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+/*************************************************************************/
+/* godot_shape_3d.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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 GODOT_SHAPE_3D_H
+#define GODOT_SHAPE_3D_H
+
+#include "core/math/geometry_3d.h"
+#include "core/templates/local_vector.h"
+#include "servers/physics_server_3d.h"
+
+class GodotShape3D;
+
+class GodotShapeOwner3D {
+public:
+ virtual void _shape_changed() = 0;
+ virtual void remove_shape(GodotShape3D *p_shape) = 0;
+
+ virtual ~GodotShapeOwner3D() {}
+};
+
+class GodotShape3D {
+ RID self;
+ AABB aabb;
+ bool configured = false;
+ real_t custom_bias = 0.0;
+
+ Map<GodotShapeOwner3D *, int> owners;
+
+protected:
+ void configure(const AABB &p_aabb);
+
+public:
+ enum FeatureType {
+ FEATURE_POINT,
+ FEATURE_EDGE,
+ FEATURE_FACE,
+ FEATURE_CIRCLE,
+ };
+
+ virtual real_t get_volume() const { return aabb.get_volume(); }
+
+ _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
+ _FORCE_INLINE_ RID get_self() const { return self; }
+
+ virtual PhysicsServer3D::ShapeType get_type() const = 0;
+
+ _FORCE_INLINE_ const 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 Transform3D &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, FeatureType &r_type) 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, bool p_hit_back_faces) 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(GodotShapeOwner3D *p_owner);
+ void remove_owner(GodotShapeOwner3D *p_owner);
+ bool is_owner(GodotShapeOwner3D *p_owner) const;
+ const Map<GodotShapeOwner3D *, int> &get_owners() const;
+
+ GodotShape3D() {}
+ virtual ~GodotShape3D();
+};
+
+class GodotConcaveShape3D : public GodotShape3D {
+public:
+ virtual bool is_concave() const override { return true; }
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override { r_amount = 0; }
+
+ // Returns true to stop the query.
+ typedef bool (*QueryCallback)(void *p_userdata, GodotShape3D *p_convex);
+
+ virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const = 0;
+
+ GodotConcaveShape3D() {}
+};
+
+class GodotWorldBoundaryShape3D : public GodotShape3D {
+ Plane plane;
+
+ void _setup(const Plane &p_plane);
+
+public:
+ Plane get_plane() const;
+
+ virtual real_t get_volume() const override { return INFINITY; }
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_WORLD_BOUNDARY; }
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
+ virtual Vector3 get_support(const Vector3 &p_normal) const override;
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override { r_amount = 0; }
+
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
+ virtual bool intersect_point(const Vector3 &p_point) const override;
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
+
+ virtual void set_data(const Variant &p_data) override;
+ virtual Variant get_data() const override;
+
+ GodotWorldBoundaryShape3D();
+};
+
+class GodotSeparationRayShape3D : public GodotShape3D {
+ real_t length = 1.0;
+ bool slide_on_slope = false;
+
+ void _setup(real_t p_length, bool p_slide_on_slope);
+
+public:
+ real_t get_length() const;
+ bool get_slide_on_slope() const;
+
+ virtual real_t get_volume() const override { return 0.0; }
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_SEPARATION_RAY; }
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
+ virtual Vector3 get_support(const Vector3 &p_normal) const override;
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
+
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
+ virtual bool intersect_point(const Vector3 &p_point) const override;
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
+
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
+
+ virtual void set_data(const Variant &p_data) override;
+ virtual Variant get_data() const override;
+
+ GodotSeparationRayShape3D();
+};
+
+class GodotSphereShape3D : public GodotShape3D {
+ real_t radius = 0.0;
+
+ void _setup(real_t p_radius);
+
+public:
+ real_t get_radius() const;
+
+ virtual real_t get_volume() const override { return 4.0 / 3.0 * Math_PI * radius * radius * radius; }
+
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_SPHERE; }
+
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
+ virtual Vector3 get_support(const Vector3 &p_normal) const override;
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
+ virtual bool intersect_point(const Vector3 &p_point) const override;
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
+
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
+
+ virtual void set_data(const Variant &p_data) override;
+ virtual Variant get_data() const override;
+
+ GodotSphereShape3D();
+};
+
+class GodotBoxShape3D : public GodotShape3D {
+ 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_volume() const override { return 8 * half_extents.x * half_extents.y * half_extents.z; }
+
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_BOX; }
+
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
+ virtual Vector3 get_support(const Vector3 &p_normal) const override;
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
+ virtual bool intersect_point(const Vector3 &p_point) const override;
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
+
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
+
+ virtual void set_data(const Variant &p_data) override;
+ virtual Variant get_data() const override;
+
+ GodotBoxShape3D();
+};
+
+class GodotCapsuleShape3D : public GodotShape3D {
+ real_t height = 0.0;
+ real_t radius = 0.0;
+
+ 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_volume() const override { return 4.0 / 3.0 * Math_PI * radius * radius * radius + (height - radius * 2.0) * Math_PI * radius * radius; }
+
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CAPSULE; }
+
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
+ virtual Vector3 get_support(const Vector3 &p_normal) const override;
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
+ virtual bool intersect_point(const Vector3 &p_point) const override;
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
+
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
+
+ virtual void set_data(const Variant &p_data) override;
+ virtual Variant get_data() const override;
+
+ GodotCapsuleShape3D();
+};
+
+class GodotCylinderShape3D : public GodotShape3D {
+ real_t height = 0.0;
+ real_t radius = 0.0;
+
+ 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_volume() const override { return height * Math_PI * radius * radius; }
+
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CYLINDER; }
+
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
+ virtual Vector3 get_support(const Vector3 &p_normal) const override;
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
+ virtual bool intersect_point(const Vector3 &p_point) const override;
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
+
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
+
+ virtual void set_data(const Variant &p_data) override;
+ virtual Variant get_data() const override;
+
+ GodotCylinderShape3D();
+};
+
+struct GodotConvexPolygonShape3D : public GodotShape3D {
+ Geometry3D::MeshData mesh;
+
+ void _setup(const Vector<Vector3> &p_vertices);
+
+public:
+ const Geometry3D::MeshData &get_mesh() const { return mesh; }
+
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONVEX_POLYGON; }
+
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
+ virtual Vector3 get_support(const Vector3 &p_normal) const override;
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
+ virtual bool intersect_point(const Vector3 &p_point) const override;
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
+
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
+
+ virtual void set_data(const Variant &p_data) override;
+ virtual Variant get_data() const override;
+
+ GodotConvexPolygonShape3D();
+};
+
+struct _Volume_BVH;
+struct GodotFaceShape3D;
+
+struct GodotConcavePolygonShape3D : public GodotConcaveShape3D {
+ // always a trimesh
+
+ struct Face {
+ Vector3 normal;
+ int indices[3] = {};
+ };
+
+ Vector<Face> faces;
+ Vector<Vector3> vertices;
+
+ struct BVH {
+ AABB aabb;
+ int left = 0;
+ int right = 0;
+
+ int face_index = 0;
+ };
+
+ Vector<BVH> bvh;
+
+ struct _CullParams {
+ AABB aabb;
+ QueryCallback callback = nullptr;
+ void *userdata = nullptr;
+ const Face *faces = nullptr;
+ const Vector3 *vertices = nullptr;
+ const BVH *bvh = nullptr;
+ GodotFaceShape3D *face = nullptr;
+ };
+
+ struct _SegmentCullParams {
+ Vector3 from;
+ Vector3 to;
+ Vector3 dir;
+ const Face *faces = nullptr;
+ const Vector3 *vertices = nullptr;
+ const BVH *bvh = nullptr;
+ GodotFaceShape3D *face = nullptr;
+
+ Vector3 result;
+ Vector3 normal;
+ real_t min_d = 1e20;
+ int collisions = 0;
+ };
+
+ bool backface_collision = false;
+
+ void _cull_segment(int p_idx, _SegmentCullParams *p_params) const;
+ bool _cull(int p_idx, _CullParams *p_params) const;
+
+ void _fill_bvh(_Volume_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx);
+
+ void _setup(const Vector<Vector3> &p_faces, bool p_backface_collision);
+
+public:
+ Vector<Vector3> get_faces() const;
+
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONCAVE_POLYGON; }
+
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
+ virtual Vector3 get_support(const Vector3 &p_normal) const override;
+
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
+ virtual bool intersect_point(const Vector3 &p_point) const override;
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
+
+ virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const override;
+
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
+
+ virtual void set_data(const Variant &p_data) override;
+ virtual Variant get_data() const override;
+
+ GodotConcavePolygonShape3D();
+};
+
+struct GodotHeightMapShape3D : public GodotConcaveShape3D {
+ Vector<real_t> heights;
+ int width = 0;
+ int depth = 0;
+ Vector3 local_origin;
+
+ // Accelerator.
+ struct Range {
+ real_t min = 0.0;
+ real_t max = 0.0;
+ };
+ LocalVector<Range> bounds_grid;
+ int bounds_grid_width = 0;
+ int bounds_grid_depth = 0;
+
+ static const int BOUNDS_CHUNK_SIZE = 16;
+
+ _FORCE_INLINE_ const Range &_get_bounds_chunk(int p_x, int p_z) const {
+ return bounds_grid[(p_z * bounds_grid_width) + p_x];
+ }
+
+ _FORCE_INLINE_ real_t _get_height(int p_x, int p_z) const {
+ return heights[(p_z * width) + p_x];
+ }
+
+ _FORCE_INLINE_ void _get_point(int p_x, int p_z, Vector3 &r_point) const {
+ r_point.x = p_x - 0.5 * (width - 1.0);
+ r_point.y = _get_height(p_x, p_z);
+ r_point.z = p_z - 0.5 * (depth - 1.0);
+ }
+
+ void _get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const;
+
+ void _build_accelerator();
+
+ template <typename ProcessFunction>
+ bool _intersect_grid_segment(ProcessFunction &p_process, const Vector3 &p_begin, const Vector3 &p_end, int p_width, int p_depth, const Vector3 &offset, Vector3 &r_point, Vector3 &r_normal) const;
+
+ void _setup(const Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
+
+public:
+ Vector<real_t> get_heights() const;
+ int get_width() const;
+ int get_depth() const;
+
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_HEIGHTMAP; }
+
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
+ virtual Vector3 get_support(const Vector3 &p_normal) const override;
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal, bool p_hit_back_faces) const override;
+ virtual bool intersect_point(const Vector3 &p_point) const override;
+
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
+ virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const override;
+
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
+
+ virtual void set_data(const Variant &p_data) override;
+ virtual Variant get_data() const override;
+
+ GodotHeightMapShape3D();
+};
+
+//used internally
+struct GodotFaceShape3D : public GodotShape3D {
+ Vector3 normal; //cache
+ Vector3 vertex[3];
+ bool backface_collision = false;
+ bool invert_backface_collision = false;
+
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONCAVE_POLYGON; }
+
+ const Vector3 &get_vertex(int p_idx) const { return vertex[p_idx]; }
+
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
+ virtual Vector3 get_support(const Vector3 &p_normal) const override;
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
+ virtual bool intersect_point(const Vector3 &p_point) const override;
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
+
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
+
+ virtual void set_data(const Variant &p_data) override {}
+ virtual Variant get_data() const override { return Variant(); }
+
+ GodotFaceShape3D();
+};
+
+struct GodotMotionShape3D : public GodotShape3D {
+ GodotShape3D *shape = nullptr;
+ Vector3 motion;
+
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONVEX_POLYGON; }
+
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override {
+ Vector3 cast = p_transform.basis.xform(motion);
+ real_t mina, maxa;
+ real_t minb, maxb;
+ Transform3D 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);
+ }
+
+ virtual Vector3 get_support(const Vector3 &p_normal) const override {
+ 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, FeatureType &r_type) const override { r_amount = 0; }
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override { return false; }
+ virtual bool intersect_point(const Vector3 &p_point) const override { return false; }
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override { return p_point; }
+
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override { return Vector3(); }
+
+ virtual void set_data(const Variant &p_data) override {}
+ virtual Variant get_data() const override { return Variant(); }
+
+ GodotMotionShape3D() { configure(AABB()); }
+};
+
+#endif // GODOT_SHAPE_3D_H
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