/*************************************************************************/ /* space_sw.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* http://www.godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2017 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 "space_sw.h" #include "collision_solver_sw.h" #include "global_config.h" #include "physics_server_sw.h" _FORCE_INLINE_ static bool _match_object_type_query(CollisionObjectSW *p_object, uint32_t p_layer_mask, uint32_t p_type_mask) { if (p_object->get_type() == CollisionObjectSW::TYPE_AREA) return p_type_mask & PhysicsDirectSpaceState::TYPE_MASK_AREA; if ((p_object->get_layer_mask() & p_layer_mask) == 0) return false; BodySW *body = static_cast<BodySW *>(p_object); return (1 << body->get_mode()) & p_type_mask; } bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask, bool p_pick_ray) { ERR_FAIL_COND_V(space->locked, false); Vector3 begin, end; Vector3 normal; begin = p_from; end = p_to; normal = (end - begin).normalized(); int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); //todo, create another array tha references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision bool collided = false; Vector3 res_point, res_normal; int res_shape; const CollisionObjectSW *res_obj; real_t min_d = 1e10; for (int i = 0; i < amount; i++) { if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask)) continue; if (p_pick_ray && !(static_cast<CollisionObjectSW *>(space->intersection_query_results[i])->is_ray_pickable())) continue; if (p_exclude.has(space->intersection_query_results[i]->get_self())) continue; const CollisionObjectSW *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; Transform inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform(); Vector3 local_from = inv_xform.xform(begin); Vector3 local_to = inv_xform.xform(end); const ShapeSW *shape = col_obj->get_shape(shape_idx); Vector3 shape_point, shape_normal; if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal)) { Transform xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); shape_point = xform.xform(shape_point); real_t ld = normal.dot(shape_point); if (ld < min_d) { min_d = ld; res_point = shape_point; res_normal = inv_xform.basis.xform_inv(shape_normal).normalized(); res_shape = shape_idx; res_obj = col_obj; collided = true; } } } if (!collided) return false; r_result.collider_id = res_obj->get_instance_id(); if (r_result.collider_id != 0) r_result.collider = ObjectDB::get_instance(r_result.collider_id); else r_result.collider = NULL; r_result.normal = res_normal; r_result.position = res_point; r_result.rid = res_obj->get_self(); r_result.shape = res_shape; return true; } int PhysicsDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask) { if (p_result_max <= 0) return 0; ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape); ERR_FAIL_COND_V(!shape, 0); Rect3 aabb = p_xform.xform(shape->get_aabb()); int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); int cc = 0; //Transform ai = p_xform.affine_inverse(); for (int i = 0; i < amount; i++) { if (cc >= p_result_max) break; if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask)) continue; //area can't be picked by ray (default) if (p_exclude.has(space->intersection_query_results[i]->get_self())) continue; const CollisionObjectSW *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; if (!CollisionSolverSW::solve_static(shape, p_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), NULL, NULL, NULL, p_margin, 0)) continue; if (r_results) { r_results[cc].collider_id = col_obj->get_instance_id(); if (r_results[cc].collider_id != 0) r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id); else r_results[cc].collider = NULL; r_results[cc].rid = col_obj->get_self(); r_results[cc].shape = shape_idx; } cc++; } return cc; } bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask, ShapeRestInfo *r_info) { ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape); ERR_FAIL_COND_V(!shape, false); Rect3 aabb = p_xform.xform(shape->get_aabb()); aabb = aabb.merge(Rect3(aabb.pos + p_motion, aabb.size)); //motion aabb = aabb.grow(p_margin); /* if (p_motion!=Vector3()) print_line(p_motion); */ int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); real_t best_safe = 1; real_t best_unsafe = 1; Transform xform_inv = p_xform.affine_inverse(); MotionShapeSW mshape; mshape.shape = shape; mshape.motion = xform_inv.basis.xform(p_motion); bool best_first = true; Vector3 closest_A, closest_B; for (int i = 0; i < amount; i++) { if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask)) continue; if (p_exclude.has(space->intersection_query_results[i]->get_self())) continue; //ignore excluded const CollisionObjectSW *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; Vector3 point_A, point_B; Vector3 sep_axis = p_motion.normalized(); Transform col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); //test initial overlap, does it collide if going all the way? if (CollisionSolverSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) { //print_line("failed motion cast (no collision)"); continue; } //test initial overlap #if 0 if (CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,NULL,NULL,&sep_axis)) { print_line("failed initial cast (collision at beginning)"); return false; } #else sep_axis = p_motion.normalized(); if (!CollisionSolverSW::solve_distance(shape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) { //print_line("failed motion cast (no collision)"); return false; } #endif //just do kinematic solving real_t low = 0; real_t hi = 1; Vector3 mnormal = p_motion.normalized(); for (int i = 0; i < 8; i++) { //steps should be customizable.. real_t ofs = (low + hi) * 0.5; Vector3 sep = mnormal; //important optimization for this to work fast enough mshape.motion = xform_inv.basis.xform(p_motion * ofs); Vector3 lA, lB; bool collided = !CollisionSolverSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep); if (collided) { //print_line(itos(i)+": "+rtos(ofs)); hi = ofs; } else { point_A = lA; point_B = lB; low = ofs; } } if (low < best_safe) { best_first = true; //force reset best_safe = low; best_unsafe = hi; } if (r_info && (best_first || (point_A.distance_squared_to(point_B) < closest_A.distance_squared_to(closest_B) && low <= best_safe))) { closest_A = point_A; closest_B = point_B; r_info->collider_id = col_obj->get_instance_id(); r_info->rid = col_obj->get_self(); r_info->shape = shape_idx; r_info->point = closest_B; r_info->normal = (closest_A - closest_B).normalized(); best_first = false; if (col_obj->get_type() == CollisionObjectSW::TYPE_BODY) { const BodySW *body = static_cast<const BodySW *>(col_obj); r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B); } } } p_closest_safe = best_safe; p_closest_unsafe = best_unsafe; return true; } bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask) { if (p_result_max <= 0) return 0; ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape); ERR_FAIL_COND_V(!shape, 0); Rect3 aabb = p_shape_xform.xform(shape->get_aabb()); aabb = aabb.grow(p_margin); int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); bool collided = false; r_result_count = 0; PhysicsServerSW::CollCbkData cbk; cbk.max = p_result_max; cbk.amount = 0; cbk.ptr = r_results; CollisionSolverSW::CallbackResult cbkres = NULL; PhysicsServerSW::CollCbkData *cbkptr = NULL; if (p_result_max > 0) { cbkptr = &cbk; cbkres = PhysicsServerSW::_shape_col_cbk; } for (int i = 0; i < amount; i++) { if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask)) continue; const CollisionObjectSW *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; if (p_exclude.has(col_obj->get_self())) { continue; } //print_line("AGAINST: "+itos(col_obj->get_self().get_id())+":"+itos(shape_idx)); //print_line("THE ABBB: "+(col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).xform(col_obj->get_shape(shape_idx)->get_aabb())); if (CollisionSolverSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, NULL, p_margin)) { collided = true; } } r_result_count = cbk.amount; return collided; } struct _RestCallbackData { const CollisionObjectSW *object; const CollisionObjectSW *best_object; int shape; int best_shape; Vector3 best_contact; Vector3 best_normal; real_t best_len; }; static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) { _RestCallbackData *rd = (_RestCallbackData *)p_userdata; Vector3 contact_rel = p_point_B - p_point_A; real_t len = contact_rel.length(); if (len <= rd->best_len) return; rd->best_len = len; rd->best_contact = p_point_B; rd->best_normal = contact_rel / len; rd->best_object = rd->object; rd->best_shape = rd->shape; } bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask) { ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape); ERR_FAIL_COND_V(!shape, 0); Rect3 aabb = p_shape_xform.xform(shape->get_aabb()); aabb = aabb.grow(p_margin); int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); _RestCallbackData rcd; rcd.best_len = 0; rcd.best_object = NULL; rcd.best_shape = 0; for (int i = 0; i < amount; i++) { if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask)) continue; const CollisionObjectSW *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; if (p_exclude.has(col_obj->get_self())) continue; rcd.object = col_obj; rcd.shape = shape_idx; bool sc = CollisionSolverSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, NULL, p_margin); if (!sc) continue; } if (rcd.best_len == 0) return false; r_info->collider_id = rcd.best_object->get_instance_id(); r_info->shape = rcd.best_shape; r_info->normal = rcd.best_normal; r_info->point = rcd.best_contact; r_info->rid = rcd.best_object->get_self(); if (rcd.best_object->get_type() == CollisionObjectSW::TYPE_BODY) { const BodySW *body = static_cast<const BodySW *>(rcd.best_object); r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - rcd.best_contact); // * mPos); } else { r_info->linear_velocity = Vector3(); } return true; } PhysicsDirectSpaceStateSW::PhysicsDirectSpaceStateSW() { space = NULL; } //////////////////////////////////////////////////////////////////////////////////////////////////////////// void *SpaceSW::_broadphase_pair(CollisionObjectSW *A, int p_subindex_A, CollisionObjectSW *B, int p_subindex_B, void *p_self) { CollisionObjectSW::Type type_A = A->get_type(); CollisionObjectSW::Type type_B = B->get_type(); if (type_A > type_B) { SWAP(A, B); SWAP(p_subindex_A, p_subindex_B); SWAP(type_A, type_B); } SpaceSW *self = (SpaceSW *)p_self; self->collision_pairs++; if (type_A == CollisionObjectSW::TYPE_AREA) { AreaSW *area = static_cast<AreaSW *>(A); if (type_B == CollisionObjectSW::TYPE_AREA) { AreaSW *area_b = static_cast<AreaSW *>(B); Area2PairSW *area2_pair = memnew(Area2PairSW(area_b, p_subindex_B, area, p_subindex_A)); return area2_pair; } else { BodySW *body = static_cast<BodySW *>(B); AreaPairSW *area_pair = memnew(AreaPairSW(body, p_subindex_B, area, p_subindex_A)); return area_pair; } } else { BodyPairSW *b = memnew(BodyPairSW((BodySW *)A, p_subindex_A, (BodySW *)B, p_subindex_B)); return b; } return NULL; } void SpaceSW::_broadphase_unpair(CollisionObjectSW *A, int p_subindex_A, CollisionObjectSW *B, int p_subindex_B, void *p_data, void *p_self) { SpaceSW *self = (SpaceSW *)p_self; self->collision_pairs--; ConstraintSW *c = (ConstraintSW *)p_data; memdelete(c); } const SelfList<BodySW>::List &SpaceSW::get_active_body_list() const { return active_list; } void SpaceSW::body_add_to_active_list(SelfList<BodySW> *p_body) { active_list.add(p_body); } void SpaceSW::body_remove_from_active_list(SelfList<BodySW> *p_body) { active_list.remove(p_body); } void SpaceSW::body_add_to_inertia_update_list(SelfList<BodySW> *p_body) { inertia_update_list.add(p_body); } void SpaceSW::body_remove_from_inertia_update_list(SelfList<BodySW> *p_body) { inertia_update_list.remove(p_body); } BroadPhaseSW *SpaceSW::get_broadphase() { return broadphase; } void SpaceSW::add_object(CollisionObjectSW *p_object) { ERR_FAIL_COND(objects.has(p_object)); objects.insert(p_object); } void SpaceSW::remove_object(CollisionObjectSW *p_object) { ERR_FAIL_COND(!objects.has(p_object)); objects.erase(p_object); } const Set<CollisionObjectSW *> &SpaceSW::get_objects() const { return objects; } void SpaceSW::body_add_to_state_query_list(SelfList<BodySW> *p_body) { state_query_list.add(p_body); } void SpaceSW::body_remove_from_state_query_list(SelfList<BodySW> *p_body) { state_query_list.remove(p_body); } void SpaceSW::area_add_to_monitor_query_list(SelfList<AreaSW> *p_area) { monitor_query_list.add(p_area); } void SpaceSW::area_remove_from_monitor_query_list(SelfList<AreaSW> *p_area) { monitor_query_list.remove(p_area); } void SpaceSW::area_add_to_moved_list(SelfList<AreaSW> *p_area) { area_moved_list.add(p_area); } void SpaceSW::area_remove_from_moved_list(SelfList<AreaSW> *p_area) { area_moved_list.remove(p_area); } const SelfList<AreaSW>::List &SpaceSW::get_moved_area_list() const { return area_moved_list; } void SpaceSW::call_queries() { while (state_query_list.first()) { BodySW *b = state_query_list.first()->self(); b->call_queries(); state_query_list.remove(state_query_list.first()); } while (monitor_query_list.first()) { AreaSW *a = monitor_query_list.first()->self(); a->call_queries(); monitor_query_list.remove(monitor_query_list.first()); } } void SpaceSW::setup() { contact_debug_count = 0; while (inertia_update_list.first()) { inertia_update_list.first()->self()->update_inertias(); inertia_update_list.remove(inertia_update_list.first()); } } void SpaceSW::update() { broadphase->update(); } void SpaceSW::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) { switch (p_param) { case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius = p_value; break; case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation = p_value; break; case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration = p_value; break; case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: body_linear_velocity_sleep_threshold = p_value; break; case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_threshold = p_value; break; case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break; case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio = p_value; break; case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break; } } real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const { switch (p_param) { case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius; case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation; case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration; case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: return body_linear_velocity_sleep_threshold; case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: return body_angular_velocity_sleep_threshold; case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep; case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio; case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias; } return 0; } void SpaceSW::lock() { locked = true; } void SpaceSW::unlock() { locked = false; } bool SpaceSW::is_locked() const { return locked; } PhysicsDirectSpaceStateSW *SpaceSW::get_direct_state() { return direct_access; } SpaceSW::SpaceSW() { collision_pairs = 0; active_objects = 0; island_count = 0; contact_debug_count = 0; locked = false; contact_recycle_radius = 0.01; contact_max_separation = 0.05; contact_max_allowed_penetration = 0.01; constraint_bias = 0.01; body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1); body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", (8.0 / 180.0 * Math_PI)); body_time_to_sleep = GLOBAL_DEF("physics/3d/time_before_sleep", 0.5); body_angular_velocity_damp_ratio = 10; broadphase = BroadPhaseSW::create_func(); broadphase->set_pair_callback(_broadphase_pair, this); broadphase->set_unpair_callback(_broadphase_unpair, this); area = NULL; direct_access = memnew(PhysicsDirectSpaceStateSW); direct_access->space = this; for (int i = 0; i < ELAPSED_TIME_MAX; i++) elapsed_time[i] = 0; } SpaceSW::~SpaceSW() { memdelete(broadphase); memdelete(direct_access); }