1426cd3b3a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see". Backported from #70885.
405 lines
13 KiB
C++
405 lines
13 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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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 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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#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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}
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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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ShapeSW::FeatureType support_type;
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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type);
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if (support_type == ShapeSW::FEATURE_CIRCLE) {
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ERR_FAIL_COND_V(support_count != 3, false);
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Vector3 circle_pos = supports[0];
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Vector3 circle_axis_1 = supports[1] - circle_pos;
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Vector3 circle_axis_2 = supports[2] - circle_pos;
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// Use 3 equidistant points on the circle.
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for (int i = 0; i < 3; ++i) {
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Vector3 vertex_pos = circle_pos;
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vertex_pos += circle_axis_1 * Math::cos(2.0 * Math_PI * i / 3.0);
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vertex_pos += circle_axis_2 * Math::sin(2.0 * Math_PI * i / 3.0);
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supports[i] = vertex_pos;
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}
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}
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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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}
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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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}
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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, real_t p_margin) {
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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() + p_margin);
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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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}
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Vector3 support_B = p_transform_B.xform(p);
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if (ray->get_slips_on_slope()) {
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Vector3 global_n = ai.basis.xform_inv(n).normalized();
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support_B = support_A + (support_B - support_A).length() * global_n;
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}
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if (p_result_callback) {
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if (p_swap_result) {
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p_result_callback(support_B, support_A, p_userdata);
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} else {
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p_result_callback(support_A, support_B, p_userdata);
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}
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}
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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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real_t margin_A;
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real_t margin_B;
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Vector3 close_A, close_B;
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};
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bool 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, nullptr, cinfo.margin_A, cinfo.margin_B);
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if (!collided) {
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return false;
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}
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cinfo.collided = true;
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cinfo.collisions++;
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// Stop at first collision if contacts are not needed.
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return !cinfo.result_callback;
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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, real_t p_margin_A, real_t 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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real_t axis_scale = 1.0 / axis.length();
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axis *= axis_scale;
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real_t smin, smax;
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p_shape_A->project_range(axis, rel_transform, smin, smax);
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smin -= p_margin_A;
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smax += p_margin_A;
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smin *= axis_scale;
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smax *= axis_scale;
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local_aabb.position[i] = smin;
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local_aabb.size[i] = smax - smin;
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}
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concave_B->cull(local_aabb, concave_callback, &cinfo);
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return cinfo.collided;
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}
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bool 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, real_t p_margin_A, real_t 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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}
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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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}
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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, p_margin_B);
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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, p_margin_A);
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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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}
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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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}
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} else {
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return collision_solver(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, r_sep_axis, p_margin_A, p_margin_B);
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}
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}
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bool 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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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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// No need to process any more result.
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return true;
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}
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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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return false;
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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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}
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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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ShapeSW::FeatureType support_type;
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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type);
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if (support_type == ShapeSW::FEATURE_CIRCLE) {
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ERR_FAIL_COND_V(support_count != 3, false);
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Vector3 circle_pos = supports[0];
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Vector3 circle_axis_1 = supports[1] - circle_pos;
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Vector3 circle_axis_2 = supports[2] - circle_pos;
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// Use 3 equidistant points on the circle.
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for (int i = 0; i < 3; ++i) {
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Vector3 vertex_pos = circle_pos;
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vertex_pos += circle_axis_1 * Math::cos(2.0 * Math_PI * i / 3.0);
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vertex_pos += circle_axis_2 * Math::sin(2.0 * Math_PI * i / 3.0);
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supports[i] = vertex_pos;
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}
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}
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bool collided = false;
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Vector3 closest;
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real_t closest_d = 0;
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for (int i = 0; i < support_count; i++) {
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supports[i] = p_transform_B.xform(supports[i]);
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real_t d = p.distance_to(supports[i]);
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if (i == 0 || d < closest_d) {
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closest = supports[i];
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closest_d = d;
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if (d <= 0) {
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collided = true;
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}
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}
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}
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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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}
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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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}
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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 = nullptr;
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cinfo.userdata = nullptr;
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cinfo.swap_result = false;
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cinfo.collided = false;
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cinfo.collisions = 0;
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cinfo.aabb_tests = 0;
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cinfo.tested = false;
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Transform rel_transform = p_transform_A;
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rel_transform.origin -= p_transform_B.origin;
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//quickly compute a local AABB
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bool use_cc_hint = p_concave_hint != AABB();
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AABB cc_hint_aabb;
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if (use_cc_hint) {
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cc_hint_aabb = p_concave_hint;
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cc_hint_aabb.position -= p_transform_B.origin;
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}
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AABB local_aabb;
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for (int i = 0; i < 3; i++) {
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Vector3 axis(p_transform_B.basis.get_axis(i));
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real_t axis_scale = ((real_t)1.0) / axis.length();
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axis *= axis_scale;
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real_t smin, smax;
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if (use_cc_hint) {
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cc_hint_aabb.project_range_in_plane(Plane(axis, 0), smin, smax);
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} else {
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p_shape_A->project_range(axis, rel_transform, smin, smax);
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}
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smin *= axis_scale;
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smax *= axis_scale;
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local_aabb.position[i] = smin;
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local_aabb.size[i] = smax - smin;
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}
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concave_B->cull(local_aabb, concave_distance_callback, &cinfo);
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if (!cinfo.collided) {
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r_point_A = cinfo.close_A;
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r_point_B = cinfo.close_B;
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}
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return !cinfo.collided;
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} else {
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return gjk_epa_calculate_distance(p_shape_A, p_transform_A, p_shape_B, p_transform_B, r_point_A, r_point_B); //should pass sepaxis..
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}
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}
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