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0be6d925dc
Which means that reduz' beloved style which we all became used to will now be changed automatically to remove the first empty line. This makes us lean closer to 1TBS (the one true brace style) instead of hybridating it with some Allman-inspired spacing. There's still the case of braces around single-statement blocks that needs to be addressed (but clang-format can't help with that, but clang-tidy may if we agree about it). Part of #33027.
352 lines
12 KiB
C++
352 lines
12 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) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 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 "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 Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &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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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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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count);
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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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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], support_A, p_userdata);
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else
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p_result_callback(support_A, supports[i], p_userdata);
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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 Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
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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();
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Vector3 support_A = to;
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Transform 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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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, support_A, p_userdata);
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else
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p_result_callback(support_A, support_B, p_userdata);
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}
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return true;
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}
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struct _ConcaveCollisionInfo {
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const Transform *transform_A;
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const Shape3DSW *shape_A;
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const Transform *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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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 Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &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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Transform 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 Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &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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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_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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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);
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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);
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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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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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} 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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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)
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return;
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if (!cinfo.tested || close_A.distance_squared_to(close_B) < cinfo.close_A.distance_squared_to(cinfo.close_B)) {
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cinfo.close_A = close_A;
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cinfo.close_B = close_B;
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cinfo.tested = true;
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}
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cinfo.collisions++;
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}
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bool CollisionSolver3DSW::solve_distance_plane(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) {
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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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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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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count);
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bool collided = false;
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Vector3 closest;
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real_t closest_d = 0;
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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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real_t d = p.distance_to(supports[i]);
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if (i == 0 || d < closest_d) {
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closest = supports[i];
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closest_d = d;
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if (d <= 0)
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collided = true;
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}
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}
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r_point_A = p.project(closest);
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r_point_B = closest;
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return collided;
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}
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bool CollisionSolver3DSW::solve_distance(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis) {
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if (p_shape_A->is_concave())
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return false;
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if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_PLANE) {
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Vector3 a, b;
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bool col = solve_distance_plane(p_shape_B, p_transform_B, p_shape_A, p_transform_A, a, b);
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r_point_A = b;
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r_point_B = a;
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return !col;
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} else if (p_shape_B->is_concave()) {
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if (p_shape_A->is_concave())
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return false;
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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 = nullptr;
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cinfo.userdata = nullptr;
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cinfo.swap_result = false;
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cinfo.collided = false;
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cinfo.collisions = 0;
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cinfo.aabb_tests = 0;
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cinfo.tested = false;
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Transform 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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bool use_cc_hint = p_concave_hint != AABB();
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AABB cc_hint_aabb;
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if (use_cc_hint) {
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cc_hint_aabb = p_concave_hint;
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cc_hint_aabb.position -= p_transform_B.origin;
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}
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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 = ((real_t)1.0) / axis.length();
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axis *= axis_scale;
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real_t smin, smax;
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if (use_cc_hint) {
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cc_hint_aabb.project_range_in_plane(Plane(axis, 0), smin, smax);
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} else {
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p_shape_A->project_range(axis, rel_transform, smin, smax);
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}
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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_distance_callback, &cinfo);
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if (!cinfo.collided) {
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r_point_A = cinfo.close_A;
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r_point_B = cinfo.close_B;
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}
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return !cinfo.collided;
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} else {
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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..
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}
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}
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