1085 lines
25 KiB
C++
1085 lines
25 KiB
C++
/*************************************************************************/
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/* shape_2d_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) 2007-2019 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
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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 "shape_2d_sw.h"
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#include "core/math/geometry.h"
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#include "core/sort_array.h"
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void Shape2DSW::configure(const Rect2 &p_aabb) {
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aabb = p_aabb;
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configured = true;
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for (Map<ShapeOwner2DSW *, int>::Element *E = owners.front(); E; E = E->next()) {
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ShapeOwner2DSW *co = (ShapeOwner2DSW *)E->key();
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co->_shape_changed();
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}
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}
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Vector2 Shape2DSW::get_support(const Vector2 &p_normal) const {
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Vector2 res[2];
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int amnt;
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get_supports(p_normal, res, amnt);
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return res[0];
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}
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void Shape2DSW::add_owner(ShapeOwner2DSW *p_owner) {
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Map<ShapeOwner2DSW *, int>::Element *E = owners.find(p_owner);
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if (E) {
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E->get()++;
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} else {
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owners[p_owner] = 1;
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}
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}
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void Shape2DSW::remove_owner(ShapeOwner2DSW *p_owner) {
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Map<ShapeOwner2DSW *, int>::Element *E = owners.find(p_owner);
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ERR_FAIL_COND(!E);
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E->get()--;
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if (E->get() == 0) {
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owners.erase(E);
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}
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}
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bool Shape2DSW::is_owner(ShapeOwner2DSW *p_owner) const {
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return owners.has(p_owner);
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}
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const Map<ShapeOwner2DSW *, int> &Shape2DSW::get_owners() const {
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return owners;
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}
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Shape2DSW::Shape2DSW() {
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custom_bias = 0;
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configured = false;
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}
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Shape2DSW::~Shape2DSW() {
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ERR_FAIL_COND(owners.size());
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}
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/*********************************************************/
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/*********************************************************/
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/*********************************************************/
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void LineShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
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r_amount = 0;
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}
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bool LineShape2DSW::contains_point(const Vector2 &p_point) const {
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return normal.dot(p_point) < d;
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}
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bool LineShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
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Vector2 segment = p_begin - p_end;
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real_t den = normal.dot(segment);
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//printf("den is %i\n",den);
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if (Math::abs(den) <= CMP_EPSILON) {
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return false;
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}
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real_t dist = (normal.dot(p_begin) - d) / den;
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//printf("dist is %i\n",dist);
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if (dist < -CMP_EPSILON || dist > (1.0 + CMP_EPSILON)) {
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return false;
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}
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r_point = p_begin + segment * -dist;
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r_normal = normal;
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return true;
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}
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real_t LineShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
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return 0;
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}
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void LineShape2DSW::set_data(const Variant &p_data) {
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ERR_FAIL_COND(p_data.get_type() != Variant::ARRAY);
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Array arr = p_data;
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ERR_FAIL_COND(arr.size() != 2);
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normal = arr[0];
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d = arr[1];
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configure(Rect2(Vector2(-1e4, -1e4), Vector2(1e4 * 2, 1e4 * 2)));
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}
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Variant LineShape2DSW::get_data() const {
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Array arr;
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arr.resize(2);
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arr[0] = normal;
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arr[1] = d;
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return arr;
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}
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/*********************************************************/
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/*********************************************************/
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/*********************************************************/
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void RayShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
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r_amount = 1;
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if (p_normal.y > 0)
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*r_supports = Vector2(0, length);
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else
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*r_supports = Vector2();
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}
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bool RayShape2DSW::contains_point(const Vector2 &p_point) const {
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return false;
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}
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bool RayShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
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return false; //rays can't be intersected
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}
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real_t RayShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
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return 0; //rays are mass-less
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}
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void RayShape2DSW::set_data(const Variant &p_data) {
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Dictionary d = p_data;
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length = d["length"];
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slips_on_slope = d["slips_on_slope"];
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configure(Rect2(0, 0, 0.001, length));
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}
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Variant RayShape2DSW::get_data() const {
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Dictionary d;
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d["length"] = length;
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d["slips_on_slope"] = slips_on_slope;
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return d;
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}
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/*********************************************************/
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/*********************************************************/
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/*********************************************************/
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void SegmentShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
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if (Math::abs(p_normal.dot(n)) > _SEGMENT_IS_VALID_SUPPORT_THRESHOLD) {
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r_supports[0] = a;
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r_supports[1] = b;
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r_amount = 2;
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return;
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}
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real_t dp = p_normal.dot(b - a);
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if (dp > 0)
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*r_supports = b;
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else
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*r_supports = a;
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r_amount = 1;
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}
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bool SegmentShape2DSW::contains_point(const Vector2 &p_point) const {
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return false;
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}
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bool SegmentShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
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if (!Geometry::segment_intersects_segment_2d(p_begin, p_end, a, b, &r_point))
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return false;
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if (n.dot(p_begin) > n.dot(a)) {
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r_normal = n;
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} else {
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r_normal = -n;
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}
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return true;
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}
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real_t SegmentShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
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Vector2 s[2] = { a * p_scale, b * p_scale };
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real_t l = s[1].distance_to(s[0]);
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Vector2 ofs = (s[0] + s[1]) * 0.5;
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return p_mass * (l * l / 12.0 + ofs.length_squared());
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}
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void SegmentShape2DSW::set_data(const Variant &p_data) {
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ERR_FAIL_COND(p_data.get_type() != Variant::RECT2);
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Rect2 r = p_data;
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a = r.position;
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b = r.size;
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n = (b - a).tangent();
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Rect2 aabb;
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aabb.position = a;
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aabb.expand_to(b);
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if (aabb.size.x == 0)
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aabb.size.x = 0.001;
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if (aabb.size.y == 0)
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aabb.size.y = 0.001;
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configure(aabb);
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}
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Variant SegmentShape2DSW::get_data() const {
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Rect2 r;
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r.position = a;
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r.size = b;
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return r;
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}
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/*********************************************************/
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/*********************************************************/
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/*********************************************************/
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void CircleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
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r_amount = 1;
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*r_supports = p_normal * radius;
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}
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bool CircleShape2DSW::contains_point(const Vector2 &p_point) const {
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return p_point.length_squared() < radius * radius;
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}
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bool CircleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
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Vector2 line_vec = p_end - p_begin;
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real_t a, b, c;
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a = line_vec.dot(line_vec);
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b = 2 * p_begin.dot(line_vec);
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c = p_begin.dot(p_begin) - radius * radius;
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real_t sqrtterm = b * b - 4 * a * c;
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if (sqrtterm < 0)
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return false;
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sqrtterm = Math::sqrt(sqrtterm);
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real_t res = (-b - sqrtterm) / (2 * a);
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if (res < 0 || res > 1 + CMP_EPSILON) {
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return false;
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}
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r_point = p_begin + line_vec * res;
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r_normal = r_point.normalized();
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return true;
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}
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real_t CircleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
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return (radius * radius) * (p_scale.x * 0.5 + p_scale.y * 0.5);
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}
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void CircleShape2DSW::set_data(const Variant &p_data) {
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ERR_FAIL_COND(!p_data.is_num());
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radius = p_data;
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configure(Rect2(-radius, -radius, radius * 2, radius * 2));
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}
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Variant CircleShape2DSW::get_data() const {
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return radius;
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}
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/*********************************************************/
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/*********************************************************/
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/*********************************************************/
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void RectangleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
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for (int i = 0; i < 2; i++) {
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Vector2 ag;
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ag[i] = 1.0;
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real_t dp = ag.dot(p_normal);
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if (Math::abs(dp) < _SEGMENT_IS_VALID_SUPPORT_THRESHOLD)
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continue;
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real_t sgn = dp > 0 ? 1.0 : -1.0;
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r_amount = 2;
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r_supports[0][i] = half_extents[i] * sgn;
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r_supports[0][i ^ 1] = half_extents[i ^ 1];
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r_supports[1][i] = half_extents[i] * sgn;
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r_supports[1][i ^ 1] = -half_extents[i ^ 1];
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return;
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}
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/* USE POINT */
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r_amount = 1;
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r_supports[0] = Vector2(
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(p_normal.x < 0) ? -half_extents.x : half_extents.x,
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(p_normal.y < 0) ? -half_extents.y : half_extents.y);
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}
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bool RectangleShape2DSW::contains_point(const Vector2 &p_point) const {
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float x = p_point.x;
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float y = p_point.y;
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float edge_x = half_extents.x;
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float edge_y = half_extents.y;
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return (x >= -edge_x) && (x < edge_x) && (y >= -edge_y) && (y < edge_y);
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}
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bool RectangleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
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return get_aabb().intersects_segment(p_begin, p_end, &r_point, &r_normal);
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}
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real_t RectangleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
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Vector2 he2 = half_extents * 2 * p_scale;
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return p_mass * he2.dot(he2) / 12.0;
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}
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void RectangleShape2DSW::set_data(const Variant &p_data) {
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ERR_FAIL_COND(p_data.get_type() != Variant::VECTOR2);
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half_extents = p_data;
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configure(Rect2(-half_extents, half_extents * 2.0));
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}
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Variant RectangleShape2DSW::get_data() const {
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return half_extents;
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}
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/*********************************************************/
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/*********************************************************/
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/*********************************************************/
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void CapsuleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
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Vector2 n = p_normal;
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real_t d = n.y;
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if (Math::abs(d) < (1.0 - _SEGMENT_IS_VALID_SUPPORT_THRESHOLD)) {
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// make it flat
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n.y = 0.0;
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n.normalize();
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n *= radius;
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r_amount = 2;
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r_supports[0] = n;
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r_supports[0].y += height * 0.5;
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r_supports[1] = n;
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r_supports[1].y -= height * 0.5;
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} else {
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real_t h = (d > 0) ? height : -height;
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n *= radius;
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n.y += h * 0.5;
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r_amount = 1;
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*r_supports = n;
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}
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}
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bool CapsuleShape2DSW::contains_point(const Vector2 &p_point) const {
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Vector2 p = p_point;
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p.y = Math::abs(p.y);
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p.y -= height * 0.5;
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if (p.y < 0)
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p.y = 0;
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return p.length_squared() < radius * radius;
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}
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bool CapsuleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
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real_t d = 1e10;
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Vector2 n = (p_end - p_begin).normalized();
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bool collided = false;
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//try spheres
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for (int i = 0; i < 2; i++) {
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Vector2 begin = p_begin;
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Vector2 end = p_end;
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real_t ofs = (i == 0) ? -height * 0.5 : height * 0.5;
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begin.y += ofs;
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end.y += ofs;
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Vector2 line_vec = end - begin;
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real_t a, b, c;
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a = line_vec.dot(line_vec);
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b = 2 * begin.dot(line_vec);
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c = begin.dot(begin) - radius * radius;
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real_t sqrtterm = b * b - 4 * a * c;
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if (sqrtterm < 0)
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continue;
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sqrtterm = Math::sqrt(sqrtterm);
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real_t res = (-b - sqrtterm) / (2 * a);
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if (res < 0 || res > 1 + CMP_EPSILON) {
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continue;
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}
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Vector2 point = begin + line_vec * res;
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Vector2 pointf(point.x, point.y - ofs);
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real_t pd = n.dot(pointf);
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if (pd < d) {
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r_point = pointf;
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r_normal = point.normalized();
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d = pd;
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collided = true;
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}
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}
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Vector2 rpos, rnorm;
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if (Rect2(Point2(-radius, -height * 0.5), Size2(radius * 2.0, height)).intersects_segment(p_begin, p_end, &rpos, &rnorm)) {
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real_t pd = n.dot(rpos);
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if (pd < d) {
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r_point = rpos;
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r_normal = rnorm;
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d = pd;
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collided = true;
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}
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}
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//return get_aabb().intersects_segment(p_begin,p_end,&r_point,&r_normal);
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return collided; //todo
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}
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real_t CapsuleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
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Vector2 he2 = Vector2(radius * 2, height + radius * 2) * p_scale;
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return p_mass * he2.dot(he2) / 12.0;
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}
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void CapsuleShape2DSW::set_data(const Variant &p_data) {
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ERR_FAIL_COND(p_data.get_type() != Variant::ARRAY && p_data.get_type() != Variant::VECTOR2);
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if (p_data.get_type() == Variant::ARRAY) {
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Array arr = p_data;
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ERR_FAIL_COND(arr.size() != 2);
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height = arr[0];
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radius = arr[1];
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} else {
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Point2 p = p_data;
|
|
radius = p.x;
|
|
height = p.y;
|
|
}
|
|
|
|
Point2 he(radius, height * 0.5 + radius);
|
|
configure(Rect2(-he, he * 2));
|
|
}
|
|
|
|
Variant CapsuleShape2DSW::get_data() const {
|
|
|
|
return Point2(height, radius);
|
|
}
|
|
|
|
/*********************************************************/
|
|
/*********************************************************/
|
|
/*********************************************************/
|
|
|
|
void ConvexPolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
|
|
|
|
int support_idx = -1;
|
|
real_t d = -1e10;
|
|
|
|
for (int i = 0; i < point_count; i++) {
|
|
|
|
//test point
|
|
real_t ld = p_normal.dot(points[i].pos);
|
|
if (ld > d) {
|
|
support_idx = i;
|
|
d = ld;
|
|
}
|
|
|
|
//test segment
|
|
if (points[i].normal.dot(p_normal) > _SEGMENT_IS_VALID_SUPPORT_THRESHOLD) {
|
|
|
|
r_amount = 2;
|
|
r_supports[0] = points[i].pos;
|
|
r_supports[1] = points[(i + 1) % point_count].pos;
|
|
return;
|
|
}
|
|
}
|
|
|
|
ERR_FAIL_COND(support_idx == -1);
|
|
|
|
r_amount = 1;
|
|
r_supports[0] = points[support_idx].pos;
|
|
}
|
|
|
|
bool ConvexPolygonShape2DSW::contains_point(const Vector2 &p_point) const {
|
|
|
|
bool out = false;
|
|
bool in = false;
|
|
|
|
for (int i = 0; i < point_count; i++) {
|
|
|
|
real_t d = points[i].normal.dot(p_point) - points[i].normal.dot(points[i].pos);
|
|
if (d > 0)
|
|
out = true;
|
|
else
|
|
in = true;
|
|
}
|
|
|
|
return in != out;
|
|
}
|
|
|
|
bool ConvexPolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
|
|
|
|
Vector2 n = (p_end - p_begin).normalized();
|
|
real_t d = 1e10;
|
|
bool inters = false;
|
|
|
|
for (int i = 0; i < point_count; i++) {
|
|
|
|
//hmm.. no can do..
|
|
/*
|
|
if (d.dot(points[i].normal)>=0)
|
|
continue;
|
|
*/
|
|
|
|
Vector2 res;
|
|
|
|
if (!Geometry::segment_intersects_segment_2d(p_begin, p_end, points[i].pos, points[(i + 1) % point_count].pos, &res))
|
|
continue;
|
|
|
|
real_t nd = n.dot(res);
|
|
if (nd < d) {
|
|
|
|
d = nd;
|
|
r_point = res;
|
|
r_normal = points[i].normal;
|
|
inters = true;
|
|
}
|
|
}
|
|
|
|
if (inters) {
|
|
|
|
if (n.dot(r_normal) > 0)
|
|
r_normal = -r_normal;
|
|
}
|
|
|
|
//return get_aabb().intersects_segment(p_begin,p_end,&r_point,&r_normal);
|
|
return inters; //todo
|
|
}
|
|
|
|
real_t ConvexPolygonShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
|
|
|
|
Rect2 aabb;
|
|
aabb.position = points[0].pos * p_scale;
|
|
for (int i = 0; i < point_count; i++) {
|
|
|
|
aabb.expand_to(points[i].pos * p_scale);
|
|
}
|
|
|
|
return p_mass * aabb.size.dot(aabb.size) / 12.0 + p_mass * (aabb.position + aabb.size * 0.5).length_squared();
|
|
}
|
|
|
|
void ConvexPolygonShape2DSW::set_data(const Variant &p_data) {
|
|
|
|
ERR_FAIL_COND(p_data.get_type() != Variant::POOL_VECTOR2_ARRAY && p_data.get_type() != Variant::POOL_REAL_ARRAY);
|
|
|
|
if (points)
|
|
memdelete_arr(points);
|
|
points = NULL;
|
|
point_count = 0;
|
|
|
|
if (p_data.get_type() == Variant::POOL_VECTOR2_ARRAY) {
|
|
PoolVector<Vector2> arr = p_data;
|
|
ERR_FAIL_COND(arr.size() == 0);
|
|
point_count = arr.size();
|
|
points = memnew_arr(Point, point_count);
|
|
PoolVector<Vector2>::Read r = arr.read();
|
|
|
|
for (int i = 0; i < point_count; i++) {
|
|
points[i].pos = r[i];
|
|
}
|
|
|
|
for (int i = 0; i < point_count; i++) {
|
|
|
|
Vector2 p = points[i].pos;
|
|
Vector2 pn = points[(i + 1) % point_count].pos;
|
|
points[i].normal = (pn - p).tangent().normalized();
|
|
}
|
|
} else {
|
|
|
|
PoolVector<real_t> dvr = p_data;
|
|
point_count = dvr.size() / 4;
|
|
ERR_FAIL_COND(point_count == 0);
|
|
|
|
points = memnew_arr(Point, point_count);
|
|
PoolVector<real_t>::Read r = dvr.read();
|
|
|
|
for (int i = 0; i < point_count; i++) {
|
|
|
|
int idx = i << 2;
|
|
points[i].pos.x = r[idx + 0];
|
|
points[i].pos.y = r[idx + 1];
|
|
points[i].normal.x = r[idx + 2];
|
|
points[i].normal.y = r[idx + 3];
|
|
}
|
|
}
|
|
|
|
ERR_FAIL_COND(point_count == 0);
|
|
Rect2 aabb;
|
|
aabb.position = points[0].pos;
|
|
for (int i = 1; i < point_count; i++)
|
|
aabb.expand_to(points[i].pos);
|
|
|
|
configure(aabb);
|
|
}
|
|
|
|
Variant ConvexPolygonShape2DSW::get_data() const {
|
|
|
|
PoolVector<Vector2> dvr;
|
|
|
|
dvr.resize(point_count);
|
|
|
|
for (int i = 0; i < point_count; i++) {
|
|
dvr.set(i, points[i].pos);
|
|
}
|
|
|
|
return dvr;
|
|
}
|
|
|
|
ConvexPolygonShape2DSW::ConvexPolygonShape2DSW() {
|
|
|
|
points = NULL;
|
|
point_count = 0;
|
|
}
|
|
|
|
ConvexPolygonShape2DSW::~ConvexPolygonShape2DSW() {
|
|
|
|
if (points)
|
|
memdelete_arr(points);
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
|
|
void ConcavePolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
|
|
|
|
real_t d = -1e10;
|
|
int idx = -1;
|
|
for (int i = 0; i < points.size(); i++) {
|
|
|
|
real_t ld = p_normal.dot(points[i]);
|
|
if (ld > d) {
|
|
d = ld;
|
|
idx = i;
|
|
}
|
|
}
|
|
|
|
r_amount = 1;
|
|
ERR_FAIL_COND(idx == -1);
|
|
*r_supports = points[idx];
|
|
}
|
|
|
|
bool ConcavePolygonShape2DSW::contains_point(const Vector2 &p_point) const {
|
|
|
|
return false; //sorry
|
|
}
|
|
|
|
bool ConcavePolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
|
|
|
|
uint32_t *stack = (uint32_t *)alloca(sizeof(int) * bvh_depth);
|
|
|
|
enum {
|
|
TEST_AABB_BIT = 0,
|
|
VISIT_LEFT_BIT = 1,
|
|
VISIT_RIGHT_BIT = 2,
|
|
VISIT_DONE_BIT = 3,
|
|
VISITED_BIT_SHIFT = 29,
|
|
NODE_IDX_MASK = (1 << VISITED_BIT_SHIFT) - 1,
|
|
VISITED_BIT_MASK = ~NODE_IDX_MASK,
|
|
|
|
};
|
|
|
|
Vector2 n = (p_end - p_begin).normalized();
|
|
real_t d = 1e10;
|
|
bool inters = false;
|
|
|
|
/*
|
|
for(int i=0;i<bvh_depth;i++)
|
|
stack[i]=0;
|
|
*/
|
|
|
|
int level = 0;
|
|
|
|
const Segment *segmentptr = &segments[0];
|
|
const Vector2 *pointptr = &points[0];
|
|
const BVH *bvhptr = &bvh[0];
|
|
|
|
stack[0] = 0;
|
|
while (true) {
|
|
|
|
uint32_t node = stack[level] & NODE_IDX_MASK;
|
|
const BVH &bvh = bvhptr[node];
|
|
bool done = false;
|
|
|
|
switch (stack[level] >> VISITED_BIT_SHIFT) {
|
|
case TEST_AABB_BIT: {
|
|
|
|
bool valid = bvh.aabb.intersects_segment(p_begin, p_end);
|
|
if (!valid) {
|
|
|
|
stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
|
|
|
|
} else {
|
|
|
|
if (bvh.left < 0) {
|
|
|
|
const Segment &s = segmentptr[bvh.right];
|
|
Vector2 a = pointptr[s.points[0]];
|
|
Vector2 b = pointptr[s.points[1]];
|
|
|
|
Vector2 res;
|
|
|
|
if (Geometry::segment_intersects_segment_2d(p_begin, p_end, a, b, &res)) {
|
|
|
|
real_t nd = n.dot(res);
|
|
if (nd < d) {
|
|
|
|
d = nd;
|
|
r_point = res;
|
|
r_normal = (b - a).tangent().normalized();
|
|
inters = true;
|
|
}
|
|
}
|
|
|
|
stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
|
|
|
|
} else {
|
|
|
|
stack[level] = (VISIT_LEFT_BIT << VISITED_BIT_SHIFT) | node;
|
|
}
|
|
}
|
|
}
|
|
continue;
|
|
case VISIT_LEFT_BIT: {
|
|
|
|
stack[level] = (VISIT_RIGHT_BIT << VISITED_BIT_SHIFT) | node;
|
|
stack[level + 1] = bvh.left | TEST_AABB_BIT;
|
|
level++;
|
|
}
|
|
continue;
|
|
case VISIT_RIGHT_BIT: {
|
|
|
|
stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
|
|
stack[level + 1] = bvh.right | TEST_AABB_BIT;
|
|
level++;
|
|
}
|
|
continue;
|
|
case VISIT_DONE_BIT: {
|
|
|
|
if (level == 0) {
|
|
done = true;
|
|
break;
|
|
} else
|
|
level--;
|
|
}
|
|
continue;
|
|
}
|
|
|
|
if (done)
|
|
break;
|
|
}
|
|
|
|
if (inters) {
|
|
|
|
if (n.dot(r_normal) > 0)
|
|
r_normal = -r_normal;
|
|
}
|
|
|
|
return inters;
|
|
}
|
|
|
|
int ConcavePolygonShape2DSW::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) {
|
|
|
|
if (p_len == 1) {
|
|
|
|
bvh_depth = MAX(p_depth, bvh_depth);
|
|
bvh.push_back(*p_bvh);
|
|
return bvh.size() - 1;
|
|
}
|
|
|
|
//else sort best
|
|
|
|
Rect2 global_aabb = p_bvh[0].aabb;
|
|
for (int i = 1; i < p_len; i++) {
|
|
global_aabb = global_aabb.merge(p_bvh[i].aabb);
|
|
}
|
|
|
|
if (global_aabb.size.x > global_aabb.size.y) {
|
|
|
|
SortArray<BVH, BVH_CompareX> sort;
|
|
sort.sort(p_bvh, p_len);
|
|
|
|
} else {
|
|
|
|
SortArray<BVH, BVH_CompareY> sort;
|
|
sort.sort(p_bvh, p_len);
|
|
}
|
|
|
|
int median = p_len / 2;
|
|
|
|
BVH node;
|
|
node.aabb = global_aabb;
|
|
int node_idx = bvh.size();
|
|
bvh.push_back(node);
|
|
|
|
int l = _generate_bvh(p_bvh, median, p_depth + 1);
|
|
int r = _generate_bvh(&p_bvh[median], p_len - median, p_depth + 1);
|
|
bvh.write[node_idx].left = l;
|
|
bvh.write[node_idx].right = r;
|
|
|
|
return node_idx;
|
|
}
|
|
|
|
void ConcavePolygonShape2DSW::set_data(const Variant &p_data) {
|
|
|
|
ERR_FAIL_COND(p_data.get_type() != Variant::POOL_VECTOR2_ARRAY && p_data.get_type() != Variant::POOL_REAL_ARRAY);
|
|
|
|
Rect2 aabb;
|
|
|
|
if (p_data.get_type() == Variant::POOL_VECTOR2_ARRAY) {
|
|
|
|
PoolVector<Vector2> p2arr = p_data;
|
|
int len = p2arr.size();
|
|
ERR_FAIL_COND(len % 2);
|
|
|
|
segments.clear();
|
|
points.clear();
|
|
bvh.clear();
|
|
bvh_depth = 1;
|
|
|
|
if (len == 0) {
|
|
configure(aabb);
|
|
return;
|
|
}
|
|
|
|
PoolVector<Vector2>::Read arr = p2arr.read();
|
|
|
|
Map<Point2, int> pointmap;
|
|
for (int i = 0; i < len; i += 2) {
|
|
|
|
Point2 p1 = arr[i];
|
|
Point2 p2 = arr[i + 1];
|
|
int idx_p1, idx_p2;
|
|
|
|
if (pointmap.has(p1)) {
|
|
idx_p1 = pointmap[p1];
|
|
} else {
|
|
idx_p1 = pointmap.size();
|
|
pointmap[p1] = idx_p1;
|
|
}
|
|
|
|
if (pointmap.has(p2)) {
|
|
idx_p2 = pointmap[p2];
|
|
} else {
|
|
idx_p2 = pointmap.size();
|
|
pointmap[p2] = idx_p2;
|
|
}
|
|
|
|
Segment s;
|
|
s.points[0] = idx_p1;
|
|
s.points[1] = idx_p2;
|
|
segments.push_back(s);
|
|
}
|
|
|
|
points.resize(pointmap.size());
|
|
aabb.position = pointmap.front()->key();
|
|
for (Map<Point2, int>::Element *E = pointmap.front(); E; E = E->next()) {
|
|
|
|
aabb.expand_to(E->key());
|
|
points.write[E->get()] = E->key();
|
|
}
|
|
|
|
Vector<BVH> main_vbh;
|
|
main_vbh.resize(segments.size());
|
|
for (int i = 0; i < main_vbh.size(); i++) {
|
|
|
|
main_vbh.write[i].aabb.position = points[segments[i].points[0]];
|
|
main_vbh.write[i].aabb.expand_to(points[segments[i].points[1]]);
|
|
main_vbh.write[i].left = -1;
|
|
main_vbh.write[i].right = i;
|
|
}
|
|
|
|
_generate_bvh(main_vbh.ptrw(), main_vbh.size(), 1);
|
|
|
|
} else {
|
|
//dictionary with arrays
|
|
}
|
|
|
|
configure(aabb);
|
|
}
|
|
Variant ConcavePolygonShape2DSW::get_data() const {
|
|
|
|
PoolVector<Vector2> rsegments;
|
|
int len = segments.size();
|
|
rsegments.resize(len * 2);
|
|
PoolVector<Vector2>::Write w = rsegments.write();
|
|
for (int i = 0; i < len; i++) {
|
|
|
|
w[(i << 1) + 0] = points[segments[i].points[0]];
|
|
w[(i << 1) + 1] = points[segments[i].points[1]];
|
|
}
|
|
|
|
w = PoolVector<Vector2>::Write();
|
|
|
|
return rsegments;
|
|
}
|
|
|
|
void ConcavePolygonShape2DSW::cull(const Rect2 &p_local_aabb, Callback p_callback, void *p_userdata) const {
|
|
|
|
uint32_t *stack = (uint32_t *)alloca(sizeof(int) * bvh_depth);
|
|
|
|
enum {
|
|
TEST_AABB_BIT = 0,
|
|
VISIT_LEFT_BIT = 1,
|
|
VISIT_RIGHT_BIT = 2,
|
|
VISIT_DONE_BIT = 3,
|
|
VISITED_BIT_SHIFT = 29,
|
|
NODE_IDX_MASK = (1 << VISITED_BIT_SHIFT) - 1,
|
|
VISITED_BIT_MASK = ~NODE_IDX_MASK,
|
|
|
|
};
|
|
|
|
/*
|
|
for(int i=0;i<bvh_depth;i++)
|
|
stack[i]=0;
|
|
*/
|
|
|
|
if (segments.size() == 0 || points.size() == 0 || bvh.size() == 0) {
|
|
return;
|
|
}
|
|
|
|
int level = 0;
|
|
|
|
const Segment *segmentptr = &segments[0];
|
|
const Vector2 *pointptr = &points[0];
|
|
const BVH *bvhptr = &bvh[0];
|
|
|
|
stack[0] = 0;
|
|
while (true) {
|
|
|
|
uint32_t node = stack[level] & NODE_IDX_MASK;
|
|
const BVH &bvh = bvhptr[node];
|
|
|
|
switch (stack[level] >> VISITED_BIT_SHIFT) {
|
|
case TEST_AABB_BIT: {
|
|
|
|
bool valid = p_local_aabb.intersects(bvh.aabb);
|
|
if (!valid) {
|
|
|
|
stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
|
|
|
|
} else {
|
|
|
|
if (bvh.left < 0) {
|
|
|
|
const Segment &s = segmentptr[bvh.right];
|
|
Vector2 a = pointptr[s.points[0]];
|
|
Vector2 b = pointptr[s.points[1]];
|
|
|
|
SegmentShape2DSW ss(a, b, (b - a).tangent().normalized());
|
|
|
|
p_callback(p_userdata, &ss);
|
|
stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
|
|
|
|
} else {
|
|
|
|
stack[level] = (VISIT_LEFT_BIT << VISITED_BIT_SHIFT) | node;
|
|
}
|
|
}
|
|
}
|
|
continue;
|
|
case VISIT_LEFT_BIT: {
|
|
|
|
stack[level] = (VISIT_RIGHT_BIT << VISITED_BIT_SHIFT) | node;
|
|
stack[level + 1] = bvh.left | TEST_AABB_BIT;
|
|
level++;
|
|
}
|
|
continue;
|
|
case VISIT_RIGHT_BIT: {
|
|
|
|
stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
|
|
stack[level + 1] = bvh.right | TEST_AABB_BIT;
|
|
level++;
|
|
}
|
|
continue;
|
|
case VISIT_DONE_BIT: {
|
|
|
|
if (level == 0)
|
|
return;
|
|
else
|
|
level--;
|
|
}
|
|
continue;
|
|
}
|
|
}
|
|
}
|