virtualx-engine/servers/physics/shape_sw.cpp

/*************************************************************************/
/*  shape_sw.cpp                                                         */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                    http://www.godotengine.org                         */
/*************************************************************************/
/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur.                 */
/*                                                                       */
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/* a copy of this software and associated documentation files (the       */
/* "Software"), to deal in the Software without restriction, including   */
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/* the following conditions:                                             */
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/* The above copyright notice and this permission notice shall be        */
/* included in all copies or substantial portions of the Software.       */
/*                                                                       */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
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/*************************************************************************/
#include "shape_sw.h"
#include "geometry.h"
#include "sort.h"
#include "quick_hull.h"
#define _POINT_SNAP 0.001953125
#define _EDGE_IS_VALID_SUPPORT_TRESHOLD 0.0002
#define _FACE_IS_VALID_SUPPORT_TRESHOLD 0.9998


void ShapeSW::configure(const AABB& p_aabb) {
	aabb=p_aabb;
	configured=true;
	for (Map<ShapeOwnerSW*,int>::Element *E=owners.front();E;E=E->next()) {
		ShapeOwnerSW* co=(ShapeOwnerSW*)E->key();
		co->_shape_changed();
	}
}


Vector3 ShapeSW::get_support(const Vector3& p_normal) const {

	Vector3 res;
	int amnt;
	get_supports(p_normal,1,&res,amnt);
	return res;
}

void ShapeSW::add_owner(ShapeOwnerSW *p_owner) {

	Map<ShapeOwnerSW*,int>::Element *E=owners.find(p_owner);
	if (E) {
		E->get()++;
	} else {
		owners[p_owner]=1;
	}
}

void ShapeSW::remove_owner(ShapeOwnerSW *p_owner){

	Map<ShapeOwnerSW*,int>::Element *E=owners.find(p_owner);
	ERR_FAIL_COND(!E);
	E->get()--;
	if (E->get()==0) {
		owners.erase(E);
	}

}

bool ShapeSW::is_owner(ShapeOwnerSW *p_owner) const{

	return owners.has(p_owner);

}

const Map<ShapeOwnerSW*,int>& ShapeSW::get_owners() const{
	return owners;
}


ShapeSW::ShapeSW() {

	custom_bias=0;
	configured=false;
}


ShapeSW::~ShapeSW() {

	ERR_FAIL_COND(owners.size());
}



Plane PlaneShapeSW::get_plane() const {

	return plane;
}

void PlaneShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {

	// gibberish, a plane is infinity
	r_min=-1e7;
	r_max=1e7;
}

Vector3 PlaneShapeSW::get_support(const Vector3& p_normal) const {

	return p_normal*1e15;
}


bool PlaneShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {

	bool inters=plane.intersects_segment(p_begin,p_end,&r_result);
	if(inters)
		r_normal=plane.normal;
	return inters;
}

Vector3 PlaneShapeSW::get_moment_of_inertia(float p_mass) const {

	return Vector3(); //wtf
}

void PlaneShapeSW::_setup(const Plane& p_plane)  {

	plane=p_plane;
	configure(AABB(Vector3(-1e4,-1e4,-1e4),Vector3(1e4*2,1e4*2,1e4*2)));
}

void PlaneShapeSW::set_data(const Variant& p_data) {

	_setup(p_data);

}

Variant PlaneShapeSW::get_data() const {

	return plane;
}

PlaneShapeSW::PlaneShapeSW()  {


}

//

float RayShapeSW::get_length() const {

	return length;
}

void RayShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {

	// don't think this will be even used
	r_min=0;
	r_max=1;
}

Vector3 RayShapeSW::get_support(const Vector3& p_normal) const {

	if (p_normal.z>0)
		return Vector3(0,0,length);
	else
		return Vector3(0,0,0);
}

void RayShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {

	if (Math::abs(p_normal.z) < _EDGE_IS_VALID_SUPPORT_TRESHOLD) {

		r_amount=2;
		r_supports[0]=Vector3(0,0,0);
		r_supports[1]=Vector3(0,0,length);
	} if (p_normal.z>0) {
		r_amount=1;
		*r_supports=Vector3(0,0,length);
	} else {
		r_amount=1;
		*r_supports=Vector3(0,0,0);
	}
}


bool RayShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {

	return false; //simply not possible
}

Vector3 RayShapeSW::get_moment_of_inertia(float p_mass) const {

	return Vector3();
}

void RayShapeSW::_setup(float p_length)  {

	length=p_length;
	configure(AABB(Vector3(0,0,0),Vector3(0.1,0.1,length)));
}

void RayShapeSW::set_data(const Variant& p_data) {

	_setup(p_data);

}

Variant RayShapeSW::get_data() const {

	return length;
}

RayShapeSW::RayShapeSW()  {

	length=1;
}



/********** SPHERE *************/

real_t SphereShapeSW::get_radius() const {

	return radius;
}

void SphereShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {

	float d = p_normal.dot( p_transform.origin );

	// figure out scale at point
	Vector3 local_normal = p_transform.basis.xform_inv(p_normal);
	float scale = local_normal.length();

	r_min = d - (radius) * scale;
	r_max = d + (radius) * scale;

}

Vector3 SphereShapeSW::get_support(const Vector3& p_normal) const {

	return p_normal*radius;
}

void SphereShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {

	*r_supports=p_normal*radius;
	r_amount=1;
}

bool SphereShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {

	return Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(),radius,&r_result,&r_normal);
}

Vector3 SphereShapeSW::get_moment_of_inertia(float p_mass) const {

	float s = 0.4 * p_mass * radius * radius;
	return Vector3(s,s,s);
}

void SphereShapeSW::_setup(real_t p_radius) {


	radius=p_radius;
	configure(AABB( Vector3(-radius,-radius,-radius), Vector3(radius*2.0,radius*2.0,radius*2.0)));

}

void SphereShapeSW::set_data(const Variant& p_data) {

	_setup(p_data);
}

Variant SphereShapeSW::get_data() const {

	return radius;
}

SphereShapeSW::SphereShapeSW() {

	radius=0;
}


/********** BOX *************/


void BoxShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {

	// no matter the angle, the box is mirrored anyway
	Vector3 local_normal=p_transform.basis.xform_inv(p_normal);

	float length = local_normal.abs().dot(half_extents);
	float distance = p_normal.dot( p_transform.origin );

	r_min = distance - length;
	r_max = distance + length;


}

Vector3 BoxShapeSW::get_support(const Vector3& p_normal) const {


	Vector3 point(
		(p_normal.x<0) ? -half_extents.x : half_extents.x,
		(p_normal.y<0) ? -half_extents.y : half_extents.y,
		(p_normal.z<0) ? -half_extents.z : half_extents.z
	);

	return point;
}

void BoxShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {

	static const int next[3]={1,2,0};
	static const int next2[3]={2,0,1};

	for (int i=0;i<3;i++) {

		Vector3 axis;
		axis[i]=1.0;
		float dot = p_normal.dot( axis );
		if ( Math::abs( dot ) >  _FACE_IS_VALID_SUPPORT_TRESHOLD ) {

			//Vector3 axis_b;

			bool neg = dot<0;
			r_amount = 4;

			Vector3 point;
			point[i]=half_extents[i];

			int i_n=next[i];
			int i_n2=next2[i];

			static const float sign[4][2]={

				{-1.0, 1.0},
				{ 1.0, 1.0},
				{ 1.0,-1.0},
				{-1.0,-1.0},
			};

			for (int j=0;j<4;j++) {

				point[i_n]=sign[j][0]*half_extents[i_n];
				point[i_n2]=sign[j][1]*half_extents[i_n2];
				r_supports[j]=neg?-point:point;

			}

			if (neg) {
				SWAP( r_supports[1], r_supports[2] );
				SWAP( r_supports[0], r_supports[3] );
			}

			return;
		}

		r_amount=0;

	}

	for (int i=0;i<3;i++) {

		Vector3 axis;
		axis[i]=1.0;

		if (Math::abs(p_normal.dot(axis))<_EDGE_IS_VALID_SUPPORT_TRESHOLD) {

			r_amount= 2;

			int i_n=next[i];
			int i_n2=next2[i];

			Vector3 point=half_extents;

			if (p_normal[i_n]<0) {
				point[i_n]=-point[i_n];
			}
			if (p_normal[i_n2]<0) {
				point[i_n2]=-point[i_n2];
			}

			r_supports[0] = point;
			point[i]=-point[i];
			r_supports[1] = point;
			return;
		}
	}
	/* USE POINT */

	Vector3 point(
		(p_normal.x<0) ? -half_extents.x : half_extents.x,
		(p_normal.y<0) ? -half_extents.y : half_extents.y,
		(p_normal.z<0) ? -half_extents.z : half_extents.z
	);

	r_amount=1;
	r_supports[0]=point;
}

bool BoxShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {

	AABB aabb(-half_extents,half_extents*2.0);

	return aabb.intersects_segment(p_begin,p_end,&r_result,&r_normal);

}

Vector3 BoxShapeSW::get_moment_of_inertia(float p_mass) const {

	float lx=half_extents.x;
	float ly=half_extents.y;
	float lz=half_extents.z;

	return Vector3(	(p_mass/3.0) * (ly*ly + lz*lz), (p_mass/3.0) * (lx*lx + lz*lz), (p_mass/3.0) * (lx*lx + ly*ly) );

}

void BoxShapeSW::_setup(const Vector3& p_half_extents)  {

	half_extents=p_half_extents.abs();

	configure(AABB(-half_extents,half_extents*2));


}

void BoxShapeSW::set_data(const Variant& p_data) {


	_setup(p_data);
}

Variant BoxShapeSW::get_data() const {

	return half_extents;
}

BoxShapeSW::BoxShapeSW()  {


}


/********** CAPSULE *************/


void CapsuleShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {

	Vector3 n=p_transform.basis.xform_inv(p_normal).normalized();
	float h = (n.z > 0) ? height : -height;

	n *= radius;
	n.z += h * 0.5;

	r_max=p_normal.dot(p_transform.xform(n));
	r_min=p_normal.dot(p_transform.xform(-n));
	return;

	n = p_transform.basis.xform(n);

	float distance = p_normal.dot( p_transform.origin );
	float length = Math::abs(p_normal.dot(n));
	r_min = distance - length;
	r_max = distance + length;

	ERR_FAIL_COND( r_max < r_min );

}

Vector3 CapsuleShapeSW::get_support(const Vector3& p_normal) const {

	Vector3 n=p_normal;

	float h = (n.z > 0) ? height : -height;

	n*=radius;
	n.z += h*0.5;
	return n;
}

void CapsuleShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {


	Vector3 n=p_normal;

	float d = n.z;

	if (Math::abs( d )<_EDGE_IS_VALID_SUPPORT_TRESHOLD ) {

		// make it flat
		n.z=0.0;
		n.normalize();
		n*=radius;

		r_amount=2;
		r_supports[0]=n;
		r_supports[0].z+=height*0.5;
		r_supports[1]=n;
		r_supports[1].z-=height*0.5;

	} else {

		float h = (d > 0) ? height : -height;

		n*=radius;
		n.z += h*0.5;
		r_amount=1;
		*r_supports=n;

	}

}


bool CapsuleShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {

	Vector3 norm=(p_end-p_begin).normalized();
	float min_d=1e20;


	Vector3 res,n;
	bool collision=false;

	Vector3 auxres,auxn;
	bool collided;

	// test against cylinder and spheres :-|

	collided = Geometry::segment_intersects_cylinder(p_begin,p_end,height,radius,&auxres,&auxn);

	if (collided) {
		float d=norm.dot(auxres);
		if (d<min_d) {
			min_d=d;
			res=auxres;
			n=auxn;
			collision=true;
		}
	}

	collided = Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(0,0,height*0.5),radius,&auxres,&auxn);

	if (collided) {
		float d=norm.dot(auxres);
		if (d<min_d) {
			min_d=d;
			res=auxres;
			n=auxn;
			collision=true;
		}
	}

	collided = Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(0,0,height*-0.5),radius,&auxres,&auxn);

	if (collided) {
		float d=norm.dot(auxres);

		if (d<min_d) {
			min_d=d;
			res=auxres;
			n=auxn;
			collision=true;
		}
	}

	if (collision) {

		r_result=res;
		r_normal=n;
	}
	return collision;
}

Vector3 CapsuleShapeSW::get_moment_of_inertia(float p_mass) const {

	// use crappy AABB approximation
	Vector3 extents=get_aabb().size*0.5;

	return Vector3(
		(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
		(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
		(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
	);

}




void CapsuleShapeSW::_setup(real_t p_height,real_t p_radius)  {

	height=p_height;
	radius=p_radius;
	configure(AABB(Vector3(-radius,-radius,-height*0.5-radius),Vector3(radius*2,radius*2,height+radius*2.0)));

}

void CapsuleShapeSW::set_data(const Variant& p_data) {

	Dictionary d = p_data;
	ERR_FAIL_COND(!d.has("radius"));
	ERR_FAIL_COND(!d.has("height"));
	_setup(d["height"],d["radius"]);

}

Variant CapsuleShapeSW::get_data() const {

	Dictionary d;
	d["radius"]=radius;
	d["height"]=height;
	return d;

}


CapsuleShapeSW::CapsuleShapeSW()  {

	height=radius=0;

}

/********** CONVEX POLYGON *************/


void ConvexPolygonShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {


	int vertex_count=mesh.vertices.size();
	if (vertex_count==0)
		return;

	const Vector3 *vrts=&mesh.vertices[0];

	for (int i=0;i<vertex_count;i++) {

		float d=p_normal.dot( p_transform.xform( vrts[i] ) );

		if (i==0 || d > r_max)
			r_max=d;
		if (i==0 || d < r_min)
			r_min=d;
	}
}

Vector3 ConvexPolygonShapeSW::get_support(const Vector3& p_normal) const {

	Vector3 n=p_normal;

	int vert_support_idx=-1;
	float support_max;

	int vertex_count=mesh.vertices.size();
	if (vertex_count==0)
		return Vector3();

	const Vector3 *vrts=&mesh.vertices[0];

	for (int i=0;i<vertex_count;i++) {

		float d=n.dot(vrts[i]);

		if (i==0 || d > support_max) {
			support_max=d;
			vert_support_idx=i;
		}
	}

	return  vrts[vert_support_idx];

}



void ConvexPolygonShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {

	const Geometry::MeshData::Face *faces = mesh.faces.ptr();
	int fc = mesh.faces.size();

	const Geometry::MeshData::Edge *edges = mesh.edges.ptr();
	int ec = mesh.edges.size();

	const Vector3 *vertices = mesh.vertices.ptr();
	int vc = mesh.vertices.size();

	//find vertex first
	real_t max;
	int vtx;

	for (int i=0;i<vc;i++) {

		float d=p_normal.dot(vertices[i]);

		if (i==0 || d > max) {
			max=d;
			vtx=i;
		}
	}


	for(int i=0;i<fc;i++) {

		if (faces[i].plane.normal.dot(p_normal)>_FACE_IS_VALID_SUPPORT_TRESHOLD) {

			int ic = faces[i].indices.size();
			const int *ind=faces[i].indices.ptr();

			bool valid=false;
			for(int j=0;j<ic;j++) {
				if (ind[j]==vtx) {
					valid=true;
					break;
				}
			}

			if (!valid)
				continue;

			int m = MIN(p_max,ic);
			for(int j=0;j<m;j++) {

				r_supports[j]=vertices[ind[j]];
			}
			r_amount=m;
			return;
		}
	}

	for(int i=0;i<ec;i++) {


		float dot=(vertices[edges[i].a]-vertices[edges[i].b]).normalized().dot(p_normal);
		dot=ABS(dot);
		if (dot < _EDGE_IS_VALID_SUPPORT_TRESHOLD && (edges[i].a==vtx || edges[i].b==vtx)) {

			r_amount=2;
			r_supports[0]=vertices[edges[i].a];
			r_supports[1]=vertices[edges[i].b];
			return;
		}
	}


	r_supports[0]=vertices[vtx];
	r_amount=1;
}

bool ConvexPolygonShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {



	const Geometry::MeshData::Face *faces = mesh.faces.ptr();
	int fc = mesh.faces.size();

	const Vector3 *vertices = mesh.vertices.ptr();

	Vector3 n = p_end-p_begin;
	float min = 1e20;
	bool col=false;

	for(int i=0;i<fc;i++) {

		if (faces[i].plane.normal.dot(n) > 0)
			continue; //opposing face

		int ic = faces[i].indices.size();
		const int *ind=faces[i].indices.ptr();

		for(int j=1;j<ic-1;j++) {

			Face3 f(vertices[ind[0]],vertices[ind[j]],vertices[ind[j+1]]);
			Vector3 result;
			if (f.intersects_segment(p_begin,p_end,&result)) {
				float d = n.dot(result);
				if (d<min) {
					min=d;
					r_result=result;
					r_normal=faces[i].plane.normal;
					col=true;
				}

				break;
			}

		}
	}

	return col;

}

Vector3 ConvexPolygonShapeSW::get_moment_of_inertia(float p_mass) const {

	// use crappy AABB approximation
	Vector3 extents=get_aabb().size*0.5;

	return  Vector3(
		(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
		(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
		(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
	);

}

void ConvexPolygonShapeSW::_setup(const Vector<Vector3>& p_vertices)  {

	Error err = QuickHull::build(p_vertices,mesh);
	AABB _aabb;

	for(int i=0;i<mesh.vertices.size();i++) {

		if (i==0)
			_aabb.pos=mesh.vertices[i];
		else
			_aabb.expand_to(mesh.vertices[i]);
	}

	configure(_aabb);


}

void ConvexPolygonShapeSW::set_data(const Variant& p_data) {

	_setup(p_data);

}

Variant ConvexPolygonShapeSW::get_data() const {

	return mesh.vertices;
}


ConvexPolygonShapeSW::ConvexPolygonShapeSW()  {


}


/********** FACE POLYGON *************/


void FaceShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {

	for (int i=0;i<3;i++) {

		Vector3 v=p_transform.xform(vertex[i]);
		float d=p_normal.dot(v);

		if (i==0 || d > r_max)
			r_max=d;

		if (i==0 || d < r_min)
			r_min=d;
	}
}

Vector3 FaceShapeSW::get_support(const Vector3& p_normal) const {


	int vert_support_idx=-1;
	float support_max;

	for (int i=0;i<3;i++) {

		float d=p_normal.dot(vertex[i]);

		if (i==0 || d > support_max) {
			support_max=d;
			vert_support_idx=i;
		}
	}

	return vertex[vert_support_idx];
}

void FaceShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {

	Vector3 n=p_normal;

	/** TEST FACE AS SUPPORT **/
	if (normal.dot(n) > _FACE_IS_VALID_SUPPORT_TRESHOLD) {

		r_amount=3;
		for (int i=0;i<3;i++) {

			r_supports[i]=vertex[i];
		}
		return;

	}

	/** FIND SUPPORT VERTEX **/

	int vert_support_idx=-1;
	float support_max;

	for (int i=0;i<3;i++) {

		float d=n.dot(vertex[i]);

		if (i==0 || d > support_max) {
			support_max=d;
			vert_support_idx=i;
		}
	}

	/** TEST EDGES AS SUPPORT **/

	for (int i=0;i<3;i++) {

		int nx=(i+1)%3;
		if (i!=vert_support_idx && nx!=vert_support_idx)
			continue;

	// check if edge is valid as a support
		float dot=(vertex[i]-vertex[nx]).normalized().dot(n);
		dot=ABS(dot);
		if (dot < _EDGE_IS_VALID_SUPPORT_TRESHOLD) {

			r_amount=2;
			r_supports[0]=vertex[i];
			r_supports[1]=vertex[nx];
			return;
		}
	}

	r_amount=1;
	r_supports[0]=vertex[vert_support_idx];
}

bool FaceShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {


	bool c=Geometry::segment_intersects_triangle(p_begin,p_end,vertex[0],vertex[1],vertex[2],&r_result);
	if (c) {
		r_normal=Plane(vertex[0],vertex[1],vertex[2]).normal;
		if (r_normal.dot(p_end-p_begin)>0) {
			r_normal=-r_normal;
		}
	}

	return c;
}

Vector3 FaceShapeSW::get_moment_of_inertia(float p_mass) const {

	return Vector3(); // Sorry, but i don't think anyone cares, FaceShape!

}

FaceShapeSW::FaceShapeSW()  {

	configure(AABB());

}



DVector<Vector3> ConcavePolygonShapeSW::get_faces() const {


	DVector<Vector3> rfaces;
	rfaces.resize(faces.size()*3);

	for(int i=0;i<faces.size();i++) {

		Face f=faces.get(i);

		for(int j=0;j<3;j++) {

			rfaces.set(i*3+j, vertices.get( f.indices[j] ) );
		}
	}

	return rfaces;
}

void ConcavePolygonShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {

	int count=vertices.size();
	if (count==0) {
		r_min=0;
		r_max=0;
		return;
	}
	DVector<Vector3>::Read r=vertices.read();
	const Vector3 *vptr=r.ptr();

	for (int i=0;i<count;i++) {

		float d=p_normal.dot( p_transform.xform( vptr[i] ) );

		if (i==0 || d > r_max)
			r_max=d;
		if (i==0 || d < r_min)
			r_min=d;

	}
}

Vector3 ConcavePolygonShapeSW::get_support(const Vector3& p_normal) const {


	int count=vertices.size();
	if (count==0)
		return Vector3();

	DVector<Vector3>::Read r=vertices.read();
	const Vector3 *vptr=r.ptr();

	Vector3 n=p_normal;

	int vert_support_idx=-1;
	float support_max;

	for (int i=0;i<count;i++) {

		float d=n.dot(vptr[i]);

		if (i==0 || d > support_max) {
			support_max=d;
			vert_support_idx=i;
		}
	}


	return vptr[vert_support_idx];

}

void ConcavePolygonShapeSW::_cull_segment(int p_idx,_SegmentCullParams *p_params) const {

	const BVH *bvh=&p_params->bvh[p_idx];


	//if (p_params->dir.dot(bvh->aabb.get_support(-p_params->dir))>p_params->min_d)
	//	return; //test against whole AABB, which isn't very costly


	//printf("addr: %p\n",bvh);
	if (!bvh->aabb.intersects_segment(p_params->from,p_params->to)) {

		return;
	}


	if (bvh->face_index>=0) {


		Vector3 res;
		Vector3 vertices[3]={
			p_params->vertices[ p_params->faces[ bvh->face_index ].indices[0] ],
			p_params->vertices[ p_params->faces[ bvh->face_index ].indices[1] ],
			p_params->vertices[ p_params->faces[ bvh->face_index ].indices[2] ]
		};

		if (Geometry::segment_intersects_triangle(
				p_params->from,
				p_params->to,
				vertices[0],
				vertices[1],
				vertices[2],
				&res)) {


			float d=p_params->dir.dot(res) - p_params->dir.dot(p_params->from);
			//TODO, seems segmen/triangle intersection is broken :(
			if (d>0 && d<p_params->min_d) {

				p_params->min_d=d;
				p_params->result=res;
				p_params->normal=Plane(vertices[0],vertices[1],vertices[2]).normal;
				if (p_params->normal.dot(p_params->dir)>0)
					p_params->normal=-p_params->normal;
				p_params->collisions++;
			}

		}



	} else {

		if (bvh->left>=0)
			_cull_segment(bvh->left,p_params);
		if (bvh->right>=0)
			_cull_segment(bvh->right,p_params);


	}
}

bool ConcavePolygonShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {

	if (faces.size()==0)
		return false;

	// unlock data
	DVector<Face>::Read fr=faces.read();
	DVector<Vector3>::Read vr=vertices.read();
	DVector<BVH>::Read br=bvh.read();


	_SegmentCullParams params;
	params.from=p_begin;
	params.to=p_end;
	params.collisions=0;
	params.dir=(p_end-p_begin).normalized();

	params.faces=fr.ptr();
	params.vertices=vr.ptr();
	params.bvh=br.ptr();

	params.min_d=1e20;
	// cull
	_cull_segment(0,&params);

	if (params.collisions>0) {


		r_result=params.result;
		r_normal=params.normal;
		return true;
	} else {

		return false;
	}
}

void ConcavePolygonShapeSW::_cull(int p_idx,_CullParams *p_params) const {

	const BVH* bvh=&p_params->bvh[p_idx];

	if (!p_params->aabb.intersects( bvh->aabb ))
		return;

	if (bvh->face_index>=0) {

		const Face *f=&p_params->faces[ bvh->face_index ];
		FaceShapeSW *face=p_params->face;
		face->normal=f->normal;
		face->vertex[0]=p_params->vertices[f->indices[0]];
		face->vertex[1]=p_params->vertices[f->indices[1]];
		face->vertex[2]=p_params->vertices[f->indices[2]];
		p_params->callback(p_params->userdata,face);

	} else {

		if (bvh->left>=0) {

			_cull(bvh->left,p_params);

		}

		if (bvh->right>=0) {

			_cull(bvh->right,p_params);
		}

	}
}

void ConcavePolygonShapeSW::cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const {

	// make matrix local to concave
	if (faces.size()==0)
		return;

	AABB local_aabb=p_local_aabb;

	// unlock data
	DVector<Face>::Read fr=faces.read();
	DVector<Vector3>::Read vr=vertices.read();
	DVector<BVH>::Read br=bvh.read();

	FaceShapeSW face; // use this to send in the callback

	_CullParams params;
	params.aabb=local_aabb;
	params.face=&face;
	params.faces=fr.ptr();
	params.vertices=vr.ptr();
	params.bvh=br.ptr();
	params.callback=p_callback;
	params.userdata=p_userdata;

	// cull
	_cull(0,&params);

}

Vector3 ConcavePolygonShapeSW::get_moment_of_inertia(float p_mass) const {

	// use crappy AABB approximation
	Vector3 extents=get_aabb().size*0.5;

	return Vector3(
		(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
		(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
		(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
	);
}


struct _VolumeSW_BVH_Element {

	AABB aabb;
	Vector3 center;
	int face_index;
};

struct _VolumeSW_BVH_CompareX {

	_FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {

		return a.center.x<b.center.x;
	}
};


struct _VolumeSW_BVH_CompareY {

	_FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {

		return a.center.y<b.center.y;
	}
};

struct _VolumeSW_BVH_CompareZ {

	_FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {

		return a.center.z<b.center.z;
	}
};

struct _VolumeSW_BVH {

	AABB aabb;
	_VolumeSW_BVH *left;
	_VolumeSW_BVH *right;

	int face_index;
};


_VolumeSW_BVH* _volume_sw_build_bvh(_VolumeSW_BVH_Element *p_elements,int p_size,int &count) {

	_VolumeSW_BVH* bvh = memnew( _VolumeSW_BVH );

	if (p_size==1) {
		//leaf
		bvh->aabb=p_elements[0].aabb;
		bvh->left=NULL;
		bvh->right=NULL;
		bvh->face_index=p_elements->face_index;
		count++;
		return bvh;
	} else {

		bvh->face_index=-1;
	}

	AABB aabb;
	for(int i=0;i<p_size;i++) {

		if (i==0)
			aabb=p_elements[i].aabb;
		else
			aabb.merge_with(p_elements[i].aabb);
	}
	bvh->aabb=aabb;
	switch(aabb.get_longest_axis_index()) {

		case 0: {

			SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareX> sort_x;
			sort_x.sort(p_elements,p_size);

		} break;
		case 1: {

			SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareY> sort_y;
			sort_y.sort(p_elements,p_size);
		} break;
		case 2: {

			SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareZ> sort_z;
			sort_z.sort(p_elements,p_size);
		} break;
	}

	int split=p_size/2;
	bvh->left=_volume_sw_build_bvh(p_elements,split,count);
	bvh->right=_volume_sw_build_bvh(&p_elements[split],p_size-split,count);

//	printf("branch at %p - %i: %i\n",bvh,count,bvh->face_index);
	count++;
	return bvh;
}


void ConcavePolygonShapeSW::_fill_bvh(_VolumeSW_BVH* p_bvh_tree,BVH* p_bvh_array,int& p_idx) {

	int idx=p_idx;


	p_bvh_array[idx].aabb=p_bvh_tree->aabb;
	p_bvh_array[idx].face_index=p_bvh_tree->face_index;
//	printf("%p - %i: %i(%p)  -- %p:%p\n",%p_bvh_array[idx],p_idx,p_bvh_array[i]->face_index,&p_bvh_tree->face_index,p_bvh_tree->left,p_bvh_tree->right);


	if (p_bvh_tree->left) {
		p_bvh_array[idx].left=++p_idx;
		_fill_bvh(p_bvh_tree->left,p_bvh_array,p_idx);

	} else {

		p_bvh_array[p_idx].left=-1;
	}

	if (p_bvh_tree->right) {
		p_bvh_array[idx].right=++p_idx;
		_fill_bvh(p_bvh_tree->right,p_bvh_array,p_idx);

	} else {

		p_bvh_array[p_idx].right=-1;
	}

	memdelete(p_bvh_tree);

}

void ConcavePolygonShapeSW::_setup(DVector<Vector3> p_faces) {

	int src_face_count=p_faces.size();
	if (src_face_count==0) {
		configure(AABB());
		return;
	}
	ERR_FAIL_COND(src_face_count%3);
	src_face_count/=3;

	DVector<Vector3>::Read r = p_faces.read();
	const Vector3 * facesr= r.ptr();

#if 0
	Map<Vector3,int> point_map;
	List<Face> face_list;


	for(int i=0;i<src_face_count;i++) {

		Face3 faceaux;

		for(int j=0;j<3;j++) {

			faceaux.vertex[j]=facesr[i*3+j].snapped(_POINT_SNAP);
			//faceaux.vertex[j]=facesr[i*3+j];//facesr[i*3+j].snapped(_POINT_SNAP);
		}

		ERR_CONTINUE( faceaux.is_degenerate() );

		Face face;

		for(int j=0;j<3;j++) {


			Map<Vector3,int>::Element *E=point_map.find(faceaux.vertex[j]);
			if (E) {

				face.indices[j]=E->value();
			} else {

				face.indices[j]=point_map.size();
				point_map.insert(faceaux.vertex[j],point_map.size());

			}
		}

		face_list.push_back(face);
	}

	vertices.resize( point_map.size() );

	DVector<Vector3>::Write vw = vertices.write();
	Vector3 *verticesw=vw.ptr();

	AABB _aabb;

	for( Map<Vector3,int>::Element *E=point_map.front();E;E=E->next()) {

		if (E==point_map.front()) {
			_aabb.pos=E->key();
		} else {

			_aabb.expand_to(E->key());
		}
		verticesw[E->value()]=E->key();
	}

	point_map.clear(); // not needed anymore

	faces.resize(face_list.size());
	DVector<Face>::Write w = faces.write();
	Face *facesw=w.ptr();

	int fc=0;

	for( List<Face>::Element *E=face_list.front();E;E=E->next()) {

		facesw[fc++]=E->get();
	}

	face_list.clear();


	DVector<_VolumeSW_BVH_Element> bvh_array;
	bvh_array.resize( fc );

	DVector<_VolumeSW_BVH_Element>::Write bvhw = bvh_array.write();
	_VolumeSW_BVH_Element *bvh_arrayw=bvhw.ptr();


	for(int i=0;i<fc;i++) {

		AABB face_aabb;
		face_aabb.pos=verticesw[facesw[i].indices[0]];
		face_aabb.expand_to( verticesw[facesw[i].indices[1]] );
		face_aabb.expand_to( verticesw[facesw[i].indices[2]] );

		bvh_arrayw[i].face_index=i;
		bvh_arrayw[i].aabb=face_aabb;
		bvh_arrayw[i].center=face_aabb.pos+face_aabb.size*0.5;

	}

	w=DVector<Face>::Write();
	vw=DVector<Vector3>::Write();


	int count=0;
	_VolumeSW_BVH *bvh_tree=_volume_sw_build_bvh(bvh_arrayw,fc,count);

	ERR_FAIL_COND(count==0);

	bvhw=DVector<_VolumeSW_BVH_Element>::Write();

	bvh.resize( count+1 );

	DVector<BVH>::Write bvhw2 = bvh.write();
	BVH*bvh_arrayw2=bvhw2.ptr();

	int idx=0;
	_fill_bvh(bvh_tree,bvh_arrayw2,idx);

	set_aabb(_aabb);

#else
	DVector<_VolumeSW_BVH_Element> bvh_array;
	bvh_array.resize( src_face_count );

	DVector<_VolumeSW_BVH_Element>::Write bvhw = bvh_array.write();
	_VolumeSW_BVH_Element *bvh_arrayw=bvhw.ptr();

	faces.resize(src_face_count);
	DVector<Face>::Write w = faces.write();
	Face *facesw=w.ptr();

	vertices.resize( src_face_count*3 );

	DVector<Vector3>::Write vw = vertices.write();
	Vector3 *verticesw=vw.ptr();

	AABB _aabb;


	for(int i=0;i<src_face_count;i++) {

		Face3 face( facesr[i*3+0], facesr[i*3+1], facesr[i*3+2] );

		bvh_arrayw[i].aabb=face.get_aabb();
		bvh_arrayw[i].center = bvh_arrayw[i].aabb.pos + bvh_arrayw[i].aabb.size * 0.5;
		bvh_arrayw[i].face_index=i;
		facesw[i].indices[0]=i*3+0;
		facesw[i].indices[1]=i*3+1;
		facesw[i].indices[2]=i*3+2;
		facesw[i].normal=face.get_plane().normal;
		verticesw[i*3+0]=face.vertex[0];
		verticesw[i*3+1]=face.vertex[1];
		verticesw[i*3+2]=face.vertex[2];
		if (i==0)
			_aabb=bvh_arrayw[i].aabb;
		else
			_aabb.merge_with(bvh_arrayw[i].aabb);

	}

	w=DVector<Face>::Write();
	vw=DVector<Vector3>::Write();

	int count=0;
	_VolumeSW_BVH *bvh_tree=_volume_sw_build_bvh(bvh_arrayw,src_face_count,count);

	bvh.resize( count+1 );

	DVector<BVH>::Write bvhw2 = bvh.write();
	BVH*bvh_arrayw2=bvhw2.ptr();

	int idx=0;
	_fill_bvh(bvh_tree,bvh_arrayw2,idx);

	configure(_aabb); // this type of shape has no margin


#endif
}


void ConcavePolygonShapeSW::set_data(const Variant& p_data) {


	_setup(p_data);
}

Variant ConcavePolygonShapeSW::get_data() const {

	return get_faces();
}

ConcavePolygonShapeSW::ConcavePolygonShapeSW() {


}



/* HEIGHT MAP SHAPE */

DVector<float> HeightMapShapeSW::get_heights() const {

	return heights;
}
int HeightMapShapeSW::get_width() const {

	return width;
}
int HeightMapShapeSW::get_depth() const {

	return depth;
}
float HeightMapShapeSW::get_cell_size() const {

	return cell_size;
}


void HeightMapShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {

	//not very useful, but not very used either
	p_transform.xform(get_aabb()).project_range_in_plane( Plane(p_normal,0),r_min,r_max );

}

Vector3 HeightMapShapeSW::get_support(const Vector3& p_normal) const {


	//not very useful, but not very used either
	return get_aabb().get_support(p_normal);

}

bool HeightMapShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_point, Vector3 &r_normal) const {


	return false;
}


void HeightMapShapeSW::cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const {



}


Vector3 HeightMapShapeSW::get_moment_of_inertia(float p_mass) const {


	// use crappy AABB approximation
	Vector3 extents=get_aabb().size*0.5;

	return Vector3(
		(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
		(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
		(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
	);
}


void HeightMapShapeSW::_setup(DVector<real_t> p_heights,int p_width,int p_depth,real_t p_cell_size) {

	heights=p_heights;
	width=p_width;
	depth=p_depth;;
	cell_size=p_cell_size;

	DVector<real_t>::Read r = heights. read();

	AABB aabb;

	for(int i=0;i<depth;i++) {

		for(int j=0;j<width;j++) {

			float h = r[i*width+j];

			Vector3 pos( j*cell_size, h, i*cell_size );
			if (i==0 || j==0)
				aabb.pos=pos;
			else
				aabb.expand_to(pos);

		}
	}


	configure(aabb);
}

void HeightMapShapeSW::set_data(const Variant& p_data) {

	ERR_FAIL_COND( p_data.get_type()!=Variant::DICTIONARY );
	Dictionary d=p_data;
	ERR_FAIL_COND( !d.has("width") );
	ERR_FAIL_COND( !d.has("depth") );
	ERR_FAIL_COND( !d.has("cell_size") );
	ERR_FAIL_COND( !d.has("heights") );

	int width=d["width"];
	int depth=d["depth"];
	float cell_size=d["cell_size"];
	DVector<float> heights=d["heights"];

	ERR_FAIL_COND( width<= 0);
	ERR_FAIL_COND( depth<= 0);
	ERR_FAIL_COND( cell_size<= CMP_EPSILON);
	ERR_FAIL_COND( heights.size() != (width*depth) );
	_setup(heights, width, depth, cell_size );

}

Variant HeightMapShapeSW::get_data() const {

	ERR_FAIL_V(Variant());

}

HeightMapShapeSW::HeightMapShapeSW() {

	width=0;
	depth=0;
	cell_size=0;
}