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-rw-r--r--servers/physics_2d/collision_solver_2d_sw.cpp309
1 files changed, 309 insertions, 0 deletions
diff --git a/servers/physics_2d/collision_solver_2d_sw.cpp b/servers/physics_2d/collision_solver_2d_sw.cpp
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index 000000000..cee5582c6
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+++ b/servers/physics_2d/collision_solver_2d_sw.cpp
@@ -0,0 +1,309 @@
+/*************************************************************************/
+/* collision_solver_2d_sw.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* http://www.godotengine.org */
+/*************************************************************************/
+/* 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 "collision_solver_2d_sw.h"
+#include "collision_solver_2d_sat.h"
+
+
+#define collision_solver sat_2d_calculate_penetration
+//#define collision_solver gjk_epa_calculate_penetration
+
+
+bool CollisionSolver2DSW::solve_static_line(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Matrix32& p_transform_inv_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,const Matrix32& p_transform_inv_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result) {
+
+
+ const LineShape2DSW *line = static_cast<const LineShape2DSW*>(p_shape_A);
+ if (p_shape_B->get_type()==Physics2DServer::SHAPE_LINE)
+ return false;
+
+
+ Vector2 n = p_transform_A.basis_xform(line->get_normal()).normalized();
+ Vector2 p = p_transform_A.xform(line->get_normal()*line->get_d());
+ real_t d = n.dot(p);
+
+ Vector2 supports[2];
+ int support_count;
+
+ p_shape_B->get_supports(p_transform_inv_B.basis_xform(-n).normalized(),supports,support_count);
+
+ bool found=false;
+
+
+ for(int i=0;i<support_count;i++) {
+
+ supports[i] = p_transform_B.xform( supports[i] );
+ real_t pd = n.dot(supports[i]);
+ if (pd>=d)
+ continue;
+ found=true;
+
+ Vector2 support_A = supports[i] - n*(pd-d);
+
+ if (p_result_callback) {
+ if (p_swap_result)
+ p_result_callback(supports[i],support_A,p_userdata);
+ else
+ p_result_callback(support_A,supports[i],p_userdata);
+ }
+
+ }
+
+
+ return found;
+}
+
+bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Matrix32& p_transform_inv_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,const Matrix32& p_transform_inv_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result,Vector2 *sep_axis) {
+
+
+
+ const RayShape2DSW *ray = static_cast<const RayShape2DSW*>(p_shape_A);
+ if (p_shape_B->get_type()==Physics2DServer::SHAPE_RAY)
+ return false;
+
+ Vector2 from = p_transform_A.get_origin();
+ Vector2 to = from+p_transform_A[1]*ray->get_length();
+ Vector2 support_A=to;
+
+ from = p_transform_inv_B.xform(from);
+ to = p_transform_inv_B.xform(to);
+
+ Vector2 p,n;
+ if (!p_shape_B->intersect_segment(from,to,p,n)) {
+
+ if (sep_axis)
+ *sep_axis=p_transform_A[1].normalized();
+ return false;
+ }
+
+
+ Vector2 support_B=p_transform_B.xform(p);
+
+ if (p_result_callback) {
+ if (p_swap_result)
+ p_result_callback(support_B,support_A,p_userdata);
+ else
+ p_result_callback(support_A,support_B,p_userdata);
+ }
+ return true;
+
+}
+
+/*
+bool CollisionSolver2DSW::solve_ray(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,const Matrix32& p_inverse_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result) {
+
+
+ const RayShape2DSW *ray = static_cast<const RayShape2DSW*>(p_shape_A);
+
+ Vector2 from = p_transform_A.origin;
+ Vector2 to = from+p_transform_A.basis.get_axis(2)*ray->get_length();
+ Vector2 support_A=to;
+
+ from = p_inverse_B.xform(from);
+ to = p_inverse_B.xform(to);
+
+ Vector2 p,n;
+ if (!p_shape_B->intersect_segment(from,to,&p,&n))
+ return false;
+
+ Vector2 support_B=p_transform_B.xform(p);
+
+ if (p_result_callback) {
+ if (p_swap_result)
+ p_result_callback(support_B,support_A,p_userdata);
+ else
+ p_result_callback(support_A,support_B,p_userdata);
+ }
+ return true;
+}
+*/
+
+struct _ConcaveCollisionInfo2D {
+
+ const Matrix32 *transform_A;
+ const Matrix32 *transform_inv_A;
+ const Shape2DSW *shape_A;
+ const Matrix32 *transform_B;
+ const Matrix32 *transform_inv_B;
+ CollisionSolver2DSW::CallbackResult result_callback;
+ void *userdata;
+ bool swap_result;
+ bool collided;
+ int aabb_tests;
+ int collisions;
+ Vector2 *sep_axis;
+
+};
+
+void CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex) {
+
+
+
+ _ConcaveCollisionInfo2D &cinfo = *(_ConcaveCollisionInfo2D*)(p_userdata);
+ cinfo.aabb_tests++;
+ if (!cinfo.result_callback && cinfo.collided)
+ return; //already collided and no contacts requested, don't test anymore
+
+ bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, *cinfo.transform_inv_A, p_convex,*cinfo.transform_B,*cinfo.transform_inv_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result,cinfo.sep_axis );
+ if (!collided)
+ return;
+
+
+ cinfo.collided=true;
+ cinfo.collisions++;
+
+}
+
+bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Matrix32& p_transform_inv_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,const Matrix32& p_transform_inv_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result,Vector2 *sep_axis) {
+
+
+ const ConcaveShape2DSW *concave_B=static_cast<const ConcaveShape2DSW*>(p_shape_B);
+
+ _ConcaveCollisionInfo2D cinfo;
+ cinfo.transform_A=&p_transform_A;
+ cinfo.transform_inv_A=&p_transform_inv_A;
+ cinfo.shape_A=p_shape_A;
+ cinfo.transform_B=&p_transform_B;
+ cinfo.transform_inv_B=&p_transform_inv_B;
+ cinfo.result_callback=p_result_callback;
+ cinfo.userdata=p_userdata;
+ cinfo.swap_result=p_swap_result;
+ cinfo.collided=false;
+ cinfo.collisions=0;
+ cinfo.sep_axis=sep_axis;
+
+ cinfo.aabb_tests=0;
+
+ Matrix32 rel_transform = p_transform_A;
+ rel_transform.elements[2]-=p_transform_B.elements[2];
+
+ //quickly compute a local Rect2
+
+ Rect2 local_aabb;
+ for(int i=0;i<2;i++) {
+
+ Vector2 axis( p_transform_B.elements[i] );
+ float axis_scale = 1.0/axis.length();
+ axis*=axis_scale;
+
+ float smin,smax;
+ p_shape_A->project_rangev(axis,rel_transform,smin,smax);
+ smin*=axis_scale;
+ smax*=axis_scale;
+
+ local_aabb.pos[i]=smin;
+ local_aabb.size[i]=smax-smin;
+ }
+
+ concave_B->cull(local_aabb,concave_callback,&cinfo);
+
+
+// print_line("Rect2 TESTS: "+itos(cinfo.aabb_tests));
+ return cinfo.collided;
+}
+
+
+bool CollisionSolver2DSW::solve_static(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Matrix32& p_transform_inv_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,const Matrix32& p_transform_inv_B,CallbackResult p_result_callback,void *p_userdata,Vector2 *sep_axis) {
+
+
+
+ Physics2DServer::ShapeType type_A=p_shape_A->get_type();
+ Physics2DServer::ShapeType type_B=p_shape_B->get_type();
+ bool concave_A=p_shape_A->is_concave();
+ bool concave_B=p_shape_B->is_concave();
+
+ bool swap = false;
+
+ if (type_A>type_B) {
+ SWAP(type_A,type_B);
+ SWAP(concave_A,concave_B);
+ swap=true;
+ }
+
+ if (type_A==Physics2DServer::SHAPE_LINE) {
+
+ if (type_B==Physics2DServer::SHAPE_LINE || type_B==Physics2DServer::SHAPE_RAY) {
+ return false;
+ //if (type_B==Physics2DServer::SHAPE_RAY) {
+ // return false;
+ }
+
+ if (swap) {
+ return solve_static_line(p_shape_B,p_transform_B,p_transform_inv_B,p_shape_A,p_transform_A,p_transform_inv_A,p_result_callback,p_userdata,true);
+ } else {
+ return solve_static_line(p_shape_A,p_transform_A,p_transform_inv_A,p_shape_B,p_transform_B,p_transform_inv_B,p_result_callback,p_userdata,false);
+ }
+
+ /*} else if (type_A==Physics2DServer::SHAPE_RAY) {
+
+ if (type_B==Physics2DServer::SHAPE_RAY)
+ return false;
+
+ if (swap) {
+ return solve_ray(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_inverse_A,p_result_callback,p_userdata,true);
+ } else {
+ return solve_ray(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_inverse_B,p_result_callback,p_userdata,false);
+ }
+*/
+ } else if (type_A==Physics2DServer::SHAPE_RAY) {
+
+ if (type_B==Physics2DServer::SHAPE_RAY) {
+
+ return false; //no ray-ray
+ }
+
+
+ if (swap) {
+ return solve_raycast(p_shape_B,p_transform_B,p_transform_inv_B,p_shape_A,p_transform_A,p_transform_inv_A,p_result_callback,p_userdata,true,sep_axis);
+ } else {
+ return solve_raycast(p_shape_A,p_transform_A,p_transform_inv_A,p_shape_B,p_transform_B,p_transform_inv_B,p_result_callback,p_userdata,false,sep_axis);
+ }
+
+
+ } else if (concave_B) {
+
+
+ if (concave_A)
+ return false;
+
+ if (!swap)
+ return solve_concave(p_shape_A,p_transform_A,p_transform_inv_A,p_shape_B,p_transform_B,p_transform_inv_B,p_result_callback,p_userdata,false,sep_axis);
+ else
+ return solve_concave(p_shape_B,p_transform_B,p_transform_inv_B,p_shape_A,p_transform_A,p_transform_inv_A,p_result_callback,p_userdata,true,sep_axis);
+
+
+
+ } else {
+
+
+ return collision_solver(p_shape_A, p_transform_A, p_transform_inv_A, p_shape_B, p_transform_B, p_transform_inv_B, p_result_callback,p_userdata,false,sep_axis);
+ }
+
+
+ return false;
+}
+
generated by cgit v1.2.3-70-g09d2 (git 2.52.0) at 2026-01-24 04:37:34 +0000