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-rw-r--r--servers/physics_3d/shape_3d_sw.h54
1 files changed, 31 insertions, 23 deletions
diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h
index 988e76c699..bc8bd3e695 100644
--- a/servers/physics_3d/shape_3d_sw.h
+++ b/servers/physics_3d/shape_3d_sw.h
@@ -81,12 +81,12 @@ public:
virtual PhysicsServer3D::ShapeType get_type() const = 0;
- _FORCE_INLINE_ AABB get_aabb() const { return aabb; }
+ _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 Transform &p_transform, real_t &r_min, real_t &r_max) const = 0;
+ 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;
@@ -130,7 +130,7 @@ public:
virtual real_t get_area() const { return Math_INF; }
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_PLANE; }
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &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, FeatureType &r_type) const { r_amount = 0; }
@@ -157,7 +157,7 @@ public:
virtual real_t get_area() const { return 0.0; }
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_RAY; }
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &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, FeatureType &r_type) const;
@@ -185,7 +185,7 @@ public:
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_SPHERE; }
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &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, FeatureType &r_type) const;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
@@ -210,7 +210,7 @@ public:
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_BOX; }
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &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, FeatureType &r_type) const;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
@@ -239,7 +239,7 @@ public:
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_CAPSULE; }
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &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, FeatureType &r_type) const;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
@@ -268,7 +268,7 @@ public:
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_CYLINDER; }
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &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, FeatureType &r_type) const;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
@@ -293,7 +293,7 @@ public:
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::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 void project_range(const Vector3 &p_normal, const Transform3D &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, FeatureType &r_type) const;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
@@ -371,7 +371,7 @@ public:
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::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 void project_range(const Vector3 &p_normal, const Transform3D &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;
@@ -389,25 +389,33 @@ public:
};
struct HeightMapShape3DSW : public ConcaveShape3DSW {
- Vector<real_t> heights;
- int width;
- int depth;
- real_t cell_size;
+ Vector<float> heights;
+ int width = 0;
+ int depth = 0;
+ Vector3 local_origin;
- //void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
- //void _cull(int p_idx,_CullParams *p_params) const;
+ _FORCE_INLINE_ float _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 _setup(Vector<real_t> p_heights, int p_width, int p_depth, real_t p_cell_size);
+ void _setup(const Vector<float> &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;
+ Vector<float> get_heights() const;
int get_width() const;
int get_depth() const;
- real_t get_cell_size() const;
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_HEIGHTMAP; }
- virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &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;
@@ -433,7 +441,7 @@ struct FaceShape3DSW : public Shape3DSW {
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;
+ void project_range(const Vector3 &p_normal, const Transform3D &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, FeatureType &r_type) const;
bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
@@ -454,11 +462,11 @@ struct MotionShape3DSW : public Shape3DSW {
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::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 Transform3D &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;
+ Transform3D ofsb = p_transform;
ofsb.origin += cast;
shape->project_range(p_normal, p_transform, mina, maxa);
shape->project_range(p_normal, ofsb, minb, maxb);
generated by cgit v1.2.3 (git 2.25.1) at 2026-01-03 08:26:47 +0000