godotengine/godot
1
0
Fork 0
mirror of https://github.com/godotengine/godot.git synced 2025-11-20 14:45:44 +00:00
Code Releases Wiki Activity

Fix Transform::xform(Plane) functions, add Transform unit tests

Browse Source 
The Transform::xform and xform_inv are made safe for Planes when using non-uniform scaling.

Basic unit tests for Transform.

Optimization of calling sites to prevent loss of performance from the changes to xform(Plane).
This commit is contained in:
lawnjelly
2021-07-17 12:28:29 +01:00
parent 8db0bd4424
commit 37f20e1d78
5 changed files with 397 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
servers/physics/collision_solver_sat.cpp
View File

@@ -953,9 +953,12 @@ static void _collision_sphere_convex_polygon(const ShapeSW *p_a, const Transform
const Vector3 *vertices = mesh.vertices.ptr();
int vertex_count = mesh.vertices.size();
// Precalculating this makes the transforms faster.
Basis b_xform_normal = p_transform_b.basis.inverse().transposed();
// faces of B
for (int i = 0; i < face_count; i++) {
Vector3 axis = p_transform_b.xform(faces[i].plane).normal;
Vector3 axis = b_xform_normal.xform(faces[i].plane.normal).normalized();
if (!separator.test_axis(axis)) {
return;
@@ -1191,13 +1194,14 @@ static void _collision_box_capsule(const ShapeSW *p_a, const Transform &p_transf
}
// capsule balls, edges of A
Transform transform_a_inverse = p_transform_a.affine_inverse();
for (int i = 0; i < 2; i++) {
Vector3 capsule_axis = p_transform_b.basis.get_axis(2) * (capsule_B->get_height() * 0.5);
Vector3 sphere_pos = p_transform_b.origin + ((i == 0) ? capsule_axis : -capsule_axis);
Vector3 cnormal = p_transform_a.xform_inv(sphere_pos);
Vector3 cnormal = transform_a_inverse.xform(sphere_pos);
Vector3 cpoint = p_transform_a.xform(Vector3(
@@ -1368,9 +1372,12 @@ static void _collision_box_convex_polygon(const ShapeSW *p_a, const Transform &p
}
}
// Precalculating this makes the transforms faster.
Basis b_xform_normal = p_transform_b.basis.inverse().transposed();
// faces of B
for (int i = 0; i < face_count; i++) {
Vector3 axis = p_transform_b.xform(faces[i].plane).normal;
Vector3 axis = b_xform_normal.xform(faces[i].plane.normal).normalized();
if (!separator.test_axis(axis)) {
return;
@@ -1701,9 +1708,12 @@ static void _collision_capsule_convex_polygon(const ShapeSW *p_a, const Transfor
int edge_count = mesh.edges.size();
const Vector3 *vertices = mesh.vertices.ptr();
// Precalculating this makes the transforms faster.
Basis b_xform_normal = p_transform_b.basis.inverse().transposed();
// faces of B
for (int i = 0; i < face_count; i++) {
Vector3 axis = p_transform_b.xform(faces[i].plane).normal;
Vector3 axis = b_xform_normal.xform(faces[i].plane.normal).normalized();
if (!separator.test_axis(axis)) {
return;
@@ -1995,20 +2005,24 @@ static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a, const T
const Vector3 *vertices_B = mesh_B.vertices.ptr();
int vertex_count_B = mesh_B.vertices.size();
// Precalculating this makes the transforms faster.
Basis a_xform_normal = p_transform_a.basis.inverse().transposed();
// faces of A
for (int i = 0; i < face_count_A; i++) {
Vector3 axis = p_transform_a.xform(faces_A[i].plane).normal;
//Vector3 axis = p_transform_a.basis.xform( faces_A[i].plane.normal ).normalized();
Vector3 axis = a_xform_normal.xform(faces_A[i].plane.normal).normalized();
if (!separator.test_axis(axis)) {
return;
}
}
// Precalculating this makes the transforms faster.
Basis b_xform_normal = p_transform_b.basis.inverse().transposed();
// faces of B
for (int i = 0; i < face_count_B; i++) {
Vector3 axis = p_transform_b.xform(faces_B[i].plane).normal;
//Vector3 axis = p_transform_b.basis.xform( faces_B[i].plane.normal ).normalized();
Vector3 axis = b_xform_normal.xform(faces_B[i].plane.normal).normalized();
if (!separator.test_axis(axis)) {
return;