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Merge pull request #46581 from Riteo/fix-capsule-shape

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Change CapsuleShape3D's collision detection axis to vertical
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Rémi Verschelde 2021-03-02 16:46:48 +01:00 committed by GitHub
parent 16e88f99e2 b24bba95d0
commit 5885381373
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 26 additions and 26 deletions
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16
servers/physics_3d/collision_solver_3d_sat.cpp
View file

@ -845,7 +845,7 @@ static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform &p_t
//capsule sphere 1, sphere
Vector3 capsule_axis = p_transform_b.basis.get_axis(2) * (capsule_B->get_height() * 0.5);
Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5);
Vector3 capsule_ball_1 = p_transform_b.origin + capsule_axis;
@ -1148,7 +1148,7 @@ static void _collision_box_capsule(const Shape3DSW *p_a, const Transform &p_tran
}
}
Vector3 cyl_axis = p_transform_b.basis.get_axis(2).normalized();
Vector3 cyl_axis = p_transform_b.basis.get_axis(1).normalized();
// edges of A, capsule cylinder
@ -1193,7 +1193,7 @@ static void _collision_box_capsule(const Shape3DSW *p_a, const Transform &p_tran
// capsule balls, edges of A
for (int i = 0; i < 2; i++) {
Vector3 capsule_axis = p_transform_b.basis.get_axis(2) * (capsule_B->get_height() * 0.5);
Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5);
Vector3 sphere_pos = p_transform_b.origin + ((i == 0) ? capsule_axis : -capsule_axis);
@ -1569,8 +1569,8 @@ static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform &p_
// some values
Vector3 capsule_A_axis = p_transform_a.basis.get_axis(2) * (capsule_A->get_height() * 0.5);
Vector3 capsule_B_axis = p_transform_b.basis.get_axis(2) * (capsule_B->get_height() * 0.5);
Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5);
Vector3 capsule_B_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5);
Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis;
Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis;
@ -1670,7 +1670,7 @@ static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transf
for (int i = 0; i < edge_count; i++) {
// cylinder
Vector3 edge_axis = p_transform_b.basis.xform(vertices[edges[i].a]) - p_transform_b.basis.xform(vertices[edges[i].b]);
Vector3 axis = edge_axis.cross(p_transform_a.basis.get_axis(2)).normalized();
Vector3 axis = edge_axis.cross(p_transform_a.basis.get_axis(1)).normalized();
if (!separator.test_axis(axis)) {
return;
@ -1682,7 +1682,7 @@ static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transf
for (int i = 0; i < 2; i++) {
// edges of B, capsule cylinder
Vector3 capsule_axis = p_transform_a.basis.get_axis(2) * (capsule_A->get_height() * 0.5);
Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5);
Vector3 sphere_pos = p_transform_a.origin + ((i == 0) ? capsule_axis : -capsule_axis);
@ -1720,7 +1720,7 @@ static void _collision_capsule_face(const Shape3DSW *p_a, const Transform &p_tra
// edges of B, capsule cylinder
Vector3 capsule_axis = p_transform_a.basis.get_axis(2) * (capsule_A->get_height() * 0.5);
Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5);
for (int i = 0; i < 3; i++) {
// edge-cylinder

36
servers/physics_3d/shape_3d_sw.cpp
View file

@ -491,10 +491,10 @@ BoxShape3DSW::BoxShape3DSW() {
void CapsuleShape3DSW::project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const {
Vector3 n = p_transform.basis.xform_inv(p_normal).normalized();
real_t h = (n.z > 0) ? height : -height;
real_t h = (n.y > 0) ? height : -height;
n *= radius;
n.z += h * 0.5;
n.y += h * 0.5;
r_max = p_normal.dot(p_transform.xform(n));
r_min = p_normal.dot(p_transform.xform(-n));
@ -503,36 +503,36 @@ void CapsuleShape3DSW::project_range(const Vector3 &p_normal, const Transform &p
Vector3 CapsuleShape3DSW::get_support(const Vector3 &p_normal) const {
Vector3 n = p_normal;
real_t h = (n.z > 0) ? height : -height;
real_t h = (n.y > 0) ? height : -height;
n *= radius;
n.z += h * 0.5;
n.y += h * 0.5;
return n;
}
void CapsuleShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const {
Vector3 n = p_normal;
real_t d = n.z;
real_t d = n.y;
if (Math::abs(d) < _EDGE_IS_VALID_SUPPORT_THRESHOLD) {
// make it flat
n.z = 0.0;
n.y = 0.0;
n.normalize();
n *= radius;
r_amount = 2;
r_type = FEATURE_EDGE;
r_supports[0] = n;
r_supports[0].z += height * 0.5;
r_supports[0].y += height * 0.5;
r_supports[1] = n;
r_supports[1].z -= height * 0.5;
r_supports[1].y -= height * 0.5;
} else {
real_t h = (d > 0) ? height : -height;
n *= radius;
n.z += h * 0.5;
n.y += h * 0.5;
r_amount = 1;
r_type = FEATURE_POINT;
*r_supports = n;
@ -551,7 +551,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
// test against cylinder and spheres :-|
collided = Geometry3D::segment_intersects_cylinder(p_begin, p_end, height, radius, &auxres, &auxn);
collided = Geometry3D::segment_intersects_cylinder(p_begin, p_end, height, radius, &auxres, &auxn, 1);
if (collided) {
real_t d = norm.dot(auxres);
@ -563,7 +563,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
}
}
collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, 0, height * 0.5), radius, &auxres, &auxn);
collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * 0.5, 0), radius, &auxres, &auxn);
if (collided) {
real_t d = norm.dot(auxres);
@ -575,7 +575,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
}
}
collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, 0, height * -0.5), radius, &auxres, &auxn);
collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * -0.5, 0), radius, &auxres, &auxn);
if (collided) {
real_t d = norm.dot(auxres);
@ -596,19 +596,19 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
}
bool CapsuleShape3DSW::intersect_point(const Vector3 &p_point) const {
if (Math::abs(p_point.z) < height * 0.5) {
return Vector3(p_point.x, p_point.y, 0).length() < radius;
if (Math::abs(p_point.y) < height * 0.5) {
return Vector3(p_point.x, 0, p_point.z).length() < radius;
} else {
Vector3 p = p_point;
p.z = Math::abs(p.z) - height * 0.5;
p.y = Math::abs(p.y) - height * 0.5;
return p.length() < radius;
}
}
Vector3 CapsuleShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
Vector3 s[2] = {
Vector3(0, 0, -height * 0.5),
Vector3(0, 0, height * 0.5),
Vector3(0, -height * 0.5, 0),
Vector3(0, height * 0.5, 0),
};
Vector3 p = Geometry3D::get_closest_point_to_segment(p_point, s);
@ -633,7 +633,7 @@ Vector3 CapsuleShape3DSW::get_moment_of_inertia(real_t p_mass) const {
void CapsuleShape3DSW::_setup(real_t p_height, real_t p_radius) {
height = p_height;
radius = p_radius;
configure(AABB(Vector3(-radius, -radius, -height * 0.5 - radius), Vector3(radius * 2, radius * 2, height + radius * 2.0)));
configure(AABB(Vector3(-radius, -height * 0.5 - radius, -radius), Vector3(radius * 2, height + radius * 2.0, radius * 2)));
}
void CapsuleShape3DSW::set_data(const Variant &p_data) {