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Improved ray shape (2D and 3D) by addiing the possibility to act as regular shape

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This commit is contained in:
Andrea Catania 2018-02-19 20:59:57 +01:00
parent cbdd410a6f
commit ffc3ef8677
15 changed files with 117 additions and 20 deletions
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5
modules/bullet/btRayShape.cpp
View file

@ -54,6 +54,11 @@ void btRayShape::setLength(btScalar p_length) {
reload_cache();
}
void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) {
slipsOnSlope = p_slipsOnSlope;
}
btVector3 btRayShape::localGetSupportingVertex(const btVector3 &vec) const {
return localGetSupportingVertexWithoutMargin(vec) + (m_shapeAxis * m_collisionMargin);
}

4
modules/bullet/btRayShape.h
View file

@ -44,6 +44,7 @@ ATTRIBUTE_ALIGNED16(class)
btRayShape : public btConvexInternalShape {
btScalar m_length;
bool slipsOnSlope;
/// The default axis is the z
btVector3 m_shapeAxis;
@ -59,6 +60,9 @@ public:
void setLength(btScalar p_length);
btScalar getLength() const { return m_length; }
void setSlipsOnSlope(bool p_slipOnSlope);
bool getSlipsOnSlope() const { return slipsOnSlope; }
const btTransform &getSupportPoint() const { return m_cacheSupportPoint; }
const btScalar &getScaledLength() const { return m_cacheScaledLength; }

8
modules/bullet/godot_ray_world_algorithm.cpp
View file

@ -100,14 +100,16 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo
if (btResult.hasHit()) {
btVector3 ray_normal(ray_transform.getOrigin() - to.getOrigin());
ray_normal.normalize();
btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
if (depth >= -RAY_STABILITY_MARGIN)
depth = 0;
resultOut->addContactPoint(ray_normal, btResult.m_hitPointWorld, depth);
if (ray_shape->getSlipsOnSlope())
resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth);
else {
resultOut->addContactPoint((ray_transform.getOrigin() - to.getOrigin()).normalize(), btResult.m_hitPointWorld, depth);
}
}
}

24
modules/bullet/shape_bullet.cpp
View file

@ -135,8 +135,10 @@ btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<rea
return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, -fieldHeight, fieldHeight, YAxis, PHY_FLOAT, flipQuadEdges));
}
btRayShape *ShapeBullet::create_shape_ray(real_t p_length) {
return bulletnew(btRayShape(p_length));
btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) {
btRayShape *r(bulletnew(btRayShape(p_length)));
r->setSlipsOnSlope(p_slips_on_slope);
return r;
}
/* PLANE */
@ -435,25 +437,33 @@ btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_impli
/* Ray shape */
RayShapeBullet::RayShapeBullet() :
ShapeBullet(),
length(1) {}
length(1),
slips_on_slope(false) {}
void RayShapeBullet::set_data(const Variant &p_data) {
setup(p_data);
Dictionary d = p_data;
setup(d["length"], d["slips_on_slope"]);
}
Variant RayShapeBullet::get_data() const {
return length;
Dictionary d;
d["length"] = length;
d["slips_on_slope"] = slips_on_slope;
return d;
}
PhysicsServer::ShapeType RayShapeBullet::get_type() const {
return PhysicsServer::SHAPE_RAY;
}
void RayShapeBullet::setup(real_t p_length) {
void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) {
length = p_length;
slips_on_slope = p_slips_on_slope;
notifyShapeChanged();
}
btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin));
return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin, slips_on_slope));
}

5
modules/bullet/shape_bullet.h
View file

@ -86,7 +86,7 @@ public:
static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
static class btScaledBvhTriangleMeshShape *create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
static class btHeightfieldTerrainShape *create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size);
static class btRayShape *create_shape_ray(real_t p_length);
static class btRayShape *create_shape_ray(real_t p_length, bool p_slips_on_slope);
};
class PlaneShapeBullet : public ShapeBullet {
@ -216,6 +216,7 @@ class RayShapeBullet : public ShapeBullet {
public:
real_t length;
bool slips_on_slope;
RayShapeBullet();
@ -225,6 +226,6 @@ public:
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
void setup(real_t p_length);
void setup(real_t p_length, bool p_slips_on_slope);
};
#endif

23
scene/resources/ray_shape.cpp
View file

@ -43,7 +43,10 @@ Vector<Vector3> RayShape::_gen_debug_mesh_lines() {
void RayShape::_update_shape() {
PhysicsServer::get_singleton()->shape_set_data(get_shape(), length);
Dictionary d;
d["length"] = length;
d["slips_on_slope"] = slips_on_slope;
PhysicsServer::get_singleton()->shape_set_data(get_shape(), d);
emit_changed();
}
@ -52,6 +55,7 @@ void RayShape::set_length(float p_length) {
length = p_length;
_update_shape();
notify_change_to_owners();
_change_notify("length");
}
float RayShape::get_length() const {
@ -59,16 +63,33 @@ float RayShape::get_length() const {
return length;
}
void RayShape::set_slips_on_slope(bool p_active) {
slips_on_slope = p_active;
_update_shape();
notify_change_to_owners();
_change_notify("slips_on_slope");
}
bool RayShape::get_slips_on_slope() const {
return slips_on_slope;
}
void RayShape::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_length", "length"), &RayShape::set_length);
ClassDB::bind_method(D_METHOD("get_length"), &RayShape::get_length);
ClassDB::bind_method(D_METHOD("set_slips_on_slope", "active"), &RayShape::set_slips_on_slope);
ClassDB::bind_method(D_METHOD("get_slips_on_slope"), &RayShape::get_slips_on_slope);
ADD_PROPERTY(PropertyInfo(Variant::REAL, "length", PROPERTY_HINT_RANGE, "0,4096,0.01"), "set_length", "get_length");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "slips_on_slope"), "set_slips_on_slope", "get_slips_on_slope");
}
RayShape::RayShape() :
Shape(PhysicsServer::get_singleton()->shape_create(PhysicsServer::SHAPE_RAY)) {
set_length(1.0);
set_slips_on_slope(false);
}

4
scene/resources/ray_shape.h
View file

@ -36,6 +36,7 @@ class RayShape : public Shape {
GDCLASS(RayShape, Shape);
float length;
bool slips_on_slope;
protected:
static void _bind_methods();
@ -46,6 +47,9 @@ public:
void set_length(float p_length);
float get_length() const;
void set_slips_on_slope(bool p_active);
bool get_slips_on_slope() const;
RayShape();
};
#endif // RAY_SHAPE_H

20
scene/resources/segment_shape_2d.cpp
View file

@ -106,7 +106,10 @@ SegmentShape2D::SegmentShape2D() :
void RayShape2D::_update_shape() {
Physics2DServer::get_singleton()->shape_set_data(get_rid(), length);
Dictionary d;
d["length"] = length;
d["slips_on_slope"] = slips_on_slope;
Physics2DServer::get_singleton()->shape_set_data(get_rid(), d);
emit_changed();
}
@ -140,7 +143,11 @@ void RayShape2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_length", "length"), &RayShape2D::set_length);
ClassDB::bind_method(D_METHOD("get_length"), &RayShape2D::get_length);
ClassDB::bind_method(D_METHOD("set_slips_on_slope", "active"), &RayShape2D::set_slips_on_slope);
ClassDB::bind_method(D_METHOD("get_slips_on_slope"), &RayShape2D::get_slips_on_slope);
ADD_PROPERTY(PropertyInfo(Variant::REAL, "length"), "set_length", "get_length");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "slips_on_slope"), "set_slips_on_slope", "get_slips_on_slope");
}
void RayShape2D::set_length(real_t p_length) {
@ -153,9 +160,20 @@ real_t RayShape2D::get_length() const {
return length;
}
void RayShape2D::set_slips_on_slope(bool p_active) {
slips_on_slope = p_active;
_update_shape();
}
bool RayShape2D::get_slips_on_slope() const {
return slips_on_slope;
}
RayShape2D::RayShape2D() :
Shape2D(Physics2DServer::get_singleton()->ray_shape_create()) {
length = 20;
slips_on_slope = false;
_update_shape();
}

5
scene/resources/segment_shape_2d.h
View file

@ -63,6 +63,7 @@ class RayShape2D : public Shape2D {
GDCLASS(RayShape2D, Shape2D);
real_t length;
bool slips_on_slope;
void _update_shape();
@ -72,6 +73,10 @@ protected:
public:
void set_length(real_t p_length);
real_t get_length() const;
void set_slips_on_slope(bool p_active);
bool get_slips_on_slope() const;
virtual void draw(const RID &p_to_rid, const Color &p_color);
virtual Rect2 get_rect() const;

4
servers/physics/collision_solver_sw.cpp
View file

@ -90,6 +90,10 @@ bool CollisionSolverSW::solve_ray(const ShapeSW *p_shape_A, const Transform &p_t
return false;
Vector3 support_B = p_transform_B.xform(p);
if (ray->get_slips_on_slope()) {
Vector3 global_n = ai.basis.xform_inv(n).normalized();
support_B = support_A + (support_B - support_A).length() * global_n;
}
if (p_result_callback) {
if (p_swap_result)

16
servers/physics/shape_sw.cpp
View file

@ -165,6 +165,10 @@ real_t RayShapeSW::get_length() const {
return length;
}
bool RayShapeSW::get_slips_on_slope() const {
return slips_on_slope;
}
void RayShapeSW::project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const {
// don't think this will be even used
@ -221,25 +225,31 @@ Vector3 RayShapeSW::get_moment_of_inertia(real_t p_mass) const {
return Vector3();
}
void RayShapeSW::_setup(real_t p_length) {
void RayShapeSW::_setup(real_t p_length, bool p_slips_on_slope) {
length = p_length;
slips_on_slope = p_slips_on_slope;
configure(AABB(Vector3(0, 0, 0), Vector3(0.1, 0.1, length)));
}
void RayShapeSW::set_data(const Variant &p_data) {
_setup(p_data);
Dictionary d = p_data;
_setup(d["length"], d["slips_on_slope"]);
}
Variant RayShapeSW::get_data() const {
return length;
Dictionary d;
d["length"] = length;
d["slips_on_slope"] = slips_on_slope;
return d;
}
RayShapeSW::RayShapeSW() {
length = 1;
slips_on_slope = false;
}
/********** SPHERE *************/

4
servers/physics/shape_sw.h
View file

@ -149,11 +149,13 @@ public:
class RayShapeSW : public ShapeSW {
real_t length;
bool slips_on_slope;
void _setup(real_t p_length);
void _setup(real_t p_length, bool p_slips_on_slope);
public:
real_t get_length() const;
bool get_slips_on_slope() const;
virtual real_t get_area() const { return 0.0; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_RAY; }

4
servers/physics_2d/collision_solver_2d_sw.cpp
View file

@ -95,6 +95,10 @@ bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Transf
}
Vector2 support_B = p_transform_B.xform(p);
if (ray->get_slips_on_slope()) {
Vector2 global_n = invb.basis_xform_inv(n).normalized();
support_B = support_A + (support_B - support_A).length() * global_n;
}
if (p_result_callback) {
if (p_swap_result)

9
servers/physics_2d/shape_2d_sw.cpp
View file

@ -184,13 +184,18 @@ real_t RayShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale)
void RayShape2DSW::set_data(const Variant &p_data) {
length = p_data;
Dictionary d = p_data;
length = d["length"];
slips_on_slope = d["slips_on_slope"];
configure(Rect2(0, 0, 0.001, length));
}
Variant RayShape2DSW::get_data() const {
return length;
Dictionary d;
d["length"] = length;
d["slips_on_slope"] = slips_on_slope;
return d;
}
/*********************************************************/

2
servers/physics_2d/shape_2d_sw.h
View file

@ -197,9 +197,11 @@ public:
class RayShape2DSW : public Shape2DSW {
real_t length;
bool slips_on_slope;
public:
_FORCE_INLINE_ real_t get_length() const { return length; }
_FORCE_INLINE_ bool get_slips_on_slope() const { return slips_on_slope; }
virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_RAY; }