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Diffstat (limited to 'servers/physics_3d/shape_3d_sw.h')
-rw-r--r-- | servers/physics_3d/shape_3d_sw.h | 470 |
1 files changed, 470 insertions, 0 deletions
diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h new file mode 100644 index 0000000000..dd29ec849b --- /dev/null +++ b/servers/physics_3d/shape_3d_sw.h @@ -0,0 +1,470 @@ +/*************************************************************************/ +/* shape_3d_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_3d.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 Shape3DSW; + +class ShapeOwner3DSW { +public: + virtual void _shape_changed() = 0; + virtual void remove_shape(Shape3DSW *p_shape) = 0; + + virtual ~ShapeOwner3DSW() {} +}; + +class Shape3DSW { + + RID self; + AABB aabb; + bool configured; + real_t custom_bias; + + Map<ShapeOwner3DSW *, 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 PhysicsServer3D::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(ShapeOwner3DSW *p_owner); + void remove_owner(ShapeOwner3DSW *p_owner); + bool is_owner(ShapeOwner3DSW *p_owner) const; + const Map<ShapeOwner3DSW *, int> &get_owners() const; + + Shape3DSW(); + virtual ~Shape3DSW(); +}; + +class ConcaveShape3DSW : public Shape3DSW { + +public: + virtual bool is_concave() const { return true; } + typedef void (*Callback)(void *p_userdata, Shape3DSW *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; + + ConcaveShape3DSW() {} +}; + +class PlaneShape3DSW : public Shape3DSW { + + Plane plane; + + void _setup(const Plane &p_plane); + +public: + Plane get_plane() const; + + 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 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; + + PlaneShape3DSW(); +}; + +class RayShape3DSW : public Shape3DSW { + + 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 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 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; + + RayShape3DSW(); +}; + +class SphereShape3DSW : public Shape3DSW { + + 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 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 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; + + SphereShape3DSW(); +}; + +class BoxShape3DSW : public Shape3DSW { + + 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 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 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; + + BoxShape3DSW(); +}; + +class CapsuleShape3DSW : public Shape3DSW { + + 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 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 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; + + CapsuleShape3DSW(); +}; + +struct ConvexPolygonShape3DSW : public Shape3DSW { + + Geometry::MeshData mesh; + + void _setup(const Vector<Vector3> &p_vertices); + +public: + const Geometry::MeshData &get_mesh() const { return mesh; } + + 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 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; + + ConvexPolygonShape3DSW(); +}; + +struct _VolumeSW_BVH; +struct FaceShape3DSW; + +struct ConcavePolygonShape3DSW : public ConcaveShape3DSW { + // 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; + FaceShape3DSW *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 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 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; + + ConcavePolygonShape3DSW(); +}; + +struct HeightMapShape3DSW : public ConcaveShape3DSW { + + 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 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 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; + + HeightMapShape3DSW(); +}; + +//used internally +struct FaceShape3DSW : public Shape3DSW { + + Vector3 normal; //cache + Vector3 vertex[3]; + + virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::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(); } + + FaceShape3DSW(); +}; + +struct MotionShape3DSW : public Shape3DSW { + + Shape3DSW *shape; + Vector3 motion; + + 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 { + + 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(); } + + MotionShape3DSW() { configure(AABB()); } +}; + +#endif // SHAPE_SW_H |