void MeshEditor::edit(Ref<Mesh> p_mesh) {
mesh = p_mesh;
mesh_instance->set_mesh(mesh);
if (mesh.is_null()) {
hide();
} else {
rot_x = 0;
rot_y = 0;
_update_rotation();
Rect3 aabb = mesh->get_aabb();
print_line("aabb: " + aabb);
Vector3 ofs = aabb.position + aabb.size * 0.5;
float m = aabb.get_longest_axis_size();
if (m != 0) {
m = 1.0 / m;
m *= 0.5;
//print_line("scale: "+rtos(m));
Transform xform;
xform.basis.scale(Vector3(m, m, m));
xform.origin = -xform.basis.xform(ofs); //-ofs*m;
//xform.origin.z -= aabb.get_longest_axis_size() * 2;
mesh_instance->set_transform(xform);
}
}
}
void HeightMapShapeSW::_setup(PoolVector<real_t> p_heights, int p_width, int p_depth, real_t p_cell_size) {
heights = p_heights;
width = p_width;
depth = p_depth;
cell_size = p_cell_size;
PoolVector<real_t>::Read r = heights.read();
Rect3 aabb;
for (int i = 0; i < depth; i++) {
for (int j = 0; j < width; j++) {
real_t h = r[i * width + j];
Vector3 pos(j * cell_size, h, i * cell_size);
if (i == 0 || j == 0)
aabb.pos = pos;
else
aabb.expand_to(pos);
}
}
configure(aabb);
}
bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform& p_shape_xform,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape,0);
Rect3 aabb = p_shape_xform.xform(shape->get_aabb());
aabb=aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
_RestCallbackData rcd;
rcd.best_len=0;
rcd.best_object=NULL;
rcd.best_shape=0;
for(int i=0;i<amount;i++) {
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
continue;
const CollisionObjectSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
if (p_exclude.has( col_obj->get_self() ))
continue;
rcd.object=col_obj;
rcd.shape=shape_idx;
bool sc = CollisionSolverSW::solve_static(shape,p_shape_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),_rest_cbk_result,&rcd,NULL,p_margin);
if (!sc)
continue;
}
if (rcd.best_len==0)
return false;
r_info->collider_id=rcd.best_object->get_instance_id();
r_info->shape=rcd.best_shape;
r_info->normal=rcd.best_normal;
r_info->point=rcd.best_contact;
r_info->rid=rcd.best_object->get_self();
if (rcd.best_object->get_type()==CollisionObjectSW::TYPE_BODY) {
const BodySW *body = static_cast<const BodySW*>(rcd.best_object);
r_info->linear_velocity = body->get_linear_velocity() +
(body->get_angular_velocity()).cross(body->get_transform().origin-rcd.best_contact);// * mPos);
} else {
r_info->linear_velocity=Vector3();
}
return true;
}
int TriangleMesh::_create_bvh(BVH *p_bvh, BVH **p_bb, int p_from, int p_size, int p_depth, int &max_depth, int &max_alloc) {
if (p_depth > max_depth) {
max_depth = p_depth;
}
if (p_size == 1) {
return p_bb[p_from] - p_bvh;
} else if (p_size == 0) {
return -1;
}
Rect3 aabb;
aabb = p_bb[p_from]->aabb;
for (int i = 1; i < p_size; i++) {
aabb.merge_with(p_bb[p_from + i]->aabb);
}
int li = aabb.get_longest_axis_index();
switch (li) {
case Vector3::AXIS_X: {
SortArray<BVH *, BVHCmpX> sort_x;
sort_x.nth_element(0, p_size, p_size / 2, &p_bb[p_from]);
//sort_x.sort(&p_bb[p_from],p_size);
} break;
case Vector3::AXIS_Y: {
SortArray<BVH *, BVHCmpY> sort_y;
sort_y.nth_element(0, p_size, p_size / 2, &p_bb[p_from]);
//sort_y.sort(&p_bb[p_from],p_size);
} break;
case Vector3::AXIS_Z: {
SortArray<BVH *, BVHCmpZ> sort_z;
sort_z.nth_element(0, p_size, p_size / 2, &p_bb[p_from]);
//sort_z.sort(&p_bb[p_from],p_size);
} break;
}
int left = _create_bvh(p_bvh, p_bb, p_from, p_size / 2, p_depth + 1, max_depth, max_alloc);
int right = _create_bvh(p_bvh, p_bb, p_from + p_size / 2, p_size - p_size / 2, p_depth + 1, max_depth, max_alloc);
int index = max_alloc++;
BVH *_new = &p_bvh[index];
_new->aabb = aabb;
_new->center = aabb.position + aabb.size * 0.5;
_new->face_index = -1;
_new->left = left;
_new->right = right;
return index;
}
bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform& p_shape_xform,float p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask){
if (p_result_max<=0)
return 0;
ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape,0);
Rect3 aabb = p_shape_xform.xform(shape->get_aabb());
aabb=aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
bool collided=false;
r_result_count=0;
PhysicsServerSW::CollCbkData cbk;
cbk.max=p_result_max;
cbk.amount=0;
cbk.ptr=r_results;
CollisionSolverSW::CallbackResult cbkres=NULL;
PhysicsServerSW::CollCbkData *cbkptr=NULL;
if (p_result_max>0) {
cbkptr=&cbk;
cbkres=PhysicsServerSW::_shape_col_cbk;
}
for(int i=0;i<amount;i++) {
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
continue;
const CollisionObjectSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
if (p_exclude.has( col_obj->get_self() )) {
continue;
}
//print_line("AGAINST: "+itos(col_obj->get_self().get_id())+":"+itos(shape_idx));
//print_line("THE ABBB: "+(col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).xform(col_obj->get_shape(shape_idx)->get_aabb()));
if (CollisionSolverSW::solve_static(shape,p_shape_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),cbkres,cbkptr,NULL,p_margin)) {
collided=true;
}
}
r_result_count=cbk.amount;
return collided;
}
_VolumeSW_BVH *_volume_sw_build_bvh(_VolumeSW_BVH_Element *p_elements, int p_size, int &count) {
_VolumeSW_BVH *bvh = memnew(_VolumeSW_BVH);
if (p_size == 1) {
//leaf
bvh->aabb = p_elements[0].aabb;
bvh->left = NULL;
bvh->right = NULL;
bvh->face_index = p_elements->face_index;
count++;
return bvh;
} else {
bvh->face_index = -1;
}
Rect3 aabb;
for (int i = 0; i < p_size; i++) {
if (i == 0)
aabb = p_elements[i].aabb;
else
aabb.merge_with(p_elements[i].aabb);
}
bvh->aabb = aabb;
switch (aabb.get_longest_axis_index()) {
case 0: {
SortArray<_VolumeSW_BVH_Element, _VolumeSW_BVH_CompareX> sort_x;
sort_x.sort(p_elements, p_size);
} break;
case 1: {
SortArray<_VolumeSW_BVH_Element, _VolumeSW_BVH_CompareY> sort_y;
sort_y.sort(p_elements, p_size);
} break;
case 2: {
SortArray<_VolumeSW_BVH_Element, _VolumeSW_BVH_CompareZ> sort_z;
sort_z.sort(p_elements, p_size);
} break;
}
int split = p_size / 2;
bvh->left = _volume_sw_build_bvh(p_elements, split, count);
bvh->right = _volume_sw_build_bvh(&p_elements[split], p_size - split, count);
//printf("branch at %p - %i: %i\n",bvh,count,bvh->face_index);
count++;
return bvh;
}
void Mesh::normalizeBoundingBox()
{
int i;
vector<Vector3> positions;
for(i = 0; i < (int)vertices.size(); ++i) {
positions.push_back(vertices[i].pos);
}
Rect3 boundingBox = Rect3(positions.begin(), positions.end());
double cscale = .9 / boundingBox.getSize().accumulate(ident<double>(), maximum<double>());
Vector3 ctoAdd = Vector3(0.5, 0.5, 0.5) - boundingBox.getCenter() * cscale;
for(i = 0; i < (int)vertices.size(); ++i) {
vertices[i].pos = ctoAdd + vertices[i].pos * cscale;
}
toAdd = ctoAdd + cscale * toAdd;
scale *= cscale;
}
int BroadPhaseBasic::cull_aabb(const Rect3 &p_aabb, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices) {
int rc = 0;
for (Map<ID, Element>::Element *E = element_map.front(); E; E = E->next()) {
const Rect3 aabb = E->get().aabb;
if (aabb.intersects(p_aabb)) {
p_results[rc] = E->get().owner;
p_result_indices[rc] = E->get().subindex;
rc++;
if (rc >= p_max_results)
break;
}
}
return rc;
}
Error GridMap::create_area(int p_id, const Rect3 &p_bounds) {
ERR_FAIL_COND_V(area_map.has(p_id), ERR_ALREADY_EXISTS);
ERR_EXPLAIN("ID 0 is taken as global area, start from 1");
ERR_FAIL_COND_V(p_id == 0, ERR_INVALID_PARAMETER);
ERR_FAIL_COND_V(p_bounds.has_no_area(), ERR_INVALID_PARAMETER);
// FIRST VALIDATE AREA
IndexKey from, to;
from.x = p_bounds.pos.x;
from.y = p_bounds.pos.y;
from.z = p_bounds.pos.z;
to.x = p_bounds.pos.x + p_bounds.size.x;
to.y = p_bounds.pos.y + p_bounds.size.y;
to.z = p_bounds.pos.z + p_bounds.size.z;
for (Map<int, Area *>::Element *E = area_map.front(); E; E = E->next()) {
//this should somehow be faster...
Area &a = *E->get();
//does it interset with anything else?
if (from.x >= a.to.x ||
to.x <= a.from.x ||
from.y >= a.to.y ||
to.y <= a.from.y ||
from.z >= a.to.z ||
to.z <= a.from.z) {
// all good
} else {
return ERR_INVALID_PARAMETER;
}
}
Area *area = memnew(Area);
area->from = from;
area->to = to;
area->portal_disable_distance = 0;
area->exterior_portal = false;
area->name = "Area " + itos(p_id);
area_map[p_id] = area;
_recreate_octant_data();
return OK;
}
bool GridMapEditor::forward_spatial_input_event(Camera* p_camera,const InputEvent& p_event) {
if (!node) {
return false;
}
if (edit_mode->get_selected()==0) { // regular click
switch (p_event.type) {
case InputEvent::MOUSE_BUTTON: {
if (p_event.mouse_button.button_index==BUTTON_WHEEL_UP && (p_event.mouse_button.mod.command || p_event.mouse_button.mod.shift)) {
if (p_event.mouse_button.pressed)
floor->set_value( floor->get_value() +1);
return true; //eaten
} else if (p_event.mouse_button.button_index==BUTTON_WHEEL_DOWN && (p_event.mouse_button.mod.command || p_event.mouse_button.mod.shift)) {
if (p_event.mouse_button.pressed)
floor->set_value( floor->get_value() -1);
return true;
}
if (p_event.mouse_button.pressed) {
if (p_event.mouse_button.button_index==BUTTON_LEFT) {
if (input_action==INPUT_DUPLICATE) {
//paste
_duplicate_paste();
input_action=INPUT_NONE;
_update_duplicate_indicator();
} else if (p_event.mouse_button.mod.shift) {
input_action=INPUT_SELECT;
} else if (p_event.mouse_button.mod.command)
input_action=INPUT_COPY;
else {
input_action=INPUT_PAINT;
set_items.clear();
}
} else if (p_event.mouse_button.button_index==BUTTON_RIGHT)
if (input_action==INPUT_DUPLICATE) {
input_action=INPUT_NONE;
_update_duplicate_indicator();
} else {
input_action=INPUT_ERASE;
set_items.clear();
}
else
return false;
return do_input_action(p_camera,Point2(p_event.mouse_button.x,p_event.mouse_button.y),true);
} else {
if (
(p_event.mouse_button.button_index==BUTTON_RIGHT && input_action==INPUT_ERASE) ||
(p_event.mouse_button.button_index==BUTTON_LEFT && input_action==INPUT_PAINT) ) {
if (set_items.size()) {
undo_redo->create_action("GridMap Paint");
for(List<SetItem>::Element *E=set_items.front();E;E=E->next()) {
const SetItem &si=E->get();
undo_redo->add_do_method(node,"set_cell_item",si.pos.x,si.pos.y,si.pos.z,si.new_value,si.new_orientation);
}
for(List<SetItem>::Element *E=set_items.back();E;E=E->prev()) {
const SetItem &si=E->get();
undo_redo->add_undo_method(node,"set_cell_item",si.pos.x,si.pos.y,si.pos.z,si.old_value,si.old_orientation);
}
undo_redo->commit_action();
}
set_items.clear();
input_action=INPUT_NONE;
return true;
}
if (p_event.mouse_button.button_index==BUTTON_LEFT && input_action!=INPUT_NONE) {
set_items.clear();
input_action=INPUT_NONE;
return true;
}
if (p_event.mouse_button.button_index==BUTTON_RIGHT && (input_action==INPUT_ERASE || input_action==INPUT_DUPLICATE)) {
input_action=INPUT_NONE;
return true;
}
}
} break;
case InputEvent::MOUSE_MOTION: {
return do_input_action(p_camera,Point2(p_event.mouse_motion.x,p_event.mouse_motion.y),false);
} break;
}
} else if (edit_mode->get_selected()==1) {
//area mode, select an area
switch (p_event.type) {
case InputEvent::MOUSE_BUTTON: {
if (p_event.mouse_button.button_index==BUTTON_LEFT && p_event.mouse_button.pressed) {
Point2 point = Point2(p_event.mouse_motion.x,p_event.mouse_motion.y);
Camera *camera = p_camera;
Vector3 from = camera->project_ray_origin(point);
Vector3 normal = camera->project_ray_normal(point);
Transform local_xform = node->get_global_transform().affine_inverse();
from=local_xform.xform(from);
normal=local_xform.basis.xform(normal).normalized();
List<int> areas;
node->get_area_list(&areas);
float min_d=1e10;
int min_area=-1;
for(List<int>::Element *E=areas.front();E;E=E->next()) {
int area = E->get();
Rect3 aabb = node->area_get_bounds(area);
aabb.pos*=node->get_cell_size();
aabb.size*=node->get_cell_size();
Vector3 rclip,rnormal;
if (!aabb.intersects_segment(from,from+normal*10000,&rclip,&rnormal))
continue;
float d = normal.dot(rclip);
if (d<min_d) {
min_d=d;
min_area=area;
}
}
selected_area=min_area;
update_areas();
}
} break;
}
}
return false;
}
void GridMap::_octant_update(const OctantKey &p_key) {
ERR_FAIL_COND(!octant_map.has(p_key));
Octant &g = *octant_map[p_key];
if (!g.dirty)
return;
Ref<Mesh> mesh;
_octant_clear_navmesh(p_key);
PhysicsServer::get_singleton()->body_clear_shapes(g.static_body);
if (g.collision_debug.is_valid()) {
VS::get_singleton()->mesh_clear(g.collision_debug);
}
PoolVector<Vector3> col_debug;
/*
* foreach item in this octant,
* set item's multimesh's instance count to number of cells which have this item
* and set said multimesh bounding box to one containing all cells which have this item
*/
for (Map<int, Octant::ItemInstances>::Element *E = g.items.front(); E; E = E->next()) {
Octant::ItemInstances &ii = E->get();
ii.multimesh->set_instance_count(ii.cells.size());
Rect3 aabb;
Rect3 mesh_aabb = ii.mesh.is_null() ? Rect3() : ii.mesh->get_aabb();
Vector3 ofs(cell_size * 0.5 * int(center_x), cell_size * 0.5 * int(center_y), cell_size * 0.5 * int(center_z));
//print_line("OCTANT, CELLS: "+itos(ii.cells.size()));
int idx = 0;
// foreach cell containing this item type
for (Set<IndexKey>::Element *F = ii.cells.front(); F; F = F->next()) {
IndexKey ik = F->get();
Map<IndexKey, Cell>::Element *C = cell_map.find(ik);
ERR_CONTINUE(!C);
Vector3 cellpos = Vector3(ik.x, ik.y, ik.z);
Transform xform;
if (clip && ((clip_above && cellpos[clip_axis] > clip_floor) || (!clip_above && cellpos[clip_axis] < clip_floor))) {
xform.basis.set_zero();
} else {
xform.basis.set_orthogonal_index(C->get().rot);
}
xform.set_origin(cellpos * cell_size + ofs);
xform.basis.scale(Vector3(cell_scale, cell_scale, cell_scale));
ii.multimesh->set_instance_transform(idx, xform);
//ii.multimesh->set_instance_transform(idx,Transform() );
//ii.multimesh->set_instance_color(idx,Color(1,1,1,1));
//print_line("MMINST: "+xform);
if (idx == 0) {
aabb = xform.xform(mesh_aabb);
} else {
aabb.merge_with(xform.xform(mesh_aabb));
}
// add the item's shape at given xform to octant's static_body
if (ii.shape.is_valid()) {
// add the item's shape
PhysicsServer::get_singleton()->body_add_shape(g.static_body, ii.shape->get_rid(), xform);
if (g.collision_debug.is_valid()) {
ii.shape->add_vertices_to_array(col_debug, xform);
}
//print_line("PHIS x: "+xform);
}
// add the item's navmesh at given xform to GridMap's Navigation ancestor
if (navigation) {
if (ii.navmesh.is_valid()) {
int nm_id = navigation->navmesh_create(ii.navmesh, xform, this);
Octant::NavMesh nm;
nm.id = nm_id;
nm.xform = xform;
g.navmesh_ids[ik] = nm;
}
}
idx++;
}
//ii.multimesh->set_aabb(aabb);
}
if (col_debug.size()) {
Array arr;
arr.resize(VS::ARRAY_MAX);
arr[VS::ARRAY_VERTEX] = col_debug;
VS::get_singleton()->mesh_add_surface_from_arrays(g.collision_debug, VS::PRIMITIVE_LINES, arr);
SceneTree *st = SceneTree::get_singleton();
if (st) {
VS::get_singleton()->mesh_surface_set_material(g.collision_debug, 0, st->get_debug_collision_material()->get_rid());
}
}
g.dirty = false;
}
bool PhysicsDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask,ShapeRestInfo *r_info) {
ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape,false);
Rect3 aabb = p_xform.xform(shape->get_aabb());
aabb=aabb.merge(Rect3(aabb.pos+p_motion,aabb.size)); //motion
aabb=aabb.grow(p_margin);
/*
if (p_motion!=Vector3())
print_line(p_motion);
*/
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
float best_safe=1;
float best_unsafe=1;
Transform xform_inv = p_xform.affine_inverse();
MotionShapeSW mshape;
mshape.shape=shape;
mshape.motion=xform_inv.basis.xform(p_motion);
bool best_first=true;
Vector3 closest_A,closest_B;
for(int i=0;i<amount;i++) {
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
continue;
if (p_exclude.has( space->intersection_query_results[i]->get_self()))
continue; //ignore excluded
const CollisionObjectSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
Vector3 point_A,point_B;
Vector3 sep_axis=p_motion.normalized();
Transform col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
//test initial overlap, does it collide if going all the way?
if (CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) {
//print_line("failed motion cast (no collision)");
continue;
}
//test initial overlap
#if 0
if (CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,NULL,NULL,&sep_axis)) {
print_line("failed initial cast (collision at begining)");
return false;
}
#else
sep_axis=p_motion.normalized();
if (!CollisionSolverSW::solve_distance(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) {
//print_line("failed motion cast (no collision)");
return false;
}
#endif
//just do kinematic solving
float low=0;
float hi=1;
Vector3 mnormal=p_motion.normalized();
for(int i=0;i<8;i++) { //steps should be customizable..
float ofs = (low+hi)*0.5;
Vector3 sep=mnormal; //important optimization for this to work fast enough
mshape.motion=xform_inv.basis.xform(p_motion*ofs);
Vector3 lA,lB;
bool collided = !CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,lA,lB,aabb,&sep);
if (collided) {
//print_line(itos(i)+": "+rtos(ofs));
hi=ofs;
} else {
point_A=lA;
point_B=lB;
low=ofs;
}
}
if (low<best_safe) {
best_first=true; //force reset
best_safe=low;
best_unsafe=hi;
}
if (r_info && (best_first || (point_A.distance_squared_to(point_B) < closest_A.distance_squared_to(closest_B) && low<=best_safe))) {
closest_A=point_A;
closest_B=point_B;
r_info->collider_id=col_obj->get_instance_id();
r_info->rid=col_obj->get_self();
r_info->shape=shape_idx;
r_info->point=closest_B;
r_info->normal=(closest_A-closest_B).normalized();
best_first=false;
if (col_obj->get_type()==CollisionObjectSW::TYPE_BODY) {
const BodySW *body=static_cast<const BodySW*>(col_obj);
r_info->linear_velocity= body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B);
}
}
}
p_closest_safe=best_safe;
p_closest_unsafe=best_unsafe;
return true;
}
Rect3 Rect3::grow(real_t p_by) const {
Rect3 aabb = *this;
aabb.grow_by(p_by);
return aabb;
}
Rect3 Rect3::expand(const Vector3 &p_vector) const {
Rect3 aabb = *this;
aabb.expand_to(p_vector);
return aabb;
}
Rect3 Rect3::merge(const Rect3 &p_with) const {
Rect3 aabb = *this;
aabb.merge_with(p_with);
return aabb;
}
