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/*************************************************************************/
/* shape_sw.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
/* */
/* 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 SHAPE_SW_H
#define SHAPE_SW_H
#include "servers/physics_server.h"
#include "bsp_tree.h"
#include "geometry.h"
/*
SHAPE_LINE, ///< plane:"plane"
SHAPE_SEGMENT, ///< real_t:"length"
SHAPE_CIRCLE, ///< real_t:"radius"
SHAPE_RECTANGLE, ///< vec3:"extents"
SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
SHAPE_CONCAVE_POLYGON, ///< Vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array)
SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
*/
class ShapeSW;
class ShapeOwnerSW : public RID_Data {
public:
virtual void _shape_changed()=0;
virtual void remove_shape(ShapeSW *p_shape)=0;
virtual ~ShapeOwnerSW() {}
};
class ShapeSW : public RID_Data {
RID self;
Rect3 aabb;
bool configured;
real_t custom_bias;
Map<ShapeOwnerSW*,int> owners;
protected:
void configure(const Rect3& p_aabb);
public:
enum {
MAX_SUPPORTS=8
};
virtual real_t get_area() const { return aabb.get_area();}
_FORCE_INLINE_ void set_self(const RID& p_self) { self=p_self; }
_FORCE_INLINE_ RID get_self() const {return self; }
virtual PhysicsServer::ShapeType get_type() const=0;
_FORCE_INLINE_ Rect3 get_aabb() const { return aabb; }
_FORCE_INLINE_ bool is_configured() const { return configured; }
virtual bool is_concave() const { return false; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const=0;
virtual Vector3 get_support(const Vector3& p_normal) const;
virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const=0;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_point, Vector3 &r_normal) const=0;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const=0;
virtual void set_data(const Variant& p_data)=0;
virtual Variant get_data() const=0;
_FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias=p_bias; }
_FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; }
void add_owner(ShapeOwnerSW *p_owner);
void remove_owner(ShapeOwnerSW *p_owner);
bool is_owner(ShapeOwnerSW *p_owner) const;
const Map<ShapeOwnerSW*,int>& get_owners() const;
ShapeSW();
virtual ~ShapeSW();
};
class ConcaveShapeSW : public ShapeSW {
public:
virtual bool is_concave() const { return true; }
typedef void (*Callback)(void* p_userdata,ShapeSW *p_convex);
virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const { r_amount=0; }
virtual void cull(const Rect3& p_local_aabb,Callback p_callback,void* p_userdata) const=0;
ConcaveShapeSW() {}
};
class PlaneShapeSW : public ShapeSW {
Plane plane;
void _setup(const Plane& p_plane);
public:
Plane get_plane() const;
virtual real_t get_area() const { return Math_INF; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_PLANE; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3& p_normal) const;
virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const { r_amount=0; }
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
PlaneShapeSW();
};
class RayShapeSW : public ShapeSW {
real_t length;
void _setup(real_t p_length);
public:
real_t get_length() const;
virtual real_t get_area() const { return 0.0; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_RAY; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3& p_normal) const;
virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
RayShapeSW();
};
class SphereShapeSW : public ShapeSW {
real_t radius;
void _setup(real_t p_radius);
public:
real_t get_radius() const;
virtual real_t get_area() const { return 4.0/3.0 * Math_PI * radius * radius * radius; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_SPHERE; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3& p_normal) const;
virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
SphereShapeSW();
};
class BoxShapeSW : public ShapeSW {
Vector3 half_extents;
void _setup(const Vector3& p_half_extents);
public:
_FORCE_INLINE_ Vector3 get_half_extents() const { return half_extents; }
virtual real_t get_area() const { return 8 * half_extents.x * half_extents.y * half_extents.z; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_BOX; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3& p_normal) const;
virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
BoxShapeSW();
};
class CapsuleShapeSW : public ShapeSW {
real_t height;
real_t radius;
void _setup(real_t p_height,real_t p_radius);
public:
_FORCE_INLINE_ real_t get_height() const { return height; }
_FORCE_INLINE_ real_t get_radius() const { return radius; }
virtual real_t get_area() { return 4.0/3.0 * Math_PI * radius * radius * radius + height * Math_PI * radius * radius; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CAPSULE; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3& p_normal) const;
virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
CapsuleShapeSW();
};
struct ConvexPolygonShapeSW : public ShapeSW {
Geometry::MeshData mesh;
void _setup(const Vector<Vector3>& p_vertices);
public:
const Geometry::MeshData& get_mesh() const { return mesh; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3& p_normal) const;
virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
ConvexPolygonShapeSW();
};
struct _VolumeSW_BVH;
struct FaceShapeSW;
struct ConcavePolygonShapeSW : public ConcaveShapeSW {
// always a trimesh
struct Face {
Vector3 normal;
int indices[3];
};
PoolVector<Face> faces;
PoolVector<Vector3> vertices;
struct BVH {
Rect3 aabb;
int left;
int right;
int face_index;
};
PoolVector<BVH> bvh;
struct _CullParams {
Rect3 aabb;
Callback callback;
void *userdata;
const Face *faces;
const Vector3 *vertices;
const BVH *bvh;
FaceShapeSW *face;
};
struct _SegmentCullParams {
Vector3 from;
Vector3 to;
const Face *faces;
const Vector3 *vertices;
const BVH *bvh;
Vector3 dir;
Vector3 result;
Vector3 normal;
real_t min_d;
int collisions;
};
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(PoolVector<Vector3> p_faces);
public:
PoolVector<Vector3> get_faces() const;
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3& p_normal) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual void cull(const Rect3& p_local_aabb,Callback p_callback,void* p_userdata) const;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
ConcavePolygonShapeSW();
};
struct HeightMapShapeSW : public ConcaveShapeSW {
PoolVector<real_t> heights;
int width;
int depth;
real_t cell_size;
//void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
//void _cull(int p_idx,_CullParams *p_params) const;
void _setup(PoolVector<real_t> p_heights,int p_width,int p_depth,real_t p_cell_size);
public:
PoolVector<real_t> get_heights() const;
int get_width() const;
int get_depth() const;
real_t get_cell_size() const;
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_HEIGHTMAP; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3& p_normal) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual void cull(const Rect3& p_local_aabb,Callback p_callback,void* p_userdata) const;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
HeightMapShapeSW();
};
//used internally
struct FaceShapeSW : public ShapeSW {
Vector3 normal; //cache
Vector3 vertex[3];
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }
const Vector3& get_vertex(int p_idx) const { return vertex[p_idx]; }
void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
Vector3 get_support(const Vector3& p_normal) const;
virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const;
bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
Vector3 get_moment_of_inertia(real_t p_mass) const;
virtual void set_data(const Variant& p_data) {}
virtual Variant get_data() const { return Variant(); }
FaceShapeSW();
};
struct MotionShapeSW : public ShapeSW {
ShapeSW *shape;
Vector3 motion;
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }
void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
Vector3 cast = p_transform.basis.xform(motion);
real_t mina,maxa;
real_t minb,maxb;
Transform ofsb = p_transform;
ofsb.origin+=cast;
shape->project_range(p_normal,p_transform,mina,maxa);
shape->project_range(p_normal,ofsb,minb,maxb);
r_min=MIN(mina,minb);
r_max=MAX(maxa,maxb);
}
Vector3 get_support(const Vector3& p_normal) const {
Vector3 support = shape->get_support(p_normal);
if (p_normal.dot(motion)>0) {
support+=motion;
}
return support;
}
virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const { r_amount=0; }
bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const { return false; }
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(); }
MotionShapeSW() { configure(Rect3()); }
};
struct _ShapeTestConvexBSPSW {
const BSP_Tree *bsp;
const ShapeSW *shape;
Transform transform;
_FORCE_INLINE_ void project_range(const Vector3& p_normal, real_t& r_min, real_t& r_max) const {
shape->project_range(p_normal,transform,r_min,r_max);
}
};
#endif // SHAPESW_H
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