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@@ -30,10 +30,28 @@
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#include "shape_3d_sw.h"
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+#include "core/io/image.h"
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#include "core/math/geometry_3d.h"
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#include "core/math/quick_hull.h"
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#include "core/templates/sort_array.h"
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+// HeightMapShape3DSW is based on Bullet btHeightfieldTerrainShape.
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+
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+/*
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+Bullet Continuous Collision Detection and Physics Library
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+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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+
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+This software is provided 'as-is', without any express or implied warranty.
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+In no event will the authors be held liable for any damages arising from the use of this software.
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+Permission is granted to anyone to use this software for any purpose,
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+including commercial applications, and to alter it and redistribute it freely,
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+subject to the following restrictions:
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+
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+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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+3. This notice may not be removed or altered from any source distribution.
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+*/
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+
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#define _EDGE_IS_VALID_SUPPORT_THRESHOLD 0.0002
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#define _FACE_IS_VALID_SUPPORT_THRESHOLD 0.9998
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@@ -1614,7 +1632,7 @@ ConcavePolygonShape3DSW::ConcavePolygonShape3DSW() {
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/* HEIGHT MAP SHAPE */
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-Vector<real_t> HeightMapShape3DSW::get_heights() const {
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+Vector<float> HeightMapShape3DSW::get_heights() const {
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return heights;
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}
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@@ -1626,10 +1644,6 @@ int HeightMapShape3DSW::get_depth() const {
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return depth;
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}
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-real_t HeightMapShape3DSW::get_cell_size() const {
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- return cell_size;
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-}
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-
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void HeightMapShape3DSW::project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const {
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//not very useful, but not very used either
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p_transform.xform(get_aabb()).project_range_in_plane(Plane(p_normal, 0), r_min, r_max);
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@@ -1640,7 +1654,198 @@ Vector3 HeightMapShape3DSW::get_support(const Vector3 &p_normal) const {
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return get_aabb().get_support(p_normal);
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}
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+struct _HeightmapSegmentCullParams {
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+ Vector3 from;
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+ Vector3 to;
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+ Vector3 dir;
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+
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+ Vector3 result;
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+ Vector3 normal;
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+
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+ const HeightMapShape3DSW *heightmap = nullptr;
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+ FaceShape3DSW *face = nullptr;
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+};
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+
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+_FORCE_INLINE_ bool _heightmap_face_cull_segment(_HeightmapSegmentCullParams &p_params) {
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+ Vector3 res;
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+ Vector3 normal;
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+ if (p_params.face->intersect_segment(p_params.from, p_params.to, res, normal)) {
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+ p_params.result = res;
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+ p_params.normal = normal;
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+ return true;
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+ }
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+
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+ return false;
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+}
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+
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+_FORCE_INLINE_ bool _heightmap_cell_cull_segment(_HeightmapSegmentCullParams &p_params, int p_x, int p_z) {
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+ // First triangle.
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+ p_params.heightmap->_get_point(p_x, p_z, p_params.face->vertex[0]);
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+ p_params.heightmap->_get_point(p_x + 1, p_z, p_params.face->vertex[1]);
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+ p_params.heightmap->_get_point(p_x, p_z + 1, p_params.face->vertex[2]);
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+ p_params.face->normal = Plane(p_params.face->vertex[0], p_params.face->vertex[1], p_params.face->vertex[2]).normal;
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+ if (_heightmap_face_cull_segment(p_params)) {
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+ return true;
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+ }
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+
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+ // Second triangle.
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+ p_params.face->vertex[0] = p_params.face->vertex[1];
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+ p_params.heightmap->_get_point(p_x + 1, p_z + 1, p_params.face->vertex[1]);
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+ p_params.face->normal = Plane(p_params.face->vertex[0], p_params.face->vertex[1], p_params.face->vertex[2]).normal;
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+ if (_heightmap_face_cull_segment(p_params)) {
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+ return true;
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+ }
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+
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+ return false;
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+}
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+
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bool HeightMapShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const {
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+ if (heights.is_empty()) {
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+ return false;
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+ }
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+
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+ Vector3 local_begin = p_begin + local_origin;
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+ Vector3 local_end = p_end + local_origin;
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+
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+ FaceShape3DSW face;
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+ face.backface_collision = false;
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+
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+ _HeightmapSegmentCullParams params;
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+ params.from = p_begin;
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+ params.to = p_end;
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+ params.dir = (p_end - p_begin).normalized();
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+ params.heightmap = this;
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+ params.face = &face;
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+
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+ // Quantize the ray begin/end.
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+ int begin_x = floor(local_begin.x);
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+ int begin_z = floor(local_begin.z);
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+ int end_x = floor(local_end.x);
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+ int end_z = floor(local_end.z);
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+
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+ if ((begin_x == end_x) && (begin_z == end_z)) {
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+ // Simple case for rays that don't traverse the grid horizontally.
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+ // Just perform a test on the given cell.
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+ int x = CLAMP(begin_x, 0, width - 2);
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+ int z = CLAMP(begin_z, 0, depth - 2);
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+ if (_heightmap_cell_cull_segment(params, x, z)) {
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+ r_point = params.result;
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+ r_normal = params.normal;
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+ return true;
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+ }
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+ } else {
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+ // Perform grid query from projected ray.
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+ Vector2 ray_dir_proj(local_end.x - local_begin.x, local_end.z - local_begin.z);
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+ real_t ray_dist_proj = ray_dir_proj.length();
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+
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+ if (ray_dist_proj < CMP_EPSILON) {
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+ ray_dir_proj = Vector2();
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+ } else {
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+ ray_dir_proj /= ray_dist_proj;
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+ }
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+
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+ const int x_step = (ray_dir_proj.x > CMP_EPSILON) ? 1 : ((ray_dir_proj.x < -CMP_EPSILON) ? -1 : 0);
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+ const int z_step = (ray_dir_proj.y > CMP_EPSILON) ? 1 : ((ray_dir_proj.y < -CMP_EPSILON) ? -1 : 0);
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+
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+ const real_t infinite = 1e20;
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+ const real_t delta_x = (x_step != 0) ? 1.f / Math::abs(ray_dir_proj.x) : infinite;
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+ const real_t delta_z = (z_step != 0) ? 1.f / Math::abs(ray_dir_proj.y) : infinite;
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+
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+ real_t cross_x; // At which value of `param` we will cross a x-axis lane?
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+ real_t cross_z; // At which value of `param` we will cross a z-axis lane?
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+
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+ // X initialization.
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+ if (x_step != 0) {
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+ if (x_step == 1) {
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+ cross_x = (ceil(local_begin.x) - local_begin.x) * delta_x;
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+ } else {
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+ cross_x = (local_begin.x - floor(local_begin.x)) * delta_x;
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+ }
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+ } else {
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+ cross_x = infinite; // Will never cross on X.
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+ }
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+
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+ // Z initialization.
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+ if (z_step != 0) {
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+ if (z_step == 1) {
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+ cross_z = (ceil(local_begin.z) - local_begin.z) * delta_z;
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+ } else {
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+ cross_z = (local_begin.z - floor(local_begin.z)) * delta_z;
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+ }
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+ } else {
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+ cross_z = infinite; // Will never cross on Z.
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+ }
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+
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+ int x = floor(local_begin.x);
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+ int z = floor(local_begin.z);
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+
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+ // Workaround cases where the ray starts at an integer position.
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+ if (Math::abs(cross_x) < CMP_EPSILON) {
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+ cross_x += delta_x;
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+ // If going backwards, we should ignore the position we would get by the above flooring,
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+ // because the ray is not heading in that direction.
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+ if (x_step == -1) {
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+ x -= 1;
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+ }
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+ }
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+
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+ if (Math::abs(cross_z) < CMP_EPSILON) {
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+ cross_z += delta_z;
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+ if (z_step == -1) {
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+ z -= 1;
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+ }
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+ }
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+
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+ // Start inside the grid.
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+ int x_start = CLAMP(x, 0, width - 2);
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+ int z_start = CLAMP(z, 0, depth - 2);
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+
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+ // Adjust initial cross values.
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+ cross_x += delta_x * x_step * (x_start - x);
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+ cross_z += delta_z * z_step * (z_start - z);
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+
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+ x = x_start;
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+ z = z_start;
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+
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+ if (_heightmap_cell_cull_segment(params, x, z)) {
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+ r_point = params.result;
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+ r_normal = params.normal;
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+ return true;
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+ }
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+
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+ real_t dist = 0.0;
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+ while (true) {
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+ if (cross_x < cross_z) {
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+ // X lane.
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+ x += x_step;
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+ // Assign before advancing the param,
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+ // to be in sync with the initialization step.
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+ dist = cross_x;
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+ cross_x += delta_x;
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+ } else {
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+ // Z lane.
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+ z += z_step;
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+ dist = cross_z;
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+ cross_z += delta_z;
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+ }
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+
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+ // Stop when outside the grid.
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+ if ((x < 0) || (z < 0) || (x >= width - 1) || (z >= depth - 1)) {
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+ break;
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+ }
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+
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+ if (_heightmap_cell_cull_segment(params, x, z)) {
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+ r_point = params.result;
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+ r_normal = params.normal;
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+ return true;
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+ }
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+
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+ if (dist > ray_dist_proj) {
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+ break;
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+ }
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+ }
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+ }
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+
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return false;
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}
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@@ -1652,7 +1857,66 @@ Vector3 HeightMapShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
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return Vector3();
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}
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+void HeightMapShape3DSW::_get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const {
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+ const AABB &aabb = get_aabb();
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+
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+ Vector3 pos_local = aabb.position + local_origin;
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+
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+ Vector3 clamped_point(p_point);
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+ clamped_point.x = CLAMP(p_point.x, pos_local.x, pos_local.x + aabb.size.x);
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+ clamped_point.y = CLAMP(p_point.y, pos_local.y, pos_local.y + aabb.size.y);
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+ clamped_point.z = CLAMP(p_point.z, pos_local.z, pos_local.x + aabb.size.z);
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+
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+ r_x = (clamped_point.x < 0.0) ? (clamped_point.x - 0.5) : (clamped_point.x + 0.5);
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+ r_y = (clamped_point.y < 0.0) ? (clamped_point.y - 0.5) : (clamped_point.y + 0.5);
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+ r_z = (clamped_point.z < 0.0) ? (clamped_point.z - 0.5) : (clamped_point.z + 0.5);
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+}
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+
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void HeightMapShape3DSW::cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const {
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+ if (heights.is_empty()) {
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+ return;
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+ }
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+
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+ AABB local_aabb = p_local_aabb;
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+ local_aabb.position += local_origin;
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+
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+ // Quantize the aabb, and adjust the start/end ranges.
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+ int aabb_min[3];
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+ int aabb_max[3];
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+ _get_cell(local_aabb.position, aabb_min[0], aabb_min[1], aabb_min[2]);
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+ _get_cell(local_aabb.position + local_aabb.size, aabb_max[0], aabb_max[1], aabb_max[2]);
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+
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+ // Expand the min/max quantized values.
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+ // This is to catch the case where the input aabb falls between grid points.
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+ for (int i = 0; i < 3; ++i) {
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+ aabb_min[i]--;
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+ aabb_max[i]++;
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+ }
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+
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+ int start_x = MAX(0, aabb_min[0]);
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+ int end_x = MIN(width - 1, aabb_max[0]);
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+ int start_z = MAX(0, aabb_min[2]);
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+ int end_z = MIN(depth - 1, aabb_max[2]);
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+
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+ FaceShape3DSW face;
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+ face.backface_collision = true;
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+
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+ for (int z = start_z; z < end_z; z++) {
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+ for (int x = start_x; x < end_x; x++) {
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+ // First triangle.
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+ _get_point(x, z, face.vertex[0]);
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+ _get_point(x + 1, z, face.vertex[1]);
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+ _get_point(x, z + 1, face.vertex[2]);
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+ face.normal = Plane(face.vertex[0], face.vertex[2], face.vertex[1]).normal;
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+ p_callback(p_userdata, &face);
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+
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+ // Second triangle.
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+ face.vertex[0] = face.vertex[1];
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+ _get_point(x + 1, z + 1, face.vertex[1]);
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+ face.normal = Plane(face.vertex[0], face.vertex[2], face.vertex[1]).normal;
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+ p_callback(p_userdata, &face);
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+ }
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+ }
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}
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Vector3 HeightMapShape3DSW::get_moment_of_inertia(real_t p_mass) const {
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@@ -1665,58 +1929,102 @@ Vector3 HeightMapShape3DSW::get_moment_of_inertia(real_t p_mass) const {
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(p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y));
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}
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-void HeightMapShape3DSW::_setup(Vector<real_t> p_heights, int p_width, int p_depth, real_t p_cell_size) {
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+void HeightMapShape3DSW::_setup(const Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
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heights = p_heights;
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width = p_width;
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depth = p_depth;
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- cell_size = p_cell_size;
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-
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- const real_t *r = heights.ptr();
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+ // Initialize aabb.
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AABB aabb;
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+ aabb.position = Vector3(0.0, p_min_height, 0.0);
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+ aabb.size = Vector3(p_width - 1, p_max_height - p_min_height, p_depth - 1);
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- for (int i = 0; i < depth; i++) {
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- for (int j = 0; j < width; j++) {
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- real_t h = r[i * width + j];
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+ // Initialize origin as the aabb center.
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+ local_origin = aabb.position + 0.5 * aabb.size;
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+ local_origin.y = 0.0;
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- Vector3 pos(j * cell_size, h, i * cell_size);
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- if (i == 0 || j == 0) {
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- aabb.position = pos;
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- } else {
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- aabb.expand_to(pos);
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- }
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- }
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- }
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+ aabb.position -= local_origin;
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configure(aabb);
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}
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void HeightMapShape3DSW::set_data(const Variant &p_data) {
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ERR_FAIL_COND(p_data.get_type() != Variant::DICTIONARY);
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+
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Dictionary d = p_data;
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ERR_FAIL_COND(!d.has("width"));
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ERR_FAIL_COND(!d.has("depth"));
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- ERR_FAIL_COND(!d.has("cell_size"));
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ERR_FAIL_COND(!d.has("heights"));
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int width = d["width"];
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int depth = d["depth"];
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- real_t cell_size = d["cell_size"];
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- Vector<real_t> heights = d["heights"];
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- ERR_FAIL_COND(width <= 0);
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|
- ERR_FAIL_COND(depth <= 0);
|
|
|
- ERR_FAIL_COND(cell_size <= CMP_EPSILON);
|
|
|
- ERR_FAIL_COND(heights.size() != (width * depth));
|
|
|
- _setup(heights, width, depth, cell_size);
|
|
|
+ ERR_FAIL_COND(width <= 0.0);
|
|
|
+ ERR_FAIL_COND(depth <= 0.0);
|
|
|
+
|
|
|
+ Variant heights_variant = d["heights"];
|
|
|
+ Vector<float> heights_buffer;
|
|
|
+ if (heights_variant.get_type() == Variant::PACKED_FLOAT32_ARRAY) {
|
|
|
+ // Ready-to-use heights can be passed.
|
|
|
+ heights_buffer = heights_variant;
|
|
|
+ } else if (heights_variant.get_type() == Variant::OBJECT) {
|
|
|
+ // If an image is passed, we have to convert it.
|
|
|
+ // This would be expensive to do with a script, so it's nice to have it here.
|
|
|
+ Ref<Image> image = heights_variant;
|
|
|
+ ERR_FAIL_COND(image.is_null());
|
|
|
+ ERR_FAIL_COND(image->get_format() != Image::FORMAT_RF);
|
|
|
+
|
|
|
+ PackedByteArray im_data = image->get_data();
|
|
|
+ heights_buffer.resize(image->get_width() * image->get_height());
|
|
|
+
|
|
|
+ float *w = heights_buffer.ptrw();
|
|
|
+ float *rp = (float *)im_data.ptr();
|
|
|
+ for (int i = 0; i < heights_buffer.size(); ++i) {
|
|
|
+ w[i] = rp[i];
|
|
|
+ }
|
|
|
+ } else {
|
|
|
+ ERR_FAIL_MSG("Expected PackedFloat32Array or float Image.");
|
|
|
+ }
|
|
|
+
|
|
|
+ // Compute min and max heights or use precomputed values.
|
|
|
+ real_t min_height = 0.0;
|
|
|
+ real_t max_height = 0.0;
|
|
|
+ if (d.has("min_height") && d.has("max_height")) {
|
|
|
+ min_height = d["min_height"];
|
|
|
+ max_height = d["max_height"];
|
|
|
+ } else {
|
|
|
+ int heights_size = heights.size();
|
|
|
+ for (int i = 0; i < heights_size; ++i) {
|
|
|
+ float h = heights[i];
|
|
|
+ if (h < min_height) {
|
|
|
+ min_height = h;
|
|
|
+ } else if (h > max_height) {
|
|
|
+ max_height = h;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ ERR_FAIL_COND(min_height > max_height);
|
|
|
+
|
|
|
+ ERR_FAIL_COND(heights_buffer.size() != (width * depth));
|
|
|
+
|
|
|
+ // If specified, min and max height will be used as precomputed values.
|
|
|
+ _setup(heights_buffer, width, depth, min_height, max_height);
|
|
|
}
|
|
|
|
|
|
Variant HeightMapShape3DSW::get_data() const {
|
|
|
- ERR_FAIL_V(Variant());
|
|
|
+ Dictionary d;
|
|
|
+ d["width"] = width;
|
|
|
+ d["depth"] = depth;
|
|
|
+
|
|
|
+ const AABB &aabb = get_aabb();
|
|
|
+ d["min_height"] = aabb.position.y;
|
|
|
+ d["max_height"] = aabb.position.y + aabb.size.y;
|
|
|
+
|
|
|
+ d["heights"] = heights;
|
|
|
+
|
|
|
+ return d;
|
|
|
}
|
|
|
|
|
|
HeightMapShape3DSW::HeightMapShape3DSW() {
|
|
|
- width = 0;
|
|
|
- depth = 0;
|
|
|
- cell_size = 0;
|
|
|
}
|
PouleyKetchoupp