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-rw-r--r--servers/physics_3d/shape_3d_sw.h88
1 files changed, 62 insertions, 26 deletions
diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h
index 2a2cd42255..988e76c699 100644
--- a/servers/physics_3d/shape_3d_sw.h
+++ b/servers/physics_3d/shape_3d_sw.h
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
+/* 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 */
@@ -67,8 +67,11 @@ protected:
void configure(const AABB &p_aabb);
public:
- enum {
- MAX_SUPPORTS = 8
+ enum FeatureType {
+ FEATURE_POINT,
+ FEATURE_EDGE,
+ FEATURE_FACE,
+ FEATURE_CIRCLE,
};
virtual real_t get_area() const { return aabb.get_area(); }
@@ -85,7 +88,7 @@ public:
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 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) const = 0;
virtual bool intersect_point(const Vector3 &p_point) const = 0;
@@ -110,7 +113,7 @@ 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 get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; }
virtual void cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const = 0;
@@ -129,7 +132,7 @@ public:
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 void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) 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;
@@ -156,7 +159,7 @@ public:
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 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;
virtual bool intersect_point(const Vector3 &p_point) const;
@@ -184,7 +187,7 @@ public:
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 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;
virtual bool intersect_point(const Vector3 &p_point) const;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
@@ -209,7 +212,7 @@ public:
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 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;
virtual bool intersect_point(const Vector3 &p_point) const;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
@@ -238,7 +241,7 @@ public:
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 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;
virtual bool intersect_point(const Vector3 &p_point) const;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
@@ -251,6 +254,35 @@ public:
CapsuleShape3DSW();
};
+class CylinderShape3DSW : 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_CYLINDER; }
+
+ 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, FeatureType &r_type) 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;
+
+ CylinderShape3DSW();
+};
+
struct ConvexPolygonShape3DSW : public Shape3DSW {
Geometry3D::MeshData mesh;
@@ -263,7 +295,7 @@ public:
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 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;
virtual bool intersect_point(const Vector3 &p_point) const;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
@@ -302,34 +334,37 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
struct _CullParams {
AABB aabb;
- Callback callback;
- void *userdata;
- const Face *faces;
- const Vector3 *vertices;
- const BVH *bvh;
- FaceShape3DSW *face;
+ Callback callback = nullptr;
+ void *userdata = nullptr;
+ const Face *faces = nullptr;
+ const Vector3 *vertices = nullptr;
+ const BVH *bvh = nullptr;
+ FaceShape3DSW *face = nullptr;
};
struct _SegmentCullParams {
Vector3 from;
Vector3 to;
- const Face *faces;
- const Vector3 *vertices;
- const BVH *bvh;
Vector3 dir;
+ const Face *faces = nullptr;
+ const Vector3 *vertices = nullptr;
+ const BVH *bvh = nullptr;
+ FaceShape3DSW *face = nullptr;
Vector3 result;
Vector3 normal;
- real_t min_d;
- int collisions;
+ real_t min_d = 1e20;
+ int collisions = 0;
};
+ bool backface_collision = false;
+
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);
+ void _setup(const Vector<Vector3> &p_faces, bool p_backface_collision);
public:
Vector<Vector3> get_faces() const;
@@ -392,6 +427,7 @@ public:
struct FaceShape3DSW : public Shape3DSW {
Vector3 normal; //cache
Vector3 vertex[3];
+ bool backface_collision = false;
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_CONCAVE_POLYGON; }
@@ -399,7 +435,7 @@ struct FaceShape3DSW : public Shape3DSW {
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;
+ 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;
virtual bool intersect_point(const Vector3 &p_point) const;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
@@ -437,7 +473,7 @@ struct MotionShape3DSW : public Shape3DSW {
}
return support;
}
- virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount) const { r_amount = 0; }
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) 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; }
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-10 05:56:21 +0000