diff options
Diffstat (limited to 'scene/3d/physics/ray_cast_3d.cpp')
| -rw-r--r-- | scene/3d/physics/ray_cast_3d.cpp | 548 |
1 files changed, 548 insertions, 0 deletions
diff --git a/scene/3d/physics/ray_cast_3d.cpp b/scene/3d/physics/ray_cast_3d.cpp new file mode 100644 index 0000000000..dc50ecccc0 --- /dev/null +++ b/scene/3d/physics/ray_cast_3d.cpp @@ -0,0 +1,548 @@ +/**************************************************************************/ +/* ray_cast_3d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "ray_cast_3d.h" + +#include "scene/3d/mesh_instance_3d.h" +#include "scene/3d/physics/collision_object_3d.h" + +void RayCast3D::set_target_position(const Vector3 &p_point) { + target_position = p_point; + update_gizmos(); + + if (Engine::get_singleton()->is_editor_hint()) { + if (is_inside_tree()) { + _update_debug_shape_vertices(); + } + } else if (debug_shape) { + _update_debug_shape(); + } +} + +Vector3 RayCast3D::get_target_position() const { + return target_position; +} + +void RayCast3D::set_collision_mask(uint32_t p_mask) { + collision_mask = p_mask; +} + +uint32_t RayCast3D::get_collision_mask() const { + return collision_mask; +} + +void RayCast3D::set_collision_mask_value(int p_layer_number, bool p_value) { + ERR_FAIL_COND_MSG(p_layer_number < 1, "Collision layer number must be between 1 and 32 inclusive."); + ERR_FAIL_COND_MSG(p_layer_number > 32, "Collision layer number must be between 1 and 32 inclusive."); + uint32_t mask = get_collision_mask(); + if (p_value) { + mask |= 1 << (p_layer_number - 1); + } else { + mask &= ~(1 << (p_layer_number - 1)); + } + set_collision_mask(mask); +} + +bool RayCast3D::get_collision_mask_value(int p_layer_number) const { + ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Collision layer number must be between 1 and 32 inclusive."); + ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Collision layer number must be between 1 and 32 inclusive."); + return get_collision_mask() & (1 << (p_layer_number - 1)); +} + +bool RayCast3D::is_colliding() const { + return collided; +} + +Object *RayCast3D::get_collider() const { + if (against.is_null()) { + return nullptr; + } + + return ObjectDB::get_instance(against); +} + +RID RayCast3D::get_collider_rid() const { + return against_rid; +} + +int RayCast3D::get_collider_shape() const { + return against_shape; +} + +Vector3 RayCast3D::get_collision_point() const { + return collision_point; +} + +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(); + + if (is_inside_tree() && !Engine::get_singleton()->is_editor_hint()) { + set_physics_process_internal(p_enabled); + } + if (!p_enabled) { + collided = false; + } + + if (is_inside_tree() && get_tree()->is_debugging_collisions_hint()) { + if (p_enabled) { + _update_debug_shape(); + } else { + _clear_debug_shape(); + } + } +} + +bool RayCast3D::is_enabled() const { + return enabled; +} + +void RayCast3D::set_exclude_parent_body(bool p_exclude_parent_body) { + if (exclude_parent_body == p_exclude_parent_body) { + return; + } + + exclude_parent_body = p_exclude_parent_body; + + if (!is_inside_tree()) { + return; + } + + if (Object::cast_to<CollisionObject3D>(get_parent())) { + if (exclude_parent_body) { + exclude.insert(Object::cast_to<CollisionObject3D>(get_parent())->get_rid()); + } else { + exclude.erase(Object::cast_to<CollisionObject3D>(get_parent())->get_rid()); + } + } +} + +bool RayCast3D::get_exclude_parent_body() const { + return exclude_parent_body; +} + +void RayCast3D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_ENTER_TREE: { + if (Engine::get_singleton()->is_editor_hint()) { + _update_debug_shape_vertices(); + } + if (enabled && !Engine::get_singleton()->is_editor_hint()) { + set_physics_process_internal(true); + } else { + set_physics_process_internal(false); + } + + if (get_tree()->is_debugging_collisions_hint()) { + _update_debug_shape(); + } + + if (Object::cast_to<CollisionObject3D>(get_parent())) { + if (exclude_parent_body) { + exclude.insert(Object::cast_to<CollisionObject3D>(get_parent())->get_rid()); + } else { + exclude.erase(Object::cast_to<CollisionObject3D>(get_parent())->get_rid()); + } + } + } break; + + case NOTIFICATION_EXIT_TREE: { + if (enabled) { + set_physics_process_internal(false); + } + + if (debug_shape) { + _clear_debug_shape(); + } + } break; + + case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: { + if (!enabled) { + break; + } + + bool prev_collision_state = collided; + _update_raycast_state(); + if (prev_collision_state != collided && get_tree()->is_debugging_collisions_hint()) { + _update_debug_shape_material(true); + } + } break; + } +} + +void RayCast3D::_update_raycast_state() { + Ref<World3D> w3d = get_world_3d(); + ERR_FAIL_COND(w3d.is_null()); + + PhysicsDirectSpaceState3D *dss = PhysicsServer3D::get_singleton()->space_get_direct_state(w3d->get_space()); + ERR_FAIL_NULL(dss); + + Transform3D gt = get_global_transform(); + + Vector3 to = target_position; + if (to == Vector3()) { + to = Vector3(0, 0.01, 0); + } + + PhysicsDirectSpaceState3D::RayParameters ray_params; + ray_params.from = gt.get_origin(); + ray_params.to = gt.xform(to); + ray_params.exclude = exclude; + ray_params.collision_mask = collision_mask; + ray_params.collide_with_bodies = collide_with_bodies; + ray_params.collide_with_areas = collide_with_areas; + ray_params.hit_from_inside = hit_from_inside; + ray_params.hit_back_faces = hit_back_faces; + + PhysicsDirectSpaceState3D::RayResult rr; + if (dss->intersect_ray(ray_params, rr)) { + collided = true; + against = rr.collider_id; + 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; + against = ObjectID(); + against_rid = RID(); + against_shape = 0; + } +} + +void RayCast3D::force_raycast_update() { + _update_raycast_state(); +} + +void RayCast3D::add_exception_rid(const RID &p_rid) { + exclude.insert(p_rid); +} + +void RayCast3D::add_exception(const CollisionObject3D *p_node) { + ERR_FAIL_NULL_MSG(p_node, "The passed Node must be an instance of CollisionObject3D."); + add_exception_rid(p_node->get_rid()); +} + +void RayCast3D::remove_exception_rid(const RID &p_rid) { + exclude.erase(p_rid); +} + +void RayCast3D::remove_exception(const CollisionObject3D *p_node) { + ERR_FAIL_NULL_MSG(p_node, "The passed Node must be an instance of CollisionObject3D."); + remove_exception_rid(p_node->get_rid()); +} + +void RayCast3D::clear_exceptions() { + exclude.clear(); + + if (exclude_parent_body && is_inside_tree()) { + CollisionObject3D *parent = Object::cast_to<CollisionObject3D>(get_parent()); + if (parent) { + exclude.insert(parent->get_rid()); + } + } +} + +void RayCast3D::set_collide_with_areas(bool p_enabled) { + collide_with_areas = p_enabled; +} + +bool RayCast3D::is_collide_with_areas_enabled() const { + return collide_with_areas; +} + +void RayCast3D::set_collide_with_bodies(bool p_enabled) { + collide_with_bodies = p_enabled; +} + +bool RayCast3D::is_collide_with_bodies_enabled() const { + return collide_with_bodies; +} + +void RayCast3D::set_hit_from_inside(bool p_enabled) { + hit_from_inside = p_enabled; +} + +bool RayCast3D::is_hit_from_inside_enabled() const { + return hit_from_inside; +} + +void RayCast3D::set_hit_back_faces(bool p_enabled) { + hit_back_faces = p_enabled; +} + +bool RayCast3D::is_hit_back_faces_enabled() const { + return hit_back_faces; +} + +void RayCast3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &RayCast3D::set_enabled); + ClassDB::bind_method(D_METHOD("is_enabled"), &RayCast3D::is_enabled); + + ClassDB::bind_method(D_METHOD("set_target_position", "local_point"), &RayCast3D::set_target_position); + ClassDB::bind_method(D_METHOD("get_target_position"), &RayCast3D::get_target_position); + + ClassDB::bind_method(D_METHOD("is_colliding"), &RayCast3D::is_colliding); + ClassDB::bind_method(D_METHOD("force_raycast_update"), &RayCast3D::force_raycast_update); + + ClassDB::bind_method(D_METHOD("get_collider"), &RayCast3D::get_collider); + ClassDB::bind_method(D_METHOD("get_collider_rid"), &RayCast3D::get_collider_rid); + 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); + + ClassDB::bind_method(D_METHOD("remove_exception_rid", "rid"), &RayCast3D::remove_exception_rid); + ClassDB::bind_method(D_METHOD("remove_exception", "node"), &RayCast3D::remove_exception); + + ClassDB::bind_method(D_METHOD("clear_exceptions"), &RayCast3D::clear_exceptions); + + ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &RayCast3D::set_collision_mask); + ClassDB::bind_method(D_METHOD("get_collision_mask"), &RayCast3D::get_collision_mask); + + ClassDB::bind_method(D_METHOD("set_collision_mask_value", "layer_number", "value"), &RayCast3D::set_collision_mask_value); + ClassDB::bind_method(D_METHOD("get_collision_mask_value", "layer_number"), &RayCast3D::get_collision_mask_value); + + ClassDB::bind_method(D_METHOD("set_exclude_parent_body", "mask"), &RayCast3D::set_exclude_parent_body); + ClassDB::bind_method(D_METHOD("get_exclude_parent_body"), &RayCast3D::get_exclude_parent_body); + + ClassDB::bind_method(D_METHOD("set_collide_with_areas", "enable"), &RayCast3D::set_collide_with_areas); + ClassDB::bind_method(D_METHOD("is_collide_with_areas_enabled"), &RayCast3D::is_collide_with_areas_enabled); + + ClassDB::bind_method(D_METHOD("set_collide_with_bodies", "enable"), &RayCast3D::set_collide_with_bodies); + ClassDB::bind_method(D_METHOD("is_collide_with_bodies_enabled"), &RayCast3D::is_collide_with_bodies_enabled); + + ClassDB::bind_method(D_METHOD("set_hit_from_inside", "enable"), &RayCast3D::set_hit_from_inside); + ClassDB::bind_method(D_METHOD("is_hit_from_inside_enabled"), &RayCast3D::is_hit_from_inside_enabled); + + ClassDB::bind_method(D_METHOD("set_hit_back_faces", "enable"), &RayCast3D::set_hit_back_faces); + ClassDB::bind_method(D_METHOD("is_hit_back_faces_enabled"), &RayCast3D::is_hit_back_faces_enabled); + + ClassDB::bind_method(D_METHOD("set_debug_shape_custom_color", "debug_shape_custom_color"), &RayCast3D::set_debug_shape_custom_color); + ClassDB::bind_method(D_METHOD("get_debug_shape_custom_color"), &RayCast3D::get_debug_shape_custom_color); + + ClassDB::bind_method(D_METHOD("set_debug_shape_thickness", "debug_shape_thickness"), &RayCast3D::set_debug_shape_thickness); + ClassDB::bind_method(D_METHOD("get_debug_shape_thickness"), &RayCast3D::get_debug_shape_thickness); + + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "exclude_parent"), "set_exclude_parent_body", "get_exclude_parent_body"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_position", PROPERTY_HINT_NONE, "suffix:m"), "set_target_position", "get_target_position"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "hit_from_inside"), "set_hit_from_inside", "is_hit_from_inside_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "hit_back_faces"), "set_hit_back_faces", "is_hit_back_faces_enabled"); + + ADD_GROUP("Collide With", "collide_with"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_areas", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collide_with_areas", "is_collide_with_areas_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_bodies", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collide_with_bodies", "is_collide_with_bodies_enabled"); + + ADD_GROUP("Debug Shape", "debug_shape"); + ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_shape_custom_color"), "set_debug_shape_custom_color", "get_debug_shape_custom_color"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "debug_shape_thickness", PROPERTY_HINT_RANGE, "1,5"), "set_debug_shape_thickness", "get_debug_shape_thickness"); +} + +int RayCast3D::get_debug_shape_thickness() const { + return debug_shape_thickness; +} + +void RayCast3D::_update_debug_shape_vertices() { + debug_shape_vertices.clear(); + debug_line_vertices.clear(); + + if (target_position == Vector3()) { + return; + } + + debug_line_vertices.push_back(Vector3()); + debug_line_vertices.push_back(target_position); + + if (debug_shape_thickness > 1) { + float scale_factor = 100.0; + Vector3 dir = Vector3(target_position).normalized(); + // Draw truncated pyramid + Vector3 normal = (fabs(dir.x) + fabs(dir.y) > CMP_EPSILON) ? Vector3(-dir.y, dir.x, 0).normalized() : Vector3(0, -dir.z, dir.y).normalized(); + normal *= debug_shape_thickness / scale_factor; + int vertices_strip_order[14] = { 4, 5, 0, 1, 2, 5, 6, 4, 7, 0, 3, 2, 7, 6 }; + for (int v = 0; v < 14; v++) { + Vector3 vertex = vertices_strip_order[v] < 4 ? normal : normal / 3.0 + target_position; + debug_shape_vertices.push_back(vertex.rotated(dir, Math_PI * (0.5 * (vertices_strip_order[v] % 4) + 0.25))); + } + } +} + +void RayCast3D::set_debug_shape_thickness(const int p_debug_shape_thickness) { + debug_shape_thickness = p_debug_shape_thickness; + update_gizmos(); + + if (Engine::get_singleton()->is_editor_hint()) { + if (is_inside_tree()) { + _update_debug_shape_vertices(); + } + } else if (debug_shape) { + _update_debug_shape(); + } +} + +const Vector<Vector3> &RayCast3D::get_debug_shape_vertices() const { + return debug_shape_vertices; +} + +const Vector<Vector3> &RayCast3D::get_debug_line_vertices() const { + return debug_line_vertices; +} + +void RayCast3D::set_debug_shape_custom_color(const Color &p_color) { + debug_shape_custom_color = p_color; + if (debug_material.is_valid()) { + _update_debug_shape_material(); + } +} + +Ref<StandardMaterial3D> RayCast3D::get_debug_material() { + _update_debug_shape_material(); + return debug_material; +} + +const Color &RayCast3D::get_debug_shape_custom_color() const { + return debug_shape_custom_color; +} + +void RayCast3D::_create_debug_shape() { + _update_debug_shape_material(); + + Ref<ArrayMesh> mesh = memnew(ArrayMesh); + + MeshInstance3D *mi = memnew(MeshInstance3D); + mi->set_mesh(mesh); + + add_child(mi); + debug_shape = mi; +} + +void RayCast3D::_update_debug_shape_material(bool p_check_collision) { + if (!debug_material.is_valid()) { + Ref<StandardMaterial3D> material = memnew(StandardMaterial3D); + debug_material = material; + + material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); + material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true); + // Use double-sided rendering so that the RayCast can be seen if the camera is inside. + material->set_cull_mode(BaseMaterial3D::CULL_DISABLED); + material->set_transparency(BaseMaterial3D::TRANSPARENCY_ALPHA); + } + + Color color = debug_shape_custom_color; + if (color == Color(0.0, 0.0, 0.0)) { + // Use the default debug shape color defined in the Project Settings. + color = get_tree()->get_debug_collisions_color(); + } + + if (p_check_collision && collided) { + if ((color.get_h() < 0.055 || color.get_h() > 0.945) && color.get_s() > 0.5 && color.get_v() > 0.5) { + // If base color is already quite reddish, highlight collision with green color + color = Color(0.0, 1.0, 0.0, color.a); + } else { + // Else, highlight collision with red color + color = Color(1.0, 0, 0, color.a); + } + } + + Ref<StandardMaterial3D> material = static_cast<Ref<StandardMaterial3D>>(debug_material); + material->set_albedo(color); +} + +void RayCast3D::_update_debug_shape() { + if (!enabled) { + return; + } + + if (!debug_shape) { + _create_debug_shape(); + } + + MeshInstance3D *mi = static_cast<MeshInstance3D *>(debug_shape); + Ref<ArrayMesh> mesh = mi->get_mesh(); + if (!mesh.is_valid()) { + return; + } + + _update_debug_shape_vertices(); + + mesh->clear_surfaces(); + + Array a; + a.resize(Mesh::ARRAY_MAX); + + uint32_t flags = 0; + int surface_count = 0; + + if (!debug_line_vertices.is_empty()) { + a[Mesh::ARRAY_VERTEX] = debug_line_vertices; + mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, a, Array(), Dictionary(), flags); + mesh->surface_set_material(surface_count, debug_material); + ++surface_count; + } + + if (!debug_shape_vertices.is_empty()) { + a[Mesh::ARRAY_VERTEX] = debug_shape_vertices; + mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLE_STRIP, a, Array(), Dictionary(), flags); + mesh->surface_set_material(surface_count, debug_material); + ++surface_count; + } +} + +void RayCast3D::_clear_debug_shape() { + if (!debug_shape) { + return; + } + + MeshInstance3D *mi = static_cast<MeshInstance3D *>(debug_shape); + if (mi->is_inside_tree()) { + mi->queue_free(); + } else { + memdelete(mi); + } + + debug_shape = nullptr; +} + +RayCast3D::RayCast3D() { +} |