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Merge pull request #71233 from PrecisionRender/barycentric-coords

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Add ability to get face index and barycentric coordinates from raycast
This commit is contained in:
Yuri Sizov 2023-08-03 22:37:30 +02:00
commit a56e960150
16 changed files with 78 additions and 30 deletions
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7
core/core_bind.cpp
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@ -961,6 +961,11 @@ Vector3 Geometry3D::get_closest_point_to_segment_uncapped(const Vector3 &p_point
return ::Geometry3D::get_closest_point_to_segment_uncapped(p_point, s);
}
Vector3 Geometry3D::get_triangle_barycentric_coords(const Vector3 &p_point, const Vector3 &p_v0, const Vector3 &p_v1, const Vector3 &p_v2) {
Vector3 res = ::Geometry3D::triangle_get_barycentric_coords(p_v0, p_v1, p_v2, p_point);
return res;
}
Variant Geometry3D::ray_intersects_triangle(const Vector3 &p_from, const Vector3 &p_dir, const Vector3 &p_v0, const Vector3 &p_v1, const Vector3 &p_v2) {
Vector3 res;
if (::Geometry3D::ray_intersects_triangle(p_from, p_dir, p_v0, p_v1, p_v2, &res)) {
@ -1034,6 +1039,8 @@ void Geometry3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_closest_point_to_segment_uncapped", "point", "s1", "s2"), &Geometry3D::get_closest_point_to_segment_uncapped);
ClassDB::bind_method(D_METHOD("get_triangle_barycentric_coords", "point", "a", "b", "c"), &Geometry3D::get_triangle_barycentric_coords);
ClassDB::bind_method(D_METHOD("ray_intersects_triangle", "from", "dir", "a", "b", "c"), &Geometry3D::ray_intersects_triangle);
ClassDB::bind_method(D_METHOD("segment_intersects_triangle", "from", "to", "a", "b", "c"), &Geometry3D::segment_intersects_triangle);
ClassDB::bind_method(D_METHOD("segment_intersects_sphere", "from", "to", "sphere_position", "sphere_radius"), &Geometry3D::segment_intersects_sphere);

1
core/core_bind.h
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@ -326,6 +326,7 @@ public:
Vector<Vector3> get_closest_points_between_segments(const Vector3 &p1, const Vector3 &p2, const Vector3 &q1, const Vector3 &q2);
Vector3 get_closest_point_to_segment(const Vector3 &p_point, const Vector3 &p_a, const Vector3 &p_b);
Vector3 get_closest_point_to_segment_uncapped(const Vector3 &p_point, const Vector3 &p_a, const Vector3 &p_b);
Vector3 get_triangle_barycentric_coords(const Vector3 &p_point, const Vector3 &p_v0, const Vector3 &p_v1, const Vector3 &p_v2);
Variant ray_intersects_triangle(const Vector3 &p_from, const Vector3 &p_dir, const Vector3 &p_v0, const Vector3 &p_v1, const Vector3 &p_v2);
Variant segment_intersects_triangle(const Vector3 &p_from, const Vector3 &p_to, const Vector3 &p_v0, const Vector3 &p_v1, const Vector3 &p_v2);

11
doc/classes/Geometry3D.xml
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@ -73,6 +73,17 @@
Given the two 3D segments ([param p1], [param p2]) and ([param q1], [param q2]), finds those two points on the two segments that are closest to each other. Returns a [PackedVector3Array] that contains this point on ([param p1], [param p2]) as well the accompanying point on ([param q1], [param q2]).
</description>
</method>
<method name="get_triangle_barycentric_coords">
<return type="Vector3" />
<param index="0" name="point" type="Vector3" />
<param index="1" name="a" type="Vector3" />
<param index="2" name="b" type="Vector3" />
<param index="3" name="c" type="Vector3" />
<description>
Returns a [Vector3] containing weights based on how close a 3D position ([param point]) is to a triangle's different vertices ([param a], [param b] and [param c]). This is useful for interpolating between the data of different vertices in a triangle. One example use case is using this to smoothly rotate over a mesh instead of relying solely on face normals.
[url=https://en.wikipedia.org/wiki/Barycentric_coordinate_system]Here is a more detailed explanation of barycentric coordinates.[/url]
</description>
</method>
<method name="ray_intersects_triangle">
<return type="Variant" />
<param index="0" name="from" type="Vector3" />

2
doc/classes/PhysicsDirectSpaceState3D.xml
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@ -67,6 +67,8 @@
[code]collider_id[/code]: The colliding object's ID.
[code]normal[/code]: The object's surface normal at the intersection point, or [code]Vector3(0, 0, 0)[/code] if the ray starts inside the shape and [member PhysicsRayQueryParameters3D.hit_from_inside] is [code]true[/code].
[code]position[/code]: The intersection point.
[code]face_index[/code]: The face index at the intersection point.
[b]Note:[/b] Returns a valid number only if the intersected shape is a [ConcavePolygonShape3D]. Otherwise, [code]-1[/code] is returned.
[code]rid[/code]: The intersecting object's [RID].
[code]shape[/code]: The shape index of the colliding shape.
If the ray did not intersect anything, then an empty dictionary is returned instead.

6
doc/classes/RayCast3D.xml
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@ -59,6 +59,12 @@
Returns the shape ID of the first object that the ray intersects, or [code]0[/code] if no object is intersecting the ray (i.e. [method is_colliding] returns [code]false[/code]).
</description>
</method>
<method name="get_collision_face_index" qualifiers="const">
<return type="int" />
<description>
Returns the collision object's face index at the collision point, or [code]-1[/code] if the shape intersecting the ray is not a [ConcavePolygonShape3D].
</description>
</method>
<method name="get_collision_mask_value" qualifiers="const">
<return type="bool" />
<param index="0" name="layer_number" type="int" />

6
scene/3d/ray_cast_3d.cpp
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@ -104,6 +104,10 @@ Vector3 RayCast3D::get_collision_normal() const {
return collision_normal;
}
int RayCast3D::get_collision_face_index() const {
return collision_face_index;
}
void RayCast3D::set_enabled(bool p_enabled) {
enabled = p_enabled;
update_gizmos();
@ -232,6 +236,7 @@ void RayCast3D::_update_raycast_state() {
against_rid = rr.rid;
collision_point = rr.position;
collision_normal = rr.normal;
collision_face_index = rr.face_index;
against_shape = rr.shape;
} else {
collided = false;
@ -321,6 +326,7 @@ void RayCast3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_collider_shape"), &RayCast3D::get_collider_shape);
ClassDB::bind_method(D_METHOD("get_collision_point"), &RayCast3D::get_collision_point);
ClassDB::bind_method(D_METHOD("get_collision_normal"), &RayCast3D::get_collision_normal);
ClassDB::bind_method(D_METHOD("get_collision_face_index"), &RayCast3D::get_collision_face_index);
ClassDB::bind_method(D_METHOD("add_exception_rid", "rid"), &RayCast3D::add_exception_rid);
ClassDB::bind_method(D_METHOD("add_exception", "node"), &RayCast3D::add_exception);

2
scene/3d/ray_cast_3d.h
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@ -45,6 +45,7 @@ class RayCast3D : public Node3D {
int against_shape = 0;
Vector3 collision_point;
Vector3 collision_normal;
int collision_face_index = -1;
Vector3 target_position = Vector3(0, -1, 0);
HashSet<RID> exclude;
@ -122,6 +123,7 @@ public:
int get_collider_shape() const;
Vector3 get_collision_point() const;
Vector3 get_collision_normal() const;
int get_collision_face_index() const;
void add_exception_rid(const RID &p_rid);
void add_exception(const CollisionObject3D *p_node);

4
servers/physics_3d/godot_body_pair_3d.cpp
View File

@ -168,7 +168,6 @@ void GodotBodyPair3D::validate_contacts() {
// adjust the velocity of A down so that it will just slightly intersect the collider instead of blowing right past it.
bool GodotBodyPair3D::_test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A, const Transform3D &p_xform_A, GodotBody3D *p_B, int p_shape_B, const Transform3D &p_xform_B) {
GodotShape3D *shape_A_ptr = p_A->get_shape(p_shape_A);
GodotShape3D *shape_B_ptr = p_B->get_shape(p_shape_B);
Vector3 motion = p_A->get_linear_velocity() * p_step;
real_t mlen = motion.length();
@ -221,7 +220,8 @@ bool GodotBodyPair3D::_test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A,
Vector3 local_to = from_inv.xform(to);
Vector3 rpos, rnorm;
if (shape_B_ptr->intersect_segment(local_from, local_to, rpos, rnorm, true)) {
int fi = -1;
if (p_B->get_shape(p_shape_B)->intersect_segment(local_from, local_to, rpos, rnorm, fi, true)) {
float hit_length = local_from.distance_to(rpos);
if (hit_length < segment_hit_length) {
segment_support_idx = i;

3
servers/physics_3d/godot_collision_solver_3d.cpp
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@ -106,7 +106,8 @@ bool GodotCollisionSolver3D::solve_separation_ray(const GodotShape3D *p_shape_A,
to = ai.xform(to);
Vector3 p, n;
if (!p_shape_B->intersect_segment(from, to, p, n, true)) {
int fi = -1;
if (!p_shape_B->intersect_segment(from, to, p, n, fi, true)) {
return false;
}

29
servers/physics_3d/godot_shape_3d.cpp
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@ -126,7 +126,7 @@ Vector3 GodotWorldBoundaryShape3D::get_support(const Vector3 &p_normal) const {
return p_normal * 1e15;
}
bool GodotWorldBoundaryShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const {
bool GodotWorldBoundaryShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const {
bool inters = plane.intersects_segment(p_begin, p_end, &r_result);
if (inters) {
r_normal = plane.normal;
@ -207,7 +207,7 @@ void GodotSeparationRayShape3D::get_supports(const Vector3 &p_normal, int p_max,
}
}
bool GodotSeparationRayShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const {
bool GodotSeparationRayShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const {
return false; //simply not possible
}
@ -275,7 +275,7 @@ void GodotSphereShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector
r_type = FEATURE_POINT;
}
bool GodotSphereShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const {
bool GodotSphereShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const {
return Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(), radius, &r_result, &r_normal);
}
@ -417,7 +417,7 @@ void GodotBoxShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *
r_supports[0] = point;
}
bool GodotBoxShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const {
bool GodotBoxShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const {
AABB aabb_ext(-half_extents, half_extents * 2.0);
return aabb_ext.intersects_segment(p_begin, p_end, &r_result, &r_normal);
@ -551,7 +551,7 @@ void GodotCapsuleShape3D::get_supports(const Vector3 &p_normal, int p_max, Vecto
}
}
bool GodotCapsuleShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const {
bool GodotCapsuleShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const {
Vector3 norm = (p_end - p_begin).normalized();
real_t min_d = 1e20;
@ -743,7 +743,7 @@ void GodotCylinderShape3D::get_supports(const Vector3 &p_normal, int p_max, Vect
}
}
bool GodotCylinderShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const {
bool GodotCylinderShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const {
return Geometry3D::segment_intersects_cylinder(p_begin, p_end, height, radius, &r_result, &r_normal, 1);
}
@ -975,7 +975,7 @@ void GodotConvexPolygonShape3D::get_supports(const Vector3 &p_normal, int p_max,
r_type = FEATURE_POINT;
}
bool GodotConvexPolygonShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const {
bool GodotConvexPolygonShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const {
const Geometry3D::MeshData::Face *faces = mesh.faces.ptr();
int fc = mesh.faces.size();
@ -1252,7 +1252,7 @@ void GodotFaceShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3
r_supports[0] = vertex[vert_support_idx];
}
bool GodotFaceShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const {
bool GodotFaceShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const {
bool c = Geometry3D::segment_intersects_triangle(p_begin, p_end, vertex[0], vertex[1], vertex[2], &r_result);
if (c) {
r_normal = Plane(vertex[0], vertex[1], vertex[2]).normal;
@ -1362,12 +1362,14 @@ void GodotConcavePolygonShape3D::_cull_segment(int p_idx, _SegmentCullParams *p_
Vector3 res;
Vector3 normal;
if (face->intersect_segment(p_params->from, p_params->to, res, normal, true)) {
int face_index = params_bvh->face_index;
if (face->intersect_segment(p_params->from, p_params->to, res, normal, face_index, true)) {
real_t d = p_params->dir.dot(res) - p_params->dir.dot(p_params->from);
if ((d > 0) && (d < p_params->min_d)) {
p_params->min_d = d;
p_params->result = res;
p_params->normal = normal;
p_params->face_index = face_index;
p_params->collisions++;
}
}
@ -1381,7 +1383,7 @@ void GodotConcavePolygonShape3D::_cull_segment(int p_idx, _SegmentCullParams *p_
}
}
bool GodotConcavePolygonShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const {
bool GodotConcavePolygonShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const {
if (faces.size() == 0) {
return false;
}
@ -1411,6 +1413,7 @@ bool GodotConcavePolygonShape3D::intersect_segment(const Vector3 &p_begin, const
if (params.collisions > 0) {
r_result = params.result;
r_normal = params.normal;
r_face_index = params.face_index;
return true;
} else {
return false;
@ -1734,9 +1737,11 @@ struct _HeightmapGridCullState {
_FORCE_INLINE_ bool _heightmap_face_cull_segment(_HeightmapSegmentCullParams &p_params) {
Vector3 res;
Vector3 normal;
if (p_params.face->intersect_segment(p_params.from, p_params.to, res, normal, true)) {
int fi = -1;
if (p_params.face->intersect_segment(p_params.from, p_params.to, res, normal, fi, true)) {
p_params.result = res;
p_params.normal = normal;
return true;
}
@ -1940,7 +1945,7 @@ bool GodotHeightMapShape3D::_intersect_grid_segment(ProcessFunction &p_process,
return false;
}
bool GodotHeightMapShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal, bool p_hit_back_faces) const {
bool GodotHeightMapShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const {
if (heights.is_empty()) {
return false;
}

25
servers/physics_3d/godot_shape_3d.h
View File

@ -80,7 +80,7 @@ public:
virtual Vector3 get_support(const Vector3 &p_normal) const;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const = 0;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const = 0;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal, bool p_hit_back_faces) const = 0;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const = 0;
virtual bool intersect_point(const Vector3 &p_point) const = 0;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const = 0;
@ -126,7 +126,7 @@ public:
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override { r_amount = 0; }
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
@ -153,7 +153,7 @@ public:
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
@ -180,7 +180,7 @@ public:
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
@ -205,7 +205,7 @@ public:
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
@ -234,7 +234,7 @@ public:
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
@ -263,7 +263,7 @@ public:
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
@ -290,7 +290,7 @@ public:
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
@ -347,6 +347,7 @@ struct GodotConcavePolygonShape3D : public GodotConcaveShape3D {
Vector3 result;
Vector3 normal;
int face_index = -1;
real_t min_d = 1e20;
int collisions = 0;
};
@ -368,7 +369,7 @@ public:
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
@ -431,7 +432,7 @@ public:
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal, bool p_hit_back_faces) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
@ -459,7 +460,7 @@ struct GodotFaceShape3D : public GodotShape3D {
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
virtual Vector3 get_support(const Vector3 &p_normal) const override;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
@ -498,7 +499,7 @@ struct GodotMotionShape3D : public GodotShape3D {
}
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override { r_amount = 0; }
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override { return false; }
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const override { return false; }
virtual bool intersect_point(const Vector3 &p_point) const override { return false; }
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override { return p_point; }

2
servers/physics_3d/godot_soft_body_3d.cpp
View File

@ -1266,7 +1266,7 @@ struct _SoftBodyIntersectSegmentInfo {
}
};
bool GodotSoftBodyShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const {
bool GodotSoftBodyShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const {
_SoftBodyIntersectSegmentInfo query_info;
query_info.soft_body = soft_body;
query_info.from = p_begin;

2
servers/physics_3d/godot_soft_body_3d.h
View File

@ -259,7 +259,7 @@ public:
virtual Vector3 get_support(const Vector3 &p_normal) const override { return Vector3(); }
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override { r_amount = 0; }
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, bool p_hit_back_faces) const override;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal, int &r_face_index, bool p_hit_back_faces) const override;
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override { return Vector3(); }

6
servers/physics_3d/godot_space_3d.cpp
View File

@ -120,6 +120,7 @@ bool GodotPhysicsDirectSpaceState3D::intersect_ray(const RayParameters &p_parame
bool collided = false;
Vector3 res_point, res_normal;
int res_face_index = -1;
int res_shape = -1;
const GodotCollisionObject3D *res_obj = nullptr;
real_t min_d = 1e10;
@ -148,6 +149,7 @@ bool GodotPhysicsDirectSpaceState3D::intersect_ray(const RayParameters &p_parame
const GodotShape3D *shape = col_obj->get_shape(shape_idx);
Vector3 shape_point, shape_normal;
int shape_face_index = -1;
if (shape->intersect_point(local_from)) {
if (p_parameters.hit_from_inside) {
@ -165,7 +167,7 @@ bool GodotPhysicsDirectSpaceState3D::intersect_ray(const RayParameters &p_parame
}
}
if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal, p_parameters.hit_back_faces)) {
if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal, shape_face_index, p_parameters.hit_back_faces)) {
Transform3D xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
shape_point = xform.xform(shape_point);
@ -175,6 +177,7 @@ bool GodotPhysicsDirectSpaceState3D::intersect_ray(const RayParameters &p_parame
min_d = ld;
res_point = shape_point;
res_normal = inv_xform.basis.xform_inv(shape_normal).normalized();
res_face_index = shape_face_index;
res_shape = shape_idx;
res_obj = col_obj;
collided = true;
@ -194,6 +197,7 @@ bool GodotPhysicsDirectSpaceState3D::intersect_ray(const RayParameters &p_parame
r_result.collider = nullptr;
}
r_result.normal = res_normal;
r_result.face_index = res_face_index;
r_result.position = res_point;
r_result.rid = res_obj->get_self();
r_result.shape = res_shape;

1
servers/physics_server_3d.cpp
View File

@ -362,6 +362,7 @@ Dictionary PhysicsDirectSpaceState3D::_intersect_ray(const Ref<PhysicsRayQueryPa
Dictionary d;
d["position"] = result.position;
d["normal"] = result.normal;
d["face_index"] = result.face_index;
d["collider_id"] = result.collider_id;
d["collider"] = result.collider;
d["shape"] = result.shape;

1
servers/physics_server_3d.h
View File

@ -151,6 +151,7 @@ public:
struct RayResult {
Vector3 position;
Vector3 normal;
int face_index = -1;
RID rid;
ObjectID collider_id;
Object *collider = nullptr;