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Optimize area detection and intersect_shape queries with concave shapes

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Whenever contact points are not needed, collision checks with concave
shapes (triangle mesh and heightmap) stop at the first colliding
triangle.
This commit is contained in:
PouleyKetchoupp
2021-05-07 18:31:41 -07:00
parent 48d7eff3e3
commit ea0015a8a6
8 changed files with 57 additions and 36 deletions
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18
servers/physics/collision_solver_sw.cpp
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@@ -138,17 +138,20 @@ struct _ConcaveCollisionInfo {
Vector3 close_A, close_B;
};
void CollisionSolverSW::concave_callback(void *p_userdata, ShapeSW *p_convex) {
bool CollisionSolverSW::concave_callback(void *p_userdata, ShapeSW *p_convex) {
_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
cinfo.aabb_tests++;
bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result, nullptr, cinfo.margin_A, cinfo.margin_B);
if (!collided) {
return;
return false;
}
cinfo.collided = true;
cinfo.collisions++;
// Stop at first collision if contacts are not needed.
return !cinfo.result_callback;
}
bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A, real_t p_margin_B) {
@@ -250,19 +253,18 @@ bool CollisionSolverSW::solve_static(const ShapeSW *p_shape_A, const Transform &
}
}
void CollisionSolverSW::concave_distance_callback(void *p_userdata, ShapeSW *p_convex) {
bool CollisionSolverSW::concave_distance_callback(void *p_userdata, ShapeSW *p_convex) {
_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
cinfo.aabb_tests++;
if (cinfo.collided) {
return;
}
Vector3 close_A, close_B;
cinfo.collided = !gjk_epa_calculate_distance(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, close_A, close_B);
if (cinfo.collided) {
return;
// No need to process any more result.
return true;
}
if (!cinfo.tested || close_A.distance_squared_to(close_B) < cinfo.close_A.distance_squared_to(cinfo.close_B)) {
cinfo.close_A = close_A;
cinfo.close_B = close_B;
@@ -270,6 +272,8 @@ void CollisionSolverSW::concave_distance_callback(void *p_userdata, ShapeSW *p_c
}
cinfo.collisions++;
return false;
}
bool CollisionSolverSW::solve_distance_plane(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) {