Add collision weight to PhysicsBody for penetrations must be avoided

Co-authored-by: Juan Linietsky <reduzio@gmail.com>

3 files changed, 23 insertions, 0 deletions

diff --git a/modules/csg/csg_shape.cpp b/modules/csg/csg_shape.cpp
index 56be4e65f0..fd6183c7e0 100644
--- a/modules/csg/csg_shape.cpp
+++ b/modules/csg/csg_shape.cpp
@@ -53,6 +53,7 @@ void CSGShape3D::set_use_collision(bool p_enable) {
 		PhysicsServer3D::get_singleton()->body_attach_object_instance_id(root_collision_instance, get_instance_id());
 		set_collision_layer(collision_layer);
 		set_collision_mask(collision_mask);
+		set_collision_priority(collision_priority);
 		_make_dirty(); //force update
 	} else {
 		PhysicsServer3D::get_singleton()->free(root_collision_instance);
@@ -124,6 +125,17 @@ bool CSGShape3D::get_collision_mask_value(int p_layer_number) const {
 	return get_collision_mask() & (1 << (p_layer_number - 1));
 }
 
+void CSGShape3D::set_collision_priority(real_t p_priority) {
+	collision_priority = p_priority;
+	if (root_collision_instance.is_valid()) {
+		PhysicsServer3D::get_singleton()->body_set_collision_priority(root_collision_instance, p_priority);
+	}
+}
+
+real_t CSGShape3D::get_collision_priority() const {
+	return collision_priority;
+}
+
 bool CSGShape3D::is_root_shape() const {
 	return !parent_shape;
 }
@@ -545,6 +557,7 @@ void CSGShape3D::_notification(int p_what) {
 				PhysicsServer3D::get_singleton()->body_attach_object_instance_id(root_collision_instance, get_instance_id());
 				set_collision_layer(collision_layer);
 				set_collision_mask(collision_mask);
+				set_collision_priority(collision_priority);
 				_update_collision_faces();
 			}
 		} break;
@@ -632,6 +645,9 @@ void CSGShape3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_collision_layer_value", "layer_number", "value"), &CSGShape3D::set_collision_layer_value);
 	ClassDB::bind_method(D_METHOD("get_collision_layer_value", "layer_number"), &CSGShape3D::get_collision_layer_value);
 
+	ClassDB::bind_method(D_METHOD("set_collision_priority", "priority"), &CSGShape3D::set_collision_priority);
+	ClassDB::bind_method(D_METHOD("get_collision_priority"), &CSGShape3D::get_collision_priority);
+
 	ClassDB::bind_method(D_METHOD("set_calculate_tangents", "enabled"), &CSGShape3D::set_calculate_tangents);
 	ClassDB::bind_method(D_METHOD("is_calculating_tangents"), &CSGShape3D::is_calculating_tangents);
 
@@ -645,6 +661,7 @@ void CSGShape3D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_collision"), "set_use_collision", "is_using_collision");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_priority"), "set_collision_priority", "get_collision_priority");
 
 	BIND_ENUM_CONSTANT(OPERATION_UNION);
 	BIND_ENUM_CONSTANT(OPERATION_INTERSECTION);
diff --git a/modules/csg/csg_shape.h b/modules/csg/csg_shape.h
index 0b49dc4609..65658ce68b 100644
--- a/modules/csg/csg_shape.h
+++ b/modules/csg/csg_shape.h
@@ -65,6 +65,7 @@ private:
 	bool use_collision = false;
 	uint32_t collision_layer = 1;
 	uint32_t collision_mask = 1;
+	real_t collision_priority = 1.0;
 	Ref<ConcavePolygonShape3D> root_collision_shape;
 	RID root_collision_instance;
 
@@ -144,6 +145,9 @@ public:
 	void set_collision_mask_value(int p_layer_number, bool p_value);
 	bool get_collision_mask_value(int p_layer_number) const;
 
+	void set_collision_priority(real_t p_priority);
+	real_t get_collision_priority() const;
+
 	void set_snap(float p_snap);
 	float get_snap() const;
 
diff --git a/modules/csg/doc_classes/CSGShape3D.xml b/modules/csg/doc_classes/CSGShape3D.xml
index 4fd4a12a1d..7e92d667b3 100644
--- a/modules/csg/doc_classes/CSGShape3D.xml
+++ b/modules/csg/doc_classes/CSGShape3D.xml
@@ -66,6 +66,8 @@
 		<member name="collision_mask" type="int" setter="set_collision_mask" getter="get_collision_mask" default="1">
 			The physics layers this CSG shape scans for collisions. See [url=$DOCS_URL/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
 		</member>
+		<member name="collision_priority" type="float" setter="set_collision_priority" getter="get_collision_priority" default="1.0">
+		</member>
 		<member name="operation" type="int" setter="set_operation" getter="get_operation" enum="CSGShape3D.Operation" default="0">
 			The operation that is performed on this shape. This is ignored for the first CSG child node as the operation is between this node and the previous child of this nodes parent.
 		</member>