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Make radius & height in CapsuleShape3D independent #51522

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Aug 12, 2021
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Make radius & height in CapsuleShape3D independent #51522

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5 changes: 2 additions & 3 deletions doc/classes/CapsuleMesh.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,9 +11,8 @@
<methods>
</methods>
<members>
<member name="mid_height" type="float" setter="set_mid_height" getter="get_mid_height" default="1.0">
Height of the middle cylindrical part of the capsule (without the hemispherical ends).
[b]Note:[/b] The capsule's total height is equal to [member mid_height] + 2 * [member radius].
<member name="height" type="float" setter="set_height" getter="get_height" default="3.0">
Total height of the capsule mesh (including the hemispherical ends).
</member>
<member name="radial_segments" type="int" setter="set_radial_segments" getter="get_radial_segments" default="64">
Number of radial segments on the capsule mesh.
Expand Down
2 changes: 1 addition & 1 deletion doc/classes/CapsuleShape3D.xml
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Expand Up @@ -12,7 +12,7 @@
<methods>
</methods>
<members>
<member name="height" type="float" setter="set_height" getter="get_height" default="1.0">
<member name="height" type="float" setter="set_height" getter="get_height" default="3.0">
The capsule's height.
</member>
<member name="radius" type="float" setter="set_radius" getter="get_radius" default="1.0">
Expand Down
9 changes: 3 additions & 6 deletions editor/plugins/node_3d_editor_gizmos.cpp
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Expand Up @@ -4168,14 +4168,11 @@ void CollisionShape3DGizmoPlugin::set_handle(const EditorNode3DGizmo *p_gizmo, i

if (Object::cast_to<CapsuleShape3D>(*s)) {
Vector3 axis;
axis[p_id == 0 ? 0 : 2] = 1.0;
axis[p_id == 0 ? 0 : 1] = 1.0;
Ref<CapsuleShape3D> cs2 = s;
Vector3 ra, rb;
Geometry3D::get_closest_points_between_segments(Vector3(), axis * 4096, sg[0], sg[1], ra, rb);
float d = axis.dot(ra);
if (p_id == 1) {
d -= cs2->get_radius();
}

if (Node3DEditor::get_singleton()->is_snap_enabled()) {
d = Math::snapped(d, Node3DEditor::get_singleton()->get_translate_snap());
Expand Down Expand Up @@ -4397,7 +4394,7 @@ void CollisionShape3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {

Vector<Vector3> points;

Vector3 d(0, height * 0.5, 0);
Vector3 d(0, height * 0.5 - radius, 0);
for (int i = 0; i < 360; i++) {
float ra = Math::deg2rad((float)i);
float rb = Math::deg2rad((float)i + 1);
Expand Down Expand Up @@ -4456,7 +4453,7 @@ void CollisionShape3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {

Vector<Vector3> handles;
handles.push_back(Vector3(cs2->get_radius(), 0, 0));
handles.push_back(Vector3(0, cs2->get_height() * 0.5 + cs2->get_radius(), 0));
handles.push_back(Vector3(0, cs2->get_height() * 0.5, 0));
p_gizmo->add_handles(handles, handles_material);
}

Expand Down
2 changes: 1 addition & 1 deletion editor/plugins/skeleton_3d_editor_plugin.cpp
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Expand Up @@ -386,7 +386,7 @@ PhysicalBone3D *Skeleton3DEditor::create_physical_bone(int bone_id, int bone_chi
const real_t radius(half_height * 0.2);

CapsuleShape3D *bone_shape_capsule = memnew(CapsuleShape3D);
bone_shape_capsule->set_height((half_height - radius) * 2);
bone_shape_capsule->set_height(half_height * 2);
bone_shape_capsule->set_radius(radius);

CollisionShape3D *bone_shape = memnew(CollisionShape3D);
Expand Down
2 changes: 1 addition & 1 deletion modules/navigation/navigation_mesh_generator.cpp
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Expand Up @@ -187,7 +187,7 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
Ref<CapsuleMesh> capsule_mesh;
capsule_mesh.instantiate();
capsule_mesh->set_radius(capsule->get_radius());
capsule_mesh->set_mid_height(capsule->get_height() / 2.0);
capsule_mesh->set_height(capsule->get_height());
mesh = capsule_mesh;
}

Expand Down
10 changes: 8 additions & 2 deletions scene/resources/capsule_shape_3d.cpp
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Expand Up @@ -37,7 +37,7 @@ Vector<Vector3> CapsuleShape3D::get_debug_mesh_lines() const {

Vector<Vector3> points;

Vector3 d(0, height * 0.5, 0);
Vector3 d(0, height * 0.5 - radius, 0);
for (int i = 0; i < 360; i++) {
float ra = Math::deg2rad((float)i);
float rb = Math::deg2rad((float)i + 1);
Expand Down Expand Up @@ -67,7 +67,7 @@ Vector<Vector3> CapsuleShape3D::get_debug_mesh_lines() const {
}

real_t CapsuleShape3D::get_enclosing_radius() const {
return radius + height * 0.5;
return height * 0.5;
}

void CapsuleShape3D::_update_shape() {
Expand All @@ -80,6 +80,9 @@ void CapsuleShape3D::_update_shape() {

void CapsuleShape3D::set_radius(float p_radius) {
radius = p_radius;
if (radius > height * 0.5) {
radius = height * 0.5;
}
_update_shape();
notify_change_to_owners();
}
Expand All @@ -90,6 +93,9 @@ float CapsuleShape3D::get_radius() const {

void CapsuleShape3D::set_height(float p_height) {
height = p_height;
if (radius > height * 0.5) {
height = radius * 2;
}
_update_shape();
notify_change_to_owners();
}
Expand Down
2 changes: 1 addition & 1 deletion scene/resources/capsule_shape_3d.h
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Expand Up @@ -36,7 +36,7 @@
class CapsuleShape3D : public Shape3D {
GDCLASS(CapsuleShape3D, Shape3D);
float radius = 1.0;
float height = 1.0;
float height = 3.0;

protected:
static void _bind_methods();
Expand Down
28 changes: 17 additions & 11 deletions scene/resources/primitive_meshes.cpp
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Expand Up @@ -300,7 +300,7 @@ void CapsuleMesh::_create_mesh_array(Array &p_arr) const {
z = cos(u * Math_TAU);

Vector3 p = Vector3(x * radius * w, y, -z * radius * w);
points.push_back(p + Vector3(0.0, 0.5 * mid_height, 0.0));
points.push_back(p + Vector3(0.0, 0.5 * height - radius, 0.0));
normals.push_back(p.normalized());
ADD_TANGENT(z, 0.0, x, 1.0)
uvs.push_back(Vector2(u, v * onethird));
Expand Down Expand Up @@ -328,8 +328,8 @@ void CapsuleMesh::_create_mesh_array(Array &p_arr) const {
v = j;
v /= (rings + 1);

y = mid_height * v;
y = (mid_height * 0.5) - y;
y = (height - 2.0 * radius) * v;
y = (0.5 * height - radius) - y;

for (i = 0; i <= radial_segments; i++) {
u = i;
Expand Down Expand Up @@ -379,7 +379,7 @@ void CapsuleMesh::_create_mesh_array(Array &p_arr) const {
z = cos(u2 * Math_TAU);

Vector3 p = Vector3(x * radius * w, y, -z * radius * w);
points.push_back(p + Vector3(0.0, -0.5 * mid_height, 0.0));
points.push_back(p + Vector3(0.0, -0.5 * height + radius, 0.0));
normals.push_back(p.normalized());
ADD_TANGENT(z, 0.0, x, 1.0)
uvs.push_back(Vector2(u2, twothirds + ((v - 1.0) * onethird)));
Expand Down Expand Up @@ -410,36 +410,42 @@ void CapsuleMesh::_create_mesh_array(Array &p_arr) const {
void CapsuleMesh::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_radius", "radius"), &CapsuleMesh::set_radius);
ClassDB::bind_method(D_METHOD("get_radius"), &CapsuleMesh::get_radius);
ClassDB::bind_method(D_METHOD("set_mid_height", "mid_height"), &CapsuleMesh::set_mid_height);
ClassDB::bind_method(D_METHOD("get_mid_height"), &CapsuleMesh::get_mid_height);
ClassDB::bind_method(D_METHOD("set_height", "height"), &CapsuleMesh::set_height);
ClassDB::bind_method(D_METHOD("get_height"), &CapsuleMesh::get_height);

ClassDB::bind_method(D_METHOD("set_radial_segments", "segments"), &CapsuleMesh::set_radial_segments);
ClassDB::bind_method(D_METHOD("get_radial_segments"), &CapsuleMesh::get_radial_segments);
ClassDB::bind_method(D_METHOD("set_rings", "rings"), &CapsuleMesh::set_rings);
ClassDB::bind_method(D_METHOD("get_rings"), &CapsuleMesh::get_rings);

ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.001,100.0,0.001,or_greater"), "set_radius", "get_radius");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mid_height", PROPERTY_HINT_RANGE, "0.001,100.0,0.001,or_greater"), "set_mid_height", "get_mid_height");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "height", PROPERTY_HINT_RANGE, "0.001,100.0,0.001,or_greater"), "set_height", "get_height");
ADD_PROPERTY(PropertyInfo(Variant::INT, "radial_segments", PROPERTY_HINT_RANGE, "1,100,1,or_greater"), "set_radial_segments", "get_radial_segments");
ADD_PROPERTY(PropertyInfo(Variant::INT, "rings", PROPERTY_HINT_RANGE, "1,100,1,or_greater"), "set_rings", "get_rings");
}

void CapsuleMesh::set_radius(const float p_radius) {
radius = p_radius;
if (radius > height * 0.5) {
radius = height * 0.5;
}
_request_update();
}

float CapsuleMesh::get_radius() const {
return radius;
}

void CapsuleMesh::set_mid_height(const float p_mid_height) {
mid_height = p_mid_height;
void CapsuleMesh::set_height(const float p_height) {
height = p_height;
if (radius > height * 0.5) {
height = radius * 2;
}
_request_update();
}

float CapsuleMesh::get_mid_height() const {
return mid_height;
float CapsuleMesh::get_height() const {
return height;
}

void CapsuleMesh::set_radial_segments(const int p_segments) {
Expand Down
6 changes: 3 additions & 3 deletions scene/resources/primitive_meshes.h
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Expand Up @@ -108,7 +108,7 @@ class CapsuleMesh : public PrimitiveMesh {

private:
float radius = 1.0;
float mid_height = 1.0;
float height = 3.0;
int radial_segments = 64;
int rings = 8;

Expand All @@ -120,8 +120,8 @@ class CapsuleMesh : public PrimitiveMesh {
void set_radius(const float p_radius);
float get_radius() const;

void set_mid_height(const float p_mid_height);
float get_mid_height() const;
void set_height(const float p_height);
float get_height() const;

void set_radial_segments(const int p_segments);
int get_radial_segments() const;
Expand Down
16 changes: 8 additions & 8 deletions servers/physics_3d/collision_solver_3d_sat.cpp
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Expand Up @@ -848,7 +848,7 @@ static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform3D &p

//capsule sphere 1, sphere

Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5);
Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius());

Vector3 capsule_ball_1 = p_transform_b.origin + capsule_axis;

Expand Down Expand Up @@ -1207,7 +1207,7 @@ static void _collision_box_capsule(const Shape3DSW *p_a, const Transform3D &p_tr
// capsule balls, edges of A

for (int i = 0; i < 2; i++) {
Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5);
Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius());

Vector3 sphere_pos = p_transform_b.origin + ((i == 0) ? capsule_axis : -capsule_axis);

Expand Down Expand Up @@ -1607,8 +1607,8 @@ static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform3D &

// some values

Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5);
Vector3 capsule_B_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5);
Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
Vector3 capsule_B_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius());

Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis;
Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis;
Expand Down Expand Up @@ -1679,8 +1679,8 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform3D

Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1);

Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis * (capsule_A->get_height() * 0.5);
Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis * (capsule_A->get_height() * 0.5);
Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());

if (!separator.test_axis((p_transform_b.origin - capsule_A_ball_1).cross(cylinder_B_axis).cross(cylinder_B_axis).normalized())) {
return;
Expand Down Expand Up @@ -1768,7 +1768,7 @@ static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transf
for (int i = 0; i < 2; i++) {
// edges of B, capsule cylinder

Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5);
Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());

Vector3 sphere_pos = p_transform_a.origin + ((i == 0) ? capsule_axis : -capsule_axis);

Expand Down Expand Up @@ -1808,7 +1808,7 @@ static void _collision_capsule_face(const Shape3DSW *p_a, const Transform3D &p_t

// edges of B, capsule cylinder

Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5);
Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());

for (int i = 0; i < 3; i++) {
// edge-cylinder
Expand Down
32 changes: 16 additions & 16 deletions servers/physics_3d/shape_3d_sw.cpp
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Expand Up @@ -424,10 +424,10 @@ BoxShape3DSW::BoxShape3DSW() {

void CapsuleShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const {
Vector3 n = p_transform.basis.xform_inv(p_normal).normalized();
real_t h = (n.y > 0) ? height : -height;
real_t h = height * 0.5 - radius;

n *= radius;
n.y += h * 0.5;
n.y += (n.y > 0) ? h : -h;

r_max = p_normal.dot(p_transform.xform(n));
r_min = p_normal.dot(p_transform.xform(-n));
Expand All @@ -436,10 +436,10 @@ void CapsuleShape3DSW::project_range(const Vector3 &p_normal, const Transform3D
Vector3 CapsuleShape3DSW::get_support(const Vector3 &p_normal) const {
Vector3 n = p_normal;

real_t h = (n.y > 0) ? height : -height;
real_t h = height * 0.5 - radius;

n *= radius;
n.y += h * 0.5;
n.y += (n.y > 0) ? h : -h;
return n;
}

Expand All @@ -457,15 +457,15 @@ void CapsuleShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3
r_amount = 2;
r_type = FEATURE_EDGE;
r_supports[0] = n;
r_supports[0].y += height * 0.5;
r_supports[0].y += height * 0.5 - radius;
r_supports[1] = n;
r_supports[1].y -= height * 0.5;
r_supports[1].y -= height * 0.5 - radius;

} else {
real_t h = (d > 0) ? height : -height;
real_t h = height * 0.5 - radius;

n *= radius;
n.y += h * 0.5;
n.y += (d > 0) ? h : -h;
r_amount = 1;
r_type = FEATURE_POINT;
*r_supports = n;
Expand All @@ -484,7 +484,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &

// test against cylinder and spheres :-|

collided = Geometry3D::segment_intersects_cylinder(p_begin, p_end, height, radius, &auxres, &auxn, 1);
collided = Geometry3D::segment_intersects_cylinder(p_begin, p_end, height - radius * 2.0, radius, &auxres, &auxn, 1);

if (collided) {
real_t d = norm.dot(auxres);
Expand All @@ -496,7 +496,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
}
}

collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * 0.5, 0), radius, &auxres, &auxn);
collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * 0.5 - radius, 0), radius, &auxres, &auxn);

if (collided) {
real_t d = norm.dot(auxres);
Expand All @@ -508,7 +508,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
}
}

collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * -0.5, 0), radius, &auxres, &auxn);
collided = Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(0, height * -0.5 + radius, 0), radius, &auxres, &auxn);

if (collided) {
real_t d = norm.dot(auxres);
Expand All @@ -529,19 +529,19 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &
}

bool CapsuleShape3DSW::intersect_point(const Vector3 &p_point) const {
if (Math::abs(p_point.y) < height * 0.5) {
if (Math::abs(p_point.y) < height * 0.5 - radius) {
return Vector3(p_point.x, 0, p_point.z).length() < radius;
} else {
Vector3 p = p_point;
p.y = Math::abs(p.y) - height * 0.5;
p.y = Math::abs(p.y) - height * 0.5 + radius;
return p.length() < radius;
}
}

Vector3 CapsuleShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
Vector3 s[2] = {
Vector3(0, -height * 0.5, 0),
Vector3(0, height * 0.5, 0),
Vector3(0, -height * 0.5 + radius, 0),
Vector3(0, height * 0.5 - radius, 0),
};

Vector3 p = Geometry3D::get_closest_point_to_segment(p_point, s);
Expand All @@ -566,7 +566,7 @@ Vector3 CapsuleShape3DSW::get_moment_of_inertia(real_t p_mass) const {
void CapsuleShape3DSW::_setup(real_t p_height, real_t p_radius) {
height = p_height;
radius = p_radius;
configure(AABB(Vector3(-radius, -height * 0.5 - radius, -radius), Vector3(radius * 2, height + radius * 2.0, radius * 2)));
configure(AABB(Vector3(-radius, -height * 0.5, -radius), Vector3(radius * 2, height, radius * 2)));
}

void CapsuleShape3DSW::set_data(const Variant &p_data) {
Expand Down
2 changes: 1 addition & 1 deletion servers/physics_3d/shape_3d_sw.h
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Expand Up @@ -207,7 +207,7 @@ class CapsuleShape3DSW : public Shape3DSW {
_FORCE_INLINE_ real_t get_height() const { return height; }
_FORCE_INLINE_ real_t get_radius() const { return radius; }

virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius + height * Math_PI * radius * radius; }
virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius + (height - radius * 2.0) * Math_PI * radius * radius; }

virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_CAPSULE; }

Expand Down