572 lines
20 KiB
C++
572 lines
20 KiB
C++
/*************************************************************************/
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/* godot_collision_solver_3d.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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 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 "godot_collision_solver_3d.h"
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#include "godot_collision_solver_3d_sat.h"
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#include "godot_soft_body_3d.h"
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#include "gjk_epa.h"
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#define collision_solver sat_calculate_penetration
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//#define collision_solver gjk_epa_calculate_penetration
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bool GodotCollisionSolver3D::solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
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const GodotWorldBoundaryShape3D *world_boundary = static_cast<const GodotWorldBoundaryShape3D *>(p_shape_A);
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if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) {
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return false;
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}
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Plane p = p_transform_A.xform(world_boundary->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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GodotShape3D::FeatureType support_type;
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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type);
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if (support_type == GodotShape3D::FEATURE_CIRCLE) {
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ERR_FAIL_COND_V(support_count != 3, false);
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Vector3 circle_pos = supports[0];
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Vector3 circle_axis_1 = supports[1] - circle_pos;
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Vector3 circle_axis_2 = supports[2] - circle_pos;
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// Use 3 equidistant points on the circle.
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for (int i = 0; i < 3; ++i) {
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Vector3 vertex_pos = circle_pos;
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vertex_pos += circle_axis_1 * Math::cos(2.0 * Math_PI * i / 3.0);
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vertex_pos += circle_axis_2 * Math::sin(2.0 * Math_PI * i / 3.0);
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supports[i] = vertex_pos;
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}
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}
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bool found = false;
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for (int i = 0; i < support_count; i++) {
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supports[i] = p_transform_B.xform(supports[i]);
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if (p.distance_to(supports[i]) >= 0) {
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continue;
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}
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found = true;
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Vector3 support_A = p.project(supports[i]);
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if (p_result_callback) {
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if (p_swap_result) {
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p_result_callback(supports[i], 0, support_A, 0, p_userdata);
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} else {
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p_result_callback(support_A, 0, supports[i], 0, p_userdata);
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}
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}
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}
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return found;
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}
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bool GodotCollisionSolver3D::solve_separation_ray(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) {
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const GodotSeparationRayShape3D *ray = static_cast<const GodotSeparationRayShape3D *>(p_shape_A);
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Vector3 from = p_transform_A.origin;
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Vector3 to = from + p_transform_A.basis.get_axis(2) * (ray->get_length() + p_margin);
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Vector3 support_A = to;
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Transform3D 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, true)) {
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return false;
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}
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// Discard contacts when the ray is fully contained inside the shape.
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if (n == Vector3()) {
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return false;
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}
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// Discard contacts in the wrong direction.
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if (n.dot(from - to) < CMP_EPSILON) {
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return false;
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}
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Vector3 support_B = p_transform_B.xform(p);
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if (ray->get_slide_on_slope()) {
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Vector3 global_n = ai.basis.xform_inv(n).normalized();
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support_B = support_A + (support_B - support_A).length() * global_n;
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}
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if (p_result_callback) {
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if (p_swap_result) {
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p_result_callback(support_B, 0, support_A, 0, p_userdata);
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} else {
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p_result_callback(support_A, 0, support_B, 0, p_userdata);
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}
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}
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return true;
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}
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struct _SoftBodyContactCollisionInfo {
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int node_index = 0;
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GodotCollisionSolver3D::CallbackResult result_callback = nullptr;
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void *userdata = nullptr;
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bool swap_result = false;
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int contact_count = 0;
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};
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void GodotCollisionSolver3D::soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
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_SoftBodyContactCollisionInfo &cinfo = *(static_cast<_SoftBodyContactCollisionInfo *>(p_userdata));
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++cinfo.contact_count;
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if (!cinfo.result_callback) {
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return;
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}
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if (cinfo.swap_result) {
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cinfo.result_callback(p_point_B, cinfo.node_index, p_point_A, p_index_A, cinfo.userdata);
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} else {
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cinfo.result_callback(p_point_A, p_index_A, p_point_B, cinfo.node_index, cinfo.userdata);
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}
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}
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struct _SoftBodyQueryInfo {
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GodotSoftBody3D *soft_body = nullptr;
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const GodotShape3D *shape_A = nullptr;
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const GodotShape3D *shape_B = nullptr;
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Transform3D transform_A;
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Transform3D node_transform;
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_SoftBodyContactCollisionInfo contact_info;
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#ifdef DEBUG_ENABLED
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int node_query_count = 0;
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int convex_query_count = 0;
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#endif
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};
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bool GodotCollisionSolver3D::soft_body_query_callback(uint32_t p_node_index, void *p_userdata) {
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_SoftBodyQueryInfo &query_cinfo = *(static_cast<_SoftBodyQueryInfo *>(p_userdata));
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Vector3 node_position = query_cinfo.soft_body->get_node_position(p_node_index);
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Transform3D transform_B;
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transform_B.origin = query_cinfo.node_transform.xform(node_position);
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query_cinfo.contact_info.node_index = p_node_index;
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bool collided = solve_static(query_cinfo.shape_A, query_cinfo.transform_A, query_cinfo.shape_B, transform_B, soft_body_contact_callback, &query_cinfo.contact_info);
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#ifdef DEBUG_ENABLED
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++query_cinfo.node_query_count;
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#endif
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// Stop at first collision if contacts are not needed.
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return (collided && !query_cinfo.contact_info.result_callback);
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}
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bool GodotCollisionSolver3D::soft_body_concave_callback(void *p_userdata, GodotShape3D *p_convex) {
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_SoftBodyQueryInfo &query_cinfo = *(static_cast<_SoftBodyQueryInfo *>(p_userdata));
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query_cinfo.shape_A = p_convex;
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// Calculate AABB for internal soft body query (in world space).
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AABB shape_aabb;
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for (int i = 0; i < 3; i++) {
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Vector3 axis;
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axis[i] = 1.0;
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real_t smin, smax;
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p_convex->project_range(axis, query_cinfo.transform_A, smin, smax);
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shape_aabb.position[i] = smin;
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shape_aabb.size[i] = smax - smin;
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}
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shape_aabb.grow_by(query_cinfo.soft_body->get_collision_margin());
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query_cinfo.soft_body->query_aabb(shape_aabb, soft_body_query_callback, &query_cinfo);
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bool collided = (query_cinfo.contact_info.contact_count > 0);
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#ifdef DEBUG_ENABLED
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++query_cinfo.convex_query_count;
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#endif
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// Stop at first collision if contacts are not needed.
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return (collided && !query_cinfo.contact_info.result_callback);
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}
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bool GodotCollisionSolver3D::solve_soft_body(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
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const GodotSoftBodyShape3D *soft_body_shape_B = static_cast<const GodotSoftBodyShape3D *>(p_shape_B);
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GodotSoftBody3D *soft_body = soft_body_shape_B->get_soft_body();
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const Transform3D &world_to_local = soft_body->get_inv_transform();
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const real_t collision_margin = soft_body->get_collision_margin();
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GodotSphereShape3D sphere_shape;
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sphere_shape.set_data(collision_margin);
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_SoftBodyQueryInfo query_cinfo;
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query_cinfo.contact_info.result_callback = p_result_callback;
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query_cinfo.contact_info.userdata = p_userdata;
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query_cinfo.contact_info.swap_result = p_swap_result;
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query_cinfo.soft_body = soft_body;
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query_cinfo.node_transform = p_transform_B * world_to_local;
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query_cinfo.shape_A = p_shape_A;
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query_cinfo.transform_A = p_transform_A;
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query_cinfo.shape_B = &sphere_shape;
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if (p_shape_A->is_concave()) {
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// In case of concave shape, query convex shapes first.
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const GodotConcaveShape3D *concave_shape_A = static_cast<const GodotConcaveShape3D *>(p_shape_A);
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AABB soft_body_aabb = soft_body->get_bounds();
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soft_body_aabb.grow_by(collision_margin);
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// Calculate AABB for internal concave shape query (in local space).
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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_A.basis.get_axis(i));
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real_t axis_scale = 1.0 / axis.length();
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real_t smin = soft_body_aabb.position[i];
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real_t smax = smin + soft_body_aabb.size[i];
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smin *= axis_scale;
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smax *= axis_scale;
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local_aabb.position[i] = smin;
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local_aabb.size[i] = smax - smin;
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}
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concave_shape_A->cull(local_aabb, soft_body_concave_callback, &query_cinfo, true);
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} else {
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AABB shape_aabb = p_transform_A.xform(p_shape_A->get_aabb());
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shape_aabb.grow_by(collision_margin);
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soft_body->query_aabb(shape_aabb, soft_body_query_callback, &query_cinfo);
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}
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return (query_cinfo.contact_info.contact_count > 0);
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}
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struct _ConcaveCollisionInfo {
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const Transform3D *transform_A;
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const GodotShape3D *shape_A;
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const Transform3D *transform_B;
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GodotCollisionSolver3D::CallbackResult result_callback;
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void *userdata;
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bool swap_result;
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bool collided;
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int aabb_tests;
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int collisions;
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bool tested;
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real_t margin_A;
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real_t margin_B;
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Vector3 close_A, close_B;
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};
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bool GodotCollisionSolver3D::concave_callback(void *p_userdata, GodotShape3D *p_convex) {
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_ConcaveCollisionInfo &cinfo = *(static_cast<_ConcaveCollisionInfo *>(p_userdata));
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cinfo.aabb_tests++;
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bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result, nullptr, cinfo.margin_A, cinfo.margin_B);
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if (!collided) {
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return false;
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}
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cinfo.collided = true;
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cinfo.collisions++;
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// Stop at first collision if contacts are not needed.
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return !cinfo.result_callback;
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}
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bool GodotCollisionSolver3D::solve_concave(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A, real_t p_margin_B) {
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const GodotConcaveShape3D *concave_B = static_cast<const GodotConcaveShape3D *>(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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Transform3D rel_transform = p_transform_A;
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rel_transform.origin -= p_transform_B.origin;
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//quickly compute a local AABB
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AABB local_aabb;
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for (int i = 0; i < 3; i++) {
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Vector3 axis(p_transform_B.basis.get_axis(i));
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real_t axis_scale = 1.0 / axis.length();
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axis *= axis_scale;
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real_t smin, smax;
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p_shape_A->project_range(axis, rel_transform, smin, smax);
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smin -= p_margin_A;
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smax += p_margin_A;
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smin *= axis_scale;
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smax *= axis_scale;
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local_aabb.position[i] = smin;
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local_aabb.size[i] = smax - smin;
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}
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concave_B->cull(local_aabb, concave_callback, &cinfo, false);
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return cinfo.collided;
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}
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bool GodotCollisionSolver3D::solve_static(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
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PhysicsServer3D::ShapeType type_A = p_shape_A->get_type();
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PhysicsServer3D::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 == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) {
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if (type_B == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) {
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return false;
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}
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if (type_B == PhysicsServer3D::SHAPE_SEPARATION_RAY) {
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return false;
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}
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if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) {
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return false;
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}
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if (swap) {
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return solve_static_world_boundary(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_world_boundary(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 == PhysicsServer3D::SHAPE_SEPARATION_RAY) {
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if (type_B == PhysicsServer3D::SHAPE_SEPARATION_RAY) {
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return false;
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}
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if (swap) {
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return solve_separation_ray(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, p_margin_B);
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} else {
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return solve_separation_ray(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, p_margin_A);
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}
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} else if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) {
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if (type_A == PhysicsServer3D::SHAPE_SOFT_BODY) {
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// Soft Body / Soft Body not supported.
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return false;
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}
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if (swap) {
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return solve_soft_body(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_soft_body(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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}
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if (!swap) {
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return solve_concave(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, p_margin_A, p_margin_B);
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} else {
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return solve_concave(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, p_margin_A, p_margin_B);
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}
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} else {
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return collision_solver(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, r_sep_axis, p_margin_A, p_margin_B);
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}
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}
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bool GodotCollisionSolver3D::concave_distance_callback(void *p_userdata, GodotShape3D *p_convex) {
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_ConcaveCollisionInfo &cinfo = *(static_cast<_ConcaveCollisionInfo *>(p_userdata));
|
|
cinfo.aabb_tests++;
|
|
|
|
Vector3 close_A, close_B;
|
|
cinfo.collided = !gjk_epa_calculate_distance(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, close_A, close_B);
|
|
|
|
if (cinfo.collided) {
|
|
// No need to process any more result.
|
|
return true;
|
|
}
|
|
|
|
if (!cinfo.tested || close_A.distance_squared_to(close_B) < cinfo.close_A.distance_squared_to(cinfo.close_B)) {
|
|
cinfo.close_A = close_A;
|
|
cinfo.close_B = close_B;
|
|
cinfo.tested = true;
|
|
}
|
|
|
|
cinfo.collisions++;
|
|
return false;
|
|
}
|
|
|
|
bool GodotCollisionSolver3D::solve_distance_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) {
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|
const GodotWorldBoundaryShape3D *world_boundary = static_cast<const GodotWorldBoundaryShape3D *>(p_shape_A);
|
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if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) {
|
|
return false;
|
|
}
|
|
Plane p = p_transform_A.xform(world_boundary->get_plane());
|
|
|
|
static const int max_supports = 16;
|
|
Vector3 supports[max_supports];
|
|
int support_count;
|
|
GodotShape3D::FeatureType support_type;
|
|
|
|
p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type);
|
|
|
|
if (support_type == GodotShape3D::FEATURE_CIRCLE) {
|
|
ERR_FAIL_COND_V(support_count != 3, false);
|
|
|
|
Vector3 circle_pos = supports[0];
|
|
Vector3 circle_axis_1 = supports[1] - circle_pos;
|
|
Vector3 circle_axis_2 = supports[2] - circle_pos;
|
|
|
|
// Use 3 equidistant points on the circle.
|
|
for (int i = 0; i < 3; ++i) {
|
|
Vector3 vertex_pos = circle_pos;
|
|
vertex_pos += circle_axis_1 * Math::cos(2.0 * Math_PI * i / 3.0);
|
|
vertex_pos += circle_axis_2 * Math::sin(2.0 * Math_PI * i / 3.0);
|
|
supports[i] = vertex_pos;
|
|
}
|
|
}
|
|
|
|
bool collided = false;
|
|
Vector3 closest;
|
|
real_t closest_d = 0;
|
|
|
|
for (int i = 0; i < support_count; i++) {
|
|
supports[i] = p_transform_B.xform(supports[i]);
|
|
real_t d = p.distance_to(supports[i]);
|
|
if (i == 0 || d < closest_d) {
|
|
closest = supports[i];
|
|
closest_d = d;
|
|
if (d <= 0) {
|
|
collided = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
r_point_A = p.project(closest);
|
|
r_point_B = closest;
|
|
|
|
return collided;
|
|
}
|
|
|
|
bool GodotCollisionSolver3D::solve_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis) {
|
|
if (p_shape_A->is_concave()) {
|
|
return false;
|
|
}
|
|
|
|
if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) {
|
|
Vector3 a, b;
|
|
bool col = solve_distance_world_boundary(p_shape_B, p_transform_B, p_shape_A, p_transform_A, a, b);
|
|
r_point_A = b;
|
|
r_point_B = a;
|
|
return !col;
|
|
|
|
} else if (p_shape_B->is_concave()) {
|
|
if (p_shape_A->is_concave()) {
|
|
return false;
|
|
}
|
|
|
|
const GodotConcaveShape3D *concave_B = static_cast<const GodotConcaveShape3D *>(p_shape_B);
|
|
|
|
_ConcaveCollisionInfo cinfo;
|
|
cinfo.transform_A = &p_transform_A;
|
|
cinfo.shape_A = p_shape_A;
|
|
cinfo.transform_B = &p_transform_B;
|
|
cinfo.result_callback = nullptr;
|
|
cinfo.userdata = nullptr;
|
|
cinfo.swap_result = false;
|
|
cinfo.collided = false;
|
|
cinfo.collisions = 0;
|
|
cinfo.aabb_tests = 0;
|
|
cinfo.tested = false;
|
|
|
|
Transform3D rel_transform = p_transform_A;
|
|
rel_transform.origin -= p_transform_B.origin;
|
|
|
|
//quickly compute a local AABB
|
|
|
|
bool use_cc_hint = p_concave_hint != AABB();
|
|
AABB cc_hint_aabb;
|
|
if (use_cc_hint) {
|
|
cc_hint_aabb = p_concave_hint;
|
|
cc_hint_aabb.position -= p_transform_B.origin;
|
|
}
|
|
|
|
AABB local_aabb;
|
|
for (int i = 0; i < 3; i++) {
|
|
Vector3 axis(p_transform_B.basis.get_axis(i));
|
|
real_t axis_scale = ((real_t)1.0) / axis.length();
|
|
axis *= axis_scale;
|
|
|
|
real_t smin, smax;
|
|
|
|
if (use_cc_hint) {
|
|
cc_hint_aabb.project_range_in_plane(Plane(axis), smin, smax);
|
|
} else {
|
|
p_shape_A->project_range(axis, rel_transform, smin, smax);
|
|
}
|
|
|
|
smin *= axis_scale;
|
|
smax *= axis_scale;
|
|
|
|
local_aabb.position[i] = smin;
|
|
local_aabb.size[i] = smax - smin;
|
|
}
|
|
|
|
concave_B->cull(local_aabb, concave_distance_callback, &cinfo, false);
|
|
if (!cinfo.collided) {
|
|
r_point_A = cinfo.close_A;
|
|
r_point_B = cinfo.close_B;
|
|
}
|
|
|
|
return !cinfo.collided;
|
|
} else {
|
|
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..
|
|
}
|
|
}
|