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Fix precision in physics supports generation

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Lower threshold for dot was (1.0 - threshold) which is incorrect.
Patch changes it to correct version sqrt(1.0 - threshold * threshold)

Co-authored-by: Ricardo Buring <ricardo.buring@gmail.com>
This commit is contained in:
Black-Cat 2023-04-23 19:03:19 +01:00
parent 9f12e7b52d
commit d710af2e97
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GPG Key ID: E27FCF764B31003B
3 changed files with 25 additions and 23 deletions
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11
servers/physics_2d/godot_shape_2d.cpp
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@ -179,7 +179,7 @@ Variant GodotSeparationRayShape2D::get_data() const {
/*********************************************************/ /*********************************************************/
void GodotSegmentShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { void GodotSegmentShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
if (Math::abs(p_normal.dot(n)) > _SEGMENT_IS_VALID_SUPPORT_THRESHOLD) { if (Math::abs(p_normal.dot(n)) > segment_is_valid_support_threshold) {
r_supports[0] = a; r_supports[0] = a;
r_supports[1] = b; r_supports[1] = b;
r_amount = 2; r_amount = 2;
@ -308,7 +308,7 @@ void GodotRectangleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_sup
Vector2 ag; Vector2 ag;
ag[i] = 1.0; ag[i] = 1.0;
real_t dp = ag.dot(p_normal); real_t dp = ag.dot(p_normal);
if (Math::abs(dp) < _SEGMENT_IS_VALID_SUPPORT_THRESHOLD) { if (Math::abs(dp) <= segment_is_valid_support_threshold) {
continue; continue;
} }
@ -368,10 +368,9 @@ Variant GodotRectangleShape2D::get_data() const {
void GodotCapsuleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { void GodotCapsuleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
Vector2 n = p_normal; Vector2 n = p_normal;
real_t d = n.y;
real_t h = height * 0.5 - radius; // half-height of the rectangle part real_t h = height * 0.5 - radius; // half-height of the rectangle part
if (h > 0 && Math::abs(d) < (1.0 - _SEGMENT_IS_VALID_SUPPORT_THRESHOLD)) { if (h > 0 && Math::abs(n.x) > segment_is_valid_support_threshold) {
// make it flat // make it flat
n.y = 0.0; n.y = 0.0;
n.normalize(); n.normalize();
@ -384,7 +383,7 @@ void GodotCapsuleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_suppo
r_supports[1].y -= h; r_supports[1].y -= h;
} else { } else {
n *= radius; n *= radius;
n.y += (d > 0) ? h : -h; n.y += (n.y > 0) ? h : -h;
r_amount = 1; r_amount = 1;
*r_supports = n; *r_supports = n;
} }
@ -506,7 +505,7 @@ void GodotConvexPolygonShape2D::get_supports(const Vector2 &p_normal, Vector2 *r
} }
//test segment //test segment
if (points[i].normal.dot(p_normal) > _SEGMENT_IS_VALID_SUPPORT_THRESHOLD) { if (points[i].normal.dot(p_normal) > segment_is_valid_support_threshold) {
r_amount = 2; r_amount = 2;
r_supports[0] = points[i].pos; r_supports[0] = points[i].pos;
r_supports[1] = points[(i + 1) % point_count].pos; r_supports[1] = points[(i + 1) % point_count].pos;

9
servers/physics_2d/godot_shape_2d.h
View File

@ -32,7 +32,6 @@
#define GODOT_SHAPE_2D_H #define GODOT_SHAPE_2D_H
#include "servers/physics_server_2d.h" #include "servers/physics_server_2d.h"
#define _SEGMENT_IS_VALID_SUPPORT_THRESHOLD 0.99998
class GodotShape2D; class GodotShape2D;
@ -53,6 +52,10 @@ class GodotShape2D {
HashMap<GodotShapeOwner2D *, int> owners; HashMap<GodotShapeOwner2D *, int> owners;
protected: protected:
const double segment_is_valid_support_threshold = 0.99998;
const double segment_is_valid_support_threshold_lower =
Math::sqrt(1.0 - segment_is_valid_support_threshold * segment_is_valid_support_threshold);
void configure(const Rect2 &p_aabb); void configure(const Rect2 &p_aabb);
public: public:
@ -95,7 +98,7 @@ public:
} }
if (r_amount == 1) { if (r_amount == 1) {
if (Math::abs(p_normal.dot(p_cast.normalized())) < (1.0 - _SEGMENT_IS_VALID_SUPPORT_THRESHOLD)) { if (Math::abs(p_normal.dot(p_cast.normalized())) < segment_is_valid_support_threshold_lower) {
//make line because they are parallel //make line because they are parallel
r_amount = 2; r_amount = 2;
r_supports[1] = r_supports[0] + p_cast; r_supports[1] = r_supports[0] + p_cast;
@ -105,7 +108,7 @@ public:
} }
} else { } else {
if (Math::abs(p_normal.dot(p_cast.normalized())) < (1.0 - _SEGMENT_IS_VALID_SUPPORT_THRESHOLD)) { if (Math::abs(p_normal.dot(p_cast.normalized())) < segment_is_valid_support_threshold_lower) {
//optimize line and make it larger because they are parallel //optimize line and make it larger because they are parallel
if ((r_supports[1] - r_supports[0]).dot(p_cast) > 0) { if ((r_supports[1] - r_supports[0]).dot(p_cast) > 0) {
//larger towards 1 //larger towards 1

28
servers/physics_3d/godot_shape_3d.cpp
View File

@ -52,11 +52,11 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
constexpr double edge_support_threshold = 0.0002; const double support_threshold = 0.9998;
constexpr double face_support_threshold = 0.9998; const double support_threshold_lower = Math::sqrt(1.0 - support_threshold * support_threshold);
constexpr double cylinder_edge_support_threshold = 0.002; const double cylinder_support_threshold = 0.999;
constexpr double cylinder_face_support_threshold = 0.999; const double cylinder_support_threshold_lower = Math::sqrt(1.0 - cylinder_support_threshold * cylinder_support_threshold);
void GodotShape3D::configure(const AABB &p_aabb) { void GodotShape3D::configure(const AABB &p_aabb) {
aabb = p_aabb; aabb = p_aabb;
@ -184,7 +184,7 @@ Vector3 GodotSeparationRayShape3D::get_support(const Vector3 &p_normal) const {
} }
void GodotSeparationRayShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { void GodotSeparationRayShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const {
if (Math::abs(p_normal.z) < edge_support_threshold) { if (Math::abs(p_normal.z) < support_threshold_lower) {
r_amount = 2; r_amount = 2;
r_type = FEATURE_EDGE; r_type = FEATURE_EDGE;
r_supports[0] = Vector3(0, 0, 0); r_supports[0] = Vector3(0, 0, 0);
@ -335,7 +335,7 @@ void GodotBoxShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *
Vector3 axis; Vector3 axis;
axis[i] = 1.0; axis[i] = 1.0;
real_t dot = p_normal.dot(axis); real_t dot = p_normal.dot(axis);
if (Math::abs(dot) > face_support_threshold) { if (Math::abs(dot) > support_threshold) {
//Vector3 axis_b; //Vector3 axis_b;
bool neg = dot < 0; bool neg = dot < 0;
@ -376,7 +376,7 @@ void GodotBoxShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *
Vector3 axis; Vector3 axis;
axis[i] = 1.0; axis[i] = 1.0;
if (Math::abs(p_normal.dot(axis)) < edge_support_threshold) { if (Math::abs(p_normal.dot(axis)) < support_threshold_lower) {
r_amount = 2; r_amount = 2;
r_type = FEATURE_EDGE; r_type = FEATURE_EDGE;
@ -523,7 +523,7 @@ void GodotCapsuleShape3D::get_supports(const Vector3 &p_normal, int p_max, Vecto
real_t d = n.y; real_t d = n.y;
real_t h = height * 0.5 - radius; // half-height of the cylinder part real_t h = height * 0.5 - radius; // half-height of the cylinder part
if (h > 0 && Math::abs(d) < edge_support_threshold) { if (h > 0 && Math::abs(d) < support_threshold_lower) {
// make it flat // make it flat
n.y = 0.0; n.y = 0.0;
n.normalize(); n.normalize();
@ -701,7 +701,7 @@ Vector3 GodotCylinderShape3D::get_support(const Vector3 &p_normal) const {
void GodotCylinderShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { void GodotCylinderShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const {
real_t d = p_normal.y; real_t d = p_normal.y;
if (Math::abs(d) > cylinder_face_support_threshold) { if (Math::abs(d) > cylinder_support_threshold) {
real_t h = (d > 0) ? height : -height; real_t h = (d > 0) ? height : -height;
Vector3 n = p_normal; Vector3 n = p_normal;
@ -716,7 +716,7 @@ void GodotCylinderShape3D::get_supports(const Vector3 &p_normal, int p_max, Vect
r_supports[1].x += radius; r_supports[1].x += radius;
r_supports[2] = n; r_supports[2] = n;
r_supports[2].z += radius; r_supports[2].z += radius;
} else if (Math::abs(d) < cylinder_edge_support_threshold) { } else if (Math::abs(d) < cylinder_support_threshold_lower) {
// make it flat // make it flat
Vector3 n = p_normal; Vector3 n = p_normal;
n.y = 0.0; n.y = 0.0;
@ -925,7 +925,7 @@ void GodotConvexPolygonShape3D::get_supports(const Vector3 &p_normal, int p_max,
} }
for (int i = 0; i < fc; i++) { for (int i = 0; i < fc; i++) {
if (faces[i].plane.normal.dot(p_normal) > face_support_threshold) { if (faces[i].plane.normal.dot(p_normal) > support_threshold) {
int ic = faces[i].indices.size(); int ic = faces[i].indices.size();
const int *ind = faces[i].indices.ptr(); const int *ind = faces[i].indices.ptr();
@ -954,7 +954,7 @@ void GodotConvexPolygonShape3D::get_supports(const Vector3 &p_normal, int p_max,
for (int i = 0; i < ec; i++) { for (int i = 0; i < ec; i++) {
real_t dot = (vertices[edges[i].vertex_a] - vertices[edges[i].vertex_b]).normalized().dot(p_normal); real_t dot = (vertices[edges[i].vertex_a] - vertices[edges[i].vertex_b]).normalized().dot(p_normal);
dot = ABS(dot); dot = ABS(dot);
if (dot < edge_support_threshold && (edges[i].vertex_a == vtx || edges[i].vertex_b == vtx)) { if (dot < support_threshold_lower && (edges[i].vertex_a == vtx || edges[i].vertex_b == vtx)) {
r_amount = 2; r_amount = 2;
r_type = FEATURE_EDGE; r_type = FEATURE_EDGE;
r_supports[0] = vertices[edges[i].vertex_a]; r_supports[0] = vertices[edges[i].vertex_a];
@ -1197,7 +1197,7 @@ void GodotFaceShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3
Vector3 n = p_normal; Vector3 n = p_normal;
/** TEST FACE AS SUPPORT **/ /** TEST FACE AS SUPPORT **/
if (Math::abs(normal.dot(n)) > face_support_threshold) { if (Math::abs(normal.dot(n)) > support_threshold) {
r_amount = 3; r_amount = 3;
r_type = FEATURE_FACE; r_type = FEATURE_FACE;
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
@ -1231,7 +1231,7 @@ void GodotFaceShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3
// check if edge is valid as a support // check if edge is valid as a support
real_t dot = (vertex[i] - vertex[nx]).normalized().dot(n); real_t dot = (vertex[i] - vertex[nx]).normalized().dot(n);
dot = ABS(dot); dot = ABS(dot);
if (dot < edge_support_threshold) { if (dot < support_threshold_lower) {
r_amount = 2; r_amount = 2;
r_type = FEATURE_EDGE; r_type = FEATURE_EDGE;
r_supports[0] = vertex[i]; r_supports[0] = vertex[i];