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virtualx-engine/modules/gltf/extensions/physics/gltf_collider.cpp
Rémi Verschelde 25b2f1780a
Style: Harmonize header includes in modules 
This applies our existing style guide, and adds a new rule to that style
guide for modular components such as platform ports and modules:

Includes from the platform port or module ("local" includes) should be listed
first in their own block using relative paths, before Godot's "core" includes
which use "absolute" (project folder relative) paths, and finally thirdparty
includes.

Includes in `#ifdef`s come after their relevant section, i.e. the overall
structure is:

- Local includes
  * Conditional local includes
- Core includes
  * Conditional core includes
- Thirdparty includes
  * Conditional thirdparty includes
2023-06-15 14:35:45 +02:00

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/**************************************************************************/
/* gltf_collider.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
#include "gltf_collider.h"
#include "../../gltf_state.h"
#include "core/math/convex_hull.h"
#include "scene/3d/area_3d.h"
#include "scene/resources/box_shape_3d.h"
#include "scene/resources/capsule_shape_3d.h"
#include "scene/resources/concave_polygon_shape_3d.h"
#include "scene/resources/convex_polygon_shape_3d.h"
#include "scene/resources/cylinder_shape_3d.h"
#include "scene/resources/importer_mesh.h"
#include "scene/resources/sphere_shape_3d.h"
void GLTFCollider::_bind_methods() {
ClassDB::bind_static_method("GLTFCollider", D_METHOD("from_node", "collider_node"), &GLTFCollider::from_node);
ClassDB::bind_method(D_METHOD("to_node", "cache_shapes"), &GLTFCollider::to_node, DEFVAL(false));
ClassDB::bind_static_method("GLTFCollider", D_METHOD("from_dictionary", "dictionary"), &GLTFCollider::from_dictionary);
ClassDB::bind_method(D_METHOD("to_dictionary"), &GLTFCollider::to_dictionary);
ClassDB::bind_method(D_METHOD("get_shape_type"), &GLTFCollider::get_shape_type);
ClassDB::bind_method(D_METHOD("set_shape_type", "shape_type"), &GLTFCollider::set_shape_type);
ClassDB::bind_method(D_METHOD("get_size"), &GLTFCollider::get_size);
ClassDB::bind_method(D_METHOD("set_size", "size"), &GLTFCollider::set_size);
ClassDB::bind_method(D_METHOD("get_radius"), &GLTFCollider::get_radius);
ClassDB::bind_method(D_METHOD("set_radius", "radius"), &GLTFCollider::set_radius);
ClassDB::bind_method(D_METHOD("get_height"), &GLTFCollider::get_height);
ClassDB::bind_method(D_METHOD("set_height", "height"), &GLTFCollider::set_height);
ClassDB::bind_method(D_METHOD("get_is_trigger"), &GLTFCollider::get_is_trigger);
ClassDB::bind_method(D_METHOD("set_is_trigger", "is_trigger"), &GLTFCollider::set_is_trigger);
ClassDB::bind_method(D_METHOD("get_mesh_index"), &GLTFCollider::get_mesh_index);
ClassDB::bind_method(D_METHOD("set_mesh_index", "mesh_index"), &GLTFCollider::set_mesh_index);
ClassDB::bind_method(D_METHOD("get_importer_mesh"), &GLTFCollider::get_importer_mesh);
ClassDB::bind_method(D_METHOD("set_importer_mesh", "importer_mesh"), &GLTFCollider::set_importer_mesh);
ADD_PROPERTY(PropertyInfo(Variant::STRING, "shape_type"), "set_shape_type", "get_shape_type");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "size"), "set_size", "get_size");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius"), "set_radius", "get_radius");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "height"), "set_height", "get_height");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "is_trigger"), "set_is_trigger", "get_is_trigger");
ADD_PROPERTY(PropertyInfo(Variant::INT, "mesh_index"), "set_mesh_index", "get_mesh_index");
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "importer_mesh", PROPERTY_HINT_RESOURCE_TYPE, "ImporterMesh"), "set_importer_mesh", "get_importer_mesh");
}
String GLTFCollider::get_shape_type() const {
return shape_type;
}
void GLTFCollider::set_shape_type(String p_shape_type) {
shape_type = p_shape_type;
}
Vector3 GLTFCollider::get_size() const {
return size;
}
void GLTFCollider::set_size(Vector3 p_size) {
size = p_size;
}
real_t GLTFCollider::get_radius() const {
return radius;
}
void GLTFCollider::set_radius(real_t p_radius) {
radius = p_radius;
}
real_t GLTFCollider::get_height() const {
return height;
}
void GLTFCollider::set_height(real_t p_height) {
height = p_height;
}
bool GLTFCollider::get_is_trigger() const {
return is_trigger;
}
void GLTFCollider::set_is_trigger(bool p_is_trigger) {
is_trigger = p_is_trigger;
}
GLTFMeshIndex GLTFCollider::get_mesh_index() const {
return mesh_index;
}
void GLTFCollider::set_mesh_index(GLTFMeshIndex p_mesh_index) {
mesh_index = p_mesh_index;
}
Ref<ImporterMesh> GLTFCollider::get_importer_mesh() const {
return importer_mesh;
}
void GLTFCollider::set_importer_mesh(Ref<ImporterMesh> p_importer_mesh) {
importer_mesh = p_importer_mesh;
}
Ref<GLTFCollider> GLTFCollider::from_node(const CollisionShape3D *p_collider_node) {
Ref<GLTFCollider> collider;
collider.instantiate();
ERR_FAIL_NULL_V_MSG(p_collider_node, collider, "Tried to create a GLTFCollider from a CollisionShape3D node, but the given node was null.");
Node *parent = p_collider_node->get_parent();
if (cast_to<const Area3D>(parent)) {
collider->set_is_trigger(true);
}
// All the code for working with the shape is below this comment.
Ref<Shape3D> shape = p_collider_node->get_shape();
ERR_FAIL_COND_V_MSG(shape.is_null(), collider, "Tried to create a GLTFCollider from a CollisionShape3D node, but the given node had a null shape.");
collider->_shape_cache = shape;
if (cast_to<BoxShape3D>(shape.ptr())) {
collider->shape_type = "box";
Ref<BoxShape3D> box = shape;
collider->set_size(box->get_size());
} else if (cast_to<const CapsuleShape3D>(shape.ptr())) {
collider->shape_type = "capsule";
Ref<CapsuleShape3D> capsule = shape;
collider->set_radius(capsule->get_radius());
collider->set_height(capsule->get_height());
} else if (cast_to<const CylinderShape3D>(shape.ptr())) {
collider->shape_type = "cylinder";
Ref<CylinderShape3D> cylinder = shape;
collider->set_radius(cylinder->get_radius());
collider->set_height(cylinder->get_height());
} else if (cast_to<const SphereShape3D>(shape.ptr())) {
collider->shape_type = "sphere";
Ref<SphereShape3D> sphere = shape;
collider->set_radius(sphere->get_radius());
} else if (cast_to<const ConvexPolygonShape3D>(shape.ptr())) {
collider->shape_type = "hull";
Ref<ConvexPolygonShape3D> convex = shape;
Vector<Vector3> hull_points = convex->get_points();
ERR_FAIL_COND_V_MSG(hull_points.size() < 3, collider, "GLTFCollider: Convex hull has fewer points (" + itos(hull_points.size()) + ") than the minimum of 3. At least 3 points are required in order to save to GLTF, since it uses a mesh to represent convex hulls.");
if (hull_points.size() > 255) {
WARN_PRINT("GLTFCollider: Convex hull has more points (" + itos(hull_points.size()) + ") than the recommended maximum of 255. This may not load correctly in other engines.");
}
// Convert the convex hull points into an array of faces.
Geometry3D::MeshData md;
Error err = ConvexHullComputer::convex_hull(hull_points, md);
ERR_FAIL_COND_V_MSG(err != OK, collider, "GLTFCollider: Failed to compute convex hull.");
Vector<Vector3> face_vertices;
for (uint32_t i = 0; i < md.faces.size(); i++) {
uint32_t index_count = md.faces[i].indices.size();
for (uint32_t j = 1; j < index_count - 1; j++) {
face_vertices.append(hull_points[md.faces[i].indices[0]]);
face_vertices.append(hull_points[md.faces[i].indices[j]]);
face_vertices.append(hull_points[md.faces[i].indices[j + 1]]);
}
}
// Create an ImporterMesh from the faces.
Ref<ImporterMesh> importer_mesh;
importer_mesh.instantiate();
Array surface_array;
surface_array.resize(Mesh::ArrayType::ARRAY_MAX);
surface_array[Mesh::ArrayType::ARRAY_VERTEX] = face_vertices;
importer_mesh->add_surface(Mesh::PRIMITIVE_TRIANGLES, surface_array);
collider->set_importer_mesh(importer_mesh);
} else if (cast_to<const ConcavePolygonShape3D>(shape.ptr())) {
collider->shape_type = "trimesh";
Ref<ConcavePolygonShape3D> concave = shape;
Ref<ImporterMesh> importer_mesh;
importer_mesh.instantiate();
Array surface_array;
surface_array.resize(Mesh::ArrayType::ARRAY_MAX);
surface_array[Mesh::ArrayType::ARRAY_VERTEX] = concave->get_faces();
importer_mesh->add_surface(Mesh::PRIMITIVE_TRIANGLES, surface_array);
collider->set_importer_mesh(importer_mesh);
} else {
ERR_PRINT("Tried to create a GLTFCollider from a CollisionShape3D node, but the given node's shape '" + String(Variant(shape)) +
"' had an unsupported shape type. Only BoxShape3D, CapsuleShape3D, CylinderShape3D, SphereShape3D, ConcavePolygonShape3D, and ConvexPolygonShape3D are supported.");
}
return collider;
}
CollisionShape3D *GLTFCollider::to_node(bool p_cache_shapes) {
CollisionShape3D *collider = memnew(CollisionShape3D);
if (!p_cache_shapes || _shape_cache == nullptr) {
if (shape_type == "box") {
Ref<BoxShape3D> box;
box.instantiate();
box->set_size(size);
_shape_cache = box;
} else if (shape_type == "capsule") {
Ref<CapsuleShape3D> capsule;
capsule.instantiate();
capsule->set_radius(radius);
capsule->set_height(height);
_shape_cache = capsule;
} else if (shape_type == "cylinder") {
Ref<CylinderShape3D> cylinder;
cylinder.instantiate();
cylinder->set_radius(radius);
cylinder->set_height(height);
_shape_cache = cylinder;
} else if (shape_type == "sphere") {
Ref<SphereShape3D> sphere;
sphere.instantiate();
sphere->set_radius(radius);
_shape_cache = sphere;
} else if (shape_type == "hull") {
ERR_FAIL_COND_V_MSG(importer_mesh.is_null(), collider, "GLTFCollider: Error converting convex hull collider to a node: The mesh resource is null.");
Ref<ConvexPolygonShape3D> convex = importer_mesh->get_mesh()->create_convex_shape();
_shape_cache = convex;
} else if (shape_type == "trimesh") {
ERR_FAIL_COND_V_MSG(importer_mesh.is_null(), collider, "GLTFCollider: Error converting concave mesh collider to a node: The mesh resource is null.");
Ref<ConcavePolygonShape3D> concave = importer_mesh->create_trimesh_shape();
_shape_cache = concave;
} else {
ERR_PRINT("GLTFCollider: Error converting to a node: Shape type '" + shape_type + "' is unknown.");
}
}
collider->set_shape(_shape_cache);
return collider;
}
Ref<GLTFCollider> GLTFCollider::from_dictionary(const Dictionary p_dictionary) {
ERR_FAIL_COND_V_MSG(!p_dictionary.has("type"), Ref<GLTFCollider>(), "Failed to parse GLTF collider, missing required field 'type'.");
Ref<GLTFCollider> collider;
collider.instantiate();
const String &shape_type = p_dictionary["type"];
collider->shape_type = shape_type;
if (shape_type != "box" && shape_type != "capsule" && shape_type != "cylinder" && shape_type != "sphere" && shape_type != "hull" && shape_type != "trimesh") {
ERR_PRINT("Error parsing GLTF collider: Shape type '" + shape_type + "' is unknown. Only box, capsule, cylinder, sphere, hull, and trimesh are supported.");
}
if (p_dictionary.has("radius")) {
collider->set_radius(p_dictionary["radius"]);
}
if (p_dictionary.has("height")) {
collider->set_height(p_dictionary["height"]);
}
if (p_dictionary.has("size")) {
const Array &arr = p_dictionary["size"];
if (arr.size() == 3) {
collider->set_size(Vector3(arr[0], arr[1], arr[2]));
} else {
ERR_PRINT("Error parsing GLTF collider: The size must have exactly 3 numbers.");
}
}
if (p_dictionary.has("isTrigger")) {
collider->set_is_trigger(p_dictionary["isTrigger"]);
}
if (p_dictionary.has("mesh")) {
collider->set_mesh_index(p_dictionary["mesh"]);
}
if (unlikely(collider->get_mesh_index() < 0 && (shape_type == "hull" || shape_type == "trimesh"))) {
ERR_PRINT("Error parsing GLTF collider: The mesh-based shape type '" + shape_type + "' does not have a valid mesh index.");
}
return collider;
}
Dictionary GLTFCollider::to_dictionary() const {
Dictionary d;
d["type"] = shape_type;
if (shape_type == "box") {
Array size_array;
size_array.resize(3);
size_array[0] = size.x;
size_array[1] = size.y;
size_array[2] = size.z;
d["size"] = size_array;
} else if (shape_type == "capsule") {
d["radius"] = get_radius();
d["height"] = get_height();
} else if (shape_type == "cylinder") {
d["radius"] = get_radius();
d["height"] = get_height();
} else if (shape_type == "sphere") {
d["radius"] = get_radius();
} else if (shape_type == "trimesh" || shape_type == "hull") {
d["mesh"] = get_mesh_index();
}
if (is_trigger) {
d["isTrigger"] = is_trigger;
}
return d;
}
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