829fb4fba1
One-way collision is disabled for both rigid bodies and character bodies. Kinematic margin is now applied to ray shapes to help getting consistent results in slopes and flat surfaces. Convex shapes don't return inverted normals when a segment test starts inside (raycasting will be made consistent in a separate patch). Ray shapes also discard contacts when fully contained inside a shape and when the contact direction is inverted, so the behavior is consistent with all shape types. Now they always separate only when intersecting the top of a shape (for downward rays).
564 lines
19 KiB
C++
564 lines
19 KiB
C++
/*************************************************************************/
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/* collision_solver_3d_sw.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "collision_solver_3d_sw.h"
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#include "collision_solver_3d_sat.h"
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#include "soft_body_3d_sw.h"
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#include "gjk_epa.h"
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#define collision_solver sat_calculate_penetration
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//#define collision_solver gjk_epa_calculate_penetration
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bool CollisionSolver3DSW::solve_static_plane(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
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const PlaneShape3DSW *plane = static_cast<const PlaneShape3DSW *>(p_shape_A);
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if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_PLANE) {
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return false;
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}
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Plane p = p_transform_A.xform(plane->get_plane());
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static const int max_supports = 16;
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Vector3 supports[max_supports];
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int support_count;
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Shape3DSW::FeatureType support_type;
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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type);
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if (support_type == Shape3DSW::FEATURE_CIRCLE) {
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ERR_FAIL_COND_V(support_count != 3, false);
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Vector3 circle_pos = supports[0];
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Vector3 circle_axis_1 = supports[1] - circle_pos;
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Vector3 circle_axis_2 = supports[2] - circle_pos;
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// Use 3 equidistant points on the circle.
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for (int i = 0; i < 3; ++i) {
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Vector3 vertex_pos = circle_pos;
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vertex_pos += circle_axis_1 * Math::cos(2.0 * Math_PI * i / 3.0);
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vertex_pos += circle_axis_2 * Math::sin(2.0 * Math_PI * i / 3.0);
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supports[i] = vertex_pos;
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}
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}
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bool found = false;
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for (int i = 0; i < support_count; i++) {
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supports[i] = p_transform_B.xform(supports[i]);
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if (p.distance_to(supports[i]) >= 0) {
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continue;
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}
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found = true;
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Vector3 support_A = p.project(supports[i]);
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if (p_result_callback) {
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if (p_swap_result) {
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p_result_callback(supports[i], 0, support_A, 0, p_userdata);
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} else {
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p_result_callback(support_A, 0, supports[i], 0, p_userdata);
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}
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}
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}
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return found;
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}
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bool CollisionSolver3DSW::solve_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) {
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const RayShape3DSW *ray = static_cast<const RayShape3DSW *>(p_shape_A);
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Vector3 from = p_transform_A.origin;
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Vector3 to = from + p_transform_A.basis.get_axis(2) * (ray->get_length() + p_margin);
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Vector3 support_A = to;
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Transform3D ai = p_transform_B.affine_inverse();
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from = ai.xform(from);
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to = ai.xform(to);
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Vector3 p, n;
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if (!p_shape_B->intersect_segment(from, to, p, n)) {
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return false;
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}
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// Discard contacts when the ray is fully contained inside the shape.
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if (n == Vector3()) {
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return false;
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}
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// Discard contacts in the wrong direction.
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if (n.dot(from - to) < CMP_EPSILON) {
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return false;
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}
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Vector3 support_B = p_transform_B.xform(p);
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if (ray->get_slips_on_slope()) {
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Vector3 global_n = ai.basis.xform_inv(n).normalized();
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support_B = support_A + (support_B - support_A).length() * global_n;
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}
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if (p_result_callback) {
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if (p_swap_result) {
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p_result_callback(support_B, 0, support_A, 0, p_userdata);
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} else {
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p_result_callback(support_A, 0, support_B, 0, p_userdata);
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}
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}
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return true;
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}
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struct _SoftBodyContactCollisionInfo {
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int node_index = 0;
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CollisionSolver3DSW::CallbackResult result_callback = nullptr;
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void *userdata = nullptr;
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bool swap_result = false;
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int contact_count = 0;
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};
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void CollisionSolver3DSW::soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
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_SoftBodyContactCollisionInfo &cinfo = *(_SoftBodyContactCollisionInfo *)(p_userdata);
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++cinfo.contact_count;
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if (!cinfo.result_callback) {
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return;
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}
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if (cinfo.swap_result) {
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cinfo.result_callback(p_point_B, cinfo.node_index, p_point_A, p_index_A, cinfo.userdata);
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} else {
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cinfo.result_callback(p_point_A, p_index_A, p_point_B, cinfo.node_index, cinfo.userdata);
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}
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}
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struct _SoftBodyQueryInfo {
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SoftBody3DSW *soft_body = nullptr;
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const Shape3DSW *shape_A = nullptr;
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const Shape3DSW *shape_B = nullptr;
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Transform3D transform_A;
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Transform3D node_transform;
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_SoftBodyContactCollisionInfo contact_info;
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#ifdef DEBUG_ENABLED
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int node_query_count = 0;
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int convex_query_count = 0;
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#endif
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};
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bool CollisionSolver3DSW::soft_body_query_callback(uint32_t p_node_index, void *p_userdata) {
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_SoftBodyQueryInfo &query_cinfo = *(_SoftBodyQueryInfo *)(p_userdata);
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Vector3 node_position = query_cinfo.soft_body->get_node_position(p_node_index);
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Transform3D transform_B;
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transform_B.origin = query_cinfo.node_transform.xform(node_position);
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query_cinfo.contact_info.node_index = p_node_index;
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solve_static(query_cinfo.shape_A, query_cinfo.transform_A, query_cinfo.shape_B, transform_B, soft_body_contact_callback, &query_cinfo.contact_info);
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#ifdef DEBUG_ENABLED
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++query_cinfo.node_query_count;
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#endif
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// Continue with the query.
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return false;
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}
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void CollisionSolver3DSW::soft_body_concave_callback(void *p_userdata, Shape3DSW *p_convex) {
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_SoftBodyQueryInfo &query_cinfo = *(_SoftBodyQueryInfo *)(p_userdata);
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query_cinfo.shape_A = p_convex;
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// Calculate AABB for internal soft body query (in world space).
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AABB shape_aabb;
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for (int i = 0; i < 3; i++) {
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Vector3 axis;
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axis[i] = 1.0;
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real_t smin, smax;
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p_convex->project_range(axis, query_cinfo.transform_A, smin, smax);
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shape_aabb.position[i] = smin;
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shape_aabb.size[i] = smax - smin;
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}
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shape_aabb.grow_by(query_cinfo.soft_body->get_collision_margin());
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query_cinfo.soft_body->query_aabb(shape_aabb, soft_body_query_callback, &query_cinfo);
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#ifdef DEBUG_ENABLED
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++query_cinfo.convex_query_count;
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#endif
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}
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bool CollisionSolver3DSW::solve_soft_body(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
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const SoftBodyShape3DSW *soft_body_shape_B = static_cast<const SoftBodyShape3DSW *>(p_shape_B);
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SoftBody3DSW *soft_body = soft_body_shape_B->get_soft_body();
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const Transform3D &world_to_local = soft_body->get_inv_transform();
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const real_t collision_margin = soft_body->get_collision_margin();
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SphereShape3DSW sphere_shape;
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sphere_shape.set_data(collision_margin);
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_SoftBodyQueryInfo query_cinfo;
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query_cinfo.contact_info.result_callback = p_result_callback;
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query_cinfo.contact_info.userdata = p_userdata;
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query_cinfo.contact_info.swap_result = p_swap_result;
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query_cinfo.soft_body = soft_body;
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query_cinfo.node_transform = p_transform_B * world_to_local;
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query_cinfo.shape_A = p_shape_A;
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query_cinfo.transform_A = p_transform_A;
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query_cinfo.shape_B = &sphere_shape;
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if (p_shape_A->is_concave()) {
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// In case of concave shape, query convex shapes first.
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const ConcaveShape3DSW *concave_shape_A = static_cast<const ConcaveShape3DSW *>(p_shape_A);
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AABB soft_body_aabb = soft_body->get_bounds();
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soft_body_aabb.grow_by(collision_margin);
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// Calculate AABB for internal concave shape query (in local space).
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AABB local_aabb;
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for (int i = 0; i < 3; i++) {
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Vector3 axis(p_transform_A.basis.get_axis(i));
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real_t axis_scale = 1.0 / axis.length();
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real_t smin = soft_body_aabb.position[i];
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real_t smax = smin + soft_body_aabb.size[i];
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smin *= axis_scale;
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smax *= axis_scale;
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local_aabb.position[i] = smin;
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local_aabb.size[i] = smax - smin;
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}
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concave_shape_A->cull(local_aabb, soft_body_concave_callback, &query_cinfo);
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} else {
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AABB shape_aabb = p_transform_A.xform(p_shape_A->get_aabb());
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shape_aabb.grow_by(collision_margin);
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soft_body->query_aabb(shape_aabb, soft_body_query_callback, &query_cinfo);
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}
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return (query_cinfo.contact_info.contact_count > 0);
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}
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struct _ConcaveCollisionInfo {
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const Transform3D *transform_A;
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const Shape3DSW *shape_A;
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const Transform3D *transform_B;
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CollisionSolver3DSW::CallbackResult result_callback;
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void *userdata;
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bool swap_result;
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bool collided;
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int aabb_tests;
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int collisions;
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bool tested;
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real_t margin_A;
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real_t margin_B;
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Vector3 close_A, close_B;
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};
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void CollisionSolver3DSW::concave_callback(void *p_userdata, Shape3DSW *p_convex) {
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_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
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cinfo.aabb_tests++;
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bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result, nullptr, cinfo.margin_A, cinfo.margin_B);
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if (!collided) {
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return;
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}
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cinfo.collided = true;
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cinfo.collisions++;
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}
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bool CollisionSolver3DSW::solve_concave(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A, real_t p_margin_B) {
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const ConcaveShape3DSW *concave_B = static_cast<const ConcaveShape3DSW *>(p_shape_B);
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_ConcaveCollisionInfo cinfo;
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cinfo.transform_A = &p_transform_A;
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cinfo.shape_A = p_shape_A;
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cinfo.transform_B = &p_transform_B;
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cinfo.result_callback = p_result_callback;
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cinfo.userdata = p_userdata;
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cinfo.swap_result = p_swap_result;
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cinfo.collided = false;
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cinfo.collisions = 0;
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cinfo.margin_A = p_margin_A;
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cinfo.margin_B = p_margin_B;
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cinfo.aabb_tests = 0;
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Transform3D rel_transform = p_transform_A;
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rel_transform.origin -= p_transform_B.origin;
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//quickly compute a local AABB
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AABB local_aabb;
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for (int i = 0; i < 3; i++) {
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Vector3 axis(p_transform_B.basis.get_axis(i));
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real_t axis_scale = 1.0 / axis.length();
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axis *= axis_scale;
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real_t smin, smax;
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p_shape_A->project_range(axis, rel_transform, smin, smax);
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smin -= p_margin_A;
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smax += p_margin_A;
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smin *= axis_scale;
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smax *= axis_scale;
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local_aabb.position[i] = smin;
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local_aabb.size[i] = smax - smin;
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}
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concave_B->cull(local_aabb, concave_callback, &cinfo);
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return cinfo.collided;
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}
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bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
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PhysicsServer3D::ShapeType type_A = p_shape_A->get_type();
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PhysicsServer3D::ShapeType type_B = p_shape_B->get_type();
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bool concave_A = p_shape_A->is_concave();
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bool concave_B = p_shape_B->is_concave();
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bool swap = false;
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if (type_A > type_B) {
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SWAP(type_A, type_B);
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SWAP(concave_A, concave_B);
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swap = true;
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}
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if (type_A == PhysicsServer3D::SHAPE_PLANE) {
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if (type_B == PhysicsServer3D::SHAPE_PLANE) {
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return false;
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}
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if (type_B == PhysicsServer3D::SHAPE_RAY) {
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return false;
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}
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if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) {
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return false;
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}
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if (swap) {
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return solve_static_plane(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
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} else {
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return solve_static_plane(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
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}
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} else if (type_A == PhysicsServer3D::SHAPE_RAY) {
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if (type_B == PhysicsServer3D::SHAPE_RAY) {
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return false;
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}
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if (swap) {
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return solve_ray(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, p_margin_B);
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} else {
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return solve_ray(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, p_margin_A);
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}
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} else if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) {
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if (type_A == PhysicsServer3D::SHAPE_SOFT_BODY) {
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// Soft Body / Soft Body not supported.
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return false;
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}
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if (swap) {
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return solve_soft_body(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
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} else {
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return solve_soft_body(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
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}
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} else if (concave_B) {
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if (concave_A) {
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return false;
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}
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if (!swap) {
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return solve_concave(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, p_margin_A, p_margin_B);
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} else {
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return solve_concave(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, p_margin_A, p_margin_B);
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}
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} else {
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return collision_solver(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, r_sep_axis, p_margin_A, p_margin_B);
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}
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}
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void CollisionSolver3DSW::concave_distance_callback(void *p_userdata, Shape3DSW *p_convex) {
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_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
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cinfo.aabb_tests++;
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if (cinfo.collided) {
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return;
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}
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Vector3 close_A, close_B;
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cinfo.collided = !gjk_epa_calculate_distance(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, close_A, close_B);
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if (cinfo.collided) {
|
|
return;
|
|
}
|
|
if (!cinfo.tested || close_A.distance_squared_to(close_B) < cinfo.close_A.distance_squared_to(cinfo.close_B)) {
|
|
cinfo.close_A = close_A;
|
|
cinfo.close_B = close_B;
|
|
cinfo.tested = true;
|
|
}
|
|
|
|
cinfo.collisions++;
|
|
}
|
|
|
|
bool CollisionSolver3DSW::solve_distance_plane(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) {
|
|
const PlaneShape3DSW *plane = static_cast<const PlaneShape3DSW *>(p_shape_A);
|
|
if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_PLANE) {
|
|
return false;
|
|
}
|
|
Plane p = p_transform_A.xform(plane->get_plane());
|
|
|
|
static const int max_supports = 16;
|
|
Vector3 supports[max_supports];
|
|
int support_count;
|
|
Shape3DSW::FeatureType support_type;
|
|
|
|
p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type);
|
|
|
|
if (support_type == Shape3DSW::FEATURE_CIRCLE) {
|
|
ERR_FAIL_COND_V(support_count != 3, false);
|
|
|
|
Vector3 circle_pos = supports[0];
|
|
Vector3 circle_axis_1 = supports[1] - circle_pos;
|
|
Vector3 circle_axis_2 = supports[2] - circle_pos;
|
|
|
|
// Use 3 equidistant points on the circle.
|
|
for (int i = 0; i < 3; ++i) {
|
|
Vector3 vertex_pos = circle_pos;
|
|
vertex_pos += circle_axis_1 * Math::cos(2.0 * Math_PI * i / 3.0);
|
|
vertex_pos += circle_axis_2 * Math::sin(2.0 * Math_PI * i / 3.0);
|
|
supports[i] = vertex_pos;
|
|
}
|
|
}
|
|
|
|
bool collided = false;
|
|
Vector3 closest;
|
|
real_t closest_d = 0;
|
|
|
|
for (int i = 0; i < support_count; i++) {
|
|
supports[i] = p_transform_B.xform(supports[i]);
|
|
real_t d = p.distance_to(supports[i]);
|
|
if (i == 0 || d < closest_d) {
|
|
closest = supports[i];
|
|
closest_d = d;
|
|
if (d <= 0) {
|
|
collided = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
r_point_A = p.project(closest);
|
|
r_point_B = closest;
|
|
|
|
return collided;
|
|
}
|
|
|
|
bool CollisionSolver3DSW::solve_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis) {
|
|
if (p_shape_A->is_concave()) {
|
|
return false;
|
|
}
|
|
|
|
if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_PLANE) {
|
|
Vector3 a, b;
|
|
bool col = solve_distance_plane(p_shape_B, p_transform_B, p_shape_A, p_transform_A, a, b);
|
|
r_point_A = b;
|
|
r_point_B = a;
|
|
return !col;
|
|
|
|
} else if (p_shape_B->is_concave()) {
|
|
if (p_shape_A->is_concave()) {
|
|
return false;
|
|
}
|
|
|
|
const ConcaveShape3DSW *concave_B = static_cast<const ConcaveShape3DSW *>(p_shape_B);
|
|
|
|
_ConcaveCollisionInfo cinfo;
|
|
cinfo.transform_A = &p_transform_A;
|
|
cinfo.shape_A = p_shape_A;
|
|
cinfo.transform_B = &p_transform_B;
|
|
cinfo.result_callback = nullptr;
|
|
cinfo.userdata = nullptr;
|
|
cinfo.swap_result = false;
|
|
cinfo.collided = false;
|
|
cinfo.collisions = 0;
|
|
cinfo.aabb_tests = 0;
|
|
cinfo.tested = false;
|
|
|
|
Transform3D rel_transform = p_transform_A;
|
|
rel_transform.origin -= p_transform_B.origin;
|
|
|
|
//quickly compute a local AABB
|
|
|
|
bool use_cc_hint = p_concave_hint != AABB();
|
|
AABB cc_hint_aabb;
|
|
if (use_cc_hint) {
|
|
cc_hint_aabb = p_concave_hint;
|
|
cc_hint_aabb.position -= p_transform_B.origin;
|
|
}
|
|
|
|
AABB local_aabb;
|
|
for (int i = 0; i < 3; i++) {
|
|
Vector3 axis(p_transform_B.basis.get_axis(i));
|
|
real_t axis_scale = ((real_t)1.0) / axis.length();
|
|
axis *= axis_scale;
|
|
|
|
real_t smin, smax;
|
|
|
|
if (use_cc_hint) {
|
|
cc_hint_aabb.project_range_in_plane(Plane(axis, 0), smin, smax);
|
|
} else {
|
|
p_shape_A->project_range(axis, rel_transform, smin, smax);
|
|
}
|
|
|
|
smin *= axis_scale;
|
|
smax *= axis_scale;
|
|
|
|
local_aabb.position[i] = smin;
|
|
local_aabb.size[i] = smax - smin;
|
|
}
|
|
|
|
concave_B->cull(local_aabb, concave_distance_callback, &cinfo);
|
|
if (!cinfo.collided) {
|
|
r_point_A = cinfo.close_A;
|
|
r_point_B = cinfo.close_B;
|
|
}
|
|
|
|
return !cinfo.collided;
|
|
} else {
|
|
return gjk_epa_calculate_distance(p_shape_A, p_transform_A, p_shape_B, p_transform_B, r_point_A, r_point_B); //should pass sepaxis..
|
|
}
|
|
}
|