayw,fc,count);
+
+ ERR_FAIL_COND(count==0);
+
+ bvhw=DVector<_VolumeSW_BVH_Element>::Write();
+
+ bvh.resize( count+1 );
+
+ DVector<BVH>::Write bvhw2 = bvh.write();
+ BVH*bvh_arrayw2=bvhw2.ptr();
+
+ int idx=0;
+ _fill_bvh(bvh_tree,bvh_arrayw2,idx);
+
+ set_aabb(_aabb);
+
+#else
+ DVector<_VolumeSW_BVH_Element> bvh_array;
+ bvh_array.resize( src_face_count );
+
+ DVector<_VolumeSW_BVH_Element>::Write bvhw = bvh_array.write();
+ _VolumeSW_BVH_Element *bvh_arrayw=bvhw.ptr();
+
+ faces.resize(src_face_count);
+ DVector<Face>::Write w = faces.write();
+ Face *facesw=w.ptr();
+
+ vertices.resize( src_face_count*3 );
+
+ DVector<Vector3>::Write vw = vertices.write();
+ Vector3 *verticesw=vw.ptr();
+
+ AABB _aabb;
+
+
+ for(int i=0;i<src_face_count;i++) {
+
+ Face3 face( facesr[i*3+0], facesr[i*3+1], facesr[i*3+2] );
+
+ bvh_arrayw[i].aabb=face.get_aabb();
+ bvh_arrayw[i].center = bvh_arrayw[i].aabb.pos + bvh_arrayw[i].aabb.size * 0.5;
+ bvh_arrayw[i].face_index=i;
+ facesw[i].indices[0]=i*3+0;
+ facesw[i].indices[1]=i*3+1;
+ facesw[i].indices[2]=i*3+2;
+ facesw[i].normal=face.get_plane().normal;
+ verticesw[i*3+0]=face.vertex[0];
+ verticesw[i*3+1]=face.vertex[1];
+ verticesw[i*3+2]=face.vertex[2];
+ if (i==0)
+ _aabb=bvh_arrayw[i].aabb;
+ else
+ _aabb.merge_with(bvh_arrayw[i].aabb);
+
+ }
+
+ w=DVector<Face>::Write();
+ vw=DVector<Vector3>::Write();
+
+ int count=0;
+ _VolumeSW_BVH *bvh_tree=_volume_sw_build_bvh(bvh_arrayw,src_face_count,count);
+
+ bvh.resize( count+1 );
+
+ DVector<BVH>::Write bvhw2 = bvh.write();
+ BVH*bvh_arrayw2=bvhw2.ptr();
+
+ int idx=0;
+ _fill_bvh(bvh_tree,bvh_arrayw2,idx);
+
+ configure(_aabb); // this type of shape has no margin
+
+
+#endif
+}
+
+
+void ConcavePolygonShapeSW::set_data(const Variant& p_data) {
+
+
+ _setup(p_data);
+}
+
+Variant ConcavePolygonShapeSW::get_data() const {
+
+ return get_faces();
+}
+
+ConcavePolygonShapeSW::ConcavePolygonShapeSW() {
+
+
+}
+
+
+
+/* HEIGHT MAP SHAPE */
+
+DVector<float> HeightMapShapeSW::get_heights() const {
+
+ return heights;
+}
+int HeightMapShapeSW::get_width() const {
+
+ return width;
+}
+int HeightMapShapeSW::get_depth() const {
+
+ return depth;
+}
+float HeightMapShapeSW::get_cell_size() const {
+
+ return cell_size;
+}
+
+
+void HeightMapShapeSW::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 );
+
+}
+
+Vector3 HeightMapShapeSW::get_support(const Vector3& p_normal) const {
+
+
+ //not very useful, but not very used either
+ return get_aabb().get_support(p_normal);
+
+}
+
+bool HeightMapShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_point, Vector3 &r_normal) const {
+
+
+ return false;
+}
+
+
+void HeightMapShapeSW::cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const {
+
+
+
+}
+
+
+Vector3 HeightMapShapeSW::get_moment_of_inertia(float p_mass) const {
+
+
+ // use crappy AABB approximation
+ Vector3 extents=get_aabb().size*0.5;
+
+ return Vector3(
+ (p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
+ (p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
+ (p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
+ );
+}
+
+
+void HeightMapShapeSW::_setup(DVector<real_t> p_heights,int p_width,int p_depth,real_t p_cell_size) {
+
+ heights=p_heights;
+ width=p_width;
+ depth=p_depth;;
+ cell_size=p_cell_size;
+
+ DVector<real_t>::Read r = heights. read();
+
+ AABB aabb;
+
+ for(int i=0;i<depth;i++) {
+
+ for(int j=0;j<width;j++) {
+
+ float h = r[i*width+j];
+
+ Vector3 pos( j*cell_size, h, i*cell_size );
+ if (i==0 || j==0)
+ aabb.pos=pos;
+ else
+ aabb.expand_to(pos);
+
+ }
+ }
+
+
+ configure(aabb);
+}
+
+void HeightMapShapeSW::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"];
+ float cell_size=d["cell_size"];
+ DVector<float> 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 );
+
+}
+
+Variant HeightMapShapeSW::get_data() const {
+
+ ERR_FAIL_V(Variant());
+
+}
+
+HeightMapShapeSW::HeightMapShapeSW() {
+
+ width=0;
+ depth=0;
+ cell_size=0;
+}
+
+
+
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-02 11:28:59 +0000