403 lines
12 KiB
C++
403 lines
12 KiB
C++
/*************************************************************************/
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/* collision_solver_sw.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "collision_solver_sw.h"
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#include "collision_solver_sat.h"
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#include "gjk_epa.h"
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#include "collision_solver_sat.h"
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#define collision_solver sat_calculate_penetration
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//#define collision_solver gjk_epa_calculate_penetration
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bool CollisionSolverSW::solve_static_plane(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result) {
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const PlaneShapeSW *plane = static_cast<const PlaneShapeSW*>(p_shape_A);
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if (p_shape_B->get_type()==PhysicsServer::SHAPE_PLANE)
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return false;
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Plane p = p_transform_A.xform(plane->get_plane());
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static const int max_supports = 16;
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Vector3 supports[max_supports];
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int support_count;
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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(),max_supports,supports,support_count);
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bool found=false;
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for(int i=0;i<support_count;i++) {
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supports[i] = p_transform_B.xform( supports[i] );
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if (p.distance_to(supports[i])>=0)
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continue;
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found=true;
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Vector3 support_A = p.project(supports[i]);
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if (p_result_callback) {
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if (p_swap_result)
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p_result_callback(supports[i],support_A,p_userdata);
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else
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p_result_callback(support_A,supports[i],p_userdata);
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}
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}
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return found;
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}
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bool CollisionSolverSW::solve_ray(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result) {
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const RayShapeSW *ray = static_cast<const RayShapeSW*>(p_shape_A);
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Vector3 from = p_transform_A.origin;
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Vector3 to = from+p_transform_A.basis.get_axis(2)*ray->get_length();
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Vector3 support_A=to;
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Transform ai = p_transform_B.affine_inverse();
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from = ai.xform(from);
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to = ai.xform(to);
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Vector3 p,n;
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if (!p_shape_B->intersect_segment(from,to,p,n))
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return false;
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Vector3 support_B=p_transform_B.xform(p);
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if (p_result_callback) {
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if (p_swap_result)
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p_result_callback(support_B,support_A,p_userdata);
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else
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p_result_callback(support_A,support_B,p_userdata);
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}
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return true;
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}
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struct _ConcaveCollisionInfo {
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const Transform *transform_A;
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const ShapeSW *shape_A;
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const Transform *transform_B;
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CollisionSolverSW::CallbackResult result_callback;
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void *userdata;
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bool swap_result;
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bool collided;
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int aabb_tests;
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int collisions;
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bool tested;
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float margin_A;
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float margin_B;
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Vector3 close_A,close_B;
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};
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void CollisionSolverSW::concave_callback(void *p_userdata, ShapeSW *p_convex) {
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_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo*)(p_userdata);
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cinfo.aabb_tests++;
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bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, p_convex,*cinfo.transform_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result,NULL,cinfo.margin_A,cinfo.margin_B);
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if (!collided)
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return;
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cinfo.collided=true;
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cinfo.collisions++;
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}
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bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result,float p_margin_A,float p_margin_B) {
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const ConcaveShapeSW *concave_B=static_cast<const ConcaveShapeSW*>(p_shape_B);
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_ConcaveCollisionInfo cinfo;
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cinfo.transform_A=&p_transform_A;
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cinfo.shape_A=p_shape_A;
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cinfo.transform_B=&p_transform_B;
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cinfo.result_callback=p_result_callback;
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cinfo.userdata=p_userdata;
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cinfo.swap_result=p_swap_result;
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cinfo.collided=false;
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cinfo.collisions=0;
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cinfo.margin_A=p_margin_A;
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cinfo.margin_B=p_margin_B;
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cinfo.aabb_tests=0;
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Transform rel_transform = p_transform_A;
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rel_transform.origin-=p_transform_B.origin;
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//quickly compute a local AABB
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AABB local_aabb;
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for(int i=0;i<3;i++) {
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Vector3 axis( p_transform_B.basis.get_axis(i) );
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float axis_scale = 1.0/axis.length();
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axis*=axis_scale;
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float smin,smax;
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p_shape_A->project_range(axis,rel_transform,smin,smax);
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smin-=p_margin_A;
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smax+=p_margin_A;
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smin*=axis_scale;
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smax*=axis_scale;
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local_aabb.pos[i]=smin;
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local_aabb.size[i]=smax-smin;
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}
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concave_B->cull(local_aabb,concave_callback,&cinfo);
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//print_line("COL AABB TESTS: "+itos(cinfo.aabb_tests));
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return cinfo.collided;
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}
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bool CollisionSolverSW::solve_static(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,Vector3 *r_sep_axis,float p_margin_A,float p_margin_B) {
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PhysicsServer::ShapeType type_A=p_shape_A->get_type();
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PhysicsServer::ShapeType type_B=p_shape_B->get_type();
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bool concave_A=p_shape_A->is_concave();
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bool concave_B=p_shape_B->is_concave();
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bool swap = false;
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if (type_A>type_B) {
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SWAP(type_A,type_B);
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SWAP(concave_A,concave_B);
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swap=true;
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}
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if (type_A==PhysicsServer::SHAPE_PLANE) {
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if (type_B==PhysicsServer::SHAPE_PLANE)
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return false;
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if (type_B==PhysicsServer::SHAPE_RAY) {
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return false;
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}
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if (swap) {
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return solve_static_plane(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_result_callback,p_userdata,true);
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} else {
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return solve_static_plane(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_result_callback,p_userdata,false);
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}
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} else if (type_A==PhysicsServer::SHAPE_RAY) {
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if (type_B==PhysicsServer::SHAPE_RAY)
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return false;
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if (swap) {
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return solve_ray(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_result_callback,p_userdata,true);
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} else {
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return solve_ray(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_result_callback,p_userdata,false);
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}
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} else if (concave_B) {
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if (concave_A)
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return false;
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if (!swap)
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return solve_concave(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_result_callback,p_userdata,false,p_margin_A,p_margin_B);
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else
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return solve_concave(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_result_callback,p_userdata,true,p_margin_A,p_margin_B);
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} else {
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return collision_solver(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback,p_userdata,false,r_sep_axis,p_margin_A,p_margin_B);
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}
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return false;
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}
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void CollisionSolverSW::concave_distance_callback(void *p_userdata, ShapeSW *p_convex) {
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_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo*)(p_userdata);
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cinfo.aabb_tests++;
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if (cinfo.collided)
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return;
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Vector3 close_A,close_B;
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cinfo.collided = !gjk_epa_calculate_distance(cinfo.shape_A,*cinfo.transform_A,p_convex,*cinfo.transform_B,close_A,close_B);
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if (cinfo.collided)
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return;
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if (!cinfo.tested || close_A.distance_squared_to(close_B) < cinfo.close_A.distance_squared_to(cinfo.close_B)) {
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cinfo.close_A=close_A;
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cinfo.close_B=close_B;
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cinfo.tested=true;
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}
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cinfo.collisions++;
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}
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bool CollisionSolverSW::solve_distance_plane(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,Vector3& r_point_A,Vector3& r_point_B) {
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const PlaneShapeSW *plane = static_cast<const PlaneShapeSW*>(p_shape_A);
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if (p_shape_B->get_type()==PhysicsServer::SHAPE_PLANE)
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return false;
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Plane p = p_transform_A.xform(plane->get_plane());
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static const int max_supports = 16;
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Vector3 supports[max_supports];
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int support_count;
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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(),max_supports,supports,support_count);
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bool collided=false;
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Vector3 closest;
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float closest_d;
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for(int i=0;i<support_count;i++) {
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supports[i] = p_transform_B.xform( supports[i] );
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real_t d = p.distance_to(supports[i]);
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if (i==0 || d<closest_d) {
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closest=supports[i];
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closest_d=d;
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if (d<=0)
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collided=true;
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}
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}
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r_point_A=p.project(closest);
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r_point_B=closest;
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return collided;
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}
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bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,Vector3& r_point_A,Vector3& r_point_B,const AABB& p_concave_hint,Vector3 *r_sep_axis) {
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if (p_shape_A->is_concave())
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return false;
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if (p_shape_B->get_type()==PhysicsServer::SHAPE_PLANE) {
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Vector3 a,b;
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bool col = solve_distance_plane(p_shape_B,p_transform_B,p_shape_A,p_transform_A,a,b);
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r_point_A=b;
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r_point_B=a;
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return !col;
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} else if (p_shape_B->is_concave()) {
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if (p_shape_A->is_concave())
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return false;
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const ConcaveShapeSW *concave_B=static_cast<const ConcaveShapeSW*>(p_shape_B);
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_ConcaveCollisionInfo cinfo;
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cinfo.transform_A=&p_transform_A;
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cinfo.shape_A=p_shape_A;
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cinfo.transform_B=&p_transform_B;
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cinfo.result_callback=NULL;
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cinfo.userdata=NULL;
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cinfo.swap_result=false;
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cinfo.collided=false;
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cinfo.collisions=0;
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cinfo.aabb_tests=0;
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cinfo.tested=false;
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Transform rel_transform = p_transform_A;
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rel_transform.origin-=p_transform_B.origin;
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//quickly compute a local AABB
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bool use_cc_hint=p_concave_hint!=AABB();
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AABB cc_hint_aabb;
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if (use_cc_hint) {
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cc_hint_aabb=p_concave_hint;
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cc_hint_aabb.pos-=p_transform_B.origin;
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}
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AABB local_aabb;
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for(int i=0;i<3;i++) {
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Vector3 axis( p_transform_B.basis.get_axis(i) );
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float axis_scale = 1.0/axis.length();
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axis*=axis_scale;
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float smin,smax;
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if (use_cc_hint) {
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cc_hint_aabb.project_range_in_plane(Plane(axis,0),smin,smax);
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} else {
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p_shape_A->project_range(axis,rel_transform,smin,smax);
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}
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smin*=axis_scale;
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smax*=axis_scale;
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local_aabb.pos[i]=smin;
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local_aabb.size[i]=smax-smin;
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}
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concave_B->cull(local_aabb,concave_distance_callback,&cinfo);
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if (!cinfo.collided) {
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// print_line(itos(cinfo.tested));
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r_point_A=cinfo.close_A;
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r_point_B=cinfo.close_B;
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}
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//print_line("DIST AABB TESTS: "+itos(cinfo.aabb_tests));
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return !cinfo.collided;
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} else {
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return gjk_epa_calculate_distance(p_shape_A,p_transform_A,p_shape_B,p_transform_B,r_point_A,r_point_B); //should pass sepaxis..
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}
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return false;
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}
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