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-rw-r--r--servers/physics_3d/shape_3d_sw.h85
1 files changed, 68 insertions, 17 deletions
diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h
index ca58900111..73eddc469c 100644
--- a/servers/physics_3d/shape_3d_sw.h
+++ b/servers/physics_3d/shape_3d_sw.h
@@ -32,6 +32,7 @@
#define SHAPE_SW_H
#include "core/math/geometry_3d.h"
+#include "core/templates/local_vector.h"
#include "servers/physics_server_3d.h"
class Shape3DSW;
@@ -101,10 +102,12 @@ public:
class ConcaveShape3DSW : public Shape3DSW {
public:
virtual bool is_concave() const override { 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, FeatureType &r_type) const override { r_amount = 0; }
- virtual void cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const = 0;
+ // Returns true to stop the query.
+ typedef bool (*QueryCallback)(void *p_userdata, Shape3DSW *p_convex);
+
+ virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0;
ConcaveShape3DSW() {}
};
@@ -117,23 +120,51 @@ class PlaneShape3DSW : public Shape3DSW {
public:
Plane get_plane() const;
- virtual real_t get_area() const { return INFINITY; }
- virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_PLANE; }
- 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; }
+ virtual real_t get_area() const override { return INFINITY; }
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_PLANE; }
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
+ virtual Vector3 get_support(const Vector3 &p_normal) const override;
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override { 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 bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override;
+ virtual bool intersect_point(const Vector3 &p_point) const override;
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
- virtual void set_data(const Variant &p_data);
- virtual Variant get_data() const;
+ virtual void set_data(const Variant &p_data) override;
+ virtual Variant get_data() const override;
PlaneShape3DSW();
};
+class SeparationRayShape3DSW : public Shape3DSW {
+ real_t length;
+ bool slide_on_slope;
+
+ void _setup(real_t p_length, bool p_slide_on_slope);
+
+public:
+ real_t get_length() const;
+ bool get_slide_on_slope() const;
+
+ virtual real_t get_area() const override { return 0.0; }
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_SEPARATION_RAY; }
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
+ virtual Vector3 get_support(const Vector3 &p_normal) const override;
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
+
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override;
+ virtual bool intersect_point(const Vector3 &p_point) const override;
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
+
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
+
+ virtual void set_data(const Variant &p_data) override;
+ virtual Variant get_data() const override;
+
+ SeparationRayShape3DSW();
+};
+
class SphereShape3DSW : public Shape3DSW {
real_t radius;
@@ -295,7 +326,7 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
struct _CullParams {
AABB aabb;
- Callback callback = nullptr;
+ QueryCallback callback = nullptr;
void *userdata = nullptr;
const Face *faces = nullptr;
const Vector3 *vertices = nullptr;
@@ -321,7 +352,7 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
bool backface_collision = false;
void _cull_segment(int p_idx, _SegmentCullParams *p_params) const;
- void _cull(int p_idx, _CullParams *p_params) const;
+ bool _cull(int p_idx, _CullParams *p_params) const;
void _fill_bvh(_VolumeSW_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx);
@@ -339,7 +370,7 @@ public:
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
- virtual void cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const override;
+ virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
@@ -355,6 +386,21 @@ struct HeightMapShape3DSW : public ConcaveShape3DSW {
int depth = 0;
Vector3 local_origin;
+ // Accelerator.
+ struct Range {
+ real_t min = 0.0;
+ real_t max = 0.0;
+ };
+ LocalVector<Range> bounds_grid;
+ int bounds_grid_width = 0;
+ int bounds_grid_depth = 0;
+
+ static const int BOUNDS_CHUNK_SIZE = 16;
+
+ _FORCE_INLINE_ const Range &_get_bounds_chunk(int p_x, int p_z) const {
+ return bounds_grid[(p_z * bounds_grid_width) + p_x];
+ }
+
_FORCE_INLINE_ real_t _get_height(int p_x, int p_z) const {
return heights[(p_z * width) + p_x];
}
@@ -367,6 +413,11 @@ struct HeightMapShape3DSW : public ConcaveShape3DSW {
void _get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const;
+ void _build_accelerator();
+
+ template <typename ProcessFunction>
+ bool _intersect_grid_segment(ProcessFunction &p_process, const Vector3 &p_begin, const Vector3 &p_end, int p_width, int p_depth, const Vector3 &offset, Vector3 &r_point, Vector3 &r_normal) const;
+
void _setup(const Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
public:
@@ -382,7 +433,7 @@ public:
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
- virtual void cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const override;
+ virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-07 15:03:43 +0000