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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
3 changed files with 25 additions and 23 deletions
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28
servers/physics_3d/godot_shape_3d.cpp
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@@ -52,11 +52,11 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
constexpr double edge_support_threshold = 0.0002;
constexpr double face_support_threshold = 0.9998;
const double 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;
constexpr double cylinder_face_support_threshold = 0.999;
const double cylinder_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) {
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 {
if (Math::abs(p_normal.z) < edge_support_threshold) {
if (Math::abs(p_normal.z) < support_threshold_lower) {
r_amount = 2;
r_type = FEATURE_EDGE;
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;
axis[i] = 1.0;
real_t dot = p_normal.dot(axis);
if (Math::abs(dot) > face_support_threshold) {
if (Math::abs(dot) > support_threshold) {
//Vector3 axis_b;
bool neg = dot < 0;
@@ -376,7 +376,7 @@ 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)) < edge_support_threshold) {
if (Math::abs(p_normal.dot(axis)) < support_threshold_lower) {
r_amount = 2;
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 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
n.y = 0.0;
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 {
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;
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[2] = n;
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
Vector3 n = p_normal;
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++) {
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();
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++) {
real_t dot = (vertices[edges[i].vertex_a] - vertices[edges[i].vertex_b]).normalized().dot(p_normal);
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_type = FEATURE_EDGE;
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;
/** 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_type = FEATURE_FACE;
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
real_t dot = (vertex[i] - vertex[nx]).normalized().dot(n);
dot = ABS(dot);
if (dot < edge_support_threshold) {
if (dot < support_threshold_lower) {
r_amount = 2;
r_type = FEATURE_EDGE;
r_supports[0] = vertex[i];