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-rw-r--r--servers/navigation_server_2d.cpp15
-rw-r--r--servers/navigation_server_2d.h9
-rw-r--r--servers/navigation_server_3d.cpp7
-rw-r--r--servers/navigation_server_3d.h9
-rw-r--r--servers/physics_3d/collision_solver_3d_sat.cpp51
-rw-r--r--servers/physics_3d/gjk_epa.cpp95
-rw-r--r--servers/physics_3d/gjk_epa.h2
-rw-r--r--servers/rendering/rendering_server_default.h2
8 files changed, 150 insertions, 40 deletions
diff --git a/servers/navigation_server_2d.cpp b/servers/navigation_server_2d.cpp
index fee74f3dbc..7e579c36f4 100644
--- a/servers/navigation_server_2d.cpp
+++ b/servers/navigation_server_2d.cpp
@@ -156,6 +156,10 @@ 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);
@@ -174,6 +178,9 @@ void NavigationServer2D::_bind_methods() {
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);
@@ -189,10 +196,14 @@ 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() {
@@ -226,6 +237,10 @@ void NavigationServer2D::region_set_navpoly(RID p_region, Ref<NavigationPolygon>
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 46c8f6a71d..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; }
@@ -98,6 +100,11 @@ public:
/// 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 d81ce70af6..b0047a250a 100644
--- a/servers/navigation_server_3d.cpp
+++ b/servers/navigation_server_3d.cpp
@@ -59,6 +59,9 @@ void NavigationServer3D::_bind_methods() {
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);
@@ -77,9 +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 beed19d563..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();
@@ -111,9 +111,14 @@ public:
/// 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_3d/collision_solver_3d_sat.cpp b/servers/physics_3d/collision_solver_3d_sat.cpp
index 651961433c..33075a38be 100644
--- a/servers/physics_3d/collision_solver_3d_sat.cpp
+++ b/servers/physics_3d/collision_solver_3d_sat.cpp
@@ -1627,10 +1627,55 @@ 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;
}
@@ -1805,7 +1850,7 @@ 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 +1867,7 @@ 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;
}
diff --git a/servers/physics_3d/gjk_epa.cpp b/servers/physics_3d/gjk_epa.cpp
index aa7c11eec5..e44c92da79 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;
@@ -972,10 +1005,10 @@ 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);
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/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 &)
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-23 02:41:31 +0000