diff options
Diffstat (limited to 'servers')
| -rw-r--r-- | servers/physics_3d/collision_solver_3d_sat.cpp | 16 | ||||
| -rw-r--r-- | servers/physics_3d/shape_3d_sw.cpp | 32 | ||||
| -rw-r--r-- | servers/physics_3d/shape_3d_sw.h | 2 |
3 files changed, 25 insertions, 25 deletions
diff --git a/servers/physics_3d/collision_solver_3d_sat.cpp b/servers/physics_3d/collision_solver_3d_sat.cpp index e6a17b3a1a..6e6a2cb9e7 100644 --- a/servers/physics_3d/collision_solver_3d_sat.cpp +++ b/servers/physics_3d/collision_solver_3d_sat.cpp @@ -848,7 +848,7 @@ static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform3D &p //capsule sphere 1, sphere - Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5); + Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius()); Vector3 capsule_ball_1 = p_transform_b.origin + capsule_axis; @@ -1207,7 +1207,7 @@ static void _collision_box_capsule(const Shape3DSW *p_a, const Transform3D &p_tr // capsule balls, edges of A for (int i = 0; i < 2; i++) { - Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5); + Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius()); Vector3 sphere_pos = p_transform_b.origin + ((i == 0) ? capsule_axis : -capsule_axis); @@ -1607,8 +1607,8 @@ static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform3D & // some values - Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5); - Vector3 capsule_B_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5); + Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius()); + Vector3 capsule_B_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius()); Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis; Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis; @@ -1679,8 +1679,8 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform3D 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); + Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis * (capsule_A->get_height() * 0.5 - capsule_A->get_radius()); + Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis * (capsule_A->get_height() * 0.5 - capsule_A->get_radius()); if (!separator.test_axis((p_transform_b.origin - capsule_A_ball_1).cross(cylinder_B_axis).cross(cylinder_B_axis).normalized())) { return; @@ -1768,7 +1768,7 @@ static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transf for (int i = 0; i < 2; i++) { // edges of B, capsule cylinder - Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5); + Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius()); Vector3 sphere_pos = p_transform_a.origin + ((i == 0) ? capsule_axis : -capsule_axis); @@ -1808,7 +1808,7 @@ static void _collision_capsule_face(const Shape3DSW *p_a, const Transform3D &p_t // edges of B, capsule cylinder - Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5); + Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius()); for (int i = 0; i < 3; i++) { // edge-cylinder diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp index 526a098a05..a84405de81 100644 --- a/servers/physics_3d/shape_3d_sw.cpp +++ b/servers/physics_3d/shape_3d_sw.cpp @@ -424,10 +424,10 @@ BoxShape3DSW::BoxShape3DSW() { void CapsuleShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { Vector3 n = p_transform.basis.xform_inv(p_normal).normalized(); - real_t h = (n.y > 0) ? height : -height; + real_t h = height * 0.5 - radius; n *= radius; - n.y += h * 0.5; + n.y += (n.y > 0) ? h : -h; r_max = p_normal.dot(p_transform.xform(n)); r_min = p_normal.dot(p_transform.xform(-n)); @@ -436,10 +436,10 @@ void CapsuleShape3DSW::project_range(const Vector3 &p_normal, const Transform3D Vector3 CapsuleShape3DSW::get_support(const Vector3 &p_normal) const { Vector3 n = p_normal; - real_t h = (n.y > 0) ? height : -height; + real_t h = height * 0.5 - radius; n *= radius; - n.y += h * 0.5; + n.y += (n.y > 0) ? h : -h; return n; } @@ -457,15 +457,15 @@ void CapsuleShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 r_amount = 2; r_type = FEATURE_EDGE; r_supports[0] = n; - r_supports[0].y += height * 0.5; + r_supports[0].y += height * 0.5 - radius; r_supports[1] = n; - r_supports[1].y -= height * 0.5; + r_supports[1].y -= height * 0.5 - radius; } else { - real_t h = (d > 0) ? height : -height; + real_t h = height * 0.5 - radius; n *= radius; - n.y += h * 0.5; + n.y += (d > 0) ? h : -h; r_amount = 1; r_type = FEATURE_POINT; *r_supports = n; @@ -484,7 +484,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 & // test against cylinder and spheres :-| - collided = Geometry3D::segment_intersects_cylinder(p_begin, p_end, height, radius, &auxres, &auxn, 1); + collided = Geometry3D::segment_intersects_cylinder(p_begin, p_end, height - radius * 2.0, radius, &auxres, &auxn, 1); if (collided) { real_t d = norm.dot(auxres); @@ -496,7 +496,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 & } } - collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * 0.5, 0), radius, &auxres, &auxn); + collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * 0.5 - radius, 0), radius, &auxres, &auxn); if (collided) { real_t d = norm.dot(auxres); @@ -508,7 +508,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 & } } - collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * -0.5, 0), radius, &auxres, &auxn); + collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * -0.5 + radius, 0), radius, &auxres, &auxn); if (collided) { real_t d = norm.dot(auxres); @@ -529,19 +529,19 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 & } bool CapsuleShape3DSW::intersect_point(const Vector3 &p_point) const { - if (Math::abs(p_point.y) < height * 0.5) { + if (Math::abs(p_point.y) < height * 0.5 - radius) { return Vector3(p_point.x, 0, p_point.z).length() < radius; } else { Vector3 p = p_point; - p.y = Math::abs(p.y) - height * 0.5; + p.y = Math::abs(p.y) - height * 0.5 + radius; return p.length() < radius; } } Vector3 CapsuleShape3DSW::get_closest_point_to(const Vector3 &p_point) const { Vector3 s[2] = { - Vector3(0, -height * 0.5, 0), - Vector3(0, height * 0.5, 0), + Vector3(0, -height * 0.5 + radius, 0), + Vector3(0, height * 0.5 - radius, 0), }; Vector3 p = Geometry3D::get_closest_point_to_segment(p_point, s); @@ -566,7 +566,7 @@ Vector3 CapsuleShape3DSW::get_moment_of_inertia(real_t p_mass) const { void CapsuleShape3DSW::_setup(real_t p_height, real_t p_radius) { height = p_height; radius = p_radius; - configure(AABB(Vector3(-radius, -height * 0.5 - radius, -radius), Vector3(radius * 2, height + radius * 2.0, radius * 2))); + configure(AABB(Vector3(-radius, -height * 0.5, -radius), Vector3(radius * 2, height, radius * 2))); } void CapsuleShape3DSW::set_data(const Variant &p_data) { diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h index dde423ad60..c11c3a08f6 100644 --- a/servers/physics_3d/shape_3d_sw.h +++ b/servers/physics_3d/shape_3d_sw.h @@ -207,7 +207,7 @@ public: _FORCE_INLINE_ real_t get_height() const { return height; } _FORCE_INLINE_ real_t get_radius() const { return radius; } - virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius + height * Math_PI * radius * radius; } + virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius + (height - radius * 2.0) * Math_PI * radius * radius; } virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_CAPSULE; } |