godot/servers/physics_3d/shape_3d_sw.h
PouleyKetchoupp cc43c2ea16 Optimize area detection and intersect_shape queries with concave shapes
Whenever contact points are not needed, collision checks with concave
shapes (triangle mesh and heightmap) stop at the first colliding
triangle.
2021-08-27 09:53:40 -07:00

490 lines
19 KiB
C++

/*************************************************************************/
/* shape_3d_sw.h */
/*************************************************************************/
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/* https://godotengine.org */
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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#ifndef SHAPE_SW_H
#define SHAPE_SW_H
#include "core/math/geometry_3d.h"
#include "servers/physics_server_3d.h"
class Shape3DSW;
class ShapeOwner3DSW {
public:
virtual void _shape_changed() = 0;
virtual void remove_shape(Shape3DSW *p_shape) = 0;
virtual ~ShapeOwner3DSW() {}
};
class Shape3DSW {
RID self;
AABB aabb;
bool configured;
real_t custom_bias;
Map<ShapeOwner3DSW *, int> owners;
protected:
void configure(const AABB &p_aabb);
public:
enum FeatureType {
FEATURE_POINT,
FEATURE_EDGE,
FEATURE_FACE,
FEATURE_CIRCLE,
};
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 PhysicsServer3D::ShapeType get_type() const = 0;
_FORCE_INLINE_ const AABB &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 Transform3D &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, FeatureType &r_type) const = 0;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const = 0;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const = 0;
virtual bool intersect_point(const Vector3 &p_point) 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(ShapeOwner3DSW *p_owner);
void remove_owner(ShapeOwner3DSW *p_owner);
bool is_owner(ShapeOwner3DSW *p_owner) const;
const Map<ShapeOwner3DSW *, int> &get_owners() const;
Shape3DSW();
virtual ~Shape3DSW();
};
class ConcaveShape3DSW : public Shape3DSW {
public:
virtual bool is_concave() const override { return true; }
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override { r_amount = 0; }
// Returns true to stop the query.
typedef bool (*QueryCallback)(void *p_userdata, Shape3DSW *p_convex);
virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0;
ConcaveShape3DSW() {}
};
class PlaneShape3DSW : public Shape3DSW {
Plane plane;
void _setup(const Plane &p_plane);
public:
Plane get_plane() const;
virtual real_t get_area() const override { return INFINITY; }
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_PLANE; }
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override { r_amount = 0; }
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
PlaneShape3DSW();
};
class SeparationRayShape3DSW : public Shape3DSW {
real_t length;
bool slide_on_slope;
void _setup(real_t p_length, bool p_slide_on_slope);
public:
real_t get_length() const;
bool get_slide_on_slope() const;
virtual real_t get_area() const override { return 0.0; }
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_SEPARATION_RAY; }
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
SeparationRayShape3DSW();
};
class SphereShape3DSW : public Shape3DSW {
real_t radius;
void _setup(real_t p_radius);
public:
real_t get_radius() const;
virtual real_t get_area() const override { return 4.0 / 3.0 * Math_PI * radius * radius * radius; }
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_SPHERE; }
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
SphereShape3DSW();
};
class BoxShape3DSW : public Shape3DSW {
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 override { return 8 * half_extents.x * half_extents.y * half_extents.z; }
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_BOX; }
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
BoxShape3DSW();
};
class CapsuleShape3DSW : public Shape3DSW {
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() const override { return 4.0 / 3.0 * Math_PI * radius * radius * radius + (height - radius * 2.0) * Math_PI * radius * radius; }
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CAPSULE; }
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
CapsuleShape3DSW();
};
class CylinderShape3DSW : public Shape3DSW {
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() const override { return 4.0 / 3.0 * Math_PI * radius * radius * radius + height * Math_PI * radius * radius; }
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CYLINDER; }
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
CylinderShape3DSW();
};
struct ConvexPolygonShape3DSW : public Shape3DSW {
Geometry3D::MeshData mesh;
void _setup(const Vector<Vector3> &p_vertices);
public:
const Geometry3D::MeshData &get_mesh() const { return mesh; }
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONVEX_POLYGON; }
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
ConvexPolygonShape3DSW();
};
struct _VolumeSW_BVH;
struct FaceShape3DSW;
struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
// always a trimesh
struct Face {
Vector3 normal;
int indices[3];
};
Vector<Face> faces;
Vector<Vector3> vertices;
struct BVH {
AABB aabb;
int left;
int right;
int face_index;
};
Vector<BVH> bvh;
struct _CullParams {
AABB aabb;
QueryCallback callback = nullptr;
void *userdata = nullptr;
const Face *faces = nullptr;
const Vector3 *vertices = nullptr;
const BVH *bvh = nullptr;
FaceShape3DSW *face = nullptr;
};
struct _SegmentCullParams {
Vector3 from;
Vector3 to;
Vector3 dir;
const Face *faces = nullptr;
const Vector3 *vertices = nullptr;
const BVH *bvh = nullptr;
FaceShape3DSW *face = nullptr;
Vector3 result;
Vector3 normal;
real_t min_d = 1e20;
int collisions = 0;
};
bool backface_collision = false;
void _cull_segment(int p_idx, _SegmentCullParams *p_params) const;
bool _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(const Vector<Vector3> &p_faces, bool p_backface_collision);
public:
Vector<Vector3> get_faces() const;
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONCAVE_POLYGON; }
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
ConcavePolygonShape3DSW();
};
struct HeightMapShape3DSW : public ConcaveShape3DSW {
Vector<real_t> heights;
int width = 0;
int depth = 0;
Vector3 local_origin;
_FORCE_INLINE_ real_t _get_height(int p_x, int p_z) const {
return heights[(p_z * width) + p_x];
}
_FORCE_INLINE_ void _get_point(int p_x, int p_z, Vector3 &r_point) const {
r_point.x = p_x - 0.5 * (width - 1.0);
r_point.y = _get_height(p_x, p_z);
r_point.z = p_z - 0.5 * (depth - 1.0);
}
void _get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const;
void _setup(const Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
public:
Vector<real_t> get_heights() const;
int get_width() const;
int get_depth() const;
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_HEIGHTMAP; }
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
HeightMapShape3DSW();
};
//used internally
struct FaceShape3DSW : public Shape3DSW {
Vector3 normal; //cache
Vector3 vertex[3];
bool backface_collision = false;
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONCAVE_POLYGON; }
const Vector3 &get_vertex(int p_idx) const { return vertex[p_idx]; }
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
virtual void set_data(const Variant &p_data) override {}
virtual Variant get_data() const override { return Variant(); }
FaceShape3DSW();
};
struct MotionShape3DSW : public Shape3DSW {
Shape3DSW *shape;
Vector3 motion;
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONVEX_POLYGON; }
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override {
Vector3 cast = p_transform.basis.xform(motion);
real_t mina, maxa;
real_t minb, maxb;
Transform3D 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);
}
virtual Vector3 get_support(const Vector3 &p_normal) const override {
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, FeatureType &r_type) const override { r_amount = 0; }
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override { return false; }
virtual bool intersect_point(const Vector3 &p_point) const override { return false; }
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override { return p_point; }
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override { return Vector3(); }
virtual void set_data(const Variant &p_data) override {}
virtual Variant get_data() const override { return Variant(); }
MotionShape3DSW() { configure(AABB()); }
};
#endif // SHAPE_SW_H