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Make radius & height in CapsuleShape2D independent

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This commit is contained in:
Tomasz Chabora 2020-08-30 23:15:00 +02:00 committed by kobewi
parent c00303ff55
commit f12f5b36b5
7 changed files with 56 additions and 40 deletions
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2
doc/classes/CapsuleShape2D.xml
View file

@ -11,7 +11,7 @@
<methods>
</methods>
<members>
<member name="height" type="float" setter="set_height" getter="get_height" default="20.0">
<member name="height" type="float" setter="set_height" getter="get_height" default="30.0">
The capsule's height.
</member>
<member name="radius" type="float" setter="set_radius" getter="get_radius" default="10.0">

6
editor/plugins/collision_shape_2d_editor_plugin.cpp
View file

@ -120,7 +120,7 @@ void CollisionShape2DEditor::set_handle(int idx, Point2 &p_point) {
if (idx == 0) {
capsule->set_radius(parameter);
} else if (idx == 1) {
capsule->set_height(parameter * 2 - capsule->get_radius() * 2);
capsule->set_height(parameter * 2);
}
canvas_item_editor->update_viewport();
@ -440,8 +440,8 @@ void CollisionShape2DEditor::forward_canvas_draw_over_viewport(Control *p_overla
float radius = shape->get_radius();
float height = shape->get_height() / 2;
handles.write[0] = Point2(radius, height);
handles.write[1] = Point2(0, height + radius);
handles.write[0] = Point2(radius, 0);
handles.write[1] = Point2(0, height);
p_overlay->draw_texture(h, gt.xform(handles[0]) - size);
p_overlay->draw_texture(h, gt.xform(handles[1]) - size);

21
scene/resources/capsule_shape_2d.cpp
View file

@ -38,11 +38,11 @@ Vector<Vector2> CapsuleShape2D::_get_points() const {
Vector<Vector2> points;
const real_t turn_step = Math_TAU / 24.0;
for (int i = 0; i < 24; i++) {
Vector2 ofs = Vector2(0, (i > 6 && i <= 18) ? -get_height() * 0.5 : get_height() * 0.5);
Vector2 ofs = Vector2(0, (i > 6 && i <= 18) ? -height * 0.5 + radius : height * 0.5 - radius);
points.push_back(Vector2(Math::sin(i * turn_step), Math::cos(i * turn_step)) * get_radius() + ofs);
points.push_back(Vector2(Math::sin(i * turn_step), Math::cos(i * turn_step)) * radius + ofs);
if (i == 6 || i == 18) {
points.push_back(Vector2(Math::sin(i * turn_step), Math::cos(i * turn_step)) * get_radius() - ofs);
points.push_back(Vector2(Math::sin(i * turn_step), Math::cos(i * turn_step)) * radius - ofs);
}
}
@ -60,6 +60,9 @@ void CapsuleShape2D::_update_shape() {
void CapsuleShape2D::set_radius(real_t p_radius) {
radius = p_radius;
if (radius > height * 0.5) {
height = radius * 2;
}
_update_shape();
}
@ -69,8 +72,8 @@ real_t CapsuleShape2D::get_radius() const {
void CapsuleShape2D::set_height(real_t p_height) {
height = p_height;
if (height < 0) {
height = 0;
if (radius > height * 0.5) {
height = radius * 2;
}
_update_shape();
@ -93,15 +96,11 @@ void CapsuleShape2D::draw(const RID &p_to_rid, const Color &p_color) {
}
Rect2 CapsuleShape2D::get_rect() const {
Vector2 he = Point2(get_radius(), get_radius() + get_height() * 0.5);
Rect2 rect;
rect.position = -he;
rect.size = he * 2.0;
return rect;
return Rect2(0, 0, radius, height);
}
real_t CapsuleShape2D::get_enclosing_radius() const {
return radius + height * 0.5;
return height * 0.5;
}
void CapsuleShape2D::_bind_methods() {

2
scene/resources/capsule_shape_2d.h
View file

@ -36,7 +36,7 @@
class CapsuleShape2D : public Shape2D {
GDCLASS(CapsuleShape2D, Shape2D);
real_t height = 20.0;
real_t height = 30.0;
real_t radius = 10.0;
void _update_shape();

43
servers/physics_2d/collision_solver_2d_sat.cpp
View file

@ -560,16 +560,18 @@ static void _collision_segment_capsule(const Shape2DSW *p_a, const Transform2D &
return;
}
if (TEST_POINT(p_transform_a.xform(segment_A->get_a()), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * 0.5))) {
real_t capsule_dir = capsule_B->get_height() * 0.5 - capsule_B->get_radius();
if (TEST_POINT(p_transform_a.xform(segment_A->get_a()), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_dir))) {
return;
}
if (TEST_POINT(p_transform_a.xform(segment_A->get_a()), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * -0.5))) {
if (TEST_POINT(p_transform_a.xform(segment_A->get_a()), (p_transform_b.get_origin() - p_transform_b.elements[1] * capsule_dir))) {
return;
}
if (TEST_POINT(p_transform_a.xform(segment_A->get_b()), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * 0.5))) {
if (TEST_POINT(p_transform_a.xform(segment_A->get_b()), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_dir))) {
return;
}
if (TEST_POINT(p_transform_a.xform(segment_A->get_b()), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * -0.5))) {
if (TEST_POINT(p_transform_a.xform(segment_A->get_b()), (p_transform_b.get_origin() - p_transform_b.elements[1] * capsule_dir))) {
return;
}
@ -715,11 +717,13 @@ static void _collision_circle_capsule(const Shape2DSW *p_a, const Transform2D &p
return;
}
real_t capsule_dir = capsule_B->get_height() * 0.5 - capsule_B->get_radius();
//capsule endpoints
if (TEST_POINT(p_transform_a.get_origin(), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * 0.5))) {
if (TEST_POINT(p_transform_a.get_origin(), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_dir))) {
return;
}
if (TEST_POINT(p_transform_a.get_origin(), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * -0.5))) {
if (TEST_POINT(p_transform_a.get_origin(), (p_transform_b.get_origin() - p_transform_b.elements[1] * capsule_dir))) {
return;
}
@ -864,9 +868,11 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D
Transform2D boxinv = p_transform_a.affine_inverse();
real_t capsule_dir = capsule_B->get_height() * 0.5 - capsule_B->get_radius();
for (int i = 0; i < 2; i++) {
{
Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (i == 0 ? 0.5 : -0.5);
Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_dir;
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, capsule_endpoint))) {
return;
@ -874,7 +880,7 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D
}
if (castA) {
Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (i == 0 ? 0.5 : -0.5);
Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_dir;
capsule_endpoint -= p_motion_a;
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, capsule_endpoint))) {
@ -883,7 +889,7 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D
}
if (castB) {
Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (i == 0 ? 0.5 : -0.5);
Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_dir;
capsule_endpoint += p_motion_b;
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, capsule_endpoint))) {
@ -892,7 +898,7 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D
}
if (castA && castB) {
Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (i == 0 ? 0.5 : -0.5);
Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_dir;
capsule_endpoint -= p_motion_a;
capsule_endpoint += p_motion_b;
@ -900,6 +906,8 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D
return;
}
}
capsule_dir *= -1.0;
}
separator.generate_contacts();
@ -994,16 +1002,22 @@ static void _collision_capsule_capsule(const Shape2DSW *p_a, const Transform2D &
//capsule endpoints
real_t capsule_dir_A = capsule_A->get_height() * 0.5 - capsule_A->get_radius();
for (int i = 0; i < 2; i++) {
Vector2 capsule_endpoint_A = p_transform_a.get_origin() + p_transform_a.elements[1] * capsule_A->get_height() * (i == 0 ? 0.5 : -0.5);
Vector2 capsule_endpoint_A = p_transform_a.get_origin() + p_transform_a.elements[1] * capsule_dir_A;
real_t capsule_dir_B = capsule_B->get_height() * 0.5 - capsule_B->get_radius();
for (int j = 0; j < 2; j++) {
Vector2 capsule_endpoint_B = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (j == 0 ? 0.5 : -0.5);
Vector2 capsule_endpoint_B = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_dir_B;
if (TEST_POINT(capsule_endpoint_A, capsule_endpoint_B)) {
return;
}
capsule_dir_B *= -1.0;
}
capsule_dir_A *= -1.0;
}
separator.generate_contacts();
@ -1034,12 +1048,15 @@ static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transf
for (int i = 0; i < convex_B->get_point_count(); i++) {
Vector2 cpoint = p_transform_b.xform(convex_B->get_point(i));
real_t capsule_dir = capsule_A->get_height() * 0.5 - capsule_A->get_radius();
for (int j = 0; j < 2; j++) {
Vector2 capsule_endpoint_A = p_transform_a.get_origin() + p_transform_a.elements[1] * capsule_A->get_height() * (j == 0 ? 0.5 : -0.5);
Vector2 capsule_endpoint_A = p_transform_a.get_origin() + p_transform_a.elements[1] * capsule_dir;
if (TEST_POINT(capsule_endpoint_A, cpoint)) {
return;
}
capsule_dir *= -1.0;
}
if (!separator.test_axis(convex_B->get_xformed_segment_normal(p_transform_b, i))) {

18
servers/physics_2d/shape_2d_sw.cpp
View file

@ -343,15 +343,15 @@ void CapsuleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports
r_amount = 2;
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_supports = n;
}
@ -360,7 +360,7 @@ void CapsuleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports
bool CapsuleShape2DSW::contains_point(const Vector2 &p_point) const {
Vector2 p = p_point;
p.y = Math::abs(p.y);
p.y -= height * 0.5;
p.y -= height * 0.5 - radius;
if (p.y < 0) {
p.y = 0;
}
@ -377,7 +377,7 @@ bool CapsuleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &
for (int i = 0; i < 2; i++) {
Vector2 begin = p_begin;
Vector2 end = p_end;
real_t ofs = (i == 0) ? -height * 0.5 : height * 0.5;
real_t ofs = (i == 0) ? -height * 0.5 + radius : height * 0.5 - radius;
begin.y += ofs;
end.y += ofs;
@ -414,7 +414,7 @@ bool CapsuleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &
}
Vector2 rpos, rnorm;
if (Rect2(Point2(-radius, -height * 0.5), Size2(radius * 2.0, height)).intersects_segment(p_begin, p_end, &rpos, &rnorm)) {
if (Rect2(Point2(-radius, -height * 0.5 + radius), Size2(radius * 2.0, height - radius * 2)).intersects_segment(p_begin, p_end, &rpos, &rnorm)) {
real_t pd = n.dot(rpos);
if (pd < d) {
r_point = rpos;
@ -429,7 +429,7 @@ bool CapsuleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &
}
real_t CapsuleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
Vector2 he2 = Vector2(radius * 2, height + radius * 2) * p_scale;
Vector2 he2 = Vector2(radius * 2, height) * p_scale;
return p_mass * he2.dot(he2) / 12.0;
}
@ -447,7 +447,7 @@ void CapsuleShape2DSW::set_data(const Variant &p_data) {
height = p.y;
}
Point2 he(radius, height * 0.5 + radius);
Point2 he(radius, height * 0.5);
configure(Rect2(-he, he * 2));
}

4
servers/physics_2d/shape_2d_sw.h
View file

@ -361,10 +361,10 @@ public:
_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
// no matter the angle, the box is mirrored anyway
Vector2 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));