diff options
Diffstat (limited to 'servers')
46 files changed, 3019 insertions, 515 deletions
diff --git a/servers/audio/effects/audio_effect_capture.cpp b/servers/audio/effects/audio_effect_capture.cpp index 37e4122e50..78837c7531 100644 --- a/servers/audio/effects/audio_effect_capture.cpp +++ b/servers/audio/effects/audio_effect_capture.cpp @@ -91,8 +91,6 @@ Ref<AudioEffectInstance> AudioEffectCapture::instance() { } void AudioEffectCapture::set_buffer_length(float p_buffer_length_seconds) { - ERR_FAIL_COND(buffer_initialized); - buffer_length_seconds = p_buffer_length_seconds; } diff --git a/servers/camera/camera_feed.cpp b/servers/camera/camera_feed.cpp index be812cf62d..eab4c61591 100644 --- a/servers/camera/camera_feed.cpp +++ b/servers/camera/camera_feed.cpp @@ -184,9 +184,10 @@ CameraFeed::~CameraFeed() { #endif } -void CameraFeed::set_RGB_img(Ref<Image> p_rgb_img) { +void CameraFeed::set_RGB_img(const Ref<Image> &p_rgb_img) { // FIXME: Disabled during Vulkan refactoring, should be ported. #if 0 + ERR_FAIL_COND(p_rgb_img.is_null()); if (active) { RenderingServer *vs = RenderingServer::get_singleton(); @@ -207,9 +208,10 @@ void CameraFeed::set_RGB_img(Ref<Image> p_rgb_img) { #endif } -void CameraFeed::set_YCbCr_img(Ref<Image> p_ycbcr_img) { +void CameraFeed::set_YCbCr_img(const Ref<Image> &p_ycbcr_img) { // FIXME: Disabled during Vulkan refactoring, should be ported. #if 0 + ERR_FAIL_COND(p_ycbcr_img.is_null()); if (active) { RenderingServer *vs = RenderingServer::get_singleton(); @@ -230,9 +232,11 @@ void CameraFeed::set_YCbCr_img(Ref<Image> p_ycbcr_img) { #endif } -void CameraFeed::set_YCbCr_imgs(Ref<Image> p_y_img, Ref<Image> p_cbcr_img) { +void CameraFeed::set_YCbCr_imgs(const Ref<Image> &p_y_img, const Ref<Image> &p_cbcr_img) { // FIXME: Disabled during Vulkan refactoring, should be ported. #if 0 + ERR_FAIL_COND(p_y_img.is_null()); + ERR_FAIL_COND(p_cbcr_img.is_null()); if (active) { RenderingServer *vs = RenderingServer::get_singleton(); diff --git a/servers/camera/camera_feed.h b/servers/camera/camera_feed.h index fc02af4249..eb4ef155bc 100644 --- a/servers/camera/camera_feed.h +++ b/servers/camera/camera_feed.h @@ -100,9 +100,9 @@ public: virtual ~CameraFeed(); FeedDataType get_datatype() const; - void set_RGB_img(Ref<Image> p_rgb_img); - void set_YCbCr_img(Ref<Image> p_ycbcr_img); - void set_YCbCr_imgs(Ref<Image> p_y_img, Ref<Image> p_cbcr_img); + void set_RGB_img(const Ref<Image> &p_rgb_img); + void set_YCbCr_img(const Ref<Image> &p_ycbcr_img); + void set_YCbCr_imgs(const Ref<Image> &p_y_img, const Ref<Image> &p_cbcr_img); // FIXME: Disabled during Vulkan refactoring, should be ported. #if 0 void allocate_texture(int p_width, int p_height, Image::Format p_format, RenderingServer::TextureType p_texture_type, FeedDataType p_data_type); diff --git a/servers/navigation_server_2d.cpp b/servers/navigation_server_2d.cpp index df348d2add..9e32bc209b 100644 --- a/servers/navigation_server_2d.cpp +++ b/servers/navigation_server_2d.cpp @@ -80,6 +80,18 @@ NavigationServer2D *NavigationServer2D::singleton = nullptr; return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3)); \ } +#define FORWARD_5_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, T_4, D_4, CONV_0, CONV_1, CONV_2, CONV_3, CONV_4) \ + NavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3, T_4 D_4) \ + const { \ + return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3), CONV_4(D_4))); \ + } + +#define FORWARD_5_C(FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, T_4, D_4, CONV_0, CONV_1, CONV_2, CONV_3, CONV_4) \ + NavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3, T_4 D_4) \ + const { \ + return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3), CONV_4(D_4)); \ + } + static RID rid_to_rid(const RID d) { return d; } @@ -92,6 +104,10 @@ static int int_to_int(const int d) { return d; } +static uint32_t uint32_to_uint32(const uint32_t d) { + return d; +} + static real_t real_to_real(const real_t d) { return d; } @@ -116,7 +132,8 @@ static Vector<Vector2> vector_v3_to_v2(const Vector<Vector3> &d) { static Transform trf2_to_trf3(const Transform2D &d) { Vector3 o(v2_to_v3(d.get_origin())); Basis b; - b.rotate(Vector3(0, 1, 0), d.get_rotation()); + b.rotate(Vector3(0, -1, 0), d.get_rotation()); + b.scale(v2_to_v3(d.get_scale())); return Transform(b, o); } @@ -140,6 +157,10 @@ static Ref<NavigationMesh> poly_to_mesh(Ref<NavigationPolygon> d) { } } +void NavigationServer2D::_emit_map_changed(RID p_map) { + emit_signal("map_changed", p_map); +} + void NavigationServer2D::_bind_methods() { ClassDB::bind_method(D_METHOD("map_create"), &NavigationServer2D::map_create); ClassDB::bind_method(D_METHOD("map_set_active", "map", "active"), &NavigationServer2D::map_set_active); @@ -148,14 +169,19 @@ void NavigationServer2D::_bind_methods() { ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &NavigationServer2D::map_get_cell_size); ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &NavigationServer2D::map_set_edge_connection_margin); ClassDB::bind_method(D_METHOD("map_get_edge_connection_margin", "map"), &NavigationServer2D::map_get_edge_connection_margin); - ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize"), &NavigationServer2D::map_get_path); + ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize", "layers"), &NavigationServer2D::map_get_path, DEFVAL(1)); ClassDB::bind_method(D_METHOD("map_get_closest_point", "map", "to_point"), &NavigationServer2D::map_get_closest_point); ClassDB::bind_method(D_METHOD("map_get_closest_point_owner", "map", "to_point"), &NavigationServer2D::map_get_closest_point_owner); ClassDB::bind_method(D_METHOD("region_create"), &NavigationServer2D::region_create); ClassDB::bind_method(D_METHOD("region_set_map", "region", "map"), &NavigationServer2D::region_set_map); + ClassDB::bind_method(D_METHOD("region_set_layers", "region", "layers"), &NavigationServer2D::region_set_layers); + ClassDB::bind_method(D_METHOD("region_get_layers", "region"), &NavigationServer2D::region_get_layers); ClassDB::bind_method(D_METHOD("region_set_transform", "region", "transform"), &NavigationServer2D::region_set_transform); ClassDB::bind_method(D_METHOD("region_set_navpoly", "region", "nav_poly"), &NavigationServer2D::region_set_navpoly); + ClassDB::bind_method(D_METHOD("region_get_connections_count", "region"), &NavigationServer2D::region_get_connections_count); + ClassDB::bind_method(D_METHOD("region_get_connection_pathway_start", "region", "connection"), &NavigationServer2D::region_get_connection_pathway_start); + ClassDB::bind_method(D_METHOD("region_get_connection_pathway_end", "region", "connection"), &NavigationServer2D::region_get_connection_pathway_end); ClassDB::bind_method(D_METHOD("agent_create"), &NavigationServer2D::agent_create); ClassDB::bind_method(D_METHOD("agent_set_map", "agent", "map"), &NavigationServer2D::agent_set_map); @@ -171,10 +197,14 @@ void NavigationServer2D::_bind_methods() { ClassDB::bind_method(D_METHOD("agent_set_callback", "agent", "receiver", "method", "userdata"), &NavigationServer2D::agent_set_callback, DEFVAL(Variant())); ClassDB::bind_method(D_METHOD("free", "object"), &NavigationServer2D::free); + + ADD_SIGNAL(MethodInfo("map_changed", PropertyInfo(Variant::RID, "map"))); } NavigationServer2D::NavigationServer2D() { singleton = this; + ERR_FAIL_COND_MSG(!NavigationServer3D::get_singleton(), "The Navigation3D singleton should be initialized before the 2D one."); + NavigationServer3D::get_singleton()->connect("map_changed", callable_mp(this, &NavigationServer2D::_emit_map_changed)); } NavigationServer2D::~NavigationServer2D() { @@ -193,20 +223,25 @@ real_t FORWARD_1_C(map_get_cell_size, RID, p_map, rid_to_rid); void FORWARD_2_C(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin, rid_to_rid, real_to_real); real_t FORWARD_1_C(map_get_edge_connection_margin, RID, p_map, rid_to_rid); -Vector<Vector2> FORWARD_4_R_C(vector_v3_to_v2, map_get_path, RID, p_map, Vector2, p_origin, Vector2, p_destination, bool, p_optimize, rid_to_rid, v2_to_v3, v2_to_v3, bool_to_bool); +Vector<Vector2> FORWARD_5_R_C(vector_v3_to_v2, map_get_path, RID, p_map, Vector2, p_origin, Vector2, p_destination, bool, p_optimize, uint32_t, p_layers, rid_to_rid, v2_to_v3, v2_to_v3, bool_to_bool, uint32_to_uint32); Vector2 FORWARD_2_R_C(v3_to_v2, map_get_closest_point, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3); RID FORWARD_2_C(map_get_closest_point_owner, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3); RID FORWARD_0_C(region_create); void FORWARD_2_C(region_set_map, RID, p_region, RID, p_map, rid_to_rid, rid_to_rid); - +void FORWARD_2_C(region_set_layers, RID, p_region, uint32_t, p_layers, rid_to_rid, uint32_to_uint32); +uint32_t FORWARD_1_C(region_get_layers, RID, p_region, rid_to_rid); void FORWARD_2_C(region_set_transform, RID, p_region, Transform2D, p_transform, rid_to_rid, trf2_to_trf3); void NavigationServer2D::region_set_navpoly(RID p_region, Ref<NavigationPolygon> p_nav_mesh) const { NavigationServer3D::get_singleton()->region_set_navmesh(p_region, poly_to_mesh(p_nav_mesh)); } +int FORWARD_1_C(region_get_connections_count, RID, p_region, rid_to_rid); +Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_start, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int); +Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_end, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int); + RID NavigationServer2D::agent_create() const { RID agent = NavigationServer3D::get_singleton()->agent_create(); NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, true); diff --git a/servers/navigation_server_2d.h b/servers/navigation_server_2d.h index 7be5a74cb3..d56c719839 100644 --- a/servers/navigation_server_2d.h +++ b/servers/navigation_server_2d.h @@ -45,12 +45,14 @@ class NavigationServer2D : public Object { static NavigationServer2D *singleton; + void _emit_map_changed(RID p_map); + protected: static void _bind_methods(); public: /// Thread safe, can be used across many threads. - static const NavigationServer2D *get_singleton() { return singleton; } + static NavigationServer2D *get_singleton() { return singleton; } /// MUST be used in single thread! static NavigationServer2D *get_singleton_mut() { return singleton; } @@ -77,7 +79,7 @@ public: virtual real_t map_get_edge_connection_margin(RID p_map) const; /// Returns the navigation path to reach the destination from the origin. - virtual Vector<Vector2> map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize) const; + virtual Vector<Vector2> map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_layers = 1) const; virtual Vector2 map_get_closest_point(RID p_map, const Vector2 &p_point) const; virtual RID map_get_closest_point_owner(RID p_map, const Vector2 &p_point) const; @@ -88,12 +90,21 @@ public: /// Set the map of this region. virtual void region_set_map(RID p_region, RID p_map) const; + /// Set the region's layers + virtual void region_set_layers(RID p_region, uint32_t p_layers) const; + virtual uint32_t region_get_layers(RID p_region) const; + /// Set the global transformation of this region. virtual void region_set_transform(RID p_region, Transform2D p_transform) const; /// Set the navigation poly of this region. virtual void region_set_navpoly(RID p_region, Ref<NavigationPolygon> p_nav_mesh) const; + /// Get a list of a region's connection to other regions. + virtual int region_get_connections_count(RID p_region) const; + virtual Vector2 region_get_connection_pathway_start(RID p_region, int p_connection_id) const; + virtual Vector2 region_get_connection_pathway_end(RID p_region, int p_connection_id) const; + /// Creates the agent. virtual RID agent_create() const; diff --git a/servers/navigation_server_3d.cpp b/servers/navigation_server_3d.cpp index 0e5ae82b0d..b0047a250a 100644 --- a/servers/navigation_server_3d.cpp +++ b/servers/navigation_server_3d.cpp @@ -46,7 +46,7 @@ void NavigationServer3D::_bind_methods() { ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &NavigationServer3D::map_get_cell_size); ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &NavigationServer3D::map_set_edge_connection_margin); ClassDB::bind_method(D_METHOD("map_get_edge_connection_margin", "map"), &NavigationServer3D::map_get_edge_connection_margin); - ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize"), &NavigationServer3D::map_get_path); + ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize", "layers"), &NavigationServer3D::map_get_path, DEFVAL(1)); ClassDB::bind_method(D_METHOD("map_get_closest_point_to_segment", "map", "start", "end", "use_collision"), &NavigationServer3D::map_get_closest_point_to_segment, DEFVAL(false)); ClassDB::bind_method(D_METHOD("map_get_closest_point", "map", "to_point"), &NavigationServer3D::map_get_closest_point); ClassDB::bind_method(D_METHOD("map_get_closest_point_normal", "map", "to_point"), &NavigationServer3D::map_get_closest_point_normal); @@ -54,9 +54,14 @@ void NavigationServer3D::_bind_methods() { ClassDB::bind_method(D_METHOD("region_create"), &NavigationServer3D::region_create); ClassDB::bind_method(D_METHOD("region_set_map", "region", "map"), &NavigationServer3D::region_set_map); + ClassDB::bind_method(D_METHOD("region_set_layers", "region", "layers"), &NavigationServer3D::region_set_layers); + ClassDB::bind_method(D_METHOD("region_get_layers", "region"), &NavigationServer3D::region_get_layers); ClassDB::bind_method(D_METHOD("region_set_transform", "region", "transform"), &NavigationServer3D::region_set_transform); ClassDB::bind_method(D_METHOD("region_set_navmesh", "region", "nav_mesh"), &NavigationServer3D::region_set_navmesh); ClassDB::bind_method(D_METHOD("region_bake_navmesh", "mesh", "node"), &NavigationServer3D::region_bake_navmesh); + ClassDB::bind_method(D_METHOD("region_get_connections_count", "region"), &NavigationServer3D::region_get_connections_count); + ClassDB::bind_method(D_METHOD("region_get_connection_pathway_start", "region", "connection"), &NavigationServer3D::region_get_connection_pathway_start); + ClassDB::bind_method(D_METHOD("region_get_connection_pathway_end", "region", "connection"), &NavigationServer3D::region_get_connection_pathway_end); ClassDB::bind_method(D_METHOD("agent_create"), &NavigationServer3D::agent_create); ClassDB::bind_method(D_METHOD("agent_set_map", "agent", "map"), &NavigationServer3D::agent_set_map); @@ -75,9 +80,11 @@ void NavigationServer3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_active", "active"), &NavigationServer3D::set_active); ClassDB::bind_method(D_METHOD("process", "delta_time"), &NavigationServer3D::process); + + ADD_SIGNAL(MethodInfo("map_changed", PropertyInfo(Variant::RID, "map"))); } -const NavigationServer3D *NavigationServer3D::get_singleton() { +NavigationServer3D *NavigationServer3D::get_singleton() { return singleton; } diff --git a/servers/navigation_server_3d.h b/servers/navigation_server_3d.h index 3761c3871a..420f9c9c18 100644 --- a/servers/navigation_server_3d.h +++ b/servers/navigation_server_3d.h @@ -55,7 +55,7 @@ protected: public: /// Thread safe, can be used across many threads. - static const NavigationServer3D *get_singleton(); + static NavigationServer3D *get_singleton(); /// MUST be used in single thread! static NavigationServer3D *get_singleton_mut(); @@ -88,7 +88,7 @@ public: virtual real_t map_get_edge_connection_margin(RID p_map) const = 0; /// Returns the navigation path to reach the destination from the origin. - virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize) const = 0; + virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigable_layers = 1) const = 0; virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const = 0; virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const = 0; @@ -101,15 +101,24 @@ public: /// Set the map of this region. virtual void region_set_map(RID p_region, RID p_map) const = 0; + /// Set the region's layers + virtual void region_set_layers(RID p_region, uint32_t p_layers) const = 0; + virtual uint32_t region_get_layers(RID p_region) const = 0; + /// Set the global transformation of this region. virtual void region_set_transform(RID p_region, Transform p_transform) const = 0; /// Set the navigation mesh of this region. virtual void region_set_navmesh(RID p_region, Ref<NavigationMesh> p_nav_mesh) const = 0; - /// Bake the navigation mesh + /// Bake the navigation mesh. virtual void region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const = 0; + /// Get a list of a region's connection to other regions. + virtual int region_get_connections_count(RID p_region) const = 0; + virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const = 0; + virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const = 0; + /// Creates the agent. virtual RID agent_create() const = 0; diff --git a/servers/physics_2d/area_2d_sw.cpp b/servers/physics_2d/area_2d_sw.cpp index 6485c8d1e9..532cb259b3 100644 --- a/servers/physics_2d/area_2d_sw.cpp +++ b/servers/physics_2d/area_2d_sw.cpp @@ -215,7 +215,9 @@ void Area2DSW::call_queries() { for (Map<BodyKey, BodyState>::Element *E = monitored_bodies.front(); E;) { if (E->get().state == 0) { // Nothing happened - E = E->next(); + Map<BodyKey, BodyState>::Element *next = E->next(); + monitored_bodies.erase(E); + E = next; continue; } @@ -250,7 +252,9 @@ void Area2DSW::call_queries() { for (Map<BodyKey, BodyState>::Element *E = monitored_areas.front(); E;) { if (E->get().state == 0) { // Nothing happened - E = E->next(); + Map<BodyKey, BodyState>::Element *next = E->next(); + monitored_areas.erase(E); + E = next; continue; } diff --git a/servers/physics_2d/body_pair_2d_sw.cpp b/servers/physics_2d/body_pair_2d_sw.cpp index feced36a2b..da70ac7d4b 100644 --- a/servers/physics_2d/body_pair_2d_sw.cpp +++ b/servers/physics_2d/body_pair_2d_sw.cpp @@ -221,11 +221,21 @@ real_t combine_friction(Body2DSW *A, Body2DSW *B) { bool BodyPair2DSW::setup(real_t p_step) { //cannot collide - if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC && A->get_max_contacts_reported() == 0 && B->get_max_contacts_reported() == 0)) { + if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) { collided = false; return false; } + bool report_contacts_only = false; + if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) { + if ((A->get_max_contacts_reported() > 0) || (B->get_max_contacts_reported() > 0)) { + report_contacts_only = true; + } else { + collided = false; + return false; + } + } + if (A->is_shape_set_as_disabled(shape_A) || B->is_shape_set_as_disabled(shape_B)) { collided = false; return false; @@ -350,51 +360,44 @@ bool BodyPair2DSW::setup(real_t p_step) { for (int i = 0; i < contact_count; i++) { Contact &c = contacts[i]; + c.active = false; + Vector2 global_A = xform_Au.xform(c.local_A); Vector2 global_B = xform_Bu.xform(c.local_B); real_t depth = c.normal.dot(global_A - global_B); if (depth <= 0 || !c.reused) { - c.active = false; continue; } - c.active = true; #ifdef DEBUG_ENABLED if (space->is_debugging_contacts()) { space->add_debug_contact(global_A + offset_A); space->add_debug_contact(global_B + offset_A); } #endif - int gather_A = A->can_report_contacts(); - int gather_B = B->can_report_contacts(); c.rA = global_A; c.rB = global_B - offset_B; - if (gather_A | gather_B) { - //Vector2 crB( -B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x ); - - global_A += offset_A; - global_B += offset_A; + if (A->can_report_contacts()) { + Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x); + A->add_contact(global_A + offset_A, -c.normal, depth, shape_A, global_B + offset_A, shape_B, B->get_instance_id(), B->get_self(), crB + B->get_linear_velocity()); + } - if (gather_A) { - Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x); - A->add_contact(global_A, -c.normal, depth, shape_A, global_B, shape_B, B->get_instance_id(), B->get_self(), crB + B->get_linear_velocity()); - } - if (gather_B) { - Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x); - B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crA + A->get_linear_velocity()); - } + if (B->can_report_contacts()) { + Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x); + B->add_contact(global_B + offset_A, c.normal, depth, shape_B, global_A + offset_A, shape_A, A->get_instance_id(), A->get_self(), crA + A->get_linear_velocity()); } - if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) { - c.active = false; + if (report_contacts_only) { collided = false; continue; } + c.active = true; + // Precompute normal mass, tangent mass, and bias. real_t rnA = c.rA.dot(c.normal); real_t rnB = c.rB.dot(c.normal); diff --git a/servers/physics_3d/area_3d_sw.cpp b/servers/physics_3d/area_3d_sw.cpp index b6c5b3003c..bb4e0ed752 100644 --- a/servers/physics_3d/area_3d_sw.cpp +++ b/servers/physics_3d/area_3d_sw.cpp @@ -215,7 +215,9 @@ void Area3DSW::call_queries() { for (Map<BodyKey, BodyState>::Element *E = monitored_bodies.front(); E;) { if (E->get().state == 0) { // Nothing happened - E = E->next(); + Map<BodyKey, BodyState>::Element *next = E->next(); + monitored_bodies.erase(E); + E = next; continue; } @@ -250,7 +252,9 @@ void Area3DSW::call_queries() { for (Map<BodyKey, BodyState>::Element *E = monitored_areas.front(); E;) { if (E->get().state == 0) { // Nothing happened - E = E->next(); + Map<BodyKey, BodyState>::Element *next = E->next(); + monitored_areas.erase(E); + E = next; continue; } diff --git a/servers/physics_3d/body_3d_sw.cpp b/servers/physics_3d/body_3d_sw.cpp index 9eff14bbeb..64ba0cb09d 100644 --- a/servers/physics_3d/body_3d_sw.cpp +++ b/servers/physics_3d/body_3d_sw.cpp @@ -501,20 +501,18 @@ void Body3DSW::integrate_forces(real_t p_step) { if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) { //compute motion, angular and etc. velocities from prev transform - linear_velocity = (new_transform.origin - get_transform().origin) / p_step; + motion = new_transform.origin - get_transform().origin; + do_motion = true; + linear_velocity = motion / p_step; //compute a FAKE angular velocity, not so easy - Basis rot = new_transform.basis.orthonormalized().transposed() * get_transform().basis.orthonormalized(); + Basis rot = new_transform.basis.orthonormalized() * get_transform().basis.orthonormalized().transposed(); Vector3 axis; real_t angle; rot.get_axis_angle(axis, angle); axis.normalize(); - angular_velocity = axis.normalized() * (angle / p_step); - - motion = new_transform.origin - get_transform().origin; - do_motion = true; - + angular_velocity = axis * (angle / p_step); } else { if (!omit_force_integration && !first_integration) { //overridden by direct state query diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/body_3d_sw.h index 8e21003a5f..e87ff2364b 100644 --- a/servers/physics_3d/body_3d_sw.h +++ b/servers/physics_3d/body_3d_sw.h @@ -290,10 +290,10 @@ public: void update_inertias(); _FORCE_INLINE_ real_t get_inv_mass() const { return _inv_mass; } - _FORCE_INLINE_ Vector3 get_inv_inertia() const { return _inv_inertia; } - _FORCE_INLINE_ Basis get_inv_inertia_tensor() const { return _inv_inertia_tensor; } + _FORCE_INLINE_ const Vector3 &get_inv_inertia() const { return _inv_inertia; } + _FORCE_INLINE_ const Basis &get_inv_inertia_tensor() const { return _inv_inertia_tensor; } _FORCE_INLINE_ real_t get_friction() const { return friction; } - _FORCE_INLINE_ Vector3 get_gravity() const { return gravity; } + _FORCE_INLINE_ const Vector3 &get_gravity() const { return gravity; } _FORCE_INLINE_ real_t get_bounce() const { return bounce; } void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock); diff --git a/servers/physics_3d/body_pair_3d_sw.cpp b/servers/physics_3d/body_pair_3d_sw.cpp index 6012ff1522..36114c0c91 100644 --- a/servers/physics_3d/body_pair_3d_sw.cpp +++ b/servers/physics_3d/body_pair_3d_sw.cpp @@ -49,12 +49,12 @@ #define MIN_VELOCITY 0.0001 #define MAX_BIAS_ROTATION (Math_PI / 8) -void BodyPair3DSW::_contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) { +void BodyPair3DSW::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { BodyPair3DSW *pair = (BodyPair3DSW *)p_userdata; - pair->contact_added_callback(p_point_A, p_point_B); + pair->contact_added_callback(p_point_A, p_index_A, p_point_B, p_index_B); } -void BodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B) { +void BodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) { // check if we already have the contact //Vector3 local_A = A->get_inv_transform().xform(p_point_A); @@ -73,6 +73,8 @@ void BodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, const Vector contact.acc_bias_impulse = 0; contact.acc_bias_impulse_center_of_mass = 0; contact.acc_tangent_impulse = Vector3(); + contact.index_A = p_index_A; + contact.index_B = p_index_B; contact.local_A = local_A; contact.local_B = local_B; contact.normal = (p_point_A - p_point_B).normalized(); @@ -211,11 +213,21 @@ real_t combine_friction(Body3DSW *A, Body3DSW *B) { bool BodyPair3DSW::setup(real_t p_step) { //cannot collide - if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC && A->get_max_contacts_reported() == 0 && B->get_max_contacts_reported() == 0)) { + if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) { collided = false; return false; } + bool report_contacts_only = false; + if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) { + if ((A->get_max_contacts_reported() > 0) || (B->get_max_contacts_reported() > 0)) { + report_contacts_only = true; + } else { + collided = false; + return false; + } + } + if (A->is_shape_set_as_disabled(shape_A) || B->is_shape_set_as_disabled(shape_B)) { collided = false; return false; @@ -279,12 +291,9 @@ bool BodyPair3DSW::setup(real_t p_step) { real_t depth = c.normal.dot(global_A - global_B); if (depth <= 0) { - c.active = false; continue; } - c.active = true; - #ifdef DEBUG_ENABLED if (space->is_debugging_contacts()) { @@ -308,6 +317,11 @@ bool BodyPair3DSW::setup(real_t p_step) { B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crB); } + if (report_contacts_only) { + collided = false; + continue; + } + c.active = true; // Precompute normal mass, tangent mass, and bias. @@ -456,7 +470,7 @@ void BodyPair3DSW::solve(real_t p_step) { } BodyPair3DSW::BodyPair3DSW(Body3DSW *p_A, int p_shape_A, Body3DSW *p_B, int p_shape_B) : - Constraint3DSW(_arr, 2) { + BodyContact3DSW(_arr, 2) { A = p_A; B = p_B; shape_A = p_shape_A; @@ -472,3 +486,305 @@ BodyPair3DSW::~BodyPair3DSW() { A->remove_constraint(this); B->remove_constraint(this); } + +void BodySoftBodyPair3DSW::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { + BodySoftBodyPair3DSW *pair = (BodySoftBodyPair3DSW *)p_userdata; + pair->contact_added_callback(p_point_A, p_index_A, p_point_B, p_index_B); +} + +void BodySoftBodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) { + Vector3 local_A = body->get_inv_transform().xform(p_point_A); + Vector3 local_B = p_point_B - soft_body->get_node_position(p_index_B); + + Contact contact; + contact.index_A = p_index_A; + contact.index_B = p_index_B; + contact.acc_normal_impulse = 0; + contact.acc_bias_impulse = 0; + contact.acc_bias_impulse_center_of_mass = 0; + contact.acc_tangent_impulse = Vector3(); + contact.local_A = local_A; + contact.local_B = local_B; + contact.normal = (p_point_A - p_point_B).normalized(); + contact.mass_normal = 0; + + // Attempt to determine if the contact will be reused. + real_t contact_recycle_radius = space->get_contact_recycle_radius(); + + uint32_t contact_count = contacts.size(); + for (uint32_t contact_index = 0; contact_index < contact_count; ++contact_index) { + Contact &c = contacts[contact_index]; + if (c.index_B == p_index_B) { + if (c.local_A.distance_squared_to(local_A) < (contact_recycle_radius * contact_recycle_radius) && + c.local_B.distance_squared_to(local_B) < (contact_recycle_radius * contact_recycle_radius)) { + contact.acc_normal_impulse = c.acc_normal_impulse; + contact.acc_bias_impulse = c.acc_bias_impulse; + contact.acc_bias_impulse_center_of_mass = c.acc_bias_impulse_center_of_mass; + contact.acc_tangent_impulse = c.acc_tangent_impulse; + } + c = contact; + return; + } + } + + contacts.push_back(contact); +} + +void BodySoftBodyPair3DSW::validate_contacts() { + // Make sure to erase contacts that are no longer valid. + const Transform &transform_A = body->get_transform(); + + real_t contact_max_separation = space->get_contact_max_separation(); + + uint32_t contact_count = contacts.size(); + for (uint32_t contact_index = 0; contact_index < contact_count; ++contact_index) { + Contact &c = contacts[contact_index]; + + Vector3 global_A = transform_A.xform(c.local_A); + Vector3 global_B = soft_body->get_node_position(c.index_B) + c.local_B; + Vector3 axis = global_A - global_B; + real_t depth = axis.dot(c.normal); + + if (depth < -contact_max_separation || (global_B + c.normal * depth - global_A).length() > contact_max_separation) { + // Contact no longer needed, remove. + if ((contact_index + 1) < contact_count) { + // Swap with the last one. + SWAP(c, contacts[contact_count - 1]); + } + + contact_index--; + contact_count--; + } + } + + contacts.resize(contact_count); +} + +bool BodySoftBodyPair3DSW::setup(real_t p_step) { + if (!body->test_collision_mask(soft_body) || body->has_exception(soft_body->get_self()) || soft_body->has_exception(body->get_self())) { + collided = false; + return false; + } + + if (body->is_shape_set_as_disabled(body_shape)) { + collided = false; + return false; + } + + const Transform &xform_Au = body->get_transform(); + Transform xform_A = xform_Au * body->get_shape_transform(body_shape); + + Transform xform_Bu = soft_body->get_transform(); + Transform xform_B = xform_Bu * soft_body->get_shape_transform(0); + + validate_contacts(); + + Shape3DSW *shape_A_ptr = body->get_shape(body_shape); + Shape3DSW *shape_B_ptr = soft_body->get_shape(0); + + bool collided = CollisionSolver3DSW::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis); + this->collided = collided; + + real_t max_penetration = space->get_contact_max_allowed_penetration(); + + real_t bias = (real_t)0.3; + if (shape_A_ptr->get_custom_bias()) { + bias = shape_A_ptr->get_custom_bias(); + } + + real_t inv_dt = 1.0 / p_step; + + uint32_t contact_count = contacts.size(); + for (uint32_t contact_index = 0; contact_index < contact_count; ++contact_index) { + Contact &c = contacts[contact_index]; + c.active = false; + + real_t node_inv_mass = soft_body->get_node_inv_mass(c.index_B); + if (node_inv_mass == 0.0) { + continue; + } + + Vector3 global_A = xform_Au.xform(c.local_A); + Vector3 global_B = soft_body->get_node_position(c.index_B) + c.local_B; + + real_t depth = c.normal.dot(global_A - global_B); + + if (depth <= 0) { + continue; + } + + c.active = true; + +#ifdef DEBUG_ENABLED + + if (space->is_debugging_contacts()) { + space->add_debug_contact(global_A); + space->add_debug_contact(global_B); + } +#endif + + c.rA = global_A - xform_Au.origin - body->get_center_of_mass(); + c.rB = global_B; + + if (body->can_report_contacts()) { + Vector3 crA = body->get_angular_velocity().cross(c.rA) + body->get_linear_velocity(); + body->add_contact(global_A, -c.normal, depth, body_shape, global_B, 0, soft_body->get_instance_id(), soft_body->get_self(), crA); + } + + if (body->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC) { + body->set_active(true); + } + + // Precompute normal mass, tangent mass, and bias. + Vector3 inertia_A = body->get_inv_inertia_tensor().xform(c.rA.cross(c.normal)); + real_t kNormal = body->get_inv_mass() + node_inv_mass; + kNormal += c.normal.dot(inertia_A.cross(c.rA)); + c.mass_normal = 1.0f / kNormal; + + c.bias = -bias * inv_dt * MIN(0.0f, -depth + max_penetration); + c.depth = depth; + + Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse; + body->apply_impulse(c.rA + body->get_center_of_mass(), -j_vec); + soft_body->apply_node_impulse(c.index_B, j_vec); + c.acc_bias_impulse = 0; + c.acc_bias_impulse_center_of_mass = 0; + + c.bounce = body->get_bounce(); + + if (c.bounce) { + Vector3 crA = body->get_angular_velocity().cross(c.rA); + Vector3 dv = soft_body->get_node_velocity(c.index_B) - body->get_linear_velocity() - crA; + + // Normal impulse. + c.bounce = c.bounce * dv.dot(c.normal); + } + } + + return true; +} + +void BodySoftBodyPair3DSW::solve(real_t p_step) { + if (!collided) { + return; + } + + uint32_t contact_count = contacts.size(); + for (uint32_t contact_index = 0; contact_index < contact_count; ++contact_index) { + Contact &c = contacts[contact_index]; + if (!c.active) { + continue; + } + + c.active = false; + + // Bias impulse. + Vector3 crbA = body->get_biased_angular_velocity().cross(c.rA); + Vector3 dbv = soft_body->get_node_biased_velocity(c.index_B) - body->get_biased_linear_velocity() - crbA; + + real_t vbn = dbv.dot(c.normal); + + if (Math::abs(-vbn + c.bias) > MIN_VELOCITY) { + real_t jbn = (-vbn + c.bias) * c.mass_normal; + real_t jbnOld = c.acc_bias_impulse; + c.acc_bias_impulse = MAX(jbnOld + jbn, 0.0f); + + Vector3 jb = c.normal * (c.acc_bias_impulse - jbnOld); + + body->apply_bias_impulse(c.rA + body->get_center_of_mass(), -jb, MAX_BIAS_ROTATION / p_step); + soft_body->apply_node_bias_impulse(c.index_B, jb); + + crbA = body->get_biased_angular_velocity().cross(c.rA); + dbv = soft_body->get_node_biased_velocity(c.index_B) - body->get_biased_linear_velocity() - crbA; + + vbn = dbv.dot(c.normal); + + if (Math::abs(-vbn + c.bias) > MIN_VELOCITY) { + real_t jbn_com = (-vbn + c.bias) / (body->get_inv_mass() + soft_body->get_node_inv_mass(c.index_B)); + real_t jbnOld_com = c.acc_bias_impulse_center_of_mass; + c.acc_bias_impulse_center_of_mass = MAX(jbnOld_com + jbn_com, 0.0f); + + Vector3 jb_com = c.normal * (c.acc_bias_impulse_center_of_mass - jbnOld_com); + + body->apply_bias_impulse(body->get_center_of_mass(), -jb_com, 0.0f); + soft_body->apply_node_bias_impulse(c.index_B, -jb_com); + } + + c.active = true; + } + + Vector3 crA = body->get_angular_velocity().cross(c.rA); + Vector3 dv = soft_body->get_node_velocity(c.index_B) - body->get_linear_velocity() - crA; + + // Normal impulse. + real_t vn = dv.dot(c.normal); + + if (Math::abs(vn) > MIN_VELOCITY) { + real_t jn = -(c.bounce + vn) * c.mass_normal; + real_t jnOld = c.acc_normal_impulse; + c.acc_normal_impulse = MAX(jnOld + jn, 0.0f); + + Vector3 j = c.normal * (c.acc_normal_impulse - jnOld); + + body->apply_impulse(c.rA + body->get_center_of_mass(), -j); + soft_body->apply_node_impulse(c.index_B, j); + + c.active = true; + } + + // Friction impulse. + real_t friction = body->get_friction(); + + Vector3 lvA = body->get_linear_velocity() + body->get_angular_velocity().cross(c.rA); + Vector3 lvB = soft_body->get_node_velocity(c.index_B); + Vector3 dtv = lvB - lvA; + + real_t tn = c.normal.dot(dtv); + + // Tangential velocity. + Vector3 tv = dtv - c.normal * tn; + real_t tvl = tv.length(); + + if (tvl > MIN_VELOCITY) { + tv /= tvl; + + Vector3 temp1 = body->get_inv_inertia_tensor().xform(c.rA.cross(tv)); + + real_t t = -tvl / + (body->get_inv_mass() + soft_body->get_node_inv_mass(c.index_B) + tv.dot(temp1.cross(c.rA))); + + Vector3 jt = t * tv; + + Vector3 jtOld = c.acc_tangent_impulse; + c.acc_tangent_impulse += jt; + + real_t fi_len = c.acc_tangent_impulse.length(); + real_t jtMax = c.acc_normal_impulse * friction; + + if (fi_len > CMP_EPSILON && fi_len > jtMax) { + c.acc_tangent_impulse *= jtMax / fi_len; + } + + jt = c.acc_tangent_impulse - jtOld; + + body->apply_impulse(c.rA + body->get_center_of_mass(), -jt); + soft_body->apply_node_impulse(c.index_B, jt); + + c.active = true; + } + } +} + +BodySoftBodyPair3DSW::BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBody3DSW *p_B) { + body = p_A; + soft_body = p_B; + body_shape = p_shape_A; + space = p_A->get_space(); + body->add_constraint(this, 0); + soft_body->add_constraint(this); +} + +BodySoftBodyPair3DSW::~BodySoftBodyPair3DSW() { + body->remove_constraint(this); + soft_body->remove_constraint(this); +} diff --git a/servers/physics_3d/body_pair_3d_sw.h b/servers/physics_3d/body_pair_3d_sw.h index 4d049eafdc..74dddfa6aa 100644 --- a/servers/physics_3d/body_pair_3d_sw.h +++ b/servers/physics_3d/body_pair_3d_sw.h @@ -28,32 +28,20 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BODY_PAIR_SW_H -#define BODY_PAIR_SW_H +#ifndef BODY_PAIR_3D_SW_H +#define BODY_PAIR_3D_SW_H #include "body_3d_sw.h" #include "constraint_3d_sw.h" +#include "core/templates/local_vector.h" +#include "soft_body_3d_sw.h" -class BodyPair3DSW : public Constraint3DSW { - enum { - MAX_CONTACTS = 4 - }; - - union { - struct { - Body3DSW *A; - Body3DSW *B; - }; - - Body3DSW *_arr[2]; - }; - - int shape_A; - int shape_B; - +class BodyContact3DSW : public Constraint3DSW { +protected: struct Contact { Vector3 position; Vector3 normal; + int index_A, index_B; Vector3 local_A, local_B; real_t acc_normal_impulse; // accumulated normal impulse (Pn) Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt) @@ -68,22 +56,45 @@ class BodyPair3DSW : public Constraint3DSW { Vector3 rA, rB; // Offset in world orientation with respect to center of mass }; + Vector3 sep_axis; + bool collided; + + Space3DSW *space; + + BodyContact3DSW(Body3DSW **p_body_ptr = nullptr, int p_body_count = 0) : + Constraint3DSW(p_body_ptr, p_body_count) { + } +}; + +class BodyPair3DSW : public BodyContact3DSW { + enum { + MAX_CONTACTS = 4 + }; + + union { + struct { + Body3DSW *A; + Body3DSW *B; + }; + + Body3DSW *_arr[2]; + }; + + int shape_A; + int shape_B; + Vector3 offset_B; //use local A coordinates to avoid numerical issues on collision detection - Vector3 sep_axis; Contact contacts[MAX_CONTACTS]; int contact_count; - bool collided; - static void _contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata); + static void _contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata); - void contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B); + void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B); void validate_contacts(); bool _test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const Transform &p_xform_A, Body3DSW *p_B, int p_shape_B, const Transform &p_xform_B); - Space3DSW *space; - public: bool setup(real_t p_step); void solve(real_t p_step); @@ -92,4 +103,26 @@ public: ~BodyPair3DSW(); }; -#endif // BODY_PAIR__SW_H +class BodySoftBodyPair3DSW : public BodyContact3DSW { + Body3DSW *body; + SoftBody3DSW *soft_body; + + int body_shape; + + LocalVector<Contact> contacts; + + static void _contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata); + + void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B); + + void validate_contacts(); + +public: + bool setup(real_t p_step); + void solve(real_t p_step); + + BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBody3DSW *p_B); + ~BodySoftBodyPair3DSW(); +}; + +#endif // BODY_PAIR_3D_SW_H diff --git a/servers/physics_3d/collision_object_3d_sw.h b/servers/physics_3d/collision_object_3d_sw.h index 3847b81381..85221b7746 100644 --- a/servers/physics_3d/collision_object_3d_sw.h +++ b/servers/physics_3d/collision_object_3d_sw.h @@ -48,7 +48,8 @@ class CollisionObject3DSW : public ShapeOwner3DSW { public: enum Type { TYPE_AREA, - TYPE_BODY + TYPE_BODY, + TYPE_SOFT_BODY, }; private: @@ -129,8 +130,8 @@ public: _FORCE_INLINE_ const AABB &get_shape_aabb(int p_index) const { return shapes[p_index].aabb_cache; } _FORCE_INLINE_ real_t get_shape_area(int p_index) const { return shapes[p_index].area_cache; } - _FORCE_INLINE_ Transform get_transform() const { return transform; } - _FORCE_INLINE_ Transform get_inv_transform() const { return inv_transform; } + _FORCE_INLINE_ const Transform &get_transform() const { return transform; } + _FORCE_INLINE_ const Transform &get_inv_transform() const { return inv_transform; } _FORCE_INLINE_ Space3DSW *get_space() const { return space; } _FORCE_INLINE_ void set_ray_pickable(bool p_enable) { ray_pickable = p_enable; } diff --git a/servers/physics_3d/collision_solver_3d_sat.cpp b/servers/physics_3d/collision_solver_3d_sat.cpp index 651961433c..9d5448dbfa 100644 --- a/servers/physics_3d/collision_solver_3d_sat.cpp +++ b/servers/physics_3d/collision_solver_3d_sat.cpp @@ -74,9 +74,9 @@ struct _CollectorCallback { _FORCE_INLINE_ void call(const Vector3 &p_point_A, const Vector3 &p_point_B) { if (swap) { - callback(p_point_B, p_point_A, userdata); + callback(p_point_B, 0, p_point_A, 0, userdata); } else { - callback(p_point_A, p_point_B, userdata); + callback(p_point_A, 0, p_point_B, 0, userdata); } } }; @@ -626,7 +626,7 @@ public: } } - _FORCE_INLINE_ bool test_axis(const Vector3 &p_axis) { + _FORCE_INLINE_ bool test_axis(const Vector3 &p_axis, bool p_directional = false) { Vector3 axis = p_axis; if (Math::abs(axis.x) < CMP_EPSILON && @@ -662,7 +662,12 @@ public: //use the smallest depth if (min_B < 0.0) { // could be +0.0, we don't want it to become -0.0 - min_B = -min_B; + if (p_directional) { + min_B = max_B; + axis = -axis; + } else { + min_B = -min_B; + } } if (max_B < min_B) { @@ -680,7 +685,7 @@ public: return true; } - static _FORCE_INLINE_ void test_contact_points(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) { + static _FORCE_INLINE_ void test_contact_points(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { SeparatorAxisTest<ShapeA, ShapeB, withMargin> *separator = (SeparatorAxisTest<ShapeA, ShapeB, withMargin> *)p_userdata; Vector3 axis = (p_point_B - p_point_A); real_t depth = axis.length(); @@ -1006,23 +1011,31 @@ static void _collision_sphere_face(const Shape3DSW *p_a, const Transform &p_tran p_transform_b.xform(face_B->vertex[2]), }; - if (!separator.test_axis((vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized())) { + Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized(); + + if (!separator.test_axis(normal, !face_B->backface_collision)) { return; } // edges and points of B for (int i = 0; i < 3; i++) { Vector3 n1 = vertex[i] - p_transform_a.origin; + if (n1.dot(normal) < 0.0) { + n1 *= -1.0; + } - if (!separator.test_axis(n1.normalized())) { + if (!separator.test_axis(n1.normalized(), !face_B->backface_collision)) { return; } Vector3 n2 = vertex[(i + 1) % 3] - vertex[i]; Vector3 axis = n1.cross(n2).cross(n2).normalized(); + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } - if (!separator.test_axis(axis)) { + if (!separator.test_axis(axis, !face_B->backface_collision)) { return; } } @@ -1467,15 +1480,20 @@ static void _collision_box_face(const Shape3DSW *p_a, const Transform &p_transfo p_transform_b.xform(face_B->vertex[2]), }; - if (!separator.test_axis((vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized())) { + Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized(); + + if (!separator.test_axis(normal, !face_B->backface_collision)) { return; } // faces of A for (int i = 0; i < 3; i++) { Vector3 axis = p_transform_a.basis.get_axis(i).normalized(); + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } - if (!separator.test_axis(axis)) { + if (!separator.test_axis(axis, !face_B->backface_collision)) { return; } } @@ -1486,9 +1504,12 @@ static void _collision_box_face(const Shape3DSW *p_a, const Transform &p_transfo Vector3 e = vertex[i] - vertex[(i + 1) % 3]; for (int j = 0; j < 3; j++) { - Vector3 axis = p_transform_a.basis.get_axis(j); + Vector3 axis = e.cross(p_transform_a.basis.get_axis(j)).normalized(); + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } - if (!separator.test_axis(e.cross(axis).normalized())) { + if (!separator.test_axis(axis, !face_B->backface_collision)) { return; } } @@ -1508,8 +1529,11 @@ static void _collision_box_face(const Shape3DSW *p_a, const Transform &p_transfo (cnormal_a.z < 0) ? -box_A->get_half_extents().z : box_A->get_half_extents().z)); Vector3 axis_ab = support_a - vertex[v]; + if (axis_ab.dot(normal) < 0.0) { + axis_ab *= -1.0; + } - if (!separator.test_axis(axis_ab.normalized())) { + if (!separator.test_axis(axis_ab.normalized(), !face_B->backface_collision)) { return; } @@ -1519,7 +1543,12 @@ static void _collision_box_face(const Shape3DSW *p_a, const Transform &p_transfo //a ->b Vector3 axis_a = p_transform_a.basis.get_axis(i); - if (!separator.test_axis(axis_ab.cross(axis_a).cross(axis_a).normalized())) { + Vector3 axis = axis_ab.cross(axis_a).cross(axis_a).normalized(); + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } + + if (!separator.test_axis(axis, !face_B->backface_collision)) { return; } } @@ -1544,7 +1573,12 @@ static void _collision_box_face(const Shape3DSW *p_a, const Transform &p_transfo Vector3 n = (p2 - p1); - if (!separator.test_axis((point - p2).cross(n).cross(n).normalized())) { + Vector3 axis = (point - p2).cross(n).cross(n).normalized(); + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } + + if (!separator.test_axis(axis, !face_B->backface_collision)) { return; } } @@ -1627,10 +1661,55 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform &p SeparatorAxisTest<CapsuleShape3DSW, CylinderShape3DSW, withMargin> separator(capsule_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + if (!separator.test_previous_axis()) { + return; + } + + // Cylinder B end caps. + Vector3 cylinder_B_axis = p_transform_b.basis.get_axis(1).normalized(); + if (!separator.test_axis(cylinder_B_axis)) { + return; + } + + // Cylinder edge against capsule balls. + + Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1); + + Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis * (capsule_A->get_height() * 0.5); + Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis * (capsule_A->get_height() * 0.5); + + if (!separator.test_axis((p_transform_b.origin - capsule_A_ball_1).cross(cylinder_B_axis).cross(cylinder_B_axis).normalized())) { + return; + } + + if (!separator.test_axis((p_transform_b.origin - capsule_A_ball_2).cross(cylinder_B_axis).cross(cylinder_B_axis).normalized())) { + return; + } + + // Cylinder edge against capsule edge. + + Vector3 center_diff = p_transform_b.origin - p_transform_a.origin; + + if (!separator.test_axis(capsule_A_axis.cross(center_diff).cross(capsule_A_axis).normalized())) { + return; + } + + if (!separator.test_axis(cylinder_B_axis.cross(center_diff).cross(cylinder_B_axis).normalized())) { + return; + } + + real_t proj = capsule_A_axis.cross(cylinder_B_axis).cross(cylinder_B_axis).dot(capsule_A_axis); + if (Math::is_zero_approx(proj)) { + // Parallel capsule and cylinder axes, handle with specific axes only. + // Note: GJKEPA with no margin can lead to degenerate cases in this situation. + separator.generate_contacts(); + return; + } + CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CapsuleShape3DSW, CylinderShape3DSW, withMargin>::test_contact_points; // Fallback to generic algorithm to find the best separating axis. - if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator)) { + if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) { return; } @@ -1714,7 +1793,9 @@ static void _collision_capsule_face(const Shape3DSW *p_a, const Transform &p_tra p_transform_b.xform(face_B->vertex[2]), }; - if (!separator.test_axis((vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized())) { + Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized(); + + if (!separator.test_axis(normal, !face_B->backface_collision)) { return; } @@ -1725,13 +1806,22 @@ static void _collision_capsule_face(const Shape3DSW *p_a, const Transform &p_tra for (int i = 0; i < 3; i++) { // edge-cylinder Vector3 edge_axis = vertex[i] - vertex[(i + 1) % 3]; + Vector3 axis = edge_axis.cross(capsule_axis).normalized(); + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } - if (!separator.test_axis(axis)) { + if (!separator.test_axis(axis, !face_B->backface_collision)) { return; } - if (!separator.test_axis((p_transform_a.origin - vertex[i]).cross(capsule_axis).cross(capsule_axis).normalized())) { + Vector3 dir_axis = (p_transform_a.origin - vertex[i]).cross(capsule_axis).cross(capsule_axis).normalized(); + if (dir_axis.dot(normal) < 0.0) { + dir_axis *= -1.0; + } + + if (!separator.test_axis(dir_axis, !face_B->backface_collision)) { return; } @@ -1740,16 +1830,22 @@ static void _collision_capsule_face(const Shape3DSW *p_a, const Transform &p_tra Vector3 sphere_pos = p_transform_a.origin + ((j == 0) ? capsule_axis : -capsule_axis); Vector3 n1 = sphere_pos - vertex[i]; + if (n1.dot(normal) < 0.0) { + n1 *= -1.0; + } - if (!separator.test_axis(n1.normalized())) { + if (!separator.test_axis(n1.normalized(), !face_B->backface_collision)) { return; } Vector3 n2 = edge_axis; axis = n1.cross(n2).cross(n2); + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } - if (!separator.test_axis(axis.normalized())) { + if (!separator.test_axis(axis.normalized(), !face_B->backface_collision)) { return; } } @@ -1805,7 +1901,7 @@ static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform & CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CylinderShape3DSW, CylinderShape3DSW, withMargin>::test_contact_points; // Fallback to generic algorithm to find the best separating axis. - if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator)) { + if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) { return; } @@ -1822,7 +1918,7 @@ static void _collision_cylinder_convex_polygon(const Shape3DSW *p_a, const Trans CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CylinderShape3DSW, ConvexPolygonShape3DSW, withMargin>::test_contact_points; // Fallback to generic algorithm to find the best separating axis. - if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator)) { + if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) { return; } @@ -1846,18 +1942,21 @@ static void _collision_cylinder_face(const Shape3DSW *p_a, const Transform &p_tr p_transform_b.xform(face_B->vertex[2]), }; + Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized(); + // Face B normal. - if (!separator.test_axis((vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized())) { + if (!separator.test_axis(normal, !face_B->backface_collision)) { return; } Vector3 cyl_axis = p_transform_a.basis.get_axis(1).normalized(); + if (cyl_axis.dot(normal) < 0.0) { + cyl_axis *= -1.0; + } // Cylinder end caps. - { - if (!separator.test_axis(cyl_axis)) { - return; - } + if (!separator.test_axis(cyl_axis, !face_B->backface_collision)) { + return; } // Edges of B, cylinder lateral surface. @@ -1868,7 +1967,11 @@ static void _collision_cylinder_face(const Shape3DSW *p_a, const Transform &p_tr continue; } - if (!separator.test_axis(axis.normalized())) { + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } + + if (!separator.test_axis(axis.normalized(), !face_B->backface_collision)) { return; } } @@ -1877,8 +1980,11 @@ static void _collision_cylinder_face(const Shape3DSW *p_a, const Transform &p_tr for (int i = 0; i < 3; i++) { const Vector3 &point = vertex[i]; Vector3 axis = Plane(cyl_axis, 0).project(point).normalized(); + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } - if (!separator.test_axis(axis)) { + if (!separator.test_axis(axis, !face_B->backface_collision)) { return; } } @@ -1911,8 +2017,11 @@ static void _collision_cylinder_face(const Shape3DSW *p_a, const Transform &p_tr // Axis is orthogonal both to tangent and edge direction. Vector3 axis = tangent.cross(edge_dir); + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } - if (!separator.test_axis(axis.normalized())) { + if (!separator.test_axis(axis.normalized(), !face_B->backface_collision)) { return; } } @@ -2052,7 +2161,9 @@ static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform p_transform_b.xform(face_B->vertex[2]), }; - if (!separator.test_axis((vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized())) { + Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized(); + + if (!separator.test_axis(normal, !face_B->backface_collision)) { return; } @@ -2060,8 +2171,11 @@ static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform for (int i = 0; i < face_count; i++) { //Vector3 axis = p_transform_a.xform( faces[i].plane ).normal; Vector3 axis = p_transform_a.basis.xform(faces[i].plane.normal).normalized(); + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } - if (!separator.test_axis(axis)) { + if (!separator.test_axis(axis, !face_B->backface_collision)) { return; } } @@ -2074,8 +2188,11 @@ static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform Vector3 e2 = vertex[j] - vertex[(j + 1) % 3]; Vector3 axis = e1.cross(e2).normalized(); + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } - if (!separator.test_axis(axis)) { + if (!separator.test_axis(axis, !face_B->backface_collision)) { return; } } @@ -2087,7 +2204,12 @@ static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform Vector3 va = p_transform_a.xform(vertices[i]); for (int j = 0; j < 3; j++) { - if (!separator.test_axis((va - vertex[j]).normalized())) { + Vector3 axis = (va - vertex[j]).normalized(); + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } + + if (!separator.test_axis(axis, !face_B->backface_collision)) { return; } } @@ -2102,7 +2224,12 @@ static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform for (int j = 0; j < 3; j++) { Vector3 e3 = vertex[j]; - if (!separator.test_axis((e1 - e3).cross(n).cross(n).normalized())) { + Vector3 axis = (e1 - e3).cross(n).cross(n).normalized(); + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } + + if (!separator.test_axis(axis, !face_B->backface_collision)) { return; } } @@ -2116,7 +2243,12 @@ static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform for (int j = 0; j < vertex_count; j++) { Vector3 e3 = p_transform_a.xform(vertices[j]); - if (!separator.test_axis((e1 - e3).cross(n).cross(n).normalized())) { + Vector3 axis = (e1 - e3).cross(n).cross(n).normalized(); + if (axis.dot(normal) < 0.0) { + axis *= -1.0; + } + + if (!separator.test_axis(axis, !face_B->backface_collision)) { return; } } diff --git a/servers/physics_3d/collision_solver_3d_sw.cpp b/servers/physics_3d/collision_solver_3d_sw.cpp index fd9ea00d92..f655c4626c 100644 --- a/servers/physics_3d/collision_solver_3d_sw.cpp +++ b/servers/physics_3d/collision_solver_3d_sw.cpp @@ -30,6 +30,7 @@ #include "collision_solver_3d_sw.h" #include "collision_solver_3d_sat.h" +#include "soft_body_3d_sw.h" #include "gjk_epa.h" @@ -78,9 +79,9 @@ bool CollisionSolver3DSW::solve_static_plane(const Shape3DSW *p_shape_A, const T if (p_result_callback) { if (p_swap_result) { - p_result_callback(supports[i], support_A, p_userdata); + p_result_callback(supports[i], 0, support_A, 0, p_userdata); } else { - p_result_callback(support_A, supports[i], p_userdata); + p_result_callback(support_A, 0, supports[i], 0, p_userdata); } } } @@ -113,14 +114,148 @@ bool CollisionSolver3DSW::solve_ray(const Shape3DSW *p_shape_A, const Transform if (p_result_callback) { if (p_swap_result) { - p_result_callback(support_B, support_A, p_userdata); + p_result_callback(support_B, 0, support_A, 0, p_userdata); } else { - p_result_callback(support_A, support_B, p_userdata); + p_result_callback(support_A, 0, support_B, 0, p_userdata); } } return true; } +struct _SoftBodyContactCollisionInfo { + int node_index = 0; + CollisionSolver3DSW::CallbackResult result_callback = nullptr; + void *userdata = nullptr; + bool swap_result = false; + int contact_count = 0; +}; + +void CollisionSolver3DSW::soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { + _SoftBodyContactCollisionInfo &cinfo = *(_SoftBodyContactCollisionInfo *)(p_userdata); + + ++cinfo.contact_count; + + if (cinfo.swap_result) { + cinfo.result_callback(p_point_B, cinfo.node_index, p_point_A, p_index_A, cinfo.userdata); + } else { + cinfo.result_callback(p_point_A, p_index_A, p_point_B, cinfo.node_index, cinfo.userdata); + } +} + +struct _SoftBodyQueryInfo { + SoftBody3DSW *soft_body = nullptr; + const Shape3DSW *shape_A = nullptr; + const Shape3DSW *shape_B = nullptr; + Transform transform_A; + Transform node_transform; + _SoftBodyContactCollisionInfo contact_info; +#ifdef DEBUG_ENABLED + int node_query_count = 0; + int convex_query_count = 0; +#endif +}; + +bool CollisionSolver3DSW::soft_body_query_callback(uint32_t p_node_index, void *p_userdata) { + _SoftBodyQueryInfo &query_cinfo = *(_SoftBodyQueryInfo *)(p_userdata); + + Vector3 node_position = query_cinfo.soft_body->get_node_position(p_node_index); + + Transform transform_B; + transform_B.origin = query_cinfo.node_transform.xform(node_position); + + query_cinfo.contact_info.node_index = p_node_index; + solve_static(query_cinfo.shape_A, query_cinfo.transform_A, query_cinfo.shape_B, transform_B, soft_body_contact_callback, &query_cinfo.contact_info); + +#ifdef DEBUG_ENABLED + ++query_cinfo.node_query_count; +#endif + + // Continue with the query. + return false; +} + +void CollisionSolver3DSW::soft_body_concave_callback(void *p_userdata, Shape3DSW *p_convex) { + _SoftBodyQueryInfo &query_cinfo = *(_SoftBodyQueryInfo *)(p_userdata); + + query_cinfo.shape_A = p_convex; + + // Calculate AABB for internal soft body query (in world space). + AABB shape_aabb; + for (int i = 0; i < 3; i++) { + Vector3 axis; + axis[i] = 1.0; + + real_t smin, smax; + p_convex->project_range(axis, query_cinfo.transform_A, smin, smax); + + shape_aabb.position[i] = smin; + shape_aabb.size[i] = smax - smin; + } + + shape_aabb.grow_by(query_cinfo.soft_body->get_collision_margin()); + + query_cinfo.soft_body->query_aabb(shape_aabb, soft_body_query_callback, &query_cinfo); + +#ifdef DEBUG_ENABLED + ++query_cinfo.convex_query_count; +#endif +} + +bool CollisionSolver3DSW::solve_soft_body(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { + const SoftBodyShape3DSW *soft_body_shape_B = static_cast<const SoftBodyShape3DSW *>(p_shape_B); + + SoftBody3DSW *soft_body = soft_body_shape_B->get_soft_body(); + const Transform &world_to_local = soft_body->get_inv_transform(); + + const real_t collision_margin = soft_body->get_collision_margin(); + + SphereShape3DSW sphere_shape; + sphere_shape.set_data(collision_margin); + + _SoftBodyQueryInfo query_cinfo; + query_cinfo.contact_info.result_callback = p_result_callback; + query_cinfo.contact_info.userdata = p_userdata; + query_cinfo.contact_info.swap_result = p_swap_result; + query_cinfo.soft_body = soft_body; + query_cinfo.node_transform = p_transform_B * world_to_local; + query_cinfo.shape_A = p_shape_A; + query_cinfo.transform_A = p_transform_A; + query_cinfo.shape_B = &sphere_shape; + + if (p_shape_A->is_concave()) { + // In case of concave shape, query convex shapes first. + const ConcaveShape3DSW *concave_shape_A = static_cast<const ConcaveShape3DSW *>(p_shape_A); + + AABB soft_body_aabb = soft_body->get_bounds(); + soft_body_aabb.grow_by(collision_margin); + + // Calculate AABB for internal concave shape query (in local space). + AABB local_aabb; + for (int i = 0; i < 3; i++) { + Vector3 axis(p_transform_A.basis.get_axis(i)); + real_t axis_scale = 1.0 / axis.length(); + + real_t smin = soft_body_aabb.position[i]; + real_t smax = smin + soft_body_aabb.size[i]; + + smin *= axis_scale; + smax *= axis_scale; + + local_aabb.position[i] = smin; + local_aabb.size[i] = smax - smin; + } + + concave_shape_A->cull(local_aabb, soft_body_concave_callback, &query_cinfo); + } else { + AABB shape_aabb = p_transform_A.xform(p_shape_A->get_aabb()); + shape_aabb.grow_by(collision_margin); + + soft_body->query_aabb(shape_aabb, soft_body_query_callback, &query_cinfo); + } + + return (query_cinfo.contact_info.contact_count > 0); +} + struct _ConcaveCollisionInfo { const Transform *transform_A; const Shape3DSW *shape_A; @@ -215,6 +350,9 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo if (type_B == PhysicsServer3D::SHAPE_RAY) { return false; } + if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) { + return false; + } if (swap) { return solve_static_plane(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true); @@ -233,6 +371,18 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo return solve_ray(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false); } + } else if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) { + if (type_A == PhysicsServer3D::SHAPE_SOFT_BODY) { + // Soft Body / Soft Body not supported. + return false; + } + + if (swap) { + return solve_soft_body(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true); + } else { + return solve_soft_body(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false); + } + } else if (concave_B) { if (concave_A) { return false; diff --git a/servers/physics_3d/collision_solver_3d_sw.h b/servers/physics_3d/collision_solver_3d_sw.h index 81d87e9773..34ac2c6d3f 100644 --- a/servers/physics_3d/collision_solver_3d_sw.h +++ b/servers/physics_3d/collision_solver_3d_sw.h @@ -35,12 +35,16 @@ class CollisionSolver3DSW { public: - typedef void (*CallbackResult)(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata); + typedef void (*CallbackResult)(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata); private: + static bool soft_body_query_callback(uint32_t p_node_index, void *p_userdata); + static void soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata); + static void soft_body_concave_callback(void *p_userdata, Shape3DSW *p_convex); static void concave_callback(void *p_userdata, Shape3DSW *p_convex); static bool solve_static_plane(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); static bool solve_ray(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); + static bool solve_soft_body(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); static bool solve_concave(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A = 0, real_t p_margin_B = 0); static void concave_distance_callback(void *p_userdata, Shape3DSW *p_convex); static bool solve_distance_plane(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B); diff --git a/servers/physics_3d/gjk_epa.cpp b/servers/physics_3d/gjk_epa.cpp index aa7c11eec5..1a8c7f704f 100644 --- a/servers/physics_3d/gjk_epa.cpp +++ b/servers/physics_3d/gjk_epa.cpp @@ -110,26 +110,60 @@ struct MinkowskiDiff { Transform transform_A; Transform transform_B; + real_t margin_A = 0.0; + real_t margin_B = 0.0; + + Vector3 (*get_support)(const Shape3DSW*, const Vector3&, real_t); + + void Initialize(const Shape3DSW* shape0, const Transform& wtrs0, const real_t margin0, + const Shape3DSW* shape1, const Transform& wtrs1, const real_t margin1) { + m_shapes[0] = shape0; + m_shapes[1] = shape1; + transform_A = wtrs0; + transform_B = wtrs1; + margin_A = margin0; + margin_B = margin1; + + if ((margin0 > 0.0) || (margin1 > 0.0)) { + get_support = get_support_with_margin; + } else { + get_support = get_support_without_margin; + } + } + + static Vector3 get_support_without_margin(const Shape3DSW* p_shape, const Vector3& p_dir, real_t p_margin) { + return p_shape->get_support(p_dir.normalized()); + } + + static Vector3 get_support_with_margin(const Shape3DSW* p_shape, const Vector3& p_dir, real_t p_margin) { + Vector3 local_dir_norm = p_dir; + if (local_dir_norm.length_squared() < CMP_EPSILON2) { + local_dir_norm = Vector3(-1.0, -1.0, -1.0); + } + local_dir_norm.normalize(); + + return p_shape->get_support(local_dir_norm) + p_margin * local_dir_norm; + } + // i wonder how this could be sped up... if it can - _FORCE_INLINE_ Vector3 Support0 ( const Vector3& d ) const { - return transform_A.xform( m_shapes[0]->get_support( transform_A.basis.xform_inv(d).normalized() ) ); + _FORCE_INLINE_ Vector3 Support0(const Vector3& d) const { + return transform_A.xform(get_support(m_shapes[0], transform_A.basis.xform_inv(d), margin_A)); } - _FORCE_INLINE_ Vector3 Support1 ( const Vector3& d ) const { - return transform_B.xform( m_shapes[1]->get_support( transform_B.basis.xform_inv(d).normalized() ) ); + _FORCE_INLINE_ Vector3 Support1(const Vector3& d) const { + return transform_B.xform(get_support(m_shapes[1], transform_B.basis.xform_inv(d), margin_B)); } - _FORCE_INLINE_ Vector3 Support ( const Vector3& d ) const { - return ( Support0 ( d )-Support1 ( -d ) ); + _FORCE_INLINE_ Vector3 Support (const Vector3& d) const { + return (Support0(d) - Support1(-d)); } - _FORCE_INLINE_ Vector3 Support ( const Vector3& d,U index ) const - { - if ( index ) { - return ( Support1 ( d ) ); + _FORCE_INLINE_ Vector3 Support(const Vector3& d, U index) const { + if (index) { + return Support1(d); } else { - return ( Support0 ( d ) ); -} + return Support0(d); + } } }; @@ -828,22 +862,17 @@ struct GJK }; // - static void Initialize( const Shape3DSW* shape0,const Transform& wtrs0, - const Shape3DSW* shape1,const Transform& wtrs1, + static void Initialize( const Shape3DSW* shape0, const Transform& wtrs0, real_t margin0, + const Shape3DSW* shape1, const Transform& wtrs1, real_t margin1, sResults& results, - tShape& shape, - bool withmargins) + tShape& shape) { /* Results */ - results.witnesses[0] = - results.witnesses[1] = Vector3(0,0,0); + results.witnesses[0] = Vector3(0,0,0); + results.witnesses[1] = Vector3(0,0,0); results.status = sResults::Separated; /* Shape */ - shape.m_shapes[0] = shape0; - shape.m_shapes[1] = shape1; - shape.transform_A = wtrs0; - shape.transform_B = wtrs1; - + shape.Initialize(shape0, wtrs0, margin0, shape1, wtrs1, margin1); } @@ -857,13 +886,15 @@ struct GJK // bool Distance( const Shape3DSW* shape0, const Transform& wtrs0, - const Shape3DSW* shape1, + real_t margin0, + const Shape3DSW* shape1, const Transform& wtrs1, + real_t margin1, const Vector3& guess, sResults& results) { tShape shape; - Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false); + Initialize(shape0, wtrs0, margin0, shape1, wtrs1, margin1, results, shape); GJK gjk; GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess); if(gjk_status==GJK::eStatus::Valid) @@ -896,14 +927,16 @@ bool Distance( const Shape3DSW* shape0, // bool Penetration( const Shape3DSW* shape0, const Transform& wtrs0, - const Shape3DSW* shape1, + real_t margin0, + const Shape3DSW* shape1, const Transform& wtrs1, - const Vector3& guess, + real_t margin1, + const Vector3& guess, sResults& results ) { tShape shape; - Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false); + Initialize(shape0, wtrs0, margin0, shape1, wtrs1, margin1, results, shape); GJK gjk; GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,-guess); switch(gjk_status) @@ -963,7 +996,7 @@ bool Penetration( const Shape3DSW* shape0, bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B) { GjkEpa2::sResults res; - if (GjkEpa2::Distance(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_transform_B.origin - p_transform_A.origin, res)) { + if (GjkEpa2::Distance(p_shape_A, p_transform_A, 0.0, p_shape_B, p_transform_B, 0.0, p_transform_B.origin - p_transform_A.origin, res)) { r_result_A = res.witnesses[0]; r_result_B = res.witnesses[1]; return true; @@ -972,15 +1005,15 @@ bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform &p_t return false; } -bool gjk_epa_calculate_penetration(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap) { +bool gjk_epa_calculate_penetration(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, real_t p_margin_A, real_t p_margin_B) { GjkEpa2::sResults res; - if (GjkEpa2::Penetration(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_transform_B.origin - p_transform_A.origin, res)) { + if (GjkEpa2::Penetration(p_shape_A, p_transform_A, p_margin_A, p_shape_B, p_transform_B, p_margin_B, p_transform_B.origin - p_transform_A.origin, res)) { if (p_result_callback) { if (p_swap) { - p_result_callback(res.witnesses[1], res.witnesses[0], p_userdata); + p_result_callback(res.witnesses[1], 0, res.witnesses[0], 0, p_userdata); } else { - p_result_callback(res.witnesses[0], res.witnesses[1], p_userdata); + p_result_callback(res.witnesses[0], 0, res.witnesses[1], 0, p_userdata); } } return true; diff --git a/servers/physics_3d/gjk_epa.h b/servers/physics_3d/gjk_epa.h index be3ba4e664..a7e2e1719e 100644 --- a/servers/physics_3d/gjk_epa.h +++ b/servers/physics_3d/gjk_epa.h @@ -34,7 +34,7 @@ #include "collision_solver_3d_sw.h" #include "shape_3d_sw.h" -bool gjk_epa_calculate_penetration(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false); +bool gjk_epa_calculate_penetration(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, real_t p_margin_A = 0.0, real_t p_margin_B = 0.0); bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B); #endif diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp index 6bbef09907..3d0063b0fa 100644 --- a/servers/physics_3d/physics_server_3d_sw.cpp +++ b/servers/physics_3d/physics_server_3d_sw.cpp @@ -611,9 +611,18 @@ uint32_t PhysicsServer3DSW::body_get_collision_mask(RID p_body) const { void PhysicsServer3DSW::body_attach_object_instance_id(RID p_body, ObjectID p_id) { Body3DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); + if (body) { + body->set_instance_id(p_id); + return; + } + + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + if (soft_body) { + soft_body->set_instance_id(p_id); + return; + } - body->set_instance_id(p_id); + ERR_FAIL_MSG("Invalid ID."); }; ObjectID PhysicsServer3DSW::body_get_object_instance_id(RID p_body) const { @@ -893,6 +902,266 @@ PhysicsDirectBodyState3D *PhysicsServer3DSW::body_get_direct_state(RID p_body) { return direct_state; } +/* SOFT BODY */ + +RID PhysicsServer3DSW::soft_body_create() { + SoftBody3DSW *soft_body = memnew(SoftBody3DSW); + RID rid = soft_body_owner.make_rid(soft_body); + soft_body->set_self(rid); + return rid; +} + +void PhysicsServer3DSW::soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->update_rendering_server(p_rendering_server_handler); +} + +void PhysicsServer3DSW::soft_body_set_space(RID p_body, RID p_space) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + Space3DSW *space = nullptr; + if (p_space.is_valid()) { + space = space_owner.getornull(p_space); + ERR_FAIL_COND(!space); + } + + if (soft_body->get_space() == space) { + return; + } + + soft_body->set_space(space); +} + +RID PhysicsServer3DSW::soft_body_get_space(RID p_body) const { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND_V(!soft_body, RID()); + + Space3DSW *space = soft_body->get_space(); + if (!space) { + return RID(); + } + return space->get_self(); +} + +void PhysicsServer3DSW::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_collision_layer(p_layer); +} + +uint32_t PhysicsServer3DSW::soft_body_get_collision_layer(RID p_body) const { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND_V(!soft_body, 0); + + return soft_body->get_collision_layer(); +} + +void PhysicsServer3DSW::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_collision_mask(p_mask); +} + +uint32_t PhysicsServer3DSW::soft_body_get_collision_mask(RID p_body) const { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND_V(!soft_body, 0); + + return soft_body->get_collision_mask(); +} + +void PhysicsServer3DSW::soft_body_add_collision_exception(RID p_body, RID p_body_b) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->add_exception(p_body_b); +} + +void PhysicsServer3DSW::soft_body_remove_collision_exception(RID p_body, RID p_body_b) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->remove_exception(p_body_b); +} + +void PhysicsServer3DSW::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + for (int i = 0; i < soft_body->get_exceptions().size(); i++) { + p_exceptions->push_back(soft_body->get_exceptions()[i]); + } +} + +void PhysicsServer3DSW::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_state(p_state, p_variant); +} + +Variant PhysicsServer3DSW::soft_body_get_state(RID p_body, BodyState p_state) const { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND_V(!soft_body, Variant()); + + return soft_body->get_state(p_state); +} + +void PhysicsServer3DSW::soft_body_set_transform(RID p_body, const Transform &p_transform) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_state(BODY_STATE_TRANSFORM, p_transform); +} + +void PhysicsServer3DSW::soft_body_set_ray_pickable(RID p_body, bool p_enable) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_ray_pickable(p_enable); +} + +void PhysicsServer3DSW::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_iteration_count(p_simulation_precision); +} + +int PhysicsServer3DSW::soft_body_get_simulation_precision(RID p_body) const { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND_V(!soft_body, 0.f); + + return soft_body->get_iteration_count(); +} + +void PhysicsServer3DSW::soft_body_set_total_mass(RID p_body, real_t p_total_mass) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_total_mass(p_total_mass); +} + +real_t PhysicsServer3DSW::soft_body_get_total_mass(RID p_body) const { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND_V(!soft_body, 0.f); + + return soft_body->get_total_mass(); +} + +void PhysicsServer3DSW::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_linear_stiffness(p_stiffness); +} + +real_t PhysicsServer3DSW::soft_body_get_linear_stiffness(RID p_body) const { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND_V(!soft_body, 0.f); + + return soft_body->get_linear_stiffness(); +} + +void PhysicsServer3DSW::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_pressure_coefficient(p_pressure_coefficient); +} + +real_t PhysicsServer3DSW::soft_body_get_pressure_coefficient(RID p_body) const { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND_V(!soft_body, 0.f); + + return soft_body->get_pressure_coefficient(); +} + +void PhysicsServer3DSW::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_damping_coefficient(p_damping_coefficient); +} + +real_t PhysicsServer3DSW::soft_body_get_damping_coefficient(RID p_body) const { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND_V(!soft_body, 0.f); + + return soft_body->get_damping_coefficient(); +} + +void PhysicsServer3DSW::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_drag_coefficient(p_drag_coefficient); +} + +real_t PhysicsServer3DSW::soft_body_get_drag_coefficient(RID p_body) const { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND_V(!soft_body, 0.f); + + return soft_body->get_drag_coefficient(); +} + +void PhysicsServer3DSW::soft_body_set_mesh(RID p_body, const REF &p_mesh) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_mesh(p_mesh); +} + +AABB PhysicsServer3DSW::soft_body_get_bounds(RID p_body) const { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND_V(!soft_body, AABB()); + + return soft_body->get_bounds(); +} + +void PhysicsServer3DSW::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_vertex_position(p_point_index, p_global_position); +} + +Vector3 PhysicsServer3DSW::soft_body_get_point_global_position(RID p_body, int p_point_index) const { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND_V(!soft_body, Vector3()); + + return soft_body->get_vertex_position(p_point_index); +} + +void PhysicsServer3DSW::soft_body_remove_all_pinned_points(RID p_body) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->unpin_all_vertices(); +} + +void PhysicsServer3DSW::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND(!soft_body); + + if (p_pin) { + soft_body->pin_vertex(p_point_index); + } else { + soft_body->unpin_vertex(p_point_index); + } +} + +bool PhysicsServer3DSW::soft_body_is_point_pinned(RID p_body, int p_point_index) const { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_body); + ERR_FAIL_COND_V(!soft_body, false); + + return soft_body->is_vertex_pinned(p_point_index); +} + /* JOINT API */ RID PhysicsServer3DSW::joint_create() { @@ -1278,7 +1547,13 @@ void PhysicsServer3DSW::free(RID p_rid) { body_owner.free(p_rid); memdelete(body); + } else if (soft_body_owner.owns(p_rid)) { + SoftBody3DSW *soft_body = soft_body_owner.getornull(p_rid); + + soft_body->set_space(nullptr); + soft_body_owner.free(p_rid); + memdelete(soft_body); } else if (area_owner.owns(p_rid)) { Area3DSW *area = area_owner.getornull(p_rid); @@ -1444,7 +1719,7 @@ void PhysicsServer3DSW::_update_shapes() { } } -void PhysicsServer3DSW::_shape_col_cbk(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) { +void PhysicsServer3DSW::_shape_col_cbk(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { CollCbkData *cbk = (CollCbkData *)p_userdata; if (cbk->max == 0) { diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h index afda161fa8..f92652bfad 100644 --- a/servers/physics_3d/physics_server_3d_sw.h +++ b/servers/physics_3d/physics_server_3d_sw.h @@ -63,6 +63,7 @@ class PhysicsServer3DSW : public PhysicsServer3D { mutable RID_PtrOwner<Space3DSW, true> space_owner; mutable RID_PtrOwner<Area3DSW, true> area_owner; mutable RID_PtrOwner<Body3DSW, true> body_owner; + mutable RID_PtrOwner<SoftBody3DSW, true> soft_body_owner; mutable RID_PtrOwner<Joint3DSW, true> joint_owner; //void _clear_query(QuerySW *p_query); @@ -79,7 +80,7 @@ public: Vector3 *ptr; }; - static void _shape_col_cbk(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata); + static void _shape_col_cbk(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata); virtual RID plane_shape_create() override; virtual RID ray_shape_create() override; @@ -252,68 +253,58 @@ public: /* SOFT BODY */ - virtual RID soft_body_create() override { return RID(); } + virtual RID soft_body_create() override; - virtual void soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler) override {} + virtual void soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) override; - virtual void soft_body_set_space(RID p_body, RID p_space) override {} - virtual RID soft_body_get_space(RID p_body) const override { return RID(); } + virtual void soft_body_set_space(RID p_body, RID p_space) override; + virtual RID soft_body_get_space(RID p_body) const override; - virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) override {} - virtual uint32_t soft_body_get_collision_layer(RID p_body) const override { return 0; } + virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) override; + virtual uint32_t soft_body_get_collision_layer(RID p_body) const override; - virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) override {} - virtual uint32_t soft_body_get_collision_mask(RID p_body) const override { return 0; } + virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) override; + virtual uint32_t soft_body_get_collision_mask(RID p_body) const override; - virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) override {} - virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) override {} - virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override {} + virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) override; + virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) override; + virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override; - virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override {} - virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const override { return Variant(); } + virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override; + virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const override; - virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) override {} - virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const override { return Vector3(); } + virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) override; - virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) override {} + virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) override; - virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) override {} - virtual int soft_body_get_simulation_precision(RID p_body) const override { return 0; } + virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) override; + virtual int soft_body_get_simulation_precision(RID p_body) const override; - virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) override {} - virtual real_t soft_body_get_total_mass(RID p_body) const override { return 0.; } + virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) override; + virtual real_t soft_body_get_total_mass(RID p_body) const override; - virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) override {} - virtual real_t soft_body_get_linear_stiffness(RID p_body) const override { return 0.; } + virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) override; + virtual real_t soft_body_get_linear_stiffness(RID p_body) const override; - virtual void soft_body_set_angular_stiffness(RID p_body, real_t p_stiffness) override {} - virtual real_t soft_body_get_angular_stiffness(RID p_body) const override { return 0.; } + virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) override; + virtual real_t soft_body_get_pressure_coefficient(RID p_body) const override; - virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) override {} - virtual real_t soft_body_get_volume_stiffness(RID p_body) const override { return 0.; } + virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) override; + virtual real_t soft_body_get_damping_coefficient(RID p_body) const override; - virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) override {} - virtual real_t soft_body_get_pressure_coefficient(RID p_body) const override { return 0.; } + virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) override; + virtual real_t soft_body_get_drag_coefficient(RID p_body) const override; - virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) override {} - virtual real_t soft_body_get_pose_matching_coefficient(RID p_body) const override { return 0.; } + virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) override; - virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) override {} - virtual real_t soft_body_get_damping_coefficient(RID p_body) const override { return 0.; } + virtual AABB soft_body_get_bounds(RID p_body) const override; - virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) override {} - virtual real_t soft_body_get_drag_coefficient(RID p_body) const override { return 0.; } + virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) override; + virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) const override; - virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) override {} - - virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) override {} - virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) const override { return Vector3(); } - - virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const override { return Vector3(); } - - virtual void soft_body_remove_all_pinned_points(RID p_body) override {} - virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) override {} - virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) const override { return false; } + virtual void soft_body_remove_all_pinned_points(RID p_body) override; + virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) override; + virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) const override; /* JOINT API */ diff --git a/servers/physics_3d/physics_server_3d_wrap_mt.h b/servers/physics_3d/physics_server_3d_wrap_mt.h index f60e1332d5..49ae60db92 100644 --- a/servers/physics_3d/physics_server_3d_wrap_mt.h +++ b/servers/physics_3d/physics_server_3d_wrap_mt.h @@ -273,7 +273,7 @@ public: FUNCRID(soft_body) - FUNC2(soft_body_update_rendering_server, RID, class SoftBodyRenderingServerHandler *) + FUNC2(soft_body_update_rendering_server, RID, class RenderingServerHandler *) FUNC2(soft_body_set_space, RID, RID) FUNC1RC(RID, soft_body_get_space, RID) @@ -294,7 +294,6 @@ public: FUNC2RC(Variant, soft_body_get_state, RID, BodyState); FUNC2(soft_body_set_transform, RID, const Transform &); - FUNC2RC(Vector3, soft_body_get_vertex_position, RID, int); FUNC2(soft_body_set_simulation_precision, RID, int); FUNC1RC(int, soft_body_get_simulation_precision, RID); @@ -305,18 +304,9 @@ public: FUNC2(soft_body_set_linear_stiffness, RID, real_t); FUNC1RC(real_t, soft_body_get_linear_stiffness, RID); - FUNC2(soft_body_set_angular_stiffness, RID, real_t); - FUNC1RC(real_t, soft_body_get_angular_stiffness, RID); - - FUNC2(soft_body_set_volume_stiffness, RID, real_t); - FUNC1RC(real_t, soft_body_get_volume_stiffness, RID); - FUNC2(soft_body_set_pressure_coefficient, RID, real_t); FUNC1RC(real_t, soft_body_get_pressure_coefficient, RID); - FUNC2(soft_body_set_pose_matching_coefficient, RID, real_t); - FUNC1RC(real_t, soft_body_get_pose_matching_coefficient, RID); - FUNC2(soft_body_set_damping_coefficient, RID, real_t); FUNC1RC(real_t, soft_body_get_damping_coefficient, RID); @@ -325,9 +315,10 @@ public: FUNC2(soft_body_set_mesh, RID, const REF &); + FUNC1RC(AABB, soft_body_get_bounds, RID); + FUNC3(soft_body_move_point, RID, int, const Vector3 &); FUNC2RC(Vector3, soft_body_get_point_global_position, RID, int); - FUNC2RC(Vector3, soft_body_get_point_offset, RID, int); FUNC1(soft_body_remove_all_pinned_points, RID); FUNC3(soft_body_pin_point, RID, int, bool); diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp index 02d0c66215..bf0946a0e2 100644 --- a/servers/physics_3d/shape_3d_sw.cpp +++ b/servers/physics_3d/shape_3d_sw.cpp @@ -627,7 +627,7 @@ Vector3 CapsuleShape3DSW::get_moment_of_inertia(real_t p_mass) const { return Vector3( (p_mass / 3.0) * (extents.y * extents.y + extents.z * extents.z), (p_mass / 3.0) * (extents.x * extents.x + extents.z * extents.z), - (p_mass / 3.0) * (extents.y * extents.y + extents.y * extents.y)); + (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y)); } void CapsuleShape3DSW::_setup(real_t p_height, real_t p_radius) { @@ -807,7 +807,7 @@ Vector3 CylinderShape3DSW::get_moment_of_inertia(real_t p_mass) const { return Vector3( (p_mass / 3.0) * (extents.y * extents.y + extents.z * extents.z), (p_mass / 3.0) * (extents.x * extents.x + extents.z * extents.z), - (p_mass / 3.0) * (extents.y * extents.y + extents.y * extents.y)); + (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y)); } void CylinderShape3DSW::_setup(real_t p_height, real_t p_radius) { @@ -1064,7 +1064,7 @@ Vector3 ConvexPolygonShape3DSW::get_moment_of_inertia(real_t p_mass) const { return Vector3( (p_mass / 3.0) * (extents.y * extents.y + extents.z * extents.z), (p_mass / 3.0) * (extents.x * extents.x + extents.z * extents.z), - (p_mass / 3.0) * (extents.y * extents.y + extents.y * extents.y)); + (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y)); } void ConvexPolygonShape3DSW::_setup(const Vector<Vector3> &p_vertices) { @@ -1134,7 +1134,7 @@ void FaceShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_ Vector3 n = p_normal; /** TEST FACE AS SUPPORT **/ - if (normal.dot(n) > _FACE_IS_VALID_SUPPORT_THRESHOLD) { + if (Math::abs(normal.dot(n)) > _FACE_IS_VALID_SUPPORT_THRESHOLD) { r_amount = 3; r_type = FEATURE_FACE; for (int i = 0; i < 3; i++) { @@ -1187,7 +1187,11 @@ bool FaceShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_e if (c) { r_normal = Plane(vertex[0], vertex[1], vertex[2]).normal; if (r_normal.dot(p_end - p_begin) > 0) { - r_normal = -r_normal; + if (backface_collision) { + r_normal = -r_normal; + } else { + c = false; + } } } @@ -1285,30 +1289,24 @@ void ConcavePolygonShape3DSW::_cull_segment(int p_idx, _SegmentCullParams *p_par } if (bvh->face_index >= 0) { - Vector3 res; - Vector3 vertices[3] = { - p_params->vertices[p_params->faces[bvh->face_index].indices[0]], - p_params->vertices[p_params->faces[bvh->face_index].indices[1]], - p_params->vertices[p_params->faces[bvh->face_index].indices[2]] - }; + const Face *f = &p_params->faces[bvh->face_index]; + FaceShape3DSW *face = p_params->face; + face->normal = f->normal; + face->vertex[0] = p_params->vertices[f->indices[0]]; + face->vertex[1] = p_params->vertices[f->indices[1]]; + face->vertex[2] = p_params->vertices[f->indices[2]]; - if (Geometry3D::segment_intersects_triangle( - p_params->from, - p_params->to, - vertices[0], - vertices[1], - vertices[2], - &res)) { + Vector3 res; + Vector3 normal; + if (face->intersect_segment(p_params->from, p_params->to, res, normal)) { real_t d = p_params->dir.dot(res) - p_params->dir.dot(p_params->from); - //TODO, seems segmen/triangle intersection is broken :( - if (d > 0 && d < p_params->min_d) { + if ((d > 0) && (d < p_params->min_d)) { p_params->min_d = d; p_params->result = res; - p_params->normal = Plane(vertices[0], vertices[1], vertices[2]).normal; + p_params->normal = normal; p_params->collisions++; } } - } else { if (bvh->left >= 0) { _cull_segment(bvh->left, p_params); @@ -1329,17 +1327,20 @@ bool ConcavePolygonShape3DSW::intersect_segment(const Vector3 &p_begin, const Ve const Vector3 *vr = vertices.ptr(); const BVH *br = bvh.ptr(); + FaceShape3DSW face; + face.backface_collision = backface_collision; + _SegmentCullParams params; params.from = p_begin; params.to = p_end; - params.collisions = 0; params.dir = (p_end - p_begin).normalized(); params.faces = fr; params.vertices = vr; params.bvh = br; - params.min_d = 1e20; + params.face = &face; + // cull _cull_segment(0, ¶ms); @@ -1401,6 +1402,7 @@ void ConcavePolygonShape3DSW::cull(const AABB &p_local_aabb, Callback p_callback const BVH *br = bvh.ptr(); FaceShape3DSW face; // use this to send in the callback + face.backface_collision = backface_collision; _CullParams params; params.aabb = local_aabb; @@ -1422,7 +1424,7 @@ Vector3 ConcavePolygonShape3DSW::get_moment_of_inertia(real_t p_mass) const { return Vector3( (p_mass / 3.0) * (extents.y * extents.y + extents.z * extents.z), (p_mass / 3.0) * (extents.x * extents.x + extents.z * extents.z), - (p_mass / 3.0) * (extents.y * extents.y + extents.y * extents.y)); + (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y)); } struct _VolumeSW_BVH_Element { @@ -1532,7 +1534,7 @@ void ConcavePolygonShape3DSW::_fill_bvh(_VolumeSW_BVH *p_bvh_tree, BVH *p_bvh_ar memdelete(p_bvh_tree); } -void ConcavePolygonShape3DSW::_setup(Vector<Vector3> p_faces) { +void ConcavePolygonShape3DSW::_setup(const Vector<Vector3> &p_faces, bool p_backface_collision) { int src_face_count = p_faces.size(); if (src_face_count == 0) { configure(AABB()); @@ -1587,15 +1589,24 @@ void ConcavePolygonShape3DSW::_setup(Vector<Vector3> p_faces) { int idx = 0; _fill_bvh(bvh_tree, bvh_arrayw2, idx); + backface_collision = p_backface_collision; + configure(_aabb); // this type of shape has no margin } void ConcavePolygonShape3DSW::set_data(const Variant &p_data) { - _setup(p_data); + Dictionary d = p_data; + ERR_FAIL_COND(!d.has("faces")); + + _setup(d["faces"], d["backface_collision"]); } Variant ConcavePolygonShape3DSW::get_data() const { - return get_faces(); + Dictionary d; + d["faces"] = get_faces(); + d["backface_collision"] = backface_collision; + + return d; } ConcavePolygonShape3DSW::ConcavePolygonShape3DSW() { @@ -1651,7 +1662,7 @@ Vector3 HeightMapShape3DSW::get_moment_of_inertia(real_t p_mass) const { return Vector3( (p_mass / 3.0) * (extents.y * extents.y + extents.z * extents.z), (p_mass / 3.0) * (extents.x * extents.x + extents.z * extents.z), - (p_mass / 3.0) * (extents.y * extents.y + extents.y * extents.y)); + (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y)); } void HeightMapShape3DSW::_setup(Vector<real_t> p_heights, int p_width, int p_depth, real_t p_cell_size) { diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h index cafe978abb..988e76c699 100644 --- a/servers/physics_3d/shape_3d_sw.h +++ b/servers/physics_3d/shape_3d_sw.h @@ -334,34 +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; @@ -424,6 +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; } diff --git a/servers/physics_3d/soft_body_3d_sw.cpp b/servers/physics_3d/soft_body_3d_sw.cpp new file mode 100644 index 0000000000..f63a470cbe --- /dev/null +++ b/servers/physics_3d/soft_body_3d_sw.cpp @@ -0,0 +1,1221 @@ +/*************************************************************************/ +/* soft_body_3d_sw.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* 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 */ +/* "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. */ +/*************************************************************************/ + +#include "soft_body_3d_sw.h" +#include "space_3d_sw.h" + +#include "core/math/geometry_3d.h" +#include "core/templates/map.h" + +// Based on Bullet soft body. + +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +///btSoftBody implementation by Nathanael Presson + +SoftBody3DSW::SoftBody3DSW() : + CollisionObject3DSW(TYPE_SOFT_BODY), + active_list(this) { + _set_static(false); +} + +void SoftBody3DSW::_shapes_changed() { +} + +void SoftBody3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) { + switch (p_state) { + case PhysicsServer3D::BODY_STATE_TRANSFORM: { + _set_transform(p_variant); + _set_inv_transform(get_transform().inverse()); + + apply_nodes_transform(get_transform()); + + } break; + case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY: { + // Not supported. + ERR_FAIL_MSG("Linear velocity is not supported for Soft bodies."); + } break; + case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY: { + ERR_FAIL_MSG("Angular velocity is not supported for Soft bodies."); + } break; + case PhysicsServer3D::BODY_STATE_SLEEPING: { + ERR_FAIL_MSG("Sleeping state is not supported for Soft bodies."); + } break; + case PhysicsServer3D::BODY_STATE_CAN_SLEEP: { + ERR_FAIL_MSG("Sleeping state is not supported for Soft bodies."); + } break; + } +} + +Variant SoftBody3DSW::get_state(PhysicsServer3D::BodyState p_state) const { + switch (p_state) { + case PhysicsServer3D::BODY_STATE_TRANSFORM: { + return get_transform(); + } break; + case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY: { + ERR_FAIL_V_MSG(Vector3(), "Linear velocity is not supported for Soft bodies."); + } break; + case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY: { + ERR_FAIL_V_MSG(Vector3(), "Angular velocity is not supported for Soft bodies."); + return Vector3(); + } break; + case PhysicsServer3D::BODY_STATE_SLEEPING: { + ERR_FAIL_V_MSG(false, "Sleeping state is not supported for Soft bodies."); + } break; + case PhysicsServer3D::BODY_STATE_CAN_SLEEP: { + ERR_FAIL_V_MSG(false, "Sleeping state is not supported for Soft bodies."); + } break; + } + + return Variant(); +} + +void SoftBody3DSW::set_space(Space3DSW *p_space) { + if (get_space()) { + get_space()->soft_body_remove_from_active_list(&active_list); + + deinitialize_shape(); + } + + _set_space(p_space); + + if (get_space()) { + get_space()->soft_body_add_to_active_list(&active_list); + + if (bounds != AABB()) { + initialize_shape(true); + } + } +} + +void SoftBody3DSW::set_mesh(const Ref<Mesh> &p_mesh) { + destroy(); + + soft_mesh = p_mesh; + + if (soft_mesh.is_null()) { + return; + } + + Array arrays = soft_mesh->surface_get_arrays(0); + ERR_FAIL_COND(!(soft_mesh->surface_get_format(0) & RS::ARRAY_FORMAT_INDEX)); + + bool success = create_from_trimesh(arrays[RS::ARRAY_INDEX], arrays[RS::ARRAY_VERTEX]); + if (!success) { + destroy(); + soft_mesh = Ref<Mesh>(); + } +} + +void SoftBody3DSW::update_rendering_server(RenderingServerHandler *p_rendering_server_handler) { + if (soft_mesh.is_null()) { + return; + } + + const uint32_t vertex_count = map_visual_to_physics.size(); + for (uint32_t i = 0; i < vertex_count; ++i) { + const uint32_t node_index = map_visual_to_physics[i]; + const Node &node = nodes[node_index]; + const Vector3 &vertex_position = node.x; + const Vector3 &vertex_normal = node.n; + + p_rendering_server_handler->set_vertex(i, &vertex_position); + p_rendering_server_handler->set_normal(i, &vertex_normal); + } + + p_rendering_server_handler->set_aabb(bounds); +} + +void SoftBody3DSW::update_normals() { + uint32_t i, ni; + + for (i = 0, ni = nodes.size(); i < ni; ++i) { + nodes[i].n = Vector3(); + } + + for (i = 0, ni = faces.size(); i < ni; ++i) { + Face &face = faces[i]; + const Vector3 n = vec3_cross(face.n[0]->x - face.n[2]->x, face.n[0]->x - face.n[1]->x); + face.n[0]->n += n; + face.n[1]->n += n; + face.n[2]->n += n; + face.normal = n; + face.normal.normalize(); + } + + for (i = 0, ni = nodes.size(); i < ni; ++i) { + Node &node = nodes[i]; + real_t len = node.n.length(); + if (len > CMP_EPSILON) { + node.n /= len; + } + } +} + +void SoftBody3DSW::update_bounds() { + AABB prev_bounds = bounds; + prev_bounds.grow_by(collision_margin); + + bounds = AABB(); + + const uint32_t nodes_count = nodes.size(); + if (nodes_count == 0) { + deinitialize_shape(); + return; + } + + bool first = true; + bool moved = false; + for (uint32_t node_index = 0; node_index < nodes_count; ++node_index) { + const Node &node = nodes[node_index]; + if (!prev_bounds.has_point(node.x)) { + moved = true; + } + if (first) { + bounds.position = node.x; + first = false; + } else { + bounds.expand_to(node.x); + } + } + + if (get_space()) { + initialize_shape(moved); + } +} + +void SoftBody3DSW::update_constants() { + reset_link_rest_lengths(); + update_link_constants(); + update_area(); +} + +void SoftBody3DSW::update_area() { + int i, ni; + + // Face area. + for (i = 0, ni = faces.size(); i < ni; ++i) { + Face &face = faces[i]; + + const Vector3 &x0 = face.n[0]->x; + const Vector3 &x1 = face.n[1]->x; + const Vector3 &x2 = face.n[2]->x; + + const Vector3 a = x1 - x0; + const Vector3 b = x2 - x0; + const Vector3 cr = vec3_cross(a, b); + face.ra = cr.length(); + } + + // Node area. + LocalVector<int> counts; + counts.resize(nodes.size()); + memset(counts.ptr(), 0, counts.size() * sizeof(int)); + + for (i = 0, ni = nodes.size(); i < ni; ++i) { + nodes[i].area = 0.0; + } + + for (i = 0, ni = faces.size(); i < ni; ++i) { + const Face &face = faces[i]; + for (int j = 0; j < 3; ++j) { + const int index = (int)(face.n[j] - &nodes[0]); + counts[index]++; + face.n[j]->area += Math::abs(face.ra); + } + } + + for (i = 0, ni = nodes.size(); i < ni; ++i) { + if (counts[i] > 0) { + nodes[i].area /= (real_t)counts[i]; + } else { + nodes[i].area = 0.0; + } + } +} + +void SoftBody3DSW::reset_link_rest_lengths() { + for (uint32_t i = 0, ni = links.size(); i < ni; ++i) { + Link &link = links[i]; + link.rl = (link.n[0]->x - link.n[1]->x).length(); + link.c1 = link.rl * link.rl; + } +} + +void SoftBody3DSW::update_link_constants() { + real_t inv_linear_stiffness = 1.0 / linear_stiffness; + for (uint32_t i = 0, ni = links.size(); i < ni; ++i) { + Link &link = links[i]; + link.c0 = (link.n[0]->im + link.n[1]->im) * inv_linear_stiffness; + } +} + +void SoftBody3DSW::apply_nodes_transform(const Transform &p_transform) { + if (soft_mesh.is_null()) { + return; + } + + uint32_t node_count = nodes.size(); + Vector3 leaf_size = Vector3(collision_margin, collision_margin, collision_margin) * 2.0; + for (uint32_t node_index = 0; node_index < node_count; ++node_index) { + Node &node = nodes[node_index]; + + node.x = p_transform.xform(node.x); + node.q = node.x; + node.v = Vector3(); + node.bv = Vector3(); + + AABB node_aabb(node.x, leaf_size); + node_tree.update(node.leaf, node_aabb); + } + + face_tree.clear(); + + update_normals(); + update_bounds(); + update_constants(); +} + +Vector3 SoftBody3DSW::get_vertex_position(int p_index) const { + if (soft_mesh.is_null()) { + return Vector3(); + } + + ERR_FAIL_INDEX_V(p_index, (int)map_visual_to_physics.size(), Vector3()); + uint32_t node_index = map_visual_to_physics[p_index]; + + ERR_FAIL_COND_V(node_index >= nodes.size(), Vector3()); + return nodes[node_index].x; +} + +void SoftBody3DSW::set_vertex_position(int p_index, const Vector3 &p_position) { + if (soft_mesh.is_null()) { + return; + } + + ERR_FAIL_INDEX(p_index, (int)map_visual_to_physics.size()); + uint32_t node_index = map_visual_to_physics[p_index]; + + ERR_FAIL_COND(node_index >= nodes.size()); + Node &node = nodes[node_index]; + node.q = node.x; + node.x = p_position; +} + +void SoftBody3DSW::pin_vertex(int p_index) { + if (is_vertex_pinned(p_index)) { + return; + } + + pinned_vertices.push_back(p_index); + + if (!soft_mesh.is_null()) { + ERR_FAIL_INDEX(p_index, (int)map_visual_to_physics.size()); + uint32_t node_index = map_visual_to_physics[p_index]; + + ERR_FAIL_COND(node_index >= nodes.size()); + Node &node = nodes[node_index]; + node.im = 0.0; + } +} + +void SoftBody3DSW::unpin_vertex(int p_index) { + uint32_t pinned_count = pinned_vertices.size(); + for (uint32_t i = 0; i < pinned_count; ++i) { + if (p_index == pinned_vertices[i]) { + pinned_vertices.remove(i); + + if (!soft_mesh.is_null()) { + ERR_FAIL_INDEX(p_index, (int)map_visual_to_physics.size()); + uint32_t node_index = map_visual_to_physics[p_index]; + + ERR_FAIL_COND(node_index >= nodes.size()); + real_t inv_node_mass = nodes.size() * inv_total_mass; + + Node &node = nodes[node_index]; + node.im = inv_node_mass; + } + + return; + } + } +} + +void SoftBody3DSW::unpin_all_vertices() { + if (!soft_mesh.is_null()) { + real_t inv_node_mass = nodes.size() * inv_total_mass; + uint32_t pinned_count = pinned_vertices.size(); + for (uint32_t i = 0; i < pinned_count; ++i) { + uint32_t vertex_index = pinned_vertices[i]; + + ERR_CONTINUE(vertex_index >= map_visual_to_physics.size()); + uint32_t node_index = map_visual_to_physics[vertex_index]; + + ERR_CONTINUE(node_index >= nodes.size()); + Node &node = nodes[node_index]; + node.im = inv_node_mass; + } + } + + pinned_vertices.clear(); +} + +bool SoftBody3DSW::is_vertex_pinned(int p_index) const { + uint32_t pinned_count = pinned_vertices.size(); + for (uint32_t i = 0; i < pinned_count; ++i) { + if (p_index == pinned_vertices[i]) { + return true; + } + } + + return false; +} + +uint32_t SoftBody3DSW::get_node_count() const { + return nodes.size(); +} + +real_t SoftBody3DSW::get_node_inv_mass(uint32_t p_node_index) const { + ERR_FAIL_COND_V(p_node_index >= nodes.size(), 0.0); + return nodes[p_node_index].im; +} + +Vector3 SoftBody3DSW::get_node_position(uint32_t p_node_index) const { + ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3()); + return nodes[p_node_index].x; +} + +Vector3 SoftBody3DSW::get_node_velocity(uint32_t p_node_index) const { + ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3()); + return nodes[p_node_index].v; +} + +Vector3 SoftBody3DSW::get_node_biased_velocity(uint32_t p_node_index) const { + ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3()); + return nodes[p_node_index].bv; +} + +void SoftBody3DSW::apply_node_impulse(uint32_t p_node_index, const Vector3 &p_impulse) { + ERR_FAIL_COND(p_node_index >= nodes.size()); + Node &node = nodes[p_node_index]; + node.v += p_impulse * node.im; +} + +void SoftBody3DSW::apply_node_bias_impulse(uint32_t p_node_index, const Vector3 &p_impulse) { + ERR_FAIL_COND(p_node_index >= nodes.size()); + Node &node = nodes[p_node_index]; + node.bv += p_impulse * node.im; +} + +uint32_t SoftBody3DSW::get_face_count() const { + return faces.size(); +} + +void SoftBody3DSW::get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Vector3 &r_point_2, Vector3 &r_point_3) const { + ERR_FAIL_COND(p_face_index >= faces.size()); + const Face &face = faces[p_face_index]; + r_point_1 = face.n[0]->x; + r_point_2 = face.n[1]->x; + r_point_3 = face.n[2]->x; +} + +Vector3 SoftBody3DSW::get_face_normal(uint32_t p_face_index) const { + ERR_FAIL_COND_V(p_face_index >= faces.size(), Vector3()); + return faces[p_face_index].normal; +} + +bool SoftBody3DSW::create_from_trimesh(const Vector<int> &p_indices, const Vector<Vector3> &p_vertices) { + uint32_t node_count = 0; + LocalVector<Vector3> vertices; + const int visual_vertex_count(p_vertices.size()); + + LocalVector<int> triangles; + const uint32_t triangle_count(p_indices.size() / 3); + triangles.resize(triangle_count * 3); + + // Merge all overlapping vertices and create a map of physical vertices to visual vertices. + { + // Process vertices. + { + uint32_t vertex_count = 0; + Map<Vector3, uint32_t> unique_vertices; + + vertices.resize(visual_vertex_count); + map_visual_to_physics.resize(visual_vertex_count); + + for (int visual_vertex_index = 0; visual_vertex_index < visual_vertex_count; ++visual_vertex_index) { + const Vector3 &vertex = p_vertices[visual_vertex_index]; + + Map<Vector3, uint32_t>::Element *e = unique_vertices.find(vertex); + uint32_t vertex_id; + if (e) { + // Already existing. + vertex_id = e->value(); + } else { + // Create new one. + vertex_id = vertex_count++; + unique_vertices[vertex] = vertex_id; + vertices[vertex_id] = vertex; + } + + map_visual_to_physics[visual_vertex_index] = vertex_id; + } + + vertices.resize(vertex_count); + } + + // Process triangles. + { + for (uint32_t triangle_index = 0; triangle_index < triangle_count; ++triangle_index) { + for (int i = 0; i < 3; ++i) { + int visual_index = 3 * triangle_index + i; + int physics_index = map_visual_to_physics[p_indices[visual_index]]; + triangles[visual_index] = physics_index; + node_count = MAX((int)node_count, physics_index); + } + } + } + } + + ++node_count; + + // Create nodes from vertices. + nodes.resize(node_count); + real_t inv_node_mass = node_count * inv_total_mass; + Vector3 leaf_size = Vector3(collision_margin, collision_margin, collision_margin) * 2.0; + for (uint32_t i = 0; i < node_count; ++i) { + Node &node = nodes[i]; + node.s = vertices[i]; + node.x = node.s; + node.q = node.s; + node.im = inv_node_mass; + + AABB node_aabb(node.x, leaf_size); + node.leaf = node_tree.insert(node_aabb, &node); + + node.index = i; + } + + // Create links and faces from triangles. + LocalVector<bool> chks; + chks.resize(node_count * node_count); + memset(chks.ptr(), 0, chks.size() * sizeof(bool)); + + for (uint32_t i = 0; i < triangle_count * 3; i += 3) { + const int idx[] = { triangles[i], triangles[i + 1], triangles[i + 2] }; + + for (int j = 2, k = 0; k < 3; j = k++) { + int chk = idx[k] * node_count + idx[j]; + if (!chks[chk]) { + chks[chk] = true; + int inv_chk = idx[j] * node_count + idx[k]; + chks[inv_chk] = true; + + append_link(idx[j], idx[k]); + } + } + + append_face(idx[0], idx[1], idx[2]); + } + + // Set pinned nodes. + uint32_t pinned_count = pinned_vertices.size(); + for (uint32_t i = 0; i < pinned_count; ++i) { + int pinned_vertex = pinned_vertices[i]; + + ERR_CONTINUE(pinned_vertex >= visual_vertex_count); + uint32_t node_index = map_visual_to_physics[pinned_vertex]; + + ERR_CONTINUE(node_index >= node_count); + Node &node = nodes[node_index]; + node.im = 0.0; + } + + generate_bending_constraints(2); + reoptimize_link_order(); + + update_constants(); + update_normals(); + update_bounds(); + + return true; +} + +void SoftBody3DSW::generate_bending_constraints(int p_distance) { + uint32_t i, j; + + if (p_distance > 1) { + // Build graph. + const uint32_t n = nodes.size(); + const unsigned inf = (~(unsigned)0) >> 1; + const uint32_t adj_size = n * n; + unsigned *adj = memnew_arr(unsigned, adj_size); + +#define IDX(_x_, _y_) ((_y_)*n + (_x_)) + for (j = 0; j < n; ++j) { + for (i = 0; i < n; ++i) { + int idx_ij = j * n + i; + int idx_ji = i * n + j; + if (i != j) { + adj[idx_ij] = adj[idx_ji] = inf; + } else { + adj[idx_ij] = adj[idx_ji] = 0; + } + } + } + for (i = 0; i < links.size(); ++i) { + const int ia = (int)(links[i].n[0] - &nodes[0]); + const int ib = (int)(links[i].n[1] - &nodes[0]); + int idx = ib * n + ia; + int idx_inv = ia * n + ib; + adj[idx] = 1; + adj[idx_inv] = 1; + } + + // Special optimized case for distance == 2. + if (p_distance == 2) { + LocalVector<LocalVector<int>> node_links; + + // Build node links. + node_links.resize(nodes.size()); + + for (i = 0; i < links.size(); ++i) { + const int ia = (int)(links[i].n[0] - &nodes[0]); + const int ib = (int)(links[i].n[1] - &nodes[0]); + if (node_links[ia].find(ib) == -1) { + node_links[ia].push_back(ib); + } + + if (node_links[ib].find(ia) == -1) { + node_links[ib].push_back(ia); + } + } + for (uint32_t ii = 0; ii < node_links.size(); ii++) { + for (uint32_t jj = 0; jj < node_links[ii].size(); jj++) { + int k = node_links[ii][jj]; + for (uint32_t kk = 0; kk < node_links[k].size(); kk++) { + int l = node_links[k][kk]; + if ((int)ii != l) { + int idx_ik = k * n + ii; + int idx_kj = l * n + k; + const unsigned sum = adj[idx_ik] + adj[idx_kj]; + ERR_FAIL_COND(sum != 2); + int idx_ij = l * n + ii; + if (adj[idx_ij] > sum) { + int idx_ji = l * n + ii; + adj[idx_ij] = adj[idx_ji] = sum; + } + } + } + } + } + } else { + // Generic Floyd's algorithm. + for (uint32_t k = 0; k < n; ++k) { + for (j = 0; j < n; ++j) { + for (i = j + 1; i < n; ++i) { + int idx_ik = k * n + i; + int idx_kj = j * n + k; + const unsigned sum = adj[idx_ik] + adj[idx_kj]; + int idx_ij = j * n + i; + if (adj[idx_ij] > sum) { + int idx_ji = j * n + i; + adj[idx_ij] = adj[idx_ji] = sum; + } + } + } + } + } + + // Build links. + for (j = 0; j < n; ++j) { + for (i = j + 1; i < n; ++i) { + int idx_ij = j * n + i; + if (adj[idx_ij] == (unsigned)p_distance) { + append_link(i, j); + } + } + } + memdelete_arr(adj); + } +} + +//=================================================================== +// +// +// This function takes in a list of interdependent Links and tries +// to maximize the distance between calculation +// of dependent links. This increases the amount of parallelism that can +// be exploited by out-of-order instruction processors with large but +// (inevitably) finite instruction windows. +// +//=================================================================== + +// A small structure to track lists of dependent link calculations. +class LinkDeps { +public: + int value; // A link calculation that is dependent on this one + // Positive values = "input A" while negative values = "input B" + LinkDeps *next; // Next dependence in the list +}; +typedef LinkDeps *LinkDepsPtr; + +void SoftBody3DSW::reoptimize_link_order() { + const int reop_not_dependent = -1; + const int reop_node_complete = -2; + + uint32_t i, link_count = links.size(), node_count = nodes.size(); + Link *lr; + int ar, br; + Node *node0 = &(nodes[0]); + Node *node1 = &(nodes[1]); + LinkDepsPtr link_dep; + int ready_list_head, ready_list_tail, link_num, link_dep_frees, dep_link; + + // Allocate temporary buffers. + int *node_written_at = memnew_arr(int, node_count + 1); // What link calculation produced this node's current values? + int *link_dep_A = memnew_arr(int, link_count); // Link calculation input is dependent upon prior calculation #N + int *link_dep_B = memnew_arr(int, link_count); + int *ready_list = memnew_arr(int, link_count); // List of ready-to-process link calculations (# of links, maximum) + LinkDeps *link_dep_free_list = memnew_arr(LinkDeps, 2 * link_count); // Dependent-on-me list elements (2x# of links, maximum) + LinkDepsPtr *link_dep_list_starts = memnew_arr(LinkDepsPtr, link_count); // Start nodes of dependent-on-me lists, one for each link + + // Copy the original, unsorted links to a side buffer. + Link *link_buffer = memnew_arr(Link, link_count); + memcpy(link_buffer, &(links[0]), sizeof(Link) * link_count); + + // Clear out the node setup and ready list. + for (i = 0; i < node_count + 1; i++) { + node_written_at[i] = reop_not_dependent; + } + for (i = 0; i < link_count; i++) { + link_dep_list_starts[i] = nullptr; + } + ready_list_head = ready_list_tail = link_dep_frees = 0; + + // Initial link analysis to set up data structures. + for (i = 0; i < link_count; i++) { + // Note which prior link calculations we are dependent upon & build up dependence lists. + lr = &(links[i]); + ar = (lr->n[0] - node0) / (node1 - node0); + br = (lr->n[1] - node0) / (node1 - node0); + if (node_written_at[ar] > reop_not_dependent) { + link_dep_A[i] = node_written_at[ar]; + link_dep = &link_dep_free_list[link_dep_frees++]; + link_dep->value = i; + link_dep->next = link_dep_list_starts[node_written_at[ar]]; + link_dep_list_starts[node_written_at[ar]] = link_dep; + } else { + link_dep_A[i] = reop_not_dependent; + } + if (node_written_at[br] > reop_not_dependent) { + link_dep_B[i] = node_written_at[br]; + link_dep = &link_dep_free_list[link_dep_frees++]; + link_dep->value = -(int)(i + 1); + link_dep->next = link_dep_list_starts[node_written_at[br]]; + link_dep_list_starts[node_written_at[br]] = link_dep; + } else { + link_dep_B[i] = reop_not_dependent; + } + + // Add this link to the initial ready list, if it is not dependent on any other links. + if ((link_dep_A[i] == reop_not_dependent) && (link_dep_B[i] == reop_not_dependent)) { + ready_list[ready_list_tail++] = i; + link_dep_A[i] = link_dep_B[i] = reop_node_complete; // Probably not needed now. + } + + // Update the nodes to mark which ones are calculated by this link. + node_written_at[ar] = node_written_at[br] = i; + } + + // Process the ready list and create the sorted list of links: + // -- By treating the ready list as a queue, we maximize the distance between any + // inter-dependent node calculations. + // -- All other (non-related) nodes in the ready list will automatically be inserted + // in between each set of inter-dependent link calculations by this loop. + i = 0; + while (ready_list_head != ready_list_tail) { + // Use ready list to select the next link to process. + link_num = ready_list[ready_list_head++]; + // Copy the next-to-calculate link back into the original link array. + links[i++] = link_buffer[link_num]; + + // Free up any link inputs that are dependent on this one. + link_dep = link_dep_list_starts[link_num]; + while (link_dep) { + dep_link = link_dep->value; + if (dep_link >= 0) { + link_dep_A[dep_link] = reop_not_dependent; + } else { + dep_link = -dep_link - 1; + link_dep_B[dep_link] = reop_not_dependent; + } + // Add this dependent link calculation to the ready list if *both* inputs are clear. + if ((link_dep_A[dep_link] == reop_not_dependent) && (link_dep_B[dep_link] == reop_not_dependent)) { + ready_list[ready_list_tail++] = dep_link; + link_dep_A[dep_link] = link_dep_B[dep_link] = reop_node_complete; // Probably not needed now. + } + link_dep = link_dep->next; + } + } + + // Delete the temporary buffers. + memdelete_arr(node_written_at); + memdelete_arr(link_dep_A); + memdelete_arr(link_dep_B); + memdelete_arr(ready_list); + memdelete_arr(link_dep_free_list); + memdelete_arr(link_dep_list_starts); + memdelete_arr(link_buffer); +} + +void SoftBody3DSW::append_link(uint32_t p_node1, uint32_t p_node2) { + if (p_node1 == p_node2) { + return; + } + + Node *node1 = &nodes[p_node1]; + Node *node2 = &nodes[p_node2]; + + Link link; + link.n[0] = node1; + link.n[1] = node2; + link.rl = (node1->x - node2->x).length(); + + links.push_back(link); +} + +void SoftBody3DSW::append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_node3) { + if (p_node1 == p_node2) { + return; + } + if (p_node1 == p_node3) { + return; + } + if (p_node2 == p_node3) { + return; + } + + Node *node1 = &nodes[p_node1]; + Node *node2 = &nodes[p_node2]; + Node *node3 = &nodes[p_node3]; + + Face face; + face.n[0] = node1; + face.n[1] = node2; + face.n[2] = node3; + + face.index = faces.size(); + + faces.push_back(face); +} + +void SoftBody3DSW::set_iteration_count(int p_val) { + iteration_count = p_val; +} + +void SoftBody3DSW::set_total_mass(real_t p_val) { + ERR_FAIL_COND(p_val < 0.0); + + inv_total_mass = 1.0 / p_val; + real_t mass_factor = total_mass * inv_total_mass; + total_mass = p_val; + + uint32_t node_count = nodes.size(); + for (uint32_t node_index = 0; node_index < node_count; ++node_index) { + Node &node = nodes[node_index]; + node.im *= mass_factor; + } + + update_constants(); +} + +void SoftBody3DSW::set_collision_margin(real_t p_val) { + collision_margin = p_val; +} + +void SoftBody3DSW::set_linear_stiffness(real_t p_val) { + linear_stiffness = p_val; +} + +void SoftBody3DSW::set_pressure_coefficient(real_t p_val) { + pressure_coefficient = p_val; +} + +void SoftBody3DSW::set_damping_coefficient(real_t p_val) { + damping_coefficient = p_val; +} + +void SoftBody3DSW::set_drag_coefficient(real_t p_val) { + drag_coefficient = p_val; +} + +void SoftBody3DSW::add_velocity(const Vector3 &p_velocity) { + for (uint32_t i = 0, ni = nodes.size(); i < ni; ++i) { + Node &node = nodes[i]; + if (node.im > 0) { + node.v += p_velocity; + } + } +} + +void SoftBody3DSW::apply_forces() { + if (pressure_coefficient < CMP_EPSILON) { + return; + } + + if (nodes.is_empty()) { + return; + } + + uint32_t i, ni; + + // Calculate volume. + real_t volume = 0.0; + const Vector3 &org = nodes[0].x; + for (i = 0, ni = faces.size(); i < ni; ++i) { + const Face &face = faces[i]; + volume += vec3_dot(face.n[0]->x - org, vec3_cross(face.n[1]->x - org, face.n[2]->x - org)); + } + volume /= 6.0; + + // Apply per node forces. + real_t ivolumetp = 1.0 / Math::abs(volume) * pressure_coefficient; + for (i = 0, ni = nodes.size(); i < ni; ++i) { + Node &node = nodes[i]; + if (node.im > 0) { + node.f += node.n * (node.area * ivolumetp); + } + } +} + +void SoftBody3DSW::predict_motion(real_t p_delta) { + const real_t inv_delta = 1.0 / p_delta; + + ERR_FAIL_COND(!get_space()); + + Area3DSW *def_area = get_space()->get_default_area(); + ERR_FAIL_COND(!def_area); + + // Apply forces. + Vector3 gravity = def_area->get_gravity_vector() * def_area->get_gravity(); + add_velocity(gravity * p_delta); + apply_forces(); + + // Avoid soft body from 'exploding' so use some upper threshold of maximum motion + // that a node can travel per frame. + const real_t max_displacement = 1000.0; + real_t clamp_delta_v = max_displacement * inv_delta; + + // Integrate. + uint32_t i, ni; + for (i = 0, ni = nodes.size(); i < ni; ++i) { + Node &node = nodes[i]; + node.q = node.x; + Vector3 delta_v = node.f * node.im * p_delta; + for (int c = 0; c < 3; c++) { + delta_v[c] = CLAMP(delta_v[c], -clamp_delta_v, clamp_delta_v); + } + node.v += delta_v; + node.x += node.v * p_delta; + node.f = Vector3(); + } + + // Bounds and tree update. + update_bounds(); + + // Node tree update. + for (i = 0, ni = nodes.size(); i < ni; ++i) { + const Node &node = nodes[i]; + + AABB node_aabb(node.x, Vector3()); + node_aabb.expand_to(node.x + node.v * p_delta); + node_aabb.grow_by(collision_margin); + + node_tree.update(node.leaf, node_aabb); + } + + // Face tree update. + if (!face_tree.is_empty()) { + update_face_tree(p_delta); + } + + // Optimize node tree. + node_tree.optimize_incremental(1); + face_tree.optimize_incremental(1); +} + +void SoftBody3DSW::solve_constraints(real_t p_delta) { + const real_t inv_delta = 1.0 / p_delta; + + uint32_t i, ni; + + for (i = 0, ni = links.size(); i < ni; ++i) { + Link &link = links[i]; + link.c3 = link.n[1]->q - link.n[0]->q; + link.c2 = 1 / (link.c3.length_squared() * link.c0); + } + + // Solve velocities. + for (i = 0, ni = nodes.size(); i < ni; ++i) { + Node &node = nodes[i]; + node.x = node.q + node.v * p_delta; + } + + // Solve positions. + for (int isolve = 0; isolve < iteration_count; ++isolve) { + const real_t ti = isolve / (real_t)iteration_count; + solve_links(1.0, ti); + } + const real_t vc = (1.0 - damping_coefficient) * inv_delta; + for (i = 0, ni = nodes.size(); i < ni; ++i) { + Node &node = nodes[i]; + + node.x += node.bv * p_delta; + node.bv = Vector3(); + + node.v = (node.x - node.q) * vc; + + node.q = node.x; + } + + update_normals(); +} + +void SoftBody3DSW::solve_links(real_t kst, real_t ti) { + for (uint32_t i = 0, ni = links.size(); i < ni; ++i) { + Link &link = links[i]; + if (link.c0 > 0) { + Node &node_a = *link.n[0]; + Node &node_b = *link.n[1]; + const Vector3 del = node_b.x - node_a.x; + const real_t len = del.length_squared(); + if (link.c1 + len > CMP_EPSILON) { + const real_t k = ((link.c1 - len) / (link.c0 * (link.c1 + len))) * kst; + node_a.x -= del * (k * node_a.im); + node_b.x += del * (k * node_b.im); + } + } + } +} + +struct AABBQueryResult { + const SoftBody3DSW *soft_body = nullptr; + void *userdata = nullptr; + SoftBody3DSW::QueryResultCallback result_callback = nullptr; + + _FORCE_INLINE_ bool operator()(void *p_data) { + return result_callback(soft_body->get_node_index(p_data), userdata); + }; +}; + +void SoftBody3DSW::query_aabb(const AABB &p_aabb, SoftBody3DSW::QueryResultCallback p_result_callback, void *p_userdata) { + AABBQueryResult query_result; + query_result.soft_body = this; + query_result.result_callback = p_result_callback; + query_result.userdata = p_userdata; + + node_tree.aabb_query(p_aabb, query_result); +} + +struct RayQueryResult { + const SoftBody3DSW *soft_body = nullptr; + void *userdata = nullptr; + SoftBody3DSW::QueryResultCallback result_callback = nullptr; + + _FORCE_INLINE_ bool operator()(void *p_data) { + return result_callback(soft_body->get_face_index(p_data), userdata); + }; +}; + +void SoftBody3DSW::query_ray(const Vector3 &p_from, const Vector3 &p_to, SoftBody3DSW::QueryResultCallback p_result_callback, void *p_userdata) { + if (face_tree.is_empty()) { + initialize_face_tree(); + } + + RayQueryResult query_result; + query_result.soft_body = this; + query_result.result_callback = p_result_callback; + query_result.userdata = p_userdata; + + face_tree.ray_query(p_from, p_to, query_result); +} + +void SoftBody3DSW::initialize_face_tree() { + face_tree.clear(); + for (uint32_t i = 0; i < faces.size(); ++i) { + Face &face = faces[i]; + + AABB face_aabb; + + face_aabb.position = face.n[0]->x; + face_aabb.expand_to(face.n[1]->x); + face_aabb.expand_to(face.n[2]->x); + + face_aabb.grow_by(collision_margin); + + face.leaf = face_tree.insert(face_aabb, &face); + } +} + +void SoftBody3DSW::update_face_tree(real_t p_delta) { + for (uint32_t i = 0; i < faces.size(); ++i) { + const Face &face = faces[i]; + + AABB face_aabb; + + const Node *node0 = face.n[0]; + face_aabb.position = node0->x; + face_aabb.expand_to(node0->x + node0->v * p_delta); + + const Node *node1 = face.n[1]; + face_aabb.expand_to(node1->x); + face_aabb.expand_to(node1->x + node1->v * p_delta); + + const Node *node2 = face.n[2]; + face_aabb.expand_to(node2->x); + face_aabb.expand_to(node2->x + node2->v * p_delta); + + face_aabb.grow_by(collision_margin); + + face_tree.update(face.leaf, face_aabb); + } +} + +void SoftBody3DSW::initialize_shape(bool p_force_move) { + if (get_shape_count() == 0) { + SoftBodyShape3DSW *soft_body_shape = memnew(SoftBodyShape3DSW(this)); + add_shape(soft_body_shape); + } else if (p_force_move) { + SoftBodyShape3DSW *soft_body_shape = static_cast<SoftBodyShape3DSW *>(get_shape(0)); + soft_body_shape->update_bounds(); + } +} + +void SoftBody3DSW::deinitialize_shape() { + if (get_shape_count() > 0) { + Shape3DSW *shape = get_shape(0); + remove_shape(shape); + memdelete(shape); + } +} + +void SoftBody3DSW::destroy() { + map_visual_to_physics.clear(); + + node_tree.clear(); + face_tree.clear(); + + nodes.clear(); + links.clear(); + faces.clear(); + + bounds = AABB(); + deinitialize_shape(); +} + +void SoftBodyShape3DSW::update_bounds() { + ERR_FAIL_COND(!soft_body); + + AABB collision_aabb = soft_body->get_bounds(); + collision_aabb.grow_by(soft_body->get_collision_margin()); + configure(collision_aabb); +} + +SoftBodyShape3DSW::SoftBodyShape3DSW(SoftBody3DSW *p_soft_body) { + soft_body = p_soft_body; + update_bounds(); +} + +struct _SoftBodyIntersectSegmentInfo { + const SoftBody3DSW *soft_body = nullptr; + Vector3 from; + Vector3 dir; + Vector3 hit_position; + uint32_t hit_face_index = -1; + real_t hit_dist_sq = Math_INF; + + static bool process_hit(uint32_t p_face_index, void *p_userdata) { + _SoftBodyIntersectSegmentInfo &query_info = *(_SoftBodyIntersectSegmentInfo *)(p_userdata); + + Vector3 points[3]; + query_info.soft_body->get_face_points(p_face_index, points[0], points[1], points[2]); + + Vector3 result; + if (Geometry3D::ray_intersects_triangle(query_info.from, query_info.dir, points[0], points[1], points[2], &result)) { + real_t dist_sq = query_info.from.distance_squared_to(result); + if (dist_sq < query_info.hit_dist_sq) { + query_info.hit_dist_sq = dist_sq; + query_info.hit_position = result; + query_info.hit_face_index = p_face_index; + } + } + + // Continue with the query. + return false; + } +}; + +bool SoftBodyShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { + _SoftBodyIntersectSegmentInfo query_info; + query_info.soft_body = soft_body; + query_info.from = p_begin; + query_info.dir = (p_end - p_begin).normalized(); + + soft_body->query_ray(p_begin, p_end, _SoftBodyIntersectSegmentInfo::process_hit, &query_info); + + if (query_info.hit_dist_sq != Math_INF) { + r_result = query_info.hit_position; + r_normal = soft_body->get_face_normal(query_info.hit_face_index); + return true; + } + + return false; +} + +bool SoftBodyShape3DSW::intersect_point(const Vector3 &p_point) const { + return false; +} + +Vector3 SoftBodyShape3DSW::get_closest_point_to(const Vector3 &p_point) const { + ERR_FAIL_V_MSG(Vector3(), "Get closest point is not supported for soft bodies."); +} diff --git a/servers/physics_3d/soft_body_3d_sw.h b/servers/physics_3d/soft_body_3d_sw.h new file mode 100644 index 0000000000..6c0451ff45 --- /dev/null +++ b/servers/physics_3d/soft_body_3d_sw.h @@ -0,0 +1,247 @@ +/*************************************************************************/ +/* soft_body_3d_sw.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* 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 */ +/* "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 SOFT_BODY_3D_SW_H +#define SOFT_BODY_3D_SW_H + +#include "collision_object_3d_sw.h" + +#include "core/math/aabb.h" +#include "core/math/dynamic_bvh.h" +#include "core/math/vector3.h" +#include "core/templates/local_vector.h" +#include "core/templates/set.h" +#include "core/templates/vset.h" +#include "scene/resources/mesh.h" + +class Constraint3DSW; + +class SoftBody3DSW : public CollisionObject3DSW { + Ref<Mesh> soft_mesh; + + struct Node { + Vector3 s; // Source position + Vector3 x; // Position + Vector3 q; // Previous step position/Test position + Vector3 f; // Force accumulator + Vector3 v; // Velocity + Vector3 bv; // Biased Velocity + Vector3 n; // Normal + real_t area = 0.0; // Area + real_t im = 0.0; // 1/mass + DynamicBVH::ID leaf; // Leaf data + uint32_t index = 0; + }; + + struct Link { + Vector3 c3; // gradient + Node *n[2] = { nullptr, nullptr }; // Node pointers + real_t rl = 0.0; // Rest length + real_t c0 = 0.0; // (ima+imb)*kLST + real_t c1 = 0.0; // rl^2 + real_t c2 = 0.0; // |gradient|^2/c0 + }; + + struct Face { + Node *n[3] = { nullptr, nullptr, nullptr }; // Node pointers + Vector3 normal; // Normal + real_t ra = 0.0; // Rest area + DynamicBVH::ID leaf; // Leaf data + uint32_t index = 0; + }; + + LocalVector<Node> nodes; + LocalVector<Link> links; + LocalVector<Face> faces; + + DynamicBVH node_tree; + DynamicBVH face_tree; + + LocalVector<uint32_t> map_visual_to_physics; + + AABB bounds; + + real_t collision_margin = 0.05; + + real_t total_mass = 1.0; + real_t inv_total_mass = 1.0; + + int iteration_count = 5; + real_t linear_stiffness = 0.5; // [0,1] + real_t pressure_coefficient = 0.0; // [-inf,+inf] + real_t damping_coefficient = 0.01; // [0,1] + real_t drag_coefficient = 0.0; // [0,1] + LocalVector<int> pinned_vertices; + + SelfList<SoftBody3DSW> active_list; + + Set<Constraint3DSW *> constraints; + + VSet<RID> exceptions; + +public: + SoftBody3DSW(); + + const AABB &get_bounds() const { return bounds; } + + void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant); + Variant get_state(PhysicsServer3D::BodyState p_state) const; + + _FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint) { constraints.insert(p_constraint); } + _FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraints.erase(p_constraint); } + _FORCE_INLINE_ const Set<Constraint3DSW *> &get_constraints() const { return constraints; } + _FORCE_INLINE_ void clear_constraints() { constraints.clear(); } + + _FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); } + _FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); } + _FORCE_INLINE_ bool has_exception(const RID &p_exception) const { return exceptions.has(p_exception); } + _FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; } + + virtual void set_space(Space3DSW *p_space); + + void set_mesh(const Ref<Mesh> &p_mesh); + + void update_rendering_server(RenderingServerHandler *p_rendering_server_handler); + + Vector3 get_vertex_position(int p_index) const; + void set_vertex_position(int p_index, const Vector3 &p_position); + + void pin_vertex(int p_index); + void unpin_vertex(int p_index); + void unpin_all_vertices(); + bool is_vertex_pinned(int p_index) const; + + uint32_t get_node_count() const; + real_t get_node_inv_mass(uint32_t p_node_index) const; + Vector3 get_node_position(uint32_t p_node_index) const; + Vector3 get_node_velocity(uint32_t p_node_index) const; + Vector3 get_node_biased_velocity(uint32_t p_node_index) const; + void apply_node_impulse(uint32_t p_node_index, const Vector3 &p_impulse); + void apply_node_bias_impulse(uint32_t p_node_index, const Vector3 &p_impulse); + + uint32_t get_face_count() const; + void get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Vector3 &r_point_2, Vector3 &r_point_3) const; + Vector3 get_face_normal(uint32_t p_face_index) const; + + void set_iteration_count(int p_val); + _FORCE_INLINE_ real_t get_iteration_count() const { return iteration_count; } + + void set_total_mass(real_t p_val); + _FORCE_INLINE_ real_t get_total_mass() const { return total_mass; } + _FORCE_INLINE_ real_t get_total_inv_mass() const { return inv_total_mass; } + + void set_collision_margin(real_t p_val); + _FORCE_INLINE_ real_t get_collision_margin() const { return collision_margin; } + + void set_linear_stiffness(real_t p_val); + _FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; } + + void set_pressure_coefficient(real_t p_val); + _FORCE_INLINE_ real_t get_pressure_coefficient() const { return pressure_coefficient; } + + void set_damping_coefficient(real_t p_val); + _FORCE_INLINE_ real_t get_damping_coefficient() const { return damping_coefficient; } + + void set_drag_coefficient(real_t p_val); + _FORCE_INLINE_ real_t get_drag_coefficient() const { return drag_coefficient; } + + void predict_motion(real_t p_delta); + void solve_constraints(real_t p_delta); + + _FORCE_INLINE_ uint32_t get_node_index(void *p_node) const { return ((Node *)p_node)->index; } + _FORCE_INLINE_ uint32_t get_face_index(void *p_face) const { return ((Face *)p_face)->index; } + + // Return true to stop the query. + // p_index is the node index for AABB query, face index for Ray query. + typedef bool (*QueryResultCallback)(uint32_t p_index, void *p_userdata); + + void query_aabb(const AABB &p_aabb, QueryResultCallback p_result_callback, void *p_userdata); + void query_ray(const Vector3 &p_from, const Vector3 &p_to, QueryResultCallback p_result_callback, void *p_userdata); + +protected: + virtual void _shapes_changed(); + +private: + void update_normals(); + void update_bounds(); + void update_constants(); + void update_area(); + void reset_link_rest_lengths(); + void update_link_constants(); + + void apply_nodes_transform(const Transform &p_transform); + + void add_velocity(const Vector3 &p_velocity); + + void apply_forces(); + + bool create_from_trimesh(const Vector<int> &p_indices, const Vector<Vector3> &p_vertices); + void generate_bending_constraints(int p_distance); + void reoptimize_link_order(); + void append_link(uint32_t p_node1, uint32_t p_node2); + void append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_node3); + + void solve_links(real_t kst, real_t ti); + + void initialize_face_tree(); + void update_face_tree(real_t p_delta); + + void initialize_shape(bool p_force_move = true); + void deinitialize_shape(); + + void destroy(); +}; + +class SoftBodyShape3DSW : public Shape3DSW { + SoftBody3DSW *soft_body = nullptr; + +public: + SoftBody3DSW *get_soft_body() const { return soft_body; } + + virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_SOFT_BODY; } + virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const { r_min = r_max = 0.0; } + virtual Vector3 get_support(const Vector3 &p_normal) const { return Vector3(); } + 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; + virtual Vector3 get_closest_point_to(const Vector3 &p_point) const; + virtual 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(); } + + void update_bounds(); + + SoftBodyShape3DSW(SoftBody3DSW *p_soft_body); + ~SoftBodyShape3DSW() {} +}; + +#endif // SOFT_BODY_3D_SW_H diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp index c8741dc930..2df824b320 100644 --- a/servers/physics_3d/space_3d_sw.cpp +++ b/servers/physics_3d/space_3d_sw.cpp @@ -47,6 +47,10 @@ _FORCE_INLINE_ static bool _can_collide_with(CollisionObject3DSW *p_object, uint return false; } + if (p_object->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY && !p_collide_with_bodies) { + return false; + } + return true; } @@ -332,7 +336,8 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor best_first = false; if (col_obj->get_type() == CollisionObject3DSW::TYPE_BODY) { const Body3DSW *body = static_cast<const Body3DSW *>(col_obj); - r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B); + Vector3 rel_vec = closest_B - (body->get_transform().origin + body->get_center_of_mass()); + r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); } } } @@ -407,7 +412,7 @@ struct _RestCallbackData { real_t min_allowed_depth; }; -static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) { +static void _rest_cbk_result(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { _RestCallbackData *rd = (_RestCallbackData *)p_userdata; Vector3 contact_rel = p_point_B - p_point_A; @@ -478,8 +483,8 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform &p_shap r_info->rid = rcd.best_object->get_self(); if (rcd.best_object->get_type() == CollisionObject3DSW::TYPE_BODY) { const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_object); - r_info->linear_velocity = body->get_linear_velocity() + - (body->get_angular_velocity()).cross(body->get_transform().origin - rcd.best_contact); // * mPos); + Vector3 rel_vec = rcd.best_contact - (body->get_transform().origin + body->get_center_of_mass()); + r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); } else { r_info->linear_velocity = Vector3(); @@ -544,6 +549,8 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) { keep = false; } else if (intersection_query_results[i]->get_type() == CollisionObject3DSW::TYPE_AREA) { keep = false; + } else if (intersection_query_results[i]->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY) { + keep = false; } else if ((static_cast<Body3DSW *>(intersection_query_results[i])->test_collision_mask(p_body)) == 0) { keep = false; } else if (static_cast<Body3DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) { @@ -684,10 +691,8 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_tra //result.collider_metadata = col_obj->get_shape_metadata(shape_idx); if (col_obj->get_type() == CollisionObject3DSW::TYPE_BODY) { Body3DSW *body = (Body3DSW *)col_obj; - - Vector3 rel_vec = b - body->get_transform().get_origin(); - //result.collider_velocity = Vector3(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity(); - result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - rel_vec); // * mPos); + Vector3 rel_vec = b - (body->get_transform().origin + body->get_center_of_mass()); + result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); } } } @@ -1009,9 +1014,9 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons //r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape); const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_object); - //Vector3 rel_vec = r_result->collision_point - body->get_transform().get_origin(); - // r_result->collider_velocity = Vector3(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity(); - r_result->collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - rcd.best_contact); // * mPos); + + Vector3 rel_vec = rcd.best_contact - (body->get_transform().origin + body->get_center_of_mass()); + r_result->collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); r_result->motion = safe * p_motion; r_result->remainder = p_motion - safe * p_motion; @@ -1054,14 +1059,23 @@ void *Space3DSW::_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, Coll Area3DSW *area_b = static_cast<Area3DSW *>(B); Area2Pair3DSW *area2_pair = memnew(Area2Pair3DSW(area_b, p_subindex_B, area, p_subindex_A)); return area2_pair; + } else if (type_B == CollisionObject3DSW::TYPE_SOFT_BODY) { + // Area/Soft Body, not supported. } else { Body3DSW *body = static_cast<Body3DSW *>(B); AreaPair3DSW *area_pair = memnew(AreaPair3DSW(body, p_subindex_B, area, p_subindex_A)); return area_pair; } + } else if (type_A == CollisionObject3DSW::TYPE_BODY) { + if (type_B == CollisionObject3DSW::TYPE_SOFT_BODY) { + BodySoftBodyPair3DSW *soft_pair = memnew(BodySoftBodyPair3DSW((Body3DSW *)A, p_subindex_A, (SoftBody3DSW *)B)); + return soft_pair; + } else { + BodyPair3DSW *b = memnew(BodyPair3DSW((Body3DSW *)A, p_subindex_A, (Body3DSW *)B, p_subindex_B)); + return b; + } } else { - BodyPair3DSW *b = memnew(BodyPair3DSW((Body3DSW *)A, p_subindex_A, (Body3DSW *)B, p_subindex_B)); - return b; + // Soft Body/Soft Body, not supported. } return nullptr; @@ -1144,6 +1158,18 @@ const SelfList<Area3DSW>::List &Space3DSW::get_moved_area_list() const { return area_moved_list; } +const SelfList<SoftBody3DSW>::List &Space3DSW::get_active_soft_body_list() const { + return active_soft_body_list; +} + +void Space3DSW::soft_body_add_to_active_list(SelfList<SoftBody3DSW> *p_soft_body) { + active_soft_body_list.add(p_soft_body); +} + +void Space3DSW::soft_body_remove_from_active_list(SelfList<SoftBody3DSW> *p_soft_body) { + active_soft_body_list.remove(p_soft_body); +} + void Space3DSW::call_queries() { while (state_query_list.first()) { Body3DSW *b = state_query_list.first()->self(); diff --git a/servers/physics_3d/space_3d_sw.h b/servers/physics_3d/space_3d_sw.h index eed3d86a72..3a8f452e54 100644 --- a/servers/physics_3d/space_3d_sw.h +++ b/servers/physics_3d/space_3d_sw.h @@ -40,6 +40,7 @@ #include "core/config/project_settings.h" #include "core/templates/hash_map.h" #include "core/typedefs.h" +#include "soft_body_3d_sw.h" class PhysicsDirectSpaceState3DSW : public PhysicsDirectSpaceState3D { GDCLASS(PhysicsDirectSpaceState3DSW, PhysicsDirectSpaceState3D); @@ -82,6 +83,7 @@ private: SelfList<Body3DSW>::List state_query_list; SelfList<Area3DSW>::List monitor_query_list; SelfList<Area3DSW>::List area_moved_list; + SelfList<SoftBody3DSW>::List active_soft_body_list; static void *_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_self); static void _broadphase_unpair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_data, void *p_self); @@ -145,6 +147,10 @@ public: void area_remove_from_moved_list(SelfList<Area3DSW> *p_area); const SelfList<Area3DSW>::List &get_moved_area_list() const; + const SelfList<SoftBody3DSW>::List &get_active_soft_body_list() const; + void soft_body_add_to_active_list(SelfList<SoftBody3DSW> *p_soft_body); + void soft_body_remove_from_active_list(SelfList<SoftBody3DSW> *p_soft_body); + BroadPhase3DSW *get_broadphase(); void add_object(CollisionObject3DSW *p_object); diff --git a/servers/physics_3d/step_3d_sw.cpp b/servers/physics_3d/step_3d_sw.cpp index d9370de6a3..9a73e11562 100644 --- a/servers/physics_3d/step_3d_sw.cpp +++ b/servers/physics_3d/step_3d_sw.cpp @@ -146,6 +146,8 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { const SelfList<Body3DSW>::List *body_list = &p_space->get_active_body_list(); + const SelfList<SoftBody3DSW>::List *soft_body_list = &p_space->get_active_soft_body_list(); + /* INTEGRATE FORCES */ uint64_t profile_begtime = OS::get_singleton()->get_ticks_usec(); @@ -160,6 +162,15 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { active_count++; } + /* UPDATE SOFT BODY MOTION */ + + const SelfList<SoftBody3DSW> *sb = soft_body_list->first(); + while (sb) { + sb->self()->predict_motion(p_delta); + sb = sb->next(); + active_count++; + } + p_space->set_active_objects(active_count); { //profile @@ -214,6 +225,20 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { p_space->area_remove_from_moved_list((SelfList<Area3DSW> *)aml.first()); //faster to remove here } + sb = soft_body_list->first(); + while (sb) { + for (const Set<Constraint3DSW *>::Element *E = sb->self()->get_constraints().front(); E; E = E->next()) { + Constraint3DSW *c = E->get(); + if (c->get_island_step() == _step) + continue; + c->set_island_step(_step); + c->set_island_next(NULL); + c->set_island_list_next(constraint_island_list); + constraint_island_list = c; + } + sb = sb->next(); + } + { //profile profile_endtime = OS::get_singleton()->get_ticks_usec(); p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime); @@ -272,6 +297,14 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { } } + /* UPDATE SOFT BODY CONSTRAINTS */ + + sb = soft_body_list->first(); + while (sb) { + sb->self()->solve_constraints(p_delta); + sb = sb->next(); + } + { //profile profile_endtime = OS::get_singleton()->get_ticks_usec(); p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime); diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp index af25029f04..586845de99 100644 --- a/servers/physics_server_3d.cpp +++ b/servers/physics_server_3d.cpp @@ -556,6 +556,10 @@ void PhysicsServer3D::_bind_methods() { ClassDB::bind_method(D_METHOD("body_get_direct_state", "body"), &PhysicsServer3D::body_get_direct_state); + /* SOFT BODY API */ + + ClassDB::bind_method(D_METHOD("soft_body_get_bounds", "body"), &PhysicsServer3D::soft_body_get_bounds); + /* JOINT API */ ClassDB::bind_method(D_METHOD("joint_create"), &PhysicsServer3D::joint_create); @@ -693,6 +697,7 @@ void PhysicsServer3D::_bind_methods() { BIND_ENUM_CONSTANT(SHAPE_CONVEX_POLYGON); BIND_ENUM_CONSTANT(SHAPE_CONCAVE_POLYGON); BIND_ENUM_CONSTANT(SHAPE_HEIGHTMAP); + BIND_ENUM_CONSTANT(SHAPE_SOFT_BODY); BIND_ENUM_CONSTANT(SHAPE_CUSTOM); BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY); diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h index e16857192c..69f5c1c0ad 100644 --- a/servers/physics_server_3d.h +++ b/servers/physics_server_3d.h @@ -216,6 +216,15 @@ public: PhysicsShapeQueryResult3D(); }; +class RenderingServerHandler { +public: + virtual void set_vertex(int p_vertex_id, const void *p_vector3) = 0; + virtual void set_normal(int p_vertex_id, const void *p_vector3) = 0; + virtual void set_aabb(const AABB &p_aabb) = 0; + + virtual ~RenderingServerHandler() {} +}; + class PhysicsServer3D : public Object { GDCLASS(PhysicsServer3D, Object); @@ -237,6 +246,7 @@ public: SHAPE_CONVEX_POLYGON, ///< array of planes:"planes" SHAPE_CONCAVE_POLYGON, ///< vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array) SHAPE_HEIGHTMAP, ///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights" + SHAPE_SOFT_BODY, ///< Used internally, can't be created from the physics server. SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error }; @@ -522,13 +532,15 @@ public: virtual RID soft_body_create() = 0; - virtual void soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler) = 0; + virtual void soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) = 0; virtual void soft_body_set_space(RID p_body, RID p_space) = 0; virtual RID soft_body_get_space(RID p_body) const = 0; virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) = 0; + virtual AABB soft_body_get_bounds(RID p_body) const = 0; + virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) = 0; virtual uint32_t soft_body_get_collision_layer(RID p_body) const = 0; @@ -543,7 +555,6 @@ public: virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const = 0; virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) = 0; - virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const = 0; virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) = 0; @@ -556,18 +567,9 @@ public: virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) = 0; virtual real_t soft_body_get_linear_stiffness(RID p_body) const = 0; - virtual void soft_body_set_angular_stiffness(RID p_body, real_t p_stiffness) = 0; - virtual real_t soft_body_get_angular_stiffness(RID p_body) const = 0; - - virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) = 0; - virtual real_t soft_body_get_volume_stiffness(RID p_body) const = 0; - virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) = 0; virtual real_t soft_body_get_pressure_coefficient(RID p_body) const = 0; - virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) = 0; - virtual real_t soft_body_get_pose_matching_coefficient(RID p_body) const = 0; - virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) = 0; virtual real_t soft_body_get_damping_coefficient(RID p_body) const = 0; @@ -577,8 +579,6 @@ public: virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) = 0; virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) const = 0; - virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const = 0; - virtual void soft_body_remove_all_pinned_points(RID p_body) = 0; virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) = 0; virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) const = 0; diff --git a/servers/rendering/renderer_rd/renderer_compositor_rd.cpp b/servers/rendering/renderer_rd/renderer_compositor_rd.cpp index be2552bd32..d5ac05d1d1 100644 --- a/servers/rendering/renderer_rd/renderer_compositor_rd.cpp +++ b/servers/rendering/renderer_rd/renderer_compositor_rd.cpp @@ -175,5 +175,5 @@ RendererCompositorRD::RendererCompositorRD() { storage = memnew(RendererStorageRD); canvas = memnew(RendererCanvasRenderRD(storage)); - scene = memnew(RendererSceneRenderForward(storage)); + scene = memnew(RendererSceneRenderForwardClustered(storage)); } diff --git a/servers/rendering/renderer_rd/renderer_compositor_rd.h b/servers/rendering/renderer_rd/renderer_compositor_rd.h index cb85fc79e0..67a843452b 100644 --- a/servers/rendering/renderer_rd/renderer_compositor_rd.h +++ b/servers/rendering/renderer_rd/renderer_compositor_rd.h @@ -35,14 +35,14 @@ #include "core/templates/thread_work_pool.h" #include "servers/rendering/renderer_compositor.h" #include "servers/rendering/renderer_rd/renderer_canvas_render_rd.h" -#include "servers/rendering/renderer_rd/renderer_scene_render_forward.h" +#include "servers/rendering/renderer_rd/renderer_scene_render_forward_clustered.h" #include "servers/rendering/renderer_rd/renderer_storage_rd.h" class RendererCompositorRD : public RendererCompositor { protected: RendererCanvasRenderRD *canvas; RendererStorageRD *storage; - RendererSceneRenderForward *scene; + RendererSceneRenderRD *scene; RID copy_viewports_rd_shader; RID copy_viewports_rd_pipeline; diff --git a/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp b/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp index bfb5b729ef..4e4e553605 100644 --- a/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp +++ b/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp @@ -1100,8 +1100,6 @@ void RendererSceneGIRD::SDFGI::update_cascades() { } void RendererSceneGIRD::SDFGI::debug_draw(const CameraMatrix &p_projection, const Transform &p_transform, int p_width, int p_height, RID p_render_target, RID p_texture) { - // !BAS! Need to find a nicer way then adding width/height/renderbuffer/texture as parameters - if (!debug_uniform_set.is_valid() || !RD::get_singleton()->uniform_set_is_valid(debug_uniform_set)) { Vector<RD::Uniform> uniforms; { @@ -2806,9 +2804,11 @@ RendererSceneGIRD::RendererSceneGIRD() { RendererSceneGIRD::~RendererSceneGIRD() { } -void RendererSceneGIRD::init_gi(RendererStorageRD *p_storage) { +void RendererSceneGIRD::init(RendererStorageRD *p_storage, RendererSceneSkyRD *p_sky) { storage = p_storage; + /* GI */ + { //kinda complicated to compute the amount of slots, we try to use as many as we can @@ -2861,9 +2861,9 @@ void RendererSceneGIRD::init_gi(RendererStorageRD *p_storage) { giprobe_debug_shader_version_pipelines[i].setup(giprobe_debug_shader_version_shaders[i], RD::RENDER_PRIMITIVE_TRIANGLES, rs, RD::PipelineMultisampleState(), ds, RD::PipelineColorBlendState::create_disabled(), 0); } } -} -void RendererSceneGIRD::init_sdfgi(RendererSceneSkyRD *p_sky) { + /* SDGFI */ + { Vector<String> preprocess_modes; preprocess_modes.push_back("\n#define MODE_SCROLL\n"); diff --git a/servers/rendering/renderer_rd/renderer_scene_gi_rd.h b/servers/rendering/renderer_rd/renderer_scene_gi_rd.h index 691a2e1841..c0f3318538 100644 --- a/servers/rendering/renderer_rd/renderer_scene_gi_rd.h +++ b/servers/rendering/renderer_rd/renderer_scene_gi_rd.h @@ -53,8 +53,6 @@ class RendererSceneRenderRD; class RendererSceneGIRD { private: - // !BAS! need to see which things become internal.. - RendererStorageRD *storage; /* GIPROBE INSTANCE */ @@ -652,9 +650,7 @@ public: RendererSceneGIRD(); ~RendererSceneGIRD(); - // !BAS! Can we merge these two inits? Possibly, need to check - void init_gi(RendererStorageRD *p_storage); - void init_sdfgi(RendererSceneSkyRD *p_sky); + void init(RendererStorageRD *p_storage, RendererSceneSkyRD *p_sky); void free(); SDFGI *create_sdfgi(RendererSceneEnvironmentRD *p_env, const Vector3 &p_world_position, uint32_t p_requested_history_size); diff --git a/servers/rendering/renderer_rd/renderer_scene_render_forward.cpp b/servers/rendering/renderer_rd/renderer_scene_render_forward_clustered.cpp index 874389f7e9..7a19495f48 100644 --- a/servers/rendering/renderer_rd/renderer_scene_render_forward.cpp +++ b/servers/rendering/renderer_rd/renderer_scene_render_forward_clustered.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* renderer_scene_render_forward.cpp */ +/* renderer_scene_render_forward_clustered.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,13 +28,13 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "renderer_scene_render_forward.h" +#include "renderer_scene_render_forward_clustered.h" #include "core/config/project_settings.h" #include "servers/rendering/rendering_device.h" #include "servers/rendering/rendering_server_default.h" /* SCENE SHADER */ -void RendererSceneRenderForward::ShaderData::set_code(const String &p_code) { +void RendererSceneRenderForwardClustered::ShaderData::set_code(const String &p_code) { //compile code = p_code; @@ -123,7 +123,7 @@ void RendererSceneRenderForward::ShaderData::set_code(const String &p_code) { actions.uniforms = &uniforms; - RendererSceneRenderForward *scene_singleton = (RendererSceneRenderForward *)RendererSceneRenderForward::singleton; + RendererSceneRenderForwardClustered *scene_singleton = (RendererSceneRenderForwardClustered *)RendererSceneRenderForwardClustered::singleton; Error err = scene_singleton->shader.compiler.compile(RS::SHADER_SPATIAL, code, &actions, path, gen_code); @@ -257,7 +257,7 @@ void RendererSceneRenderForward::ShaderData::set_code(const String &p_code) { RD::RenderPrimitive primitive_rd = uses_point_size ? RD::RENDER_PRIMITIVE_POINTS : primitive_rd_table[j]; for (int k = 0; k < SHADER_VERSION_MAX; k++) { - if (!static_cast<RendererSceneRenderForward *>(singleton)->shader.scene_shader.is_variant_enabled(k)) { + if (!static_cast<RendererSceneRenderForwardClustered *>(singleton)->shader.scene_shader.is_variant_enabled(k)) { continue; } RD::PipelineRasterizationState raster_state; @@ -324,7 +324,7 @@ void RendererSceneRenderForward::ShaderData::set_code(const String &p_code) { valid = true; } -void RendererSceneRenderForward::ShaderData::set_default_texture_param(const StringName &p_name, RID p_texture) { +void RendererSceneRenderForwardClustered::ShaderData::set_default_texture_param(const StringName &p_name, RID p_texture) { if (!p_texture.is_valid()) { default_texture_params.erase(p_name); } else { @@ -332,7 +332,7 @@ void RendererSceneRenderForward::ShaderData::set_default_texture_param(const Str } } -void RendererSceneRenderForward::ShaderData::get_param_list(List<PropertyInfo> *p_param_list) const { +void RendererSceneRenderForwardClustered::ShaderData::get_param_list(List<PropertyInfo> *p_param_list) const { Map<int, StringName> order; for (Map<StringName, ShaderLanguage::ShaderNode::Uniform>::Element *E = uniforms.front(); E; E = E->next()) { @@ -354,7 +354,7 @@ void RendererSceneRenderForward::ShaderData::get_param_list(List<PropertyInfo> * } } -void RendererSceneRenderForward::ShaderData::get_instance_param_list(List<RendererStorage::InstanceShaderParam> *p_param_list) const { +void RendererSceneRenderForwardClustered::ShaderData::get_instance_param_list(List<RendererStorage::InstanceShaderParam> *p_param_list) const { for (Map<StringName, ShaderLanguage::ShaderNode::Uniform>::Element *E = uniforms.front(); E; E = E->next()) { if (E->get().scope != ShaderLanguage::ShaderNode::Uniform::SCOPE_INSTANCE) { continue; @@ -369,7 +369,7 @@ void RendererSceneRenderForward::ShaderData::get_instance_param_list(List<Render } } -bool RendererSceneRenderForward::ShaderData::is_param_texture(const StringName &p_param) const { +bool RendererSceneRenderForwardClustered::ShaderData::is_param_texture(const StringName &p_param) const { if (!uniforms.has(p_param)) { return false; } @@ -377,15 +377,15 @@ bool RendererSceneRenderForward::ShaderData::is_param_texture(const StringName & return uniforms[p_param].texture_order >= 0; } -bool RendererSceneRenderForward::ShaderData::is_animated() const { +bool RendererSceneRenderForwardClustered::ShaderData::is_animated() const { return false; } -bool RendererSceneRenderForward::ShaderData::casts_shadows() const { +bool RendererSceneRenderForwardClustered::ShaderData::casts_shadows() const { return false; } -Variant RendererSceneRenderForward::ShaderData::get_default_parameter(const StringName &p_parameter) const { +Variant RendererSceneRenderForwardClustered::ShaderData::get_default_parameter(const StringName &p_parameter) const { if (uniforms.has(p_parameter)) { ShaderLanguage::ShaderNode::Uniform uniform = uniforms[p_parameter]; Vector<ShaderLanguage::ConstantNode::Value> default_value = uniform.default_value; @@ -394,19 +394,19 @@ Variant RendererSceneRenderForward::ShaderData::get_default_parameter(const Stri return Variant(); } -RS::ShaderNativeSourceCode RendererSceneRenderForward::ShaderData::get_native_source_code() const { - RendererSceneRenderForward *scene_singleton = (RendererSceneRenderForward *)RendererSceneRenderForward::singleton; +RS::ShaderNativeSourceCode RendererSceneRenderForwardClustered::ShaderData::get_native_source_code() const { + RendererSceneRenderForwardClustered *scene_singleton = (RendererSceneRenderForwardClustered *)RendererSceneRenderForwardClustered::singleton; return scene_singleton->shader.scene_shader.version_get_native_source_code(version); } -RendererSceneRenderForward::ShaderData::ShaderData() { +RendererSceneRenderForwardClustered::ShaderData::ShaderData() { valid = false; uses_screen_texture = false; } -RendererSceneRenderForward::ShaderData::~ShaderData() { - RendererSceneRenderForward *scene_singleton = (RendererSceneRenderForward *)RendererSceneRenderForward::singleton; +RendererSceneRenderForwardClustered::ShaderData::~ShaderData() { + RendererSceneRenderForwardClustered *scene_singleton = (RendererSceneRenderForwardClustered *)RendererSceneRenderForwardClustered::singleton; ERR_FAIL_COND(!scene_singleton); //pipeline variants will clear themselves if shader is gone if (version.is_valid()) { @@ -414,21 +414,21 @@ RendererSceneRenderForward::ShaderData::~ShaderData() { } } -RendererStorageRD::ShaderData *RendererSceneRenderForward::_create_shader_func() { +RendererStorageRD::ShaderData *RendererSceneRenderForwardClustered::_create_shader_func() { ShaderData *shader_data = memnew(ShaderData); return shader_data; } -void RendererSceneRenderForward::MaterialData::set_render_priority(int p_priority) { +void RendererSceneRenderForwardClustered::MaterialData::set_render_priority(int p_priority) { priority = p_priority - RS::MATERIAL_RENDER_PRIORITY_MIN; //8 bits } -void RendererSceneRenderForward::MaterialData::set_next_pass(RID p_pass) { +void RendererSceneRenderForwardClustered::MaterialData::set_next_pass(RID p_pass) { next_pass = p_pass; } -void RendererSceneRenderForward::MaterialData::update_parameters(const Map<StringName, Variant> &p_parameters, bool p_uniform_dirty, bool p_textures_dirty) { - RendererSceneRenderForward *scene_singleton = (RendererSceneRenderForward *)RendererSceneRenderForward::singleton; +void RendererSceneRenderForwardClustered::MaterialData::update_parameters(const Map<StringName, Variant> &p_parameters, bool p_uniform_dirty, bool p_textures_dirty) { + RendererSceneRenderForwardClustered *scene_singleton = (RendererSceneRenderForwardClustered *)RendererSceneRenderForwardClustered::singleton; if ((uint32_t)ubo_data.size() != shader_data->ubo_size) { p_uniform_dirty = true; @@ -507,7 +507,7 @@ void RendererSceneRenderForward::MaterialData::update_parameters(const Map<Strin uniform_set = RD::get_singleton()->uniform_set_create(uniforms, scene_singleton->shader.scene_shader.version_get_shader(shader_data->version, 0), MATERIAL_UNIFORM_SET); } -RendererSceneRenderForward::MaterialData::~MaterialData() { +RendererSceneRenderForwardClustered::MaterialData::~MaterialData() { if (uniform_set.is_valid() && RD::get_singleton()->uniform_set_is_valid(uniform_set)) { RD::get_singleton()->free(uniform_set); } @@ -517,7 +517,7 @@ RendererSceneRenderForward::MaterialData::~MaterialData() { } } -RendererStorageRD::MaterialData *RendererSceneRenderForward::_create_material_func(ShaderData *p_shader) { +RendererStorageRD::MaterialData *RendererSceneRenderForwardClustered::_create_material_func(ShaderData *p_shader) { MaterialData *material_data = memnew(MaterialData); material_data->shader_data = p_shader; material_data->last_frame = false; @@ -525,11 +525,11 @@ RendererStorageRD::MaterialData *RendererSceneRenderForward::_create_material_fu return material_data; } -RendererSceneRenderForward::RenderBufferDataForward::~RenderBufferDataForward() { +RendererSceneRenderForwardClustered::RenderBufferDataForward::~RenderBufferDataForward() { clear(); } -void RendererSceneRenderForward::RenderBufferDataForward::ensure_specular() { +void RendererSceneRenderForwardClustered::RenderBufferDataForward::ensure_specular() { if (!specular.is_valid()) { RD::TextureFormat tf; tf.format = RD::DATA_FORMAT_R16G16B16A16_SFLOAT; @@ -583,7 +583,7 @@ void RendererSceneRenderForward::RenderBufferDataForward::ensure_specular() { } } -void RendererSceneRenderForward::RenderBufferDataForward::ensure_giprobe() { +void RendererSceneRenderForwardClustered::RenderBufferDataForward::ensure_giprobe() { if (!giprobe_buffer.is_valid()) { RD::TextureFormat tf; tf.format = RD::DATA_FORMAT_R8G8_UINT; @@ -619,7 +619,7 @@ void RendererSceneRenderForward::RenderBufferDataForward::ensure_giprobe() { } } -void RendererSceneRenderForward::RenderBufferDataForward::clear() { +void RendererSceneRenderForwardClustered::RenderBufferDataForward::clear() { if (giprobe_buffer != RID()) { RD::get_singleton()->free(giprobe_buffer); giprobe_buffer = RID(); @@ -673,7 +673,7 @@ void RendererSceneRenderForward::RenderBufferDataForward::clear() { } } -void RendererSceneRenderForward::RenderBufferDataForward::configure(RID p_color_buffer, RID p_depth_buffer, int p_width, int p_height, RS::ViewportMSAA p_msaa) { +void RendererSceneRenderForwardClustered::RenderBufferDataForward::configure(RID p_color_buffer, RID p_depth_buffer, int p_width, int p_height, RS::ViewportMSAA p_msaa) { clear(); msaa = p_msaa; @@ -740,7 +740,7 @@ void RendererSceneRenderForward::RenderBufferDataForward::configure(RID p_color_ } } -void RendererSceneRenderForward::_allocate_normal_roughness_texture(RenderBufferDataForward *rb) { +void RendererSceneRenderForwardClustered::_allocate_normal_roughness_texture(RenderBufferDataForward *rb) { if (rb->normal_roughness_buffer.is_valid()) { return; } @@ -778,11 +778,11 @@ void RendererSceneRenderForward::_allocate_normal_roughness_texture(RenderBuffer _render_buffers_clear_uniform_set(rb); } -RendererSceneRenderRD::RenderBufferData *RendererSceneRenderForward::_create_render_buffer_data() { +RendererSceneRenderRD::RenderBufferData *RendererSceneRenderForwardClustered::_create_render_buffer_data() { return memnew(RenderBufferDataForward); } -bool RendererSceneRenderForward::free(RID p_rid) { +bool RendererSceneRenderForwardClustered::free(RID p_rid) { if (RendererSceneRenderRD::free(p_rid)) { return true; } @@ -791,8 +791,8 @@ bool RendererSceneRenderForward::free(RID p_rid) { /// RENDERING /// -template <RendererSceneRenderForward::PassMode p_pass_mode> -void RendererSceneRenderForward::_render_list_template(RenderingDevice::DrawListID p_draw_list, RenderingDevice::FramebufferFormatID p_framebuffer_Format, RenderListParameters *p_params, uint32_t p_from_element, uint32_t p_to_element) { +template <RendererSceneRenderForwardClustered::PassMode p_pass_mode> +void RendererSceneRenderForwardClustered::_render_list_template(RenderingDevice::DrawListID p_draw_list, RenderingDevice::FramebufferFormatID p_framebuffer_Format, RenderListParameters *p_params, uint32_t p_from_element, uint32_t p_to_element) { RD::DrawListID draw_list = p_draw_list; RD::FramebufferFormatID framebuffer_format = p_framebuffer_Format; @@ -961,7 +961,7 @@ void RendererSceneRenderForward::_render_list_template(RenderingDevice::DrawList } } -void RendererSceneRenderForward::_render_list(RenderingDevice::DrawListID p_draw_list, RenderingDevice::FramebufferFormatID p_framebuffer_Format, RenderListParameters *p_params, uint32_t p_from_element, uint32_t p_to_element) { +void RendererSceneRenderForwardClustered::_render_list(RenderingDevice::DrawListID p_draw_list, RenderingDevice::FramebufferFormatID p_framebuffer_Format, RenderListParameters *p_params, uint32_t p_from_element, uint32_t p_to_element) { //use template for faster performance (pass mode comparisons are inlined) switch (p_params->pass_mode) { @@ -998,7 +998,7 @@ void RendererSceneRenderForward::_render_list(RenderingDevice::DrawListID p_draw } } -void RendererSceneRenderForward::_render_list_thread_function(uint32_t p_thread, RenderListParameters *p_params) { +void RendererSceneRenderForwardClustered::_render_list_thread_function(uint32_t p_thread, RenderListParameters *p_params) { uint32_t render_total = p_params->element_count; uint32_t total_threads = RendererThreadPool::singleton->thread_work_pool.get_thread_count(); uint32_t render_from = p_thread * render_total / total_threads; @@ -1006,7 +1006,7 @@ void RendererSceneRenderForward::_render_list_thread_function(uint32_t p_thread, _render_list(thread_draw_lists[p_thread], p_params->framebuffer_format, p_params, render_from, render_to); } -void RendererSceneRenderForward::_render_list_with_threads(RenderListParameters *p_params, RID p_framebuffer, RD::InitialAction p_initial_color_action, RD::FinalAction p_final_color_action, RD::InitialAction p_initial_depth_action, RD::FinalAction p_final_depth_action, const Vector<Color> &p_clear_color_values, float p_clear_depth, uint32_t p_clear_stencil, const Rect2 &p_region, const Vector<RID> &p_storage_textures) { +void RendererSceneRenderForwardClustered::_render_list_with_threads(RenderListParameters *p_params, RID p_framebuffer, RD::InitialAction p_initial_color_action, RD::FinalAction p_final_color_action, RD::InitialAction p_initial_depth_action, RD::FinalAction p_final_depth_action, const Vector<Color> &p_clear_color_values, float p_clear_depth, uint32_t p_clear_stencil, const Rect2 &p_region, const Vector<RID> &p_storage_textures) { RD::FramebufferFormatID fb_format = RD::get_singleton()->framebuffer_get_format(p_framebuffer); p_params->framebuffer_format = fb_format; @@ -1014,7 +1014,7 @@ void RendererSceneRenderForward::_render_list_with_threads(RenderListParameters //multi threaded thread_draw_lists.resize(RendererThreadPool::singleton->thread_work_pool.get_thread_count()); RD::get_singleton()->draw_list_begin_split(p_framebuffer, thread_draw_lists.size(), thread_draw_lists.ptr(), p_initial_color_action, p_final_color_action, p_initial_depth_action, p_final_depth_action, p_clear_color_values, p_clear_depth, p_clear_stencil, p_region, p_storage_textures); - RendererThreadPool::singleton->thread_work_pool.do_work(thread_draw_lists.size(), this, &RendererSceneRenderForward::_render_list_thread_function, p_params); + RendererThreadPool::singleton->thread_work_pool.do_work(thread_draw_lists.size(), this, &RendererSceneRenderForwardClustered::_render_list_thread_function, p_params); RD::get_singleton()->draw_list_end(p_params->barrier); } else { //single threaded @@ -1024,7 +1024,7 @@ void RendererSceneRenderForward::_render_list_with_threads(RenderListParameters } } -void RendererSceneRenderForward::_setup_environment(RID p_environment, RID p_render_buffers, const CameraMatrix &p_cam_projection, const Transform &p_cam_transform, RID p_reflection_probe, bool p_no_fog, const Size2i &p_screen_size, uint32_t p_cluster_size, uint32_t p_max_cluster_elements, RID p_shadow_atlas, bool p_flip_y, const Color &p_default_bg_color, float p_znear, float p_zfar, bool p_opaque_render_buffers, bool p_pancake_shadows, int p_index) { +void RendererSceneRenderForwardClustered::_setup_environment(RID p_environment, RID p_render_buffers, const CameraMatrix &p_cam_projection, const Transform &p_cam_transform, RID p_reflection_probe, bool p_no_fog, const Size2i &p_screen_size, uint32_t p_cluster_size, uint32_t p_max_cluster_elements, RID p_shadow_atlas, bool p_flip_y, const Color &p_default_bg_color, float p_znear, float p_zfar, bool p_opaque_render_buffers, bool p_pancake_shadows, int p_index) { //CameraMatrix projection = p_cam_projection; //projection.flip_y(); // Vulkan and modern APIs use Y-Down CameraMatrix correction; @@ -1274,7 +1274,7 @@ void RendererSceneRenderForward::_setup_environment(RID p_environment, RID p_ren RD::get_singleton()->buffer_update(scene_state.uniform_buffers[p_index], 0, sizeof(SceneState::UBO), &scene_state.ubo, RD::BARRIER_MASK_RASTER); } -void RendererSceneRenderForward::_update_instance_data_buffer(RenderListType p_render_list) { +void RendererSceneRenderForwardClustered::_update_instance_data_buffer(RenderListType p_render_list) { if (scene_state.instance_data[p_render_list].size() > 0) { if (scene_state.instance_buffer[p_render_list] == RID() || scene_state.instance_buffer_size[p_render_list] < scene_state.instance_data[p_render_list].size()) { if (scene_state.instance_buffer[p_render_list] != RID()) { @@ -1287,7 +1287,7 @@ void RendererSceneRenderForward::_update_instance_data_buffer(RenderListType p_r RD::get_singleton()->buffer_update(scene_state.instance_buffer[p_render_list], 0, sizeof(SceneState::InstanceData) * scene_state.instance_data[p_render_list].size(), scene_state.instance_data[p_render_list].ptr(), RD::BARRIER_MASK_RASTER); } } -void RendererSceneRenderForward::_fill_instance_data(RenderListType p_render_list, uint32_t p_offset, int32_t p_max_elements, bool p_update_buffer) { +void RendererSceneRenderForwardClustered::_fill_instance_data(RenderListType p_render_list, uint32_t p_offset, int32_t p_max_elements, bool p_update_buffer) { RenderList *rl = &render_list[p_render_list]; uint32_t element_total = p_max_elements >= 0 ? uint32_t(p_max_elements) : rl->elements.size(); @@ -1298,7 +1298,7 @@ void RendererSceneRenderForward::_fill_instance_data(RenderListType p_render_lis GeometryInstanceSurfaceDataCache *prev_surface = nullptr; for (uint32_t i = 0; i < element_total; i++) { GeometryInstanceSurfaceDataCache *surface = rl->elements[i + p_offset]; - GeometryInstanceForward *inst = surface->owner; + GeometryInstanceForwardClustered *inst = surface->owner; SceneState::InstanceData &instance_data = scene_state.instance_data[p_render_list][i + p_offset]; @@ -1355,7 +1355,7 @@ void RendererSceneRenderForward::_fill_instance_data(RenderListType p_render_lis } } -void RendererSceneRenderForward::_fill_render_list(RenderListType p_render_list, const PagedArray<GeometryInstance *> &p_instances, PassMode p_pass_mode, const CameraMatrix &p_cam_projection, const Transform &p_cam_transform, bool p_using_sdfgi, bool p_using_opaque_gi, const Plane &p_lod_plane, float p_lod_distance_multiplier, float p_screen_lod_threshold, bool p_append) { +void RendererSceneRenderForwardClustered::_fill_render_list(RenderListType p_render_list, const PagedArray<GeometryInstance *> &p_instances, PassMode p_pass_mode, const CameraMatrix &p_cam_projection, const Transform &p_cam_transform, bool p_using_sdfgi, bool p_using_opaque_gi, const Plane &p_lod_plane, float p_lod_distance_multiplier, float p_screen_lod_threshold, bool p_append) { if (p_render_list == RENDER_LIST_OPAQUE) { scene_state.used_sss = false; scene_state.used_screen_texture = false; @@ -1381,7 +1381,7 @@ void RendererSceneRenderForward::_fill_render_list(RenderListType p_render_list, //fill list for (int i = 0; i < (int)p_instances.size(); i++) { - GeometryInstanceForward *inst = static_cast<GeometryInstanceForward *>(p_instances[i]); + GeometryInstanceForwardClustered *inst = static_cast<GeometryInstanceForwardClustered *>(p_instances[i]); Vector3 support_min = inst->transformed_aabb.get_support(-near_plane.normal); inst->depth = near_plane.distance_to(support_min); @@ -1549,14 +1549,14 @@ void RendererSceneRenderForward::_fill_render_list(RenderListType p_render_list, } } -void RendererSceneRenderForward::_setup_giprobes(const PagedArray<RID> &p_giprobes) { +void RendererSceneRenderForwardClustered::_setup_giprobes(const PagedArray<RID> &p_giprobes) { scene_state.giprobes_used = MIN(p_giprobes.size(), uint32_t(MAX_GI_PROBES)); for (uint32_t i = 0; i < scene_state.giprobes_used; i++) { scene_state.giprobe_ids[i] = p_giprobes[i]; } } -void RendererSceneRenderForward::_setup_lightmaps(const PagedArray<RID> &p_lightmaps, const Transform &p_cam_transform) { +void RendererSceneRenderForwardClustered::_setup_lightmaps(const PagedArray<RID> &p_lightmaps, const Transform &p_cam_transform) { scene_state.lightmaps_used = 0; for (int i = 0; i < (int)p_lightmaps.size(); i++) { if (i >= (int)scene_state.max_lightmaps) { @@ -1578,7 +1578,7 @@ void RendererSceneRenderForward::_setup_lightmaps(const PagedArray<RID> &p_light } } -void RendererSceneRenderForward::_render_scene(RID p_render_buffer, const Transform &p_cam_transform, const CameraMatrix &p_cam_projection, bool p_cam_ortogonal, const PagedArray<GeometryInstance *> &p_instances, const PagedArray<RID> &p_gi_probes, const PagedArray<RID> &p_lightmaps, RID p_environment, RID p_cluster_buffer, uint32_t p_cluster_size, uint32_t p_max_cluster_elements, RID p_camera_effects, RID p_shadow_atlas, RID p_reflection_atlas, RID p_reflection_probe, int p_reflection_probe_pass, const Color &p_default_bg_color, float p_screen_lod_threshold) { +void RendererSceneRenderForwardClustered::_render_scene(RID p_render_buffer, const Transform &p_cam_transform, const CameraMatrix &p_cam_projection, bool p_cam_ortogonal, const PagedArray<GeometryInstance *> &p_instances, const PagedArray<RID> &p_gi_probes, const PagedArray<RID> &p_lightmaps, RID p_environment, RID p_cluster_buffer, uint32_t p_cluster_size, uint32_t p_max_cluster_elements, RID p_camera_effects, RID p_shadow_atlas, RID p_reflection_atlas, RID p_reflection_probe, int p_reflection_probe_pass, const Color &p_default_bg_color, float p_screen_lod_threshold) { RenderBufferDataForward *render_buffer = nullptr; if (p_render_buffer.is_valid()) { render_buffer = (RenderBufferDataForward *)render_buffers_get_data(p_render_buffer); @@ -1981,7 +1981,7 @@ void RendererSceneRenderForward::_render_scene(RID p_render_buffer, const Transf RD::get_singleton()->draw_command_end_label(); } -void RendererSceneRenderForward::_render_shadow_begin() { +void RendererSceneRenderForwardClustered::_render_shadow_begin() { scene_state.shadow_passes.clear(); RD::get_singleton()->draw_command_begin_label("Shadow Setup"); _update_render_base_uniform_set(); @@ -1989,7 +1989,7 @@ void RendererSceneRenderForward::_render_shadow_begin() { render_list[RENDER_LIST_SECONDARY].clear(); scene_state.instance_data[RENDER_LIST_SECONDARY].clear(); } -void RendererSceneRenderForward::_render_shadow_append(RID p_framebuffer, const PagedArray<GeometryInstance *> &p_instances, const CameraMatrix &p_projection, const Transform &p_transform, float p_zfar, float p_bias, float p_normal_bias, bool p_use_dp, bool p_use_dp_flip, bool p_use_pancake, const Plane &p_camera_plane, float p_lod_distance_multiplier, float p_screen_lod_threshold, const Rect2i &p_rect, bool p_flip_y, bool p_clear_region, bool p_begin, bool p_end) { +void RendererSceneRenderForwardClustered::_render_shadow_append(RID p_framebuffer, const PagedArray<GeometryInstance *> &p_instances, const CameraMatrix &p_projection, const Transform &p_transform, float p_zfar, float p_bias, float p_normal_bias, bool p_use_dp, bool p_use_dp_flip, bool p_use_pancake, const Plane &p_camera_plane, float p_lod_distance_multiplier, float p_screen_lod_threshold, const Rect2i &p_rect, bool p_flip_y, bool p_clear_region, bool p_begin, bool p_end) { uint32_t shadow_pass_index = scene_state.shadow_passes.size(); SceneState::ShadowPass shadow_pass; @@ -2036,7 +2036,7 @@ void RendererSceneRenderForward::_render_shadow_append(RID p_framebuffer, const } } -void RendererSceneRenderForward::_render_shadow_process() { +void RendererSceneRenderForwardClustered::_render_shadow_process() { _update_instance_data_buffer(RENDER_LIST_SECONDARY); //render shadows one after the other, so this can be done un-barriered and the driver can optimize (as well as allow us to run compute at the same time) @@ -2048,7 +2048,7 @@ void RendererSceneRenderForward::_render_shadow_process() { RD::get_singleton()->draw_command_end_label(); } -void RendererSceneRenderForward::_render_shadow_end(uint32_t p_barrier) { +void RendererSceneRenderForwardClustered::_render_shadow_end(uint32_t p_barrier) { RD::get_singleton()->draw_command_begin_label("Shadow Render"); for (uint32_t i = 0; i < scene_state.shadow_passes.size(); i++) { @@ -2063,7 +2063,7 @@ void RendererSceneRenderForward::_render_shadow_end(uint32_t p_barrier) { RD::get_singleton()->draw_command_end_label(); } -void RendererSceneRenderForward::_render_particle_collider_heightfield(RID p_fb, const Transform &p_cam_transform, const CameraMatrix &p_cam_projection, const PagedArray<GeometryInstance *> &p_instances) { +void RendererSceneRenderForwardClustered::_render_particle_collider_heightfield(RID p_fb, const Transform &p_cam_transform, const CameraMatrix &p_cam_projection, const PagedArray<GeometryInstance *> &p_instances) { RENDER_TIMESTAMP("Setup Render Collider Heightfield"); RD::get_singleton()->draw_command_begin_label("Render Collider Heightfield"); @@ -2091,7 +2091,7 @@ void RendererSceneRenderForward::_render_particle_collider_heightfield(RID p_fb, RD::get_singleton()->draw_command_end_label(); } -void RendererSceneRenderForward::_render_material(const Transform &p_cam_transform, const CameraMatrix &p_cam_projection, bool p_cam_ortogonal, const PagedArray<GeometryInstance *> &p_instances, RID p_framebuffer, const Rect2i &p_region) { +void RendererSceneRenderForwardClustered::_render_material(const Transform &p_cam_transform, const CameraMatrix &p_cam_projection, bool p_cam_ortogonal, const PagedArray<GeometryInstance *> &p_instances, RID p_framebuffer, const Rect2i &p_region) { RENDER_TIMESTAMP("Setup Rendering Material"); RD::get_singleton()->draw_command_begin_label("Render Material"); @@ -2129,7 +2129,7 @@ void RendererSceneRenderForward::_render_material(const Transform &p_cam_transfo RD::get_singleton()->draw_command_end_label(); } -void RendererSceneRenderForward::_render_uv2(const PagedArray<GeometryInstance *> &p_instances, RID p_framebuffer, const Rect2i &p_region) { +void RendererSceneRenderForwardClustered::_render_uv2(const PagedArray<GeometryInstance *> &p_instances, RID p_framebuffer, const Rect2i &p_region) { RENDER_TIMESTAMP("Setup Rendering UV2"); RD::get_singleton()->draw_command_begin_label("Render UV2"); @@ -2191,7 +2191,7 @@ void RendererSceneRenderForward::_render_uv2(const PagedArray<GeometryInstance * RD::get_singleton()->draw_command_end_label(); } -void RendererSceneRenderForward::_render_sdfgi(RID p_render_buffers, const Vector3i &p_from, const Vector3i &p_size, const AABB &p_bounds, const PagedArray<GeometryInstance *> &p_instances, const RID &p_albedo_texture, const RID &p_emission_texture, const RID &p_emission_aniso_texture, const RID &p_geom_facing_texture) { +void RendererSceneRenderForwardClustered::_render_sdfgi(RID p_render_buffers, const Vector3i &p_from, const Vector3i &p_size, const AABB &p_bounds, const PagedArray<GeometryInstance *> &p_instances, const RID &p_albedo_texture, const RID &p_emission_texture, const RID &p_emission_aniso_texture, const RID &p_geom_facing_texture) { RENDER_TIMESTAMP("Render SDFGI"); RD::get_singleton()->draw_command_begin_label("Render SDFGI Voxel"); @@ -2272,14 +2272,14 @@ void RendererSceneRenderForward::_render_sdfgi(RID p_render_buffers, const Vecto RD::get_singleton()->draw_command_end_label(); } -void RendererSceneRenderForward::_base_uniforms_changed() { +void RendererSceneRenderForwardClustered::_base_uniforms_changed() { if (!render_base_uniform_set.is_null() && RD::get_singleton()->uniform_set_is_valid(render_base_uniform_set)) { RD::get_singleton()->free(render_base_uniform_set); } render_base_uniform_set = RID(); } -void RendererSceneRenderForward::_update_render_base_uniform_set() { +void RendererSceneRenderForwardClustered::_update_render_base_uniform_set() { if (render_base_uniform_set.is_null() || !RD::get_singleton()->uniform_set_is_valid(render_base_uniform_set) || (lightmap_texture_array_version != storage->lightmap_array_get_version())) { if (render_base_uniform_set.is_valid() && RD::get_singleton()->uniform_set_is_valid(render_base_uniform_set)) { RD::get_singleton()->free(render_base_uniform_set); @@ -2405,7 +2405,7 @@ void RendererSceneRenderForward::_update_render_base_uniform_set() { } } -RID RendererSceneRenderForward::_setup_render_pass_uniform_set(RenderListType p_render_list, RID p_render_buffers, RID p_radiance_texture, RID p_shadow_atlas, RID p_reflection_atlas, RID p_cluster_buffer, const PagedArray<RID> &p_gi_probes, const PagedArray<RID> &p_lightmaps, bool p_use_directional_shadow_atlas, int p_index) { +RID RendererSceneRenderForwardClustered::_setup_render_pass_uniform_set(RenderListType p_render_list, RID p_render_buffers, RID p_radiance_texture, RID p_shadow_atlas, RID p_reflection_atlas, RID p_cluster_buffer, const PagedArray<RID> &p_gi_probes, const PagedArray<RID> &p_lightmaps, bool p_use_directional_shadow_atlas, int p_index) { //there should always be enough uniform buffers for render passes, otherwise bugs ERR_FAIL_INDEX_V(p_index, (int)scene_state.uniform_buffers.size(), RID()); @@ -2655,7 +2655,7 @@ RID RendererSceneRenderForward::_setup_render_pass_uniform_set(RenderListType p_ return render_pass_uniform_sets[p_index]; } -RID RendererSceneRenderForward::_setup_sdfgi_render_pass_uniform_set(RID p_albedo_texture, RID p_emission_texture, RID p_emission_aniso_texture, RID p_geom_facing_texture) { +RID RendererSceneRenderForwardClustered::_setup_sdfgi_render_pass_uniform_set(RID p_albedo_texture, RID p_emission_texture, RID p_emission_aniso_texture, RID p_geom_facing_texture) { if (sdfgi_pass_uniform_set.is_valid() && RD::get_singleton()->uniform_set_is_valid(sdfgi_pass_uniform_set)) { RD::get_singleton()->free(sdfgi_pass_uniform_set); } @@ -2788,30 +2788,25 @@ RID RendererSceneRenderForward::_setup_sdfgi_render_pass_uniform_set(RID p_albed return sdfgi_pass_uniform_set; } -void RendererSceneRenderForward::_render_buffers_clear_uniform_set(RenderBufferDataForward *rb) { +void RendererSceneRenderForwardClustered::_render_buffers_clear_uniform_set(RenderBufferDataForward *rb) { } -void RendererSceneRenderForward::_render_buffers_uniform_set_changed(RID p_render_buffers) { +void RendererSceneRenderForwardClustered::_render_buffers_uniform_set_changed(RID p_render_buffers) { RenderBufferDataForward *rb = (RenderBufferDataForward *)render_buffers_get_data(p_render_buffers); _render_buffers_clear_uniform_set(rb); } -RID RendererSceneRenderForward::_render_buffers_get_normal_texture(RID p_render_buffers) { +RID RendererSceneRenderForwardClustered::_render_buffers_get_normal_texture(RID p_render_buffers) { RenderBufferDataForward *rb = (RenderBufferDataForward *)render_buffers_get_data(p_render_buffers); return rb->normal_roughness_buffer; } -RendererSceneRenderForward *RendererSceneRenderForward::singleton = nullptr; +RendererSceneRenderForwardClustered *RendererSceneRenderForwardClustered::singleton = nullptr; -void RendererSceneRenderForward::set_time(double p_time, double p_step) { - time = p_time; - RendererSceneRenderRD::set_time(p_time, p_step); -} - -void RendererSceneRenderForward::_geometry_instance_mark_dirty(GeometryInstance *p_geometry_instance) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::_geometry_instance_mark_dirty(GeometryInstance *p_geometry_instance) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); if (ginstance->dirty_list_element.in_list()) { return; } @@ -2830,7 +2825,7 @@ void RendererSceneRenderForward::_geometry_instance_mark_dirty(GeometryInstance geometry_instance_dirty_list.add(&ginstance->dirty_list_element); } -void RendererSceneRenderForward::_geometry_instance_add_surface_with_material(GeometryInstanceForward *ginstance, uint32_t p_surface, MaterialData *p_material, uint32_t p_material_id, uint32_t p_shader_id, RID p_mesh) { +void RendererSceneRenderForwardClustered::_geometry_instance_add_surface_with_material(GeometryInstanceForwardClustered *ginstance, uint32_t p_surface, MaterialData *p_material, uint32_t p_material_id, uint32_t p_shader_id, RID p_mesh) { bool has_read_screen_alpha = p_material->shader_data->uses_screen_texture || p_material->shader_data->uses_depth_texture || p_material->shader_data->uses_normal_texture; bool has_base_alpha = (p_material->shader_data->uses_alpha || has_read_screen_alpha); bool has_blend_alpha = p_material->shader_data->uses_blend_alpha; @@ -2854,7 +2849,7 @@ void RendererSceneRenderForward::_geometry_instance_add_surface_with_material(Ge flags |= GeometryInstanceSurfaceDataCache::FLAG_USES_NORMAL_TEXTURE; } - if (ginstance->data->cast_double_sided_shaodows) { + if (ginstance->data->cast_double_sided_shadows) { flags |= GeometryInstanceSurfaceDataCache::FLAG_USES_DOUBLE_SIDED_SHADOWS; } @@ -2926,7 +2921,7 @@ void RendererSceneRenderForward::_geometry_instance_add_surface_with_material(Ge sdcache->sort.priority = p_material->priority; } -void RendererSceneRenderForward::_geometry_instance_add_surface(GeometryInstanceForward *ginstance, uint32_t p_surface, RID p_material, RID p_mesh) { +void RendererSceneRenderForwardClustered::_geometry_instance_add_surface(GeometryInstanceForwardClustered *ginstance, uint32_t p_surface, RID p_material, RID p_mesh) { RID m_src; m_src = ginstance->data->material_override.is_valid() ? ginstance->data->material_override : p_material; @@ -2966,8 +2961,8 @@ void RendererSceneRenderForward::_geometry_instance_add_surface(GeometryInstance } } -void RendererSceneRenderForward::_geometry_instance_update(GeometryInstance *p_geometry_instance) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::_geometry_instance_update(GeometryInstance *p_geometry_instance) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); if (ginstance->data->dirty_dependencies) { ginstance->data->dependency_tracker.update_begin(); @@ -3124,24 +3119,24 @@ void RendererSceneRenderForward::_geometry_instance_update(GeometryInstance *p_g ginstance->dirty_list_element.remove_from_list(); } -void RendererSceneRenderForward::_update_dirty_geometry_instances() { +void RendererSceneRenderForwardClustered::_update_dirty_geometry_instances() { while (geometry_instance_dirty_list.first()) { _geometry_instance_update(geometry_instance_dirty_list.first()->self()); } } -void RendererSceneRenderForward::_geometry_instance_dependency_changed(RendererStorage::DependencyChangedNotification p_notification, RendererStorage::DependencyTracker *p_tracker) { +void RendererSceneRenderForwardClustered::_geometry_instance_dependency_changed(RendererStorage::DependencyChangedNotification p_notification, RendererStorage::DependencyTracker *p_tracker) { switch (p_notification) { case RendererStorage::DEPENDENCY_CHANGED_MATERIAL: case RendererStorage::DEPENDENCY_CHANGED_MESH: case RendererStorage::DEPENDENCY_CHANGED_MULTIMESH: case RendererStorage::DEPENDENCY_CHANGED_SKELETON_DATA: { - static_cast<RendererSceneRenderForward *>(singleton)->_geometry_instance_mark_dirty(static_cast<GeometryInstance *>(p_tracker->userdata)); + static_cast<RendererSceneRenderForwardClustered *>(singleton)->_geometry_instance_mark_dirty(static_cast<GeometryInstance *>(p_tracker->userdata)); } break; case RendererStorage::DEPENDENCY_CHANGED_MULTIMESH_VISIBLE_INSTANCES: { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_tracker->userdata); + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_tracker->userdata); if (ginstance->data->base_type == RS::INSTANCE_MULTIMESH) { - ginstance->instance_count = static_cast<RendererSceneRenderForward *>(singleton)->storage->multimesh_get_instances_to_draw(ginstance->data->base); + ginstance->instance_count = static_cast<RendererSceneRenderForwardClustered *>(singleton)->storage->multimesh_get_instances_to_draw(ginstance->data->base); } } break; default: { @@ -3149,16 +3144,16 @@ void RendererSceneRenderForward::_geometry_instance_dependency_changed(RendererS } break; } } -void RendererSceneRenderForward::_geometry_instance_dependency_deleted(const RID &p_dependency, RendererStorage::DependencyTracker *p_tracker) { - static_cast<RendererSceneRenderForward *>(singleton)->_geometry_instance_mark_dirty(static_cast<GeometryInstance *>(p_tracker->userdata)); +void RendererSceneRenderForwardClustered::_geometry_instance_dependency_deleted(const RID &p_dependency, RendererStorage::DependencyTracker *p_tracker) { + static_cast<RendererSceneRenderForwardClustered *>(singleton)->_geometry_instance_mark_dirty(static_cast<GeometryInstance *>(p_tracker->userdata)); } -RendererSceneRender::GeometryInstance *RendererSceneRenderForward::geometry_instance_create(RID p_base) { +RendererSceneRender::GeometryInstance *RendererSceneRenderForwardClustered::geometry_instance_create(RID p_base) { RS::InstanceType type = storage->get_base_type(p_base); ERR_FAIL_COND_V(!((1 << type) & RS::INSTANCE_GEOMETRY_MASK), nullptr); - GeometryInstanceForward *ginstance = geometry_instance_alloc.alloc(); - ginstance->data = memnew(GeometryInstanceForward::Data); + GeometryInstanceForwardClustered *ginstance = geometry_instance_alloc.alloc(); + ginstance->data = memnew(GeometryInstanceForwardClustered::Data); ginstance->data->base = p_base; ginstance->data->base_type = type; @@ -3170,35 +3165,35 @@ RendererSceneRender::GeometryInstance *RendererSceneRenderForward::geometry_inst return ginstance; } -void RendererSceneRenderForward::geometry_instance_set_skeleton(GeometryInstance *p_geometry_instance, RID p_skeleton) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_set_skeleton(GeometryInstance *p_geometry_instance, RID p_skeleton) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); ginstance->data->skeleton = p_skeleton; _geometry_instance_mark_dirty(ginstance); ginstance->data->dirty_dependencies = true; } -void RendererSceneRenderForward::geometry_instance_set_material_override(GeometryInstance *p_geometry_instance, RID p_override) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_set_material_override(GeometryInstance *p_geometry_instance, RID p_override) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); ginstance->data->material_override = p_override; _geometry_instance_mark_dirty(ginstance); ginstance->data->dirty_dependencies = true; } -void RendererSceneRenderForward::geometry_instance_set_surface_materials(GeometryInstance *p_geometry_instance, const Vector<RID> &p_materials) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_set_surface_materials(GeometryInstance *p_geometry_instance, const Vector<RID> &p_materials) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); ginstance->data->surface_materials = p_materials; _geometry_instance_mark_dirty(ginstance); ginstance->data->dirty_dependencies = true; } -void RendererSceneRenderForward::geometry_instance_set_mesh_instance(GeometryInstance *p_geometry_instance, RID p_mesh_instance) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_set_mesh_instance(GeometryInstance *p_geometry_instance, RID p_mesh_instance) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); ginstance->mesh_instance = p_mesh_instance; _geometry_instance_mark_dirty(ginstance); } -void RendererSceneRenderForward::geometry_instance_set_transform(GeometryInstance *p_geometry_instance, const Transform &p_transform, const AABB &p_aabb, const AABB &p_transformed_aabb) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_set_transform(GeometryInstance *p_geometry_instance, const Transform &p_transform, const AABB &p_aabb, const AABB &p_transformed_aabb) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); ginstance->transform = p_transform; ginstance->mirror = p_transform.basis.determinant() < 0; @@ -3214,33 +3209,33 @@ void RendererSceneRenderForward::geometry_instance_set_transform(GeometryInstanc ginstance->lod_model_scale = max_scale; } -void RendererSceneRenderForward::geometry_instance_set_lod_bias(GeometryInstance *p_geometry_instance, float p_lod_bias) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_set_lod_bias(GeometryInstance *p_geometry_instance, float p_lod_bias) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); ginstance->lod_bias = p_lod_bias; } -void RendererSceneRenderForward::geometry_instance_set_use_baked_light(GeometryInstance *p_geometry_instance, bool p_enable) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_set_use_baked_light(GeometryInstance *p_geometry_instance, bool p_enable) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); ginstance->data->use_baked_light = p_enable; _geometry_instance_mark_dirty(ginstance); } -void RendererSceneRenderForward::geometry_instance_set_use_dynamic_gi(GeometryInstance *p_geometry_instance, bool p_enable) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_set_use_dynamic_gi(GeometryInstance *p_geometry_instance, bool p_enable) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); ginstance->data->use_dynamic_gi = p_enable; _geometry_instance_mark_dirty(ginstance); } -void RendererSceneRenderForward::geometry_instance_set_use_lightmap(GeometryInstance *p_geometry_instance, RID p_lightmap_instance, const Rect2 &p_lightmap_uv_scale, int p_lightmap_slice_index) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_set_use_lightmap(GeometryInstance *p_geometry_instance, RID p_lightmap_instance, const Rect2 &p_lightmap_uv_scale, int p_lightmap_slice_index) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); ginstance->lightmap_instance = p_lightmap_instance; ginstance->lightmap_uv_scale = p_lightmap_uv_scale; ginstance->lightmap_slice_index = p_lightmap_slice_index; _geometry_instance_mark_dirty(ginstance); } -void RendererSceneRenderForward::geometry_instance_set_lightmap_capture(GeometryInstance *p_geometry_instance, const Color *p_sh9) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_set_lightmap_capture(GeometryInstance *p_geometry_instance, const Color *p_sh9) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); if (p_sh9) { if (ginstance->lightmap_sh == nullptr) { @@ -3256,28 +3251,28 @@ void RendererSceneRenderForward::geometry_instance_set_lightmap_capture(Geometry } _geometry_instance_mark_dirty(ginstance); } -void RendererSceneRenderForward::geometry_instance_set_instance_shader_parameters_offset(GeometryInstance *p_geometry_instance, int32_t p_offset) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_set_instance_shader_parameters_offset(GeometryInstance *p_geometry_instance, int32_t p_offset) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); ginstance->shader_parameters_offset = p_offset; _geometry_instance_mark_dirty(ginstance); } -void RendererSceneRenderForward::geometry_instance_set_cast_double_sided_shadows(GeometryInstance *p_geometry_instance, bool p_enable) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_set_cast_double_sided_shadows(GeometryInstance *p_geometry_instance, bool p_enable) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); - ginstance->data->cast_double_sided_shaodows = p_enable; + ginstance->data->cast_double_sided_shadows = p_enable; _geometry_instance_mark_dirty(ginstance); } -void RendererSceneRenderForward::geometry_instance_set_layer_mask(GeometryInstance *p_geometry_instance, uint32_t p_layer_mask) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_set_layer_mask(GeometryInstance *p_geometry_instance, uint32_t p_layer_mask) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); ginstance->layer_mask = p_layer_mask; } -void RendererSceneRenderForward::geometry_instance_free(GeometryInstance *p_geometry_instance) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_free(GeometryInstance *p_geometry_instance) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); if (ginstance->lightmap_sh != nullptr) { geometry_instance_lightmap_sh.free(ginstance->lightmap_sh); @@ -3292,29 +3287,29 @@ void RendererSceneRenderForward::geometry_instance_free(GeometryInstance *p_geom geometry_instance_alloc.free(ginstance); } -uint32_t RendererSceneRenderForward::geometry_instance_get_pair_mask() { +uint32_t RendererSceneRenderForwardClustered::geometry_instance_get_pair_mask() { return (1 << RS::INSTANCE_GI_PROBE); } -void RendererSceneRenderForward::geometry_instance_pair_light_instances(GeometryInstance *p_geometry_instance, const RID *p_light_instances, uint32_t p_light_instance_count) { +void RendererSceneRenderForwardClustered::geometry_instance_pair_light_instances(GeometryInstance *p_geometry_instance, const RID *p_light_instances, uint32_t p_light_instance_count) { } -void RendererSceneRenderForward::geometry_instance_pair_reflection_probe_instances(GeometryInstance *p_geometry_instance, const RID *p_reflection_probe_instances, uint32_t p_reflection_probe_instance_count) { +void RendererSceneRenderForwardClustered::geometry_instance_pair_reflection_probe_instances(GeometryInstance *p_geometry_instance, const RID *p_reflection_probe_instances, uint32_t p_reflection_probe_instance_count) { } -void RendererSceneRenderForward::geometry_instance_pair_decal_instances(GeometryInstance *p_geometry_instance, const RID *p_decal_instances, uint32_t p_decal_instance_count) { +void RendererSceneRenderForwardClustered::geometry_instance_pair_decal_instances(GeometryInstance *p_geometry_instance, const RID *p_decal_instances, uint32_t p_decal_instance_count) { } -Transform RendererSceneRenderForward::geometry_instance_get_transform(GeometryInstance *p_instance) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_instance); +Transform RendererSceneRenderForwardClustered::geometry_instance_get_transform(GeometryInstance *p_instance) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_instance); ERR_FAIL_COND_V(!ginstance, Transform()); return ginstance->transform; } -AABB RendererSceneRenderForward::geometry_instance_get_aabb(GeometryInstance *p_instance) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_instance); +AABB RendererSceneRenderForwardClustered::geometry_instance_get_aabb(GeometryInstance *p_instance) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_instance); ERR_FAIL_COND_V(!ginstance, AABB()); return ginstance->data->aabb; } -void RendererSceneRenderForward::geometry_instance_pair_gi_probe_instances(GeometryInstance *p_geometry_instance, const RID *p_gi_probe_instances, uint32_t p_gi_probe_instance_count) { - GeometryInstanceForward *ginstance = static_cast<GeometryInstanceForward *>(p_geometry_instance); +void RendererSceneRenderForwardClustered::geometry_instance_pair_gi_probe_instances(GeometryInstance *p_geometry_instance, const RID *p_gi_probe_instances, uint32_t p_gi_probe_instance_count) { + GeometryInstanceForwardClustered *ginstance = static_cast<GeometryInstanceForwardClustered *>(p_geometry_instance); ERR_FAIL_COND(!ginstance); if (p_gi_probe_instance_count > 0) { ginstance->gi_probes[0] = p_gi_probe_instances[0]; @@ -3329,11 +3324,10 @@ void RendererSceneRenderForward::geometry_instance_pair_gi_probe_instances(Geome } } -RendererSceneRenderForward::RendererSceneRenderForward(RendererStorageRD *p_storage) : +RendererSceneRenderForwardClustered::RendererSceneRenderForwardClustered(RendererStorageRD *p_storage) : RendererSceneRenderRD(p_storage) { singleton = this; low_end = is_low_end(); - storage = p_storage; /* SCENE SHADER */ @@ -3628,7 +3622,7 @@ RendererSceneRenderForward::RendererSceneRenderForward(RendererStorageRD *p_stor render_list_thread_threshold = GLOBAL_GET("rendering/limits/forward_renderer/threaded_render_minimum_instances"); } -RendererSceneRenderForward::~RendererSceneRenderForward() { +RendererSceneRenderForwardClustered::~RendererSceneRenderForwardClustered() { directional_shadow_atlas_set_size(0); //clear base uniform set if still valid diff --git a/servers/rendering/renderer_rd/renderer_scene_render_forward.h b/servers/rendering/renderer_rd/renderer_scene_render_forward_clustered.h index af78c50fda..98e2a7efcc 100644 --- a/servers/rendering/renderer_rd/renderer_scene_render_forward.h +++ b/servers/rendering/renderer_rd/renderer_scene_render_forward_clustered.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* renderer_scene_render_forward.h */ +/* renderer_scene_render_forward_clustered.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,16 +28,16 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef RENDERING_SERVER_SCENE_RENDER_FORWARD_H -#define RENDERING_SERVER_SCENE_RENDER_FORWARD_H +#ifndef RENDERING_SERVER_SCENE_RENDER_FORWARD_CLUSTERED_H +#define RENDERING_SERVER_SCENE_RENDER_FORWARD_CLUSTERED_H #include "core/templates/paged_allocator.h" #include "servers/rendering/renderer_rd/pipeline_cache_rd.h" #include "servers/rendering/renderer_rd/renderer_scene_render_rd.h" #include "servers/rendering/renderer_rd/renderer_storage_rd.h" -#include "servers/rendering/renderer_rd/shaders/scene_forward.glsl.gen.h" +#include "servers/rendering/renderer_rd/shaders/scene_forward_clustered.glsl.gen.h" -class RendererSceneRenderForward : public RendererSceneRenderRD { +class RendererSceneRenderForwardClustered : public RendererSceneRenderRD { enum { SCENE_UNIFORM_SET = 0, RENDER_PASS_UNIFORM_SET = 1, @@ -79,12 +79,10 @@ class RendererSceneRenderForward : public RendererSceneRenderRD { }; struct { - SceneForwardShaderRD scene_shader; + SceneForwardClusteredShaderRD scene_shader; ShaderCompilerRD compiler; } shader; - RendererStorageRD *storage; - /* Material */ struct ShaderData : public RendererStorageRD::ShaderData { @@ -186,7 +184,7 @@ class RendererSceneRenderForward : public RendererSceneRenderRD { RendererStorageRD::ShaderData *_create_shader_func(); static RendererStorageRD::ShaderData *_create_shader_funcs() { - return static_cast<RendererSceneRenderForward *>(singleton)->_create_shader_func(); + return static_cast<RendererSceneRenderForwardClustered *>(singleton)->_create_shader_func(); } struct MaterialData : public RendererStorageRD::MaterialData { @@ -208,7 +206,7 @@ class RendererSceneRenderForward : public RendererSceneRenderRD { RendererStorageRD::MaterialData *_create_material_func(ShaderData *p_shader); static RendererStorageRD::MaterialData *_create_material_funcs(RendererStorageRD::ShaderData *p_shader) { - return static_cast<RendererSceneRenderForward *>(singleton)->_create_material_func(static_cast<ShaderData *>(p_shader)); + return static_cast<RendererSceneRenderForwardClustered *>(singleton)->_create_material_func(static_cast<ShaderData *>(p_shader)); } /* Framebuffer */ @@ -490,9 +488,8 @@ class RendererSceneRenderForward : public RendererSceneRenderRD { } scene_state; - static RendererSceneRenderForward *singleton; + static RendererSceneRenderForwardClustered *singleton; - double time; RID default_shader; RID default_material; RID overdraw_material_shader; @@ -534,7 +531,7 @@ class RendererSceneRenderForward : public RendererSceneRenderRD { Map<Size2i, RID> sdfgi_framebuffer_size_cache; struct GeometryInstanceData; - struct GeometryInstanceForward; + struct GeometryInstanceForwardClustered; struct GeometryInstanceLightmapSH { Color sh[9]; @@ -588,10 +585,10 @@ class RendererSceneRenderForward : public RendererSceneRenderRD { ShaderData *shader_shadow = nullptr; GeometryInstanceSurfaceDataCache *next = nullptr; - GeometryInstanceForward *owner = nullptr; + GeometryInstanceForwardClustered *owner = nullptr; }; - struct GeometryInstanceForward : public GeometryInstance { + struct GeometryInstanceForwardClustered : public GeometryInstance { //used during rendering bool mirror = false; bool non_uniform_scale = false; @@ -617,7 +614,7 @@ class RendererSceneRenderForward : public RendererSceneRenderRD { RID lightmap_instance; GeometryInstanceLightmapSH *lightmap_sh = nullptr; GeometryInstanceSurfaceDataCache *surface_caches = nullptr; - SelfList<GeometryInstanceForward> dirty_list_element; + SelfList<GeometryInstanceForwardClustered> dirty_list_element; struct Data { //data used less often goes into regular heap @@ -631,7 +628,7 @@ class RendererSceneRenderForward : public RendererSceneRenderRD { bool use_dynamic_gi = false; bool use_baked_light = false; - bool cast_double_sided_shaodows = false; + bool cast_double_sided_shadows = false; bool mirror = false; bool dirty_dependencies = false; @@ -640,21 +637,21 @@ class RendererSceneRenderForward : public RendererSceneRenderRD { Data *data = nullptr; - GeometryInstanceForward() : + GeometryInstanceForwardClustered() : dirty_list_element(this) {} }; static void _geometry_instance_dependency_changed(RendererStorage::DependencyChangedNotification p_notification, RendererStorage::DependencyTracker *p_tracker); static void _geometry_instance_dependency_deleted(const RID &p_dependency, RendererStorage::DependencyTracker *p_tracker); - SelfList<GeometryInstanceForward>::List geometry_instance_dirty_list; + SelfList<GeometryInstanceForwardClustered>::List geometry_instance_dirty_list; - PagedAllocator<GeometryInstanceForward> geometry_instance_alloc; + PagedAllocator<GeometryInstanceForwardClustered> geometry_instance_alloc; PagedAllocator<GeometryInstanceSurfaceDataCache> geometry_instance_surface_alloc; PagedAllocator<GeometryInstanceLightmapSH> geometry_instance_lightmap_sh; - void _geometry_instance_add_surface_with_material(GeometryInstanceForward *ginstance, uint32_t p_surface, MaterialData *p_material, uint32_t p_material_id, uint32_t p_shader_id, RID p_mesh); - void _geometry_instance_add_surface(GeometryInstanceForward *ginstance, uint32_t p_surface, RID p_material, RID p_mesh); + void _geometry_instance_add_surface_with_material(GeometryInstanceForwardClustered *ginstance, uint32_t p_surface, MaterialData *p_material, uint32_t p_material_id, uint32_t p_shader_id, RID p_mesh); + void _geometry_instance_add_surface(GeometryInstanceForwardClustered *ginstance, uint32_t p_surface, RID p_material, RID p_mesh); void _geometry_instance_mark_dirty(GeometryInstance *p_geometry_instance); void _geometry_instance_update(GeometryInstance *p_geometry_instance); void _update_dirty_geometry_instances(); @@ -761,11 +758,9 @@ public: virtual void geometry_instance_pair_decal_instances(GeometryInstance *p_geometry_instance, const RID *p_decal_instances, uint32_t p_decal_instance_count); virtual void geometry_instance_pair_gi_probe_instances(GeometryInstance *p_geometry_instance, const RID *p_gi_probe_instances, uint32_t p_gi_probe_instance_count); - virtual void set_time(double p_time, double p_step); - virtual bool free(RID p_rid); - RendererSceneRenderForward(RendererStorageRD *p_storage); - ~RendererSceneRenderForward(); + RendererSceneRenderForwardClustered(RendererStorageRD *p_storage); + ~RendererSceneRenderForwardClustered(); }; -#endif // RASTERIZER_SCENE_HIGHEND_RD_H +#endif // !RENDERING_SERVER_SCENE_RENDER_FORWARD_CLUSTERED_H diff --git a/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp b/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp index f9ee01e751..4cf296f0db 100644 --- a/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp +++ b/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp @@ -4097,17 +4097,14 @@ RendererSceneRenderRD::RendererSceneRenderRD(RendererStorageRD *p_storage) { low_end = true; } - if (!low_end) { - gi.init_gi(storage); - } - /* SKY SHADER */ sky.init(storage); + /* GI */ + if (!low_end) { - //SDFGI - gi.init_sdfgi(&sky); + gi.init(storage, &sky); } { //decals diff --git a/servers/rendering/renderer_rd/renderer_scene_render_rd.h b/servers/rendering/renderer_rd/renderer_scene_render_rd.h index eefaf237a4..001cfeb74d 100644 --- a/servers/rendering/renderer_rd/renderer_scene_render_rd.h +++ b/servers/rendering/renderer_rd/renderer_scene_render_rd.h @@ -48,6 +48,7 @@ class RendererSceneRenderRD : public RendererSceneRender { friend RendererSceneGIRD; protected: + RendererStorageRD *storage; double time; double time_step = 0; @@ -111,8 +112,6 @@ private: RS::ViewportDebugDraw debug_draw = RS::VIEWPORT_DEBUG_DRAW_DISABLED; static RendererSceneRenderRD *singleton; - RendererStorageRD *storage; - /* REFLECTION ATLAS */ struct ReflectionAtlas { @@ -1183,7 +1182,7 @@ public: return debug_draw; } - virtual void set_time(double p_time, double p_step); + void set_time(double p_time, double p_step); RID get_reflection_probe_buffer(); RID get_omni_light_buffer(); diff --git a/servers/rendering/renderer_rd/renderer_storage_rd.cpp b/servers/rendering/renderer_rd/renderer_storage_rd.cpp index 2a34049675..ba5ace8f31 100644 --- a/servers/rendering/renderer_rd/renderer_storage_rd.cpp +++ b/servers/rendering/renderer_rd/renderer_storage_rd.cpp @@ -5121,6 +5121,7 @@ void RendererStorageRD::particles_collision_height_field_update(RID p_particles_ void RendererStorageRD::particles_collision_set_height_field_resolution(RID p_particles_collision, RS::ParticlesCollisionHeightfieldResolution p_resolution) { ParticlesCollision *particles_collision = particles_collision_owner.getornull(p_particles_collision); ERR_FAIL_COND(!particles_collision); + ERR_FAIL_INDEX(p_resolution, RS::PARTICLES_COLLISION_HEIGHTFIELD_RESOLUTION_MAX); if (particles_collision->heightfield_resolution == p_resolution) { return; diff --git a/servers/rendering/renderer_rd/shaders/SCsub b/servers/rendering/renderer_rd/shaders/SCsub index c192574ff2..fc513d3fb9 100644 --- a/servers/rendering/renderer_rd/shaders/SCsub +++ b/servers/rendering/renderer_rd/shaders/SCsub @@ -3,46 +3,15 @@ Import("env") if "RD_GLSL" in env["BUILDERS"]: - env.RD_GLSL("canvas.glsl") - env.RD_GLSL("canvas_occlusion.glsl") - env.RD_GLSL("canvas_sdf.glsl") - env.RD_GLSL("copy.glsl") - env.RD_GLSL("copy_to_fb.glsl") - env.RD_GLSL("cubemap_roughness.glsl") - env.RD_GLSL("cubemap_downsampler.glsl") - env.RD_GLSL("cubemap_filter.glsl") - env.RD_GLSL("scene_forward.glsl") - env.RD_GLSL("sky.glsl") - env.RD_GLSL("tonemap.glsl") - env.RD_GLSL("cube_to_dp.glsl") - env.RD_GLSL("giprobe.glsl") - env.RD_GLSL("giprobe_debug.glsl") - env.RD_GLSL("giprobe_sdf.glsl") - env.RD_GLSL("luminance_reduce.glsl") - env.RD_GLSL("bokeh_dof.glsl") - env.RD_GLSL("ssao.glsl") - env.RD_GLSL("ssao_downsample.glsl") - env.RD_GLSL("ssao_importance_map.glsl") - env.RD_GLSL("ssao_blur.glsl") - env.RD_GLSL("ssao_interleave.glsl") - env.RD_GLSL("roughness_limiter.glsl") - env.RD_GLSL("screen_space_reflection.glsl") - env.RD_GLSL("screen_space_reflection_filter.glsl") - env.RD_GLSL("screen_space_reflection_scale.glsl") - env.RD_GLSL("subsurface_scattering.glsl") - env.RD_GLSL("specular_merge.glsl") - env.RD_GLSL("gi.glsl") - env.RD_GLSL("resolve.glsl") - env.RD_GLSL("sdfgi_preprocess.glsl") - env.RD_GLSL("sdfgi_integrate.glsl") - env.RD_GLSL("sdfgi_direct_light.glsl") - env.RD_GLSL("sdfgi_debug.glsl") - env.RD_GLSL("sdfgi_debug_probes.glsl") - env.RD_GLSL("volumetric_fog.glsl") - env.RD_GLSL("particles.glsl") - env.RD_GLSL("particles_copy.glsl") - env.RD_GLSL("sort.glsl") - env.RD_GLSL("skeleton.glsl") - env.RD_GLSL("cluster_render.glsl") - env.RD_GLSL("cluster_store.glsl") - env.RD_GLSL("cluster_debug.glsl") + # find all include files + gl_include_files = [str(f) for f in Glob("*_inc.glsl")] + + # find all shader code(all glsl files excluding our include files) + glsl_files = [str(f) for f in Glob("*.glsl") if str(f) not in gl_include_files] + + # make sure we recompile shaders if include files change + env.Depends([f + ".gen.h" for f in glsl_files], gl_include_files) + + # compile shaders + for glsl_file in glsl_files: + env.RD_GLSL(glsl_file) diff --git a/servers/rendering/renderer_rd/shaders/scene_forward.glsl b/servers/rendering/renderer_rd/shaders/scene_forward_clustered.glsl index 1cea9bf8db..7b86dac143 100644 --- a/servers/rendering/renderer_rd/shaders/scene_forward.glsl +++ b/servers/rendering/renderer_rd/shaders/scene_forward_clustered.glsl @@ -4,7 +4,7 @@ VERSION_DEFINES -#include "scene_forward_inc.glsl" +#include "scene_forward_clustered_inc.glsl" /* INPUT ATTRIBS */ @@ -327,7 +327,7 @@ VERTEX_SHADER_CODE VERSION_DEFINES -#include "scene_forward_inc.glsl" +#include "scene_forward_clustered_inc.glsl" /* Varyings */ diff --git a/servers/rendering/renderer_rd/shaders/scene_forward_inc.glsl b/servers/rendering/renderer_rd/shaders/scene_forward_clustered_inc.glsl index d78890fa9e..d78890fa9e 100644 --- a/servers/rendering/renderer_rd/shaders/scene_forward_inc.glsl +++ b/servers/rendering/renderer_rd/shaders/scene_forward_clustered_inc.glsl diff --git a/servers/rendering/rendering_server_default.h b/servers/rendering/rendering_server_default.h index c6be07a3de..e82d5cc3f8 100644 --- a/servers/rendering/rendering_server_default.h +++ b/servers/rendering/rendering_server_default.h @@ -233,7 +233,7 @@ public: FUNC2(shader_set_code, RID, const String &) FUNC1RC(String, shader_get_code, RID) - FUNC2C(shader_get_param_list, RID, List<PropertyInfo> *) + FUNC2SC(shader_get_param_list, RID, List<PropertyInfo> *) FUNC3(shader_set_default_texture_param, RID, const StringName &, RID) FUNC2RC(RID, shader_get_default_texture_param, RID, const StringName &) diff --git a/servers/xr_server.cpp b/servers/xr_server.cpp index 2acc2e398c..7087ae4947 100644 --- a/servers/xr_server.cpp +++ b/servers/xr_server.cpp @@ -311,6 +311,7 @@ Ref<XRInterface> XRServer::get_primary_interface() const { }; void XRServer::set_primary_interface(const Ref<XRInterface> &p_primary_interface) { + ERR_FAIL_COND(p_primary_interface.is_null()); primary_interface = p_primary_interface; print_verbose("XR: Primary interface set to: " + primary_interface->get_name()); |