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authorCamille Mohr-Daurat <pouleyKetchoup@gmail.com>2021-08-27 08:49:49 -0700
committerGitHub <noreply@github.com>2021-08-27 08:49:49 -0700
commitca4f20529c0b6588464f88fc0b0680a8df0fc77f (patch)
tree6c2c536eb0544f8073547a7774ab7d8d1ac63055 /servers/physics_3d
parentfec7516010cd2d371800bb3a7d0ff06ebc2c941f (diff)
parent3d5dc80348b9b377f6d8a33c7101d54b337396a5 (diff)
Merge pull request #51896 from nekomatata/restore-ray-shape
Refactor RayShape and rename to SeparationRayShape
Diffstat (limited to 'servers/physics_3d')
-rw-r--r--servers/physics_3d/collision_solver_3d_sat.cpp6
-rw-r--r--servers/physics_3d/collision_solver_3d_sw.cpp57
-rw-r--r--servers/physics_3d/collision_solver_3d_sw.h2
-rw-r--r--servers/physics_3d/physics_server_3d_sw.cpp10
-rw-r--r--servers/physics_3d/physics_server_3d_sw.h3
-rw-r--r--servers/physics_3d/physics_server_3d_wrap_mt.h5
-rw-r--r--servers/physics_3d/shape_3d_sw.cpp85
-rw-r--r--servers/physics_3d/shape_3d_sw.h50
-rw-r--r--servers/physics_3d/space_3d_sw.cpp14
-rw-r--r--servers/physics_3d/space_3d_sw.h2
10 files changed, 212 insertions, 22 deletions
diff --git a/servers/physics_3d/collision_solver_3d_sat.cpp b/servers/physics_3d/collision_solver_3d_sat.cpp
index 6e6a2cb9e7..de81348b4e 100644
--- a/servers/physics_3d/collision_solver_3d_sat.cpp
+++ b/servers/physics_3d/collision_solver_3d_sat.cpp
@@ -2273,11 +2273,13 @@ bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_
PhysicsServer3D::ShapeType type_A = p_shape_A->get_type();
ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_PLANE, false);
+ ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_SEPARATION_RAY, false);
ERR_FAIL_COND_V(p_shape_A->is_concave(), false);
PhysicsServer3D::ShapeType type_B = p_shape_B->get_type();
ERR_FAIL_COND_V(type_B == PhysicsServer3D::SHAPE_PLANE, false);
+ ERR_FAIL_COND_V(type_B == PhysicsServer3D::SHAPE_SEPARATION_RAY, false);
ERR_FAIL_COND_V(p_shape_B->is_concave(), false);
static const CollisionFunc collision_table[6][6] = {
@@ -2382,10 +2384,10 @@ bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_
CollisionFunc collision_func;
if (margin_A != 0.0 || margin_B != 0.0) {
- collision_func = collision_table_margin[type_A - 1][type_B - 1];
+ collision_func = collision_table_margin[type_A - 2][type_B - 2];
} else {
- collision_func = collision_table[type_A - 1][type_B - 1];
+ collision_func = collision_table[type_A - 2][type_B - 2];
}
ERR_FAIL_COND_V(!collision_func, false);
diff --git a/servers/physics_3d/collision_solver_3d_sw.cpp b/servers/physics_3d/collision_solver_3d_sw.cpp
index dcecac1c73..e7b79e8450 100644
--- a/servers/physics_3d/collision_solver_3d_sw.cpp
+++ b/servers/physics_3d/collision_solver_3d_sw.cpp
@@ -89,6 +89,49 @@ bool CollisionSolver3DSW::solve_static_plane(const Shape3DSW *p_shape_A, const T
return found;
}
+bool CollisionSolver3DSW::solve_separation_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) {
+ const SeparationRayShape3DSW *ray = static_cast<const SeparationRayShape3DSW *>(p_shape_A);
+
+ Vector3 from = p_transform_A.origin;
+ Vector3 to = from + p_transform_A.basis.get_axis(2) * (ray->get_length() + p_margin);
+ Vector3 support_A = to;
+
+ Transform3D ai = p_transform_B.affine_inverse();
+
+ from = ai.xform(from);
+ to = ai.xform(to);
+
+ Vector3 p, n;
+ if (!p_shape_B->intersect_segment(from, to, p, n)) {
+ return false;
+ }
+
+ // Discard contacts when the ray is fully contained inside the shape.
+ if (n == Vector3()) {
+ return false;
+ }
+
+ // Discard contacts in the wrong direction.
+ if (n.dot(from - to) < CMP_EPSILON) {
+ return false;
+ }
+
+ Vector3 support_B = p_transform_B.xform(p);
+ if (ray->get_slide_on_slope()) {
+ Vector3 global_n = ai.basis.xform_inv(n).normalized();
+ support_B = support_A + (support_B - support_A).length() * global_n;
+ }
+
+ if (p_result_callback) {
+ if (p_swap_result) {
+ p_result_callback(support_B, 0, support_A, 0, p_userdata);
+ } else {
+ p_result_callback(support_A, 0, support_B, 0, p_userdata);
+ }
+ }
+ return true;
+}
+
struct _SoftBodyContactCollisionInfo {
int node_index = 0;
CollisionSolver3DSW::CallbackResult result_callback = nullptr;
@@ -318,6 +361,9 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo
if (type_B == PhysicsServer3D::SHAPE_PLANE) {
return false;
}
+ if (type_B == PhysicsServer3D::SHAPE_SEPARATION_RAY) {
+ return false;
+ }
if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) {
return false;
}
@@ -328,6 +374,17 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo
return solve_static_plane(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
}
+ } else if (type_A == PhysicsServer3D::SHAPE_SEPARATION_RAY) {
+ if (type_B == PhysicsServer3D::SHAPE_SEPARATION_RAY) {
+ return false;
+ }
+
+ if (swap) {
+ return solve_separation_ray(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, p_margin_B);
+ } else {
+ return solve_separation_ray(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, p_margin_A);
+ }
+
} else if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) {
if (type_A == PhysicsServer3D::SHAPE_SOFT_BODY) {
// Soft Body / Soft Body not supported.
diff --git a/servers/physics_3d/collision_solver_3d_sw.h b/servers/physics_3d/collision_solver_3d_sw.h
index a5dd7d48eb..c1a69e708f 100644
--- a/servers/physics_3d/collision_solver_3d_sw.h
+++ b/servers/physics_3d/collision_solver_3d_sw.h
@@ -43,7 +43,7 @@ private:
static void soft_body_concave_callback(void *p_userdata, Shape3DSW *p_convex);
static void concave_callback(void *p_userdata, Shape3DSW *p_convex);
static bool solve_static_plane(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
- static bool solve_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
+ static bool solve_separation_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0);
static bool solve_soft_body(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static bool solve_concave(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A = 0, real_t p_margin_B = 0);
static void concave_distance_callback(void *p_userdata, Shape3DSW *p_convex);
diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp
index fbb374bd74..fbc6f7eee8 100644
--- a/servers/physics_3d/physics_server_3d_sw.cpp
+++ b/servers/physics_3d/physics_server_3d_sw.cpp
@@ -48,6 +48,12 @@ RID PhysicsServer3DSW::plane_shape_create() {
shape->set_self(rid);
return rid;
}
+RID PhysicsServer3DSW::separation_ray_shape_create() {
+ Shape3DSW *shape = memnew(SeparationRayShape3DSW);
+ RID rid = shape_owner.make_rid(shape);
+ shape->set_self(rid);
+ return rid;
+}
RID PhysicsServer3DSW::sphere_shape_create() {
Shape3DSW *shape = memnew(SphereShape3DSW);
RID rid = shape_owner.make_rid(shape);
@@ -848,7 +854,7 @@ void PhysicsServer3DSW::body_set_ray_pickable(RID p_body, bool p_enable) {
body->set_ray_pickable(p_enable);
}
-bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, MotionResult *r_result, const Set<RID> &p_exclude) {
+bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, MotionResult *r_result, bool p_collide_separation_ray, const Set<RID> &p_exclude) {
Body3DSW *body = body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
@@ -856,7 +862,7 @@ bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from,
_update_shapes();
- return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result, p_exclude);
+ return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result, p_collide_separation_ray, p_exclude);
}
PhysicsDirectBodyState3D *PhysicsServer3DSW::body_get_direct_state(RID p_body) {
diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h
index 6e59a77e89..a18593c90c 100644
--- a/servers/physics_3d/physics_server_3d_sw.h
+++ b/servers/physics_3d/physics_server_3d_sw.h
@@ -83,6 +83,7 @@ public:
static void _shape_col_cbk(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata);
virtual RID plane_shape_create() override;
+ virtual RID separation_ray_shape_create() override;
virtual RID sphere_shape_create() override;
virtual RID box_shape_create() override;
virtual RID capsule_shape_create() override;
@@ -241,7 +242,7 @@ public:
virtual void body_set_ray_pickable(RID p_body, bool p_enable) override;
- virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, const Set<RID> &p_exclude = Set<RID>()) override;
+ virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override;
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override;
diff --git a/servers/physics_3d/physics_server_3d_wrap_mt.h b/servers/physics_3d/physics_server_3d_wrap_mt.h
index 75174628bf..674c52d4a3 100644
--- a/servers/physics_3d/physics_server_3d_wrap_mt.h
+++ b/servers/physics_3d/physics_server_3d_wrap_mt.h
@@ -79,6 +79,7 @@ public:
//FUNC1RID(shape,ShapeType); todo fix
FUNCRID(plane_shape)
+ FUNCRID(separation_ray_shape)
FUNCRID(sphere_shape)
FUNCRID(box_shape)
FUNCRID(capsule_shape)
@@ -249,9 +250,9 @@ public:
FUNC2(body_set_ray_pickable, RID, bool);
- bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, const Set<RID> &p_exclude = Set<RID>()) override {
+ bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override {
ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
- return physics_3d_server->body_test_motion(p_body, p_from, p_motion, p_margin, r_result, p_exclude);
+ return physics_3d_server->body_test_motion(p_body, p_from, p_motion, p_margin, r_result, p_collide_separation_ray, p_exclude);
}
// this function only works on physics process, errors and returns null otherwise
diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp
index 664308ed7b..0794e7888e 100644
--- a/servers/physics_3d/shape_3d_sw.cpp
+++ b/servers/physics_3d/shape_3d_sw.cpp
@@ -164,6 +164,91 @@ Variant PlaneShape3DSW::get_data() const {
PlaneShape3DSW::PlaneShape3DSW() {
}
+//
+
+real_t SeparationRayShape3DSW::get_length() const {
+ return length;
+}
+
+bool SeparationRayShape3DSW::get_slide_on_slope() const {
+ return slide_on_slope;
+}
+
+void SeparationRayShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const {
+ // don't think this will be even used
+ r_min = 0;
+ r_max = 1;
+}
+
+Vector3 SeparationRayShape3DSW::get_support(const Vector3 &p_normal) const {
+ if (p_normal.z > 0) {
+ return Vector3(0, 0, length);
+ } else {
+ return Vector3(0, 0, 0);
+ }
+}
+
+void SeparationRayShape3DSW::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_IS_VALID_SUPPORT_THRESHOLD) {
+ r_amount = 2;
+ r_type = FEATURE_EDGE;
+ r_supports[0] = Vector3(0, 0, 0);
+ r_supports[1] = Vector3(0, 0, length);
+ } else if (p_normal.z > 0) {
+ r_amount = 1;
+ r_type = FEATURE_POINT;
+ *r_supports = Vector3(0, 0, length);
+ } else {
+ r_amount = 1;
+ r_type = FEATURE_POINT;
+ *r_supports = Vector3(0, 0, 0);
+ }
+}
+
+bool SeparationRayShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const {
+ return false; //simply not possible
+}
+
+bool SeparationRayShape3DSW::intersect_point(const Vector3 &p_point) const {
+ return false; //simply not possible
+}
+
+Vector3 SeparationRayShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
+ Vector3 s[2] = {
+ Vector3(0, 0, 0),
+ Vector3(0, 0, length)
+ };
+
+ return Geometry3D::get_closest_point_to_segment(p_point, s);
+}
+
+Vector3 SeparationRayShape3DSW::get_moment_of_inertia(real_t p_mass) const {
+ return Vector3();
+}
+
+void SeparationRayShape3DSW::_setup(real_t p_length, bool p_slide_on_slope) {
+ length = p_length;
+ slide_on_slope = p_slide_on_slope;
+ configure(AABB(Vector3(0, 0, 0), Vector3(0.1, 0.1, length)));
+}
+
+void SeparationRayShape3DSW::set_data(const Variant &p_data) {
+ Dictionary d = p_data;
+ _setup(d["length"], d["slide_on_slope"]);
+}
+
+Variant SeparationRayShape3DSW::get_data() const {
+ Dictionary d;
+ d["length"] = length;
+ d["slide_on_slope"] = slide_on_slope;
+ return d;
+}
+
+SeparationRayShape3DSW::SeparationRayShape3DSW() {
+ length = 1;
+ slide_on_slope = false;
+}
+
/********** SPHERE *************/
real_t SphereShape3DSW::get_radius() const {
diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h
index ca58900111..dc35c3b172 100644
--- a/servers/physics_3d/shape_3d_sw.h
+++ b/servers/physics_3d/shape_3d_sw.h
@@ -117,23 +117,51 @@ class PlaneShape3DSW : public Shape3DSW {
public:
Plane get_plane() const;
- virtual real_t get_area() const { return INFINITY; }
- virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_PLANE; }
- virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const;
- virtual Vector3 get_support(const Vector3 &p_normal) const;
- virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; }
+ virtual real_t get_area() const override { return INFINITY; }
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_PLANE; }
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
+ virtual Vector3 get_support(const Vector3 &p_normal) const override;
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override { r_amount = 0; }
- virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
- virtual bool intersect_point(const Vector3 &p_point) const;
- virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
- virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override;
+ virtual bool intersect_point(const Vector3 &p_point) const override;
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
- virtual void set_data(const Variant &p_data);
- virtual Variant get_data() const;
+ virtual void set_data(const Variant &p_data) override;
+ virtual Variant get_data() const override;
PlaneShape3DSW();
};
+class SeparationRayShape3DSW : public Shape3DSW {
+ real_t length;
+ bool slide_on_slope;
+
+ void _setup(real_t p_length, bool p_slide_on_slope);
+
+public:
+ real_t get_length() const;
+ bool get_slide_on_slope() const;
+
+ virtual real_t get_area() const override { return 0.0; }
+ virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_SEPARATION_RAY; }
+ virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override;
+ virtual Vector3 get_support(const Vector3 &p_normal) const override;
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override;
+
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const override;
+ virtual bool intersect_point(const Vector3 &p_point) const override;
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
+
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
+
+ virtual void set_data(const Variant &p_data) override;
+ virtual Variant get_data() const override;
+
+ SeparationRayShape3DSW();
+};
+
class SphereShape3DSW : public Shape3DSW {
real_t radius;
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index f9e55ad525..37dee436df 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -569,7 +569,7 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
return amount;
}
-bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, const Set<RID> &p_exclude) {
+bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_collide_separation_ray, const Set<RID> &p_exclude) {
//give me back regular physics engine logic
//this is madness
//and most people using this function will think
@@ -714,9 +714,19 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
continue;
}
- Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
Shape3DSW *body_shape = p_body->get_shape(j);
+ // Colliding separation rays allows to properly snap to the ground,
+ // otherwise it's not needed in regular motion.
+ if (!p_collide_separation_ray && (body_shape->get_type() == PhysicsServer3D::SHAPE_SEPARATION_RAY)) {
+ // When slide on slope is on, separation ray shape acts like a regular shape.
+ if (!static_cast<SeparationRayShape3DSW *>(body_shape)->get_slide_on_slope()) {
+ continue;
+ }
+ }
+
+ Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
+
Transform3D body_shape_xform_inv = body_shape_xform.affine_inverse();
MotionShape3DSW mshape;
mshape.shape = body_shape;
diff --git a/servers/physics_3d/space_3d_sw.h b/servers/physics_3d/space_3d_sw.h
index 9b5b4de069..1c3d1cf9f6 100644
--- a/servers/physics_3d/space_3d_sw.h
+++ b/servers/physics_3d/space_3d_sw.h
@@ -203,7 +203,7 @@ public:
void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; }
uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; }
- bool test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, const Set<RID> &p_exclude = Set<RID>());
+ bool test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>());
Space3DSW();
~Space3DSW();