diff options
Diffstat (limited to 'servers/physics/shape_sw.h')
| -rw-r--r-- | servers/physics/shape_sw.h | 233 |
1 files changed, 106 insertions, 127 deletions
diff --git a/servers/physics/shape_sw.h b/servers/physics/shape_sw.h index 55daa5856d..442cbc39eb 100644 --- a/servers/physics/shape_sw.h +++ b/servers/physics/shape_sw.h @@ -29,9 +29,9 @@ #ifndef SHAPE_SW_H #define SHAPE_SW_H -#include "servers/physics_server.h" #include "bsp_tree.h" #include "geometry.h" +#include "servers/physics_server.h" /* SHAPE_LINE, ///< plane:"plane" @@ -46,16 +46,14 @@ SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_creat class ShapeSW; -class ShapeOwnerSW : public RID_Data { +class ShapeOwnerSW : public RID_Data { public: - - virtual void _shape_changed()=0; - virtual void remove_shape(ShapeSW *p_shape)=0; + virtual void _shape_changed() = 0; + virtual void remove_shape(ShapeSW *p_shape) = 0; virtual ~ShapeOwnerSW() {} }; - class ShapeSW : public RID_Data { RID self; @@ -63,60 +61,58 @@ class ShapeSW : public RID_Data { bool configured; real_t custom_bias; - Map<ShapeOwnerSW*,int> owners; + Map<ShapeOwnerSW *, int> owners; + protected: + void configure(const Rect3 &p_aabb); - void configure(const Rect3& p_aabb); public: - enum { - MAX_SUPPORTS=8 + MAX_SUPPORTS = 8 }; - virtual real_t get_area() const { return aabb.get_area();} + 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; } + _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; + virtual PhysicsServer::ShapeType get_type() const = 0; _FORCE_INLINE_ Rect3 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 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 bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_point, Vector3 &r_normal) const=0; - virtual Vector3 get_moment_of_inertia(real_t p_mass) const=0; + virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) 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; + 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_ 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; + 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; } + 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 Rect3& p_local_aabb,Callback p_callback,void* p_userdata) const=0; + virtual void cull(const Rect3 &p_local_aabb, Callback p_callback, void *p_userdata) const = 0; ConcaveShapeSW() {} }; @@ -125,22 +121,22 @@ class PlaneShapeSW : public ShapeSW { Plane plane; - void _setup(const Plane& p_plane); -public: + 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 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_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const; virtual Vector3 get_moment_of_inertia(real_t p_mass) const; - virtual void set_data(const Variant& p_data); + virtual void set_data(const Variant &p_data); virtual Variant get_data() const; PlaneShapeSW(); @@ -151,21 +147,21 @@ class RayShapeSW : public ShapeSW { real_t length; void _setup(real_t p_length); -public: +public: real_t get_length() 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 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_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const; virtual Vector3 get_moment_of_inertia(real_t p_mass) const; - virtual void set_data(const Variant& p_data); + virtual void set_data(const Variant &p_data); virtual Variant get_data() const; RayShapeSW(); @@ -176,22 +172,22 @@ class SphereShapeSW : public ShapeSW { real_t radius; void _setup(real_t p_radius); -public: +public: real_t get_radius() const; - virtual real_t get_area() const { return 4.0/3.0 * Math_PI * radius * radius * radius; } + 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 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 Vector3 get_moment_of_inertia(real_t p_mass) const; - virtual void set_data(const Variant& p_data); + virtual void set_data(const Variant &p_data); virtual Variant get_data() const; SphereShapeSW(); @@ -200,22 +196,22 @@ public: class BoxShapeSW : public ShapeSW { Vector3 half_extents; - void _setup(const Vector3& p_half_extents); -public: + 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 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 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 Vector3 get_moment_of_inertia(real_t p_mass) const; - virtual void set_data(const Variant& p_data); + virtual void set_data(const Variant &p_data); virtual Variant get_data() const; BoxShapeSW(); @@ -226,25 +222,24 @@ class CapsuleShapeSW : public ShapeSW { real_t height; real_t radius; + void _setup(real_t p_height, real_t p_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() { return 4.0/3.0 * Math_PI * radius * radius * radius + height * Math_PI * radius * radius; } + virtual real_t get_area() { 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 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 Vector3 get_moment_of_inertia(real_t p_mass) const; - virtual void set_data(const Variant& p_data); + virtual void set_data(const Variant &p_data); virtual Variant get_data() const; CapsuleShapeSW(); @@ -254,28 +249,26 @@ struct ConvexPolygonShapeSW : public ShapeSW { Geometry::MeshData mesh; - void _setup(const Vector<Vector3>& p_vertices); -public: + void _setup(const Vector<Vector3> &p_vertices); - const Geometry::MeshData& get_mesh() const { return mesh; } +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 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 Vector3 get_moment_of_inertia(real_t p_mass) const; - virtual void set_data(const Variant& p_data); + virtual void set_data(const Variant &p_data); virtual Variant get_data() const; ConvexPolygonShapeSW(); - }; - struct _VolumeSW_BVH; struct FaceShapeSW; @@ -326,39 +319,35 @@ struct ConcavePolygonShapeSW : public ConcaveShapeSW { 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 _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(PoolVector<Vector3> p_faces); -public: +public: PoolVector<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 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_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const; - virtual void cull(const Rect3& p_local_aabb,Callback p_callback,void* p_userdata) const; + virtual void cull(const Rect3 &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 void set_data(const Variant &p_data); virtual Variant get_data() const; ConcavePolygonShapeSW(); - }; - struct HeightMapShapeSW : public ConcaveShapeSW { PoolVector<real_t> heights; @@ -369,9 +358,9 @@ struct HeightMapShapeSW : public ConcaveShapeSW { //void _cull_segment(int p_idx,_SegmentCullParams *p_params) const; //void _cull(int p_idx,_CullParams *p_params) const; - void _setup(PoolVector<real_t> p_heights,int p_width,int p_depth,real_t p_cell_size); -public: + void _setup(PoolVector<real_t> p_heights, int p_width, int p_depth, real_t p_cell_size); +public: PoolVector<real_t> get_heights() const; int get_width() const; int get_depth() const; @@ -379,19 +368,18 @@ public: 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_result, Vector3 &r_normal) const; + 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 void cull(const Rect3& p_local_aabb,Callback p_callback,void* p_userdata) const; + virtual void cull(const Rect3 &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 void set_data(const Variant &p_data); virtual Variant get_data() const; HeightMapShapeSW(); - }; //used internally @@ -402,22 +390,21 @@ struct FaceShapeSW : public ShapeSW { virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; } - const Vector3& get_vertex(int p_idx) const { return vertex[p_idx]; } + 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; + 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; Vector3 get_moment_of_inertia(real_t p_mass) const; - virtual void set_data(const Variant& p_data) {} + virtual void set_data(const Variant &p_data) {} virtual Variant get_data() const { return Variant(); } FaceShapeSW(); }; - struct MotionShapeSW : public ShapeSW { ShapeSW *shape; @@ -425,56 +412,48 @@ struct MotionShapeSW : public ShapeSW { 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 { + 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; + 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); + 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 get_support(const Vector3 &p_normal) const { Vector3 support = shape->get_support(p_normal); - if (p_normal.dot(motion)>0) { - support+=motion; + 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 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; } Vector3 get_moment_of_inertia(real_t p_mass) const { return Vector3(); } - virtual void set_data(const Variant& p_data) {} + virtual void set_data(const Variant &p_data) {} virtual Variant get_data() const { return Variant(); } - MotionShapeSW() { configure(Rect3()); } + MotionShapeSW() { configure(Rect3()); } }; - - - struct _ShapeTestConvexBSPSW { const BSP_Tree *bsp; const ShapeSW *shape; Transform transform; - _FORCE_INLINE_ void project_range(const Vector3& p_normal, real_t& r_min, real_t& r_max) const { + _FORCE_INLINE_ void project_range(const Vector3 &p_normal, real_t &r_min, real_t &r_max) const { - shape->project_range(p_normal,transform,r_min,r_max); + shape->project_range(p_normal, transform, r_min, r_max); } - }; - - - #endif // SHAPESW_H |