1a2cb755e2
-=-=-=-=-=-=-=-=-=-=-=-=-= -New Vehicle (Based on Bullet's RaycastVehicle) - Vehiclebody/VehicleWheel. Demo will come soon, old vehicle (CarBody) will go away soon too. -A lot of fixes to the 3D physics engine -Added KinematicBody with demo -Fixed the space query API for 2D (demo will come soon). 3D is WIP. -Fixed long-standing bug with body_enter/body_exit for Area and Area2D -Performance variables now includes physics (active bodies, collision pairs and islands) -Ability to see what's inside of instanced scenes! -Fixed Blend Shapes (no bs+skeleton yet) -Added an Android JavaClassWrapper singleton for using Android native classes directly from GDScript. This is very Alpha!
1671 lines
33 KiB
C++
1671 lines
33 KiB
C++
/*************************************************************************/
|
|
/* shape_sw.cpp */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* http://www.godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2014 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. */
|
|
/*************************************************************************/
|
|
#include "shape_sw.h"
|
|
#include "geometry.h"
|
|
#include "sort.h"
|
|
#include "quick_hull.h"
|
|
#define _POINT_SNAP 0.001953125
|
|
#define _EDGE_IS_VALID_SUPPORT_TRESHOLD 0.0002
|
|
#define _FACE_IS_VALID_SUPPORT_TRESHOLD 0.9998
|
|
|
|
|
|
void ShapeSW::configure(const AABB& p_aabb) {
|
|
aabb=p_aabb;
|
|
configured=true;
|
|
for (Map<ShapeOwnerSW*,int>::Element *E=owners.front();E;E=E->next()) {
|
|
ShapeOwnerSW* co=(ShapeOwnerSW*)E->key();
|
|
co->_shape_changed();
|
|
}
|
|
}
|
|
|
|
|
|
Vector3 ShapeSW::get_support(const Vector3& p_normal) const {
|
|
|
|
Vector3 res;
|
|
int amnt;
|
|
get_supports(p_normal,1,&res,amnt);
|
|
return res;
|
|
}
|
|
|
|
void ShapeSW::add_owner(ShapeOwnerSW *p_owner) {
|
|
|
|
Map<ShapeOwnerSW*,int>::Element *E=owners.find(p_owner);
|
|
if (E) {
|
|
E->get()++;
|
|
} else {
|
|
owners[p_owner]=1;
|
|
}
|
|
}
|
|
|
|
void ShapeSW::remove_owner(ShapeOwnerSW *p_owner){
|
|
|
|
Map<ShapeOwnerSW*,int>::Element *E=owners.find(p_owner);
|
|
ERR_FAIL_COND(!E);
|
|
E->get()--;
|
|
if (E->get()==0) {
|
|
owners.erase(E);
|
|
}
|
|
|
|
}
|
|
|
|
bool ShapeSW::is_owner(ShapeOwnerSW *p_owner) const{
|
|
|
|
return owners.has(p_owner);
|
|
|
|
}
|
|
|
|
const Map<ShapeOwnerSW*,int>& ShapeSW::get_owners() const{
|
|
return owners;
|
|
}
|
|
|
|
|
|
ShapeSW::ShapeSW() {
|
|
|
|
custom_bias=0;
|
|
configured=false;
|
|
}
|
|
|
|
|
|
ShapeSW::~ShapeSW() {
|
|
|
|
ERR_FAIL_COND(owners.size());
|
|
}
|
|
|
|
|
|
|
|
Plane PlaneShapeSW::get_plane() const {
|
|
|
|
return plane;
|
|
}
|
|
|
|
void PlaneShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
|
|
|
|
// gibberish, a plane is infinity
|
|
r_min=-1e7;
|
|
r_max=1e7;
|
|
}
|
|
|
|
Vector3 PlaneShapeSW::get_support(const Vector3& p_normal) const {
|
|
|
|
return p_normal*1e15;
|
|
}
|
|
|
|
|
|
bool PlaneShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
|
|
|
|
bool inters=plane.intersects_segment(p_begin,p_end,&r_result);
|
|
if(inters)
|
|
r_normal=plane.normal;
|
|
return inters;
|
|
}
|
|
|
|
Vector3 PlaneShapeSW::get_moment_of_inertia(float p_mass) const {
|
|
|
|
return Vector3(); //wtf
|
|
}
|
|
|
|
void PlaneShapeSW::_setup(const Plane& p_plane) {
|
|
|
|
plane=p_plane;
|
|
configure(AABB(Vector3(-1e4,-1e4,-1e4),Vector3(1e4*2,1e4*2,1e4*2)));
|
|
}
|
|
|
|
void PlaneShapeSW::set_data(const Variant& p_data) {
|
|
|
|
_setup(p_data);
|
|
|
|
}
|
|
|
|
Variant PlaneShapeSW::get_data() const {
|
|
|
|
return plane;
|
|
}
|
|
|
|
PlaneShapeSW::PlaneShapeSW() {
|
|
|
|
|
|
}
|
|
|
|
//
|
|
|
|
float RayShapeSW::get_length() const {
|
|
|
|
return length;
|
|
}
|
|
|
|
void RayShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
|
|
|
|
// don't think this will be even used
|
|
r_min=0;
|
|
r_max=1;
|
|
}
|
|
|
|
Vector3 RayShapeSW::get_support(const Vector3& p_normal) const {
|
|
|
|
if (p_normal.z>0)
|
|
return Vector3(0,0,length);
|
|
else
|
|
return Vector3(0,0,0);
|
|
}
|
|
|
|
void RayShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
|
|
|
|
if (Math::abs(p_normal.z) < _EDGE_IS_VALID_SUPPORT_TRESHOLD) {
|
|
|
|
r_amount=2;
|
|
r_supports[0]=Vector3(0,0,0);
|
|
r_supports[1]=Vector3(0,0,length);
|
|
} if (p_normal.z>0) {
|
|
r_amount=1;
|
|
*r_supports=Vector3(0,0,length);
|
|
} else {
|
|
r_amount=1;
|
|
*r_supports=Vector3(0,0,0);
|
|
}
|
|
}
|
|
|
|
|
|
bool RayShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
|
|
|
|
return false; //simply not possible
|
|
}
|
|
|
|
Vector3 RayShapeSW::get_moment_of_inertia(float p_mass) const {
|
|
|
|
return Vector3();
|
|
}
|
|
|
|
void RayShapeSW::_setup(float p_length) {
|
|
|
|
length=p_length;
|
|
configure(AABB(Vector3(0,0,0),Vector3(0.1,0.1,length)));
|
|
}
|
|
|
|
void RayShapeSW::set_data(const Variant& p_data) {
|
|
|
|
_setup(p_data);
|
|
|
|
}
|
|
|
|
Variant RayShapeSW::get_data() const {
|
|
|
|
return length;
|
|
}
|
|
|
|
RayShapeSW::RayShapeSW() {
|
|
|
|
length=1;
|
|
}
|
|
|
|
|
|
|
|
/********** SPHERE *************/
|
|
|
|
real_t SphereShapeSW::get_radius() const {
|
|
|
|
return radius;
|
|
}
|
|
|
|
void SphereShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
|
|
|
|
float d = p_normal.dot( p_transform.origin );
|
|
|
|
// figure out scale at point
|
|
Vector3 local_normal = p_transform.basis.xform_inv(p_normal);
|
|
float scale = local_normal.length();
|
|
|
|
r_min = d - (radius) * scale;
|
|
r_max = d + (radius) * scale;
|
|
|
|
}
|
|
|
|
Vector3 SphereShapeSW::get_support(const Vector3& p_normal) const {
|
|
|
|
return p_normal*radius;
|
|
}
|
|
|
|
void SphereShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
|
|
|
|
*r_supports=p_normal*radius;
|
|
r_amount=1;
|
|
}
|
|
|
|
bool SphereShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
|
|
|
|
return Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(),radius,&r_result,&r_normal);
|
|
}
|
|
|
|
Vector3 SphereShapeSW::get_moment_of_inertia(float p_mass) const {
|
|
|
|
float s = 0.4 * p_mass * radius * radius;
|
|
return Vector3(s,s,s);
|
|
}
|
|
|
|
void SphereShapeSW::_setup(real_t p_radius) {
|
|
|
|
|
|
radius=p_radius;
|
|
configure(AABB( Vector3(-radius,-radius,-radius), Vector3(radius*2.0,radius*2.0,radius*2.0)));
|
|
|
|
}
|
|
|
|
void SphereShapeSW::set_data(const Variant& p_data) {
|
|
|
|
_setup(p_data);
|
|
}
|
|
|
|
Variant SphereShapeSW::get_data() const {
|
|
|
|
return radius;
|
|
}
|
|
|
|
SphereShapeSW::SphereShapeSW() {
|
|
|
|
radius=0;
|
|
}
|
|
|
|
|
|
/********** BOX *************/
|
|
|
|
|
|
void BoxShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
|
|
|
|
// no matter the angle, the box is mirrored anyway
|
|
Vector3 local_normal=p_transform.basis.xform_inv(p_normal);
|
|
|
|
float length = local_normal.abs().dot(half_extents);
|
|
float distance = p_normal.dot( p_transform.origin );
|
|
|
|
r_min = distance - length;
|
|
r_max = distance + length;
|
|
|
|
|
|
}
|
|
|
|
Vector3 BoxShapeSW::get_support(const Vector3& p_normal) const {
|
|
|
|
|
|
Vector3 point(
|
|
(p_normal.x<0) ? -half_extents.x : half_extents.x,
|
|
(p_normal.y<0) ? -half_extents.y : half_extents.y,
|
|
(p_normal.z<0) ? -half_extents.z : half_extents.z
|
|
);
|
|
|
|
return point;
|
|
}
|
|
|
|
void BoxShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
|
|
|
|
static const int next[3]={1,2,0};
|
|
static const int next2[3]={2,0,1};
|
|
|
|
for (int i=0;i<3;i++) {
|
|
|
|
Vector3 axis;
|
|
axis[i]=1.0;
|
|
float dot = p_normal.dot( axis );
|
|
if ( Math::abs( dot ) > _FACE_IS_VALID_SUPPORT_TRESHOLD ) {
|
|
|
|
//Vector3 axis_b;
|
|
|
|
bool neg = dot<0;
|
|
r_amount = 4;
|
|
|
|
Vector3 point;
|
|
point[i]=half_extents[i];
|
|
|
|
int i_n=next[i];
|
|
int i_n2=next2[i];
|
|
|
|
static const float sign[4][2]={
|
|
|
|
{-1.0, 1.0},
|
|
{ 1.0, 1.0},
|
|
{ 1.0,-1.0},
|
|
{-1.0,-1.0},
|
|
};
|
|
|
|
for (int j=0;j<4;j++) {
|
|
|
|
point[i_n]=sign[j][0]*half_extents[i_n];
|
|
point[i_n2]=sign[j][1]*half_extents[i_n2];
|
|
r_supports[j]=neg?-point:point;
|
|
|
|
}
|
|
|
|
if (neg) {
|
|
SWAP( r_supports[1], r_supports[2] );
|
|
SWAP( r_supports[0], r_supports[3] );
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
r_amount=0;
|
|
|
|
}
|
|
|
|
for (int i=0;i<3;i++) {
|
|
|
|
Vector3 axis;
|
|
axis[i]=1.0;
|
|
|
|
if (Math::abs(p_normal.dot(axis))<_EDGE_IS_VALID_SUPPORT_TRESHOLD) {
|
|
|
|
r_amount= 2;
|
|
|
|
int i_n=next[i];
|
|
int i_n2=next2[i];
|
|
|
|
Vector3 point=half_extents;
|
|
|
|
if (p_normal[i_n]<0) {
|
|
point[i_n]=-point[i_n];
|
|
}
|
|
if (p_normal[i_n2]<0) {
|
|
point[i_n2]=-point[i_n2];
|
|
}
|
|
|
|
r_supports[0] = point;
|
|
point[i]=-point[i];
|
|
r_supports[1] = point;
|
|
return;
|
|
}
|
|
}
|
|
/* USE POINT */
|
|
|
|
Vector3 point(
|
|
(p_normal.x<0) ? -half_extents.x : half_extents.x,
|
|
(p_normal.y<0) ? -half_extents.y : half_extents.y,
|
|
(p_normal.z<0) ? -half_extents.z : half_extents.z
|
|
);
|
|
|
|
r_amount=1;
|
|
r_supports[0]=point;
|
|
}
|
|
|
|
bool BoxShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
|
|
|
|
AABB aabb(-half_extents,half_extents*2.0);
|
|
|
|
return aabb.intersects_segment(p_begin,p_end,&r_result,&r_normal);
|
|
|
|
}
|
|
|
|
Vector3 BoxShapeSW::get_moment_of_inertia(float p_mass) const {
|
|
|
|
float lx=half_extents.x;
|
|
float ly=half_extents.y;
|
|
float lz=half_extents.z;
|
|
|
|
return Vector3( (p_mass/3.0) * (ly*ly + lz*lz), (p_mass/3.0) * (lx*lx + lz*lz), (p_mass/3.0) * (lx*lx + ly*ly) );
|
|
|
|
}
|
|
|
|
void BoxShapeSW::_setup(const Vector3& p_half_extents) {
|
|
|
|
half_extents=p_half_extents.abs();
|
|
|
|
configure(AABB(-half_extents,half_extents*2));
|
|
|
|
|
|
}
|
|
|
|
void BoxShapeSW::set_data(const Variant& p_data) {
|
|
|
|
|
|
_setup(p_data);
|
|
}
|
|
|
|
Variant BoxShapeSW::get_data() const {
|
|
|
|
return half_extents;
|
|
}
|
|
|
|
BoxShapeSW::BoxShapeSW() {
|
|
|
|
|
|
}
|
|
|
|
|
|
/********** CAPSULE *************/
|
|
|
|
|
|
void CapsuleShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
|
|
|
|
Vector3 n=p_transform.basis.xform_inv(p_normal).normalized();
|
|
float h = (n.z > 0) ? height : -height;
|
|
|
|
n *= radius;
|
|
n.z += h * 0.5;
|
|
|
|
r_max=p_normal.dot(p_transform.xform(n));
|
|
r_min=p_normal.dot(p_transform.xform(-n));
|
|
return;
|
|
|
|
n = p_transform.basis.xform(n);
|
|
|
|
float distance = p_normal.dot( p_transform.origin );
|
|
float length = Math::abs(p_normal.dot(n));
|
|
r_min = distance - length;
|
|
r_max = distance + length;
|
|
|
|
ERR_FAIL_COND( r_max < r_min );
|
|
|
|
}
|
|
|
|
Vector3 CapsuleShapeSW::get_support(const Vector3& p_normal) const {
|
|
|
|
Vector3 n=p_normal;
|
|
|
|
float h = (n.z > 0) ? height : -height;
|
|
|
|
n*=radius;
|
|
n.z += h*0.5;
|
|
return n;
|
|
}
|
|
|
|
void CapsuleShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
|
|
|
|
|
|
Vector3 n=p_normal;
|
|
|
|
float d = n.z;
|
|
|
|
if (Math::abs( d )<_EDGE_IS_VALID_SUPPORT_TRESHOLD ) {
|
|
|
|
// make it flat
|
|
n.z=0.0;
|
|
n.normalize();
|
|
n*=radius;
|
|
|
|
r_amount=2;
|
|
r_supports[0]=n;
|
|
r_supports[0].z+=height*0.5;
|
|
r_supports[1]=n;
|
|
r_supports[1].z-=height*0.5;
|
|
|
|
} else {
|
|
|
|
float h = (d > 0) ? height : -height;
|
|
|
|
n*=radius;
|
|
n.z += h*0.5;
|
|
r_amount=1;
|
|
*r_supports=n;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
bool CapsuleShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
|
|
|
|
Vector3 norm=(p_end-p_begin).normalized();
|
|
float min_d=1e20;
|
|
|
|
|
|
Vector3 res,n;
|
|
bool collision=false;
|
|
|
|
Vector3 auxres,auxn;
|
|
bool collided;
|
|
|
|
// test against cylinder and spheres :-|
|
|
|
|
collided = Geometry::segment_intersects_cylinder(p_begin,p_end,height,radius,&auxres,&auxn);
|
|
|
|
if (collided) {
|
|
float d=norm.dot(auxres);
|
|
if (d<min_d) {
|
|
min_d=d;
|
|
res=auxres;
|
|
n=auxn;
|
|
collision=true;
|
|
}
|
|
}
|
|
|
|
collided = Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(0,0,height*0.5),radius,&auxres,&auxn);
|
|
|
|
if (collided) {
|
|
float d=norm.dot(auxres);
|
|
if (d<min_d) {
|
|
min_d=d;
|
|
res=auxres;
|
|
n=auxn;
|
|
collision=true;
|
|
}
|
|
}
|
|
|
|
collided = Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(0,0,height*-0.5),radius,&auxres,&auxn);
|
|
|
|
if (collided) {
|
|
float d=norm.dot(auxres);
|
|
|
|
if (d<min_d) {
|
|
min_d=d;
|
|
res=auxres;
|
|
n=auxn;
|
|
collision=true;
|
|
}
|
|
}
|
|
|
|
if (collision) {
|
|
|
|
r_result=res;
|
|
r_normal=n;
|
|
}
|
|
return collision;
|
|
}
|
|
|
|
Vector3 CapsuleShapeSW::get_moment_of_inertia(float p_mass) const {
|
|
|
|
// use crappy AABB approximation
|
|
Vector3 extents=get_aabb().size*0.5;
|
|
|
|
return Vector3(
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
|
|
);
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void CapsuleShapeSW::_setup(real_t p_height,real_t p_radius) {
|
|
|
|
height=p_height;
|
|
radius=p_radius;
|
|
configure(AABB(Vector3(-radius,-radius,-height*0.5-radius),Vector3(radius*2,radius*2,height+radius*2.0)));
|
|
|
|
}
|
|
|
|
void CapsuleShapeSW::set_data(const Variant& p_data) {
|
|
|
|
Dictionary d = p_data;
|
|
ERR_FAIL_COND(!d.has("radius"));
|
|
ERR_FAIL_COND(!d.has("height"));
|
|
_setup(d["height"],d["radius"]);
|
|
|
|
}
|
|
|
|
Variant CapsuleShapeSW::get_data() const {
|
|
|
|
Dictionary d;
|
|
d["radius"]=radius;
|
|
d["height"]=height;
|
|
return d;
|
|
|
|
}
|
|
|
|
|
|
CapsuleShapeSW::CapsuleShapeSW() {
|
|
|
|
height=radius=0;
|
|
|
|
}
|
|
|
|
/********** CONVEX POLYGON *************/
|
|
|
|
|
|
void ConvexPolygonShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
|
|
|
|
|
|
int vertex_count=mesh.vertices.size();
|
|
if (vertex_count==0)
|
|
return;
|
|
|
|
const Vector3 *vrts=&mesh.vertices[0];
|
|
|
|
for (int i=0;i<vertex_count;i++) {
|
|
|
|
float d=p_normal.dot( p_transform.xform( vrts[i] ) );
|
|
|
|
if (i==0 || d > r_max)
|
|
r_max=d;
|
|
if (i==0 || d < r_min)
|
|
r_min=d;
|
|
}
|
|
}
|
|
|
|
Vector3 ConvexPolygonShapeSW::get_support(const Vector3& p_normal) const {
|
|
|
|
Vector3 n=p_normal;
|
|
|
|
int vert_support_idx=-1;
|
|
float support_max;
|
|
|
|
int vertex_count=mesh.vertices.size();
|
|
if (vertex_count==0)
|
|
return Vector3();
|
|
|
|
const Vector3 *vrts=&mesh.vertices[0];
|
|
|
|
for (int i=0;i<vertex_count;i++) {
|
|
|
|
float d=n.dot(vrts[i]);
|
|
|
|
if (i==0 || d > support_max) {
|
|
support_max=d;
|
|
vert_support_idx=i;
|
|
}
|
|
}
|
|
|
|
return vrts[vert_support_idx];
|
|
|
|
}
|
|
|
|
|
|
|
|
void ConvexPolygonShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
|
|
|
|
const Geometry::MeshData::Face *faces = mesh.faces.ptr();
|
|
int fc = mesh.faces.size();
|
|
|
|
const Geometry::MeshData::Edge *edges = mesh.edges.ptr();
|
|
int ec = mesh.edges.size();
|
|
|
|
const Vector3 *vertices = mesh.vertices.ptr();
|
|
int vc = mesh.vertices.size();
|
|
|
|
//find vertex first
|
|
real_t max;
|
|
int vtx;
|
|
|
|
for (int i=0;i<vc;i++) {
|
|
|
|
float d=p_normal.dot(vertices[i]);
|
|
|
|
if (i==0 || d > max) {
|
|
max=d;
|
|
vtx=i;
|
|
}
|
|
}
|
|
|
|
|
|
for(int i=0;i<fc;i++) {
|
|
|
|
if (faces[i].plane.normal.dot(p_normal)>_FACE_IS_VALID_SUPPORT_TRESHOLD) {
|
|
|
|
int ic = faces[i].indices.size();
|
|
const int *ind=faces[i].indices.ptr();
|
|
|
|
bool valid=false;
|
|
for(int j=0;j<ic;j++) {
|
|
if (ind[j]==vtx) {
|
|
valid=true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (!valid)
|
|
continue;
|
|
|
|
int m = MIN(p_max,ic);
|
|
for(int j=0;j<m;j++) {
|
|
|
|
r_supports[j]=vertices[ind[j]];
|
|
}
|
|
r_amount=m;
|
|
return;
|
|
}
|
|
}
|
|
|
|
for(int i=0;i<ec;i++) {
|
|
|
|
|
|
float dot=(vertices[edges[i].a]-vertices[edges[i].b]).normalized().dot(p_normal);
|
|
dot=ABS(dot);
|
|
if (dot < _EDGE_IS_VALID_SUPPORT_TRESHOLD && (edges[i].a==vtx || edges[i].b==vtx)) {
|
|
|
|
r_amount=2;
|
|
r_supports[0]=vertices[edges[i].a];
|
|
r_supports[1]=vertices[edges[i].b];
|
|
return;
|
|
}
|
|
}
|
|
|
|
|
|
r_supports[0]=vertices[vtx];
|
|
r_amount=1;
|
|
}
|
|
|
|
bool ConvexPolygonShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
|
|
|
|
|
|
|
|
const Geometry::MeshData::Face *faces = mesh.faces.ptr();
|
|
int fc = mesh.faces.size();
|
|
|
|
const Vector3 *vertices = mesh.vertices.ptr();
|
|
int vc = mesh.vertices.size();
|
|
|
|
Vector3 n = p_end-p_begin;
|
|
float min = 1e20;
|
|
bool col=false;
|
|
|
|
for(int i=0;i<fc;i++) {
|
|
|
|
if (faces[i].plane.normal.dot(n) > 0)
|
|
continue; //opposing face
|
|
|
|
int ic = faces[i].indices.size();
|
|
const int *ind=faces[i].indices.ptr();
|
|
|
|
for(int j=1;j<ic-1;j++) {
|
|
|
|
Face3 f(vertices[ind[0]],vertices[ind[j]],vertices[ind[j+1]]);
|
|
Vector3 result;
|
|
if (f.intersects_segment(p_begin,p_end,&result)) {
|
|
float d = n.dot(result);
|
|
if (d<min) {
|
|
min=d;
|
|
r_result=result;
|
|
r_normal=faces[i].plane.normal;
|
|
col=true;
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
return col;
|
|
|
|
}
|
|
|
|
Vector3 ConvexPolygonShapeSW::get_moment_of_inertia(float p_mass) const {
|
|
|
|
// use crappy AABB approximation
|
|
Vector3 extents=get_aabb().size*0.5;
|
|
|
|
return Vector3(
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
|
|
);
|
|
|
|
}
|
|
|
|
void ConvexPolygonShapeSW::_setup(const Vector<Vector3>& p_vertices) {
|
|
|
|
Error err = QuickHull::build(p_vertices,mesh);
|
|
AABB _aabb;
|
|
|
|
for(int i=0;i<mesh.vertices.size();i++) {
|
|
|
|
if (i==0)
|
|
_aabb.pos=mesh.vertices[i];
|
|
else
|
|
_aabb.expand_to(mesh.vertices[i]);
|
|
}
|
|
|
|
configure(_aabb);
|
|
|
|
|
|
}
|
|
|
|
void ConvexPolygonShapeSW::set_data(const Variant& p_data) {
|
|
|
|
_setup(p_data);
|
|
|
|
}
|
|
|
|
Variant ConvexPolygonShapeSW::get_data() const {
|
|
|
|
return mesh.vertices;
|
|
}
|
|
|
|
|
|
ConvexPolygonShapeSW::ConvexPolygonShapeSW() {
|
|
|
|
|
|
}
|
|
|
|
|
|
/********** FACE POLYGON *************/
|
|
|
|
|
|
void FaceShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
|
|
|
|
for (int i=0;i<3;i++) {
|
|
|
|
Vector3 v=p_transform.xform(vertex[i]);
|
|
float d=p_normal.dot(v);
|
|
|
|
if (i==0 || d > r_max)
|
|
r_max=d;
|
|
|
|
if (i==0 || d < r_min)
|
|
r_min=d;
|
|
}
|
|
}
|
|
|
|
Vector3 FaceShapeSW::get_support(const Vector3& p_normal) const {
|
|
|
|
|
|
Vector3 n=p_normal;
|
|
|
|
int vert_support_idx=-1;
|
|
float support_max;
|
|
|
|
for (int i=0;i<3;i++) {
|
|
|
|
//float d=n.dot(vertex[i]);
|
|
float d=p_normal.dot(vertex[i]);
|
|
|
|
if (i==0 || d > support_max) {
|
|
support_max=d;
|
|
vert_support_idx=i;
|
|
}
|
|
}
|
|
|
|
return vertex[vert_support_idx];
|
|
}
|
|
|
|
void FaceShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
|
|
|
|
Vector3 n=p_normal;
|
|
|
|
/** TEST FACE AS SUPPORT **/
|
|
if (normal.dot(n) > _FACE_IS_VALID_SUPPORT_TRESHOLD) {
|
|
|
|
r_amount=3;
|
|
for (int i=0;i<3;i++) {
|
|
|
|
r_supports[i]=vertex[i];
|
|
}
|
|
return;
|
|
|
|
}
|
|
|
|
/** FIND SUPPORT VERTEX **/
|
|
|
|
int vert_support_idx=-1;
|
|
float support_max;
|
|
|
|
for (int i=0;i<3;i++) {
|
|
|
|
float d=n.dot(vertex[i]);
|
|
|
|
if (i==0 || d > support_max) {
|
|
support_max=d;
|
|
vert_support_idx=i;
|
|
}
|
|
}
|
|
|
|
/** TEST EDGES AS SUPPORT **/
|
|
|
|
for (int i=0;i<3;i++) {
|
|
|
|
int nx=(i+1)%3;
|
|
if (i!=vert_support_idx && nx!=vert_support_idx)
|
|
continue;
|
|
|
|
// check if edge is valid as a support
|
|
float dot=(vertex[i]-vertex[nx]).normalized().dot(n);
|
|
dot=ABS(dot);
|
|
if (dot < _EDGE_IS_VALID_SUPPORT_TRESHOLD) {
|
|
|
|
r_amount=2;
|
|
r_supports[0]=vertex[i];
|
|
r_supports[1]=vertex[nx];
|
|
return;
|
|
}
|
|
}
|
|
|
|
r_amount=1;
|
|
r_supports[0]=vertex[vert_support_idx];
|
|
}
|
|
|
|
bool FaceShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
|
|
|
|
|
|
bool c=Geometry::segment_intersects_triangle(p_begin,p_end,vertex[0],vertex[1],vertex[2],&r_result);
|
|
if (c) {
|
|
r_normal=Plane(vertex[0],vertex[1],vertex[2]).normal;
|
|
if (r_normal.dot(p_end-p_begin)>0) {
|
|
r_normal=-r_normal;
|
|
}
|
|
}
|
|
|
|
return c;
|
|
}
|
|
|
|
Vector3 FaceShapeSW::get_moment_of_inertia(float p_mass) const {
|
|
|
|
return Vector3(); // Sorry, but i don't think anyone cares, FaceShape!
|
|
|
|
}
|
|
|
|
FaceShapeSW::FaceShapeSW() {
|
|
|
|
configure(AABB());
|
|
|
|
}
|
|
|
|
|
|
|
|
DVector<Vector3> ConcavePolygonShapeSW::get_faces() const {
|
|
|
|
|
|
DVector<Vector3> rfaces;
|
|
rfaces.resize(faces.size()*3);
|
|
|
|
for(int i=0;i<faces.size();i++) {
|
|
|
|
Face f=faces.get(i);
|
|
|
|
for(int j=0;j<3;j++) {
|
|
|
|
rfaces.set(i*3+j, vertices.get( f.indices[j] ) );
|
|
}
|
|
}
|
|
|
|
return rfaces;
|
|
}
|
|
|
|
void ConcavePolygonShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
|
|
|
|
int count=vertices.size();
|
|
DVector<Vector3>::Read r=vertices.read();
|
|
const Vector3 *vptr=r.ptr();
|
|
|
|
for (int i=0;i<count;i++) {
|
|
|
|
float d=p_normal.dot( p_transform.xform( vptr[i] ) );
|
|
|
|
if (i==0 || d > r_max)
|
|
r_max=d;
|
|
if (i==0 || d < r_min)
|
|
r_min=d;
|
|
|
|
}
|
|
}
|
|
|
|
Vector3 ConcavePolygonShapeSW::get_support(const Vector3& p_normal) const {
|
|
|
|
|
|
int count=vertices.size();
|
|
DVector<Vector3>::Read r=vertices.read();
|
|
const Vector3 *vptr=r.ptr();
|
|
|
|
Vector3 n=p_normal;
|
|
|
|
int vert_support_idx=-1;
|
|
float support_max;
|
|
|
|
for (int i=0;i<count;i++) {
|
|
|
|
float d=n.dot(vptr[i]);
|
|
|
|
if (i==0 || d > support_max) {
|
|
support_max=d;
|
|
vert_support_idx=i;
|
|
}
|
|
}
|
|
|
|
|
|
return vptr[vert_support_idx];
|
|
|
|
}
|
|
|
|
void ConcavePolygonShapeSW::_cull_segment(int p_idx,_SegmentCullParams *p_params) const {
|
|
|
|
const BVH *bvh=&p_params->bvh[p_idx];
|
|
|
|
|
|
//if (p_params->dir.dot(bvh->aabb.get_support(-p_params->dir))>p_params->min_d)
|
|
// return; //test against whole AABB, which isn't very costly
|
|
|
|
|
|
//printf("addr: %p\n",bvh);
|
|
if (!bvh->aabb.intersects_segment(p_params->from,p_params->to)) {
|
|
|
|
return;
|
|
}
|
|
|
|
|
|
if (bvh->face_index>=0) {
|
|
|
|
|
|
Vector3 res;
|
|
Vector3 vertices[3]={
|
|
p_params->vertices[ p_params->faces[ bvh->face_index ].indices[0] ],
|
|
p_params->vertices[ p_params->faces[ bvh->face_index ].indices[1] ],
|
|
p_params->vertices[ p_params->faces[ bvh->face_index ].indices[2] ]
|
|
};
|
|
|
|
if (Geometry::segment_intersects_triangle(
|
|
p_params->from,
|
|
p_params->to,
|
|
vertices[0],
|
|
vertices[1],
|
|
vertices[2],
|
|
&res)) {
|
|
|
|
|
|
float d=p_params->dir.dot(res) - p_params->dir.dot(p_params->from);
|
|
//TODO, seems segmen/triangle intersection is broken :(
|
|
if (d>0 && d<p_params->min_d) {
|
|
|
|
p_params->min_d=d;
|
|
p_params->result=res;
|
|
p_params->normal=Plane(vertices[0],vertices[1],vertices[2]).normal;
|
|
if (p_params->normal.dot(p_params->dir)>0)
|
|
p_params->normal=-p_params->normal;
|
|
p_params->collisions++;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
} else {
|
|
|
|
if (bvh->left>=0)
|
|
_cull_segment(bvh->left,p_params);
|
|
if (bvh->right>=0)
|
|
_cull_segment(bvh->right,p_params);
|
|
|
|
|
|
}
|
|
}
|
|
|
|
bool ConcavePolygonShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
|
|
|
|
// unlock data
|
|
DVector<Face>::Read fr=faces.read();
|
|
DVector<Vector3>::Read vr=vertices.read();
|
|
DVector<BVH>::Read br=bvh.read();
|
|
|
|
|
|
_SegmentCullParams params;
|
|
params.from=p_begin;
|
|
params.to=p_end;
|
|
params.collisions=0;
|
|
params.dir=(p_end-p_begin).normalized();
|
|
|
|
params.faces=fr.ptr();
|
|
params.vertices=vr.ptr();
|
|
params.bvh=br.ptr();
|
|
|
|
params.min_d=1e20;
|
|
// cull
|
|
_cull_segment(0,¶ms);
|
|
|
|
if (params.collisions>0) {
|
|
|
|
|
|
r_result=params.result;
|
|
r_normal=params.normal;
|
|
return true;
|
|
} else {
|
|
|
|
return false;
|
|
}
|
|
}
|
|
|
|
void ConcavePolygonShapeSW::_cull(int p_idx,_CullParams *p_params) const {
|
|
|
|
const BVH* bvh=&p_params->bvh[p_idx];
|
|
|
|
if (!p_params->aabb.intersects( bvh->aabb ))
|
|
return;
|
|
|
|
if (bvh->face_index>=0) {
|
|
|
|
const Face *f=&p_params->faces[ bvh->face_index ];
|
|
FaceShapeSW *face=p_params->face;
|
|
face->normal=f->normal;
|
|
face->vertex[0]=p_params->vertices[f->indices[0]];
|
|
face->vertex[1]=p_params->vertices[f->indices[1]];
|
|
face->vertex[2]=p_params->vertices[f->indices[2]];
|
|
p_params->callback(p_params->userdata,face);
|
|
|
|
} else {
|
|
|
|
if (bvh->left>=0) {
|
|
|
|
_cull(bvh->left,p_params);
|
|
|
|
}
|
|
|
|
if (bvh->right>=0) {
|
|
|
|
_cull(bvh->right,p_params);
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
void ConcavePolygonShapeSW::cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const {
|
|
|
|
// make matrix local to concave
|
|
|
|
AABB local_aabb=p_local_aabb;
|
|
|
|
// unlock data
|
|
DVector<Face>::Read fr=faces.read();
|
|
DVector<Vector3>::Read vr=vertices.read();
|
|
DVector<BVH>::Read br=bvh.read();
|
|
|
|
FaceShapeSW face; // use this to send in the callback
|
|
|
|
_CullParams params;
|
|
params.aabb=local_aabb;
|
|
params.face=&face;
|
|
params.faces=fr.ptr();
|
|
params.vertices=vr.ptr();
|
|
params.bvh=br.ptr();
|
|
params.callback=p_callback;
|
|
params.userdata=p_userdata;
|
|
|
|
// cull
|
|
_cull(0,¶ms);
|
|
|
|
}
|
|
|
|
Vector3 ConcavePolygonShapeSW::get_moment_of_inertia(float p_mass) const {
|
|
|
|
// use crappy AABB approximation
|
|
Vector3 extents=get_aabb().size*0.5;
|
|
|
|
return Vector3(
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
|
|
);
|
|
}
|
|
|
|
|
|
struct _VolumeSW_BVH_Element {
|
|
|
|
AABB aabb;
|
|
Vector3 center;
|
|
int face_index;
|
|
};
|
|
|
|
struct _VolumeSW_BVH_CompareX {
|
|
|
|
_FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {
|
|
|
|
return a.center.x<b.center.x;
|
|
}
|
|
};
|
|
|
|
|
|
struct _VolumeSW_BVH_CompareY {
|
|
|
|
_FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {
|
|
|
|
return a.center.y<b.center.y;
|
|
}
|
|
};
|
|
|
|
struct _VolumeSW_BVH_CompareZ {
|
|
|
|
_FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {
|
|
|
|
return a.center.z<b.center.z;
|
|
}
|
|
};
|
|
|
|
struct _VolumeSW_BVH {
|
|
|
|
AABB aabb;
|
|
_VolumeSW_BVH *left;
|
|
_VolumeSW_BVH *right;
|
|
|
|
int face_index;
|
|
};
|
|
|
|
|
|
_VolumeSW_BVH* _volume_sw_build_bvh(_VolumeSW_BVH_Element *p_elements,int p_size,int &count) {
|
|
|
|
_VolumeSW_BVH* bvh = memnew( _VolumeSW_BVH );
|
|
|
|
if (p_size==1) {
|
|
//leaf
|
|
bvh->aabb=p_elements[0].aabb;
|
|
bvh->left=NULL;
|
|
bvh->right=NULL;
|
|
bvh->face_index=p_elements->face_index;
|
|
count++;
|
|
return bvh;
|
|
} else {
|
|
|
|
bvh->face_index=-1;
|
|
}
|
|
|
|
AABB aabb;
|
|
for(int i=0;i<p_size;i++) {
|
|
|
|
if (i==0)
|
|
aabb=p_elements[i].aabb;
|
|
else
|
|
aabb.merge_with(p_elements[i].aabb);
|
|
}
|
|
bvh->aabb=aabb;
|
|
switch(aabb.get_longest_axis_index()) {
|
|
|
|
case 0: {
|
|
|
|
SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareX> sort_x;
|
|
sort_x.sort(p_elements,p_size);
|
|
|
|
} break;
|
|
case 1: {
|
|
|
|
SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareY> sort_y;
|
|
sort_y.sort(p_elements,p_size);
|
|
} break;
|
|
case 2: {
|
|
|
|
SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareZ> sort_z;
|
|
sort_z.sort(p_elements,p_size);
|
|
} break;
|
|
}
|
|
|
|
int split=p_size/2;
|
|
bvh->left=_volume_sw_build_bvh(p_elements,split,count);
|
|
bvh->right=_volume_sw_build_bvh(&p_elements[split],p_size-split,count);
|
|
|
|
// printf("branch at %p - %i: %i\n",bvh,count,bvh->face_index);
|
|
count++;
|
|
return bvh;
|
|
}
|
|
|
|
|
|
void ConcavePolygonShapeSW::_fill_bvh(_VolumeSW_BVH* p_bvh_tree,BVH* p_bvh_array,int& p_idx) {
|
|
|
|
int idx=p_idx;
|
|
|
|
|
|
p_bvh_array[idx].aabb=p_bvh_tree->aabb;
|
|
p_bvh_array[idx].face_index=p_bvh_tree->face_index;
|
|
// printf("%p - %i: %i(%p) -- %p:%p\n",%p_bvh_array[idx],p_idx,p_bvh_array[i]->face_index,&p_bvh_tree->face_index,p_bvh_tree->left,p_bvh_tree->right);
|
|
|
|
|
|
if (p_bvh_tree->left) {
|
|
p_bvh_array[idx].left=++p_idx;
|
|
_fill_bvh(p_bvh_tree->left,p_bvh_array,p_idx);
|
|
|
|
} else {
|
|
|
|
p_bvh_array[p_idx].left=-1;
|
|
}
|
|
|
|
if (p_bvh_tree->right) {
|
|
p_bvh_array[idx].right=++p_idx;
|
|
_fill_bvh(p_bvh_tree->right,p_bvh_array,p_idx);
|
|
|
|
} else {
|
|
|
|
p_bvh_array[p_idx].right=-1;
|
|
}
|
|
|
|
memdelete(p_bvh_tree);
|
|
|
|
}
|
|
|
|
void ConcavePolygonShapeSW::_setup(DVector<Vector3> p_faces) {
|
|
|
|
int src_face_count=p_faces.size();
|
|
ERR_FAIL_COND(src_face_count%3);
|
|
src_face_count/=3;
|
|
|
|
DVector<Vector3>::Read r = p_faces.read();
|
|
const Vector3 * facesr= r.ptr();
|
|
|
|
#if 0
|
|
Map<Vector3,int> point_map;
|
|
List<Face> face_list;
|
|
|
|
|
|
for(int i=0;i<src_face_count;i++) {
|
|
|
|
Face3 faceaux;
|
|
|
|
for(int j=0;j<3;j++) {
|
|
|
|
faceaux.vertex[j]=facesr[i*3+j].snapped(_POINT_SNAP);
|
|
//faceaux.vertex[j]=facesr[i*3+j];//facesr[i*3+j].snapped(_POINT_SNAP);
|
|
}
|
|
|
|
ERR_CONTINUE( faceaux.is_degenerate() );
|
|
|
|
Face face;
|
|
|
|
for(int j=0;j<3;j++) {
|
|
|
|
|
|
Map<Vector3,int>::Element *E=point_map.find(faceaux.vertex[j]);
|
|
if (E) {
|
|
|
|
face.indices[j]=E->value();
|
|
} else {
|
|
|
|
face.indices[j]=point_map.size();
|
|
point_map.insert(faceaux.vertex[j],point_map.size());
|
|
|
|
}
|
|
}
|
|
|
|
face_list.push_back(face);
|
|
}
|
|
|
|
vertices.resize( point_map.size() );
|
|
|
|
DVector<Vector3>::Write vw = vertices.write();
|
|
Vector3 *verticesw=vw.ptr();
|
|
|
|
AABB _aabb;
|
|
|
|
for( Map<Vector3,int>::Element *E=point_map.front();E;E=E->next()) {
|
|
|
|
if (E==point_map.front()) {
|
|
_aabb.pos=E->key();
|
|
} else {
|
|
|
|
_aabb.expand_to(E->key());
|
|
}
|
|
verticesw[E->value()]=E->key();
|
|
}
|
|
|
|
point_map.clear(); // not needed anymore
|
|
|
|
faces.resize(face_list.size());
|
|
DVector<Face>::Write w = faces.write();
|
|
Face *facesw=w.ptr();
|
|
|
|
int fc=0;
|
|
|
|
for( List<Face>::Element *E=face_list.front();E;E=E->next()) {
|
|
|
|
facesw[fc++]=E->get();
|
|
}
|
|
|
|
face_list.clear();
|
|
|
|
|
|
DVector<_VolumeSW_BVH_Element> bvh_array;
|
|
bvh_array.resize( fc );
|
|
|
|
DVector<_VolumeSW_BVH_Element>::Write bvhw = bvh_array.write();
|
|
_VolumeSW_BVH_Element *bvh_arrayw=bvhw.ptr();
|
|
|
|
|
|
for(int i=0;i<fc;i++) {
|
|
|
|
AABB face_aabb;
|
|
face_aabb.pos=verticesw[facesw[i].indices[0]];
|
|
face_aabb.expand_to( verticesw[facesw[i].indices[1]] );
|
|
face_aabb.expand_to( verticesw[facesw[i].indices[2]] );
|
|
|
|
bvh_arrayw[i].face_index=i;
|
|
bvh_arrayw[i].aabb=face_aabb;
|
|
bvh_arrayw[i].center=face_aabb.pos+face_aabb.size*0.5;
|
|
|
|
}
|
|
|
|
w=DVector<Face>::Write();
|
|
vw=DVector<Vector3>::Write();
|
|
|
|
|
|
int count=0;
|
|
_VolumeSW_BVH *bvh_tree=_volume_sw_build_bvh(bvh_arrayw,fc,count);
|
|
|
|
ERR_FAIL_COND(count==0);
|
|
|
|
bvhw=DVector<_VolumeSW_BVH_Element>::Write();
|
|
|
|
bvh.resize( count+1 );
|
|
|
|
DVector<BVH>::Write bvhw2 = bvh.write();
|
|
BVH*bvh_arrayw2=bvhw2.ptr();
|
|
|
|
int idx=0;
|
|
_fill_bvh(bvh_tree,bvh_arrayw2,idx);
|
|
|
|
set_aabb(_aabb);
|
|
|
|
#else
|
|
DVector<_VolumeSW_BVH_Element> bvh_array;
|
|
bvh_array.resize( src_face_count );
|
|
|
|
DVector<_VolumeSW_BVH_Element>::Write bvhw = bvh_array.write();
|
|
_VolumeSW_BVH_Element *bvh_arrayw=bvhw.ptr();
|
|
|
|
faces.resize(src_face_count);
|
|
DVector<Face>::Write w = faces.write();
|
|
Face *facesw=w.ptr();
|
|
|
|
vertices.resize( src_face_count*3 );
|
|
|
|
DVector<Vector3>::Write vw = vertices.write();
|
|
Vector3 *verticesw=vw.ptr();
|
|
|
|
AABB _aabb;
|
|
|
|
|
|
for(int i=0;i<src_face_count;i++) {
|
|
|
|
Face3 face( facesr[i*3+0], facesr[i*3+1], facesr[i*3+2] );
|
|
|
|
bvh_arrayw[i].aabb=face.get_aabb();
|
|
bvh_arrayw[i].center = bvh_arrayw[i].aabb.pos + bvh_arrayw[i].aabb.size * 0.5;
|
|
bvh_arrayw[i].face_index=i;
|
|
facesw[i].indices[0]=i*3+0;
|
|
facesw[i].indices[1]=i*3+1;
|
|
facesw[i].indices[2]=i*3+2;
|
|
facesw[i].normal=face.get_plane().normal;
|
|
verticesw[i*3+0]=face.vertex[0];
|
|
verticesw[i*3+1]=face.vertex[1];
|
|
verticesw[i*3+2]=face.vertex[2];
|
|
if (i==0)
|
|
_aabb=bvh_arrayw[i].aabb;
|
|
else
|
|
_aabb.merge_with(bvh_arrayw[i].aabb);
|
|
|
|
}
|
|
|
|
w=DVector<Face>::Write();
|
|
vw=DVector<Vector3>::Write();
|
|
|
|
int count=0;
|
|
_VolumeSW_BVH *bvh_tree=_volume_sw_build_bvh(bvh_arrayw,src_face_count,count);
|
|
|
|
bvh.resize( count+1 );
|
|
|
|
DVector<BVH>::Write bvhw2 = bvh.write();
|
|
BVH*bvh_arrayw2=bvhw2.ptr();
|
|
|
|
int idx=0;
|
|
_fill_bvh(bvh_tree,bvh_arrayw2,idx);
|
|
|
|
configure(_aabb); // this type of shape has no margin
|
|
|
|
|
|
#endif
|
|
}
|
|
|
|
|
|
void ConcavePolygonShapeSW::set_data(const Variant& p_data) {
|
|
|
|
|
|
_setup(p_data);
|
|
}
|
|
|
|
Variant ConcavePolygonShapeSW::get_data() const {
|
|
|
|
return get_faces();
|
|
}
|
|
|
|
ConcavePolygonShapeSW::ConcavePolygonShapeSW() {
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
/* HEIGHT MAP SHAPE */
|
|
|
|
DVector<float> HeightMapShapeSW::get_heights() const {
|
|
|
|
return heights;
|
|
}
|
|
int HeightMapShapeSW::get_width() const {
|
|
|
|
return width;
|
|
}
|
|
int HeightMapShapeSW::get_depth() const {
|
|
|
|
return depth;
|
|
}
|
|
float HeightMapShapeSW::get_cell_size() const {
|
|
|
|
return cell_size;
|
|
}
|
|
|
|
|
|
void HeightMapShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
|
|
|
|
//not very useful, but not very used either
|
|
p_transform.xform(get_aabb()).project_range_in_plane( Plane(p_normal,0),r_min,r_max );
|
|
|
|
}
|
|
|
|
Vector3 HeightMapShapeSW::get_support(const Vector3& p_normal) const {
|
|
|
|
|
|
//not very useful, but not very used either
|
|
return get_aabb().get_support(p_normal);
|
|
|
|
}
|
|
|
|
bool HeightMapShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_point, Vector3 &r_normal) const {
|
|
|
|
|
|
return false;
|
|
}
|
|
|
|
|
|
void HeightMapShapeSW::cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const {
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
Vector3 HeightMapShapeSW::get_moment_of_inertia(float p_mass) const {
|
|
|
|
|
|
// use crappy AABB approximation
|
|
Vector3 extents=get_aabb().size*0.5;
|
|
|
|
return Vector3(
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
|
|
(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
|
|
);
|
|
}
|
|
|
|
|
|
void HeightMapShapeSW::_setup(DVector<real_t> p_heights,int p_width,int p_depth,real_t p_cell_size) {
|
|
|
|
heights=p_heights;
|
|
width=p_width;
|
|
depth=p_depth;;
|
|
cell_size=p_cell_size;
|
|
|
|
DVector<real_t>::Read r = heights. read();
|
|
|
|
AABB aabb;
|
|
|
|
for(int i=0;i<depth;i++) {
|
|
|
|
for(int j=0;j<width;j++) {
|
|
|
|
float h = r[i*width+j];
|
|
|
|
Vector3 pos( j*cell_size, h, i*cell_size );
|
|
if (i==0 || j==0)
|
|
aabb.pos=pos;
|
|
else
|
|
aabb.expand_to(pos);
|
|
|
|
}
|
|
}
|
|
|
|
|
|
configure(aabb);
|
|
}
|
|
|
|
void HeightMapShapeSW::set_data(const Variant& p_data) {
|
|
|
|
ERR_FAIL_COND( p_data.get_type()!=Variant::DICTIONARY );
|
|
Dictionary d=p_data;
|
|
ERR_FAIL_COND( !d.has("width") );
|
|
ERR_FAIL_COND( !d.has("depth") );
|
|
ERR_FAIL_COND( !d.has("cell_size") );
|
|
ERR_FAIL_COND( !d.has("heights") );
|
|
|
|
int width=d["width"];
|
|
int depth=d["depth"];
|
|
float cell_size=d["cell_size"];
|
|
DVector<float> heights=d["heights"];
|
|
|
|
ERR_FAIL_COND( width<= 0);
|
|
ERR_FAIL_COND( depth<= 0);
|
|
ERR_FAIL_COND( cell_size<= CMP_EPSILON);
|
|
ERR_FAIL_COND( heights.size() != (width*depth) );
|
|
_setup(heights, width, depth, cell_size );
|
|
|
|
}
|
|
|
|
Variant HeightMapShapeSW::get_data() const {
|
|
|
|
ERR_FAIL_V(Variant());
|
|
|
|
}
|
|
|
|
HeightMapShapeSW::HeightMapShapeSW() {
|
|
|
|
width=0;
|
|
depth=0;
|
|
cell_size=0;
|
|
}
|
|
|
|
|
|
|