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-rw-r--r--servers/physics_3d/shape_3d_sw.cpp105
1 files changed, 58 insertions, 47 deletions
diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp
index 5bac4f19b9..bf0946a0e2 100644
--- a/servers/physics_3d/shape_3d_sw.cpp
+++ b/servers/physics_3d/shape_3d_sw.cpp
@@ -491,10 +491,10 @@ BoxShape3DSW::BoxShape3DSW() {
void CapsuleShape3DSW::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();
- real_t h = (n.z > 0) ? height : -height;
+ real_t h = (n.y > 0) ? height : -height;
n *= radius;
- n.z += h * 0.5;
+ n.y += h * 0.5;
r_max = p_normal.dot(p_transform.xform(n));
r_min = p_normal.dot(p_transform.xform(-n));
@@ -503,36 +503,36 @@ void CapsuleShape3DSW::project_range(const Vector3 &p_normal, const Transform &p
Vector3 CapsuleShape3DSW::get_support(const Vector3 &p_normal) const {
Vector3 n = p_normal;
- real_t h = (n.z > 0) ? height : -height;
+ real_t h = (n.y > 0) ? height : -height;
n *= radius;
- n.z += h * 0.5;
+ n.y += h * 0.5;
return n;
}
void CapsuleShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const {
Vector3 n = p_normal;
- real_t d = n.z;
+ real_t d = n.y;
if (Math::abs(d) < _EDGE_IS_VALID_SUPPORT_THRESHOLD) {
// make it flat
- n.z = 0.0;
+ n.y = 0.0;
n.normalize();
n *= radius;
r_amount = 2;
r_type = FEATURE_EDGE;
r_supports[0] = n;
- r_supports[0].z += height * 0.5;
+ r_supports[0].y += height * 0.5;
r_supports[1] = n;
- r_supports[1].z -= height * 0.5;
+ r_supports[1].y -= height * 0.5;
} else {
real_t h = (d > 0) ? height : -height;
n *= radius;
- n.z += h * 0.5;
+ n.y += h * 0.5;
r_amount = 1;
r_type = FEATURE_POINT;
*r_supports = n;
@@ -551,7 +551,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
// test against cylinder and spheres :-|
- collided = Geometry3D::segment_intersects_cylinder(p_begin, p_end, height, radius, &auxres, &auxn);
+ collided = Geometry3D::segment_intersects_cylinder(p_begin, p_end, height, radius, &auxres, &auxn, 1);
if (collided) {
real_t d = norm.dot(auxres);
@@ -563,7 +563,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
}
}
- collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, 0, height * 0.5), radius, &auxres, &auxn);
+ collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * 0.5, 0), radius, &auxres, &auxn);
if (collided) {
real_t d = norm.dot(auxres);
@@ -575,7 +575,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
}
}
- collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, 0, height * -0.5), radius, &auxres, &auxn);
+ collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * -0.5, 0), radius, &auxres, &auxn);
if (collided) {
real_t d = norm.dot(auxres);
@@ -596,19 +596,19 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
}
bool CapsuleShape3DSW::intersect_point(const Vector3 &p_point) const {
- if (Math::abs(p_point.z) < height * 0.5) {
- return Vector3(p_point.x, p_point.y, 0).length() < radius;
+ if (Math::abs(p_point.y) < height * 0.5) {
+ return Vector3(p_point.x, 0, p_point.z).length() < radius;
} else {
Vector3 p = p_point;
- p.z = Math::abs(p.z) - height * 0.5;
+ p.y = Math::abs(p.y) - height * 0.5;
return p.length() < radius;
}
}
Vector3 CapsuleShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
Vector3 s[2] = {
- Vector3(0, 0, -height * 0.5),
- Vector3(0, 0, height * 0.5),
+ Vector3(0, -height * 0.5, 0),
+ Vector3(0, height * 0.5, 0),
};
Vector3 p = Geometry3D::get_closest_point_to_segment(p_point, s);
@@ -627,13 +627,13 @@ Vector3 CapsuleShape3DSW::get_moment_of_inertia(real_t p_mass) const {
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));
+ (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y));
}
void CapsuleShape3DSW::_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)));
+ configure(AABB(Vector3(-radius, -height * 0.5 - radius, -radius), Vector3(radius * 2, height + radius * 2.0, radius * 2)));
}
void CapsuleShape3DSW::set_data(const Variant &p_data) {
@@ -807,7 +807,7 @@ Vector3 CylinderShape3DSW::get_moment_of_inertia(real_t p_mass) const {
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));
+ (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y));
}
void CylinderShape3DSW::_setup(real_t p_height, real_t p_radius) {
@@ -1064,7 +1064,7 @@ Vector3 ConvexPolygonShape3DSW::get_moment_of_inertia(real_t p_mass) const {
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));
+ (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y));
}
void ConvexPolygonShape3DSW::_setup(const Vector<Vector3> &p_vertices) {
@@ -1134,7 +1134,7 @@ void FaceShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_
Vector3 n = p_normal;
/** TEST FACE AS SUPPORT **/
- if (normal.dot(n) > _FACE_IS_VALID_SUPPORT_THRESHOLD) {
+ if (Math::abs(normal.dot(n)) > _FACE_IS_VALID_SUPPORT_THRESHOLD) {
r_amount = 3;
r_type = FEATURE_FACE;
for (int i = 0; i < 3; i++) {
@@ -1187,7 +1187,11 @@ bool FaceShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_e
if (c) {
r_normal = Plane(vertex[0], vertex[1], vertex[2]).normal;
if (r_normal.dot(p_end - p_begin) > 0) {
- r_normal = -r_normal;
+ if (backface_collision) {
+ r_normal = -r_normal;
+ } else {
+ c = false;
+ }
}
}
@@ -1285,30 +1289,24 @@ void ConcavePolygonShape3DSW::_cull_segment(int p_idx, _SegmentCullParams *p_par
}
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]]
- };
+ const Face *f = &p_params->faces[bvh->face_index];
+ FaceShape3DSW *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]];
- if (Geometry3D::segment_intersects_triangle(
- p_params->from,
- p_params->to,
- vertices[0],
- vertices[1],
- vertices[2],
- &res)) {
+ Vector3 res;
+ Vector3 normal;
+ if (face->intersect_segment(p_params->from, p_params->to, res, normal)) {
real_t d = p_params->dir.dot(res) - p_params->dir.dot(p_params->from);
- //TODO, seems segmen/triangle intersection is broken :(
- if (d > 0 && d < p_params->min_d) {
+ 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->normal = normal;
p_params->collisions++;
}
}
-
} else {
if (bvh->left >= 0) {
_cull_segment(bvh->left, p_params);
@@ -1329,17 +1327,20 @@ bool ConcavePolygonShape3DSW::intersect_segment(const Vector3 &p_begin, const Ve
const Vector3 *vr = vertices.ptr();
const BVH *br = bvh.ptr();
+ FaceShape3DSW face;
+ face.backface_collision = backface_collision;
+
_SegmentCullParams params;
params.from = p_begin;
params.to = p_end;
- params.collisions = 0;
params.dir = (p_end - p_begin).normalized();
params.faces = fr;
params.vertices = vr;
params.bvh = br;
- params.min_d = 1e20;
+ params.face = &face;
+
// cull
_cull_segment(0, &params);
@@ -1401,6 +1402,7 @@ void ConcavePolygonShape3DSW::cull(const AABB &p_local_aabb, Callback p_callback
const BVH *br = bvh.ptr();
FaceShape3DSW face; // use this to send in the callback
+ face.backface_collision = backface_collision;
_CullParams params;
params.aabb = local_aabb;
@@ -1422,7 +1424,7 @@ Vector3 ConcavePolygonShape3DSW::get_moment_of_inertia(real_t p_mass) const {
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));
+ (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y));
}
struct _VolumeSW_BVH_Element {
@@ -1532,7 +1534,7 @@ void ConcavePolygonShape3DSW::_fill_bvh(_VolumeSW_BVH *p_bvh_tree, BVH *p_bvh_ar
memdelete(p_bvh_tree);
}
-void ConcavePolygonShape3DSW::_setup(Vector<Vector3> p_faces) {
+void ConcavePolygonShape3DSW::_setup(const Vector<Vector3> &p_faces, bool p_backface_collision) {
int src_face_count = p_faces.size();
if (src_face_count == 0) {
configure(AABB());
@@ -1587,15 +1589,24 @@ void ConcavePolygonShape3DSW::_setup(Vector<Vector3> p_faces) {
int idx = 0;
_fill_bvh(bvh_tree, bvh_arrayw2, idx);
+ backface_collision = p_backface_collision;
+
configure(_aabb); // this type of shape has no margin
}
void ConcavePolygonShape3DSW::set_data(const Variant &p_data) {
- _setup(p_data);
+ Dictionary d = p_data;
+ ERR_FAIL_COND(!d.has("faces"));
+
+ _setup(d["faces"], d["backface_collision"]);
}
Variant ConcavePolygonShape3DSW::get_data() const {
- return get_faces();
+ Dictionary d;
+ d["faces"] = get_faces();
+ d["backface_collision"] = backface_collision;
+
+ return d;
}
ConcavePolygonShape3DSW::ConcavePolygonShape3DSW() {
@@ -1651,7 +1662,7 @@ Vector3 HeightMapShape3DSW::get_moment_of_inertia(real_t p_mass) const {
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));
+ (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y));
}
void HeightMapShape3DSW::_setup(Vector<real_t> p_heights, int p_width, int p_depth, real_t p_cell_size) {
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-26 22:49:10 +0000