Merge pull request #51522 from nekomatata/capsule-3d-independent-height

Make radius & height in CapsuleShape3D independent

doc/classes/CapsuleMesh.xml

@@ -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.

doc/classes/CapsuleShape3D.xml

@@ -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">

editor/plugins/node_3d_editor_gizmos.cpp

@@ -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());
@@ -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);
@@ -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);
 	}
 

editor/plugins/skeleton_3d_editor_plugin.cpp

@@ -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);

modules/navigation/navigation_mesh_generator.cpp

@@ -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;
 					}
 

scene/resources/capsule_shape_3d.cpp

@@ -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);
@@ -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() {
@@ -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();
 }
@@ -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();
 }

scene/resources/capsule_shape_3d.h

@@ -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();

scene/resources/primitive_meshes.cpp

@@ -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));
@@ -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;
@@ -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)));
@@ -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) {

scene/resources/primitive_meshes.h

@@ -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;
 
@@ -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;

servers/physics_3d/collision_solver_3d_sat.cpp

@@ -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;
 
@@ -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);
 
@@ -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;
@@ -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;
@@ -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);
 
@@ -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

servers/physics_3d/shape_3d_sw.cpp

@@ -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));
@@ -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;
 }
 
@@ -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;
@@ -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);
@@ -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);
@@ -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);
@@ -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);
@@ -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) {

servers/physics_3d/shape_3d_sw.h

@@ -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; }