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-/*************************************************************************/
-/* shape_sw.h */
-/*************************************************************************/
-/* 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. */
-/*************************************************************************/
-
-#ifndef SHAPE_SW_H
-#define SHAPE_SW_H
-
-#include "core/math/geometry.h"
-#include "servers/physics_server.h"
-/*
-
-SHAPE_LINE, ///< plane:"plane"
-SHAPE_SEGMENT, ///< real_t:"length"
-SHAPE_CIRCLE, ///< real_t:"radius"
-SHAPE_RECTANGLE, ///< vec3:"extents"
-SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
-SHAPE_CONCAVE_POLYGON, ///< Vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array)
-SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
-
-*/
-
-class ShapeSW;
-
-class ShapeOwnerSW {
-public:
- virtual void _shape_changed() = 0;
- virtual void remove_shape(ShapeSW *p_shape) = 0;
-
- virtual ~ShapeOwnerSW() {}
-};
-
-class ShapeSW {
-
- RID self;
- AABB aabb;
- bool configured;
- real_t custom_bias;
-
- Map<ShapeOwnerSW *, int> owners;
-
-protected:
- void configure(const AABB &p_aabb);
-
-public:
- enum {
- MAX_SUPPORTS = 8
- };
-
- virtual real_t get_area() const { return aabb.get_area(); }
-
- _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
- _FORCE_INLINE_ RID get_self() const { return self; }
-
- virtual PhysicsServer::ShapeType get_type() const = 0;
-
- _FORCE_INLINE_ AABB get_aabb() const { return aabb; }
- _FORCE_INLINE_ bool is_configured() const { return configured; }
-
- virtual bool is_concave() const { return false; }
-
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const = 0;
- virtual Vector3 get_support(const Vector3 &p_normal) const;
- virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount) const = 0;
- virtual Vector3 get_closest_point_to(const Vector3 &p_point) const = 0;
- virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const = 0;
- virtual bool intersect_point(const Vector3 &p_point) const = 0;
- virtual Vector3 get_moment_of_inertia(real_t p_mass) const = 0;
-
- virtual void set_data(const Variant &p_data) = 0;
- virtual Variant get_data() const = 0;
-
- _FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias = p_bias; }
- _FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; }
-
- void add_owner(ShapeOwnerSW *p_owner);
- void remove_owner(ShapeOwnerSW *p_owner);
- bool is_owner(ShapeOwnerSW *p_owner) const;
- const Map<ShapeOwnerSW *, int> &get_owners() const;
-
- ShapeSW();
- virtual ~ShapeSW();
-};
-
-class ConcaveShapeSW : public ShapeSW {
-
-public:
- virtual bool is_concave() const { return true; }
- typedef void (*Callback)(void *p_userdata, ShapeSW *p_convex);
- virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount) const { r_amount = 0; }
-
- virtual void cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const = 0;
-
- ConcaveShapeSW() {}
-};
-
-class PlaneShapeSW : public ShapeSW {
-
- Plane plane;
-
- void _setup(const Plane &p_plane);
-
-public:
- Plane get_plane() const;
-
- virtual real_t get_area() const { return Math_INF; }
- virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_PLANE; }
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
- virtual Vector3 get_support(const Vector3 &p_normal) const;
- virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount) const { r_amount = 0; }
-
- virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
- virtual bool intersect_point(const Vector3 &p_point) const;
- virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
- virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
-
- virtual void set_data(const Variant &p_data);
- virtual Variant get_data() const;
-
- PlaneShapeSW();
-};
-
-class RayShapeSW : public ShapeSW {
-
- real_t length;
- bool slips_on_slope;
-
- void _setup(real_t p_length, bool p_slips_on_slope);
-
-public:
- real_t get_length() const;
- bool get_slips_on_slope() const;
-
- virtual real_t get_area() const { return 0.0; }
- virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_RAY; }
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
- virtual Vector3 get_support(const Vector3 &p_normal) const;
- virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount) const;
-
- virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
- virtual bool intersect_point(const Vector3 &p_point) const;
- virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
-
- virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
-
- virtual void set_data(const Variant &p_data);
- virtual Variant get_data() const;
-
- RayShapeSW();
-};
-
-class SphereShapeSW : public ShapeSW {
-
- real_t radius;
-
- void _setup(real_t p_radius);
-
-public:
- real_t get_radius() const;
-
- virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius; }
-
- virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_SPHERE; }
-
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
- virtual Vector3 get_support(const Vector3 &p_normal) const;
- virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount) const;
- virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
- virtual bool intersect_point(const Vector3 &p_point) const;
- virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
-
- virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
-
- virtual void set_data(const Variant &p_data);
- virtual Variant get_data() const;
-
- SphereShapeSW();
-};
-
-class BoxShapeSW : public ShapeSW {
-
- Vector3 half_extents;
- void _setup(const Vector3 &p_half_extents);
-
-public:
- _FORCE_INLINE_ Vector3 get_half_extents() const { return half_extents; }
- virtual real_t get_area() const { return 8 * half_extents.x * half_extents.y * half_extents.z; }
-
- virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_BOX; }
-
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
- virtual Vector3 get_support(const Vector3 &p_normal) const;
- virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount) const;
- virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
- virtual bool intersect_point(const Vector3 &p_point) const;
- virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
-
- virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
-
- virtual void set_data(const Variant &p_data);
- virtual Variant get_data() const;
-
- BoxShapeSW();
-};
-
-class CapsuleShapeSW : public ShapeSW {
-
- real_t height;
- real_t radius;
-
- void _setup(real_t p_height, real_t p_radius);
-
-public:
- _FORCE_INLINE_ real_t get_height() const { return height; }
- _FORCE_INLINE_ real_t get_radius() const { return radius; }
-
- virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius + height * Math_PI * radius * radius; }
-
- virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CAPSULE; }
-
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
- virtual Vector3 get_support(const Vector3 &p_normal) const;
- virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount) const;
- virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
- virtual bool intersect_point(const Vector3 &p_point) const;
- virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
-
- virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
-
- virtual void set_data(const Variant &p_data);
- virtual Variant get_data() const;
-
- CapsuleShapeSW();
-};
-
-struct ConvexPolygonShapeSW : public ShapeSW {
-
- Geometry::MeshData mesh;
-
- void _setup(const Vector<Vector3> &p_vertices);
-
-public:
- const Geometry::MeshData &get_mesh() const { return mesh; }
-
- virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }
-
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
- virtual Vector3 get_support(const Vector3 &p_normal) const;
- virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount) const;
- virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
- virtual bool intersect_point(const Vector3 &p_point) const;
- virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
-
- virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
-
- virtual void set_data(const Variant &p_data);
- virtual Variant get_data() const;
-
- ConvexPolygonShapeSW();
-};
-
-struct _VolumeSW_BVH;
-struct FaceShapeSW;
-
-struct ConcavePolygonShapeSW : public ConcaveShapeSW {
- // always a trimesh
-
- struct Face {
-
- Vector3 normal;
- int indices[3];
- };
-
- Vector<Face> faces;
- Vector<Vector3> vertices;
-
- struct BVH {
-
- AABB aabb;
- int left;
- int right;
-
- int face_index;
- };
-
- Vector<BVH> bvh;
-
- struct _CullParams {
-
- AABB aabb;
- Callback callback;
- void *userdata;
- const Face *faces;
- const Vector3 *vertices;
- const BVH *bvh;
- FaceShapeSW *face;
- };
-
- struct _SegmentCullParams {
-
- Vector3 from;
- Vector3 to;
- const Face *faces;
- const Vector3 *vertices;
- const BVH *bvh;
- Vector3 dir;
-
- Vector3 result;
- Vector3 normal;
- real_t min_d;
- int collisions;
- };
-
- void _cull_segment(int p_idx, _SegmentCullParams *p_params) const;
- void _cull(int p_idx, _CullParams *p_params) const;
-
- void _fill_bvh(_VolumeSW_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx);
-
- void _setup(Vector<Vector3> p_faces);
-
-public:
- Vector<Vector3> get_faces() const;
-
- virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }
-
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
- virtual Vector3 get_support(const Vector3 &p_normal) const;
-
- virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
- virtual bool intersect_point(const Vector3 &p_point) const;
- virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
-
- virtual void cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const;
-
- virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
-
- virtual void set_data(const Variant &p_data);
- virtual Variant get_data() const;
-
- ConcavePolygonShapeSW();
-};
-
-struct HeightMapShapeSW : public ConcaveShapeSW {
-
- Vector<real_t> heights;
- int width;
- int depth;
- real_t cell_size;
-
- //void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
- //void _cull(int p_idx,_CullParams *p_params) const;
-
- void _setup(Vector<real_t> p_heights, int p_width, int p_depth, real_t p_cell_size);
-
-public:
- Vector<real_t> get_heights() const;
- int get_width() const;
- int get_depth() const;
- real_t get_cell_size() const;
-
- virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_HEIGHTMAP; }
-
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
- virtual Vector3 get_support(const Vector3 &p_normal) const;
- virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const;
- virtual bool intersect_point(const Vector3 &p_point) const;
-
- virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
- virtual void cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const;
-
- virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
-
- virtual void set_data(const Variant &p_data);
- virtual Variant get_data() const;
-
- HeightMapShapeSW();
-};
-
-//used internally
-struct FaceShapeSW : public ShapeSW {
-
- Vector3 normal; //cache
- Vector3 vertex[3];
-
- virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }
-
- const Vector3 &get_vertex(int p_idx) const { return vertex[p_idx]; }
-
- void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
- Vector3 get_support(const Vector3 &p_normal) const;
- virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount) const;
- bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
- virtual bool intersect_point(const Vector3 &p_point) const;
- virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
-
- Vector3 get_moment_of_inertia(real_t p_mass) const;
-
- virtual void set_data(const Variant &p_data) {}
- virtual Variant get_data() const { return Variant(); }
-
- FaceShapeSW();
-};
-
-struct MotionShapeSW : public ShapeSW {
-
- ShapeSW *shape;
- Vector3 motion;
-
- virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }
-
- void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const {
-
- Vector3 cast = p_transform.basis.xform(motion);
- real_t mina, maxa;
- real_t minb, maxb;
- Transform ofsb = p_transform;
- ofsb.origin += cast;
- shape->project_range(p_normal, p_transform, mina, maxa);
- shape->project_range(p_normal, ofsb, minb, maxb);
- r_min = MIN(mina, minb);
- r_max = MAX(maxa, maxb);
- }
-
- Vector3 get_support(const Vector3 &p_normal) const {
-
- Vector3 support = shape->get_support(p_normal);
- if (p_normal.dot(motion) > 0) {
- support += motion;
- }
- return support;
- }
- virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount) const { r_amount = 0; }
- bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { return false; }
- virtual bool intersect_point(const Vector3 &p_point) const { return false; }
- virtual Vector3 get_closest_point_to(const Vector3 &p_point) const { return p_point; }
-
- Vector3 get_moment_of_inertia(real_t p_mass) const { return Vector3(); }
-
- virtual void set_data(const Variant &p_data) {}
- virtual Variant get_data() const { return Variant(); }
-
- MotionShapeSW() { configure(AABB()); }
-};
-
-#endif // SHAPE_SW_H
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