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| -rw-r--r-- | servers/physics_2d/shape_2d_sw.h | 442 |
1 files changed, 442 insertions, 0 deletions
diff --git a/servers/physics_2d/shape_2d_sw.h b/servers/physics_2d/shape_2d_sw.h new file mode 100644 index 000000000..20e76fad5 --- /dev/null +++ b/servers/physics_2d/shape_2d_sw.h @@ -0,0 +1,442 @@ +/*************************************************************************/ +/* shape_2d_sw.h */ +/*************************************************************************/ +/* 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. */ +/*************************************************************************/ +#ifndef SHAPE_2D_2DSW_H
+#define SHAPE_2D_2DSW_H
+
+#include "servers/physics_2d_server.h"
+/*
+
+SHAPE_LINE, ///< plane:"plane"
+SHAPE_SEGMENT, ///< float:"length"
+SHAPE_CIRCLE, ///< float:"radius"
+SHAPE_RECTANGLE, ///< vec3:"extents"
+SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
+SHAPE_CONCAVE_POLYGON, ///< Vector2 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector2 array)
+SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
+
+*/
+
+class Shape2DSW;
+
+class ShapeOwner2DSW {
+public:
+
+ virtual void _shape_changed()=0;
+ virtual void remove_shape(Shape2DSW *p_shape)=0;
+
+ virtual ~ShapeOwner2DSW() {}
+};
+
+class Shape2DSW {
+
+ RID self;
+ Rect2 aabb;
+ bool configured;
+ real_t custom_bias;
+
+ Map<ShapeOwner2DSW*,int> owners;
+protected:
+
+ void configure(const Rect2& p_aabb);
+public:
+
+ _FORCE_INLINE_ void set_self(const RID& p_self) { self=p_self; }
+ _FORCE_INLINE_ RID get_self() const {return self; }
+
+ virtual Physics2DServer::ShapeType get_type() const=0;
+
+ _FORCE_INLINE_ Rect2 get_aabb() const { return aabb; }
+ _FORCE_INLINE_ bool is_configured() const { return configured; }
+
+ virtual bool is_concave() const { return false; }
+
+ virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const=0;
+ virtual Vector2 get_support(const Vector2& p_normal) const;
+ virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const=0;
+
+ virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const=0;
+ virtual real_t get_moment_of_inertia(float p_mass) const=0;
+
+ virtual void set_data(const Variant& p_data)=0;
+ virtual Variant get_data() const=0;
+
+ _FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias=p_bias; }
+ _FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; }
+
+ void add_owner(ShapeOwner2DSW *p_owner);
+ void remove_owner(ShapeOwner2DSW *p_owner);
+ bool is_owner(ShapeOwner2DSW *p_owner) const;
+ const Map<ShapeOwner2DSW*,int>& get_owners() const;
+
+ Shape2DSW();
+ virtual ~Shape2DSW();
+};
+
+
+class LineShape2DSW : public Shape2DSW {
+
+
+ Vector2 normal;
+ real_t d;
+
+public:
+
+ _FORCE_INLINE_ Vector2 get_normal() const { return normal; }
+ _FORCE_INLINE_ real_t get_d() const { return d; }
+
+ virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_LINE; }
+
+ virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal,p_transform,r_min,r_max); }
+ virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
+
+ virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
+ virtual real_t get_moment_of_inertia(float p_mass) const;
+
+ virtual void set_data(const Variant& p_data);
+ virtual Variant get_data() const;
+
+ _FORCE_INLINE_ void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
+ //real large
+ r_min=-1e10;
+ r_max=1e10;
+ }
+
+};
+
+
+class RayShape2DSW : public Shape2DSW {
+
+
+ real_t length;
+
+public:
+
+
+ _FORCE_INLINE_ real_t get_length() const { return length; }
+
+ virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_RAY; }
+
+ virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal,p_transform,r_min,r_max); }
+ virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
+
+ virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
+ virtual real_t get_moment_of_inertia(float p_mass) const;
+
+ virtual void set_data(const Variant& p_data);
+ virtual Variant get_data() const;
+
+ _FORCE_INLINE_ void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
+ //real large
+ r_max = p_normal.dot(p_transform.get_origin());
+ r_min = p_normal.dot(p_transform.xform(Vector2(0,length)));
+ if (r_max<r_min) {
+
+ SWAP(r_max,r_min);
+ }
+ }
+
+ _FORCE_INLINE_ RayShape2DSW() {}
+ _FORCE_INLINE_ RayShape2DSW(real_t p_length) { length=p_length; }
+};
+
+
+class SegmentShape2DSW : public Shape2DSW {
+
+
+ Vector2 a;
+ Vector2 b;
+ Vector2 n;
+
+public:
+
+
+ _FORCE_INLINE_ const Vector2& get_a() const { return a; }
+ _FORCE_INLINE_ const Vector2& get_b() const { return b; }
+ _FORCE_INLINE_ const Vector2& get_normal() const { return n; }
+
+ virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_SEGMENT; }
+
+ virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal,p_transform,r_min,r_max); }
+ virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
+
+ virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
+ virtual real_t get_moment_of_inertia(float p_mass) const;
+
+ virtual void set_data(const Variant& p_data);
+ virtual Variant get_data() const;
+
+ _FORCE_INLINE_ void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
+ //real large
+ r_max = p_normal.dot(p_transform.xform(a));
+ r_min = p_normal.dot(p_transform.xform(b));
+ if (r_max<r_min) {
+
+ SWAP(r_max,r_min);
+ }
+ }
+
+ _FORCE_INLINE_ SegmentShape2DSW() {}
+ _FORCE_INLINE_ SegmentShape2DSW(const Vector2& p_a,const Vector2& p_b,const Vector2& p_n) { a=p_a; b=p_b; n=p_n; }
+};
+
+
+class CircleShape2DSW : public Shape2DSW {
+
+
+ real_t radius;
+
+public:
+
+ _FORCE_INLINE_ const real_t& get_radius() const { return radius; }
+
+ virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_CIRCLE; }
+
+ virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal,p_transform,r_min,r_max); }
+ virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
+
+ virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
+ virtual real_t get_moment_of_inertia(float p_mass) const;
+
+ virtual void set_data(const Variant& p_data);
+ virtual Variant get_data() const;
+
+ _FORCE_INLINE_ void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
+ //real large
+ real_t d = p_normal.dot( p_transform.get_origin() );
+
+ // figure out scale at point
+ Vector2 local_normal = p_transform.basis_xform_inv(p_normal);
+ real_t scale = local_normal.length();
+
+ r_min = d - (radius) * scale;
+ r_max = d + (radius) * scale;
+ }
+
+};
+
+
+
+class RectangleShape2DSW : public Shape2DSW {
+
+
+ Vector2 half_extents;
+
+public:
+
+ _FORCE_INLINE_ const Vector2& get_half_extents() const { return half_extents; }
+
+ virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_RECTANGLE; }
+
+ virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal,p_transform,r_min,r_max); }
+ virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
+
+ virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
+ virtual real_t get_moment_of_inertia(float p_mass) const;
+
+ virtual void set_data(const Variant& p_data);
+ virtual Variant get_data() const;
+
+ _FORCE_INLINE_ void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
+ // no matter the angle, the box is mirrored anyway
+ Vector2 local_normal=p_transform.basis_xform_inv(p_normal);
+
+ float length = local_normal.abs().dot(half_extents);
+ float distance = p_normal.dot( p_transform.get_origin() );
+
+ r_min = distance - length;
+ r_max = distance + length;
+ }
+
+};
+
+class CapsuleShape2DSW : public Shape2DSW {
+
+
+ real_t radius;
+ real_t height;
+
+public:
+
+ _FORCE_INLINE_ const real_t& get_radius() const { return radius; }
+ _FORCE_INLINE_ const real_t& get_height() const { return height; }
+
+ virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_CAPSULE; }
+
+ virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal,p_transform,r_min,r_max); }
+ virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
+
+ virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
+ virtual real_t get_moment_of_inertia(float p_mass) const;
+
+ virtual void set_data(const Variant& p_data);
+ virtual Variant get_data() const;
+
+ _FORCE_INLINE_ void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
+ // no matter the angle, the box is mirrored anyway
+ Vector2 n=p_transform.basis_xform_inv(p_normal).normalized();
+ float h = (n.y > 0) ? height : -height;
+
+ n *= radius;
+ n.y += h * 0.5;
+
+ r_max = p_normal.dot(p_transform.xform(n));
+ r_min = p_normal.dot(p_transform.xform(-n));
+
+ if (r_max<r_min) {
+
+ SWAP(r_max,r_min);
+ }
+
+ //ERR_FAIL_COND( r_max < r_min );
+ }
+
+};
+
+
+class ConvexPolygonShape2DSW : public Shape2DSW {
+
+
+ struct Point {
+
+ Vector2 pos;
+ Vector2 normal; //normal to next segment
+ };
+
+ Point *points;
+ int point_count;
+
+public:
+
+ _FORCE_INLINE_ int get_point_count() const { return point_count; }
+ _FORCE_INLINE_ const Vector2& get_point(int p_idx) const { return points[p_idx].pos; }
+ _FORCE_INLINE_ const Vector2& get_segment_normal(int p_idx) const { return points[p_idx].normal; }
+
+ virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_CONVEX_POLYGON; }
+
+ virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal,p_transform,r_min,r_max); }
+ virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
+
+ virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
+ virtual real_t get_moment_of_inertia(float p_mass) const;
+
+ virtual void set_data(const Variant& p_data);
+ virtual Variant get_data() const;
+
+ _FORCE_INLINE_ void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
+ // no matter the angle, the box is mirrored anyway
+
+ r_min = r_max = p_normal.dot(p_transform.xform(points[0].pos));
+ for(int i=1;i<point_count;i++) {
+
+ float d = p_normal.dot(p_transform.xform(points[i].pos));
+ if (d>r_max)
+ r_max=d;
+ if (d<r_min)
+ r_min=d;
+
+ }
+
+ }
+
+
+ ConvexPolygonShape2DSW();
+ ~ConvexPolygonShape2DSW();
+};
+
+
+class ConcaveShape2DSW : public Shape2DSW {
+
+public:
+
+ virtual bool is_concave() const { return true; }
+ typedef void (*Callback)(void* p_userdata,Shape2DSW *p_convex);
+
+ virtual void cull(const Rect2& p_local_aabb,Callback p_callback,void* p_userdata) const=0;
+
+};
+
+class ConcavePolygonShape2DSW : public ConcaveShape2DSW {
+
+ struct Segment {
+
+ int points[2];
+ };
+
+ Vector<Segment> segments;
+ Vector<Point2> points;
+
+ struct BVH {
+
+ Rect2 aabb;
+ int left,right;
+ };
+
+
+ Vector<BVH> bvh;
+ int bvh_depth;
+
+
+ struct BVH_CompareX {
+
+ _FORCE_INLINE_ bool operator ()(const BVH& a, const BVH& b) const {
+
+ return (a.aabb.pos.x+a.aabb.size.x*0.5) < (b.aabb.pos.x+b.aabb.size.x*0.5);
+ }
+ };
+
+ struct BVH_CompareY {
+
+ _FORCE_INLINE_ bool operator ()(const BVH& a, const BVH& b) const {
+
+ return (a.aabb.pos.y+a.aabb.size.y*0.5) < (b.aabb.pos.y+b.aabb.size.y*0.5);
+ }
+ };
+
+ int _generate_bvh(BVH *p_bvh,int p_len,int p_depth);
+
+public:
+
+ virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_CONCAVE_POLYGON; }
+
+ virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { /*project_range(p_normal,p_transform,r_min,r_max);*/ }
+ virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
+
+ virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
+
+ virtual real_t get_moment_of_inertia(float p_mass) const { return 0; }
+
+ virtual void set_data(const Variant& p_data);
+ virtual Variant get_data() const;
+
+ virtual void cull(const Rect2& p_local_aabb,Callback p_callback,void* p_userdata) const;
+
+};
+
+
+#endif // SHAPE_2D_2DSW_H
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