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Merge pull request #77171 from rburing/support_thresholds_3d

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Restore edge and face support thresholds in 3D
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Yuri Sizov 2023-05-18 19:10:19 +02:00 • committed by GitHub
commit 91f3cdfde0
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1 changed files with 21 additions and 14 deletions
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35
servers/physics_3d/godot_shape_3d.cpp
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@ -52,11 +52,18 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
const double support_threshold = 0.9998;
const double support_threshold_lower = Math::sqrt(1.0 - support_threshold * support_threshold);
const double edge_support_threshold = 0.99999998;
const double edge_support_threshold_lower = Math::sqrt(1.0 - edge_support_threshold * edge_support_threshold);
// For a unit normal vector n, the horizontality condition
// sqrt(n.x * n.x + n.z * n.z) > edge_support_threshold
// is equivalent to the condition
// abs(n.y) < edge_support_threshold_lower,
// which is cheaper to test.
const double face_support_threshold = 0.9998;
const double cylinder_support_threshold = 0.999;
const double cylinder_support_threshold_lower = Math::sqrt(1.0 - cylinder_support_threshold * cylinder_support_threshold);
const double cylinder_edge_support_threshold = 0.999998;
const double cylinder_edge_support_threshold_lower = Math::sqrt(1.0 - cylinder_edge_support_threshold * cylinder_edge_support_threshold);
const double cylinder_face_support_threshold = 0.999;
void GodotShape3D::configure(const AABB &p_aabb) {
aabb = p_aabb;
@ -184,7 +191,7 @@ Vector3 GodotSeparationRayShape3D::get_support(const Vector3 &p_normal) const {
}
void GodotSeparationRayShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const {
if (Math::abs(p_normal.z) < support_threshold_lower) {
if (Math::abs(p_normal.z) < edge_support_threshold_lower) {
r_amount = 2;
r_type = FEATURE_EDGE;
r_supports[0] = Vector3(0, 0, 0);
@ -335,7 +342,7 @@ void GodotBoxShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *
Vector3 axis;
axis[i] = 1.0;
real_t dot = p_normal.dot(axis);
if (Math::abs(dot) > support_threshold) {
if (Math::abs(dot) > face_support_threshold) {
//Vector3 axis_b;
bool neg = dot < 0;
@ -376,7 +383,7 @@ void GodotBoxShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *
Vector3 axis;
axis[i] = 1.0;
if (Math::abs(p_normal.dot(axis)) < support_threshold_lower) {
if (Math::abs(p_normal.dot(axis)) < edge_support_threshold_lower) {
r_amount = 2;
r_type = FEATURE_EDGE;
@ -523,7 +530,7 @@ void GodotCapsuleShape3D::get_supports(const Vector3 &p_normal, int p_max, Vecto
real_t d = n.y;
real_t h = height * 0.5 - radius; // half-height of the cylinder part
if (h > 0 && Math::abs(d) < support_threshold_lower) {
if (h > 0 && Math::abs(d) < edge_support_threshold_lower) {
// make it flat
n.y = 0.0;
n.normalize();
@ -701,7 +708,7 @@ Vector3 GodotCylinderShape3D::get_support(const Vector3 &p_normal) const {
void GodotCylinderShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const {
real_t d = p_normal.y;
if (Math::abs(d) > cylinder_support_threshold) {
if (Math::abs(d) > cylinder_face_support_threshold) {
real_t h = (d > 0) ? height : -height;
Vector3 n = p_normal;
@ -716,7 +723,7 @@ void GodotCylinderShape3D::get_supports(const Vector3 &p_normal, int p_max, Vect
r_supports[1].x += radius;
r_supports[2] = n;
r_supports[2].z += radius;
} else if (Math::abs(d) < cylinder_support_threshold_lower) {
} else if (Math::abs(d) < cylinder_edge_support_threshold_lower) {
// make it flat
Vector3 n = p_normal;
n.y = 0.0;
@ -925,7 +932,7 @@ void GodotConvexPolygonShape3D::get_supports(const Vector3 &p_normal, int p_max,
}
for (int i = 0; i < fc; i++) {
if (faces[i].plane.normal.dot(p_normal) > support_threshold) {
if (faces[i].plane.normal.dot(p_normal) > face_support_threshold) {
int ic = faces[i].indices.size();
const int *ind = faces[i].indices.ptr();
@ -954,7 +961,7 @@ void GodotConvexPolygonShape3D::get_supports(const Vector3 &p_normal, int p_max,
for (int i = 0; i < ec; i++) {
real_t dot = (vertices[edges[i].vertex_a] - vertices[edges[i].vertex_b]).normalized().dot(p_normal);
dot = ABS(dot);
if (dot < support_threshold_lower && (edges[i].vertex_a == vtx || edges[i].vertex_b == vtx)) {
if (dot < edge_support_threshold_lower && (edges[i].vertex_a == vtx || edges[i].vertex_b == vtx)) {
r_amount = 2;
r_type = FEATURE_EDGE;
r_supports[0] = vertices[edges[i].vertex_a];
@ -1197,7 +1204,7 @@ void GodotFaceShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3
Vector3 n = p_normal;
/** TEST FACE AS SUPPORT **/
if (Math::abs(normal.dot(n)) > support_threshold) {
if (Math::abs(normal.dot(n)) > face_support_threshold) {
r_amount = 3;
r_type = FEATURE_FACE;
for (int i = 0; i < 3; i++) {
@ -1231,7 +1238,7 @@ void GodotFaceShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3
// check if edge is valid as a support
real_t dot = (vertex[i] - vertex[nx]).normalized().dot(n);
dot = ABS(dot);
if (dot < support_threshold_lower) {
if (dot < edge_support_threshold_lower) {
r_amount = 2;
r_type = FEATURE_EDGE;
r_supports[0] = vertex[i];