d8223ffa75
That year should bring the long-awaited OpenGL ES 3.0 compatible renderer
with state-of-the-art rendering techniques tuned to work as low as middle
end handheld devices - without compromising with the possibilities given
for higher end desktop games of course. Great times ahead for the Godot
community and the gamers that will play our games!
(cherry picked from commit c7bc44d5ad)
403 lines
12 KiB
C++
403 lines
12 KiB
C++
/*************************************************************************/
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/* collision_solver_sw.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "collision_solver_sw.h"
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#include "collision_solver_sat.h"
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#include "gjk_epa.h"
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#include "collision_solver_sat.h"
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#define collision_solver sat_calculate_penetration
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//#define collision_solver gjk_epa_calculate_penetration
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bool CollisionSolverSW::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) {
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const PlaneShapeSW *plane = static_cast<const PlaneShapeSW*>(p_shape_A);
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if (p_shape_B->get_type()==PhysicsServer::SHAPE_PLANE)
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return false;
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Plane p = p_transform_A.xform(plane->get_plane());
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static const int max_supports = 16;
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Vector3 supports[max_supports];
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int support_count;
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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(),max_supports,supports,support_count);
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bool found=false;
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for(int i=0;i<support_count;i++) {
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supports[i] = p_transform_B.xform( supports[i] );
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if (p.distance_to(supports[i])>=0)
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continue;
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found=true;
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Vector3 support_A = p.project(supports[i]);
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if (p_result_callback) {
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if (p_swap_result)
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p_result_callback(supports[i],support_A,p_userdata);
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else
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p_result_callback(support_A,supports[i],p_userdata);
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}
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}
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return found;
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}
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bool CollisionSolverSW::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) {
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const RayShapeSW *ray = static_cast<const RayShapeSW*>(p_shape_A);
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Vector3 from = p_transform_A.origin;
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Vector3 to = from+p_transform_A.basis.get_axis(2)*ray->get_length();
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Vector3 support_A=to;
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Transform ai = p_transform_B.affine_inverse();
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from = ai.xform(from);
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to = ai.xform(to);
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Vector3 p,n;
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if (!p_shape_B->intersect_segment(from,to,p,n))
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return false;
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Vector3 support_B=p_transform_B.xform(p);
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if (p_result_callback) {
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if (p_swap_result)
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p_result_callback(support_B,support_A,p_userdata);
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else
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p_result_callback(support_A,support_B,p_userdata);
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}
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return true;
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}
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struct _ConcaveCollisionInfo {
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const Transform *transform_A;
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const ShapeSW *shape_A;
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const Transform *transform_B;
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CollisionSolverSW::CallbackResult result_callback;
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void *userdata;
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bool swap_result;
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bool collided;
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int aabb_tests;
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int collisions;
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bool tested;
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float margin_A;
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float margin_B;
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Vector3 close_A,close_B;
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};
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void CollisionSolverSW::concave_callback(void *p_userdata, ShapeSW *p_convex) {
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_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo*)(p_userdata);
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cinfo.aabb_tests++;
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bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, p_convex,*cinfo.transform_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result,NULL,cinfo.margin_A,cinfo.margin_B);
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if (!collided)
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return;
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cinfo.collided=true;
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cinfo.collisions++;
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}
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bool 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) {
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const ConcaveShapeSW *concave_B=static_cast<const ConcaveShapeSW*>(p_shape_B);
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_ConcaveCollisionInfo cinfo;
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cinfo.transform_A=&p_transform_A;
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cinfo.shape_A=p_shape_A;
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cinfo.transform_B=&p_transform_B;
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cinfo.result_callback=p_result_callback;
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cinfo.userdata=p_userdata;
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cinfo.swap_result=p_swap_result;
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cinfo.collided=false;
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cinfo.collisions=0;
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cinfo.margin_A=p_margin_A;
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cinfo.margin_B=p_margin_B;
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cinfo.aabb_tests=0;
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Transform rel_transform = p_transform_A;
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rel_transform.origin-=p_transform_B.origin;
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//quickly compute a local AABB
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AABB local_aabb;
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for(int i=0;i<3;i++) {
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Vector3 axis( p_transform_B.basis.get_axis(i) );
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float axis_scale = 1.0/axis.length();
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axis*=axis_scale;
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float smin,smax;
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p_shape_A->project_range(axis,rel_transform,smin,smax);
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smin-=p_margin_A;
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smax+=p_margin_A;
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smin*=axis_scale;
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smax*=axis_scale;
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local_aabb.pos[i]=smin;
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local_aabb.size[i]=smax-smin;
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}
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concave_B->cull(local_aabb,concave_callback,&cinfo);
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//print_line("COL AABB TESTS: "+itos(cinfo.aabb_tests));
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return cinfo.collided;
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}
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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) {
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PhysicsServer::ShapeType type_A=p_shape_A->get_type();
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PhysicsServer::ShapeType type_B=p_shape_B->get_type();
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bool concave_A=p_shape_A->is_concave();
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bool concave_B=p_shape_B->is_concave();
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bool swap = false;
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if (type_A>type_B) {
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SWAP(type_A,type_B);
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SWAP(concave_A,concave_B);
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swap=true;
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}
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if (type_A==PhysicsServer::SHAPE_PLANE) {
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if (type_B==PhysicsServer::SHAPE_PLANE)
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return false;
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if (type_B==PhysicsServer::SHAPE_RAY) {
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return false;
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}
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if (swap) {
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return solve_static_plane(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_result_callback,p_userdata,true);
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} else {
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return solve_static_plane(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_result_callback,p_userdata,false);
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}
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} else if (type_A==PhysicsServer::SHAPE_RAY) {
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if (type_B==PhysicsServer::SHAPE_RAY)
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return false;
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if (swap) {
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return solve_ray(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_result_callback,p_userdata,true);
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} else {
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return solve_ray(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_result_callback,p_userdata,false);
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}
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} else if (concave_B) {
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if (concave_A)
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return false;
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if (!swap)
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return solve_concave(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_result_callback,p_userdata,false,p_margin_A,p_margin_B);
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else
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return solve_concave(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_result_callback,p_userdata,true,p_margin_A,p_margin_B);
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} else {
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return collision_solver(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback,p_userdata,false,r_sep_axis,p_margin_A,p_margin_B);
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}
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return false;
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}
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void CollisionSolverSW::concave_distance_callback(void *p_userdata, ShapeSW *p_convex) {
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_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo*)(p_userdata);
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cinfo.aabb_tests++;
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if (cinfo.collided)
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return;
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Vector3 close_A,close_B;
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cinfo.collided = !gjk_epa_calculate_distance(cinfo.shape_A,*cinfo.transform_A,p_convex,*cinfo.transform_B,close_A,close_B);
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if (cinfo.collided)
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return;
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if (!cinfo.tested || close_A.distance_squared_to(close_B) < cinfo.close_A.distance_squared_to(cinfo.close_B)) {
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cinfo.close_A=close_A;
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cinfo.close_B=close_B;
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cinfo.tested=true;
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}
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cinfo.collisions++;
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}
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bool CollisionSolverSW::solve_distance_plane(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) {
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const PlaneShapeSW *plane = static_cast<const PlaneShapeSW*>(p_shape_A);
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if (p_shape_B->get_type()==PhysicsServer::SHAPE_PLANE)
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return false;
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Plane p = p_transform_A.xform(plane->get_plane());
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static const int max_supports = 16;
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Vector3 supports[max_supports];
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int support_count;
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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(),max_supports,supports,support_count);
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bool collided=false;
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Vector3 closest;
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float closest_d;
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for(int i=0;i<support_count;i++) {
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supports[i] = p_transform_B.xform( supports[i] );
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real_t d = p.distance_to(supports[i]);
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if (i==0 || d<closest_d) {
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closest=supports[i];
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closest_d=d;
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if (d<=0)
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collided=true;
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}
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}
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r_point_A=p.project(closest);
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r_point_B=closest;
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return collided;
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}
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bool 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) {
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if (p_shape_A->is_concave())
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return false;
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if (p_shape_B->get_type()==PhysicsServer::SHAPE_PLANE) {
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Vector3 a,b;
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bool col = solve_distance_plane(p_shape_B,p_transform_B,p_shape_A,p_transform_A,a,b);
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r_point_A=b;
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r_point_B=a;
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return !col;
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} else if (p_shape_B->is_concave()) {
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if (p_shape_A->is_concave())
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return false;
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const ConcaveShapeSW *concave_B=static_cast<const ConcaveShapeSW*>(p_shape_B);
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_ConcaveCollisionInfo cinfo;
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cinfo.transform_A=&p_transform_A;
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cinfo.shape_A=p_shape_A;
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cinfo.transform_B=&p_transform_B;
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cinfo.result_callback=NULL;
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cinfo.userdata=NULL;
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cinfo.swap_result=false;
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cinfo.collided=false;
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cinfo.collisions=0;
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cinfo.aabb_tests=0;
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cinfo.tested=false;
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Transform rel_transform = p_transform_A;
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rel_transform.origin-=p_transform_B.origin;
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//quickly compute a local AABB
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bool use_cc_hint=p_concave_hint!=AABB();
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AABB cc_hint_aabb;
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if (use_cc_hint) {
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cc_hint_aabb=p_concave_hint;
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cc_hint_aabb.pos-=p_transform_B.origin;
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}
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AABB local_aabb;
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for(int i=0;i<3;i++) {
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Vector3 axis( p_transform_B.basis.get_axis(i) );
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float axis_scale = 1.0/axis.length();
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axis*=axis_scale;
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float smin,smax;
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if (use_cc_hint) {
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cc_hint_aabb.project_range_in_plane(Plane(axis,0),smin,smax);
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} else {
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p_shape_A->project_range(axis,rel_transform,smin,smax);
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}
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smin*=axis_scale;
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smax*=axis_scale;
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local_aabb.pos[i]=smin;
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local_aabb.size[i]=smax-smin;
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}
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concave_B->cull(local_aabb,concave_distance_callback,&cinfo);
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if (!cinfo.collided) {
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// print_line(itos(cinfo.tested));
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r_point_A=cinfo.close_A;
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r_point_B=cinfo.close_B;
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}
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//print_line("DIST AABB TESTS: "+itos(cinfo.aabb_tests));
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return !cinfo.collided;
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} else {
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return gjk_epa_calculate_distance(p_shape_A,p_transform_A,p_shape_B,p_transform_B,r_point_A,r_point_B); //should pass sepaxis..
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}
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return false;
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}
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