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+/*************************************************************************/
+/* shape_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
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