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Modified the collision_sphere_capsule function to only test the one "correct" axis which corresponds to the correct collision normal.
Added logically identical fix to the capsule/capsule collision, and verified it now produces correct collision points and normals. Added analytic_sphere_collision helper function which reports the A and B points directly without using SAT. Modified _collision_sphere_sphere, _collision_sphere_capsule, and _collision_capsule_capsule to use the new analytic_sphere_collision. Fix white-space issue Additional code formatting fixes. Updated new analytic_sphere_collision to correctly handle null collector callback.
This commit is contained in:
Malcolm Nixon
parent
57267709e6
commit
220e8a0390
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@ -758,24 +758,72 @@ public:
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typedef void (*CollisionFunc)(const GodotShape3D *, const Transform3D &, const GodotShape3D *, const Transform3D &, _CollectorCallback *p_callback, real_t, real_t);
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// Perform analytic sphere-sphere collision and report results to collector
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template <bool withMargin>
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static void analytic_sphere_collision(const Vector3 &p_origin_a, real_t p_radius_a, const Vector3 &p_origin_b, real_t p_radius_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
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// Expand the spheres by the margins if enabled
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if (withMargin) {
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p_radius_a += p_margin_a;
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p_radius_b += p_margin_b;
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}
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// Get the vector from sphere B to A
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Vector3 b_to_a = p_origin_a - p_origin_b;
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// Get the length from B to A
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real_t b_to_a_len = b_to_a.length();
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// Calculate the sphere overlap, and bail if not overlapping
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real_t overlap = p_radius_a + p_radius_b - b_to_a_len;
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if (overlap < 0)
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return;
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// Report collision
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p_collector->collided = true;
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// Bail if there is no callback to receive the A and B collision points.
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if (!p_collector->callback) {
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return;
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}
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// Normalize the B to A vector
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if (b_to_a_len < CMP_EPSILON) {
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b_to_a = Vector3(0, 1, 0); // Spheres coincident, use arbitrary direction
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} else {
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b_to_a /= b_to_a_len;
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}
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// Report collision points. The operations below are intended to minimize
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// floating-point precision errors. This is done by calculating the first
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// collision point from the smaller sphere, and then jumping across to
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// the larger spheres collision point using the overlap distance. This
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// jump is usually small even if the large sphere is massive, and so the
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// second point will not suffer from precision errors.
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if (p_radius_a < p_radius_b) {
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Vector3 point_a = p_origin_a - b_to_a * p_radius_a;
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Vector3 point_b = point_a + b_to_a * overlap;
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p_collector->call(point_a, point_b); // Consider adding b_to_a vector
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} else {
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Vector3 point_b = p_origin_b + b_to_a * p_radius_b;
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Vector3 point_a = point_b - b_to_a * overlap;
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p_collector->call(point_a, point_b); // Consider adding b_to_a vector
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}
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}
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template <bool withMargin>
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static void _collision_sphere_sphere(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
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const GodotSphereShape3D *sphere_A = static_cast<const GodotSphereShape3D *>(p_a);
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const GodotSphereShape3D *sphere_B = static_cast<const GodotSphereShape3D *>(p_b);
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SeparatorAxisTest<GodotSphereShape3D, GodotSphereShape3D, withMargin> separator(sphere_A, p_transform_a, sphere_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
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// previous axis
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if (!separator.test_previous_axis()) {
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return;
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}
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if (!separator.test_axis((p_transform_a.origin - p_transform_b.origin).normalized())) {
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return;
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}
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separator.generate_contacts();
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// Perform an analytic sphere collision between the two spheres
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analytic_sphere_collision<withMargin>(
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p_transform_a.origin,
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sphere_A->get_radius(),
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p_transform_b.origin,
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sphere_B->get_radius(),
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p_collector,
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p_margin_a,
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p_margin_b);
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}
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template <bool withMargin>
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@ -834,41 +882,26 @@ static void _collision_sphere_capsule(const GodotShape3D *p_a, const Transform3D
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const GodotSphereShape3D *sphere_A = static_cast<const GodotSphereShape3D *>(p_a);
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const GodotCapsuleShape3D *capsule_B = static_cast<const GodotCapsuleShape3D *>(p_b);
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SeparatorAxisTest<GodotSphereShape3D, GodotCapsuleShape3D, withMargin> separator(sphere_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
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real_t capsule_B_radius = capsule_B->get_radius();
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if (!separator.test_previous_axis()) {
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return;
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}
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// Construct the capsule segment (ball-center to ball-center)
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Vector3 capsule_segment[2];
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Vector3 capsule_axis = p_transform_b.basis.get_column(1) * (capsule_B->get_height() * 0.5 - capsule_B_radius);
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capsule_segment[0] = p_transform_b.origin + capsule_axis;
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capsule_segment[1] = p_transform_b.origin - capsule_axis;
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//capsule sphere 1, sphere
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// Get the capsules closest segment-point to the sphere
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Vector3 capsule_closest = Geometry3D::get_closest_point_to_segment(p_transform_a.origin, capsule_segment);
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Vector3 capsule_axis = p_transform_b.basis.get_column(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius());
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Vector3 capsule_ball_1 = p_transform_b.origin + capsule_axis;
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if (!separator.test_axis((capsule_ball_1 - p_transform_a.origin).normalized())) {
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return;
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}
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//capsule sphere 2, sphere
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Vector3 capsule_ball_2 = p_transform_b.origin - capsule_axis;
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if (!separator.test_axis((capsule_ball_2 - p_transform_a.origin).normalized())) {
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return;
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}
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//capsule edge, sphere
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Vector3 b2a = p_transform_a.origin - p_transform_b.origin;
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Vector3 axis = b2a.cross(capsule_axis).cross(capsule_axis).normalized();
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if (!separator.test_axis(axis)) {
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return;
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}
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separator.generate_contacts();
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// Perform an analytic sphere collision between the sphere and the sphere-collider in the capsule
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analytic_sphere_collision<withMargin>(
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p_transform_a.origin,
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sphere_A->get_radius(),
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capsule_closest,
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capsule_B_radius,
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p_collector,
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p_margin_a,
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p_margin_b);
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}
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template <bool withMargin>
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@ -1615,63 +1648,31 @@ static void _collision_capsule_capsule(const GodotShape3D *p_a, const Transform3
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const GodotCapsuleShape3D *capsule_A = static_cast<const GodotCapsuleShape3D *>(p_a);
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const GodotCapsuleShape3D *capsule_B = static_cast<const GodotCapsuleShape3D *>(p_b);
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SeparatorAxisTest<GodotCapsuleShape3D, GodotCapsuleShape3D, withMargin> separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
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real_t capsule_A_radius = capsule_A->get_radius();
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real_t capsule_B_radius = capsule_B->get_radius();
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if (!separator.test_previous_axis()) {
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return;
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}
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// Get the closest points between the capsule segments
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Vector3 capsule_A_closest;
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Vector3 capsule_B_closest;
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Vector3 capsule_A_axis = p_transform_a.basis.get_column(1) * (capsule_A->get_height() * 0.5 - capsule_A_radius);
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Vector3 capsule_B_axis = p_transform_b.basis.get_column(1) * (capsule_B->get_height() * 0.5 - capsule_B_radius);
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Geometry3D::get_closest_points_between_segments(
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p_transform_a.origin + capsule_A_axis,
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p_transform_a.origin - capsule_A_axis,
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p_transform_b.origin + capsule_B_axis,
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p_transform_b.origin - capsule_B_axis,
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capsule_A_closest,
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capsule_B_closest);
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// some values
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Vector3 capsule_A_axis = p_transform_a.basis.get_column(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
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Vector3 capsule_B_axis = p_transform_b.basis.get_column(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius());
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Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis;
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Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis;
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Vector3 capsule_B_ball_1 = p_transform_b.origin + capsule_B_axis;
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Vector3 capsule_B_ball_2 = p_transform_b.origin - capsule_B_axis;
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//balls-balls
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if (!separator.test_axis((capsule_A_ball_1 - capsule_B_ball_1).normalized())) {
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return;
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}
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if (!separator.test_axis((capsule_A_ball_1 - capsule_B_ball_2).normalized())) {
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return;
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}
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if (!separator.test_axis((capsule_A_ball_2 - capsule_B_ball_1).normalized())) {
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return;
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}
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if (!separator.test_axis((capsule_A_ball_2 - capsule_B_ball_2).normalized())) {
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return;
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}
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// edges-balls
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if (!separator.test_axis((capsule_A_ball_1 - capsule_B_ball_1).cross(capsule_A_axis).cross(capsule_A_axis).normalized())) {
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return;
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}
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if (!separator.test_axis((capsule_A_ball_1 - capsule_B_ball_2).cross(capsule_A_axis).cross(capsule_A_axis).normalized())) {
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return;
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}
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if (!separator.test_axis((capsule_B_ball_1 - capsule_A_ball_1).cross(capsule_B_axis).cross(capsule_B_axis).normalized())) {
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return;
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}
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if (!separator.test_axis((capsule_B_ball_1 - capsule_A_ball_2).cross(capsule_B_axis).cross(capsule_B_axis).normalized())) {
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return;
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}
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// edges
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if (!separator.test_axis(capsule_A_axis.cross(capsule_B_axis).normalized())) {
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return;
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}
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separator.generate_contacts();
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// Perform the analytic collision between the two closest capsule spheres
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analytic_sphere_collision<withMargin>(
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capsule_A_closest,
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capsule_A_radius,
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capsule_B_closest,
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capsule_B_radius,
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p_collector,
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p_margin_a,
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p_margin_b);
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}
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template <bool withMargin>
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