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Bring that Whole New World to the Old Continent too
Applies the clang-format style to the 2.1 branch as done for master in
5dbf1809c6.
This commit is contained in:
Rémi Verschelde
@@ -29,18 +29,16 @@
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#include "collision_solver_sw.h"
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#include "collision_solver_sat.h"
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#include "gjk_epa.h"
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#include "collision_solver_sat.h"
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#include "gjk_epa.h"
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#define collision_solver sat_calculate_penetration
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//#define collision_solver gjk_epa_calculate_penetration
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bool CollisionSolverSW::solve_static_plane(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) {
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bool CollisionSolverSW::solve_static_plane(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) {
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const PlaneShapeSW *plane = static_cast<const PlaneShapeSW*>(p_shape_A);
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if (p_shape_B->get_type()==PhysicsServer::SHAPE_PLANE)
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const PlaneShapeSW *plane = static_cast<const PlaneShapeSW *>(p_shape_A);
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if (p_shape_B->get_type() == PhysicsServer::SHAPE_PLANE)
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return false;
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Plane p = p_transform_A.xform(plane->get_plane());
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@@ -48,57 +46,54 @@ bool CollisionSolverSW::solve_static_plane(const ShapeSW *p_shape_A,const Transf
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Vector3 supports[max_supports];
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int support_count;
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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(),max_supports,supports,support_count);
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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count);
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bool found=false;
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bool found = false;
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for(int i=0;i<support_count;i++) {
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for (int i = 0; i < support_count; i++) {
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supports[i] = p_transform_B.xform( supports[i] );
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if (p.distance_to(supports[i])>=0)
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supports[i] = p_transform_B.xform(supports[i]);
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if (p.distance_to(supports[i]) >= 0)
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continue;
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found=true;
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found = true;
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Vector3 support_A = p.project(supports[i]);
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if (p_result_callback) {
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if (p_swap_result)
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p_result_callback(supports[i],support_A,p_userdata);
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p_result_callback(supports[i], support_A, p_userdata);
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else
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p_result_callback(support_A,supports[i],p_userdata);
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p_result_callback(support_A, supports[i], p_userdata);
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}
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}
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return found;
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}
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bool CollisionSolverSW::solve_ray(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) {
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bool CollisionSolverSW::solve_ray(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) {
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const RayShapeSW *ray = static_cast<const RayShapeSW*>(p_shape_A);
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const RayShapeSW *ray = static_cast<const RayShapeSW *>(p_shape_A);
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Vector3 from = p_transform_A.origin;
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Vector3 to = from+p_transform_A.basis.get_axis(2)*ray->get_length();
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Vector3 support_A=to;
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Vector3 to = from + p_transform_A.basis.get_axis(2) * ray->get_length();
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Vector3 support_A = to;
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Transform ai = p_transform_B.affine_inverse();
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from = ai.xform(from);
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to = ai.xform(to);
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Vector3 p,n;
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if (!p_shape_B->intersect_segment(from,to,p,n))
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Vector3 p, n;
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if (!p_shape_B->intersect_segment(from, to, p, n))
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return false;
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Vector3 support_B=p_transform_B.xform(p);
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Vector3 support_B = p_transform_B.xform(p);
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if (p_result_callback) {
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if (p_swap_result)
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p_result_callback(support_B,support_A,p_userdata);
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p_result_callback(support_B, support_A, p_userdata);
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else
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p_result_callback(support_A,support_B,p_userdata);
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p_result_callback(support_A, support_B, p_userdata);
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}
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return true;
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}
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@@ -117,169 +112,153 @@ struct _ConcaveCollisionInfo {
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bool tested;
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float margin_A;
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float margin_B;
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Vector3 close_A,close_B;
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Vector3 close_A, close_B;
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};
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void CollisionSolverSW::concave_callback(void *p_userdata, ShapeSW *p_convex) {
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_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo*)(p_userdata);
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_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
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cinfo.aabb_tests++;
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bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, p_convex,*cinfo.transform_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result,NULL,cinfo.margin_A,cinfo.margin_B);
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bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result, NULL, cinfo.margin_A, cinfo.margin_B);
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if (!collided)
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return;
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cinfo.collided=true;
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cinfo.collided = true;
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cinfo.collisions++;
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}
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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,float p_margin_A,float p_margin_B) {
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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, float p_margin_A, float p_margin_B) {
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const ConcaveShapeSW *concave_B=static_cast<const ConcaveShapeSW*>(p_shape_B);
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const ConcaveShapeSW *concave_B = static_cast<const ConcaveShapeSW *>(p_shape_B);
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_ConcaveCollisionInfo cinfo;
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cinfo.transform_A=&p_transform_A;
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cinfo.shape_A=p_shape_A;
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cinfo.transform_B=&p_transform_B;
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cinfo.result_callback=p_result_callback;
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cinfo.userdata=p_userdata;
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cinfo.swap_result=p_swap_result;
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cinfo.collided=false;
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cinfo.collisions=0;
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cinfo.margin_A=p_margin_A;
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cinfo.margin_B=p_margin_B;
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cinfo.transform_A = &p_transform_A;
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cinfo.shape_A = p_shape_A;
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cinfo.transform_B = &p_transform_B;
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cinfo.result_callback = p_result_callback;
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cinfo.userdata = p_userdata;
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cinfo.swap_result = p_swap_result;
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cinfo.collided = false;
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cinfo.collisions = 0;
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cinfo.margin_A = p_margin_A;
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cinfo.margin_B = p_margin_B;
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cinfo.aabb_tests=0;
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cinfo.aabb_tests = 0;
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Transform rel_transform = p_transform_A;
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rel_transform.origin-=p_transform_B.origin;
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rel_transform.origin -= p_transform_B.origin;
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//quickly compute a local AABB
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AABB local_aabb;
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for(int i=0;i<3;i++) {
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for (int i = 0; i < 3; i++) {
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Vector3 axis( p_transform_B.basis.get_axis(i) );
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float axis_scale = 1.0/axis.length();
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axis*=axis_scale;
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Vector3 axis(p_transform_B.basis.get_axis(i));
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float axis_scale = 1.0 / axis.length();
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axis *= axis_scale;
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float smin,smax;
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p_shape_A->project_range(axis,rel_transform,smin,smax);
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smin-=p_margin_A;
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smax+=p_margin_A;
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smin*=axis_scale;
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smax*=axis_scale;
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float smin, smax;
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p_shape_A->project_range(axis, rel_transform, smin, smax);
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smin -= p_margin_A;
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smax += p_margin_A;
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smin *= axis_scale;
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smax *= axis_scale;
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local_aabb.pos[i]=smin;
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local_aabb.size[i]=smax-smin;
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local_aabb.pos[i] = smin;
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local_aabb.size[i] = smax - smin;
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}
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concave_B->cull(local_aabb,concave_callback,&cinfo);
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concave_B->cull(local_aabb, concave_callback, &cinfo);
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//print_line("COL AABB TESTS: "+itos(cinfo.aabb_tests));
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return cinfo.collided;
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}
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bool CollisionSolverSW::solve_static(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, Vector3 *r_sep_axis, float p_margin_A, float p_margin_B) {
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bool CollisionSolverSW::solve_static(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,Vector3 *r_sep_axis,float p_margin_A,float p_margin_B) {
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PhysicsServer::ShapeType type_A=p_shape_A->get_type();
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PhysicsServer::ShapeType type_B=p_shape_B->get_type();
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bool concave_A=p_shape_A->is_concave();
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bool concave_B=p_shape_B->is_concave();
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PhysicsServer::ShapeType type_A = p_shape_A->get_type();
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PhysicsServer::ShapeType type_B = p_shape_B->get_type();
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bool concave_A = p_shape_A->is_concave();
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bool concave_B = p_shape_B->is_concave();
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bool swap = false;
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if (type_A>type_B) {
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SWAP(type_A,type_B);
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SWAP(concave_A,concave_B);
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swap=true;
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if (type_A > type_B) {
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SWAP(type_A, type_B);
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SWAP(concave_A, concave_B);
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swap = true;
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}
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if (type_A==PhysicsServer::SHAPE_PLANE) {
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if (type_A == PhysicsServer::SHAPE_PLANE) {
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if (type_B==PhysicsServer::SHAPE_PLANE)
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if (type_B == PhysicsServer::SHAPE_PLANE)
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return false;
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if (type_B==PhysicsServer::SHAPE_RAY) {
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if (type_B == PhysicsServer::SHAPE_RAY) {
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return false;
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}
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if (swap) {
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return solve_static_plane(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_result_callback,p_userdata,true);
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return solve_static_plane(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
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} else {
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return solve_static_plane(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_result_callback,p_userdata,false);
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return solve_static_plane(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
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}
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} else if (type_A==PhysicsServer::SHAPE_RAY) {
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} else if (type_A == PhysicsServer::SHAPE_RAY) {
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if (type_B==PhysicsServer::SHAPE_RAY)
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if (type_B == PhysicsServer::SHAPE_RAY)
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return false;
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if (swap) {
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return solve_ray(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_result_callback,p_userdata,true);
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return solve_ray(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
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} else {
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return solve_ray(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_result_callback,p_userdata,false);
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return solve_ray(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
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}
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} else if (concave_B) {
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if (concave_A)
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return false;
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if (!swap)
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return solve_concave(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_result_callback,p_userdata,false,p_margin_A,p_margin_B);
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return solve_concave(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, p_margin_A, p_margin_B);
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else
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return solve_concave(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_result_callback,p_userdata,true,p_margin_A,p_margin_B);
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return solve_concave(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, p_margin_A, p_margin_B);
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} else {
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return collision_solver(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback,p_userdata,false,r_sep_axis,p_margin_A,p_margin_B);
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return collision_solver(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, r_sep_axis, p_margin_A, p_margin_B);
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}
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return false;
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}
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void CollisionSolverSW::concave_distance_callback(void *p_userdata, ShapeSW *p_convex) {
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_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo*)(p_userdata);
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_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
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cinfo.aabb_tests++;
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if (cinfo.collided)
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return;
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Vector3 close_A,close_B;
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cinfo.collided = !gjk_epa_calculate_distance(cinfo.shape_A,*cinfo.transform_A,p_convex,*cinfo.transform_B,close_A,close_B);
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Vector3 close_A, close_B;
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cinfo.collided = !gjk_epa_calculate_distance(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, close_A, close_B);
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if (cinfo.collided)
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return;
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if (!cinfo.tested || close_A.distance_squared_to(close_B) < cinfo.close_A.distance_squared_to(cinfo.close_B)) {
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cinfo.close_A=close_A;
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cinfo.close_B=close_B;
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cinfo.tested=true;
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cinfo.close_A = close_A;
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cinfo.close_B = close_B;
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cinfo.tested = true;
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}
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cinfo.collisions++;
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}
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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) {
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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) {
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const PlaneShapeSW *plane = static_cast<const PlaneShapeSW*>(p_shape_A);
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if (p_shape_B->get_type()==PhysicsServer::SHAPE_PLANE)
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const PlaneShapeSW *plane = static_cast<const PlaneShapeSW *>(p_shape_A);
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if (p_shape_B->get_type() == PhysicsServer::SHAPE_PLANE)
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return false;
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Plane p = p_transform_A.xform(plane->get_plane());
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@@ -287,43 +266,41 @@ bool CollisionSolverSW::solve_distance_plane(const ShapeSW *p_shape_A,const Tran
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Vector3 supports[max_supports];
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int support_count;
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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(),max_supports,supports,support_count);
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p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count);
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bool collided=false;
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bool collided = false;
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Vector3 closest;
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float closest_d;
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for (int i = 0; i < support_count; i++) {
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for(int i=0;i<support_count;i++) {
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supports[i] = p_transform_B.xform( supports[i] );
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supports[i] = p_transform_B.xform(supports[i]);
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real_t d = p.distance_to(supports[i]);
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if (i==0 || d<closest_d) {
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closest=supports[i];
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closest_d=d;
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if (d<=0)
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collided=true;
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if (i == 0 || d < closest_d) {
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closest = supports[i];
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closest_d = d;
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if (d <= 0)
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collided = true;
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}
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}
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r_point_A=p.project(closest);
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r_point_B=closest;
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r_point_A = p.project(closest);
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r_point_B = closest;
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return collided;
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}
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bool CollisionSolverSW::solve_distance(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,const AABB& p_concave_hint,Vector3 *r_sep_axis) {
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bool CollisionSolverSW::solve_distance(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, const AABB &p_concave_hint, Vector3 *r_sep_axis) {
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||||
|
||||
if (p_shape_A->is_concave())
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||||
return false;
|
||||
|
||||
if (p_shape_B->get_type()==PhysicsServer::SHAPE_PLANE) {
|
||||
if (p_shape_B->get_type() == PhysicsServer::SHAPE_PLANE) {
|
||||
|
||||
Vector3 a,b;
|
||||
bool col = solve_distance_plane(p_shape_B,p_transform_B,p_shape_A,p_transform_A,a,b);
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r_point_A=b;
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||||
r_point_B=a;
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||||
Vector3 a, b;
|
||||
bool col = solve_distance_plane(p_shape_B, p_transform_B, p_shape_A, p_transform_A, a, b);
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||||
r_point_A = b;
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||||
r_point_B = a;
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||||
return !col;
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||||
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||||
} else if (p_shape_B->is_concave()) {
|
||||
@@ -331,62 +308,59 @@ bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A,const Transform&
|
||||
if (p_shape_A->is_concave())
|
||||
return false;
|
||||
|
||||
|
||||
const ConcaveShapeSW *concave_B=static_cast<const ConcaveShapeSW*>(p_shape_B);
|
||||
const ConcaveShapeSW *concave_B = static_cast<const ConcaveShapeSW *>(p_shape_B);
|
||||
|
||||
_ConcaveCollisionInfo cinfo;
|
||||
cinfo.transform_A=&p_transform_A;
|
||||
cinfo.shape_A=p_shape_A;
|
||||
cinfo.transform_B=&p_transform_B;
|
||||
cinfo.result_callback=NULL;
|
||||
cinfo.userdata=NULL;
|
||||
cinfo.swap_result=false;
|
||||
cinfo.collided=false;
|
||||
cinfo.collisions=0;
|
||||
cinfo.aabb_tests=0;
|
||||
cinfo.tested=false;
|
||||
cinfo.transform_A = &p_transform_A;
|
||||
cinfo.shape_A = p_shape_A;
|
||||
cinfo.transform_B = &p_transform_B;
|
||||
cinfo.result_callback = NULL;
|
||||
cinfo.userdata = NULL;
|
||||
cinfo.swap_result = false;
|
||||
cinfo.collided = false;
|
||||
cinfo.collisions = 0;
|
||||
cinfo.aabb_tests = 0;
|
||||
cinfo.tested = false;
|
||||
|
||||
Transform rel_transform = p_transform_A;
|
||||
rel_transform.origin-=p_transform_B.origin;
|
||||
rel_transform.origin -= p_transform_B.origin;
|
||||
|
||||
//quickly compute a local AABB
|
||||
|
||||
bool use_cc_hint=p_concave_hint!=AABB();
|
||||
bool use_cc_hint = p_concave_hint != AABB();
|
||||
AABB cc_hint_aabb;
|
||||
if (use_cc_hint) {
|
||||
cc_hint_aabb=p_concave_hint;
|
||||
cc_hint_aabb.pos-=p_transform_B.origin;
|
||||
cc_hint_aabb = p_concave_hint;
|
||||
cc_hint_aabb.pos -= p_transform_B.origin;
|
||||
}
|
||||
|
||||
AABB local_aabb;
|
||||
for(int i=0;i<3;i++) {
|
||||
for (int i = 0; i < 3; i++) {
|
||||
|
||||
Vector3 axis( p_transform_B.basis.get_axis(i) );
|
||||
float axis_scale = 1.0/axis.length();
|
||||
axis*=axis_scale;
|
||||
Vector3 axis(p_transform_B.basis.get_axis(i));
|
||||
float axis_scale = 1.0 / axis.length();
|
||||
axis *= axis_scale;
|
||||
|
||||
float smin,smax;
|
||||
float smin, smax;
|
||||
|
||||
if (use_cc_hint) {
|
||||
cc_hint_aabb.project_range_in_plane(Plane(axis,0),smin,smax);
|
||||
} else {
|
||||
p_shape_A->project_range(axis,rel_transform,smin,smax);
|
||||
}
|
||||
if (use_cc_hint) {
|
||||
cc_hint_aabb.project_range_in_plane(Plane(axis, 0), smin, smax);
|
||||
} else {
|
||||
p_shape_A->project_range(axis, rel_transform, smin, smax);
|
||||
}
|
||||
|
||||
smin*=axis_scale;
|
||||
smax*=axis_scale;
|
||||
smin *= axis_scale;
|
||||
smax *= axis_scale;
|
||||
|
||||
local_aabb.pos[i]=smin;
|
||||
local_aabb.size[i]=smax-smin;
|
||||
local_aabb.pos[i] = smin;
|
||||
local_aabb.size[i] = smax - smin;
|
||||
}
|
||||
|
||||
|
||||
concave_B->cull(local_aabb,concave_distance_callback,&cinfo);
|
||||
concave_B->cull(local_aabb, concave_distance_callback, &cinfo);
|
||||
if (!cinfo.collided) {
|
||||
// print_line(itos(cinfo.tested));
|
||||
r_point_A=cinfo.close_A;
|
||||
r_point_B=cinfo.close_B;
|
||||
|
||||
// print_line(itos(cinfo.tested));
|
||||
r_point_A = cinfo.close_A;
|
||||
r_point_B = cinfo.close_B;
|
||||
}
|
||||
|
||||
//print_line("DIST AABB TESTS: "+itos(cinfo.aabb_tests));
|
||||
@@ -394,10 +368,8 @@ bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A,const Transform&
|
||||
return !cinfo.collided;
|
||||
} else {
|
||||
|
||||
return gjk_epa_calculate_distance(p_shape_A,p_transform_A,p_shape_B,p_transform_B,r_point_A,r_point_B); //should pass sepaxis..
|
||||
return gjk_epa_calculate_distance(p_shape_A, p_transform_A, p_shape_B, p_transform_B, r_point_A, r_point_B); //should pass sepaxis..
|
||||
}
|
||||
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user