From 8812d27bc7d0d7f3b7d893c85c206a76696b8180 Mon Sep 17 00:00:00 2001 From: Ricardo Buring Date: Wed, 17 May 2023 20:14:19 +0200 Subject: [PATCH] Restore edge and face support thresholds in 3D --- servers/physics_3d/godot_shape_3d.cpp | 35 ++++++++++++++++----------- 1 file changed, 21 insertions(+), 14 deletions(-) diff --git a/servers/physics_3d/godot_shape_3d.cpp b/servers/physics_3d/godot_shape_3d.cpp index 50154a85ecd..a2276d8decf 100644 --- a/servers/physics_3d/godot_shape_3d.cpp +++ b/servers/physics_3d/godot_shape_3d.cpp @@ -52,11 +52,18 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -const double support_threshold = 0.9998; -const double support_threshold_lower = Math::sqrt(1.0 - support_threshold * support_threshold); +const double edge_support_threshold = 0.99999998; +const double edge_support_threshold_lower = Math::sqrt(1.0 - edge_support_threshold * edge_support_threshold); +// For a unit normal vector n, the horizontality condition +// sqrt(n.x * n.x + n.z * n.z) > edge_support_threshold +// is equivalent to the condition +// abs(n.y) < edge_support_threshold_lower, +// which is cheaper to test. +const double face_support_threshold = 0.9998; -const double cylinder_support_threshold = 0.999; -const double cylinder_support_threshold_lower = Math::sqrt(1.0 - cylinder_support_threshold * cylinder_support_threshold); +const double cylinder_edge_support_threshold = 0.999998; +const double cylinder_edge_support_threshold_lower = Math::sqrt(1.0 - cylinder_edge_support_threshold * cylinder_edge_support_threshold); +const double cylinder_face_support_threshold = 0.999; void GodotShape3D::configure(const AABB &p_aabb) { aabb = p_aabb; @@ -184,7 +191,7 @@ 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 { - if (Math::abs(p_normal.z) < support_threshold_lower) { + if (Math::abs(p_normal.z) < edge_support_threshold_lower) { r_amount = 2; r_type = FEATURE_EDGE; r_supports[0] = Vector3(0, 0, 0); @@ -335,7 +342,7 @@ void GodotBoxShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 * Vector3 axis; axis[i] = 1.0; real_t dot = p_normal.dot(axis); - if (Math::abs(dot) > support_threshold) { + if (Math::abs(dot) > face_support_threshold) { //Vector3 axis_b; bool neg = dot < 0; @@ -376,7 +383,7 @@ void GodotBoxShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 * Vector3 axis; axis[i] = 1.0; - if (Math::abs(p_normal.dot(axis)) < support_threshold_lower) { + if (Math::abs(p_normal.dot(axis)) < edge_support_threshold_lower) { r_amount = 2; r_type = FEATURE_EDGE; @@ -523,7 +530,7 @@ void GodotCapsuleShape3D::get_supports(const Vector3 &p_normal, int p_max, Vecto real_t d = n.y; real_t h = height * 0.5 - radius; // half-height of the cylinder part - if (h > 0 && Math::abs(d) < support_threshold_lower) { + if (h > 0 && Math::abs(d) < edge_support_threshold_lower) { // make it flat n.y = 0.0; n.normalize(); @@ -701,7 +708,7 @@ 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 { real_t d = p_normal.y; - if (Math::abs(d) > cylinder_support_threshold) { + if (Math::abs(d) > cylinder_face_support_threshold) { real_t h = (d > 0) ? height : -height; Vector3 n = p_normal; @@ -716,7 +723,7 @@ void GodotCylinderShape3D::get_supports(const Vector3 &p_normal, int p_max, Vect r_supports[1].x += radius; r_supports[2] = n; r_supports[2].z += radius; - } else if (Math::abs(d) < cylinder_support_threshold_lower) { + } else if (Math::abs(d) < cylinder_edge_support_threshold_lower) { // make it flat Vector3 n = p_normal; n.y = 0.0; @@ -925,7 +932,7 @@ void GodotConvexPolygonShape3D::get_supports(const Vector3 &p_normal, int p_max, } for (int i = 0; i < fc; i++) { - if (faces[i].plane.normal.dot(p_normal) > support_threshold) { + if (faces[i].plane.normal.dot(p_normal) > face_support_threshold) { int ic = faces[i].indices.size(); const int *ind = faces[i].indices.ptr(); @@ -954,7 +961,7 @@ void GodotConvexPolygonShape3D::get_supports(const Vector3 &p_normal, int p_max, for (int i = 0; i < ec; i++) { real_t dot = (vertices[edges[i].vertex_a] - vertices[edges[i].vertex_b]).normalized().dot(p_normal); dot = ABS(dot); - if (dot < support_threshold_lower && (edges[i].vertex_a == vtx || edges[i].vertex_b == vtx)) { + if (dot < edge_support_threshold_lower && (edges[i].vertex_a == vtx || edges[i].vertex_b == vtx)) { r_amount = 2; r_type = FEATURE_EDGE; r_supports[0] = vertices[edges[i].vertex_a]; @@ -1197,7 +1204,7 @@ void GodotFaceShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 Vector3 n = p_normal; /** TEST FACE AS SUPPORT **/ - if (Math::abs(normal.dot(n)) > support_threshold) { + if (Math::abs(normal.dot(n)) > face_support_threshold) { r_amount = 3; r_type = FEATURE_FACE; for (int i = 0; i < 3; i++) { @@ -1231,7 +1238,7 @@ void GodotFaceShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 // check if edge is valid as a support real_t dot = (vertex[i] - vertex[nx]).normalized().dot(n); dot = ABS(dot); - if (dot < support_threshold_lower) { + if (dot < edge_support_threshold_lower) { r_amount = 2; r_type = FEATURE_EDGE; r_supports[0] = vertex[i];