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3D Physics and Other Stuff

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-=-=-=-=-=-=-=-=-=-=-=-=-=

-New Vehicle (Based on Bullet's RaycastVehicle) - Vehiclebody/VehicleWheel. Demo will come soon, old vehicle (CarBody) will go away soon too.
-A lot of fixes to the 3D physics engine
-Added KinematicBody with demo
-Fixed the space query API for 2D (demo will come soon). 3D is WIP.
-Fixed long-standing bug with body_enter/body_exit for Area and Area2D
-Performance variables now includes physics (active bodies, collision pairs and islands)
-Ability to see what's inside of instanced scenes!
-Fixed Blend Shapes (no bs+skeleton yet)
-Added an Android JavaClassWrapper singleton for using Android native classes directly from GDScript. This is very Alpha!
This commit is contained in:
Juan Linietsky 2014-09-02 23:13:40 -03:00 committed by Dana Olson
parent dbae857b29
commit 247e7ed716
82 changed files with 5161 additions and 856 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

5
SConstruct
View file

@ -205,8 +205,9 @@ for p in platform_list:
flag_list = platform_flags[p]
for f in flag_list:
env[f[0]] = f[1]
print(f[0]+":"+f[1])
if not (f[0] in ARGUMENTS): # allow command line to override platform flags
env[f[0]] = f[1]
print(f[0]+":"+f[1])
env.module_list=[]

29
core/global_constants.cpp
View file

@ -445,15 +445,26 @@ static _GlobalConstant _global_constants[]={
BIND_GLOBAL_CONSTANT( ERR_BUG ), ///< a bug in the software certainly happened ), due to a double check failing or unexpected behavior.
BIND_GLOBAL_CONSTANT( ERR_WTF ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_NONE ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_RANGE ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_EXP_RANGE ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_ENUM ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_LENGTH ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_FLAGS ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_FILE ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_DIR ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_RESOURCE_TYPE ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_NONE ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_RANGE ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_EXP_RANGE ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_ENUM ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_EXP_EASING ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_LENGTH ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_KEY_ACCEL ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_FLAGS ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_ALL_FLAGS ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_FILE ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_DIR ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_GLOBAL_FILE ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_GLOBAL_DIR ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_RESOURCE_TYPE ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_MULTILINE_TEXT ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_COLOR_NO_ALPHA ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_IMAGE_COMPRESS_LOSSY ),
BIND_GLOBAL_CONSTANT( PROPERTY_HINT_IMAGE_COMPRESS_LOSSLESS ),
BIND_GLOBAL_CONSTANT( PROPERTY_USAGE_STORAGE ),
BIND_GLOBAL_CONSTANT( PROPERTY_USAGE_STORAGE ),

16
core/math/vector3.h
View file

@ -111,6 +111,12 @@ struct Vector3 {
_FORCE_INLINE_ real_t distance_to(const Vector3& p_b) const;
_FORCE_INLINE_ real_t distance_squared_to(const Vector3& p_b) const;
_FORCE_INLINE_ Vector3 slide(const Vector3& p_vec) const;
_FORCE_INLINE_ Vector3 reflect(const Vector3& p_vec) const;
/* Operators */
_FORCE_INLINE_ Vector3& operator+=(const Vector3& p_v);
@ -368,6 +374,16 @@ void Vector3::zero() {
x=y=z=0;
}
Vector3 Vector3::slide(const Vector3& p_vec) const {
return p_vec - *this * this->dot(p_vec);
}
Vector3 Vector3::reflect(const Vector3& p_vec) const {
return p_vec - *this * this->dot(p_vec) * 2.0;
}
#endif
#endif // VECTOR3_H

5
core/variant_call.cpp
View file

@ -331,6 +331,9 @@ static void _call_##m_type##_##m_method(Variant& r_ret,Variant& p_self,const Var
VCALL_LOCALMEM0R(Vector3, abs);
VCALL_LOCALMEM1R(Vector3, distance_to);
VCALL_LOCALMEM1R(Vector3, distance_squared_to);
VCALL_LOCALMEM1R(Vector3, slide);
VCALL_LOCALMEM1R(Vector3, reflect);
VCALL_LOCALMEM0R(Plane,normalized);
VCALL_LOCALMEM0R(Plane,center);
@ -1236,6 +1239,8 @@ _VariantCall::addfunc(Variant::m_vtype,Variant::m_ret,_SCS(#m_method),VCALL(m_cl
ADDFUNC0(VECTOR3,VECTOR3,Vector3,abs,varray());
ADDFUNC1(VECTOR3,REAL,Vector3,distance_to,VECTOR3,"b",varray());
ADDFUNC1(VECTOR3,REAL,Vector3,distance_squared_to,VECTOR3,"b",varray());
ADDFUNC1(VECTOR3,VECTOR3,Vector3,slide,VECTOR3,"by",varray());
ADDFUNC1(VECTOR3,VECTOR3,Vector3,reflect,VECTOR3,"by",varray());
ADDFUNC0(PLANE,PLANE,Plane,normalized,varray());
ADDFUNC0(PLANE,VECTOR3,Plane,center,varray());

34
core/variant_op.cpp
View file

@ -1145,6 +1145,7 @@ void Variant::set(const Variant& p_index, const Variant& p_value, bool *r_valid)
if (p_value.type!=Variant::VECTOR3)
return;
if (p_index.get_type()==Variant::STRING) {
//scalar name
@ -1181,6 +1182,24 @@ void Variant::set(const Variant& p_index, const Variant& p_value, bool *r_valid)
v->set_axis(index,p_value);
return;
}
} else if (p_index.get_type()==Variant::STRING) {
const String *str=reinterpret_cast<const String*>(p_index._data._mem);
Matrix3 *v=_data._matrix3;
if (*str=="x") {
valid=true;
v->set_axis(0,p_value);
return;
} else if (*str=="y" ) {
valid=true;
v->set_axis(1,p_value);
return;
} else if (*str=="z" ) {
valid=true;
v->set_axis(2,p_value);
return;
}
}
} break;
@ -2021,6 +2040,21 @@ Variant Variant::get(const Variant& p_index, bool *r_valid) const {
valid=true;
return v->get_axis(index);
}
} else if (p_index.get_type()==Variant::STRING) {
const String *str=reinterpret_cast<const String*>(p_index._data._mem);
const Matrix3 *v=_data._matrix3;
if (*str=="x") {
valid=true;
return v->get_axis(0);
} else if (*str=="y" ) {
valid=true;
return v->get_axis(1);
} else if (*str=="z" ) {
valid=true;
return v->get_axis(2);
}
}
} break;

23
demos/2d/platformer/stage.xml
View file

@ -1,19 +1,20 @@
<?xml version="1.0" encoding="UTF-8" ?>
<resource_file type="PackedScene" subresource_count="9" version="1.0" version_name="Godot Engine v1.0.3917-beta1">
<ext_resource path="res://music.ogg" type="AudioStream"></ext_resource>
<ext_resource path="res://tileset.xml" type="TileSet"></ext_resource>
<ext_resource path="res://music.ogg" type="AudioStream"></ext_resource>
<ext_resource path="res://coin.xml" type="PackedScene"></ext_resource>
<ext_resource path="res://player.xml" type="PackedScene"></ext_resource>
<ext_resource path="res://moving_platform.xml" type="PackedScene"></ext_resource>
<ext_resource path="res://seesaw.xml" type="PackedScene"></ext_resource>
<ext_resource path="res://moving_platform.xml" type="PackedScene"></ext_resource>
<ext_resource path="res://enemy.xml" type="PackedScene"></ext_resource>
<ext_resource path="res://parallax_bg.xml" type="PackedScene"></ext_resource>
<main_resource>
<dictionary name="_bundled" shared="false">
<string> "names" </string>
<string_array len="119">
<string_array len="122">
<string> "stage" </string>
<string> "Node" </string>
<string> "_import_path" </string>
<string> "__meta__" </string>
<string> "tile_map" </string>
<string> "TileMap" </string>
@ -28,7 +29,9 @@
<string> "quadrant_size" </string>
<string> "tile_set" </string>
<string> "tile_data" </string>
<string> "collision_layers" </string>
<string> "collision/friction" </string>
<string> "collision/bounce" </string>
<string> "collision/layers" </string>
<string> "coins" </string>
<string> "coin" </string>
<string> "Area2D" </string>
@ -140,6 +143,7 @@
<int> 66 </int>
<string> "variants" </string>
<array len="96" shared="false">
<node_path> "" </node_path>
<dictionary shared="false">
<string> "__editor_plugin_states__" </string>
<dictionary shared="false">
@ -164,7 +168,7 @@
<string> "use_snap" </string>
<bool> False </bool>
<string> "ofs" </string>
<vector2> 418.81, 615.088 </vector2>
<vector2> -177.089, 415.221 </vector2>
<string> "snap" </string>
<int> 10 </int>
</dictionary>
@ -318,7 +322,7 @@
<vector2> 4236.75, 541.058 </vector2>
<vector2> 4172.75, 541.058 </vector2>
<resource resource_type="PackedScene" path="res://player.xml"> </resource>
<vector2> 236.879, 1051.15 </vector2>
<vector2> 251.684, 1045.6 </vector2>
<resource resource_type="PackedScene" path="res://moving_platform.xml"> </resource>
<vector2> 1451.86, 742.969 </vector2>
<vector2> 0, 140 </vector2>
@ -349,16 +353,15 @@
<real> -202 </real>
<real> 358 </real>
<real> -10 </real>
<node_path> "" </node_path>
<int> 2 </int>
<real> 14 </real>
<real> 7 </real>
<real> 14.769231 </real>
<string> "This is a simple demo on how to make a platformer game with Godot.&#10;This version uses physics and the 2D physics engine for motion and collision.&#10;&#10;The demo also shows the benefits of using the scene system, where coins,&#10;enemies and the player are edited separatedly and instanced in the stage.&#10;&#10;To edit the base tiles for the tileset, open the tileset_edit.xml file and follow &#10;instructions.&#10;" </string>
<string> "This is a simple demo on how to make a platformer game with Godot.&#22;This version uses physics and the 2D physics engine for motion and collision.&#22;&#22;The demo also shows the benefits of using the scene system, where coins,&#22;enemies and the player are edited separatedly and instanced in the stage.&#22;&#22;To edit the base tiles for the tileset, open the tileset_edit.xml file and follow &#22;instructions.&#22;" </string>
<int> 0 </int>
<real> -1 </real>
</array>
<string> "nodes" </string>
<int_array len="690"> -1, -1, 1, 0, -1, 1, 2, 0, 0, 0, 0, 4, 3, -1, 13, 5, 1, 6, 2, 7, 2, 8, 3, 9, 4, 10, 5, 11, 6, 12, 7, 13, 8, 14, 9, 15, 10, 16, 11, 2, 12, 0, 0, 0, 1, 17, -1, 1, 2, 13, 0, 2, 0, 19, 18, 14, 1, 9, 15, 0, 2, 0, 19, 20, 14, 1, 9, 16, 0, 2, 0, 19, 21, 14, 1, 9, 17, 0, 2, 0, 19, 22, 14, 1, 9, 18, 0, 2, 0, 19, 23, 14, 1, 9, 19, 0, 2, 0, 19, 24, 14, 1, 9, 20, 0, 2, 0, 19, 25, 14, 1, 9, 21, 0, 2, 0, 19, 26, 14, 1, 9, 22, 0, 2, 0, 19, 27, 14, 1, 9, 23, 0, 2, 0, 19, 28, 14, 1, 9, 24, 0, 2, 0, 19, 29, 14, 1, 9, 25, 0, 2, 0, 19, 30, 14, 1, 9, 26, 0, 2, 0, 19, 31, 14, 1, 9, 27, 0, 2, 0, 19, 32, 14, 1, 9, 28, 0, 2, 0, 19, 33, 14, 1, 9, 29, 0, 2, 0, 19, 34, 14, 1, 9, 30, 0, 2, 0, 19, 35, 14, 1, 9, 31, 0, 2, 0, 19, 36, 14, 1, 9, 32, 0, 2, 0, 19, 37, 14, 1, 9, 33, 0, 2, 0, 19, 38, 14, 1, 9, 34, 0, 2, 0, 19, 39, 14, 1, 9, 35, 0, 2, 0, 19, 40, 14, 1, 9, 36, 0, 2, 0, 19, 41, 14, 1, 9, 37, 0, 2, 0, 19, 42, 14, 1, 9, 38, 0, 2, 0, 19, 43, 14, 1, 9, 39, 0, 2, 0, 19, 44, 14, 1, 9, 40, 0, 2, 0, 19, 45, 14, 1, 9, 41, 0, 2, 0, 19, 46, 14, 1, 9, 42, 0, 2, 0, 19, 47, 14, 1, 9, 43, 0, 2, 0, 19, 48, 14, 1, 9, 44, 0, 2, 0, 19, 49, 14, 1, 9, 45, 0, 2, 0, 19, 50, 14, 1, 9, 46, 0, 2, 0, 19, 51, 14, 1, 9, 47, 0, 2, 0, 19, 52, 14, 1, 9, 48, 0, 2, 0, 19, 53, 14, 1, 9, 49, 0, 2, 0, 19, 54, 14, 1, 9, 50, 0, 2, 0, 19, 55, 14, 1, 9, 51, 0, 2, 0, 19, 56, 14, 1, 9, 52, 0, 2, 0, 19, 57, 14, 1, 9, 53, 0, 2, 0, 19, 58, 14, 1, 9, 54, 0, 2, 0, 19, 59, 14, 1, 9, 55, 0, 2, 0, 19, 60, 14, 1, 9, 56, 0, 0, 0, 62, 61, 57, 1, 9, 58, 0, 0, 0, 1, 63, -1, 0, 0, 46, 0, 65, 64, 59, 3, 9, 60, 66, 61, 67, 62, 0, 46, 0, 65, 68, 59, 3, 9, 63, 66, 64, 67, 65, 0, 46, 0, 65, 69, 59, 3, 9, 66, 66, 67, 67, 65, 0, 46, 0, 65, 70, 68, 1, 9, 69, 0, 0, 0, 72, 71, -1, 6, 73, 70, 74, 3, 75, 1, 76, 71, 77, 1, 78, 3, 0, 0, 0, 1, 79, -1, 0, 0, 52, 0, 62, 80, 72, 1, 9, 73, 0, 52, 0, 62, 81, 72, 1, 9, 74, 0, 52, 0, 62, 82, 72, 1, 9, 75, 0, 52, 0, 62, 83, 72, 1, 9, 76, 0, 52, 0, 62, 84, 72, 1, 9, 77, 0, 52, 0, 62, 85, 72, 1, 9, 78, 0, 52, 0, 62, 86, 72, 1, 9, 79, 0, 52, 0, 62, 87, 72, 1, 9, 80, 0, 52, 0, 62, 88, 72, 1, 9, 81, 0, 52, 0, 62, 89, 72, 1, 9, 82, 0, 52, 0, 62, 90, 72, 1, 9, 83, 0, 0, 0, 92, 91, 84, 0, 0, 0, 0, 93, 93, -1, 29, 5, 1, 6, 2, 7, 2, 8, 3, 94, 85, 95, 86, 96, 87, 97, 88, 98, 89, 99, 89, 100, 89, 101, 89, 102, 1, 103, 1, 104, 90, 105, 2, 106, 5, 107, 91, 108, 2, 109, 92, 110, 5, 111, 3, 112, 3, 113, 93, 114, 94, 115, 94, 116, 1, 117, 3, 118, 95, 0 </int_array>
<int_array len="708"> -1, -1, 1, 0, -1, 2, 2, 0, 3, 1, 0, 0, 0, 5, 4, -1, 16, 2, 0, 6, 2, 7, 3, 8, 3, 9, 4, 10, 5, 11, 6, 12, 7, 13, 8, 14, 9, 15, 10, 16, 11, 17, 3, 18, 6, 19, 12, 3, 13, 0, 0, 0, 1, 20, -1, 2, 2, 0, 3, 14, 0, 2, 0, 22, 21, 15, 1, 10, 16, 0, 2, 0, 22, 23, 15, 1, 10, 17, 0, 2, 0, 22, 24, 15, 1, 10, 18, 0, 2, 0, 22, 25, 15, 1, 10, 19, 0, 2, 0, 22, 26, 15, 1, 10, 20, 0, 2, 0, 22, 27, 15, 1, 10, 21, 0, 2, 0, 22, 28, 15, 1, 10, 22, 0, 2, 0, 22, 29, 15, 1, 10, 23, 0, 2, 0, 22, 30, 15, 1, 10, 24, 0, 2, 0, 22, 31, 15, 1, 10, 25, 0, 2, 0, 22, 32, 15, 1, 10, 26, 0, 2, 0, 22, 33, 15, 1, 10, 27, 0, 2, 0, 22, 34, 15, 1, 10, 28, 0, 2, 0, 22, 35, 15, 1, 10, 29, 0, 2, 0, 22, 36, 15, 1, 10, 30, 0, 2, 0, 22, 37, 15, 1, 10, 31, 0, 2, 0, 22, 38, 15, 1, 10, 32, 0, 2, 0, 22, 39, 15, 1, 10, 33, 0, 2, 0, 22, 40, 15, 1, 10, 34, 0, 2, 0, 22, 41, 15, 1, 10, 35, 0, 2, 0, 22, 42, 15, 1, 10, 36, 0, 2, 0, 22, 43, 15, 1, 10, 37, 0, 2, 0, 22, 44, 15, 1, 10, 38, 0, 2, 0, 22, 45, 15, 1, 10, 39, 0, 2, 0, 22, 46, 15, 1, 10, 40, 0, 2, 0, 22, 47, 15, 1, 10, 41, 0, 2, 0, 22, 48, 15, 1, 10, 42, 0, 2, 0, 22, 49, 15, 1, 10, 43, 0, 2, 0, 22, 50, 15, 1, 10, 44, 0, 2, 0, 22, 51, 15, 1, 10, 45, 0, 2, 0, 22, 52, 15, 1, 10, 46, 0, 2, 0, 22, 53, 15, 1, 10, 47, 0, 2, 0, 22, 54, 15, 1, 10, 48, 0, 2, 0, 22, 55, 15, 1, 10, 49, 0, 2, 0, 22, 56, 15, 1, 10, 50, 0, 2, 0, 22, 57, 15, 1, 10, 51, 0, 2, 0, 22, 58, 15, 1, 10, 52, 0, 2, 0, 22, 59, 15, 1, 10, 53, 0, 2, 0, 22, 60, 15, 1, 10, 54, 0, 2, 0, 22, 61, 15, 1, 10, 55, 0, 2, 0, 22, 62, 15, 1, 10, 56, 0, 2, 0, 22, 63, 15, 1, 10, 57, 0, 0, 0, 65, 64, 58, 1, 10, 59, 0, 0, 0, 1, 66, -1, 1, 2, 0, 0, 46, 0, 68, 67, 60, 3, 10, 61, 69, 62, 70, 63, 0, 46, 0, 68, 71, 60, 3, 10, 64, 69, 65, 70, 66, 0, 46, 0, 68, 72, 60, 3, 10, 67, 69, 68, 70, 66, 0, 46, 0, 68, 73, 69, 1, 10, 70, 0, 0, 0, 75, 74, -1, 7, 2, 0, 76, 71, 77, 4, 78, 2, 79, 72, 80, 2, 81, 4, 0, 0, 0, 1, 82, -1, 1, 2, 0, 0, 52, 0, 65, 83, 73, 1, 10, 74, 0, 52, 0, 65, 84, 73, 1, 10, 75, 0, 52, 0, 65, 85, 73, 1, 10, 76, 0, 52, 0, 65, 86, 73, 1, 10, 77, 0, 52, 0, 65, 87, 73, 1, 10, 78, 0, 52, 0, 65, 88, 73, 1, 10, 79, 0, 52, 0, 65, 89, 73, 1, 10, 80, 0, 52, 0, 65, 90, 73, 1, 10, 81, 0, 52, 0, 65, 91, 73, 1, 10, 82, 0, 52, 0, 65, 92, 73, 1, 10, 83, 0, 52, 0, 65, 93, 73, 1, 10, 84, 0, 0, 0, 95, 94, 85, 0, 0, 0, 0, 96, 96, -1, 30, 2, 0, 6, 2, 7, 3, 8, 3, 9, 4, 97, 86, 98, 87, 99, 88, 100, 89, 101, 0, 102, 0, 103, 0, 104, 0, 105, 2, 106, 2, 107, 90, 108, 3, 109, 6, 110, 91, 111, 3, 112, 92, 113, 6, 114, 4, 115, 4, 116, 93, 117, 94, 118, 94, 119, 2, 120, 4, 121, 95, 0 </int_array>
<string> "conns" </string>
<int_array len="0"> </int_array>
</dictionary>

BIN
demos/3d/kinematic_char/cubelib.res Normal file
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Binary file not shown.

96
demos/3d/kinematic_char/cubio.gd Normal file
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@ -0,0 +1,96 @@
extends KinematicBody
# member variables here, example:
# var a=2
# var b="textvar"
var g = -9.8
var vel = Vector3()
const MAX_SPEED = 5
const JUMP_SPEED = 7
const ACCEL= 2
const DEACCEL= 4
const MAX_SLOPE_ANGLE = 30
func _fixed_process(delta):
var dir = Vector3() #where does the player intend to walk to
var cam_xform = get_node("target/camera").get_global_transform()
if (Input.is_action_pressed("move_forward")):
dir+=-cam_xform.basis[2]
if (Input.is_action_pressed("move_backwards")):
dir+=cam_xform.basis[2]
if (Input.is_action_pressed("move_left")):
dir+=-cam_xform.basis[0]
if (Input.is_action_pressed("move_right")):
dir+=cam_xform.basis[0]
dir.y=0
dir=dir.normalized()
vel.y+=delta*g
var hvel = vel
hvel.y=0
var target = dir*MAX_SPEED
var accel
if (dir.dot(hvel) >0):
accel=ACCEL
else:
accel=DEACCEL
hvel = hvel.linear_interpolate(target,accel*delta)
vel.x=hvel.x;
vel.z=hvel.z
var motion = vel*delta
motion=move(vel*delta)
var on_floor = false
var original_vel = vel
var floor_velocity=Vector2()
var attempts=4
while(is_colliding() and attempts):
var n=get_collision_normal()
if ( rad2deg(acos(n.dot( Vector3(0,1,0)))) < MAX_SLOPE_ANGLE ):
#if angle to the "up" vectors is < angle tolerance
#char is on floor
floor_velocity=get_collider_velocity()
on_floor=true
motion = n.slide(motion)
vel = n.slide(vel)
if (original_vel.dot(vel) > 0):
#do not allow to slide towads the opposite direction we were coming from
motion=move(motion)
if (motion.length()<0.001):
break
attempts-=1
if (on_floor and floor_velocity!=Vector3()):
move(floor_velocity*delta)
if (on_floor and Input.is_action_pressed("jump")):
vel.y=JUMP_SPEED
var crid = get_node("../elevator1").get_rid()
# print(crid," : ",PS.body_get_state(crid,PS.BODY_STATE_TRANSFORM))
func _ready():
# Initalization here
set_fixed_process(true)
pass
func _on_tcube_body_enter( body ):
get_node("../ty").show()
pass # replace with function body

17
demos/3d/kinematic_char/engine.cfg Normal file
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@ -0,0 +1,17 @@
[application]
name="Kinematic Character 3D"
main_scene="res://level.scn"
icon="res://kinebody3d.png"
[input]
move_forward=[key(Up)]
move_left=[key(Left)]
move_right=[key(Right)]
move_backwards=[key(Down)]
jump=[key(Space)]
[rasterizer]
shadow_filter=3

92
demos/3d/kinematic_char/follow_camera.gd Normal file
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@ -0,0 +1,92 @@
extends Camera
# member variables here, example:
# var a=2
# var b="textvar"
var collision_exception=[]
export var min_distance=0.5
export var max_distance=4.0
export var angle_v_adjust=0.0
export var autoturn_ray_aperture=25
export var autoturn_speed=50
var max_height = 2.0
var min_height = 0
func _fixed_process(dt):
var target = get_parent().get_global_transform().origin
var pos = get_global_transform().origin
var up = Vector3(0,1,0)
var delta = pos - target
#regular delta follow
#check ranges
if (delta.length() < min_distance):
delta = delta.normalized() * min_distance
elif (delta.length() > max_distance):
delta = delta.normalized() * max_distance
#check upper and lower height
if ( delta.y > max_height):
delta.y = max_height
if ( delta.y < min_height):
delta.y = min_height
#check autoturn
var ds = PhysicsServer.space_get_direct_state( get_world().get_space() )
var col_left = ds.intersect_ray(target,target+Matrix3(up,deg2rad(autoturn_ray_aperture)).xform(delta),collision_exception)
var col = ds.intersect_ray(target,target,collision_exception)
var col_right = ds.intersect_ray(target,target+Matrix3(up,deg2rad(-autoturn_ray_aperture)).xform(delta),collision_exception)
if (col!=null):
#if main ray was occluded, get camera closer, this is the worst case scenario
delta = col.position - target
elif (col_left!=null and col_right==null):
#if only left ray is occluded, turn the camera around to the right
delta = Matrix3(up,deg2rad(-dt*autoturn_speed)).xform(delta)
elif (col_left==null and col_right!=null):
#if only right ray is occluded, turn the camera around to the left
delta = Matrix3(up,deg2rad(dt*autoturn_speed)).xform(delta)
else:
#do nothing otherwise, left and right are occluded but center is not, so do not autoturn
pass
#apply lookat
pos = target + delta
look_at_from_pos(pos,target,up)
#turn a little up or down
var t = get_transform()
t.basis = Matrix3(t.basis[0],deg2rad(angle_v_adjust)) * t.basis
set_transform(t)
func _ready():
#find collision exceptions for ray
var node = self
while(node):
if (node extends RigidBody):
collision_exception.append(node.get_rid())
break
else:
node=node.get_parent()
# Initalization here
set_fixed_process(true)
#this detaches the camera transform from the parent spatial node
set_as_toplevel(true)

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37
drivers/gles2/rasterizer_gles2.cpp
View file

@ -1504,6 +1504,23 @@ void RasterizerGLES2::mesh_add_surface(RID p_mesh,VS::PrimitiveType p_primitive,
ERR_FAIL_COND((format&VS::ARRAY_FORMAT_VERTEX)==0); // mandatory
ERR_FAIL_COND( mesh->morph_target_count!=p_blend_shapes.size() );
if (mesh->morph_target_count) {
//validate format for morphs
for(int i=0;i<p_blend_shapes.size();i++) {
uint32_t bsformat=0;
Array arr = p_blend_shapes[i];
for(int j=0;j<arr.size();j++) {
if (arr[j].get_type()!=Variant::NIL)
bsformat|=(1<<j);
}
ERR_FAIL_COND( (bsformat)!=(format&(VS::ARRAY_FORMAT_BONES-1)));
}
}
Surface *surface = memnew( Surface );
ERR_FAIL_COND( !surface );
@ -1701,7 +1718,9 @@ void RasterizerGLES2::mesh_add_surface(RID p_mesh,VS::PrimitiveType p_primitive,
surface->array_len=array_len;
surface->format=format;
surface->primitive=p_primitive;
surface->morph_target_count=mesh->morph_target_count;
surface->configured_format=0;
surface->mesh=mesh;
if (keep_copies) {
surface->data=p_arrays;
surface->morph_data=p_blend_shapes;
@ -1735,6 +1754,17 @@ void RasterizerGLES2::mesh_add_surface(RID p_mesh,VS::PrimitiveType p_primitive,
surface->index_array_local = (uint8_t*)memalloc(index_array_len*surface->array[VS::ARRAY_INDEX].size);
index_array_ptr=(uint8_t*)surface->index_array_local;
}
if (mesh->morph_target_count) {
surface->morph_targets_local = memnew_arr(Surface::MorphTarget,mesh->morph_target_count);
for(int i=0;i<mesh->morph_target_count;i++) {
surface->morph_targets_local[i].array=memnew_arr(uint8_t,surface->local_stride*surface->array_len);
surface->morph_targets_local[i].configured_format=surface->morph_format;
_surface_set_arrays(surface,surface->morph_targets_local[i].array,NULL,p_blend_shapes[i],false);
}
}
}
@ -4946,8 +4976,11 @@ Error RasterizerGLES2::_setup_geometry(const Geometry *p_geometry, const Materia
/* compute morphs */
if (p_morphs && surf->morph_target_count && can_copy_to_local) {
base = skinned_buffer;
stride=surf->local_stride;
@ -7773,9 +7806,9 @@ void RasterizerGLES2::free(const RID& p_rid) {
for(int i=0;i<mesh->morph_target_count;i++) {
memfree(surface->morph_targets_local[i].array);
memdelete_arr(surface->morph_targets_local[i].array);
}
memfree(surface->morph_targets_local);
memdelete_arr(surface->morph_targets_local);
surface->morph_targets_local=NULL;
}

25
main/performance.cpp
View file

@ -29,6 +29,8 @@
#include "performance.h"
#include "os/os.h"
#include "servers/visual_server.h"
#include "servers/physics_2d_server.h"
#include "servers/physics_server.h"
#include "message_queue.h"
#include "scene/main/scene_main_loop.h"
Performance *Performance::singleton=NULL;
@ -61,6 +63,13 @@ void Performance::_bind_methods() {
BIND_CONSTANT( RENDER_VIDEO_MEM_USED );
BIND_CONSTANT( RENDER_TEXTURE_MEM_USED );
BIND_CONSTANT( RENDER_VERTEX_MEM_USED );
BIND_CONSTANT( PHYSICS_2D_ACTIVE_OBJECTS );
BIND_CONSTANT( PHYSICS_2D_COLLISION_PAIRS );
BIND_CONSTANT( PHYSICS_2D_ISLAND_COUNT );
BIND_CONSTANT( PHYSICS_3D_ACTIVE_OBJECTS );
BIND_CONSTANT( PHYSICS_3D_COLLISION_PAIRS );
BIND_CONSTANT( PHYSICS_3D_ISLAND_COUNT );
BIND_CONSTANT( MONITOR_MAX );
}
@ -90,7 +99,14 @@ String Performance::get_monitor_name(Monitor p_monitor) const {
"video/video_mem",
"video/texure_mem",
"video/vertex_mem",
"render/mem_max"
"video/video_mem_max",
"physics_2d/active_objects",
"physics_2d/collision_pairs",
"physics_2d/islands",
"physics_3d/active_objects",
"physics_3d/collision_pairs",
"physics_3d/islands",
};
return names[p_monitor];
@ -133,6 +149,13 @@ float Performance::get_monitor(Monitor p_monitor) const {
case RENDER_TEXTURE_MEM_USED: return VS::get_singleton()->get_render_info(VS::INFO_TEXTURE_MEM_USED);
case RENDER_VERTEX_MEM_USED: return VS::get_singleton()->get_render_info(VS::INFO_VERTEX_MEM_USED);
case RENDER_USAGE_VIDEO_MEM_TOTAL: return VS::get_singleton()->get_render_info(VS::INFO_USAGE_VIDEO_MEM_TOTAL);
case PHYSICS_2D_ACTIVE_OBJECTS: return Physics2DServer::get_singleton()->get_process_info(Physics2DServer::INFO_ACTIVE_OBJECTS);
case PHYSICS_2D_COLLISION_PAIRS: return Physics2DServer::get_singleton()->get_process_info(Physics2DServer::INFO_COLLISION_PAIRS);
case PHYSICS_2D_ISLAND_COUNT: return Physics2DServer::get_singleton()->get_process_info(Physics2DServer::INFO_ISLAND_COUNT);
case PHYSICS_3D_ACTIVE_OBJECTS: return PhysicsServer::get_singleton()->get_process_info(PhysicsServer::INFO_ACTIVE_OBJECTS);
case PHYSICS_3D_COLLISION_PAIRS: return PhysicsServer::get_singleton()->get_process_info(PhysicsServer::INFO_COLLISION_PAIRS);
case PHYSICS_3D_ISLAND_COUNT: return PhysicsServer::get_singleton()->get_process_info(PhysicsServer::INFO_ISLAND_COUNT);
default: {}
}

6
main/performance.h
View file

@ -69,6 +69,12 @@ public:
RENDER_TEXTURE_MEM_USED,
RENDER_VERTEX_MEM_USED,
RENDER_USAGE_VIDEO_MEM_TOTAL,
PHYSICS_2D_ACTIVE_OBJECTS,
PHYSICS_2D_COLLISION_PAIRS,
PHYSICS_2D_ISLAND_COUNT,
PHYSICS_3D_ACTIVE_OBJECTS,
PHYSICS_3D_COLLISION_PAIRS,
PHYSICS_3D_ISLAND_COUNT,
//physics
MONITOR_MAX
};

4
platform/android/SCsub
View file

@ -15,7 +15,9 @@ android_files = [
'audio_driver_jandroid.cpp',
'ifaddrs_android.cpp',
'android_native_app_glue.c',
'java_glue.cpp'
'java_glue.cpp',
'java_class_wrapper.cpp'
]
#env.Depends('#core/math/vector3.h', 'vector3_psp.h')

8
platform/android/java/src/com/android/godot/GodotPaymentV3.java
View file

@ -64,15 +64,15 @@ public class GodotPaymentV3 extends Godot.SingletonBase {
public void callbackSuccess(String ticket, String signature){
Log.d(this.getClass().getName(), "PRE-Send callback to purchase success");
// Log.d(this.getClass().getName(), "PRE-Send callback to purchase success");
GodotLib.callobject(purchaseCallbackId, "purchase_success", new Object[]{ticket, signature});
Log.d(this.getClass().getName(), "POST-Send callback to purchase success");
// Log.d(this.getClass().getName(), "POST-Send callback to purchase success");
}
public void callbackSuccessProductMassConsumed(String ticket, String signature, String sku){
Log.d(this.getClass().getName(), "PRE-Send callback to consume success");
// Log.d(this.getClass().getName(), "PRE-Send callback to consume success");
GodotLib.calldeferred(purchaseCallbackId, "consume_success", new Object[]{ticket, signature, sku});
Log.d(this.getClass().getName(), "POST-Send callback to consume success");
// Log.d(this.getClass().getName(), "POST-Send callback to consume success");
}
public void callbackSuccessNoUnconsumedPurchases(){

1332
platform/android/java_class_wrapper.cpp Normal file
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168
platform/android/java_class_wrapper.h Normal file
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@ -0,0 +1,168 @@
#ifndef JAVA_CLASS_WRAPPER_H
#define JAVA_CLASS_WRAPPER_H
#include "reference.h"
#include <jni.h>
#include <android/log.h>
class JavaObject;
class JavaClass : public Reference {
OBJ_TYPE(JavaClass,Reference);
enum ArgumentType {
ARG_TYPE_VOID,
ARG_TYPE_BOOLEAN,
ARG_TYPE_BYTE,
ARG_TYPE_CHAR,
ARG_TYPE_SHORT,
ARG_TYPE_INT,
ARG_TYPE_LONG,
ARG_TYPE_FLOAT,
ARG_TYPE_DOUBLE,
ARG_TYPE_STRING, //special case
ARG_TYPE_CLASS,
ARG_ARRAY_BIT=1<<16,
ARG_NUMBER_CLASS_BIT=1<<17,
ARG_TYPE_MASK=(1<<16)-1
};
Map<StringName,Variant> constant_map;
struct MethodInfo {
bool _static;
Vector<uint32_t> param_types;
Vector<StringName> param_sigs;
uint32_t return_type;
jmethodID method;
};
_FORCE_INLINE_ static void _convert_to_variant_type(int p_sig, Variant::Type& r_type, float& likelyhood) {
likelyhood=1.0;
r_type=Variant::NIL;
switch(p_sig) {
case ARG_TYPE_VOID: r_type=Variant::NIL; break;
case ARG_TYPE_BOOLEAN|ARG_NUMBER_CLASS_BIT:
case ARG_TYPE_BOOLEAN: r_type=Variant::BOOL; break;
case ARG_TYPE_BYTE|ARG_NUMBER_CLASS_BIT:
case ARG_TYPE_BYTE: r_type=Variant::INT; likelyhood=0.1; break;
case ARG_TYPE_CHAR|ARG_NUMBER_CLASS_BIT:
case ARG_TYPE_CHAR: r_type=Variant::INT; likelyhood=0.2; break;
case ARG_TYPE_SHORT|ARG_NUMBER_CLASS_BIT:
case ARG_TYPE_SHORT: r_type=Variant::INT; likelyhood=0.3; break;
case ARG_TYPE_INT|ARG_NUMBER_CLASS_BIT:
case ARG_TYPE_INT: r_type=Variant::INT; likelyhood=1.0; break;
case ARG_TYPE_LONG|ARG_NUMBER_CLASS_BIT:
case ARG_TYPE_LONG: r_type=Variant::INT; likelyhood=0.5; break;
case ARG_TYPE_FLOAT|ARG_NUMBER_CLASS_BIT:
case ARG_TYPE_FLOAT: r_type=Variant::REAL; likelyhood=1.0; break;
case ARG_TYPE_DOUBLE|ARG_NUMBER_CLASS_BIT:
case ARG_TYPE_DOUBLE: r_type=Variant::REAL; likelyhood=0.5; break;
case ARG_TYPE_STRING: r_type=Variant::STRING; break;
case ARG_TYPE_CLASS: r_type=Variant::OBJECT; break;
case ARG_ARRAY_BIT|ARG_TYPE_VOID: r_type=Variant::NIL; break;
case ARG_ARRAY_BIT|ARG_TYPE_BOOLEAN: r_type=Variant::ARRAY; break;
case ARG_ARRAY_BIT|ARG_TYPE_BYTE: r_type=Variant::RAW_ARRAY; likelyhood=1.0; break;
case ARG_ARRAY_BIT|ARG_TYPE_CHAR: r_type=Variant::RAW_ARRAY; likelyhood=0.5; break;
case ARG_ARRAY_BIT|ARG_TYPE_SHORT: r_type=Variant::INT_ARRAY; likelyhood=0.3; break;
case ARG_ARRAY_BIT|ARG_TYPE_INT: r_type=Variant::INT_ARRAY; likelyhood=1.0; break;
case ARG_ARRAY_BIT|ARG_TYPE_LONG: r_type=Variant::INT_ARRAY; likelyhood=0.5; break;
case ARG_ARRAY_BIT|ARG_TYPE_FLOAT: r_type=Variant::REAL_ARRAY; likelyhood=1.0; break;
case ARG_ARRAY_BIT|ARG_TYPE_DOUBLE: r_type=Variant::REAL_ARRAY; likelyhood=0.5; break;
case ARG_ARRAY_BIT|ARG_TYPE_STRING: r_type=Variant::STRING_ARRAY; break;
case ARG_ARRAY_BIT|ARG_TYPE_CLASS: r_type=Variant::ARRAY; break;
}
}
_FORCE_INLINE_ static bool _convert_object_to_variant(JNIEnv * env, jobject obj, Variant& var,uint32_t p_sig);
bool _call_method(JavaObject* p_instance,const StringName& p_method,const Variant** p_args,int p_argcount,Variant::CallError &r_error,Variant& ret);
friend class JavaClassWrapper;
Map<StringName,List<MethodInfo> > methods;
jclass _class;
public:
virtual Variant call(const StringName& p_method,const Variant** p_args,int p_argcount,Variant::CallError &r_error);
JavaClass();
};
class JavaObject : public Reference {
OBJ_TYPE(JavaObject,Reference);
Ref<JavaClass> base_class;
friend class JavaClass;
jobject instance;
public:
virtual Variant call(const StringName& p_method,const Variant** p_args,int p_argcount,Variant::CallError &r_error);
JavaObject(const Ref<JavaClass>& p_base,jobject *p_instance);
~JavaObject();
};
class JavaClassWrapper : public Object {
OBJ_TYPE(JavaClassWrapper,Object);
Map<String,Ref<JavaClass> > class_cache;
friend class JavaClass;
jclass activityClass;
jmethodID findClass;
jmethodID getDeclaredMethods;
jmethodID getFields;
jmethodID getParameterTypes;
jmethodID getReturnType;
jmethodID getModifiers;
jmethodID getName;
jmethodID Class_getName;
jmethodID Field_getName;
jmethodID Field_getModifiers;
jmethodID Field_get;
jmethodID Boolean_booleanValue;
jmethodID Byte_byteValue;
jmethodID Character_characterValue;
jmethodID Short_shortValue;
jmethodID Integer_integerValue;
jmethodID Long_longValue;
jmethodID Float_floatValue;
jmethodID Double_doubleValue;
jobject classLoader;
bool _get_type_sig(JNIEnv *env, jobject obj, uint32_t& sig, String&strsig);
static JavaClassWrapper *singleton;
protected:
static void _bind_methods();
public:
static JavaClassWrapper *get_singleton() { return singleton; }
Ref<JavaClass> wrap(const String& p_class);
JavaClassWrapper(jobject p_activity=NULL);
};
#endif // JAVA_CLASS_WRAPPER_H

5
platform/android/java_glue.cpp
View file

@ -38,7 +38,10 @@
#include "globals.h"
#include "thread_jandroid.h"
#include "core/os/keyboard.h"
#include "java_class_wrapper.h"
static JavaClassWrapper *java_class_wrapper=NULL;
static OS_Android *os_android=NULL;
@ -934,6 +937,8 @@ JNIEXPORT void JNICALL Java_com_android_godot_GodotLib_step(JNIEnv * env, jobjec
// ugly hack to initialize the rest of the engine
// because of the way android forces you to do everything with threads
java_class_wrapper = memnew( JavaClassWrapper(_godot_instance ));
Globals::get_singleton()->add_singleton(Globals::Singleton("JavaClassWrapper",java_class_wrapper));
_initialize_java_modules();
Main::setup2();

4
platform/iphone/app_delegate.mm
View file

@ -257,18 +257,21 @@ static int frame_count = 0;
- (void)applicationDidEnterBackground:(UIApplication *)application
{
printf("********************* did enter background\n");
OS::get_singleton()->get_main_loop()->notification(MainLoop::NOTIFICATION_WM_FOCUS_OUT);
[view_controller.view stopAnimation];
}
- (void)applicationWillEnterForeground:(UIApplication *)application
{
printf("********************* did enter foreground\n");
//OS::get_singleton()->get_main_loop()->notification(MainLoop::NOTIFICATION_WM_FOCUS_IN);
[view_controller.view startAnimation];
}
- (void) applicationWillResignActive:(UIApplication *)application
{
printf("********************* will resign active\n");
//OS::get_singleton()->get_main_loop()->notification(MainLoop::NOTIFICATION_WM_FOCUS_OUT);
[view_controller.view stopAnimation]; // FIXME: pause seems to be recommended elsewhere
}
@ -279,6 +282,7 @@ static int frame_count = 0;
printf("********************* mobile app tracker found\n");
[MobileAppTracker measureSession];
#endif
OS::get_singleton()->get_main_loop()->notification(MainLoop::NOTIFICATION_WM_FOCUS_IN);
[view_controller.view startAnimation]; // FIXME: resume seems to be recommended elsewhere
}

2
platform/iphone/in_app_store.h
View file

@ -49,6 +49,8 @@ public:
int get_pending_event_count();
Variant pop_pending_event();
void finish_transaction(String product_id);
void set_auto_finish_transaction(bool b);
void _post_event(Variant p_event);
void _record_purchase(String product_id);

31
platform/iphone/in_app_store.mm
View file

@ -32,8 +32,12 @@
extern "C" {
#import <StoreKit/StoreKit.h>
#import <Foundation/Foundation.h>
};
bool auto_finish_transactions = true;
NSMutableDictionary* pending_transactions = [NSMutableDictionary dictionary];
@interface SKProduct (LocalizedPrice)
@property (nonatomic, readonly) NSString *localizedPrice;
@end
@ -63,6 +67,8 @@ void InAppStore::_bind_methods() {
ObjectTypeDB::bind_method(_MD("get_pending_event_count"),&InAppStore::get_pending_event_count);
ObjectTypeDB::bind_method(_MD("pop_pending_event"),&InAppStore::pop_pending_event);
ObjectTypeDB::bind_method(_MD("finish_transaction"),&InAppStore::finish_transaction);
ObjectTypeDB::bind_method(_MD("set_auto_finish_transaction"),&InAppStore::set_auto_finish_transaction);
};
@interface ProductsDelegate : NSObject<SKProductsRequestDelegate> {
@ -162,11 +168,13 @@ Error InAppStore::request_product_info(Variant p_params) {
case SKPaymentTransactionStatePurchased: {
printf("status purchased!\n");
String pid = String::utf8([transaction.payment.productIdentifier UTF8String]);
String transactionId = String::utf8([transaction.transactionIdentifier UTF8String]);
InAppStore::get_singleton()->_record_purchase(pid);
Dictionary ret;
ret["type"] = "purchase";
ret["result"] = "ok";
ret["product_id"] = pid;
ret["transaction_id"] = transactionId;
NSData* receipt = nil;
int sdk_version = 6;
@ -207,7 +215,13 @@ Error InAppStore::request_product_info(Variant p_params) {
ret["receipt"] = receipt_ret;
InAppStore::get_singleton()->_post_event(ret);
[[SKPaymentQueue defaultQueue] finishTransaction:transaction];
if (auto_finish_transactions){
[[SKPaymentQueue defaultQueue] finishTransaction:transaction];
}
else{
[pending_transactions setObject:transaction forKey:transaction.payment.productIdentifier];
}
} break;
case SKPaymentTransactionStateFailed: {
printf("status transaction failed!\n");
@ -290,11 +304,26 @@ InAppStore* InAppStore::get_singleton() {
InAppStore::InAppStore() {
ERR_FAIL_COND(instance != NULL);
instance = this;
auto_finish_transactions = false;
TransObserver* observer = [[TransObserver alloc] init];
[[SKPaymentQueue defaultQueue] addTransactionObserver:observer];
//pending_transactions = [NSMutableDictionary dictionary];
};
void InAppStore::finish_transaction(String product_id){
NSString* prod_id = [NSString stringWithCString:product_id.utf8().get_data() encoding:NSUTF8StringEncoding];
if ([pending_transactions objectForKey:prod_id]){
[[SKPaymentQueue defaultQueue] finishTransaction:[pending_transactions objectForKey:prod_id]];
[pending_transactions removeObjectForKey:prod_id];
}
};
void InAppStore::set_auto_finish_transaction(bool b){
auto_finish_transactions = b;
}
InAppStore::~InAppStore() {
};

3
platform/windows/detect.py
View file

@ -51,7 +51,7 @@ def get_flags():
return [
('freetype','builtin'), #use builtin freetype
('openssl','builtin'), #use builtin openssl
('openssl','builtin'), #use builtin openssl
]
@ -166,6 +166,7 @@ def configure(env):
env.Append(CCFLAGS=['-O3','-ffast-math','-fomit-frame-pointer','-msse2'])
env['OBJSUFFIX'] = "_opt"+env['OBJSUFFIX']
env['LIBSUFFIX'] = "_opt"+env['LIBSUFFIX']
env.Append(LINKFLAGS=['-Wl,--subsystem,windows'])
elif (env["target"]=="release_debug"):
env.Append(CCFLAGS=['-O2','-DDEBUG_ENABLED'])

102
platform/windows/os_windows.cpp
View file

@ -206,6 +206,54 @@ bool OS_Windows::can_draw() const {
return !minimized;
};
#define MI_WP_SIGNATURE 0xFF515700
#define SIGNATURE_MASK 0xFFFFFF00
#define IsPenEvent(dw) (((dw) & SIGNATURE_MASK) == MI_WP_SIGNATURE)
void OS_Windows::_touch_event(int idx, UINT uMsg, WPARAM wParam, LPARAM lParam) {
InputEvent event;
event.type = InputEvent::SCREEN_TOUCH;
event.ID=++last_id;
event.screen_touch.index = idx;
switch (uMsg) {
case WM_LBUTTONDOWN:
case WM_MBUTTONDOWN:
case WM_RBUTTONDOWN: {
event.screen_touch.pressed = true;
} break;
case WM_LBUTTONUP:
case WM_MBUTTONUP:
case WM_RBUTTONUP: {
event.screen_touch.pressed = false;
} break;
};
event.screen_touch.x=GET_X_LPARAM(lParam);
event.screen_touch.y=GET_Y_LPARAM(lParam);
if (main_loop) {
input->parse_input_event(event);
}
};
void OS_Windows::_drag_event(int idx,UINT uMsg, WPARAM wParam, LPARAM lParam) {
InputEvent event;
event.type = InputEvent::SCREEN_DRAG;
event.ID=++last_id;
event.screen_drag.index = idx;
event.screen_drag.x=GET_X_LPARAM(lParam);
event.screen_drag.y=GET_Y_LPARAM(lParam);
if (main_loop)
input->parse_input_event(event);
};
LRESULT OS_Windows::WndProc(HWND hWnd,UINT uMsg, WPARAM wParam, LPARAM lParam) {
@ -270,28 +318,41 @@ LRESULT OS_Windows::WndProc(HWND hWnd,UINT uMsg, WPARAM wParam, LPARAM lParam) {
}
case WM_MOUSELEAVE: {
old_invalid=true;
outside=true;
old_invalid=true;
outside=true;
} break;
case WM_MOUSEMOVE: {
if (outside) {
if (outside) {
CursorShape c=cursor_shape;
cursor_shape=CURSOR_MAX;
set_cursor_shape(c);
outside=false;
CursorShape c=cursor_shape;
cursor_shape=CURSOR_MAX;
set_cursor_shape(c);
outside=false;
//Once-Off notification, must call again....
TRACKMOUSEEVENT tme;
tme.cbSize=sizeof(TRACKMOUSEEVENT);
tme.dwFlags=TME_LEAVE;
tme.hwndTrack=hWnd;
tme.dwHoverTime=HOVER_DEFAULT;
TrackMouseEvent(&tme);
}
LPARAM extra = GetMessageExtraInfo();
if (IsPenEvent(extra)) {
int idx = extra & 0x7f;
_drag_event(idx, uMsg, wParam, lParam);
if (idx != 0) {
return 0;
};
// fallthrough for mouse event
};
//Once-Off notification, must call again....
TRACKMOUSEEVENT tme;
tme.cbSize=sizeof(TRACKMOUSEEVENT);
tme.dwFlags=TME_LEAVE;
tme.hwndTrack=hWnd;
tme.dwHoverTime=HOVER_DEFAULT;
TrackMouseEvent(&tme);
}
InputEvent event;
event.type=InputEvent::MOUSE_MOTION;
event.ID=++last_id;
@ -360,6 +421,17 @@ LRESULT OS_Windows::WndProc(HWND hWnd,UINT uMsg, WPARAM wParam, LPARAM lParam) {
/*case WM_XBUTTONDOWN:
case WM_XBUTTONUP: */{
LPARAM extra = GetMessageExtraInfo();
if (IsPenEvent(extra)) {
int idx = extra & 0x7f;
_touch_event(idx, uMsg, wParam, lParam);
if (idx != 0) {
return 0;
};
// fallthrough for mouse event
};
InputEvent event;
event.type=InputEvent::MOUSE_BUTTON;
event.ID=++last_id;

4
platform/windows/os_windows.h
View file

@ -160,6 +160,10 @@ class OS_Windows : public OS {
void _post_dpad(DWORD p_dpad, int p_device, bool p_pressed);
void _drag_event(int idx,UINT uMsg, WPARAM wParam, LPARAM lParam);
void _touch_event(int idx, UINT uMsg, WPARAM wParam, LPARAM lParam);
// functions used by main to initialize/deintialize the OS
protected:
virtual int get_video_driver_count() const;

2
scene/2d/physics_body_2d.cpp
View file

@ -803,7 +803,7 @@ Vector2 KinematicBody2D::move(const Vector2& p_motion) {
//print_line("margin: "+rtos(margin));
do {
//fill exclude list..
//motion recover
for(int i=0;i<get_shape_count();i++) {

579
scene/3d/physics_body.cpp
View file

@ -57,10 +57,56 @@ float PhysicsBody::get_inverse_mass() const {
return 0;
}
void PhysicsBody::set_layer_mask(uint32_t p_mask) {
layer_mask=p_mask;
PhysicsServer::get_singleton()->body_set_layer_mask(get_rid(),p_mask);
}
uint32_t PhysicsBody::get_layer_mask() const {
return layer_mask;
}
void PhysicsBody::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_layer_mask","mask"),&PhysicsBody::set_layer_mask);
ObjectTypeDB::bind_method(_MD("get_layer_mask"),&PhysicsBody::get_layer_mask);
ADD_PROPERTY(PropertyInfo(Variant::INT,"layers",PROPERTY_HINT_ALL_FLAGS),_SCS("set_layer_mask"),_SCS("get_layer_mask"));
}
PhysicsBody::PhysicsBody(PhysicsServer::BodyMode p_mode) : CollisionObject( PhysicsServer::get_singleton()->body_create(p_mode), false) {
layer_mask=1;
}
void StaticBody::set_friction(real_t p_friction){
ERR_FAIL_COND(p_friction<0 || p_friction>1);
friction=p_friction;
PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_FRICTION,friction);
}
real_t StaticBody::get_friction() const{
return friction;
}
void StaticBody::set_bounce(real_t p_bounce){
ERR_FAIL_COND(p_bounce<0 || p_bounce>1);
bounce=p_bounce;
PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_BOUNCE,bounce);
}
real_t StaticBody::get_bounce() const{
return bounce;
}
void StaticBody::set_constant_linear_velocity(const Vector3& p_vel) {
@ -86,131 +132,36 @@ Vector3 StaticBody::get_constant_angular_velocity() const {
}
void StaticBody::_state_notify(Object *p_object) {
if (!pre_xform)
return;
PhysicsDirectBodyState *p2d = (PhysicsDirectBodyState*)p_object;
setting=true;
Transform new_xform = p2d->get_transform();
*pre_xform=new_xform;
set_ignore_transform_notification(true);
set_global_transform(new_xform);
set_ignore_transform_notification(false);
setting=false;
}
void StaticBody::_update_xform() {
if (!pre_xform || !pending)
return;
setting=true;
Transform new_xform = get_global_transform(); //obtain the new one
//set_block_transform_notify(true);
set_ignore_transform_notification(true);
PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_TRANSFORM,*pre_xform); //then simulate motion!
set_global_transform(*pre_xform); //but restore state to previous one in both visual and physics
set_ignore_transform_notification(false);
PhysicsServer::get_singleton()->body_static_simulate_motion(get_rid(),new_xform); //then simulate motion!
setting=false;
pending=false;
}
void StaticBody::_notification(int p_what) {
switch(p_what) {
case NOTIFICATION_ENTER_SCENE: {
if (pre_xform)
*pre_xform = get_global_transform();
pending=false;
} break;
case NOTIFICATION_TRANSFORM_CHANGED: {
if (simulating_motion && !pending && is_inside_scene() && !setting && !get_scene()->is_editor_hint()) {
call_deferred(SceneStringNames::get_singleton()->_update_xform);
pending=true;
}
} break;
}
}
void StaticBody::set_simulate_motion(bool p_enable) {
if (p_enable==simulating_motion)
return;
simulating_motion=p_enable;
if (p_enable) {
pre_xform = memnew( Transform );
if (is_inside_scene())
*pre_xform=get_transform();
// query = PhysicsServer::get_singleton()->query_create(this,"_state_notify",Variant());
// PhysicsServer::get_singleton()->query_body_direct_state(query,get_rid());
PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(),this,"_state_notify");
} else {
memdelete( pre_xform );
pre_xform=NULL;
PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(),NULL,StringName());
pending=false;
}
}
bool StaticBody::is_simulating_motion() const {
return simulating_motion;
}
void StaticBody::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_simulate_motion","enabled"),&StaticBody::set_simulate_motion);
ObjectTypeDB::bind_method(_MD("is_simulating_motion"),&StaticBody::is_simulating_motion);
ObjectTypeDB::bind_method(_MD("_update_xform"),&StaticBody::_update_xform);
ObjectTypeDB::bind_method(_MD("_state_notify"),&StaticBody::_state_notify);
ObjectTypeDB::bind_method(_MD("set_constant_linear_velocity","vel"),&StaticBody::set_constant_linear_velocity);
ObjectTypeDB::bind_method(_MD("set_constant_angular_velocity","vel"),&StaticBody::set_constant_angular_velocity);
ObjectTypeDB::bind_method(_MD("get_constant_linear_velocity"),&StaticBody::get_constant_linear_velocity);
ObjectTypeDB::bind_method(_MD("get_constant_angular_velocity"),&StaticBody::get_constant_angular_velocity);
ADD_PROPERTY(PropertyInfo(Variant::BOOL,"simulate_motion"),_SCS("set_simulate_motion"),_SCS("is_simulating_motion"));
ObjectTypeDB::bind_method(_MD("set_friction","friction"),&StaticBody::set_friction);
ObjectTypeDB::bind_method(_MD("get_friction"),&StaticBody::get_friction);
ObjectTypeDB::bind_method(_MD("set_bounce","bounce"),&StaticBody::set_bounce);
ObjectTypeDB::bind_method(_MD("get_bounce"),&StaticBody::get_bounce);
ADD_PROPERTY( PropertyInfo(Variant::REAL,"friction",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_friction"),_SCS("get_friction"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"bounce",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_bounce"),_SCS("get_bounce"));
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3,"constant_linear_velocity"),_SCS("set_constant_linear_velocity"),_SCS("get_constant_linear_velocity"));
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3,"constant_angular_velocity"),_SCS("set_constant_angular_velocity"),_SCS("get_constant_angular_velocity"));
}
StaticBody::StaticBody() : PhysicsBody(PhysicsServer::BODY_MODE_STATIC) {
simulating_motion=false;
pre_xform=NULL;
setting=false;
pending=false;
//constant_angular_velocity=0;
bounce=0;
friction=1;
}
StaticBody::~StaticBody() {
if (pre_xform)
memdelete(pre_xform);
//if (query.is_valid())
// PhysicsServer::get_singleton()->free(query);
}
@ -768,4 +719,418 @@ RigidBody::~RigidBody() {
}
//////////////////////////////////////////////////////
//////////////////////////
Variant KinematicBody::_get_collider() const {
ObjectID oid=get_collider();
if (oid==0)
return Variant();
Object *obj = ObjectDB::get_instance(oid);
if (!obj)
return Variant();
Reference *ref = obj->cast_to<Reference>();
if (ref) {
return Ref<Reference>(ref);
}
return obj;
}
bool KinematicBody::_ignores_mode(PhysicsServer::BodyMode p_mode) const {
switch(p_mode) {
case PhysicsServer::BODY_MODE_STATIC: return !collide_static;
case PhysicsServer::BODY_MODE_KINEMATIC: return !collide_kinematic;
case PhysicsServer::BODY_MODE_RIGID: return !collide_rigid;
case PhysicsServer::BODY_MODE_CHARACTER: return !collide_character;
}
return true;
}
Vector3 KinematicBody::move(const Vector3& p_motion) {
//give me back regular physics engine logic
//this is madness
//and most people using this function will think
//what it does is simpler than using physics
//this took about a week to get right..
//but is it right? who knows at this point..
colliding=false;
ERR_FAIL_COND_V(!is_inside_scene(),Vector3());
PhysicsDirectSpaceState *dss = PhysicsServer::get_singleton()->space_get_direct_state(get_world()->get_space());
ERR_FAIL_COND_V(!dss,Vector3());
const int max_shapes=32;
Vector3 sr[max_shapes*2];
int res_shapes;
Set<RID> exclude;
exclude.insert(get_rid());
//recover first
int recover_attempts=4;
bool collided=false;
uint32_t mask=0;
if (collide_static)
mask|=PhysicsDirectSpaceState::TYPE_MASK_STATIC_BODY;
if (collide_kinematic)
mask|=PhysicsDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
if (collide_rigid)
mask|=PhysicsDirectSpaceState::TYPE_MASK_RIGID_BODY;
if (collide_character)
mask|=PhysicsDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
// print_line("motion: "+p_motion+" margin: "+rtos(margin));
//print_line("margin: "+rtos(margin));
float m = margin;
//m=0.001;
do {
//motion recover
for(int i=0;i<get_shape_count();i++) {
if (dss->collide_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),m,sr,max_shapes,res_shapes,exclude,get_layer_mask(),mask)) {
collided=true;
}
}
if (!collided)
break;
//print_line("have to recover");
Vector3 recover_motion;
bool all_outside=true;
for(int j=0;j<8;j++) {
for(int i=0;i<res_shapes;i++) {
Vector3 a = sr[i*2+0];
Vector3 b = sr[i*2+1];
//print_line(String()+a+" -> "+b);
#if 0
float d = a.distance_to(b);
//if (d<margin)
/// continue;
///
///
recover_motion+=(b-a)*0.2;
#else
float dist = a.distance_to(b);
if (dist>CMP_EPSILON) {
Vector3 norm = (b-a).normalized();
if (dist>margin*0.5)
all_outside=false;
float adv = norm.dot(recover_motion);
//print_line(itos(i)+" dist: "+rtos(dist)+" adv: "+rtos(adv));
recover_motion+=norm*MAX(dist-adv,0)*0.4;
}
#endif
}
}
if (recover_motion==Vector3()) {
collided=false;
break;
}
//print_line("**** RECOVER: "+recover_motion);
Transform gt = get_global_transform();
gt.origin+=recover_motion;
set_global_transform(gt);
recover_attempts--;
if (all_outside)
break;
} while (recover_attempts);
//move second
float safe = 1.0;
float unsafe = 1.0;
int best_shape=-1;
PhysicsDirectSpaceState::ShapeRestInfo rest;
//print_line("pos: "+get_global_transform().origin);
//print_line("motion: "+p_motion);
for(int i=0;i<get_shape_count();i++) {
float lsafe,lunsafe;
PhysicsDirectSpaceState::ShapeRestInfo lrest;
bool valid = dss->cast_motion(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i), p_motion,0, lsafe,lunsafe,exclude,get_layer_mask(),mask,&lrest);
//print_line("shape: "+itos(i)+" travel:"+rtos(ltravel));
if (!valid) {
safe=0;
unsafe=0;
best_shape=i; //sadly it's the best
//print_line("initial stuck");
break;
}
if (lsafe==1.0) {
//print_line("initial free");
continue;
}
if (lsafe < safe) {
//print_line("initial at "+rtos(lsafe));
safe=lsafe;
safe=MAX(0,lsafe-0.01);
unsafe=lunsafe;
best_shape=i;
rest=lrest;
}
}
//print_line("best shape: "+itos(best_shape)+" motion "+p_motion);
if (safe>=1) {
//not collided
colliding=false;
} else {
colliding=true;
if (true || (safe==0 && unsafe==0)) { //use it always because it's more precise than GJK
//no advance, use rest info from collision
Transform ugt = get_global_transform();
ugt.origin+=p_motion*unsafe;
PhysicsDirectSpaceState::ShapeRestInfo rest_info;
bool c2 = dss->rest_info(get_shape(best_shape)->get_rid(), ugt*get_shape_transform(best_shape), m,&rest,exclude,get_layer_mask(),mask);
if (!c2) {
//should not happen, but floating point precision is so weird..
colliding=false;
}
// print_line("Rest Travel: "+rest.normal);
}
if (colliding) {
collision=rest.point;
normal=rest.normal;
collider=rest.collider_id;
collider_vel=rest.linear_velocity;
}
}
Vector3 motion=p_motion*safe;
//if (colliding)
// motion+=normal*0.001;
Transform gt = get_global_transform();
gt.origin+=motion;
set_global_transform(gt);
return p_motion-motion;
}
Vector3 KinematicBody::move_to(const Vector3& p_position) {
return move(p_position-get_global_transform().origin);
}
bool KinematicBody::can_move_to(const Vector3& p_position, bool p_discrete) {
ERR_FAIL_COND_V(!is_inside_scene(),false);
PhysicsDirectSpaceState *dss = PhysicsServer::get_singleton()->space_get_direct_state(get_world()->get_space());
ERR_FAIL_COND_V(!dss,false);
uint32_t mask=0;
if (collide_static)
mask|=PhysicsDirectSpaceState::TYPE_MASK_STATIC_BODY;
if (collide_kinematic)
mask|=PhysicsDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
if (collide_rigid)
mask|=PhysicsDirectSpaceState::TYPE_MASK_RIGID_BODY;
if (collide_character)
mask|=PhysicsDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
Vector3 motion = p_position-get_global_transform().origin;
Transform xform=get_global_transform();
if (true || p_discrete) {
xform.origin+=motion;
motion=Vector3();
}
Set<RID> exclude;
exclude.insert(get_rid());
//fill exclude list..
for(int i=0;i<get_shape_count();i++) {
bool col = dss->intersect_shape(get_shape(i)->get_rid(), xform * get_shape_transform(i),0,NULL,0,exclude,get_layer_mask(),mask);
if (col)
return false;
}
return true;
}
bool KinematicBody::is_colliding() const {
ERR_FAIL_COND_V(!is_inside_scene(),false);
return colliding;
}
Vector3 KinematicBody::get_collision_pos() const {
ERR_FAIL_COND_V(!colliding,Vector3());
return collision;
}
Vector3 KinematicBody::get_collision_normal() const {
ERR_FAIL_COND_V(!colliding,Vector3());
return normal;
}
Vector3 KinematicBody::get_collider_velocity() const {
return collider_vel;
}
ObjectID KinematicBody::get_collider() const {
ERR_FAIL_COND_V(!colliding,0);
return collider;
}
void KinematicBody::set_collide_with_static_bodies(bool p_enable) {
collide_static=p_enable;
}
bool KinematicBody::can_collide_with_static_bodies() const {
return collide_static;
}
void KinematicBody::set_collide_with_rigid_bodies(bool p_enable) {
collide_rigid=p_enable;
}
bool KinematicBody::can_collide_with_rigid_bodies() const {
return collide_rigid;
}
void KinematicBody::set_collide_with_kinematic_bodies(bool p_enable) {
collide_kinematic=p_enable;
}
bool KinematicBody::can_collide_with_kinematic_bodies() const {
return collide_kinematic;
}
void KinematicBody::set_collide_with_character_bodies(bool p_enable) {
collide_character=p_enable;
}
bool KinematicBody::can_collide_with_character_bodies() const {
return collide_character;
}
void KinematicBody::set_collision_margin(float p_margin) {
margin=p_margin;
}
float KinematicBody::get_collision_margin() const{
return margin;
}
void KinematicBody::_bind_methods() {
ObjectTypeDB::bind_method(_MD("move","rel_vec"),&KinematicBody::move);
ObjectTypeDB::bind_method(_MD("move_to","position"),&KinematicBody::move_to);
ObjectTypeDB::bind_method(_MD("can_move_to","position"),&KinematicBody::can_move_to);
ObjectTypeDB::bind_method(_MD("is_colliding"),&KinematicBody::is_colliding);
ObjectTypeDB::bind_method(_MD("get_collision_pos"),&KinematicBody::get_collision_pos);
ObjectTypeDB::bind_method(_MD("get_collision_normal"),&KinematicBody::get_collision_normal);
ObjectTypeDB::bind_method(_MD("get_collider_velocity"),&KinematicBody::get_collider_velocity);
ObjectTypeDB::bind_method(_MD("get_collider:Object"),&KinematicBody::_get_collider);
ObjectTypeDB::bind_method(_MD("set_collide_with_static_bodies","enable"),&KinematicBody::set_collide_with_static_bodies);
ObjectTypeDB::bind_method(_MD("can_collide_with_static_bodies"),&KinematicBody::can_collide_with_static_bodies);
ObjectTypeDB::bind_method(_MD("set_collide_with_kinematic_bodies","enable"),&KinematicBody::set_collide_with_kinematic_bodies);
ObjectTypeDB::bind_method(_MD("can_collide_with_kinematic_bodies"),&KinematicBody::can_collide_with_kinematic_bodies);
ObjectTypeDB::bind_method(_MD("set_collide_with_rigid_bodies","enable"),&KinematicBody::set_collide_with_rigid_bodies);
ObjectTypeDB::bind_method(_MD("can_collide_with_rigid_bodies"),&KinematicBody::can_collide_with_rigid_bodies);
ObjectTypeDB::bind_method(_MD("set_collide_with_character_bodies","enable"),&KinematicBody::set_collide_with_character_bodies);
ObjectTypeDB::bind_method(_MD("can_collide_with_character_bodies"),&KinematicBody::can_collide_with_character_bodies);
ObjectTypeDB::bind_method(_MD("set_collision_margin","pixels"),&KinematicBody::set_collision_margin);
ObjectTypeDB::bind_method(_MD("get_collision_margin","pixels"),&KinematicBody::get_collision_margin);
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/static"),_SCS("set_collide_with_static_bodies"),_SCS("can_collide_with_static_bodies"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/kinematic"),_SCS("set_collide_with_kinematic_bodies"),_SCS("can_collide_with_kinematic_bodies"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/rigid"),_SCS("set_collide_with_rigid_bodies"),_SCS("can_collide_with_rigid_bodies"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/character"),_SCS("set_collide_with_character_bodies"),_SCS("can_collide_with_character_bodies"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"collision/margin",PROPERTY_HINT_RANGE,"0.001,256,0.001"),_SCS("set_collision_margin"),_SCS("get_collision_margin"));
}
KinematicBody::KinematicBody() : PhysicsBody(PhysicsServer::BODY_MODE_KINEMATIC){
collide_static=true;
collide_rigid=true;
collide_kinematic=true;
collide_character=true;
colliding=false;
collider=0;
margin=0.001;
}
KinematicBody::~KinematicBody() {
}

93
scene/3d/physics_body.h
View file

@ -38,8 +38,10 @@ class PhysicsBody : public CollisionObject {
OBJ_TYPE(PhysicsBody,CollisionObject);
uint32_t layer_mask;
protected:
static void _bind_methods();
void _notification(int p_what);
PhysicsBody(PhysicsServer::BodyMode p_mode);
public:
@ -48,6 +50,10 @@ public:
virtual Vector3 get_angular_velocity() const;
virtual float get_inverse_mass() const;
void set_layer_mask(uint32_t p_mask);
uint32_t get_layer_mask() const;
PhysicsBody();
};
@ -56,25 +62,26 @@ class StaticBody : public PhysicsBody {
OBJ_TYPE(StaticBody,PhysicsBody);
Transform *pre_xform;
//RID query;
bool setting;
bool pending;
bool simulating_motion;
Vector3 constant_linear_velocity;
Vector3 constant_angular_velocity;
void _update_xform();
void _state_notify(Object *p_object);
real_t bounce;
real_t friction;
protected:
void _notification(int p_what);
static void _bind_methods();
public:
void set_simulate_motion(bool p_enable);
bool is_simulating_motion() const;
void set_friction(real_t p_friction);
real_t get_friction() const;
void set_bounce(real_t p_bounce);
real_t get_bounce() const;
void set_constant_linear_velocity(const Vector3& p_vel);
void set_constant_angular_velocity(const Vector3& p_vel);
@ -237,4 +244,70 @@ public:
VARIANT_ENUM_CAST(RigidBody::Mode);
VARIANT_ENUM_CAST(RigidBody::AxisLock);
class KinematicBody : public PhysicsBody {
OBJ_TYPE(KinematicBody,PhysicsBody);
float margin;
bool collide_static;
bool collide_rigid;
bool collide_kinematic;
bool collide_character;
bool colliding;
Vector3 collision;
Vector3 normal;
Vector3 collider_vel;
ObjectID collider;
Variant _get_collider() const;
_FORCE_INLINE_ bool _ignores_mode(PhysicsServer::BodyMode) const;
protected:
static void _bind_methods();
public:
enum {
SLIDE_FLAG_FLOOR,
SLIDE_FLAG_WALL,
SLIDE_FLAG_ROOF
};
Vector3 move(const Vector3& p_motion);
Vector3 move_to(const Vector3& p_position);
bool can_move_to(const Vector3& p_position,bool p_discrete=false);
bool is_colliding() const;
Vector3 get_collision_pos() const;
Vector3 get_collision_normal() const;
Vector3 get_collider_velocity() const;
ObjectID get_collider() const;
void set_collide_with_static_bodies(bool p_enable);
bool can_collide_with_static_bodies() const;
void set_collide_with_rigid_bodies(bool p_enable);
bool can_collide_with_rigid_bodies() const;
void set_collide_with_kinematic_bodies(bool p_enable);
bool can_collide_with_kinematic_bodies() const;
void set_collide_with_character_bodies(bool p_enable);
bool can_collide_with_character_bodies() const;
void set_collision_margin(float p_margin);
float get_collision_margin() const;
KinematicBody();
~KinematicBody();
};
#endif // PHYSICS_BODY__H

214
scene/3d/vehicle_body.cpp
View file

@ -125,19 +125,161 @@ void VehicleWheel::_update(PhysicsDirectBodyState *s) {
}
}
void VehicleWheel::set_radius(float p_radius) {
m_wheelRadius=p_radius;
update_gizmo();
}
float VehicleWheel::get_radius() const{
return m_wheelRadius;
}
void VehicleWheel::set_suspension_rest_length(float p_length){
m_suspensionRestLength=p_length;
update_gizmo();
}
float VehicleWheel::get_suspension_rest_length() const{
return m_suspensionRestLength;
}
void VehicleWheel::set_suspension_travel(float p_length){
m_maxSuspensionTravelCm=p_length/0.01;
}
float VehicleWheel::get_suspension_travel() const{
return m_maxSuspensionTravelCm*0.01;
}
void VehicleWheel::set_suspension_stiffness(float p_value){
m_suspensionStiffness=p_value;
}
float VehicleWheel::get_suspension_stiffness() const{
return m_suspensionStiffness;
}
void VehicleWheel::set_suspension_max_force(float p_value){
m_maxSuspensionForce=p_value;
}
float VehicleWheel::get_suspension_max_force() const{
return m_maxSuspensionForce;
}
void VehicleWheel::set_damping_compression(float p_value){
m_wheelsDampingCompression=p_value;
}
float VehicleWheel::get_damping_compression() const{
return m_wheelsDampingRelaxation;
}
void VehicleWheel::set_damping_relaxation(float p_value){
m_wheelsDampingRelaxation=p_value;
}
float VehicleWheel::get_damping_relaxation() const{
return m_wheelsDampingRelaxation;
}
void VehicleWheel::set_friction_slip(float p_value) {
m_frictionSlip=p_value;
}
float VehicleWheel::get_friction_slip() const{
return m_frictionSlip;
}
void VehicleWheel::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_radius","length"),&VehicleWheel::set_radius);
ObjectTypeDB::bind_method(_MD("get_radius"),&VehicleWheel::get_radius);
ObjectTypeDB::bind_method(_MD("set_suspension_rest_length","length"),&VehicleWheel::set_suspension_rest_length);
ObjectTypeDB::bind_method(_MD("get_suspension_rest_length"),&VehicleWheel::get_suspension_rest_length);
ObjectTypeDB::bind_method(_MD("set_suspension_travel","length"),&VehicleWheel::set_suspension_travel);
ObjectTypeDB::bind_method(_MD("get_suspension_travel"),&VehicleWheel::get_suspension_travel);
ObjectTypeDB::bind_method(_MD("set_suspension_stiffness","length"),&VehicleWheel::set_suspension_stiffness);
ObjectTypeDB::bind_method(_MD("get_suspension_stiffness"),&VehicleWheel::get_suspension_stiffness);
ObjectTypeDB::bind_method(_MD("set_suspension_max_force","length"),&VehicleWheel::set_suspension_max_force);
ObjectTypeDB::bind_method(_MD("get_suspension_max_force"),&VehicleWheel::get_suspension_max_force);
ObjectTypeDB::bind_method(_MD("set_damping_compression","length"),&VehicleWheel::set_damping_compression);
ObjectTypeDB::bind_method(_MD("get_damping_compression"),&VehicleWheel::get_damping_compression);
ObjectTypeDB::bind_method(_MD("set_damping_relaxation","length"),&VehicleWheel::set_damping_relaxation);
ObjectTypeDB::bind_method(_MD("get_damping_relaxation"),&VehicleWheel::get_damping_relaxation);
ObjectTypeDB::bind_method(_MD("set_use_as_traction","enable"),&VehicleWheel::set_use_as_traction);
ObjectTypeDB::bind_method(_MD("is_used_as_traction"),&VehicleWheel::is_used_as_traction);
ObjectTypeDB::bind_method(_MD("set_use_as_steering","enable"),&VehicleWheel::set_use_as_steering);
ObjectTypeDB::bind_method(_MD("is_used_as_steering"),&VehicleWheel::is_used_as_steering);
ObjectTypeDB::bind_method(_MD("set_friction_slip","length"),&VehicleWheel::set_friction_slip);
ObjectTypeDB::bind_method(_MD("get_friction_slip"),&VehicleWheel::get_friction_slip);
ADD_PROPERTY(PropertyInfo(Variant::BOOL,"type/traction"),_SCS("set_use_as_traction"),_SCS("is_used_as_traction"));
ADD_PROPERTY(PropertyInfo(Variant::BOOL,"type/steering"),_SCS("set_use_as_steering"),_SCS("is_used_as_steering"));
ADD_PROPERTY(PropertyInfo(Variant::REAL,"wheel/radius"),_SCS("set_radius"),_SCS("get_radius"));
ADD_PROPERTY(PropertyInfo(Variant::REAL,"wheel/rest_length"),_SCS("set_suspension_rest_length"),_SCS("get_suspension_rest_length"));
ADD_PROPERTY(PropertyInfo(Variant::REAL,"wheel/friction_slip"),_SCS("set_friction_slip"),_SCS("get_friction_slip"));
ADD_PROPERTY(PropertyInfo(Variant::REAL,"suspension/travel"),_SCS("set_suspension_travel"),_SCS("get_suspension_travel"));
ADD_PROPERTY(PropertyInfo(Variant::REAL,"suspension/stiffness"),_SCS("set_suspension_stiffness"),_SCS("get_suspension_stiffness"));
ADD_PROPERTY(PropertyInfo(Variant::REAL,"suspension/max_force"),_SCS("set_suspension_max_force"),_SCS("get_suspension_max_force"));
ADD_PROPERTY(PropertyInfo(Variant::REAL,"damping/compression"),_SCS("set_damping_compression"),_SCS("get_damping_compression"));
ADD_PROPERTY(PropertyInfo(Variant::REAL,"damping/relaxation"),_SCS("set_damping_relaxation"),_SCS("get_damping_relaxation"));
}
void VehicleWheel::set_use_as_traction(bool p_enable) {
engine_traction=p_enable;
}
bool VehicleWheel::is_used_as_traction() const{
return engine_traction;
}
void VehicleWheel::set_use_as_steering(bool p_enabled){
steers=p_enabled;
}
bool VehicleWheel::is_used_as_steering() const{
return steers;
}
VehicleWheel::VehicleWheel() {
steers=false;
engine_traction=false;
m_steering = real_t(0.);
m_engineForce = real_t(0.);
//m_engineForce = real_t(0.);
m_rotation = real_t(0.);
m_deltaRotation = real_t(0.);
m_brake = real_t(0.);
@ -172,6 +314,7 @@ void VehicleBody::_update_wheel_transform(VehicleWheel& wheel ,PhysicsDirectBody
//}
wheel.m_raycastInfo.m_hardPointWS = chassisTrans.xform( wheel.m_chassisConnectionPointCS );
//wheel.m_raycastInfo.m_hardPointWS+=s->get_linear_velocity()*s->get_step();
wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.get_basis().xform( wheel.m_wheelDirectionCS).normalized();
wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.get_basis().xform( wheel.m_wheelAxleCS ).normalized();
}
@ -189,12 +332,16 @@ void VehicleBody::_update_wheel(int p_idx,PhysicsDirectBodyState *s) {
// up.normalize();
//rotate around steering over de wheelAxleWS
real_t steering = wheel.m_steering;
real_t steering = wheel.steers?m_steeringValue:0.0;
//print_line(itos(p_idx)+": "+rtos(steering));
Matrix3 steeringMat(up,steering);
Matrix3 rotatingMat(right,-wheel.m_rotation);
// if (p_idx==1)
// print_line("steeringMat " +steeringMat);
Matrix3 basis2(
right[0],up[0],fwd[0],
right[1],up[1],fwd[1],
@ -202,9 +349,11 @@ void VehicleBody::_update_wheel(int p_idx,PhysicsDirectBodyState *s) {
);
wheel.m_worldTransform.set_basis(steeringMat * rotatingMat * basis2);
//wheel.m_worldTransform.set_basis(basis2 * (steeringMat * rotatingMat));
wheel.m_worldTransform.set_origin(
wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength
);
}
@ -221,9 +370,10 @@ real_t VehicleBody::_ray_cast(int p_idx,PhysicsDirectBodyState *s) {
real_t raylen = wheel.m_suspensionRestLength+wheel.m_wheelRadius;
Vector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
const Vector3& source = wheel.m_raycastInfo.m_hardPointWS;
Vector3 source = wheel.m_raycastInfo.m_hardPointWS;
wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
const Vector3& target = wheel.m_raycastInfo.m_contactPointWS;
source-=wheel.m_wheelRadius * wheel.m_raycastInfo.m_wheelDirectionWS;
real_t param = real_t(0.);
@ -552,9 +702,10 @@ void VehicleBody::_update_friction(PhysicsDirectBodyState *s) {
//const btTransform& wheelTrans = getWheelTransformWS( i );
Matrix3 wheelBasis0 = wheelInfo.get_global_transform().basis;
Matrix3 wheelBasis0 = wheelInfo.m_worldTransform.basis;//get_global_transform().basis;
m_axle[i] = wheelBasis0.get_axis(Vector3::AXIS_X);
m_axle[i] = wheelInfo.m_raycastInfo.m_wheelAxleWS;
//m_axle[i] = wheelInfo.m_raycastInfo.m_wheelAxleWS;
const Vector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
real_t proj = m_axle[i].dot(surfNormalWS);
@ -592,9 +743,9 @@ void VehicleBody::_update_friction(PhysicsDirectBodyState *s) {
if (wheelInfo.m_raycastInfo.m_isInContact)
{
if (wheelInfo.m_engineForce != 0.f)
if (engine_force != 0.f)
{
rollingFriction = wheelInfo.m_engineForce* s->get_step();
rollingFriction = engine_force* s->get_step();
} else
{
real_t defaultRollingFrictionImpulse = 0.f;
@ -721,9 +872,11 @@ void VehicleBody::_direct_state_changed(Object *p_state) {
_update_wheel(i,s);
}
for(int i=0;i<wheels.size();i++) {
_ray_cast(i,s);
wheels[i]->set_transform(s->get_transform().inverse() * wheels[i]->m_worldTransform);
}
_update_suspension(s);
@ -808,6 +961,35 @@ real_t VehicleBody::get_friction() const{
return friction;
}
void VehicleBody::set_engine_force(float p_force) {
engine_force=p_force;
}
float VehicleBody::get_engine_force() const{
return engine_force;
}
void VehicleBody::set_brake(float p_brake){
brake=p_brake;
}
float VehicleBody::get_brake() const{
return brake;
}
void VehicleBody::set_steering(float p_steering){
m_steeringValue=p_steering;
}
float VehicleBody::get_steering() const{
return m_steeringValue;
}
void VehicleBody::_bind_methods(){
ObjectTypeDB::bind_method(_MD("set_mass","mass"),&VehicleBody::set_mass);
@ -816,8 +998,20 @@ void VehicleBody::_bind_methods(){
ObjectTypeDB::bind_method(_MD("set_friction","friction"),&VehicleBody::set_friction);
ObjectTypeDB::bind_method(_MD("get_friction"),&VehicleBody::get_friction);
ObjectTypeDB::bind_method(_MD("set_engine_force","engine_force"),&VehicleBody::set_engine_force);
ObjectTypeDB::bind_method(_MD("get_engine_force"),&VehicleBody::get_engine_force);
ObjectTypeDB::bind_method(_MD("set_brake","brake"),&VehicleBody::set_brake);
ObjectTypeDB::bind_method(_MD("get_brake"),&VehicleBody::get_brake);
ObjectTypeDB::bind_method(_MD("set_steering","steering"),&VehicleBody::set_steering);
ObjectTypeDB::bind_method(_MD("get_steering"),&VehicleBody::get_steering);
ObjectTypeDB::bind_method(_MD("_direct_state_changed"),&VehicleBody::_direct_state_changed);
ADD_PROPERTY( PropertyInfo(Variant::REAL,"motion/engine_force",PROPERTY_HINT_RANGE,"0.01,1024.0,0.01"),_SCS("set_engine_force"),_SCS("get_engine_force"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"motion/brake",PROPERTY_HINT_RANGE,"0.01,1024.0,0.01"),_SCS("set_brake"),_SCS("get_brake"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"motion/steering",PROPERTY_HINT_RANGE,"0.01,1024.0,0.01"),_SCS("set_steering"),_SCS("get_steering"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"body/mass",PROPERTY_HINT_RANGE,"0.01,65536,0.01"),_SCS("set_mass"),_SCS("get_mass"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"body/friction",PROPERTY_HINT_RANGE,"0.01,1,0.01"),_SCS("set_friction"),_SCS("get_friction"));
@ -833,8 +1027,11 @@ VehicleBody::VehicleBody() : PhysicsBody(PhysicsServer::BODY_MODE_RIGID) {
m_currentVehicleSpeedKmHour = real_t(0.);
m_steeringValue = real_t(0.);
engine_force=0;
brake=0;
mass=1;
friction=1;
ccd=false;
@ -842,5 +1039,6 @@ VehicleBody::VehicleBody() : PhysicsBody(PhysicsServer::BODY_MODE_RIGID) {
exclude.insert(get_rid());
PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(),this,"_direct_state_changed");
set_mass(40);
}

45
scene/3d/vehicle_body.h
View file

@ -14,6 +14,8 @@ friend class VehicleBody;
Transform m_worldTransform;
Transform local_xform;
bool engine_traction;
bool steers;
Vector3 m_chassisConnectionPointCS; //const
@ -39,7 +41,7 @@ friend class VehicleBody;
real_t m_rotation;
real_t m_deltaRotation;
real_t m_rollInfluence;
real_t m_engineForce;
//real_t m_engineForce;
real_t m_brake;
real_t m_clippedInvContactDotSuspension;
@ -69,6 +71,35 @@ protected:
public:
void set_radius(float p_radius);
float get_radius() const;
void set_suspension_rest_length(float p_length);
float get_suspension_rest_length() const;
void set_suspension_travel(float p_length);
float get_suspension_travel() const;
void set_suspension_stiffness(float p_value);
float get_suspension_stiffness() const;
void set_suspension_max_force(float p_value);
float get_suspension_max_force() const;
void set_damping_compression(float p_value);
float get_damping_compression() const;
void set_damping_relaxation(float p_value);
float get_damping_relaxation() const;
void set_friction_slip(float p_value);
float get_friction_slip() const;
void set_use_as_traction(bool p_enable);
bool is_used_as_traction() const;
void set_use_as_steering(bool p_enabled);
bool is_used_as_steering() const;
VehicleWheel();
@ -82,6 +113,9 @@ class VehicleBody : public PhysicsBody {
real_t mass;
real_t friction;
float engine_force;
float brake;
Vector3 linear_velocity;
Vector3 angular_velocity;
bool ccd;
@ -135,6 +169,15 @@ public:
void set_friction(real_t p_friction);
real_t get_friction() const;
void set_engine_force(float p_engine_force);
float get_engine_force() const;
void set_brake(float p_force);
float get_brake() const;
void set_steering(float p_steering);
float get_steering() const;
VehicleBody();
};

2
scene/gui/tree.cpp
View file

@ -2787,7 +2787,7 @@ int Tree::get_item_offset(TreeItem *p_item) const {
ofs+=compute_item_height(it)+cache.vseparation;
if (it->childs) {
if (it->childs && !it->collapsed) {
it=it->childs;

1
scene/register_scene_types.cpp
View file

@ -401,6 +401,7 @@ void register_scene_types() {
ObjectTypeDB::register_virtual_type<CollisionObject>();
ObjectTypeDB::register_type<StaticBody>();
ObjectTypeDB::register_type<RigidBody>();
ObjectTypeDB::register_type<KinematicBody>();
ObjectTypeDB::register_type<CarBody>();
ObjectTypeDB::register_type<CarWheel>();
ObjectTypeDB::register_type<VehicleBody>();

2
servers/audio/sample_manager_sw.cpp
View file

@ -139,7 +139,7 @@ void SampleManagerMallocSW::sample_set_data(RID p_sample, const DVector<uint8_t>
DVector<uint8_t>::Read buffer_r=p_buffer.read();
const uint8_t *src = buffer_r.ptr();
uint8_t *dst = (uint8_t*)s->data;
print_line("set data: "+itos(s->length_bytes));
//print_line("set data: "+itos(s->length_bytes));
for(int i=0;i<s->length_bytes;i++) {

2
servers/physics/area_sw.h
View file

@ -70,7 +70,7 @@ class AreaSW : public CollisionObjectSW{
return area_shape < p_key.area_shape;
} else
return body_shape < p_key.area_shape;
return body_shape < p_key.body_shape;
} else
return rid < p_key.rid;

12
servers/physics/body_pair_sw.cpp
View file

@ -29,7 +29,7 @@
#include "body_pair_sw.h"
#include "collision_solver_sw.h"
#include "space_sw.h"
#include "os/os.h"
/*
#define NO_ACCUMULATE_IMPULSES
@ -174,6 +174,11 @@ void BodyPairSW::validate_contacts() {
bool BodyPairSW::setup(float p_step) {
//cannot collide
if (A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode()<=PhysicsServer::BODY_MODE_KINEMATIC && B->get_mode()<=PhysicsServer::BODY_MODE_KINEMATIC)) {
collided=false;
return false;
}
offset_B = B->get_transform().get_origin() - A->get_transform().get_origin();
@ -197,10 +202,6 @@ bool BodyPairSW::setup(float p_step) {
return false;
//cannot collide
if (A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode()<=PhysicsServer::BODY_MODE_KINEMATIC && B->get_mode()<=PhysicsServer::BODY_MODE_KINEMATIC)) {
return false;
}
real_t max_penetration = space->get_contact_max_allowed_penetration();
@ -217,6 +218,7 @@ bool BodyPairSW::setup(float p_step) {
}
real_t inv_dt = 1.0/p_step;
for(int i=0;i<contact_count;i++) {

107
servers/physics/body_sw.cpp
View file

@ -195,7 +195,7 @@ void BodySW::set_mode(PhysicsServer::BodyMode p_mode) {
_set_inv_transform(get_transform().affine_inverse());
_inv_mass=0;
_set_static(p_mode==PhysicsServer::BODY_MODE_STATIC);
set_active(p_mode==PhysicsServer::BODY_MODE_KINEMATIC);
//set_active(p_mode==PhysicsServer::BODY_MODE_KINEMATIC);
linear_velocity=Vector3();
angular_velocity=Vector3();
} break;
@ -203,14 +203,12 @@ void BodySW::set_mode(PhysicsServer::BodyMode p_mode) {
_inv_mass=mass>0?(1.0/mass):0;
_set_static(false);
simulated_motion=false; //jic
} break;
case PhysicsServer::BODY_MODE_CHARACTER: {
_inv_mass=mass>0?(1.0/mass):0;
_set_static(false);
simulated_motion=false; //jic
} break;
}
@ -235,13 +233,19 @@ void BodySW::set_state(PhysicsServer::BodyState p_state, const Variant& p_varian
case PhysicsServer::BODY_STATE_TRANSFORM: {
if (mode==PhysicsServer::BODY_MODE_STATIC || mode==PhysicsServer::BODY_MODE_KINEMATIC) {
if (mode==PhysicsServer::BODY_MODE_KINEMATIC) {
new_transform=p_variant;
//wakeup_neighbours();
set_active(true);
} else if (mode==PhysicsServer::BODY_MODE_STATIC) {
_set_transform(p_variant);
_set_inv_transform(get_transform().affine_inverse());
wakeup_neighbours();
} else {
Transform t = p_variant;
t.orthonormalize();
new_transform=get_transform(); //used as old to compute motion
_set_transform(t);
_set_inv_transform(get_transform().inverse());
@ -353,7 +357,7 @@ void BodySW::_compute_area_gravity(const AreaSW *p_area) {
void BodySW::integrate_forces(real_t p_step) {
if (mode==PhysicsServer::BODY_MODE_STATIC || mode==PhysicsServer::BODY_MODE_KINEMATIC)
if (mode==PhysicsServer::BODY_MODE_STATIC)
return;
AreaSW *current_area = get_space()->get_default_area();
@ -374,28 +378,56 @@ void BodySW::integrate_forces(real_t p_step) {
_compute_area_gravity(current_area);
density=current_area->get_density();
if (!omit_force_integration) {
//overriden by direct state query
Vector3 motion;
bool do_motion=false;
Vector3 force=gravity*mass;
force+=applied_force;
Vector3 torque=applied_torque;
if (mode==PhysicsServer::BODY_MODE_KINEMATIC) {
real_t damp = 1.0 - p_step * density;
//compute motion, angular and etc. velocities from prev transform
linear_velocity = (new_transform.origin - get_transform().origin)/p_step;
if (damp<0) // reached zero in the given time
damp=0;
//compute a FAKE angular velocity, not so easy
Matrix3 rot=new_transform.basis.orthonormalized().transposed() * get_transform().basis.orthonormalized();
Vector3 axis;
float angle;
real_t angular_damp = 1.0 - p_step * density * get_space()->get_body_angular_velocity_damp_ratio();
rot.get_axis_and_angle(axis,angle);
axis.normalize();
angular_velocity=axis.normalized() * (angle/p_step);
if (angular_damp<0) // reached zero in the given time
angular_damp=0;
motion = new_transform.origin - get_transform().origin;
do_motion=true;
linear_velocity*=damp;
angular_velocity*=angular_damp;
} else {
if (!omit_force_integration) {
//overriden by direct state query
Vector3 force=gravity*mass;
force+=applied_force;
Vector3 torque=applied_torque;
real_t damp = 1.0 - p_step * density;
if (damp<0) // reached zero in the given time
damp=0;
real_t angular_damp = 1.0 - p_step * density * get_space()->get_body_angular_velocity_damp_ratio();
if (angular_damp<0) // reached zero in the given time
angular_damp=0;
linear_velocity*=damp;
angular_velocity*=angular_damp;
linear_velocity+=_inv_mass * force * p_step;
angular_velocity+=_inv_inertia_tensor.xform(torque)*p_step;
}
if (continuous_cd) {
motion=linear_velocity*p_step;
do_motion=true;
}
linear_velocity+=_inv_mass * force * p_step;
angular_velocity+=_inv_inertia_tensor.xform(torque)*p_step;
}
applied_force=Vector3();
@ -406,8 +438,11 @@ void BodySW::integrate_forces(real_t p_step) {
biased_angular_velocity=Vector3();
biased_linear_velocity=Vector3();
if (continuous_cd) //shapes temporarily extend for raycast
_update_shapes_with_motion(linear_velocity*p_step);
if (do_motion) {//shapes temporarily extend for raycast
_update_shapes_with_motion(motion);
}
current_area=NULL; // clear the area, so it is set in the next frame
contact_count=0;
@ -419,9 +454,16 @@ void BodySW::integrate_velocities(real_t p_step) {
if (mode==PhysicsServer::BODY_MODE_STATIC)
return;
if (fi_callback)
get_space()->body_add_to_state_query_list(&direct_state_query_list);
if (mode==PhysicsServer::BODY_MODE_KINEMATIC) {
if (fi_callback)
get_space()->body_add_to_state_query_list(&direct_state_query_list);
_set_transform(new_transform,false);
_set_inv_transform(new_transform.affine_inverse()); ;
if (linear_velocity==Vector3() && angular_velocity==Vector3())
set_active(false); //stopped moving, deactivate
return;
}
@ -475,14 +517,13 @@ void BodySW::integrate_velocities(real_t p_step) {
_update_inertia_tensor();
if (fi_callback) {
get_space()->body_add_to_state_query_list(&direct_state_query_list);
}
//if (fi_callback) {
// get_space()->body_add_to_state_query_list(&direct_state_query_list);
//
}
/*
void BodySW::simulate_motion(const Transform& p_xform,real_t p_step) {
Transform inv_xform = p_xform.affine_inverse();
@ -514,6 +555,7 @@ void BodySW::simulate_motion(const Transform& p_xform,real_t p_step) {
}
*/
void BodySW::wakeup_neighbours() {
@ -562,12 +604,7 @@ void BodySW::call_queries() {
}
if (simulated_motion) {
// linear_velocity=Vector3();
// angular_velocity=0;
simulated_motion=false;
}
}
@ -634,7 +671,7 @@ BodySW::BodySW() : CollisionObjectSW(TYPE_BODY), active_list(this), inertia_upda
_set_static(false);
density=0;
contact_count=0;
simulated_motion=false;
still_time=0;
continuous_cd=false;
can_sleep=false;

5
servers/physics/body_sw.h
View file

@ -71,11 +71,12 @@ class BodySW : public CollisionObjectSW {
VSet<RID> exceptions;
bool omit_force_integration;
bool active;
bool simulated_motion;
bool continuous_cd;
bool can_sleep;
void _update_inertia();
virtual void _shapes_changed();
Transform new_transform;
Map<ConstraintSW*,int> constraint_map;
@ -235,7 +236,7 @@ public:
void integrate_forces(real_t p_step);
void integrate_velocities(real_t p_step);
void simulate_motion(const Transform& p_xform,real_t p_step);
//void simulate_motion(const Transform& p_xform,real_t p_step);
void call_queries();
void wakeup_neighbours();

1
servers/physics/collision_object_sw.cpp
View file

@ -216,4 +216,5 @@ CollisionObjectSW::CollisionObjectSW(Type p_type) {
type=p_type;
space=NULL;
instance_id=0;
layer_mask=1;
}

5
servers/physics/collision_object_sw.h
View file

@ -47,6 +47,7 @@ private:
Type type;
RID self;
ObjectID instance_id;
uint32_t layer_mask;
struct Shape {
@ -71,7 +72,7 @@ protected:
void _update_shapes_with_motion(const Vector3& p_motion);
void _unregister_shapes();
_FORCE_INLINE_ void _set_transform(const Transform& p_transform) { transform=p_transform; _update_shapes(); }
_FORCE_INLINE_ void _set_transform(const Transform& p_transform,bool p_update_shapes=true) { transform=p_transform; if (p_update_shapes) _update_shapes(); }
_FORCE_INLINE_ void _set_inv_transform(const Transform& p_transform) { inv_transform=p_transform; }
void _set_static(bool p_static);
@ -104,6 +105,8 @@ public:
_FORCE_INLINE_ SpaceSW* get_space() const { return space; }
_FORCE_INLINE_ void set_layer_mask(uint32_t p_mask) { layer_mask=p_mask; }
_FORCE_INLINE_ uint32_t get_layer_mask() const { return layer_mask; }
void remove_shape(ShapeSW *p_shape);
void remove_shape(int p_index);

485
servers/physics/collision_solver_sat.cpp
View file

@ -43,7 +43,9 @@ struct _CollectorCallback {
_FORCE_INLINE_ void call(const Vector3& p_point_A, const Vector3& p_point_B) {
//if (normal.dot(p_point_A) >= normal.dot(p_point_B))
// return;
// return;
// print_line("** A: "+p_point_A+" B: "+p_point_B+" D: "+rtos(p_point_A.distance_to(p_point_B)));
if (swap)
callback(p_point_B,p_point_A,userdata);
else
@ -231,11 +233,14 @@ static void _generate_contacts_face_face(const Vector3 * p_points_A,int p_point_
for (int i=0;i<clipbuf_len;i++) {
float d = plane_B.distance_to(clipbuf_src[i]);
if (d>CMP_EPSILON)
continue;
//if (d>CMP_EPSILON)
// continue;
Vector3 closest_B=clipbuf_src[i] - plane_B.normal*d;
if (p_callback->normal.dot(clipbuf_src[i]) >= p_callback->normal.dot(closest_B))
continue;
p_callback->call(clipbuf_src[i],closest_B);
added++;
@ -301,7 +306,7 @@ static void _generate_contacts_from_supports(const Vector3 * p_points_A,int p_po
template<class ShapeA, class ShapeB>
template<class ShapeA, class ShapeB, bool withMargin=false>
class SeparatorAxisTest {
const ShapeA *shape_A;
@ -311,7 +316,8 @@ class SeparatorAxisTest {
real_t best_depth;
Vector3 best_axis;
_CollectorCallback *callback;
real_t margin_A;
real_t margin_B;
Vector3 separator_axis;
public:
@ -340,6 +346,13 @@ public:
shape_A->project_range(axis,*transform_A,min_A,max_A);
shape_B->project_range(axis,*transform_B,min_B,max_B);
if (withMargin) {
min_A-=margin_A;
max_A+=margin_A;
min_B-=margin_B;
max_B+=margin_B;
}
min_B -= ( max_A - min_A ) * 0.5;
max_B += ( max_A - min_A ) * 0.5;
@ -394,6 +407,14 @@ public:
supports_A[i] = transform_A->xform(supports_A[i]);
}
if (withMargin) {
for(int i=0;i<support_count_A;i++) {
supports_A[i]+=-best_axis*margin_A;
}
}
Vector3 supports_B[max_supports];
int support_count_B;
@ -401,8 +422,16 @@ public:
for(int i=0;i<support_count_B;i++) {
supports_B[i] = transform_B->xform(supports_B[i]);
}
if (withMargin) {
for(int i=0;i<support_count_B;i++) {
supports_B[i]+=best_axis*margin_B;
}
}
/*
print_line("best depth: "+rtos(best_depth));
print_line("best axis: "+(best_axis));
for(int i=0;i<support_count_A;i++) {
print_line("A-"+itos(i)+": "+supports_A[i]);
@ -423,13 +452,16 @@ public:
}
_FORCE_INLINE_ SeparatorAxisTest(const ShapeA *p_shape_A,const Transform& p_transform_A, const ShapeB *p_shape_B,const Transform& p_transform_B,_CollectorCallback *p_callback) {
_FORCE_INLINE_ SeparatorAxisTest(const ShapeA *p_shape_A,const Transform& p_transform_A, const ShapeB *p_shape_B,const Transform& p_transform_B,_CollectorCallback *p_callback,real_t p_margin_A=0,real_t p_margin_B=0) {
best_depth=1e15;
shape_A=p_shape_A;
shape_B=p_shape_B;
transform_A=&p_transform_A;
transform_B=&p_transform_B;
callback=p_callback;
margin_A=p_margin_A;
margin_B=p_margin_B;
}
};
@ -440,16 +472,17 @@ public:
/****** SAT TESTS *******/
typedef void (*CollisionFunc)(const ShapeSW*,const Transform&,const ShapeSW*,const Transform&,_CollectorCallback *p_callback);
typedef void (*CollisionFunc)(const ShapeSW*,const Transform&,const ShapeSW*,const Transform&,_CollectorCallback *p_callback,float,float);
static void _collision_sphere_sphere(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector) {
template<bool withMargin>
static void _collision_sphere_sphere(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) {
const SphereShapeSW *sphere_A = static_cast<const SphereShapeSW*>(p_a);
const SphereShapeSW *sphere_B = static_cast<const SphereShapeSW*>(p_b);
SeparatorAxisTest<SphereShapeSW,SphereShapeSW> separator(sphere_A,p_transform_a,sphere_B,p_transform_b,p_collector);
SeparatorAxisTest<SphereShapeSW,SphereShapeSW,withMargin> separator(sphere_A,p_transform_a,sphere_B,p_transform_b,p_collector,p_margin_a,p_margin_b);
// previous axis
@ -462,13 +495,14 @@ static void _collision_sphere_sphere(const ShapeSW *p_a,const Transform &p_trans
separator.generate_contacts();
}
static void _collision_sphere_box(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector) {
template<bool withMargin>
static void _collision_sphere_box(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) {
const SphereShapeSW *sphere_A = static_cast<const SphereShapeSW*>(p_a);
const BoxShapeSW *box_B = static_cast<const BoxShapeSW*>(p_b);
SeparatorAxisTest<SphereShapeSW,BoxShapeSW> separator(sphere_A,p_transform_a,box_B,p_transform_b,p_collector);
SeparatorAxisTest<SphereShapeSW,BoxShapeSW,withMargin> separator(sphere_A,p_transform_a,box_B,p_transform_b,p_collector,p_margin_a,p_margin_b);
if (!separator.test_previous_axis())
return;
@ -516,13 +550,13 @@ static void _collision_sphere_box(const ShapeSW *p_a,const Transform &p_transfor
}
static void _collision_sphere_capsule(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector) {
template<bool withMargin>
static void _collision_sphere_capsule(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) {
const SphereShapeSW *sphere_A = static_cast<const SphereShapeSW*>(p_a);
const CapsuleShapeSW *capsule_B = static_cast<const CapsuleShapeSW*>(p_b);
SeparatorAxisTest<SphereShapeSW,CapsuleShapeSW> separator(sphere_A,p_transform_a,capsule_B,p_transform_b,p_collector);
SeparatorAxisTest<SphereShapeSW,CapsuleShapeSW,withMargin> separator(sphere_A,p_transform_a,capsule_B,p_transform_b,p_collector,p_margin_a,p_margin_b);
if (!separator.test_previous_axis())
return;
@ -540,7 +574,7 @@ static void _collision_sphere_capsule(const ShapeSW *p_a,const Transform &p_tran
Vector3 capsule_ball_2 = p_transform_b.origin - capsule_axis;
if (!separator.test_axis( (capsule_ball_1 - p_transform_a.origin).normalized() ) )
if (!separator.test_axis( (capsule_ball_2 - p_transform_a.origin).normalized() ) )
return;
//capsule edge, sphere
@ -556,13 +590,14 @@ static void _collision_sphere_capsule(const ShapeSW *p_a,const Transform &p_tran
separator.generate_contacts();
}
static void _collision_sphere_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector) {
template<bool withMargin>
static void _collision_sphere_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) {
const SphereShapeSW *sphere_A = static_cast<const SphereShapeSW*>(p_a);
const ConvexPolygonShapeSW *convex_polygon_B = static_cast<const ConvexPolygonShapeSW*>(p_b);
SeparatorAxisTest<SphereShapeSW,ConvexPolygonShapeSW> separator(sphere_A,p_transform_a,convex_polygon_B,p_transform_b,p_collector);
SeparatorAxisTest<SphereShapeSW,ConvexPolygonShapeSW,withMargin> separator(sphere_A,p_transform_a,convex_polygon_B,p_transform_b,p_collector,p_margin_a,p_margin_b);
if (!separator.test_previous_axis())
@ -626,14 +661,15 @@ static void _collision_sphere_convex_polygon(const ShapeSW *p_a,const Transform
}
static void _collision_sphere_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b, _CollectorCallback *p_collector) {
template<bool withMargin>
static void _collision_sphere_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) {
const SphereShapeSW *sphere_A = static_cast<const SphereShapeSW*>(p_a);
const FaceShapeSW *face_B = static_cast<const FaceShapeSW*>(p_b);
SeparatorAxisTest<SphereShapeSW,FaceShapeSW> separator(sphere_A,p_transform_a,face_B,p_transform_b,p_collector);
SeparatorAxisTest<SphereShapeSW,FaceShapeSW,withMargin> separator(sphere_A,p_transform_a,face_B,p_transform_b,p_collector,p_margin_a,p_margin_b);
Vector3 vertex[3]={
@ -669,16 +705,14 @@ static void _collision_sphere_face(const ShapeSW *p_a,const Transform &p_transfo
}
static void _collision_box_box(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector) {
template<bool withMargin>
static void _collision_box_box(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) {
const BoxShapeSW *box_A = static_cast<const BoxShapeSW*>(p_a);
const BoxShapeSW *box_B = static_cast<const BoxShapeSW*>(p_b);
SeparatorAxisTest<BoxShapeSW,BoxShapeSW> separator(box_A,p_transform_a,box_B,p_transform_b,p_collector);
SeparatorAxisTest<BoxShapeSW,BoxShapeSW,withMargin> separator(box_A,p_transform_a,box_B,p_transform_b,p_collector,p_margin_a,p_margin_b);
if (!separator.test_previous_axis())
return;
@ -723,18 +757,69 @@ static void _collision_box_box(const ShapeSW *p_a,const Transform &p_transform_a
}
}
if (withMargin) {
//add endpoint test between closest vertices and edges
// calculate closest point to sphere
Vector3 ab_vec = p_transform_b.origin - p_transform_a.origin;
Vector3 cnormal_a=p_transform_a.basis.xform_inv( ab_vec );
Vector3 support_a=p_transform_a.xform( Vector3(
(cnormal_a.x<0) ? -box_A->get_half_extents().x : box_A->get_half_extents().x,
(cnormal_a.y<0) ? -box_A->get_half_extents().y : box_A->get_half_extents().y,
(cnormal_a.z<0) ? -box_A->get_half_extents().z : box_A->get_half_extents().z
) );
Vector3 cnormal_b=p_transform_b.basis.xform_inv( -ab_vec );
Vector3 support_b=p_transform_b.xform( Vector3(
(cnormal_b.x<0) ? -box_B->get_half_extents().x : box_B->get_half_extents().x,
(cnormal_b.y<0) ? -box_B->get_half_extents().y : box_B->get_half_extents().y,
(cnormal_b.z<0) ? -box_B->get_half_extents().z : box_B->get_half_extents().z
) );
Vector3 axis_ab = (support_a-support_b);
if (!separator.test_axis( axis_ab.normalized() )) {
return;
}
//now try edges, which become cylinders!
for(int i=0;i<3;i++) {
//a ->b
Vector3 axis_a = p_transform_a.basis.get_axis(i);
if (!separator.test_axis( axis_ab.cross(axis_a).cross(axis_a).normalized() ))
return;
//b ->a
Vector3 axis_b = p_transform_b.basis.get_axis(i);
if (!separator.test_axis( axis_ab.cross(axis_b).cross(axis_b).normalized() ))
return;
}
}
separator.generate_contacts();
}
static void _collision_box_capsule(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector) {
template<bool withMargin>
static void _collision_box_capsule(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) {
const BoxShapeSW *box_A = static_cast<const BoxShapeSW*>(p_a);
const CapsuleShapeSW *capsule_B = static_cast<const CapsuleShapeSW*>(p_b);
SeparatorAxisTest<BoxShapeSW,CapsuleShapeSW> separator(box_A,p_transform_a,capsule_B,p_transform_b,p_collector);
SeparatorAxisTest<BoxShapeSW,CapsuleShapeSW,withMargin> separator(box_A,p_transform_a,capsule_B,p_transform_b,p_collector,p_margin_a,p_margin_b);
if (!separator.test_previous_axis())
return;
@ -828,15 +913,15 @@ static void _collision_box_capsule(const ShapeSW *p_a,const Transform &p_transfo
separator.generate_contacts();
}
static void _collision_box_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector) {
template<bool withMargin>
static void _collision_box_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) {
const BoxShapeSW *box_A = static_cast<const BoxShapeSW*>(p_a);
const ConvexPolygonShapeSW *convex_polygon_B = static_cast<const ConvexPolygonShapeSW*>(p_b);
SeparatorAxisTest<BoxShapeSW,ConvexPolygonShapeSW> separator(box_A,p_transform_a,convex_polygon_B,p_transform_b,p_collector);
SeparatorAxisTest<BoxShapeSW,ConvexPolygonShapeSW,withMargin> separator(box_A,p_transform_a,convex_polygon_B,p_transform_b,p_collector,p_margin_a,p_margin_b);
if (!separator.test_previous_axis())
return;
@ -886,18 +971,84 @@ static void _collision_box_convex_polygon(const ShapeSW *p_a,const Transform &p_
}
}
if (withMargin) {
// calculate closest points between vertices and box edges
for(int v=0;v<vertex_count;v++) {
Vector3 vtxb = p_transform_b.xform(vertices[v]);
Vector3 ab_vec = vtxb - p_transform_a.origin;
Vector3 cnormal_a=p_transform_a.basis.xform_inv( ab_vec );
Vector3 support_a=p_transform_a.xform( Vector3(
(cnormal_a.x<0) ? -box_A->get_half_extents().x : box_A->get_half_extents().x,
(cnormal_a.y<0) ? -box_A->get_half_extents().y : box_A->get_half_extents().y,
(cnormal_a.z<0) ? -box_A->get_half_extents().z : box_A->get_half_extents().z
) );
Vector3 axis_ab = support_a-vtxb;
if (!separator.test_axis( axis_ab.normalized() )) {
return;
}
//now try edges, which become cylinders!
for(int i=0;i<3;i++) {
//a ->b
Vector3 axis_a = p_transform_a.basis.get_axis(i);
if (!separator.test_axis( axis_ab.cross(axis_a).cross(axis_a).normalized() ))
return;
}
}
//convex edges and box points
for (int i=0;i<2;i++) {
for (int j=0;j<2;j++) {
for (int k=0;k<2;k++) {
Vector3 he = box_A->get_half_extents();
he.x*=(i*2-1);
he.y*=(j*2-1);
he.z*=(k*2-1);
Vector3 point=p_transform_a.origin;
for(int l=0;l<3;l++)
point+=p_transform_a.basis.get_axis(l)*he[l];
for(int e=0;e<edge_count;e++) {
Vector3 p1=p_transform_b.xform(vertices[edges[e].a]);
Vector3 p2=p_transform_b.xform(vertices[edges[e].b]);
Vector3 n = (p2-p1);
if (!separator.test_axis( (point-p2).cross(n).cross(n).normalized() ))
return;
}
}
}
}
}
separator.generate_contacts();
}
static void _collision_box_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b, _CollectorCallback *p_collector) {
template<bool withMargin>
static void _collision_box_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) {
const BoxShapeSW *box_A = static_cast<const BoxShapeSW*>(p_a);
const FaceShapeSW *face_B = static_cast<const FaceShapeSW*>(p_b);
SeparatorAxisTest<BoxShapeSW,FaceShapeSW> separator(box_A,p_transform_a,face_B,p_transform_b,p_collector);
SeparatorAxisTest<BoxShapeSW,FaceShapeSW,withMargin> separator(box_A,p_transform_a,face_B,p_transform_b,p_collector,p_margin_a,p_margin_b);
Vector3 vertex[3]={
p_transform_b.xform( face_B->vertex[0] ),
@ -918,13 +1069,14 @@ static void _collision_box_face(const ShapeSW *p_a,const Transform &p_transform_
}
// combined edges
for(int i=0;i<3;i++) {
Vector3 e=vertex[i]-vertex[(i+1)%3];
for (int i=0;i<3;i++) {
for (int j=0;j<3;j++) {
Vector3 axis = p_transform_a.basis.get_axis(i);
Vector3 axis = p_transform_a.basis.get_axis(j);
if (!separator.test_axis( e.cross(axis).normalized() ))
return;
@ -932,16 +1084,82 @@ static void _collision_box_face(const ShapeSW *p_a,const Transform &p_transform_
}
if (withMargin) {
// calculate closest points between vertices and box edges
for(int v=0;v<3;v++) {
Vector3 ab_vec = vertex[v] - p_transform_a.origin;
Vector3 cnormal_a=p_transform_a.basis.xform_inv( ab_vec );
Vector3 support_a=p_transform_a.xform( Vector3(
(cnormal_a.x<0) ? -box_A->get_half_extents().x : box_A->get_half_extents().x,
(cnormal_a.y<0) ? -box_A->get_half_extents().y : box_A->get_half_extents().y,
(cnormal_a.z<0) ? -box_A->get_half_extents().z : box_A->get_half_extents().z
) );
Vector3 axis_ab = support_a-vertex[v];
if (!separator.test_axis( axis_ab.normalized() )) {
return;
}
//now try edges, which become cylinders!
for(int i=0;i<3;i++) {
//a ->b
Vector3 axis_a = p_transform_a.basis.get_axis(i);
if (!separator.test_axis( axis_ab.cross(axis_a).cross(axis_a).normalized() ))
return;
}
}
//convex edges and box points, there has to be a way to speed up this (get closest point?)
for (int i=0;i<2;i++) {
for (int j=0;j<2;j++) {
for (int k=0;k<2;k++) {
Vector3 he = box_A->get_half_extents();
he.x*=(i*2-1);
he.y*=(j*2-1);
he.z*=(k*2-1);
Vector3 point=p_transform_a.origin;
for(int l=0;l<3;l++)
point+=p_transform_a.basis.get_axis(l)*he[l];
for(int e=0;e<3;e++) {
Vector3 p1=vertex[e];
Vector3 p2=vertex[(e+1)%3];
Vector3 n = (p2-p1);
if (!separator.test_axis( (point-p2).cross(n).cross(n).normalized() ))
return;
}
}
}
}
}
separator.generate_contacts();
}
static void _collision_capsule_capsule(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector) {
template<bool withMargin>
static void _collision_capsule_capsule(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) {
const CapsuleShapeSW *capsule_A = static_cast<const CapsuleShapeSW*>(p_a);
const CapsuleShapeSW *capsule_B = static_cast<const CapsuleShapeSW*>(p_b);
SeparatorAxisTest<CapsuleShapeSW,CapsuleShapeSW> separator(capsule_A,p_transform_a,capsule_B,p_transform_b,p_collector);
SeparatorAxisTest<CapsuleShapeSW,CapsuleShapeSW,withMargin> separator(capsule_A,p_transform_a,capsule_B,p_transform_b,p_collector,p_margin_a,p_margin_b);
if (!separator.test_previous_axis())
return;
@ -993,13 +1211,14 @@ static void _collision_capsule_capsule(const ShapeSW *p_a,const Transform &p_tra
}
static void _collision_capsule_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector) {
template<bool withMargin>
static void _collision_capsule_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) {
const CapsuleShapeSW *capsule_A = static_cast<const CapsuleShapeSW*>(p_a);
const ConvexPolygonShapeSW *convex_polygon_B = static_cast<const ConvexPolygonShapeSW*>(p_b);
SeparatorAxisTest<CapsuleShapeSW,ConvexPolygonShapeSW> separator(capsule_A,p_transform_a,convex_polygon_B,p_transform_b,p_collector);
SeparatorAxisTest<CapsuleShapeSW,ConvexPolygonShapeSW,withMargin> separator(capsule_A,p_transform_a,convex_polygon_B,p_transform_b,p_collector,p_margin_a,p_margin_b);
if (!separator.test_previous_axis())
return;
@ -1063,12 +1282,14 @@ static void _collision_capsule_convex_polygon(const ShapeSW *p_a,const Transform
}
static void _collision_capsule_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b, _CollectorCallback *p_collector) {
template<bool withMargin>
static void _collision_capsule_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) {
const CapsuleShapeSW *capsule_A = static_cast<const CapsuleShapeSW*>(p_a);
const FaceShapeSW *face_B = static_cast<const FaceShapeSW*>(p_b);
SeparatorAxisTest<CapsuleShapeSW,FaceShapeSW> separator(capsule_A,p_transform_a,face_B,p_transform_b,p_collector);
SeparatorAxisTest<CapsuleShapeSW,FaceShapeSW,withMargin> separator(capsule_A,p_transform_a,face_B,p_transform_b,p_collector,p_margin_a,p_margin_b);
@ -1125,13 +1346,14 @@ static void _collision_capsule_face(const ShapeSW *p_a,const Transform &p_transf
}
static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector) {
template<bool withMargin>
static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a,const Transform &p_transform_a,const ShapeSW *p_b,const Transform &p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) {
const ConvexPolygonShapeSW *convex_polygon_A = static_cast<const ConvexPolygonShapeSW*>(p_a);
const ConvexPolygonShapeSW *convex_polygon_B = static_cast<const ConvexPolygonShapeSW*>(p_b);
SeparatorAxisTest<ConvexPolygonShapeSW,ConvexPolygonShapeSW> separator(convex_polygon_A,p_transform_a,convex_polygon_B,p_transform_b,p_collector);
SeparatorAxisTest<ConvexPolygonShapeSW,ConvexPolygonShapeSW,withMargin> separator(convex_polygon_A,p_transform_a,convex_polygon_B,p_transform_b,p_collector,p_margin_a,p_margin_b);
if (!separator.test_previous_axis())
return;
@ -1192,17 +1414,70 @@ static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a,const Tr
}
}
if (withMargin) {
//vertex-vertex
for(int i=0;i<vertex_count_A;i++) {
Vector3 va = p_transform_a.xform(vertices_A[i]);
for(int j=0;j<vertex_count_B;j++) {
if (!separator.test_axis( (va-p_transform_b.xform(vertices_B[j])).normalized() ))
return;
}
}
//edge-vertex( hsell)
for (int i=0;i<edge_count_A;i++) {
Vector3 e1=p_transform_a.basis.xform( vertices_A[ edges_A[i].a] );
Vector3 e2=p_transform_a.basis.xform( vertices_A[ edges_A[i].b] );
Vector3 n = (e2-e1);
for(int j=0;j<vertex_count_B;j++) {
Vector3 e3=p_transform_b.xform(vertices_B[j]);
if (!separator.test_axis( (e1-e3).cross(n).cross(n).normalized() ))
return;
}
}
for (int i=0;i<edge_count_B;i++) {
Vector3 e1=p_transform_b.basis.xform( vertices_B[ edges_B[i].a] );
Vector3 e2=p_transform_b.basis.xform( vertices_B[ edges_B[i].b] );
Vector3 n = (e2-e1);
for(int j=0;j<vertex_count_A;j++) {
Vector3 e3=p_transform_a.xform(vertices_A[j]);
if (!separator.test_axis( (e1-e3).cross(n).cross(n).normalized() ))
return;
}
}
}
separator.generate_contacts();
}
static void _collision_convex_polygon_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b, _CollectorCallback *p_collector) {
template<bool withMargin>
static void _collision_convex_polygon_face(const ShapeSW *p_a,const Transform &p_transform_a, const ShapeSW *p_b,const Transform& p_transform_b,_CollectorCallback *p_collector,float p_margin_a,float p_margin_b) {
const ConvexPolygonShapeSW *convex_polygon_A = static_cast<const ConvexPolygonShapeSW*>(p_a);
const FaceShapeSW *face_B = static_cast<const FaceShapeSW*>(p_b);
SeparatorAxisTest<ConvexPolygonShapeSW,FaceShapeSW> separator(convex_polygon_A,p_transform_a,face_B,p_transform_b,p_collector);
SeparatorAxisTest<ConvexPolygonShapeSW,FaceShapeSW,withMargin> separator(convex_polygon_A,p_transform_a,face_B,p_transform_b,p_collector,p_margin_a,p_margin_b);
const Geometry::MeshData &mesh = convex_polygon_A->get_mesh();
@ -1252,12 +1527,62 @@ static void _collision_convex_polygon_face(const ShapeSW *p_a,const Transform &p
}
}
if (withMargin) {
//vertex-vertex
for(int i=0;i<vertex_count;i++) {
Vector3 va = p_transform_a.xform(vertices[i]);
for(int j=0;j<3;j++) {
if (!separator.test_axis( (va-vertex[j]).normalized() ))
return;
}
}
//edge-vertex( hsell)
for (int i=0;i<edge_count;i++) {
Vector3 e1=p_transform_a.basis.xform( vertices[ edges[i].a] );
Vector3 e2=p_transform_a.basis.xform( vertices[ edges[i].b] );
Vector3 n = (e2-e1);
for(int j=0;j<3;j++) {
Vector3 e3=vertex[j];
if (!separator.test_axis( (e1-e3).cross(n).cross(n).normalized() ))
return;
}
}
for (int i=0;i<3;i++) {
Vector3 e1=vertex[i];
Vector3 e2=vertex[(i+1)%3];
Vector3 n = (e2-e1);
for(int j=0;j<vertex_count;j++) {
Vector3 e3=p_transform_a.xform(vertices[j]);
if (!separator.test_axis( (e1-e3).cross(n).cross(n).normalized() ))
return;
}
}
}
separator.generate_contacts();
}
bool sat_calculate_penetration(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, CollisionSolverSW::CallbackResult p_result_callback,void *p_userdata,bool p_swap,Vector3* r_prev_axis) {
bool sat_calculate_penetration(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, CollisionSolverSW::CallbackResult p_result_callback,void *p_userdata,bool p_swap,Vector3* r_prev_axis,float p_margin_a,float p_margin_b) {
PhysicsServer::ShapeType type_A=p_shape_A->get_type();
@ -1273,26 +1598,54 @@ bool sat_calculate_penetration(const ShapeSW *p_shape_A, const Transform& p_tran
static const CollisionFunc collision_table[5][5]={
{_collision_sphere_sphere,
_collision_sphere_box,
_collision_sphere_capsule,
_collision_sphere_convex_polygon,
_collision_sphere_face},
{_collision_sphere_sphere<false>,
_collision_sphere_box<false>,
_collision_sphere_capsule<false>,
_collision_sphere_convex_polygon<false>,
_collision_sphere_face<false>},
{0,
_collision_box_box,
_collision_box_capsule,
_collision_box_convex_polygon,
_collision_box_face},
_collision_box_box<false>,
_collision_box_capsule<false>,
_collision_box_convex_polygon<false>,
_collision_box_face<false>},
{0,
0,
_collision_capsule_capsule,
_collision_capsule_convex_polygon,
_collision_capsule_face},
_collision_capsule_capsule<false>,
_collision_capsule_convex_polygon<false>,
_collision_capsule_face<false>},
{0,
0,
0,
_collision_convex_polygon_convex_polygon,
_collision_convex_polygon_face},
_collision_convex_polygon_convex_polygon<false>,
_collision_convex_polygon_face<false>},
{0,
0,
0,
0,
0},
};
static const CollisionFunc collision_table_margin[5][5]={
{_collision_sphere_sphere<true>,
_collision_sphere_box<true>,
_collision_sphere_capsule<true>,
_collision_sphere_convex_polygon<true>,
_collision_sphere_face<true>},
{0,
_collision_box_box<true>,
_collision_box_capsule<true>,
_collision_box_convex_polygon<true>,
_collision_box_face<true>},
{0,
0,
_collision_capsule_capsule<true>,
_collision_capsule_convex_polygon<true>,
_collision_capsule_face<true>},
{0,
0,
0,
_collision_convex_polygon_convex_polygon<true>,
_collision_convex_polygon_face<true>},
{0,
0,
0,
@ -1311,20 +1664,30 @@ bool sat_calculate_penetration(const ShapeSW *p_shape_A, const Transform& p_tran
const ShapeSW *B=p_shape_B;
const Transform *transform_A=&p_transform_A;
const Transform *transform_B=&p_transform_B;
float margin_A=p_margin_a;
float margin_B=p_margin_b;
if (type_A > type_B) {
SWAP(A,B);
SWAP(transform_A,transform_B);
SWAP(type_A,type_B);
SWAP(margin_A,margin_B);
callback.swap = !callback.swap;
}
CollisionFunc collision_func = collision_table[type_A-2][type_B-2];
CollisionFunc collision_func;
if (margin_A!=0.0 || margin_B!=0.0) {
collision_func = collision_table_margin[type_A-2][type_B-2];
} else {
collision_func = collision_table[type_A-2][type_B-2];
}
ERR_FAIL_COND_V(!collision_func,false);
collision_func(A,*transform_A,B,*transform_B,&callback);
collision_func(A,*transform_A,B,*transform_B,&callback,margin_A,margin_B);
return callback.collided;

2
servers/physics/collision_solver_sat.h
View file

@ -32,6 +32,6 @@
#include "collision_solver_sw.h"
bool sat_calculate_penetration(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, CollisionSolverSW::CallbackResult p_result_callback,void *p_userdata, bool p_swap=false,Vector3* r_prev_axis=NULL);
bool sat_calculate_penetration(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, CollisionSolverSW::CallbackResult p_result_callback,void *p_userdata, bool p_swap=false,Vector3* r_prev_axis=NULL,float p_margin_a=0,float p_margin_b=0);
#endif // COLLISION_SOLVER_SAT_H

131
servers/physics/collision_solver_sw.cpp
View file

@ -114,6 +114,10 @@ struct _ConcaveCollisionInfo {
bool collided;
int aabb_tests;
int collisions;
bool tested;
float margin_A;
float margin_B;
Vector3 close_A,close_B;
};
@ -123,7 +127,7 @@ void CollisionSolverSW::concave_callback(void *p_userdata, ShapeSW *p_convex) {
_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo*)(p_userdata);
cinfo.aabb_tests++;
bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, p_convex,*cinfo.transform_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result );
bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, p_convex,*cinfo.transform_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result,NULL,cinfo.margin_A,cinfo.margin_B);
if (!collided)
return;
@ -132,7 +136,7 @@ void CollisionSolverSW::concave_callback(void *p_userdata, ShapeSW *p_convex) {
}
bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result) {
bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result,float p_margin_A,float p_margin_B) {
const ConcaveShapeSW *concave_B=static_cast<const ConcaveShapeSW*>(p_shape_B);
@ -146,6 +150,8 @@ bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A,const Transform&
cinfo.swap_result=p_swap_result;
cinfo.collided=false;
cinfo.collisions=0;
cinfo.margin_A=p_margin_A;
cinfo.margin_B=p_margin_B;
cinfo.aabb_tests=0;
@ -163,21 +169,23 @@ bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A,const Transform&
float smin,smax;
p_shape_A->project_range(axis,rel_transform,smin,smax);
smin-=p_margin_A;
smax+=p_margin_A;
smin*=axis_scale;
smax*=axis_scale;
local_aabb.pos[i]=smin;
local_aabb.size[i]=smax-smin;
}
concave_B->cull(local_aabb,concave_callback,&cinfo);
return cinfo.collided;
}
bool CollisionSolverSW::solve_static(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,Vector3 *r_sep_axis) {
bool CollisionSolverSW::solve_static(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,Vector3 *r_sep_axis,float p_margin_A,float p_margin_B) {
PhysicsServer::ShapeType type_A=p_shape_A->get_type();
@ -225,17 +233,126 @@ bool CollisionSolverSW::solve_static(const ShapeSW *p_shape_A,const Transform& p
return false;
if (!swap)
return solve_concave(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_result_callback,p_userdata,false);
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);
else
return solve_concave(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_result_callback,p_userdata,true);
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);
} else {
return collision_solver(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback,p_userdata,false,r_sep_axis);
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);
}
return false;
}
void CollisionSolverSW::concave_distance_callback(void *p_userdata, ShapeSW *p_convex) {
_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo*)(p_userdata);
cinfo.aabb_tests++;
if (cinfo.collided)
return;
Vector3 close_A,close_B;
cinfo.collided = !gjk_epa_calculate_distance(cinfo.shape_A,*cinfo.transform_A,p_convex,*cinfo.transform_B,close_A,close_B);
if (cinfo.collided)
return;
if (!cinfo.tested || close_A.distance_squared_to(close_B) < cinfo.close_A.distance_squared_to(cinfo.close_B)) {
cinfo.close_A=close_A;
cinfo.close_B=close_B;
cinfo.tested=true;
}
cinfo.collisions++;
}
bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *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) {
if (p_shape_A->is_concave())
return false;
if (p_shape_B->get_type()==PhysicsServer::SHAPE_PLANE) {
return false; //unsupported
} else if (p_shape_B->is_concave()) {
if (p_shape_A->is_concave())
return false;
const ConcaveShapeSW *concave_B=static_cast<const ConcaveShapeSW*>(p_shape_B);
_ConcaveCollisionInfo cinfo;
cinfo.transform_A=&p_transform_A;
cinfo.shape_A=p_shape_A;
cinfo.transform_B=&p_transform_B;
cinfo.result_callback=NULL;
cinfo.userdata=NULL;
cinfo.swap_result=false;
cinfo.collided=false;
cinfo.collisions=0;
cinfo.aabb_tests=0;
cinfo.tested=false;
Transform rel_transform = p_transform_A;
rel_transform.origin-=p_transform_B.origin;
//quickly compute a local AABB
bool use_cc_hint=p_concave_hint!=AABB();
AABB cc_hint_aabb;
if (use_cc_hint) {
cc_hint_aabb=p_concave_hint;
cc_hint_aabb.pos-=p_transform_B.origin;
}
AABB local_aabb;
for(int i=0;i<3;i++) {
Vector3 axis( p_transform_B.basis.get_axis(i) );
float axis_scale = 1.0/axis.length();
axis*=axis_scale;
float smin,smax;
if (use_cc_hint) {
cc_hint_aabb.project_range_in_plane(Plane(axis,0),smin,smax);
} else {
p_shape_A->project_range(axis,rel_transform,smin,smax);
}
smin*=axis_scale;
smax*=axis_scale;
local_aabb.pos[i]=smin;
local_aabb.size[i]=smax-smin;
}
concave_B->cull(local_aabb,concave_distance_callback,&cinfo);
if (!cinfo.collided) {
// print_line(itos(cinfo.tested));
r_point_A=cinfo.close_A;
r_point_B=cinfo.close_B;
}
return !cinfo.collided;
} else {
return gjk_epa_calculate_distance(p_shape_A,p_transform_A,p_shape_B,p_transform_B,r_point_A,r_point_B); //should pass sepaxis..
}
return false;
}

6
servers/physics/collision_solver_sw.h
View file

@ -40,12 +40,14 @@ private:
static void concave_callback(void *p_userdata, ShapeSW *p_convex);
static bool solve_static_plane(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result);
static bool solve_ray(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result);
static bool solve_concave(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result);
static bool solve_concave(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result,float p_margin_A=0,float p_margin_B=0);
static void concave_distance_callback(void *p_userdata, ShapeSW *p_convex);
public:
static bool solve_static(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,Vector3 *r_sep_axis=NULL);
static bool solve_static(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,Vector3 *r_sep_axis=NULL,float p_margin_A=0,float p_margin_B=0);
static bool solve_distance(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *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=NULL);
};

61
servers/physics/gjk_epa.cpp
View file

@ -1,31 +1,14 @@
/*************************************************************************/
/* gjk_epa.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* 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, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
/*************************************************/
/* gjk_epa.cpp */
/*************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/*************************************************/
/* Source code within this file is: */
/* (c) 2007-2010 Juan Linietsky, Ariel Manzur */
/* All Rights Reserved. */
/*************************************************/
#include "gjk_epa.h"
/*************** Bullet's GJK-EPA2 IMPLEMENTATION *******************/
@ -798,8 +781,8 @@ bool Distance( const ShapeSW* shape0,
w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p;
w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p;
}
results.witnesses[0] = wtrs0.xform(w0);
results.witnesses[1] = wtrs0.xform(w1);
results.witnesses[0] = w0;
results.witnesses[1] = w1;
results.normal = w0-w1;
results.distance = results.normal.length();
results.normal /= results.distance>GJK_MIN_DISTANCE?results.distance:1;
@ -881,6 +864,24 @@ bool Penetration( const ShapeSW* shape0,
bool gjk_epa_calculate_distance(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, Vector3& r_result_A, Vector3& r_result_B) {
GjkEpa2::sResults res;
if (GjkEpa2::Distance(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_transform_B.origin-p_transform_A.origin,res)) {
r_result_A=res.witnesses[0];
r_result_B=res.witnesses[1];
return true;
}
return false;
}
bool gjk_epa_calculate_penetration(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, CollisionSolverSW::CallbackResult p_result_callback,void *p_userdata, bool p_swap ) {
GjkEpa2::sResults res;

40
servers/physics/gjk_epa.h
View file

@ -1,31 +1,14 @@
/*************************************************************************/
/* gjk_epa.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* 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, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
/*************************************************/
/* gjk_epa.h */
/*************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/*************************************************/
/* Source code within this file is: */
/* (c) 2007-2010 Juan Linietsky, Ariel Manzur */
/* All Rights Reserved. */
/*************************************************/
#ifndef GJK_EPA_H
#define GJK_EPA_H
@ -36,5 +19,6 @@
#include "collision_solver_sw.h"
bool gjk_epa_calculate_penetration(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, CollisionSolverSW::CallbackResult p_result_callback,void *p_userdata, bool p_swap=false);
bool gjk_epa_calculate_distance(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, Vector3& r_result_A, Vector3& r_result_B);
#endif

98
servers/physics/physics_server_sw.cpp
View file

@ -568,6 +568,25 @@ bool PhysicsServerSW::body_is_continuous_collision_detection_enabled(RID p_body)
return body->is_continuous_collision_detection_enabled();
}
void PhysicsServerSW::body_set_layer_mask(RID p_body, uint32_t p_mask) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_layer_mask(p_mask);
}
uint32_t PhysicsServerSW::body_get_layer_mask(RID p_body, uint32_t p_mask) const{
const BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,0);
return body->get_layer_mask();
}
void PhysicsServerSW::body_attach_object_instance_ID(RID p_body,uint32_t p_ID) {
BodySW *body = body_owner.get(p_body);
@ -618,13 +637,6 @@ float PhysicsServerSW::body_get_param(RID p_body, BodyParameter p_param) const {
};
void PhysicsServerSW::body_static_simulate_motion(RID p_body,const Transform& p_new_transform) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->simulate_motion(p_new_transform,last_step);
};
void PhysicsServerSW::body_set_state(RID p_body, BodyState p_state, const Variant& p_variant) {
@ -1021,11 +1033,18 @@ void PhysicsServerSW::step(float p_step) {
last_step=p_step;
PhysicsDirectBodyStateSW::singleton->step=p_step;
island_count=0;
active_objects=0;
collision_pairs=0;
for( Set<const SpaceSW*>::Element *E=active_spaces.front();E;E=E->next()) {
stepper->step((SpaceSW*)E->get(),p_step,iterations);
island_count+=E->get()->get_island_count();
active_objects+=E->get()->get_active_objects();
collision_pairs+=E->get()->get_collision_pairs();
}
};
}
void PhysicsServerSW::sync() {
@ -1054,9 +1073,72 @@ void PhysicsServerSW::finish() {
};
int PhysicsServerSW::get_process_info(ProcessInfo p_info) {
switch(p_info) {
case INFO_ACTIVE_OBJECTS: {
return active_objects;
} break;
case INFO_COLLISION_PAIRS: {
return collision_pairs;
} break;
case INFO_ISLAND_COUNT: {
return island_count;
} break;
}
return 0;
}
void PhysicsServerSW::_shape_col_cbk(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata) {
CollCbkData *cbk=(CollCbkData *)p_userdata;
if (cbk->max==0)
return;
if (cbk->amount == cbk->max) {
//find least deep
float min_depth=1e20;
int min_depth_idx=0;
for(int i=0;i<cbk->amount;i++) {
float d = cbk->ptr[i*2+0].distance_squared_to(cbk->ptr[i*2+1]);
if (d<min_depth) {
min_depth=d;
min_depth_idx=i;
}
}
float d = p_point_A.distance_squared_to(p_point_B);
if (d<min_depth)
return;
cbk->ptr[min_depth_idx*2+0]=p_point_A;
cbk->ptr[min_depth_idx*2+1]=p_point_B;
} else {
cbk->ptr[cbk->amount*2+0]=p_point_A;
cbk->ptr[cbk->amount*2+1]=p_point_B;
cbk->amount++;
}
}
PhysicsServerSW::PhysicsServerSW() {
BroadPhaseSW::create_func=BroadPhaseOctree::_create;
island_count=0;
active_objects=0;
collision_pairs=0;
active=true;

21
servers/physics/physics_server_sw.h
View file

@ -47,6 +47,10 @@ friend class PhysicsDirectSpaceStateSW;
bool doing_sync;
real_t last_step;
int island_count;
int active_objects;
int collision_pairs;
StepSW *stepper;
Set<const SpaceSW*> active_spaces;
@ -61,6 +65,15 @@ friend class PhysicsDirectSpaceStateSW;
// void _clear_query(QuerySW *p_query);
public:
struct CollCbkData {
int max;
int amount;
Vector3 *ptr;
};
static void _shape_col_cbk(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata);
virtual RID shape_create(ShapeType p_shape);
virtual void shape_set_data(RID p_shape, const Variant& p_data);
virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias);
@ -146,15 +159,15 @@ public:
virtual void body_set_enable_continuous_collision_detection(RID p_body,bool p_enable);
virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const;
virtual void body_set_layer_mask(RID p_body, uint32_t p_mask);
virtual uint32_t body_get_layer_mask(RID p_body, uint32_t p_mask) const;
virtual void body_set_user_flags(RID p_body, uint32_t p_flags);
virtual uint32_t body_get_user_flags(RID p_body, uint32_t p_flags) const;
virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value);
virtual float body_get_param(RID p_body, BodyParameter p_param) const;
//advanced simulation
virtual void body_static_simulate_motion(RID p_body,const Transform& p_new_transform);
virtual void body_set_state(RID p_body, BodyState p_state, const Variant& p_variant);
virtual Variant body_get_state(RID p_body, BodyState p_state) const;
@ -209,6 +222,8 @@ public:
virtual void flush_queries();
virtual void finish();
int get_process_info(ProcessInfo p_info);
PhysicsServerSW();
~PhysicsServerSW();

16
servers/physics/shape_sw.cpp
View file

@ -928,8 +928,8 @@ void FaceShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supp
for (int i=0;i<3;i++) {
int nx=(i+1)%3;
//if (i!=vert_support_idx && nx!=vert_support_idx)
// continue;
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);
@ -951,8 +951,12 @@ bool FaceShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,
bool c=Geometry::segment_intersects_triangle(p_begin,p_end,vertex[0],vertex[1],vertex[2],&r_result);
if (c)
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;
}
@ -1070,13 +1074,15 @@ void ConcavePolygonShapeSW::_cull_segment(int p_idx,_SegmentCullParams *p_params
&res)) {
float d=p_params->normal.dot(res) - p_params->normal.dot(p_params->from);
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++;
}
@ -1107,7 +1113,7 @@ bool ConcavePolygonShapeSW::intersect_segment(const Vector3& p_begin,const Vecto
params.from=p_begin;
params.to=p_end;
params.collisions=0;
params.normal=(p_end-p_begin).normalized();
params.dir=(p_end-p_begin).normalized();
params.faces=fr.ptr();
params.vertices=vr.ptr();

845
servers/physics/shape_sw.h
View file

@ -26,405 +26,446 @@
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef SHAPE_SW_H
#define SHAPE_SW_H
#include "servers/physics_server.h"
#include "bsp_tree.h"
#include "geometry.h"
/*
SHAPE_LINE, ///< plane:"plane"
SHAPE_SEGMENT, ///< float:"length"
SHAPE_CIRCLE, ///< float:"radius"
SHAPE_RECTANGLE, ///< vec3:"extents"
SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
SHAPE_CONCAVE_POLYGON, ///< Vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array)
SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
*/
class ShapeSW;
class ShapeOwnerSW {
public:
virtual void _shape_changed()=0;
virtual void remove_shape(ShapeSW *p_shape)=0;
virtual ~ShapeOwnerSW() {}
};
class ShapeSW {
RID self;
AABB aabb;
bool configured;
real_t custom_bias;
Map<ShapeOwnerSW*,int> owners;
protected:
void configure(const AABB& p_aabb);
public:
enum {
MAX_SUPPORTS=8
};
_FORCE_INLINE_ void set_self(const RID& p_self) { self=p_self; }
_FORCE_INLINE_ RID get_self() const {return self; }
virtual PhysicsServer::ShapeType get_type() const=0;
_FORCE_INLINE_ 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 Transform& 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) const=0;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_point, Vector3 &r_normal) const=0;
virtual Vector3 get_moment_of_inertia(float 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(ShapeOwnerSW *p_owner);
void remove_owner(ShapeOwnerSW *p_owner);
bool is_owner(ShapeOwnerSW *p_owner) const;
const Map<ShapeOwnerSW*,int>& get_owners() const;
ShapeSW();
virtual ~ShapeSW();
};
class ConcaveShapeSW : public ShapeSW {
public:
virtual bool is_concave() const { return true; }
typedef void (*Callback)(void* p_userdata,ShapeSW *p_convex);
virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const { r_amount=0; }
virtual void cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const=0;
ConcaveShapeSW() {}
};
class PlaneShapeSW : public ShapeSW {
Plane plane;
void _setup(const Plane& p_plane);
public:
Plane get_plane() const;
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_PLANE; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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) const { r_amount=0; }
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
PlaneShapeSW();
};
class RayShapeSW : public ShapeSW {
float length;
void _setup(float p_length);
public:
float get_length() const;
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_RAY; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
RayShapeSW();
};
class SphereShapeSW : public ShapeSW {
real_t radius;
void _setup(real_t p_radius);
public:
real_t get_radius() const;
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_SPHERE; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
SphereShapeSW();
};
class BoxShapeSW : public ShapeSW {
Vector3 half_extents;
void _setup(const Vector3& p_half_extents);
public:
_FORCE_INLINE_ Vector3 get_half_extents() const { return half_extents; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_BOX; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
BoxShapeSW();
};
class CapsuleShapeSW : public ShapeSW {
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 PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CAPSULE; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
CapsuleShapeSW();
};
struct ConvexPolygonShapeSW : public ShapeSW {
Geometry::MeshData mesh;
void _setup(const Vector<Vector3>& p_vertices);
public:
const Geometry::MeshData& get_mesh() const { return mesh; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
ConvexPolygonShapeSW();
};
struct _VolumeSW_BVH;
struct FaceShapeSW;
struct ConcavePolygonShapeSW : public ConcaveShapeSW {
// always a trimesh
struct Face {
Vector3 normal;
int indices[3];
};
DVector<Face> faces;
DVector<Vector3> vertices;
struct BVH {
AABB aabb;
int left;
int right;
int face_index;
};
DVector<BVH> bvh;
struct _CullParams {
AABB aabb;
Callback callback;
void *userdata;
const Face *faces;
const Vector3 *vertices;
const BVH *bvh;
FaceShapeSW *face;
};
struct _SegmentCullParams {
Vector3 from;
Vector3 to;
const Face *faces;
const Vector3 *vertices;
const BVH *bvh;
Vector3 result;
Vector3 normal;
real_t min_d;
int collisions;
};
void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
void _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(DVector<Vector3> p_faces);
public:
DVector<Vector3> get_faces() const;
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3& p_normal) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual void cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
ConcavePolygonShapeSW();
};
struct HeightMapShapeSW : public ConcaveShapeSW {
DVector<real_t> heights;
int width;
int depth;
float cell_size;
// void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
// void _cull(int p_idx,_CullParams *p_params) const;
void _setup(DVector<float> p_heights,int p_width,int p_depth,float p_cell_size);
public:
DVector<real_t> get_heights() const;
int get_width() const;
int get_depth() const;
float get_cell_size() const;
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_HEIGHTMAP; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3& p_normal) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual void cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
HeightMapShapeSW();
};
//used internally
struct FaceShapeSW : public ShapeSW {
Vector3 normal; //cache
Vector3 vertex[3];
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }
const Vector3& get_vertex(int p_idx) const { return vertex[p_idx]; }
void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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) const;
bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data) {}
virtual Variant get_data() const { return Variant(); }
FaceShapeSW();
};
struct _ShapeTestConvexBSPSW {
const BSP_Tree *bsp;
const ShapeSW *shape;
Transform transform;
_FORCE_INLINE_ void project_range(const Vector3& p_normal, real_t& r_min, real_t& r_max) const {
shape->project_range(p_normal,transform,r_min,r_max);
}
};
#endif // SHAPESW_H
#ifndef SHAPE_SW_H
#define SHAPE_SW_H
#include "servers/physics_server.h"
#include "bsp_tree.h"
#include "geometry.h"
/*
SHAPE_LINE, ///< plane:"plane"
SHAPE_SEGMENT, ///< float:"length"
SHAPE_CIRCLE, ///< float:"radius"
SHAPE_RECTANGLE, ///< vec3:"extents"
SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
SHAPE_CONCAVE_POLYGON, ///< Vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array)
SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
*/
class ShapeSW;
class ShapeOwnerSW {
public:
virtual void _shape_changed()=0;
virtual void remove_shape(ShapeSW *p_shape)=0;
virtual ~ShapeOwnerSW() {}
};
class ShapeSW {
RID self;
AABB aabb;
bool configured;
real_t custom_bias;
Map<ShapeOwnerSW*,int> owners;
protected:
void configure(const AABB& p_aabb);
public:
enum {
MAX_SUPPORTS=8
};
_FORCE_INLINE_ void set_self(const RID& p_self) { self=p_self; }
_FORCE_INLINE_ RID get_self() const {return self; }
virtual PhysicsServer::ShapeType get_type() const=0;
_FORCE_INLINE_ 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 Transform& 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) const=0;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_point, Vector3 &r_normal) const=0;
virtual Vector3 get_moment_of_inertia(float 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(ShapeOwnerSW *p_owner);
void remove_owner(ShapeOwnerSW *p_owner);
bool is_owner(ShapeOwnerSW *p_owner) const;
const Map<ShapeOwnerSW*,int>& get_owners() const;
ShapeSW();
virtual ~ShapeSW();
};
class ConcaveShapeSW : public ShapeSW {
public:
virtual bool is_concave() const { return true; }
typedef void (*Callback)(void* p_userdata,ShapeSW *p_convex);
virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const { r_amount=0; }
virtual void cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const=0;
ConcaveShapeSW() {}
};
class PlaneShapeSW : public ShapeSW {
Plane plane;
void _setup(const Plane& p_plane);
public:
Plane get_plane() const;
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_PLANE; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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) const { r_amount=0; }
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
PlaneShapeSW();
};
class RayShapeSW : public ShapeSW {
float length;
void _setup(float p_length);
public:
float get_length() const;
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_RAY; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
RayShapeSW();
};
class SphereShapeSW : public ShapeSW {
real_t radius;
void _setup(real_t p_radius);
public:
real_t get_radius() const;
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_SPHERE; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
SphereShapeSW();
};
class BoxShapeSW : public ShapeSW {
Vector3 half_extents;
void _setup(const Vector3& p_half_extents);
public:
_FORCE_INLINE_ Vector3 get_half_extents() const { return half_extents; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_BOX; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
BoxShapeSW();
};
class CapsuleShapeSW : public ShapeSW {
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 PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CAPSULE; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
CapsuleShapeSW();
};
struct ConvexPolygonShapeSW : public ShapeSW {
Geometry::MeshData mesh;
void _setup(const Vector<Vector3>& p_vertices);
public:
const Geometry::MeshData& get_mesh() const { return mesh; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
ConvexPolygonShapeSW();
};
struct _VolumeSW_BVH;
struct FaceShapeSW;
struct ConcavePolygonShapeSW : public ConcaveShapeSW {
// always a trimesh
struct Face {
Vector3 normal;
int indices[3];
};
DVector<Face> faces;
DVector<Vector3> vertices;
struct BVH {
AABB aabb;
int left;
int right;
int face_index;
};
DVector<BVH> bvh;
struct _CullParams {
AABB aabb;
Callback callback;
void *userdata;
const Face *faces;
const Vector3 *vertices;
const BVH *bvh;
FaceShapeSW *face;
};
struct _SegmentCullParams {
Vector3 from;
Vector3 to;
const Face *faces;
const Vector3 *vertices;
const BVH *bvh;
Vector3 dir;
Vector3 result;
Vector3 normal;
real_t min_d;
int collisions;
};
void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
void _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(DVector<Vector3> p_faces);
public:
DVector<Vector3> get_faces() const;
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3& p_normal) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual void cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
ConcavePolygonShapeSW();
};
struct HeightMapShapeSW : public ConcaveShapeSW {
DVector<real_t> heights;
int width;
int depth;
float cell_size;
// void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
// void _cull(int p_idx,_CullParams *p_params) const;
void _setup(DVector<float> p_heights,int p_width,int p_depth,float p_cell_size);
public:
DVector<real_t> get_heights() const;
int get_width() const;
int get_depth() const;
float get_cell_size() const;
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_HEIGHTMAP; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3& p_normal) const;
virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
virtual void cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const;
virtual Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data);
virtual Variant get_data() const;
HeightMapShapeSW();
};
//used internally
struct FaceShapeSW : public ShapeSW {
Vector3 normal; //cache
Vector3 vertex[3];
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }
const Vector3& get_vertex(int p_idx) const { return vertex[p_idx]; }
void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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) const;
bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
Vector3 get_moment_of_inertia(float p_mass) const;
virtual void set_data(const Variant& p_data) {}
virtual Variant get_data() const { return Variant(); }
FaceShapeSW();
};
struct MotionShapeSW : public ShapeSW {
ShapeSW *shape;
Vector3 motion;
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }
void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
Vector3 cast = p_transform.basis.xform(motion);
real_t mina,maxa;
real_t minb,maxb;
Transform 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);
}
Vector3 get_support(const Vector3& p_normal) const {
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) const {}
bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const { return false; }
Vector3 get_moment_of_inertia(float p_mass) const { return Vector3(); }
virtual void set_data(const Variant& p_data) {}
virtual Variant get_data() const { return Variant(); }
MotionShapeSW() { configure(AABB()); }
};
struct _ShapeTestConvexBSPSW {
const BSP_Tree *bsp;
const ShapeSW *shape;
Transform transform;
_FORCE_INLINE_ void project_range(const Vector3& p_normal, real_t& r_min, real_t& r_max) const {
shape->project_range(p_normal,transform,r_min,r_max);
}
};
#endif // SHAPESW_H

313
servers/physics/space_sw.cpp
View file

@ -32,7 +32,22 @@
#include "physics_server_sw.h"
bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude,uint32_t p_user_mask) {
_FORCE_INLINE_ static bool _match_object_type_query(CollisionObjectSW *p_object, uint32_t p_layer_mask, uint32_t p_type_mask) {
if ((p_object->get_layer_mask()&p_layer_mask)==0)
return false;
if (p_object->get_type()==CollisionObjectSW::TYPE_AREA && !(p_type_mask&PhysicsDirectSpaceState::TYPE_MASK_AREA))
return false;
BodySW *body = static_cast<BodySW*>(p_object);
return (1<<body->get_mode())&p_type_mask;
}
bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
ERR_FAIL_COND_V(space->locked,false);
@ -58,8 +73,8 @@ bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vecto
for(int i=0;i<amount;i++) {
if (space->intersection_query_results[i]->get_type()==CollisionObjectSW::TYPE_AREA)
continue; //ignore area
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
continue;
if (p_exclude.has( space->intersection_query_results[i]->get_self()))
continue;
@ -114,7 +129,7 @@ bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vecto
}
int PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transform& p_xform,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_user_mask) {
int PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transform& p_xform,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
if (p_result_max<=0)
return 0;
@ -136,8 +151,9 @@ int PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transfo
if (cc>=p_result_max)
break;
if (space->intersection_query_results[i]->get_type()==CollisionObjectSW::TYPE_AREA)
continue; //ignore area
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
continue;
if (p_exclude.has( space->intersection_query_results[i]->get_self()))
continue;
@ -146,7 +162,7 @@ int PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transfo
const CollisionObjectSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
if (!CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), NULL,NULL,NULL))
if (!CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), NULL,NULL,NULL,p_margin,0))
continue;
r_results[cc].collider_id=col_obj->get_instance_id();
@ -163,6 +179,283 @@ int PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transfo
}
bool PhysicsDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask,ShapeRestInfo *r_info) {
ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape,false);
AABB aabb = p_xform.xform(shape->get_aabb());
aabb=aabb.merge(AABB(aabb.pos+p_motion,aabb.size)); //motion
aabb=aabb.grow(p_margin);
//if (p_motion!=Vector3())
// print_line(p_motion);
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
float best_safe=1;
float best_unsafe=1;
Transform xform_inv = p_xform.affine_inverse();
MotionShapeSW mshape;
mshape.shape=shape;
mshape.motion=xform_inv.basis.xform(p_motion);
bool best_first=true;
Vector3 closest_A,closest_B;
for(int i=0;i<amount;i++) {
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
continue;
if (p_exclude.has( space->intersection_query_results[i]->get_self()))
continue; //ignore excluded
const CollisionObjectSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
Vector3 point_A,point_B;
Vector3 sep_axis=p_motion.normalized();
Transform col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
//test initial overlap, does it collide if going all the way?
if (CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) {
//print_line("failed motion cast (no collision)");
continue;
}
//test initial overlap
#if 0
if (CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,NULL,NULL,&sep_axis)) {
print_line("failed initial cast (collision at begining)");
return false;
}
#else
sep_axis=p_motion.normalized();
if (!CollisionSolverSW::solve_distance(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) {
//print_line("failed motion cast (no collision)");
return false;
}
#endif
//just do kinematic solving
float low=0;
float hi=1;
Vector3 mnormal=p_motion.normalized();
for(int i=0;i<8;i++) { //steps should be customizable..
Transform xfa = p_xform;
float ofs = (low+hi)*0.5;
Vector3 sep=mnormal; //important optimization for this to work fast enough
mshape.motion=xform_inv.basis.xform(p_motion*ofs);
Vector3 lA,lB;
bool collided = !CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,lA,lB,aabb,&sep);
if (collided) {
//print_line(itos(i)+": "+rtos(ofs));
hi=ofs;
} else {
point_A=lA;
point_B=lB;
low=ofs;
}
}
if (low<best_safe) {
best_first=true; //force reset
best_safe=low;
best_unsafe=hi;
}
if (r_info && (best_first || (point_A.distance_squared_to(point_B) < closest_A.distance_squared_to(closest_B) && low<=best_safe))) {
closest_A=point_A;
closest_B=point_B;
r_info->collider_id=col_obj->get_instance_id();
r_info->rid=col_obj->get_self();
r_info->shape=shape_idx;
r_info->point=closest_B;
r_info->normal=(closest_A-closest_B).normalized();
best_first=false;
if (col_obj->get_type()==CollisionObjectSW::TYPE_BODY) {
const BodySW *body=static_cast<const BodySW*>(col_obj);
r_info->linear_velocity= body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B);
}
}
}
p_closest_safe=best_safe;
p_closest_unsafe=best_unsafe;
return true;
}
bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform& p_shape_xform,float p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask){
if (p_result_max<=0)
return 0;
ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape,0);
AABB aabb = p_shape_xform.xform(shape->get_aabb());
aabb=aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
bool collided=false;
int cc=0;
r_result_count=0;
PhysicsServerSW::CollCbkData cbk;
cbk.max=p_result_max;
cbk.amount=0;
cbk.ptr=r_results;
CollisionSolverSW::CallbackResult cbkres=NULL;
PhysicsServerSW::CollCbkData *cbkptr=NULL;
if (p_result_max>0) {
cbkptr=&cbk;
cbkres=PhysicsServerSW::_shape_col_cbk;
}
for(int i=0;i<amount;i++) {
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
continue;
const CollisionObjectSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
if (p_exclude.has( col_obj->get_self() )) {
continue;
}
//print_line("AGAINST: "+itos(col_obj->get_self().get_id())+":"+itos(shape_idx));
//print_line("THE ABBB: "+(col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).xform(col_obj->get_shape(shape_idx)->get_aabb()));
if (CollisionSolverSW::solve_static(shape,p_shape_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),cbkres,cbkptr,NULL,p_margin)) {
collided=true;
}
}
r_result_count=cbk.amount;
return collided;
}
struct _RestCallbackData {
const CollisionObjectSW *object;
const CollisionObjectSW *best_object;
int shape;
int best_shape;
Vector3 best_contact;
Vector3 best_normal;
float best_len;
};
static void _rest_cbk_result(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata) {
_RestCallbackData *rd=(_RestCallbackData*)p_userdata;
Vector3 contact_rel = p_point_B - p_point_A;
float len = contact_rel.length();
if (len <= rd->best_len)
return;
rd->best_len=len;
rd->best_contact=p_point_B;
rd->best_normal=contact_rel/len;
rd->best_object=rd->object;
rd->best_shape=rd->shape;
}
bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform& p_shape_xform,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape,0);
AABB aabb = p_shape_xform.xform(shape->get_aabb());
aabb=aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
_RestCallbackData rcd;
rcd.best_len=0;
rcd.best_object=NULL;
rcd.best_shape=0;
for(int i=0;i<amount;i++) {
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
continue;
const CollisionObjectSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
if (p_exclude.has( col_obj->get_self() ))
continue;
rcd.object=col_obj;
rcd.shape=shape_idx;
bool sc = CollisionSolverSW::solve_static(shape,p_shape_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),_rest_cbk_result,&rcd,NULL,p_margin);
if (!sc)
continue;
}
if (rcd.best_len==0)
return false;
r_info->collider_id=rcd.best_object->get_instance_id();
r_info->shape=rcd.best_shape;
r_info->normal=rcd.best_normal;
r_info->point=rcd.best_contact;
r_info->rid=rcd.best_object->get_self();
if (rcd.best_object->get_type()==CollisionObjectSW::TYPE_BODY) {
const BodySW *body = static_cast<const BodySW*>(rcd.best_object);
Vector3 rel_vec = r_info->point-body->get_transform().get_origin();
r_info->linear_velocity = body->get_linear_velocity() +
(body->get_angular_velocity()).cross(body->get_transform().origin-rcd.best_contact);// * mPos);
} else {
r_info->linear_velocity=Vector3();
}
return true;
}
PhysicsDirectSpaceStateSW::PhysicsDirectSpaceStateSW() {
@ -194,6 +487,8 @@ void* SpaceSW::_broadphase_pair(CollisionObjectSW *A,int p_subindex_A,CollisionO
SpaceSW *self = (SpaceSW*)p_self;
self->collision_pairs++;
if (type_A==CollisionObjectSW::TYPE_AREA) {
@ -221,6 +516,7 @@ void SpaceSW::_broadphase_unpair(CollisionObjectSW *A,int p_subindex_A,Collision
SpaceSW *self = (SpaceSW*)p_self;
self->collision_pairs--;
ConstraintSW *c = (ConstraintSW*)p_data;
memdelete(c);
}
@ -398,6 +694,9 @@ PhysicsDirectSpaceStateSW *SpaceSW::get_direct_state() {
SpaceSW::SpaceSW() {
collision_pairs=0;
active_objects=0;
island_count=0;
locked=false;
contact_recycle_radius=0.01;

19
servers/physics/space_sw.h
View file

@ -46,8 +46,11 @@ public:
SpaceSW *space;
bool intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0);
int intersect_shape(const RID& p_shape, const Transform& p_xform,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0);
virtual bool intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
virtual int intersect_shape(const RID& p_shape, const Transform& p_xform,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
virtual bool cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION,ShapeRestInfo *r_info=NULL);
virtual bool collide_shape(RID p_shape, const Transform& p_shape_xform,float p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
virtual bool rest_info(RID p_shape, const Transform& p_shape_xform,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
PhysicsDirectSpaceStateSW();
};
@ -94,6 +97,10 @@ class SpaceSW {
bool locked;
int island_count;
int active_objects;
int collision_pairs;
friend class PhysicsDirectSpaceStateSW;
public:
@ -147,6 +154,14 @@ public:
void set_param(PhysicsServer::SpaceParameter p_param, real_t p_value);
real_t get_param(PhysicsServer::SpaceParameter p_param) const;
void set_island_count(int p_island_count) { island_count=p_island_count; }
int get_island_count() const { return island_count; }
void set_active_objects(int p_active_objects) { active_objects=p_active_objects; }
int get_active_objects() const { return active_objects; }
int get_collision_pairs() const { return collision_pairs; }
PhysicsDirectSpaceStateSW *get_direct_state();
SpaceSW();

17
servers/physics/step_sw.cpp
View file

@ -49,7 +49,7 @@ void StepSW::_populate_island(BodySW* p_body,BodySW** p_island,ConstraintSW **p_
if (i==E->get())
continue;
BodySW *b = c->get_body_ptr()[i];
if (b->get_island_step()==_step || b->get_mode()==PhysicsServer::BODY_MODE_STATIC)
if (b->get_island_step()==_step || b->get_mode()==PhysicsServer::BODY_MODE_STATIC || b->get_mode()==PhysicsServer::BODY_MODE_KINEMATIC)
continue; //no go
_populate_island(c->get_body_ptr()[i],p_island,p_constraint_island);
}
@ -86,8 +86,10 @@ void StepSW::_check_suspend(BodySW *p_island,float p_delta) {
BodySW *b = p_island;
while(b) {
if (b->get_mode()==PhysicsServer::BODY_MODE_STATIC)
if (b->get_mode()==PhysicsServer::BODY_MODE_STATIC || b->get_mode()==PhysicsServer::BODY_MODE_KINEMATIC) {
b=b->get_island_next();
continue; //ignore for static
}
if (!b->sleep_test(p_delta))
can_sleep=false;
@ -100,8 +102,10 @@ void StepSW::_check_suspend(BodySW *p_island,float p_delta) {
b = p_island;
while(b) {
if (b->get_mode()==PhysicsServer::BODY_MODE_STATIC)
if (b->get_mode()==PhysicsServer::BODY_MODE_STATIC || b->get_mode()==PhysicsServer::BODY_MODE_KINEMATIC) {
b=b->get_island_next();
continue; //ignore for static
}
bool active = b->is_active();
@ -131,6 +135,7 @@ void StepSW::step(SpaceSW* p_space,float p_delta,int p_iterations) {
active_count++;
}
p_space->set_active_objects(active_count);
/* GENERATE CONSTRAINT ISLANDS */
@ -164,6 +169,8 @@ void StepSW::step(SpaceSW* p_space,float p_delta,int p_iterations) {
b=b->next();
}
p_space->set_island_count(island_count);
const SelfList<AreaSW>::List &aml = p_space->get_moved_area_list();
while(aml.first()) {
@ -207,9 +214,9 @@ void StepSW::step(SpaceSW* p_space,float p_delta,int p_iterations) {
b = body_list->first();
while(b) {
const SelfList<BodySW>*n=b->next();
b->self()->integrate_velocities(p_delta);
b=b->next();
b=n;
}
/* SLEEP / WAKE UP ISLANDS */

2
servers/physics_2d/area_2d_sw.h
View file

@ -71,7 +71,7 @@ class Area2DSW : public CollisionObject2DSW{
return area_shape < p_key.area_shape;
} else
return body_shape < p_key.area_shape;
return body_shape < p_key.body_shape;
} else
return rid < p_key.rid;

4
servers/physics_2d/collision_solver_2d_sat.cpp
View file

@ -593,8 +593,8 @@ static void _collision_segment_segment(const Shape2DSW* p_a,const Matrix32& p_tr
//this collision is kind of pointless
if (!separator.test_previous_axis())
return;
//if (!separator.test_previous_axis())
// return;
if (!separator.test_cast())
return;

32
servers/physics_2d/physics_2d_server_sw.cpp
View file

@ -1086,9 +1086,15 @@ void Physics2DServerSW::step(float p_step) {
last_step=p_step;
Physics2DDirectBodyStateSW::singleton->step=p_step;
island_count=0;
active_objects=0;
collision_pairs=0;
for( Set<const Space2DSW*>::Element *E=active_spaces.front();E;E=E->next()) {
stepper->step((Space2DSW*)E->get(),p_step,iterations);
island_count+=E->get()->get_island_count();
active_objects+=E->get()->get_active_objects();
collision_pairs+=E->get()->get_collision_pairs();
}
};
@ -1118,6 +1124,27 @@ void Physics2DServerSW::finish() {
memdelete(direct_state);
};
int Physics2DServerSW::get_process_info(ProcessInfo p_info) {
switch(p_info) {
case INFO_ACTIVE_OBJECTS: {
return active_objects;
} break;
case INFO_COLLISION_PAIRS: {
return collision_pairs;
} break;
case INFO_ISLAND_COUNT: {
return island_count;
} break;
}
return 0;
}
Physics2DServerSW::Physics2DServerSW() {
@ -1125,8 +1152,13 @@ Physics2DServerSW::Physics2DServerSW() {
// BroadPhase2DSW::create_func=BroadPhase2DBasic::_create;
active=true;
island_count=0;
active_objects=0;
collision_pairs=0;
};
Physics2DServerSW::~Physics2DServerSW() {
};

7
servers/physics_2d/physics_2d_server_sw.h
View file

@ -47,6 +47,11 @@ friend class Physics2DDirectSpaceStateSW;
bool doing_sync;
real_t last_step;
int island_count;
int active_objects;
int collision_pairs;
Step2DSW *stepper;
Set<const Space2DSW*> active_spaces;
@ -223,6 +228,8 @@ public:
virtual void flush_queries();
virtual void finish();
int get_process_info(ProcessInfo p_info);
Physics2DServerSW();
~Physics2DServerSW();

1
servers/physics_2d/shape_2d_sw.h
View file

@ -582,5 +582,6 @@ public:
};
#undef DEFAULT_PROJECT_RANGE_CAST
#endif // SHAPE_2D_2DSW_H

13
servers/physics_2d/space_2d_sw.cpp
View file

@ -323,7 +323,7 @@ bool Physics2DDirectSpaceStateSW::collide_shape(RID p_shape, const Matrix32& p_s
}
struct _RestCallbackData {
struct _RestCallbackData2D {
const CollisionObject2DSW *object;
const CollisionObject2DSW *best_object;
@ -337,7 +337,7 @@ struct _RestCallbackData {
static void _rest_cbk_result(const Vector2& p_point_A,const Vector2& p_point_B,void *p_userdata) {
_RestCallbackData *rd=(_RestCallbackData*)p_userdata;
_RestCallbackData2D *rd=(_RestCallbackData2D*)p_userdata;
Vector2 contact_rel = p_point_B - p_point_A;
float len = contact_rel.length();
@ -365,7 +365,7 @@ bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Matrix32& p_shape
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
_RestCallbackData rcd;
_RestCallbackData2D rcd;
rcd.best_len=0;
rcd.best_object=NULL;
rcd.best_shape=0;
@ -443,6 +443,7 @@ void* Space2DSW::_broadphase_pair(CollisionObject2DSW *A,int p_subindex_A,Collis
}
Space2DSW *self = (Space2DSW*)p_self;
self->collision_pairs++;
if (type_A==CollisionObject2DSW::TYPE_AREA) {
@ -468,8 +469,8 @@ void* Space2DSW::_broadphase_pair(CollisionObject2DSW *A,int p_subindex_A,Collis
void Space2DSW::_broadphase_unpair(CollisionObject2DSW *A,int p_subindex_A,CollisionObject2DSW *B,int p_subindex_B,void *p_data,void *p_self) {
Space2DSW *self = (Space2DSW*)p_self;
self->collision_pairs--;
Constraint2DSW *c = (Constraint2DSW*)p_data;
memdelete(c);
}
@ -646,6 +647,10 @@ Physics2DDirectSpaceStateSW *Space2DSW::get_direct_state() {
Space2DSW::Space2DSW() {
collision_pairs=0;
active_objects=0;
island_count=0;
locked=false;
contact_recycle_radius=0.01;
contact_max_separation=0.05;

12
servers/physics_2d/space_2d_sw.h
View file

@ -97,6 +97,10 @@ class Space2DSW {
bool locked;
int island_count;
int active_objects;
int collision_pairs;
friend class Physics2DDirectSpaceStateSW;
public:
@ -153,6 +157,14 @@ public:
void set_param(Physics2DServer::SpaceParameter p_param, real_t p_value);
real_t get_param(Physics2DServer::SpaceParameter p_param) const;
void set_island_count(int p_island_count) { island_count=p_island_count; }
int get_island_count() const { return island_count; }
void set_active_objects(int p_active_objects) { active_objects=p_active_objects; }
int get_active_objects() const { return active_objects; }
int get_collision_pairs() const { return collision_pairs; }
Physics2DDirectSpaceStateSW *get_direct_state();
Space2DSW();

4
servers/physics_2d/step_2d_sw.cpp
View file

@ -137,6 +137,8 @@ void Step2DSW::step(Space2DSW* p_space,float p_delta,int p_iterations) {
active_count++;
}
p_space->set_active_objects(active_count);
/* GENERATE CONSTRAINT ISLANDS */
Body2DSW *island_list=NULL;
@ -168,6 +170,8 @@ void Step2DSW::step(Space2DSW* p_space,float p_delta,int p_iterations) {
b=b->next();
}
p_space->set_island_count(island_count);
const SelfList<Area2DSW>::List &aml = p_space->get_moved_area_list();

235
servers/physics_2d_server.cpp
View file

@ -110,17 +110,132 @@ Physics2DDirectBodyState::Physics2DDirectBodyState() {}
Variant Physics2DDirectSpaceState::_intersect_ray(const Vector2& p_from, const Vector2& p_to,const Vector<RID>& p_exclude,uint32_t p_user_mask) {
void Physics2DShapeQueryParameters::set_shape(const RES &p_shape) {
ERR_FAIL_COND(p_shape.is_null());
shape=p_shape->get_rid();
}
void Physics2DShapeQueryParameters::set_shape_rid(const RID& p_shape) {
shape=p_shape;
}
RID Physics2DShapeQueryParameters::get_shape_rid() const {
return shape;
}
void Physics2DShapeQueryParameters::set_transform(const Matrix32& p_transform){
transform=p_transform;
}
Matrix32 Physics2DShapeQueryParameters::get_transform() const{
return transform;
}
void Physics2DShapeQueryParameters::set_motion(const Vector2& p_motion){
motion=p_motion;
}
Vector2 Physics2DShapeQueryParameters::get_motion() const{
return motion;
}
void Physics2DShapeQueryParameters::set_margin(float p_margin){
margin=p_margin;
}
float Physics2DShapeQueryParameters::get_margin() const{
return margin;
}
void Physics2DShapeQueryParameters::set_layer_mask(int p_layer_mask){
layer_mask=p_layer_mask;
}
int Physics2DShapeQueryParameters::get_layer_mask() const{
return layer_mask;
}
void Physics2DShapeQueryParameters::set_object_type_mask(int p_object_type_mask){
object_type_mask=p_object_type_mask;
}
int Physics2DShapeQueryParameters::get_object_type_mask() const{
return object_type_mask;
}
void Physics2DShapeQueryParameters::set_exclude(const Vector<RID>& p_exclude) {
exclude.clear();;
for(int i=0;i<p_exclude.size();i++)
exclude.insert(p_exclude[i]);
}
Vector<RID> Physics2DShapeQueryParameters::get_exclude() const{
Vector<RID> ret;
ret.resize(exclude.size());
int idx=0;
for(Set<RID>::Element *E=exclude.front();E;E=E->next()) {
ret[idx]=E->get();
}
return ret;
}
void Physics2DShapeQueryParameters::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_shape","shape:Shape2D"),&Physics2DShapeQueryParameters::set_shape);
ObjectTypeDB::bind_method(_MD("set_shape_rid","shape"),&Physics2DShapeQueryParameters::set_shape_rid);
ObjectTypeDB::bind_method(_MD("get_shape_rid"),&Physics2DShapeQueryParameters::get_shape_rid);
ObjectTypeDB::bind_method(_MD("set_transform","transform"),&Physics2DShapeQueryParameters::set_transform);
ObjectTypeDB::bind_method(_MD("get_transform"),&Physics2DShapeQueryParameters::get_transform);
ObjectTypeDB::bind_method(_MD("set_motion","motion"),&Physics2DShapeQueryParameters::set_motion);
ObjectTypeDB::bind_method(_MD("get_motion"),&Physics2DShapeQueryParameters::get_motion);
ObjectTypeDB::bind_method(_MD("set_margin","margin"),&Physics2DShapeQueryParameters::set_margin);
ObjectTypeDB::bind_method(_MD("get_margin"),&Physics2DShapeQueryParameters::get_margin);
ObjectTypeDB::bind_method(_MD("set_layer_mask","layer_mask"),&Physics2DShapeQueryParameters::set_layer_mask);
ObjectTypeDB::bind_method(_MD("get_layer_mask"),&Physics2DShapeQueryParameters::get_layer_mask);
ObjectTypeDB::bind_method(_MD("set_object_type_mask","object_type_mask"),&Physics2DShapeQueryParameters::set_object_type_mask);
ObjectTypeDB::bind_method(_MD("get_object_type_mask"),&Physics2DShapeQueryParameters::get_object_type_mask);
ObjectTypeDB::bind_method(_MD("set_exclude","exclude"),&Physics2DShapeQueryParameters::set_exclude);
ObjectTypeDB::bind_method(_MD("get_exclude"),&Physics2DShapeQueryParameters::get_exclude);
}
Physics2DShapeQueryParameters::Physics2DShapeQueryParameters() {
margin=0;
layer_mask=0x7FFFFFFF;
object_type_mask=Physics2DDirectSpaceState::TYPE_MASK_COLLISION;
}
Dictionary Physics2DDirectSpaceState::_intersect_ray(const Vector2& p_from, const Vector2& p_to,const Vector<RID>& p_exclude,uint32_t p_layers,uint32_t p_object_type_mask) {
RayResult inters;
Set<RID> exclude;
for(int i=0;i<p_exclude.size();i++)
exclude.insert(p_exclude[i]);
bool res = intersect_ray(p_from,p_to,inters,exclude,p_user_mask);
bool res = intersect_ray(p_from,p_to,inters,exclude,p_layers,p_object_type_mask);
if (!res)
return Variant();
return Dictionary(true);
Dictionary d(true);
d["position"]=inters.position;
@ -133,59 +248,71 @@ Variant Physics2DDirectSpaceState::_intersect_ray(const Vector2& p_from, const V
return d;
}
Variant Physics2DDirectSpaceState::_intersect_shape(const RID& p_shape, const Matrix32& p_xform,int p_result_max,const Vector<RID>& p_exclude,uint32_t p_user_mask) {
Array Physics2DDirectSpaceState::_intersect_shape(const Ref<Physics2DShapeQueryParameters> &psq, int p_max_results) {
ERR_FAIL_INDEX_V(p_result_max,4096,Variant());
if (p_result_max<=0)
return Variant();
Vector<ShapeResult> sr;
sr.resize(p_max_results);
int rc = intersect_shape(psq->shape,psq->transform,psq->motion,psq->margin,sr.ptr(),sr.size(),psq->exclude,psq->layer_mask,psq->object_type_mask);
Array ret;
ret.resize(rc);
for(int i=0;i<rc;i++) {
Set<RID> exclude;
for(int i=0;i<p_exclude.size();i++)
exclude.insert(p_exclude[i]);
ShapeResult *res=(ShapeResult*)alloca(p_result_max*sizeof(ShapeResult));
int rc = intersect_shape(p_shape,p_xform,Vector2(),0,res,p_result_max,exclude,p_user_mask);
if (rc==0)
return Variant();
Ref<Physics2DShapeQueryResult> result = memnew( Physics2DShapeQueryResult );
result->result.resize(rc);
for(int i=0;i<rc;i++)
result->result[i]=res[i];
return result;
Dictionary d;
d["rid"]=sr[i].rid;
d["collider_id"]=sr[i].collider_id;
d["collider"]=sr[i].collider;
d["shape"]=sr[i].shape;
ret[i]=d;
}
return ret;
}
Array Physics2DDirectSpaceState::_cast_motion(const Ref<Physics2DShapeQueryParameters> &psq){
Variant Physics2DDirectSpaceState::_cast_motion(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,const Vector<RID>& p_exclude,uint32_t p_user_mask) {
float closest_safe,closest_unsafe;
bool res = cast_motion(psq->shape,psq->transform,psq->motion,psq->margin,closest_safe,closest_unsafe,psq->exclude,psq->layer_mask,psq->object_type_mask);
if (!res)
return Array();
Array ret(true);
ret.resize(2);
ret[0]=closest_safe;
ret[0]=closest_unsafe;
return ret;
}
Array Physics2DDirectSpaceState::_collide_shape(const Ref<Physics2DShapeQueryParameters> &psq, int p_max_results){
#if 0
Set<RID> exclude;
for(int i=0;i<p_exclude.size();i++)
exclude.insert(p_exclude[i]);
Vector<Vector2> ret;
ret.resize(p_max_results*2);
int rc=0;
bool res = collide_shape(psq->shape,psq->transform,psq->motion,psq->margin,ret.ptr(),p_max_results,rc,psq->exclude,psq->layer_mask,psq->object_type_mask);
if (!res)
return Array();
Array r;
r.resize(rc*2);
for(int i=0;i<rc*2;i++)
r[i]=ret[i];
return r;
}
Dictionary Physics2DDirectSpaceState::_get_rest_info(const Ref<Physics2DShapeQueryParameters> &psq){
bool result = cast_motion(p_shape,p_xform,p_motion,0,mcc,exclude,p_user_mask);
ShapeRestInfo sri;
if (!result)
return Variant();
bool res = rest_info(psq->shape,psq->transform,psq->motion,psq->margin,&sri,psq->exclude,psq->layer_mask,psq->object_type_mask);
Dictionary r(true);
if (!res)
return r;
Dictionary d(true);
d["point"]=mcc.point;
d["normal"]=mcc.normal;
d["rid"]=mcc.rid;
d["collider_id"]=mcc.collider_id;
d["collider"]=mcc.collider;
d["shape"]=mcc.shape;
return d;
#endif
return Variant();
r["point"]=sri.point;
r["normal"]=sri.normal;
r["rid"]=sri.rid;
r["collider_id"]=sri.collider_id;
r["shape"]=sri.shape;
r["linear_velocity"]=sri.linear_velocity;
return r;
}
@ -200,9 +327,19 @@ Physics2DDirectSpaceState::Physics2DDirectSpaceState() {
void Physics2DDirectSpaceState::_bind_methods() {
ObjectTypeDB::bind_method(_MD("intersect_ray:Dictionary","from","to","exclude","umask"),&Physics2DDirectSpaceState::_intersect_ray,DEFVAL(Array()),DEFVAL(0));
ObjectTypeDB::bind_method(_MD("intersect_shape:Physics2DShapeQueryResult","shape","xform","result_max","exclude","umask"),&Physics2DDirectSpaceState::_intersect_shape,DEFVAL(Array()),DEFVAL(0));
ObjectTypeDB::bind_method(_MD("cast_motion","shape","xform","motion","exclude","umask"),&Physics2DDirectSpaceState::_intersect_shape,DEFVAL(Array()),DEFVAL(0));
ObjectTypeDB::bind_method(_MD("intersect_ray:Dictionary","from","to","exclude","layer_mask","type_mask"),&Physics2DDirectSpaceState::_intersect_ray,DEFVAL(Array()),DEFVAL(0x7FFFFFFF),DEFVAL(TYPE_MASK_COLLISION));
ObjectTypeDB::bind_method(_MD("intersect_shape","shape:Physics2DShapeQueryParameters","max_results"),&Physics2DDirectSpaceState::_intersect_shape,DEFVAL(32));
ObjectTypeDB::bind_method(_MD("cast_motion","shape:Physics2DShapeQueryParameters"),&Physics2DDirectSpaceState::_cast_motion);
ObjectTypeDB::bind_method(_MD("collide_shape","shape:Physics2DShapeQueryParameters","max_results"),&Physics2DDirectSpaceState::_collide_shape,DEFVAL(32));
ObjectTypeDB::bind_method(_MD("get_rest_info","shape:Physics2DShapeQueryParameters"),&Physics2DDirectSpaceState::_get_rest_info);
//ObjectTypeDB::bind_method(_MD("cast_motion","shape","xform","motion","exclude","umask"),&Physics2DDirectSpaceState::_intersect_shape,DEFVAL(Array()),DEFVAL(0));
BIND_CONSTANT( TYPE_MASK_STATIC_BODY );
BIND_CONSTANT( TYPE_MASK_KINEMATIC_BODY );
BIND_CONSTANT( TYPE_MASK_RIGID_BODY );
BIND_CONSTANT( TYPE_MASK_CHARACTER_BODY );
BIND_CONSTANT( TYPE_MASK_AREA );
BIND_CONSTANT( TYPE_MASK_COLLISION );
}
@ -375,6 +512,8 @@ void Physics2DServer::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_active","active"),&Physics2DServer::set_active);
ObjectTypeDB::bind_method(_MD("get_process_info"),&Physics2DServer::get_process_info);
// ObjectTypeDB::bind_method(_MD("init"),&Physics2DServer::init);
// ObjectTypeDB::bind_method(_MD("step"),&Physics2DServer::step);
// ObjectTypeDB::bind_method(_MD("sync"),&Physics2DServer::sync);
@ -434,6 +573,10 @@ void Physics2DServer::_bind_methods() {
BIND_CONSTANT( AREA_BODY_ADDED );
BIND_CONSTANT( AREA_BODY_REMOVED );
BIND_CONSTANT( INFO_ACTIVE_OBJECTS );
BIND_CONSTANT( INFO_COLLISION_PAIRS );
BIND_CONSTANT( INFO_ISLAND_COUNT );
}

65
servers/physics_2d_server.h
View file

@ -31,6 +31,7 @@
#include "object.h"
#include "reference.h"
#include "resource.h"
class Physics2DDirectSpaceState;
@ -84,14 +85,60 @@ public:
class Physics2DShapeQueryResult;
//used for script
class Physics2DShapeQueryParameters : public Reference {
OBJ_TYPE(Physics2DShapeQueryParameters, Reference);
friend class Physics2DDirectSpaceState;
RID shape;
Matrix32 transform;
Vector2 motion;
float margin;
Set<RID> exclude;
uint32_t layer_mask;
uint32_t object_type_mask;
protected:
static void _bind_methods();
public:
void set_shape(const RES& p_shape);
void set_shape_rid(const RID& p_shape);
RID get_shape_rid() const;
void set_transform(const Matrix32& p_transform);
Matrix32 get_transform() const;
void set_motion(const Vector2& p_motion);
Vector2 get_motion() const;
void set_margin(float p_margin);
float get_margin() const;
void set_layer_mask(int p_layer_mask);
int get_layer_mask() const;
void set_object_type_mask(int p_object_type_mask);
int get_object_type_mask() const;
void set_exclude(const Vector<RID>& p_exclude);
Vector<RID> get_exclude() const;
Physics2DShapeQueryParameters();
};
class Physics2DDirectSpaceState : public Object {
OBJ_TYPE( Physics2DDirectSpaceState, Object );
Variant _intersect_ray(const Vector2& p_from, const Vector2& p_to,const Vector<RID>& p_exclude=Vector<RID>(),uint32_t p_layers=0);
Variant _intersect_shape(const RID& p_shape, const Matrix32& p_xform,int p_result_max=64,const Vector<RID>& p_exclude=Vector<RID>(),uint32_t p_layers=0);
Variant _cast_motion(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,const Vector<RID>& p_exclude=Vector<RID>(),uint32_t p_layers=0);
Dictionary _intersect_ray(const Vector2& p_from, const Vector2& p_to,const Vector<RID>& p_exclude=Vector<RID>(),uint32_t p_layers=0,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
Array _intersect_shape(const Ref<Physics2DShapeQueryParameters> &p_shape_query,int p_max_results=32);
Array _cast_motion(const Ref<Physics2DShapeQueryParameters> &p_shape_query);
Array _collide_shape(const Ref<Physics2DShapeQueryParameters> &p_shape_query,int p_max_results=32);
Dictionary _get_rest_info(const Ref<Physics2DShapeQueryParameters> &p_shape_query);
protected:
static void _bind_methods();
@ -131,8 +178,6 @@ public:
virtual int intersect_shape(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
virtual bool cast_motion(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
virtual bool collide_shape(RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,float p_margin,Vector2 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
@ -448,6 +493,15 @@ public:
virtual void flush_queries()=0;
virtual void finish()=0;
enum ProcessInfo {
INFO_ACTIVE_OBJECTS,
INFO_COLLISION_PAIRS,
INFO_ISLAND_COUNT
};
virtual int get_process_info(ProcessInfo p_info)=0;
Physics2DServer();
~Physics2DServer();
};
@ -465,5 +519,6 @@ VARIANT_ENUM_CAST( Physics2DServer::JointType );
VARIANT_ENUM_CAST( Physics2DServer::DampedStringParam );
//VARIANT_ENUM_CAST( Physics2DServer::ObjectType );
VARIANT_ENUM_CAST( Physics2DServer::AreaBodyStatus );
VARIANT_ENUM_CAST( Physics2DServer::ProcessInfo );
#endif

117
servers/physics_server.cpp
View file

@ -113,6 +113,112 @@ PhysicsDirectBodyState::PhysicsDirectBodyState() {}
void PhysicsShapeQueryParameters::set_shape(const RES &p_shape) {
ERR_FAIL_COND(p_shape.is_null());
shape=p_shape->get_rid();
}
void PhysicsShapeQueryParameters::set_shape_rid(const RID& p_shape) {
shape=p_shape;
}
RID PhysicsShapeQueryParameters::get_shape_rid() const {
return shape;
}
void PhysicsShapeQueryParameters::set_transform(const Matrix32& p_transform){
transform=p_transform;
}
Matrix32 PhysicsShapeQueryParameters::get_transform() const{
return transform;
}
void PhysicsShapeQueryParameters::set_margin(float p_margin){
margin=p_margin;
}
float PhysicsShapeQueryParameters::get_margin() const{
return margin;
}
void PhysicsShapeQueryParameters::set_layer_mask(int p_layer_mask){
layer_mask=p_layer_mask;
}
int PhysicsShapeQueryParameters::get_layer_mask() const{
return layer_mask;
}
void PhysicsShapeQueryParameters::set_object_type_mask(int p_object_type_mask){
object_type_mask=p_object_type_mask;
}
int PhysicsShapeQueryParameters::get_object_type_mask() const{
return object_type_mask;
}
void PhysicsShapeQueryParameters::set_exclude(const Vector<RID>& p_exclude) {
exclude.clear();;
for(int i=0;i<p_exclude.size();i++)
exclude.insert(p_exclude[i]);
}
Vector<RID> PhysicsShapeQueryParameters::get_exclude() const{
Vector<RID> ret;
ret.resize(exclude.size());
int idx=0;
for(Set<RID>::Element *E=exclude.front();E;E=E->next()) {
ret[idx]=E->get();
}
return ret;
}
void PhysicsShapeQueryParameters::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_shape","shape:Shape"),&PhysicsShapeQueryParameters::set_shape);
ObjectTypeDB::bind_method(_MD("set_shape_rid","shape"),&PhysicsShapeQueryParameters::set_shape_rid);
ObjectTypeDB::bind_method(_MD("get_shape_rid"),&PhysicsShapeQueryParameters::get_shape_rid);
ObjectTypeDB::bind_method(_MD("set_transform","transform"),&PhysicsShapeQueryParameters::set_transform);
ObjectTypeDB::bind_method(_MD("get_transform"),&PhysicsShapeQueryParameters::get_transform);
ObjectTypeDB::bind_method(_MD("set_margin","margin"),&PhysicsShapeQueryParameters::set_margin);
ObjectTypeDB::bind_method(_MD("get_margin"),&PhysicsShapeQueryParameters::get_margin);
ObjectTypeDB::bind_method(_MD("set_layer_mask","layer_mask"),&PhysicsShapeQueryParameters::set_layer_mask);
ObjectTypeDB::bind_method(_MD("get_layer_mask"),&PhysicsShapeQueryParameters::get_layer_mask);
ObjectTypeDB::bind_method(_MD("set_object_type_mask","object_type_mask"),&PhysicsShapeQueryParameters::set_object_type_mask);
ObjectTypeDB::bind_method(_MD("get_object_type_mask"),&PhysicsShapeQueryParameters::get_object_type_mask);
ObjectTypeDB::bind_method(_MD("set_exclude","exclude"),&PhysicsShapeQueryParameters::set_exclude);
ObjectTypeDB::bind_method(_MD("get_exclude"),&PhysicsShapeQueryParameters::get_exclude);
}
PhysicsShapeQueryParameters::PhysicsShapeQueryParameters() {
margin=0;
layer_mask=0x7FFFFFFF;
object_type_mask=PhysicsDirectSpaceState::TYPE_MASK_COLLISION;
}
/////////////////////////////////////
Variant PhysicsDirectSpaceState::_intersect_ray(const Vector3& p_from, const Vector3& p_to,const Vector<RID>& p_exclude,uint32_t p_user_mask) {
RayResult inters;
@ -150,7 +256,7 @@ Variant PhysicsDirectSpaceState::_intersect_shape(const RID& p_shape, const Tran
ShapeResult *res=(ShapeResult*)alloca(p_result_max*sizeof(ShapeResult));
int rc = intersect_shape(p_shape,p_xform,res,p_result_max,exclude,p_user_mask);
int rc = intersect_shape(p_shape,p_xform,0,res,p_result_max,exclude);
if (rc==0)
return Variant();
@ -308,8 +414,6 @@ void PhysicsServer::_bind_methods() {
ObjectTypeDB::bind_method(_MD("body_set_param","body","param","value"),&PhysicsServer::body_set_param);
ObjectTypeDB::bind_method(_MD("body_get_param","body","param"),&PhysicsServer::body_get_param);
ObjectTypeDB::bind_method(_MD("body_static_simulate_motion","body","new_xform"),&PhysicsServer::body_static_simulate_motion);
ObjectTypeDB::bind_method(_MD("body_set_state","body","state","value"),&PhysicsServer::body_set_state);
ObjectTypeDB::bind_method(_MD("body_get_state","body","state"),&PhysicsServer::body_get_state);
@ -355,6 +459,8 @@ void PhysicsServer::_bind_methods() {
//ObjectTypeDB::bind_method(_MD("flush_queries"),&PhysicsServer::flush_queries);
ObjectTypeDB::bind_method(_MD("get_process_info"),&PhysicsServer::get_process_info);
BIND_CONSTANT( SHAPE_PLANE );
BIND_CONSTANT( SHAPE_RAY );
BIND_CONSTANT( SHAPE_SPHERE );
@ -407,6 +513,11 @@ void PhysicsServer::_bind_methods() {
BIND_CONSTANT( AREA_BODY_ADDED );
BIND_CONSTANT( AREA_BODY_REMOVED );
BIND_CONSTANT( INFO_ACTIVE_OBJECTS );
BIND_CONSTANT( INFO_COLLISION_PAIRS );
BIND_CONSTANT( INFO_ISLAND_COUNT );
}

87
servers/physics_server.h
View file

@ -30,7 +30,7 @@
#define PHYSICS_SERVER_H
#include "object.h"
#include "reference.h"
#include "resource.h"
class PhysicsDirectSpaceState;
@ -87,6 +87,45 @@ public:
class PhysicsShapeQueryResult;
class PhysicsShapeQueryParameters : public Reference {
OBJ_TYPE(PhysicsShapeQueryParameters, Reference);
friend class PhysicsDirectSpaceState;
RID shape;
Matrix32 transform;
float margin;
Set<RID> exclude;
uint32_t layer_mask;
uint32_t object_type_mask;
protected:
static void _bind_methods();
public:
void set_shape(const RES& p_shape);
void set_shape_rid(const RID& p_shape);
RID get_shape_rid() const;
void set_transform(const Matrix32& p_transform);
Matrix32 get_transform() const;
void set_margin(float p_margin);
float get_margin() const;
void set_layer_mask(int p_layer_mask);
int get_layer_mask() const;
void set_object_type_mask(int p_object_type_mask);
int get_object_type_mask() const;
void set_exclude(const Vector<RID>& p_exclude);
Vector<RID> get_exclude() const;
PhysicsShapeQueryParameters();
};
class PhysicsDirectSpaceState : public Object {
@ -101,6 +140,15 @@ protected:
public:
enum ObjectTypeMask {
TYPE_MASK_STATIC_BODY=1<<0,
TYPE_MASK_KINEMATIC_BODY=1<<1,
TYPE_MASK_RIGID_BODY=1<<2,
TYPE_MASK_CHARACTER_BODY=1<<3,
TYPE_MASK_AREA=1<<4,
TYPE_MASK_COLLISION=TYPE_MASK_STATIC_BODY|TYPE_MASK_CHARACTER_BODY|TYPE_MASK_KINEMATIC_BODY|TYPE_MASK_RIGID_BODY
};
struct RayResult {
Vector3 position;
@ -111,7 +159,7 @@ public:
int shape;
};
virtual bool intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0)=0;
virtual bool intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
struct ShapeResult {
@ -122,7 +170,25 @@ public:
};
virtual int intersect_shape(const RID& p_shape, const Transform& p_xform,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0)=0;
virtual int intersect_shape(const RID& p_shape, const Transform& p_xform,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
struct ShapeRestInfo {
Vector3 point;
Vector3 normal;
RID rid;
ObjectID collider_id;
int shape;
Vector3 linear_velocity; //velocity at contact point
};
virtual bool cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION,ShapeRestInfo *r_info=NULL)=0;
virtual bool collide_shape(RID p_shape, const Transform& p_shape_xform,float p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
virtual bool rest_info(RID p_shape, const Transform& p_shape_xform,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
PhysicsDirectSpaceState();
};
@ -303,6 +369,9 @@ public:
virtual void body_set_enable_continuous_collision_detection(RID p_body,bool p_enable)=0;
virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const=0;
virtual void body_set_layer_mask(RID p_body, uint32_t p_mask)=0;
virtual uint32_t body_get_layer_mask(RID p_body, uint32_t p_mask) const=0;
virtual void body_set_user_flags(RID p_body, uint32_t p_flags)=0;
virtual uint32_t body_get_user_flags(RID p_body, uint32_t p_flags) const=0;
@ -317,8 +386,6 @@ public:
virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value)=0;
virtual float body_get_param(RID p_body, BodyParameter p_param) const=0;
//advanced simulation
virtual void body_static_simulate_motion(RID p_body,const Transform& p_new_transform)=0;
//state
enum BodyState {
@ -420,6 +487,15 @@ public:
virtual void flush_queries()=0;
virtual void finish()=0;
enum ProcessInfo {
INFO_ACTIVE_OBJECTS,
INFO_COLLISION_PAIRS,
INFO_ISLAND_COUNT
};
virtual int get_process_info(ProcessInfo p_info)=0;
PhysicsServer();
~PhysicsServer();
};
@ -437,5 +513,6 @@ VARIANT_ENUM_CAST( PhysicsServer::BodyAxisLock );
//VARIANT_ENUM_CAST( PhysicsServer::DampedStringParam );
//VARIANT_ENUM_CAST( PhysicsServer::ObjectType );
VARIANT_ENUM_CAST( PhysicsServer::AreaBodyStatus );
VARIANT_ENUM_CAST( PhysicsServer::ProcessInfo );
#endif

1
servers/register_server_types.cpp
View file

@ -55,6 +55,7 @@ void register_server_types() {
ObjectTypeDB::register_virtual_type<Physics2DDirectBodyState>();
ObjectTypeDB::register_virtual_type<Physics2DDirectSpaceState>();
ObjectTypeDB::register_virtual_type<Physics2DShapeQueryResult>();
ObjectTypeDB::register_type<Physics2DShapeQueryParameters>();
ObjectTypeDB::register_virtual_type<PhysicsDirectBodyState>();
ObjectTypeDB::register_virtual_type<PhysicsDirectSpaceState>();

3
tools/collada/collada.cpp
View file

@ -1388,8 +1388,11 @@ void Collada::_parse_morph_controller(XMLParser& parser, String p_id) {
state.morph_controller_data_map[p_id]=MorphControllerData();
MorphControllerData &morphdata = state.morph_controller_data_map[p_id];
print_line("morph source: "+parser.get_attribute_value("source")+" id: "+p_id);
morphdata.mesh=_uri_to_id(parser.get_attribute_value("source"));
print_line("morph source2: "+morphdata.mesh);
morphdata.mode=parser.get_attribute_value("method");
printf("JJmorph: %p\n",&morphdata);
String current_source;
while(parser.read()==OK) {

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9
tools/editor/io_plugins/editor_import_collada.cpp
View file

@ -564,6 +564,7 @@ Error ColladaImport::_create_mesh_surfaces(Ref<Mesh>& p_mesh,const Map<String,Co
bool local_xform_mirror=p_local_xform.basis.determinant() < 0;
if (p_morph_data) {
//add morphie target
ERR_FAIL_COND_V( !p_morph_data->targets.has("MORPH_TARGET"), ERR_INVALID_DATA );
String mt = p_morph_data->targets["MORPH_TARGET"];
@ -1478,8 +1479,11 @@ Error ColladaImport::_create_resources(Collada::Node *p_node) {
Transform apply_xform;
Vector<int> bone_remap;
print_line("mesh: "+String(mi->get_name()));
if (ng->controller) {
print_line("has controller");
if (collada.state.skin_controller_data_map.has(ng->source)) {
@ -1528,9 +1532,12 @@ Error ColladaImport::_create_resources(Collada::Node *p_node) {
bone_remap[i]=bone_remap_map[str];
}
} else if (collada.state.morph_controller_data_map.has(ng->source)) {
print_line("is morph "+ng->source);
//it's a morph!!
morph = &collada.state.morph_controller_data_map[meshid];
morph = &collada.state.morph_controller_data_map[ng->source];
meshid=morph->mesh;
printf("KKmorph: %p\n",morph);
print_line("morph mshid: "+meshid);
} else {
ERR_EXPLAIN("Controller Instance Source '"+ng->source+"' is neither skin or morph!");
ERR_FAIL_V( ERR_INVALID_DATA );

2
tools/editor/plugins/baked_light_baker.cpp
View file

@ -338,7 +338,7 @@ void BakedLightBaker::_fix_lights() {
}
if (dl.type==VS::LIGHT_OMNI) {
dl.area=4.0*Math_PI*pow(dl.radius,2.0);
dl.area=4.0*Math_PI*pow(dl.radius,2.0f);
dl.constant=1.0/3.5;
} else {

18
tools/editor/property_editor.cpp
View file

@ -38,6 +38,7 @@
#include "scene/scene_string_names.h"
#include "editor_settings.h"
#include "editor_import_export.h"
#include "editor_node.h"
void CustomPropertyEditor::_notification(int p_what) {
@ -1619,6 +1620,7 @@ CustomPropertyEditor::CustomPropertyEditor() {
scene_tree = memnew( SceneTreeDialog );
add_child(scene_tree);
scene_tree->connect("selected", this,"_node_path_selected");
scene_tree->get_tree()->set_show_enabled_subscene(true);
texture_preview = memnew( TextureFrame );
add_child( texture_preview);
@ -2037,6 +2039,17 @@ void PropertyEditor::update_tree() {
List<PropertyInfo> plist;
obj->get_property_list(&plist,true);
bool draw_red=false;
{
Node *nod = obj->cast_to<Node>();
Node *es = EditorNode::get_singleton()->get_edited_scene();
if (nod && es!=nod && nod->get_owner()!=es) {
draw_red=true;
}
}
Color sscolor=get_color("prop_subsection","Editor");
TreeItem * current_category=NULL;
@ -2141,11 +2154,16 @@ void PropertyEditor::update_tree() {
item->set_metadata( 0, d );
item->set_metadata( 1, p.name );
if (draw_red)
item->set_custom_color(0,Color(0.8,0.4,0.20));
if (p.name==selected_property) {
item->select(1);
}
//printf("property %s type %i\n",p.name.ascii().get_data(),p.type);
switch( p.type ) {

49
tools/editor/scene_tree_dock.cpp
View file

@ -108,6 +108,9 @@ void SceneTreeDock::_tool_selected(int p_tool, bool p_confirm_override) {
case TOOL_NEW: {
if (!_validate_no_foreign())
break;
create_dialog->popup_centered_ratio();
} break;
case TOOL_INSTANCE: {
@ -124,6 +127,9 @@ void SceneTreeDock::_tool_selected(int p_tool, bool p_confirm_override) {
break;
}
if (!_validate_no_foreign())
break;
file->set_mode(FileDialog::MODE_OPEN_FILE);
List<String> extensions;
ResourceLoader::get_recognized_extensions_for_type("PackedScene",&extensions);
@ -147,6 +153,8 @@ void SceneTreeDock::_tool_selected(int p_tool, bool p_confirm_override) {
if (!current)
break;
if (!_validate_no_foreign())
break;
connect_dialog->popup_centered_ratio();
connect_dialog->set_node(current);
@ -156,6 +164,8 @@ void SceneTreeDock::_tool_selected(int p_tool, bool p_confirm_override) {
Node *current = scene_tree->get_selected();
if (!current)
break;
if (!_validate_no_foreign())
break;
groups_editor->set_current(current);
groups_editor->popup_centered_ratio();
} break;
@ -165,6 +175,9 @@ void SceneTreeDock::_tool_selected(int p_tool, bool p_confirm_override) {
if (!selected)
break;
if (!_validate_no_foreign())
break;
Ref<Script> existing = selected->get_script();
if (existing.is_valid())
editor->push_item(existing.ptr());
@ -183,6 +196,7 @@ void SceneTreeDock::_tool_selected(int p_tool, bool p_confirm_override) {
if (!scene_tree->get_selected())
break;
if (scene_tree->get_selected()==edited_scene) {
@ -195,6 +209,9 @@ void SceneTreeDock::_tool_selected(int p_tool, bool p_confirm_override) {
}
if (!_validate_no_foreign())
break;
Node * node=scene_tree->get_selected();
ERR_FAIL_COND(!node->get_parent());
int current_pos = node->get_index();
@ -214,6 +231,7 @@ void SceneTreeDock::_tool_selected(int p_tool, bool p_confirm_override) {
if (!edited_scene)
break;
if (editor_selection->is_selected(edited_scene)) {
@ -225,6 +243,9 @@ void SceneTreeDock::_tool_selected(int p_tool, bool p_confirm_override) {
break;
}
if (!_validate_no_foreign())
break;
List<Node*> selection = editor_selection->get_selected_node_list();
List<Node*> reselect;
@ -313,6 +334,7 @@ void SceneTreeDock::_tool_selected(int p_tool, bool p_confirm_override) {
if (!scene_tree->get_selected())
break;
if (editor_selection->is_selected(edited_scene)) {
@ -324,6 +346,9 @@ void SceneTreeDock::_tool_selected(int p_tool, bool p_confirm_override) {
break;
}
if (!_validate_no_foreign())
break;
List<Node*> nodes = editor_selection->get_selected_node_list();
Set<Node*> nodeset;
for(List<Node*>::Element *E=nodes.front();E;E=E->next()) {
@ -341,6 +366,9 @@ void SceneTreeDock::_tool_selected(int p_tool, bool p_confirm_override) {
if (remove_list.empty())
return;
if (!_validate_no_foreign())
break;
if (p_confirm_override) {
_delete_confirm();
@ -707,6 +735,25 @@ void SceneTreeDock::_node_prerenamed(Node* p_node, const String& p_new_name) {
}
bool SceneTreeDock::_validate_no_foreign() {
List<Node*> selection = editor_selection->get_selected_node_list();
for (List<Node*>::Element *E=selection.front();E;E=E->next()) {
if (E->get()!=edited_scene && E->get()->get_owner()!=edited_scene) {
accept->get_ok()->set_text("Makes Sense!");
accept->set_text("Can't operate on nodes from a foreign scene!");
accept->popup_centered(Size2(300,70));;
return false;
}
}
return true;
}
void SceneTreeDock::_node_reparent(NodePath p_path,bool p_node_only) {
@ -894,7 +941,7 @@ void SceneTreeDock::_delete_confirm() {
void SceneTreeDock::_update_tool_buttons() {
Node *sel = scene_tree->get_selected();
bool disable = !sel;
bool disable = !sel || (sel!=edited_scene && sel->get_owner()!=edited_scene);
bool disable_root = disable || sel->get_parent()==scene_root;
tool_buttons[TOOL_INSTANCE]->set_disabled(disable);

1
tools/editor/scene_tree_dock.h
View file

@ -115,6 +115,7 @@ class SceneTreeDock : public VBoxContainer {
void _import_subscene();
bool _validate_no_foreign();
void _fill_path_renames(Vector<StringName> base_path,Vector<StringName> new_base_path,Node * p_node, List<Pair<NodePath,NodePath> > *p_renames);

87
tools/editor/scene_tree_editor.cpp
View file

@ -45,6 +45,40 @@ Node *SceneTreeEditor::get_scene_node() {
return NULL;
}
void SceneTreeEditor::_subscene_option(int p_idx) {
Object *obj = ObjectDB::get_instance(instance_node);
if (!obj)
return;
Node *node = obj->cast_to<Node>();
if (!node)
return;
switch(p_idx) {
case SCENE_MENU_SHOW_CHILDREN: {
if (node->has_meta("__editor_show_subtree")) {
instance_menu->set_item_checked(0,true);
node->set_meta("__editor_show_subtree",Variant());
_update_tree();
} else {
node->set_meta("__editor_show_subtree",true);
_update_tree();
}
} break;
case SCENE_MENU_OPEN: {
emit_signal("open",node->get_filename());
} break;
}
}
void SceneTreeEditor::_cell_button_pressed(Object *p_item,int p_column,int p_id) {
TreeItem *item=p_item->cast_to<TreeItem>();
@ -57,7 +91,19 @@ void SceneTreeEditor::_cell_button_pressed(Object *p_item,int p_column,int p_id)
if (p_id==BUTTON_SUBSCENE) {
//open scene request
emit_signal("open",n->get_filename());
Rect2 item_rect = tree->get_item_rect(item,0);
item_rect.pos.y-=tree->get_scroll().y;
item_rect.pos+=tree->get_global_pos();
instance_menu->set_pos(item_rect.pos+Vector2(0,item_rect.size.y));
instance_menu->set_size(Vector2(item_rect.size.x,0));
if (n->has_meta("__editor_show_subtree"))
instance_menu->set_item_checked(0,true);
else
instance_menu->set_item_checked(0,false);
instance_menu->popup();
instance_node=n->get_instance_ID();
//emit_signal("open",n->get_filename());
} else if (p_id==BUTTON_SCRIPT) {
RefPtr script=n->get_script();
if (!script.is_null())
@ -119,9 +165,19 @@ void SceneTreeEditor::_add_nodes(Node *p_node,TreeItem *p_parent) {
// only owned nodes are editable, since nodes can create their own (manually owned) child nodes,
// which the editor needs not to know about.
if (!display_foreign && p_node->get_owner()!=get_scene_node() && p_node!=get_scene_node())
return;
bool part_of_subscene=false;
if (!display_foreign && p_node->get_owner()!=get_scene_node() && p_node!=get_scene_node()) {
if ((show_enabled_subscene || can_open_instance) && p_node->get_owner() && p_node->get_owner()->get_owner()==get_scene_node() && p_node->get_owner()->has_meta("__editor_show_subtree")) {
part_of_subscene=true;
//allow
} else {
return;
}
}
TreeItem *item = tree->create_item(p_parent);
item->set_text(0, p_node->get_name() );
@ -143,8 +199,12 @@ void SceneTreeEditor::_add_nodes(Node *p_node,TreeItem *p_parent) {
icon=get_icon( (has_icon(p_node->get_type(),"EditorIcons")?p_node->get_type():String("Object")),"EditorIcons");
item->set_icon(0, icon );
item->set_metadata( 0,p_node->get_path() );
if (marked.has(p_node)) {
if (part_of_subscene) {
//item->set_selectable(0,marked_selectable);
item->set_custom_color(0,Color(0.8,0.4,0.20));
} else if (marked.has(p_node)) {
item->set_selectable(0,marked_selectable);
item->set_custom_color(0,Color(0.8,0.1,0.10));
@ -163,7 +223,7 @@ void SceneTreeEditor::_add_nodes(Node *p_node,TreeItem *p_parent) {
if (p_node!=get_scene_node() && p_node->get_filename()!="" && can_open_instance) {
item->add_button(0,get_icon("Load","EditorIcons"),BUTTON_SUBSCENE);
item->add_button(0,get_icon("InstanceOptions","EditorIcons"),BUTTON_SUBSCENE);
item->set_tooltip(0,"Instance: "+p_node->get_filename());
}
@ -425,6 +485,7 @@ void SceneTreeEditor::_notification(int p_what) {
get_scene()->connect("tree_changed",this,"_tree_changed");
get_scene()->connect("node_removed",this,"_node_removed");
instance_menu->set_item_icon(2,get_icon("Load","EditorIcons"));
tree->connect("item_collapsed",this,"_cell_collapsed");
// get_scene()->connect("tree_changed",this,"_tree_changed",Vector<Variant>(),CONNECT_DEFERRED);
@ -646,6 +707,7 @@ void SceneTreeEditor::_cell_collapsed(Object *p_obj) {
}
void SceneTreeEditor::_bind_methods() {
ObjectTypeDB::bind_method("_tree_changed",&SceneTreeEditor::_tree_changed);
@ -659,6 +721,7 @@ void SceneTreeEditor::_bind_methods() {
ObjectTypeDB::bind_method("_selection_changed",&SceneTreeEditor::_selection_changed);
ObjectTypeDB::bind_method("_cell_button_pressed",&SceneTreeEditor::_cell_button_pressed);
ObjectTypeDB::bind_method("_cell_collapsed",&SceneTreeEditor::_cell_collapsed);
ObjectTypeDB::bind_method("_subscene_option",&SceneTreeEditor::_subscene_option);
ObjectTypeDB::bind_method("_node_script_changed",&SceneTreeEditor::_node_script_changed);
ObjectTypeDB::bind_method("_node_visibility_changed",&SceneTreeEditor::_node_visibility_changed);
@ -714,10 +777,20 @@ SceneTreeEditor::SceneTreeEditor(bool p_label,bool p_can_rename, bool p_can_open
error = memnew( AcceptDialog );
add_child(error);
show_enabled_subscene=false;
last_hash=0;
pending_test_update=false;
updating_tree=false;
blocked=0;
instance_menu = memnew( PopupMenu );
instance_menu->add_check_item("Show Children",SCENE_MENU_SHOW_CHILDREN);
instance_menu->add_separator();
instance_menu->add_item("Open in Editor",SCENE_MENU_OPEN);
instance_menu->connect("item_pressed",this,"_subscene_option");
add_child(instance_menu);
}

11
tools/editor/scene_tree_editor.h
View file

@ -51,8 +51,15 @@ class SceneTreeEditor : public Control {
BUTTON_GROUP=4,
};
enum {
SCENE_MENU_SHOW_CHILDREN,
SCENE_MENU_OPEN,
};
Tree *tree;
Node *selected;
PopupMenu *instance_menu;
ObjectID instance_node;
AcceptDialog *error;
@ -78,6 +85,7 @@ class SceneTreeEditor : public Control {
bool can_rename;
bool can_open_instance;
bool updating_tree;
bool show_enabled_subscene;
void _renamed();
UndoRedo *undo_redo;
@ -95,6 +103,7 @@ class SceneTreeEditor : public Control {
void _update_selection(TreeItem *item);
void _node_script_changed(Node *p_node);
void _node_visibility_changed(Node *p_node);
void _subscene_option(int p_idx);
void _selection_changed();
Node *get_scene_node();
@ -112,6 +121,8 @@ public:
void set_can_rename(bool p_can_rename) { can_rename=p_can_rename; }
void set_editor_selection(EditorSelection *p_selection);
void set_show_enabled_subscene(bool p_show) { show_enabled_subscene=p_show; }
void update_tree() { _update_tree(); }
SceneTreeEditor(bool p_label=true,bool p_can_rename=false, bool p_can_open_instance=false);

69
tools/editor/spatial_editor_gizmos.cpp
View file

@ -1538,6 +1538,70 @@ CarWheelSpatialGizmo::CarWheelSpatialGizmo(CarWheel* p_car_wheel){
}
/////
void VehicleWheelSpatialGizmo::redraw() {
clear();
Vector<Vector3> points;
float r = car_wheel->get_radius();
const int skip=10;
for(int i=0;i<=360;i+=skip) {
float ra=Math::deg2rad(i);
float rb=Math::deg2rad(i+skip);
Point2 a = Vector2(Math::sin(ra),Math::cos(ra))*r;
Point2 b = Vector2(Math::sin(rb),Math::cos(rb))*r;
points.push_back(Vector3(0,a.x,a.y));
points.push_back(Vector3(0,b.x,b.y));
const int springsec=4;
for(int j=0;j<springsec;j++) {
float t = car_wheel->get_suspension_rest_length()*5;
points.push_back(Vector3(a.x,i/360.0*t/springsec+j*(t/springsec),a.y)*0.2);
points.push_back(Vector3(b.x,(i+skip)/360.0*t/springsec+j*(t/springsec),b.y)*0.2);
}
}
//travel
points.push_back(Vector3(0,0,0));
points.push_back(Vector3(0,car_wheel->get_suspension_rest_length(),0));
//axis
points.push_back(Vector3(r*0.2,car_wheel->get_suspension_rest_length(),0));
points.push_back(Vector3(-r*0.2,car_wheel->get_suspension_rest_length(),0));
//axis
points.push_back(Vector3(r*0.2,0,0));
points.push_back(Vector3(-r*0.2,0,0));
//forward line
points.push_back(Vector3(0,-r,0));
points.push_back(Vector3(0,-r,r*2));
points.push_back(Vector3(0,-r,r*2));
points.push_back(Vector3(r*2*0.2,-r,r*2*0.8));
points.push_back(Vector3(0,-r,r*2));
points.push_back(Vector3(-r*2*0.2,-r,r*2*0.8));
add_lines(points,SpatialEditorGizmos::singleton->car_wheel_material);
add_collision_segments(points);
}
VehicleWheelSpatialGizmo::VehicleWheelSpatialGizmo(VehicleWheel* p_car_wheel){
set_spatial_node(p_car_wheel);
car_wheel=p_car_wheel;
}
///
@ -2292,6 +2356,11 @@ Ref<SpatialEditorGizmo> SpatialEditorGizmos::get_gizmo(Spatial *p_spatial) {
Ref<CarWheelSpatialGizmo> misg = memnew( CarWheelSpatialGizmo(p_spatial->cast_to<CarWheel>()) );
return misg;
}
if (p_spatial->cast_to<VehicleWheel>()) {
Ref<VehicleWheelSpatialGizmo> misg = memnew( VehicleWheelSpatialGizmo(p_spatial->cast_to<VehicleWheel>()) );
return misg;
}
return Ref<SpatialEditorGizmo>();
}

15
tools/editor/spatial_editor_gizmos.h
View file

@ -45,6 +45,7 @@
#include "scene/3d/ray_cast.h"
#include "scene/3d/navigation_mesh.h"
#include "scene/3d/car_body.h"
#include "scene/3d/vehicle_body.h"
class Camera;
@ -328,6 +329,20 @@ public:
};
class VehicleWheelSpatialGizmo : public SpatialGizmoTool {
OBJ_TYPE(VehicleWheelSpatialGizmo,SpatialGizmoTool);
VehicleWheel* car_wheel;
public:
void redraw();
VehicleWheelSpatialGizmo(VehicleWheel* p_car_wheel=NULL);
};
class NavigationMeshSpatialGizmo : public SpatialGizmoTool {
OBJ_TYPE(NavigationMeshSpatialGizmo,SpatialGizmoTool);

1
tools/pck/pck_packer.cpp
View file

@ -137,6 +137,7 @@ Error PCKPacker::flush(bool p_verbose) {
if (p_verbose) {
if (count % 100 == 0) {
printf("%i/%i (%.2f\%)\r", count, files.size(), float(count) / files.size() * 100);
fflush(stdout);
};
};
};