d8223ffa75
That year should bring the long-awaited OpenGL ES 3.0 compatible renderer
with state-of-the-art rendering techniques tuned to work as low as middle
end handheld devices - without compromising with the possibilities given
for higher end desktop games of course. Great times ahead for the Godot
community and the gamers that will play our games!
(cherry picked from commit c7bc44d5ad)
471 lines
15 KiB
C++
471 lines
15 KiB
C++
/*************************************************************************/
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/* shape_sw.h */
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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) 2007-2017 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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#ifndef SHAPE_SW_H
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#define SHAPE_SW_H
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#include "servers/physics_server.h"
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#include "bsp_tree.h"
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#include "geometry.h"
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/*
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SHAPE_LINE, ///< plane:"plane"
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SHAPE_SEGMENT, ///< float:"length"
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SHAPE_CIRCLE, ///< float:"radius"
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SHAPE_RECTANGLE, ///< vec3:"extents"
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SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
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SHAPE_CONCAVE_POLYGON, ///< Vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array)
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SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
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*/
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class ShapeSW;
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class ShapeOwnerSW {
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public:
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virtual void _shape_changed()=0;
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virtual void remove_shape(ShapeSW *p_shape)=0;
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virtual ~ShapeOwnerSW() {}
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};
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class ShapeSW {
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RID self;
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AABB aabb;
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bool configured;
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real_t custom_bias;
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Map<ShapeOwnerSW*,int> owners;
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protected:
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void configure(const AABB& p_aabb);
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public:
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enum {
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MAX_SUPPORTS=8
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};
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_FORCE_INLINE_ void set_self(const RID& p_self) { self=p_self; }
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_FORCE_INLINE_ RID get_self() const {return self; }
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virtual PhysicsServer::ShapeType get_type() const=0;
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_FORCE_INLINE_ AABB get_aabb() const { return aabb; }
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_FORCE_INLINE_ bool is_configured() const { return configured; }
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virtual bool is_concave() const { return false; }
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virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const=0;
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virtual Vector3 get_support(const Vector3& p_normal) const;
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virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const=0;
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virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_point, Vector3 &r_normal) const=0;
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virtual Vector3 get_moment_of_inertia(float p_mass) const=0;
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virtual void set_data(const Variant& p_data)=0;
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virtual Variant get_data() const=0;
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_FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias=p_bias; }
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_FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; }
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void add_owner(ShapeOwnerSW *p_owner);
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void remove_owner(ShapeOwnerSW *p_owner);
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bool is_owner(ShapeOwnerSW *p_owner) const;
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const Map<ShapeOwnerSW*,int>& get_owners() const;
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ShapeSW();
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virtual ~ShapeSW();
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};
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class ConcaveShapeSW : public ShapeSW {
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public:
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virtual bool is_concave() const { return true; }
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typedef void (*Callback)(void* p_userdata,ShapeSW *p_convex);
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virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const { r_amount=0; }
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virtual void cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const=0;
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ConcaveShapeSW() {}
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};
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class PlaneShapeSW : public ShapeSW {
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Plane plane;
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void _setup(const Plane& p_plane);
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public:
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Plane get_plane() const;
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_PLANE; }
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virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3& p_normal) const;
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virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const { r_amount=0; }
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virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
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virtual Vector3 get_moment_of_inertia(float p_mass) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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PlaneShapeSW();
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};
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class RayShapeSW : public ShapeSW {
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float length;
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void _setup(float p_length);
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public:
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float get_length() const;
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_RAY; }
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virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3& p_normal) const;
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virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const;
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virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
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virtual Vector3 get_moment_of_inertia(float p_mass) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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RayShapeSW();
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};
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class SphereShapeSW : public ShapeSW {
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real_t radius;
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void _setup(real_t p_radius);
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public:
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real_t get_radius() const;
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_SPHERE; }
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virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3& p_normal) const;
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virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const;
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virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
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virtual Vector3 get_moment_of_inertia(float p_mass) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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SphereShapeSW();
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};
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class BoxShapeSW : public ShapeSW {
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Vector3 half_extents;
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void _setup(const Vector3& p_half_extents);
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public:
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_FORCE_INLINE_ Vector3 get_half_extents() const { return half_extents; }
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_BOX; }
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virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3& p_normal) const;
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virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const;
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virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
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virtual Vector3 get_moment_of_inertia(float p_mass) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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BoxShapeSW();
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};
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class CapsuleShapeSW : public ShapeSW {
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real_t height;
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real_t radius;
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void _setup(real_t p_height,real_t p_radius);
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public:
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_FORCE_INLINE_ real_t get_height() const { return height; }
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_FORCE_INLINE_ real_t get_radius() const { return radius; }
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CAPSULE; }
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virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3& p_normal) const;
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virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const;
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virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
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virtual Vector3 get_moment_of_inertia(float p_mass) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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CapsuleShapeSW();
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};
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struct ConvexPolygonShapeSW : public ShapeSW {
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Geometry::MeshData mesh;
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void _setup(const Vector<Vector3>& p_vertices);
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public:
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const Geometry::MeshData& get_mesh() const { return mesh; }
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }
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virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3& p_normal) const;
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virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const;
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virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
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virtual Vector3 get_moment_of_inertia(float p_mass) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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ConvexPolygonShapeSW();
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};
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struct _VolumeSW_BVH;
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struct FaceShapeSW;
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struct ConcavePolygonShapeSW : public ConcaveShapeSW {
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// always a trimesh
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struct Face {
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Vector3 normal;
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int indices[3];
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};
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DVector<Face> faces;
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DVector<Vector3> vertices;
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struct BVH {
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AABB aabb;
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int left;
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int right;
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int face_index;
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};
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DVector<BVH> bvh;
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struct _CullParams {
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AABB aabb;
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Callback callback;
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void *userdata;
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const Face *faces;
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const Vector3 *vertices;
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const BVH *bvh;
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FaceShapeSW *face;
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};
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struct _SegmentCullParams {
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Vector3 from;
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Vector3 to;
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const Face *faces;
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const Vector3 *vertices;
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const BVH *bvh;
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Vector3 dir;
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Vector3 result;
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Vector3 normal;
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real_t min_d;
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int collisions;
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};
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void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
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void _cull(int p_idx,_CullParams *p_params) const;
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void _fill_bvh(_VolumeSW_BVH* p_bvh_tree,BVH* p_bvh_array,int& p_idx);
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void _setup(DVector<Vector3> p_faces);
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public:
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DVector<Vector3> get_faces() const;
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }
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virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3& p_normal) const;
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virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
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virtual void cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const;
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virtual Vector3 get_moment_of_inertia(float p_mass) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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ConcavePolygonShapeSW();
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};
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struct HeightMapShapeSW : public ConcaveShapeSW {
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DVector<real_t> heights;
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int width;
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int depth;
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float cell_size;
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// void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
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// void _cull(int p_idx,_CullParams *p_params) const;
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void _setup(DVector<float> p_heights,int p_width,int p_depth,float p_cell_size);
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public:
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DVector<real_t> get_heights() const;
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int get_width() const;
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int get_depth() const;
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float get_cell_size() const;
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_HEIGHTMAP; }
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virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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virtual Vector3 get_support(const Vector3& p_normal) const;
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virtual bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
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virtual void cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const;
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virtual Vector3 get_moment_of_inertia(float p_mass) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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HeightMapShapeSW();
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};
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//used internally
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struct FaceShapeSW : public ShapeSW {
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Vector3 normal; //cache
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Vector3 vertex[3];
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONCAVE_POLYGON; }
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const Vector3& get_vertex(int p_idx) const { return vertex[p_idx]; }
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void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
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Vector3 get_support(const Vector3& p_normal) const;
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virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const;
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bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const;
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Vector3 get_moment_of_inertia(float p_mass) const;
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virtual void set_data(const Variant& p_data) {}
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virtual Variant get_data() const { return Variant(); }
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FaceShapeSW();
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};
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struct MotionShapeSW : public ShapeSW {
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ShapeSW *shape;
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Vector3 motion;
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virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CONVEX_POLYGON; }
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void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
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Vector3 cast = p_transform.basis.xform(motion);
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real_t mina,maxa;
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real_t minb,maxb;
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Transform ofsb = p_transform;
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ofsb.origin+=cast;
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shape->project_range(p_normal,p_transform,mina,maxa);
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shape->project_range(p_normal,ofsb,minb,maxb);
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r_min=MIN(mina,minb);
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r_max=MAX(maxa,maxb);
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}
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Vector3 get_support(const Vector3& p_normal) const {
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Vector3 support = shape->get_support(p_normal);
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if (p_normal.dot(motion)>0) {
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support+=motion;
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}
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return support;
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}
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virtual void get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const { r_amount=0; }
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bool intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const { return false; }
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Vector3 get_moment_of_inertia(float p_mass) const { return Vector3(); }
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virtual void set_data(const Variant& p_data) {}
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virtual Variant get_data() const { return Variant(); }
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MotionShapeSW() { configure(AABB()); }
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};
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struct _ShapeTestConvexBSPSW {
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const BSP_Tree *bsp;
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const ShapeSW *shape;
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Transform transform;
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_FORCE_INLINE_ void project_range(const Vector3& p_normal, real_t& r_min, real_t& r_max) const {
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shape->project_range(p_normal,transform,r_min,r_max);
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}
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};
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#endif // SHAPESW_H
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