1591 lines
48 KiB
C++
1591 lines
48 KiB
C++
/*************************************************************************/
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/* collision_solver_3d_sat.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) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 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 "collision_solver_3d_sat.h"
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#include "core/math/geometry.h"
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#define _EDGE_IS_VALID_SUPPORT_THRESHOLD 0.02
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struct _CollectorCallback {
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CollisionSolver3DSW::CallbackResult callback;
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void *userdata;
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bool swap;
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bool collided;
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Vector3 normal;
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Vector3 *prev_axis;
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_FORCE_INLINE_ void call(const Vector3 &p_point_A, const Vector3 &p_point_B) {
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if (swap)
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callback(p_point_B, p_point_A, userdata);
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else
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callback(p_point_A, p_point_B, userdata);
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}
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};
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typedef void (*GenerateContactsFunc)(const Vector3 *, int, const Vector3 *, int, _CollectorCallback *);
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static void _generate_contacts_point_point(const Vector3 *p_points_A, int p_point_count_A, const Vector3 *p_points_B, int p_point_count_B, _CollectorCallback *p_callback) {
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#ifdef DEBUG_ENABLED
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ERR_FAIL_COND(p_point_count_A != 1);
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ERR_FAIL_COND(p_point_count_B != 1);
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#endif
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p_callback->call(*p_points_A, *p_points_B);
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}
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static void _generate_contacts_point_edge(const Vector3 *p_points_A, int p_point_count_A, const Vector3 *p_points_B, int p_point_count_B, _CollectorCallback *p_callback) {
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#ifdef DEBUG_ENABLED
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ERR_FAIL_COND(p_point_count_A != 1);
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ERR_FAIL_COND(p_point_count_B != 2);
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#endif
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Vector3 closest_B = Geometry::get_closest_point_to_segment_uncapped(*p_points_A, p_points_B);
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p_callback->call(*p_points_A, closest_B);
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}
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static void _generate_contacts_point_face(const Vector3 *p_points_A, int p_point_count_A, const Vector3 *p_points_B, int p_point_count_B, _CollectorCallback *p_callback) {
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#ifdef DEBUG_ENABLED
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ERR_FAIL_COND(p_point_count_A != 1);
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ERR_FAIL_COND(p_point_count_B < 3);
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#endif
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Vector3 closest_B = Plane(p_points_B[0], p_points_B[1], p_points_B[2]).project(*p_points_A);
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p_callback->call(*p_points_A, closest_B);
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}
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static void _generate_contacts_edge_edge(const Vector3 *p_points_A, int p_point_count_A, const Vector3 *p_points_B, int p_point_count_B, _CollectorCallback *p_callback) {
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#ifdef DEBUG_ENABLED
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ERR_FAIL_COND(p_point_count_A != 2);
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ERR_FAIL_COND(p_point_count_B != 2); // circle is actually a 4x3 matrix
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#endif
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Vector3 rel_A = p_points_A[1] - p_points_A[0];
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Vector3 rel_B = p_points_B[1] - p_points_B[0];
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Vector3 c = rel_A.cross(rel_B).cross(rel_B);
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if (Math::is_zero_approx(rel_A.dot(c))) {
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// should handle somehow..
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//ERR_PRINT("TODO FIX");
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//return;
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Vector3 axis = rel_A.normalized(); //make an axis
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Vector3 base_A = p_points_A[0] - axis * axis.dot(p_points_A[0]);
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Vector3 base_B = p_points_B[0] - axis * axis.dot(p_points_B[0]);
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//sort all 4 points in axis
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real_t dvec[4] = { axis.dot(p_points_A[0]), axis.dot(p_points_A[1]), axis.dot(p_points_B[0]), axis.dot(p_points_B[1]) };
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SortArray<real_t> sa;
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sa.sort(dvec, 4);
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//use the middle ones as contacts
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p_callback->call(base_A + axis * dvec[1], base_B + axis * dvec[1]);
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p_callback->call(base_A + axis * dvec[2], base_B + axis * dvec[2]);
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return;
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}
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real_t d = (c.dot(p_points_B[0]) - p_points_A[0].dot(c)) / rel_A.dot(c);
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if (d < 0.0)
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d = 0.0;
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else if (d > 1.0)
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d = 1.0;
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Vector3 closest_A = p_points_A[0] + rel_A * d;
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Vector3 closest_B = Geometry::get_closest_point_to_segment_uncapped(closest_A, p_points_B);
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p_callback->call(closest_A, closest_B);
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}
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static void _generate_contacts_face_face(const Vector3 *p_points_A, int p_point_count_A, const Vector3 *p_points_B, int p_point_count_B, _CollectorCallback *p_callback) {
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#ifdef DEBUG_ENABLED
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ERR_FAIL_COND(p_point_count_A < 2);
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ERR_FAIL_COND(p_point_count_B < 3);
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#endif
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static const int max_clip = 32;
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Vector3 _clipbuf1[max_clip];
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Vector3 _clipbuf2[max_clip];
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Vector3 *clipbuf_src = _clipbuf1;
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Vector3 *clipbuf_dst = _clipbuf2;
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int clipbuf_len = p_point_count_A;
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// copy A points to clipbuf_src
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for (int i = 0; i < p_point_count_A; i++) {
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clipbuf_src[i] = p_points_A[i];
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}
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Plane plane_B(p_points_B[0], p_points_B[1], p_points_B[2]);
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// go through all of B points
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for (int i = 0; i < p_point_count_B; i++) {
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int i_n = (i + 1) % p_point_count_B;
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Vector3 edge0_B = p_points_B[i];
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Vector3 edge1_B = p_points_B[i_n];
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Vector3 clip_normal = (edge0_B - edge1_B).cross(plane_B.normal).normalized();
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// make a clip plane
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Plane clip(edge0_B, clip_normal);
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// avoid double clip if A is edge
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int dst_idx = 0;
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bool edge = clipbuf_len == 2;
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for (int j = 0; j < clipbuf_len; j++) {
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int j_n = (j + 1) % clipbuf_len;
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Vector3 edge0_A = clipbuf_src[j];
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Vector3 edge1_A = clipbuf_src[j_n];
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real_t dist0 = clip.distance_to(edge0_A);
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real_t dist1 = clip.distance_to(edge1_A);
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if (dist0 <= 0) { // behind plane
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ERR_FAIL_COND(dst_idx >= max_clip);
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clipbuf_dst[dst_idx++] = clipbuf_src[j];
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}
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// check for different sides and non coplanar
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//if ( (dist0*dist1) < -CMP_EPSILON && !(edge && j)) {
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if ((dist0 * dist1) < 0 && !(edge && j)) {
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// calculate intersection
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Vector3 rel = edge1_A - edge0_A;
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real_t den = clip.normal.dot(rel);
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real_t dist = -(clip.normal.dot(edge0_A) - clip.d) / den;
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Vector3 inters = edge0_A + rel * dist;
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ERR_FAIL_COND(dst_idx >= max_clip);
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clipbuf_dst[dst_idx] = inters;
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dst_idx++;
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}
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}
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clipbuf_len = dst_idx;
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SWAP(clipbuf_src, clipbuf_dst);
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}
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// generate contacts
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//Plane plane_A(p_points_A[0],p_points_A[1],p_points_A[2]);
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for (int i = 0; i < clipbuf_len; i++) {
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real_t d = plane_B.distance_to(clipbuf_src[i]);
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/*
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if (d>CMP_EPSILON)
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continue;
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*/
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Vector3 closest_B = clipbuf_src[i] - plane_B.normal * d;
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if (p_callback->normal.dot(clipbuf_src[i]) >= p_callback->normal.dot(closest_B))
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continue;
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p_callback->call(clipbuf_src[i], closest_B);
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}
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}
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static void _generate_contacts_from_supports(const Vector3 *p_points_A, int p_point_count_A, const Vector3 *p_points_B, int p_point_count_B, _CollectorCallback *p_callback) {
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#ifdef DEBUG_ENABLED
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ERR_FAIL_COND(p_point_count_A < 1);
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ERR_FAIL_COND(p_point_count_B < 1);
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#endif
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static const GenerateContactsFunc generate_contacts_func_table[3][3] = {
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{
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_generate_contacts_point_point,
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_generate_contacts_point_edge,
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_generate_contacts_point_face,
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},
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{
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nullptr,
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_generate_contacts_edge_edge,
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_generate_contacts_face_face,
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},
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{
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nullptr,
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nullptr,
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_generate_contacts_face_face,
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}
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};
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int pointcount_B;
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int pointcount_A;
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const Vector3 *points_A;
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const Vector3 *points_B;
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if (p_point_count_A > p_point_count_B) {
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//swap
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p_callback->swap = !p_callback->swap;
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p_callback->normal = -p_callback->normal;
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pointcount_B = p_point_count_A;
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pointcount_A = p_point_count_B;
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points_A = p_points_B;
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points_B = p_points_A;
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} else {
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pointcount_B = p_point_count_B;
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pointcount_A = p_point_count_A;
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points_A = p_points_A;
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points_B = p_points_B;
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}
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int version_A = (pointcount_A > 3 ? 3 : pointcount_A) - 1;
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int version_B = (pointcount_B > 3 ? 3 : pointcount_B) - 1;
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GenerateContactsFunc contacts_func = generate_contacts_func_table[version_A][version_B];
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ERR_FAIL_COND(!contacts_func);
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contacts_func(points_A, pointcount_A, points_B, pointcount_B, p_callback);
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}
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template <class ShapeA, class ShapeB, bool withMargin = false>
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class SeparatorAxisTest {
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const ShapeA *shape_A;
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const ShapeB *shape_B;
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const Transform *transform_A;
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const Transform *transform_B;
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real_t best_depth;
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Vector3 best_axis;
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_CollectorCallback *callback;
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real_t margin_A;
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real_t margin_B;
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Vector3 separator_axis;
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public:
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_FORCE_INLINE_ bool test_previous_axis() {
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if (callback && callback->prev_axis && *callback->prev_axis != Vector3())
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return test_axis(*callback->prev_axis);
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else
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return true;
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}
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_FORCE_INLINE_ bool test_axis(const Vector3 &p_axis) {
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Vector3 axis = p_axis;
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if (Math::abs(axis.x) < CMP_EPSILON &&
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Math::abs(axis.y) < CMP_EPSILON &&
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Math::abs(axis.z) < CMP_EPSILON) {
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// strange case, try an upwards separator
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axis = Vector3(0.0, 1.0, 0.0);
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}
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real_t min_A, max_A, min_B, max_B;
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shape_A->project_range(axis, *transform_A, min_A, max_A);
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shape_B->project_range(axis, *transform_B, min_B, max_B);
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if (withMargin) {
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min_A -= margin_A;
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max_A += margin_A;
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min_B -= margin_B;
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max_B += margin_B;
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}
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min_B -= (max_A - min_A) * 0.5;
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max_B += (max_A - min_A) * 0.5;
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min_B -= (min_A + max_A) * 0.5;
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max_B -= (min_A + max_A) * 0.5;
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if (min_B > 0.0 || max_B < 0.0) {
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separator_axis = axis;
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return false; // doesn't contain 0
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}
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//use the smallest depth
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if (min_B < 0.0) { // could be +0.0, we don't want it to become -0.0
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min_B = -min_B;
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}
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if (max_B < min_B) {
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if (max_B < best_depth) {
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best_depth = max_B;
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best_axis = axis;
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}
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} else {
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if (min_B < best_depth) {
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best_depth = min_B;
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best_axis = -axis; // keep it as A axis
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}
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}
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return true;
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}
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_FORCE_INLINE_ void generate_contacts() {
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// nothing to do, don't generate
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if (best_axis == Vector3(0.0, 0.0, 0.0))
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return;
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if (!callback->callback) {
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//just was checking intersection?
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callback->collided = true;
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if (callback->prev_axis)
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*callback->prev_axis = best_axis;
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return;
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}
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static const int max_supports = 16;
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Vector3 supports_A[max_supports];
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int support_count_A;
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shape_A->get_supports(transform_A->basis.xform_inv(-best_axis).normalized(), max_supports, supports_A, support_count_A);
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for (int i = 0; i < support_count_A; i++) {
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supports_A[i] = transform_A->xform(supports_A[i]);
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}
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if (withMargin) {
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for (int i = 0; i < support_count_A; i++) {
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supports_A[i] += -best_axis * margin_A;
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}
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}
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Vector3 supports_B[max_supports];
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int support_count_B;
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shape_B->get_supports(transform_B->basis.xform_inv(best_axis).normalized(), max_supports, supports_B, support_count_B);
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for (int i = 0; i < support_count_B; i++) {
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supports_B[i] = transform_B->xform(supports_B[i]);
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}
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if (withMargin) {
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for (int i = 0; i < support_count_B; i++) {
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supports_B[i] += best_axis * margin_B;
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}
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}
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callback->normal = best_axis;
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if (callback->prev_axis)
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*callback->prev_axis = best_axis;
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_generate_contacts_from_supports(supports_A, support_count_A, supports_B, support_count_B, callback);
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callback->collided = true;
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}
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_FORCE_INLINE_ SeparatorAxisTest(const ShapeA *p_shape_A, const Transform &p_transform_A, const ShapeB *p_shape_B, const Transform &p_transform_B, _CollectorCallback *p_callback, real_t p_margin_A = 0, real_t p_margin_B = 0) {
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best_depth = 1e15;
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shape_A = p_shape_A;
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shape_B = p_shape_B;
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transform_A = &p_transform_A;
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transform_B = &p_transform_B;
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callback = p_callback;
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margin_A = p_margin_A;
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margin_B = p_margin_B;
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}
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};
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/****** SAT TESTS *******/
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typedef void (*CollisionFunc)(const Shape3DSW *, const Transform &, const Shape3DSW *, const Transform &, _CollectorCallback *p_callback, real_t, real_t);
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template <bool withMargin>
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static void _collision_sphere_sphere(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
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const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
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const SphereShape3DSW *sphere_B = static_cast<const SphereShape3DSW *>(p_b);
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SeparatorAxisTest<SphereShape3DSW, SphereShape3DSW, withMargin> separator(sphere_A, p_transform_a, sphere_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
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// previous axis
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if (!separator.test_previous_axis())
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return;
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if (!separator.test_axis((p_transform_a.origin - p_transform_b.origin).normalized()))
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return;
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separator.generate_contacts();
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}
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template <bool withMargin>
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static void _collision_sphere_box(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
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const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
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const BoxShape3DSW *box_B = static_cast<const BoxShape3DSW *>(p_b);
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SeparatorAxisTest<SphereShape3DSW, BoxShape3DSW, withMargin> separator(sphere_A, p_transform_a, box_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
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if (!separator.test_previous_axis())
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return;
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// test faces
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for (int i = 0; i < 3; i++) {
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Vector3 axis = p_transform_b.basis.get_axis(i).normalized();
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|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
// calculate closest point to sphere
|
|
|
|
Vector3 cnormal = p_transform_b.xform_inv(p_transform_a.origin);
|
|
|
|
Vector3 cpoint = p_transform_b.xform(Vector3(
|
|
|
|
(cnormal.x < 0) ? -box_B->get_half_extents().x : box_B->get_half_extents().x,
|
|
(cnormal.y < 0) ? -box_B->get_half_extents().y : box_B->get_half_extents().y,
|
|
(cnormal.z < 0) ? -box_B->get_half_extents().z : box_B->get_half_extents().z));
|
|
|
|
// use point to test axis
|
|
Vector3 point_axis = (p_transform_a.origin - cpoint).normalized();
|
|
|
|
if (!separator.test_axis(point_axis))
|
|
return;
|
|
|
|
// test edges
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
Vector3 axis = point_axis.cross(p_transform_b.basis.get_axis(i)).cross(p_transform_b.basis.get_axis(i)).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
|
|
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
|
|
const CapsuleShape3DSW *capsule_B = static_cast<const CapsuleShape3DSW *>(p_b);
|
|
|
|
SeparatorAxisTest<SphereShape3DSW, CapsuleShape3DSW, withMargin> separator(sphere_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
//capsule sphere 1, sphere
|
|
|
|
Vector3 capsule_axis = p_transform_b.basis.get_axis(2) * (capsule_B->get_height() * 0.5);
|
|
|
|
Vector3 capsule_ball_1 = p_transform_b.origin + capsule_axis;
|
|
|
|
if (!separator.test_axis((capsule_ball_1 - p_transform_a.origin).normalized()))
|
|
return;
|
|
|
|
//capsule sphere 2, sphere
|
|
|
|
Vector3 capsule_ball_2 = p_transform_b.origin - capsule_axis;
|
|
|
|
if (!separator.test_axis((capsule_ball_2 - p_transform_a.origin).normalized()))
|
|
return;
|
|
|
|
//capsule edge, sphere
|
|
|
|
Vector3 b2a = p_transform_a.origin - p_transform_b.origin;
|
|
|
|
Vector3 axis = b2a.cross(capsule_axis).cross(capsule_axis).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_sphere_cylinder(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_sphere_convex_polygon(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
|
|
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
|
|
const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
|
|
|
|
SeparatorAxisTest<SphereShape3DSW, ConvexPolygonShape3DSW, withMargin> separator(sphere_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
const Geometry::MeshData &mesh = convex_polygon_B->get_mesh();
|
|
|
|
const Geometry::MeshData::Face *faces = mesh.faces.ptr();
|
|
int face_count = mesh.faces.size();
|
|
const Geometry::MeshData::Edge *edges = mesh.edges.ptr();
|
|
int edge_count = mesh.edges.size();
|
|
const Vector3 *vertices = mesh.vertices.ptr();
|
|
int vertex_count = mesh.vertices.size();
|
|
|
|
// faces of B
|
|
for (int i = 0; i < face_count; i++) {
|
|
|
|
Vector3 axis = p_transform_b.xform(faces[i].plane).normal;
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
// edges of B
|
|
for (int i = 0; i < edge_count; i++) {
|
|
|
|
Vector3 v1 = p_transform_b.xform(vertices[edges[i].a]);
|
|
Vector3 v2 = p_transform_b.xform(vertices[edges[i].b]);
|
|
Vector3 v3 = p_transform_a.origin;
|
|
|
|
Vector3 n1 = v2 - v1;
|
|
Vector3 n2 = v2 - v3;
|
|
|
|
Vector3 axis = n1.cross(n2).cross(n1).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
// vertices of B
|
|
for (int i = 0; i < vertex_count; i++) {
|
|
|
|
Vector3 v1 = p_transform_b.xform(vertices[i]);
|
|
Vector3 v2 = p_transform_a.origin;
|
|
|
|
Vector3 axis = (v2 - v1).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_sphere_face(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
|
|
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
|
|
const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
|
|
|
|
SeparatorAxisTest<SphereShape3DSW, FaceShape3DSW, withMargin> separator(sphere_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
|
|
|
|
Vector3 vertex[3] = {
|
|
p_transform_b.xform(face_B->vertex[0]),
|
|
p_transform_b.xform(face_B->vertex[1]),
|
|
p_transform_b.xform(face_B->vertex[2]),
|
|
};
|
|
|
|
if (!separator.test_axis((vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized()))
|
|
return;
|
|
|
|
// edges and points of B
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
Vector3 n1 = vertex[i] - p_transform_a.origin;
|
|
|
|
if (!separator.test_axis(n1.normalized())) {
|
|
return;
|
|
}
|
|
|
|
Vector3 n2 = vertex[(i + 1) % 3] - vertex[i];
|
|
|
|
Vector3 axis = n1.cross(n2).cross(n2).normalized();
|
|
|
|
if (!separator.test_axis(axis)) {
|
|
return;
|
|
}
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_box_box(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
|
|
const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
|
|
const BoxShape3DSW *box_B = static_cast<const BoxShape3DSW *>(p_b);
|
|
|
|
SeparatorAxisTest<BoxShape3DSW, BoxShape3DSW, withMargin> separator(box_A, p_transform_a, box_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
// test faces of A
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
Vector3 axis = p_transform_a.basis.get_axis(i).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
// test faces of B
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
Vector3 axis = p_transform_b.basis.get_axis(i).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
// test combined edges
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
for (int j = 0; j < 3; j++) {
|
|
|
|
Vector3 axis = p_transform_a.basis.get_axis(i).cross(p_transform_b.basis.get_axis(j));
|
|
|
|
if (Math::is_zero_approx(axis.length_squared()))
|
|
continue;
|
|
axis.normalize();
|
|
|
|
if (!separator.test_axis(axis)) {
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (withMargin) {
|
|
//add endpoint test between closest vertices and edges
|
|
|
|
// calculate closest point to sphere
|
|
|
|
Vector3 ab_vec = p_transform_b.origin - p_transform_a.origin;
|
|
|
|
Vector3 cnormal_a = p_transform_a.basis.xform_inv(ab_vec);
|
|
|
|
Vector3 support_a = p_transform_a.xform(Vector3(
|
|
|
|
(cnormal_a.x < 0) ? -box_A->get_half_extents().x : box_A->get_half_extents().x,
|
|
(cnormal_a.y < 0) ? -box_A->get_half_extents().y : box_A->get_half_extents().y,
|
|
(cnormal_a.z < 0) ? -box_A->get_half_extents().z : box_A->get_half_extents().z));
|
|
|
|
Vector3 cnormal_b = p_transform_b.basis.xform_inv(-ab_vec);
|
|
|
|
Vector3 support_b = p_transform_b.xform(Vector3(
|
|
|
|
(cnormal_b.x < 0) ? -box_B->get_half_extents().x : box_B->get_half_extents().x,
|
|
(cnormal_b.y < 0) ? -box_B->get_half_extents().y : box_B->get_half_extents().y,
|
|
(cnormal_b.z < 0) ? -box_B->get_half_extents().z : box_B->get_half_extents().z));
|
|
|
|
Vector3 axis_ab = (support_a - support_b);
|
|
|
|
if (!separator.test_axis(axis_ab.normalized())) {
|
|
return;
|
|
}
|
|
|
|
//now try edges, which become cylinders!
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
//a ->b
|
|
Vector3 axis_a = p_transform_a.basis.get_axis(i);
|
|
|
|
if (!separator.test_axis(axis_ab.cross(axis_a).cross(axis_a).normalized()))
|
|
return;
|
|
|
|
//b ->a
|
|
Vector3 axis_b = p_transform_b.basis.get_axis(i);
|
|
|
|
if (!separator.test_axis(axis_ab.cross(axis_b).cross(axis_b).normalized()))
|
|
return;
|
|
}
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_box_capsule(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
|
|
const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
|
|
const CapsuleShape3DSW *capsule_B = static_cast<const CapsuleShape3DSW *>(p_b);
|
|
|
|
SeparatorAxisTest<BoxShape3DSW, CapsuleShape3DSW, withMargin> separator(box_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
// faces of A
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
Vector3 axis = p_transform_a.basis.get_axis(i);
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
Vector3 cyl_axis = p_transform_b.basis.get_axis(2).normalized();
|
|
|
|
// edges of A, capsule cylinder
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
// cylinder
|
|
Vector3 box_axis = p_transform_a.basis.get_axis(i);
|
|
Vector3 axis = box_axis.cross(cyl_axis);
|
|
if (Math::is_zero_approx(axis.length_squared()))
|
|
continue;
|
|
|
|
if (!separator.test_axis(axis.normalized()))
|
|
return;
|
|
}
|
|
|
|
// points of A, capsule cylinder
|
|
// this sure could be made faster somehow..
|
|
|
|
for (int i = 0; i < 2; i++) {
|
|
for (int j = 0; j < 2; j++) {
|
|
for (int k = 0; k < 2; k++) {
|
|
Vector3 he = box_A->get_half_extents();
|
|
he.x *= (i * 2 - 1);
|
|
he.y *= (j * 2 - 1);
|
|
he.z *= (k * 2 - 1);
|
|
Vector3 point = p_transform_a.origin;
|
|
for (int l = 0; l < 3; l++)
|
|
point += p_transform_a.basis.get_axis(l) * he[l];
|
|
|
|
//Vector3 axis = (point - cyl_axis * cyl_axis.dot(point)).normalized();
|
|
Vector3 axis = Plane(cyl_axis, 0).project(point).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
// capsule balls, edges of A
|
|
|
|
for (int i = 0; i < 2; i++) {
|
|
|
|
Vector3 capsule_axis = p_transform_b.basis.get_axis(2) * (capsule_B->get_height() * 0.5);
|
|
|
|
Vector3 sphere_pos = p_transform_b.origin + ((i == 0) ? capsule_axis : -capsule_axis);
|
|
|
|
Vector3 cnormal = p_transform_a.xform_inv(sphere_pos);
|
|
|
|
Vector3 cpoint = p_transform_a.xform(Vector3(
|
|
|
|
(cnormal.x < 0) ? -box_A->get_half_extents().x : box_A->get_half_extents().x,
|
|
(cnormal.y < 0) ? -box_A->get_half_extents().y : box_A->get_half_extents().y,
|
|
(cnormal.z < 0) ? -box_A->get_half_extents().z : box_A->get_half_extents().z));
|
|
|
|
// use point to test axis
|
|
Vector3 point_axis = (sphere_pos - cpoint).normalized();
|
|
|
|
if (!separator.test_axis(point_axis))
|
|
return;
|
|
|
|
// test edges of A
|
|
|
|
for (int j = 0; j < 3; j++) {
|
|
|
|
Vector3 axis = point_axis.cross(p_transform_a.basis.get_axis(j)).cross(p_transform_a.basis.get_axis(j)).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_box_cylinder(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_box_convex_polygon(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
|
|
const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
|
|
const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
|
|
|
|
SeparatorAxisTest<BoxShape3DSW, ConvexPolygonShape3DSW, withMargin> separator(box_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
const Geometry::MeshData &mesh = convex_polygon_B->get_mesh();
|
|
|
|
const Geometry::MeshData::Face *faces = mesh.faces.ptr();
|
|
int face_count = mesh.faces.size();
|
|
const Geometry::MeshData::Edge *edges = mesh.edges.ptr();
|
|
int edge_count = mesh.edges.size();
|
|
const Vector3 *vertices = mesh.vertices.ptr();
|
|
int vertex_count = mesh.vertices.size();
|
|
|
|
// faces of A
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
Vector3 axis = p_transform_a.basis.get_axis(i).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
// faces of B
|
|
for (int i = 0; i < face_count; i++) {
|
|
|
|
Vector3 axis = p_transform_b.xform(faces[i].plane).normal;
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
// A<->B edges
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
Vector3 e1 = p_transform_a.basis.get_axis(i);
|
|
|
|
for (int j = 0; j < edge_count; j++) {
|
|
|
|
Vector3 e2 = p_transform_b.basis.xform(vertices[edges[j].a]) - p_transform_b.basis.xform(vertices[edges[j].b]);
|
|
|
|
Vector3 axis = e1.cross(e2).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
}
|
|
|
|
if (withMargin) {
|
|
|
|
// calculate closest points between vertices and box edges
|
|
for (int v = 0; v < vertex_count; v++) {
|
|
|
|
Vector3 vtxb = p_transform_b.xform(vertices[v]);
|
|
Vector3 ab_vec = vtxb - p_transform_a.origin;
|
|
|
|
Vector3 cnormal_a = p_transform_a.basis.xform_inv(ab_vec);
|
|
|
|
Vector3 support_a = p_transform_a.xform(Vector3(
|
|
|
|
(cnormal_a.x < 0) ? -box_A->get_half_extents().x : box_A->get_half_extents().x,
|
|
(cnormal_a.y < 0) ? -box_A->get_half_extents().y : box_A->get_half_extents().y,
|
|
(cnormal_a.z < 0) ? -box_A->get_half_extents().z : box_A->get_half_extents().z));
|
|
|
|
Vector3 axis_ab = support_a - vtxb;
|
|
|
|
if (!separator.test_axis(axis_ab.normalized())) {
|
|
return;
|
|
}
|
|
|
|
//now try edges, which become cylinders!
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
//a ->b
|
|
Vector3 axis_a = p_transform_a.basis.get_axis(i);
|
|
|
|
if (!separator.test_axis(axis_ab.cross(axis_a).cross(axis_a).normalized()))
|
|
return;
|
|
}
|
|
}
|
|
|
|
//convex edges and box points
|
|
for (int i = 0; i < 2; i++) {
|
|
for (int j = 0; j < 2; j++) {
|
|
for (int k = 0; k < 2; k++) {
|
|
Vector3 he = box_A->get_half_extents();
|
|
he.x *= (i * 2 - 1);
|
|
he.y *= (j * 2 - 1);
|
|
he.z *= (k * 2 - 1);
|
|
Vector3 point = p_transform_a.origin;
|
|
for (int l = 0; l < 3; l++)
|
|
point += p_transform_a.basis.get_axis(l) * he[l];
|
|
|
|
for (int e = 0; e < edge_count; e++) {
|
|
|
|
Vector3 p1 = p_transform_b.xform(vertices[edges[e].a]);
|
|
Vector3 p2 = p_transform_b.xform(vertices[edges[e].b]);
|
|
Vector3 n = (p2 - p1);
|
|
|
|
if (!separator.test_axis((point - p2).cross(n).cross(n).normalized()))
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_box_face(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
|
|
const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
|
|
const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
|
|
|
|
SeparatorAxisTest<BoxShape3DSW, FaceShape3DSW, withMargin> separator(box_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
|
|
|
|
Vector3 vertex[3] = {
|
|
p_transform_b.xform(face_B->vertex[0]),
|
|
p_transform_b.xform(face_B->vertex[1]),
|
|
p_transform_b.xform(face_B->vertex[2]),
|
|
};
|
|
|
|
if (!separator.test_axis((vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized()))
|
|
return;
|
|
|
|
// faces of A
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
Vector3 axis = p_transform_a.basis.get_axis(i).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
// combined edges
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
Vector3 e = vertex[i] - vertex[(i + 1) % 3];
|
|
|
|
for (int j = 0; j < 3; j++) {
|
|
|
|
Vector3 axis = p_transform_a.basis.get_axis(j);
|
|
|
|
if (!separator.test_axis(e.cross(axis).normalized()))
|
|
return;
|
|
}
|
|
}
|
|
|
|
if (withMargin) {
|
|
|
|
// calculate closest points between vertices and box edges
|
|
for (int v = 0; v < 3; v++) {
|
|
|
|
Vector3 ab_vec = vertex[v] - p_transform_a.origin;
|
|
|
|
Vector3 cnormal_a = p_transform_a.basis.xform_inv(ab_vec);
|
|
|
|
Vector3 support_a = p_transform_a.xform(Vector3(
|
|
|
|
(cnormal_a.x < 0) ? -box_A->get_half_extents().x : box_A->get_half_extents().x,
|
|
(cnormal_a.y < 0) ? -box_A->get_half_extents().y : box_A->get_half_extents().y,
|
|
(cnormal_a.z < 0) ? -box_A->get_half_extents().z : box_A->get_half_extents().z));
|
|
|
|
Vector3 axis_ab = support_a - vertex[v];
|
|
|
|
if (!separator.test_axis(axis_ab.normalized())) {
|
|
return;
|
|
}
|
|
|
|
//now try edges, which become cylinders!
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
//a ->b
|
|
Vector3 axis_a = p_transform_a.basis.get_axis(i);
|
|
|
|
if (!separator.test_axis(axis_ab.cross(axis_a).cross(axis_a).normalized()))
|
|
return;
|
|
}
|
|
}
|
|
|
|
//convex edges and box points, there has to be a way to speed up this (get closest point?)
|
|
for (int i = 0; i < 2; i++) {
|
|
for (int j = 0; j < 2; j++) {
|
|
for (int k = 0; k < 2; k++) {
|
|
Vector3 he = box_A->get_half_extents();
|
|
he.x *= (i * 2 - 1);
|
|
he.y *= (j * 2 - 1);
|
|
he.z *= (k * 2 - 1);
|
|
Vector3 point = p_transform_a.origin;
|
|
for (int l = 0; l < 3; l++)
|
|
point += p_transform_a.basis.get_axis(l) * he[l];
|
|
|
|
for (int e = 0; e < 3; e++) {
|
|
|
|
Vector3 p1 = vertex[e];
|
|
Vector3 p2 = vertex[(e + 1) % 3];
|
|
|
|
Vector3 n = (p2 - p1);
|
|
|
|
if (!separator.test_axis((point - p2).cross(n).cross(n).normalized()))
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
|
|
const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
|
|
const CapsuleShape3DSW *capsule_B = static_cast<const CapsuleShape3DSW *>(p_b);
|
|
|
|
SeparatorAxisTest<CapsuleShape3DSW, CapsuleShape3DSW, withMargin> separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
// some values
|
|
|
|
Vector3 capsule_A_axis = p_transform_a.basis.get_axis(2) * (capsule_A->get_height() * 0.5);
|
|
Vector3 capsule_B_axis = p_transform_b.basis.get_axis(2) * (capsule_B->get_height() * 0.5);
|
|
|
|
Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis;
|
|
Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis;
|
|
Vector3 capsule_B_ball_1 = p_transform_b.origin + capsule_B_axis;
|
|
Vector3 capsule_B_ball_2 = p_transform_b.origin - capsule_B_axis;
|
|
|
|
//balls-balls
|
|
|
|
if (!separator.test_axis((capsule_A_ball_1 - capsule_B_ball_1).normalized()))
|
|
return;
|
|
if (!separator.test_axis((capsule_A_ball_1 - capsule_B_ball_2).normalized()))
|
|
return;
|
|
|
|
if (!separator.test_axis((capsule_A_ball_2 - capsule_B_ball_1).normalized()))
|
|
return;
|
|
if (!separator.test_axis((capsule_A_ball_2 - capsule_B_ball_2).normalized()))
|
|
return;
|
|
|
|
// edges-balls
|
|
|
|
if (!separator.test_axis((capsule_A_ball_1 - capsule_B_ball_1).cross(capsule_A_axis).cross(capsule_A_axis).normalized()))
|
|
return;
|
|
|
|
if (!separator.test_axis((capsule_A_ball_1 - capsule_B_ball_2).cross(capsule_A_axis).cross(capsule_A_axis).normalized()))
|
|
return;
|
|
|
|
if (!separator.test_axis((capsule_B_ball_1 - capsule_A_ball_1).cross(capsule_B_axis).cross(capsule_B_axis).normalized()))
|
|
return;
|
|
|
|
if (!separator.test_axis((capsule_B_ball_1 - capsule_A_ball_2).cross(capsule_B_axis).cross(capsule_B_axis).normalized()))
|
|
return;
|
|
|
|
// edges
|
|
|
|
if (!separator.test_axis(capsule_A_axis.cross(capsule_B_axis).normalized()))
|
|
return;
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
|
|
const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
|
|
const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
|
|
|
|
SeparatorAxisTest<CapsuleShape3DSW, ConvexPolygonShape3DSW, withMargin> separator(capsule_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
const Geometry::MeshData &mesh = convex_polygon_B->get_mesh();
|
|
|
|
const Geometry::MeshData::Face *faces = mesh.faces.ptr();
|
|
int face_count = mesh.faces.size();
|
|
const Geometry::MeshData::Edge *edges = mesh.edges.ptr();
|
|
int edge_count = mesh.edges.size();
|
|
const Vector3 *vertices = mesh.vertices.ptr();
|
|
|
|
// faces of B
|
|
for (int i = 0; i < face_count; i++) {
|
|
|
|
Vector3 axis = p_transform_b.xform(faces[i].plane).normal;
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
// edges of B, capsule cylinder
|
|
|
|
for (int i = 0; i < edge_count; i++) {
|
|
|
|
// cylinder
|
|
Vector3 edge_axis = p_transform_b.basis.xform(vertices[edges[i].a]) - p_transform_b.basis.xform(vertices[edges[i].b]);
|
|
Vector3 axis = edge_axis.cross(p_transform_a.basis.get_axis(2)).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
// capsule balls, edges of B
|
|
|
|
for (int i = 0; i < 2; i++) {
|
|
|
|
// edges of B, capsule cylinder
|
|
|
|
Vector3 capsule_axis = p_transform_a.basis.get_axis(2) * (capsule_A->get_height() * 0.5);
|
|
|
|
Vector3 sphere_pos = p_transform_a.origin + ((i == 0) ? capsule_axis : -capsule_axis);
|
|
|
|
for (int j = 0; j < edge_count; j++) {
|
|
|
|
Vector3 n1 = sphere_pos - p_transform_b.xform(vertices[edges[j].a]);
|
|
Vector3 n2 = p_transform_b.basis.xform(vertices[edges[j].a]) - p_transform_b.basis.xform(vertices[edges[j].b]);
|
|
|
|
Vector3 axis = n1.cross(n2).cross(n2).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_capsule_face(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
|
|
const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
|
|
const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
|
|
|
|
SeparatorAxisTest<CapsuleShape3DSW, FaceShape3DSW, withMargin> separator(capsule_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
|
|
|
|
Vector3 vertex[3] = {
|
|
p_transform_b.xform(face_B->vertex[0]),
|
|
p_transform_b.xform(face_B->vertex[1]),
|
|
p_transform_b.xform(face_B->vertex[2]),
|
|
};
|
|
|
|
if (!separator.test_axis((vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized()))
|
|
return;
|
|
|
|
// edges of B, capsule cylinder
|
|
|
|
Vector3 capsule_axis = p_transform_a.basis.get_axis(2) * (capsule_A->get_height() * 0.5);
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
// edge-cylinder
|
|
Vector3 edge_axis = vertex[i] - vertex[(i + 1) % 3];
|
|
Vector3 axis = edge_axis.cross(capsule_axis).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
|
|
if (!separator.test_axis((p_transform_a.origin - vertex[i]).cross(capsule_axis).cross(capsule_axis).normalized()))
|
|
return;
|
|
|
|
for (int j = 0; j < 2; j++) {
|
|
|
|
// point-spheres
|
|
Vector3 sphere_pos = p_transform_a.origin + ((j == 0) ? capsule_axis : -capsule_axis);
|
|
|
|
Vector3 n1 = sphere_pos - vertex[i];
|
|
|
|
if (!separator.test_axis(n1.normalized()))
|
|
return;
|
|
|
|
Vector3 n2 = edge_axis;
|
|
|
|
axis = n1.cross(n2).cross(n2);
|
|
|
|
if (!separator.test_axis(axis.normalized()))
|
|
return;
|
|
}
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_cylinder_convex_polygon(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_cylinder_face(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_convex_polygon_convex_polygon(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
|
|
const ConvexPolygonShape3DSW *convex_polygon_A = static_cast<const ConvexPolygonShape3DSW *>(p_a);
|
|
const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
|
|
|
|
SeparatorAxisTest<ConvexPolygonShape3DSW, ConvexPolygonShape3DSW, withMargin> separator(convex_polygon_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
const Geometry::MeshData &mesh_A = convex_polygon_A->get_mesh();
|
|
|
|
const Geometry::MeshData::Face *faces_A = mesh_A.faces.ptr();
|
|
int face_count_A = mesh_A.faces.size();
|
|
const Geometry::MeshData::Edge *edges_A = mesh_A.edges.ptr();
|
|
int edge_count_A = mesh_A.edges.size();
|
|
const Vector3 *vertices_A = mesh_A.vertices.ptr();
|
|
int vertex_count_A = mesh_A.vertices.size();
|
|
|
|
const Geometry::MeshData &mesh_B = convex_polygon_B->get_mesh();
|
|
|
|
const Geometry::MeshData::Face *faces_B = mesh_B.faces.ptr();
|
|
int face_count_B = mesh_B.faces.size();
|
|
const Geometry::MeshData::Edge *edges_B = mesh_B.edges.ptr();
|
|
int edge_count_B = mesh_B.edges.size();
|
|
const Vector3 *vertices_B = mesh_B.vertices.ptr();
|
|
int vertex_count_B = mesh_B.vertices.size();
|
|
|
|
// faces of A
|
|
for (int i = 0; i < face_count_A; i++) {
|
|
|
|
Vector3 axis = p_transform_a.xform(faces_A[i].plane).normal;
|
|
//Vector3 axis = p_transform_a.basis.xform( faces_A[i].plane.normal ).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
// faces of B
|
|
for (int i = 0; i < face_count_B; i++) {
|
|
|
|
Vector3 axis = p_transform_b.xform(faces_B[i].plane).normal;
|
|
//Vector3 axis = p_transform_b.basis.xform( faces_B[i].plane.normal ).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
|
|
// A<->B edges
|
|
for (int i = 0; i < edge_count_A; i++) {
|
|
|
|
Vector3 e1 = p_transform_a.basis.xform(vertices_A[edges_A[i].a]) - p_transform_a.basis.xform(vertices_A[edges_A[i].b]);
|
|
|
|
for (int j = 0; j < edge_count_B; j++) {
|
|
|
|
Vector3 e2 = p_transform_b.basis.xform(vertices_B[edges_B[j].a]) - p_transform_b.basis.xform(vertices_B[edges_B[j].b]);
|
|
|
|
Vector3 axis = e1.cross(e2).normalized();
|
|
|
|
if (!separator.test_axis(axis))
|
|
return;
|
|
}
|
|
}
|
|
|
|
if (withMargin) {
|
|
|
|
//vertex-vertex
|
|
for (int i = 0; i < vertex_count_A; i++) {
|
|
|
|
Vector3 va = p_transform_a.xform(vertices_A[i]);
|
|
|
|
for (int j = 0; j < vertex_count_B; j++) {
|
|
|
|
if (!separator.test_axis((va - p_transform_b.xform(vertices_B[j])).normalized()))
|
|
return;
|
|
}
|
|
}
|
|
//edge-vertex (shell)
|
|
|
|
for (int i = 0; i < edge_count_A; i++) {
|
|
|
|
Vector3 e1 = p_transform_a.basis.xform(vertices_A[edges_A[i].a]);
|
|
Vector3 e2 = p_transform_a.basis.xform(vertices_A[edges_A[i].b]);
|
|
Vector3 n = (e2 - e1);
|
|
|
|
for (int j = 0; j < vertex_count_B; j++) {
|
|
|
|
Vector3 e3 = p_transform_b.xform(vertices_B[j]);
|
|
|
|
if (!separator.test_axis((e1 - e3).cross(n).cross(n).normalized()))
|
|
return;
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < edge_count_B; i++) {
|
|
|
|
Vector3 e1 = p_transform_b.basis.xform(vertices_B[edges_B[i].a]);
|
|
Vector3 e2 = p_transform_b.basis.xform(vertices_B[edges_B[i].b]);
|
|
Vector3 n = (e2 - e1);
|
|
|
|
for (int j = 0; j < vertex_count_A; j++) {
|
|
|
|
Vector3 e3 = p_transform_a.xform(vertices_A[j]);
|
|
|
|
if (!separator.test_axis((e1 - e3).cross(n).cross(n).normalized()))
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template <bool withMargin>
|
|
static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform &p_transform_a, const Shape3DSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
|
|
|
|
const ConvexPolygonShape3DSW *convex_polygon_A = static_cast<const ConvexPolygonShape3DSW *>(p_a);
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const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
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SeparatorAxisTest<ConvexPolygonShape3DSW, FaceShape3DSW, withMargin> separator(convex_polygon_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
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const Geometry::MeshData &mesh = convex_polygon_A->get_mesh();
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const Geometry::MeshData::Face *faces = mesh.faces.ptr();
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int face_count = mesh.faces.size();
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const Geometry::MeshData::Edge *edges = mesh.edges.ptr();
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int edge_count = mesh.edges.size();
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const Vector3 *vertices = mesh.vertices.ptr();
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int vertex_count = mesh.vertices.size();
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Vector3 vertex[3] = {
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p_transform_b.xform(face_B->vertex[0]),
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p_transform_b.xform(face_B->vertex[1]),
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p_transform_b.xform(face_B->vertex[2]),
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};
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if (!separator.test_axis((vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized()))
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return;
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|
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// faces of A
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for (int i = 0; i < face_count; i++) {
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//Vector3 axis = p_transform_a.xform( faces[i].plane ).normal;
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Vector3 axis = p_transform_a.basis.xform(faces[i].plane.normal).normalized();
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if (!separator.test_axis(axis))
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return;
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}
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|
|
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// A<->B edges
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for (int i = 0; i < edge_count; i++) {
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|
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Vector3 e1 = p_transform_a.xform(vertices[edges[i].a]) - p_transform_a.xform(vertices[edges[i].b]);
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|
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for (int j = 0; j < 3; j++) {
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Vector3 e2 = vertex[j] - vertex[(j + 1) % 3];
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|
|
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Vector3 axis = e1.cross(e2).normalized();
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|
|
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if (!separator.test_axis(axis))
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|
return;
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|
}
|
|
}
|
|
|
|
if (withMargin) {
|
|
|
|
//vertex-vertex
|
|
for (int i = 0; i < vertex_count; i++) {
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|
|
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Vector3 va = p_transform_a.xform(vertices[i]);
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|
|
|
for (int j = 0; j < 3; j++) {
|
|
|
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if (!separator.test_axis((va - vertex[j]).normalized()))
|
|
return;
|
|
}
|
|
}
|
|
//edge-vertex (shell)
|
|
|
|
for (int i = 0; i < edge_count; i++) {
|
|
|
|
Vector3 e1 = p_transform_a.basis.xform(vertices[edges[i].a]);
|
|
Vector3 e2 = p_transform_a.basis.xform(vertices[edges[i].b]);
|
|
Vector3 n = (e2 - e1);
|
|
|
|
for (int j = 0; j < 3; j++) {
|
|
|
|
Vector3 e3 = vertex[j];
|
|
|
|
if (!separator.test_axis((e1 - e3).cross(n).cross(n).normalized()))
|
|
return;
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
|
|
Vector3 e1 = vertex[i];
|
|
Vector3 e2 = vertex[(i + 1) % 3];
|
|
Vector3 n = (e2 - e1);
|
|
|
|
for (int j = 0; j < vertex_count; j++) {
|
|
|
|
Vector3 e3 = p_transform_a.xform(vertices[j]);
|
|
|
|
if (!separator.test_axis((e1 - e3).cross(n).cross(n).normalized()))
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector3 *r_prev_axis, real_t p_margin_a, real_t p_margin_b) {
|
|
|
|
PhysicsServer3D::ShapeType type_A = p_shape_A->get_type();
|
|
|
|
ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_PLANE, false);
|
|
ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_RAY, false);
|
|
ERR_FAIL_COND_V(p_shape_A->is_concave(), false);
|
|
|
|
PhysicsServer3D::ShapeType type_B = p_shape_B->get_type();
|
|
|
|
ERR_FAIL_COND_V(type_B == PhysicsServer3D::SHAPE_PLANE, false);
|
|
ERR_FAIL_COND_V(type_B == PhysicsServer3D::SHAPE_RAY, false);
|
|
ERR_FAIL_COND_V(p_shape_B->is_concave(), false);
|
|
|
|
static const CollisionFunc collision_table[6][6] = {
|
|
{ _collision_sphere_sphere<false>,
|
|
_collision_sphere_box<false>,
|
|
_collision_sphere_capsule<false>,
|
|
_collision_sphere_cylinder<false>,
|
|
_collision_sphere_convex_polygon<false>,
|
|
_collision_sphere_face<false> },
|
|
{ nullptr,
|
|
_collision_box_box<false>,
|
|
_collision_box_capsule<false>,
|
|
_collision_box_cylinder<false>,
|
|
_collision_box_convex_polygon<false>,
|
|
_collision_box_face<false> },
|
|
{ nullptr,
|
|
nullptr,
|
|
_collision_capsule_capsule<false>,
|
|
_collision_capsule_cylinder<false>,
|
|
_collision_capsule_convex_polygon<false>,
|
|
_collision_capsule_face<false> },
|
|
{ nullptr,
|
|
nullptr,
|
|
nullptr,
|
|
_collision_cylinder_cylinder<false>,
|
|
_collision_cylinder_convex_polygon<false>,
|
|
_collision_cylinder_face<false> },
|
|
{ nullptr,
|
|
nullptr,
|
|
nullptr,
|
|
nullptr,
|
|
_collision_convex_polygon_convex_polygon<false>,
|
|
_collision_convex_polygon_face<false> },
|
|
{ nullptr,
|
|
nullptr,
|
|
nullptr,
|
|
nullptr,
|
|
nullptr,
|
|
nullptr },
|
|
};
|
|
|
|
static const CollisionFunc collision_table_margin[6][6] = {
|
|
{ _collision_sphere_sphere<true>,
|
|
_collision_sphere_box<true>,
|
|
_collision_sphere_capsule<true>,
|
|
_collision_sphere_cylinder<true>,
|
|
_collision_sphere_convex_polygon<true>,
|
|
_collision_sphere_face<true> },
|
|
{ nullptr,
|
|
_collision_box_box<true>,
|
|
_collision_box_capsule<true>,
|
|
_collision_box_cylinder<true>,
|
|
_collision_box_convex_polygon<true>,
|
|
_collision_box_face<true> },
|
|
{ nullptr,
|
|
nullptr,
|
|
_collision_capsule_capsule<true>,
|
|
_collision_capsule_cylinder<true>,
|
|
_collision_capsule_convex_polygon<true>,
|
|
_collision_capsule_face<true> },
|
|
{ nullptr,
|
|
nullptr,
|
|
nullptr,
|
|
_collision_cylinder_cylinder<true>,
|
|
_collision_cylinder_convex_polygon<true>,
|
|
_collision_cylinder_face<true> },
|
|
{ nullptr,
|
|
nullptr,
|
|
nullptr,
|
|
nullptr,
|
|
_collision_convex_polygon_convex_polygon<true>,
|
|
_collision_convex_polygon_face<true> },
|
|
{ nullptr,
|
|
nullptr,
|
|
nullptr,
|
|
nullptr,
|
|
nullptr,
|
|
nullptr },
|
|
};
|
|
|
|
_CollectorCallback callback;
|
|
callback.callback = p_result_callback;
|
|
callback.swap = p_swap;
|
|
callback.userdata = p_userdata;
|
|
callback.collided = false;
|
|
callback.prev_axis = r_prev_axis;
|
|
|
|
const Shape3DSW *A = p_shape_A;
|
|
const Shape3DSW *B = p_shape_B;
|
|
const Transform *transform_A = &p_transform_A;
|
|
const Transform *transform_B = &p_transform_B;
|
|
real_t margin_A = p_margin_a;
|
|
real_t margin_B = p_margin_b;
|
|
|
|
if (type_A > type_B) {
|
|
SWAP(A, B);
|
|
SWAP(transform_A, transform_B);
|
|
SWAP(type_A, type_B);
|
|
SWAP(margin_A, margin_B);
|
|
callback.swap = !callback.swap;
|
|
}
|
|
|
|
CollisionFunc collision_func;
|
|
if (margin_A != 0.0 || margin_B != 0.0) {
|
|
collision_func = collision_table_margin[type_A - 2][type_B - 2];
|
|
|
|
} else {
|
|
collision_func = collision_table[type_A - 2][type_B - 2];
|
|
}
|
|
ERR_FAIL_COND_V(!collision_func, false);
|
|
|
|
collision_func(A, *transform_A, B, *transform_B, &callback, margin_A, margin_B);
|
|
|
|
return callback.collided;
|
|
}
|