Add collision weight to PhysicsBody for penetrations must be avoided

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

16 files changed, 100 insertions, 2 deletions

diff --git a/servers/extensions/physics_server_3d_extension.cpp b/servers/extensions/physics_server_3d_extension.cpp
index 3694dcdb9a..7d797bf611 100644
--- a/servers/extensions/physics_server_3d_extension.cpp
+++ b/servers/extensions/physics_server_3d_extension.cpp
@@ -196,6 +196,9 @@ void PhysicsServer3DExtension::_bind_methods() {
 	GDVIRTUAL_BIND(_body_set_collision_mask, "body", "mask");
 	GDVIRTUAL_BIND(_body_get_collision_mask, "body");
 
+	GDVIRTUAL_BIND(_body_set_collision_priority, "body", "priority");
+	GDVIRTUAL_BIND(_body_get_collision_priority, "body");
+
 	GDVIRTUAL_BIND(_body_add_shape, "body", "shape", "transform", "disabled");
 	GDVIRTUAL_BIND(_body_set_shape, "body", "shape_idx", "shape");
 	GDVIRTUAL_BIND(_body_set_shape_transform, "body", "shape_idx", "transform");
diff --git a/servers/extensions/physics_server_3d_extension.h b/servers/extensions/physics_server_3d_extension.h
index c4b4a00eaf..3200438253 100644
--- a/servers/extensions/physics_server_3d_extension.h
+++ b/servers/extensions/physics_server_3d_extension.h
@@ -319,6 +319,9 @@ public:
 	EXBIND2(body_set_collision_mask, RID, uint32_t)
 	EXBIND1RC(uint32_t, body_get_collision_mask, RID)
 
+	EXBIND2(body_set_collision_priority, RID, real_t)
+	EXBIND1RC(real_t, body_get_collision_priority, RID)
+
 	EXBIND2(body_set_user_flags, RID, uint32_t)
 	EXBIND1RC(uint32_t, body_get_user_flags, RID)
 
diff --git a/servers/physics_2d/godot_collision_object_2d.h b/servers/physics_2d/godot_collision_object_2d.h
index 1a683a7b0f..7965e8a94d 100644
--- a/servers/physics_2d/godot_collision_object_2d.h
+++ b/servers/physics_2d/godot_collision_object_2d.h
@@ -70,6 +70,7 @@ private:
 	Transform2D inv_transform;
 	uint32_t collision_mask = 1;
 	uint32_t collision_layer = 1;
+	real_t collision_priority = 1.0;
 	bool _static = true;
 
 	SelfList<GodotCollisionObject2D> pending_shape_update_list;
@@ -166,6 +167,13 @@ public:
 	}
 	_FORCE_INLINE_ uint32_t get_collision_layer() const { return collision_layer; }
 
+	_FORCE_INLINE_ void set_collision_priority(real_t p_priority) {
+		ERR_FAIL_COND_MSG(p_priority <= 0, "Priority must be greater than 0.");
+		collision_priority = p_priority;
+		_shape_changed();
+	}
+	_FORCE_INLINE_ real_t get_collision_priority() const { return collision_priority; }
+
 	void remove_shape(GodotShape2D *p_shape) override;
 	void remove_shape(int p_index);
 
diff --git a/servers/physics_2d/godot_physics_server_2d.cpp b/servers/physics_2d/godot_physics_server_2d.cpp
index 99e68de07c..c728dccd4f 100644
--- a/servers/physics_2d/godot_physics_server_2d.cpp
+++ b/servers/physics_2d/godot_physics_server_2d.cpp
@@ -718,6 +718,20 @@ uint32_t GodotPhysicsServer2D::body_get_collision_mask(RID p_body) const {
 	return body->get_collision_mask();
 }
 
+void GodotPhysicsServer2D::body_set_collision_priority(RID p_body, real_t p_priority) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_collision_priority(p_priority);
+}
+
+real_t GodotPhysicsServer2D::body_get_collision_priority(RID p_body) const {
+	const GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, 0);
+
+	return body->get_collision_priority();
+}
+
 void GodotPhysicsServer2D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) {
 	GodotBody2D *body = body_owner.get_or_null(p_body);
 	ERR_FAIL_COND(!body);
diff --git a/servers/physics_2d/godot_physics_server_2d.h b/servers/physics_2d/godot_physics_server_2d.h
index 2af6e5c97c..20e492d87a 100644
--- a/servers/physics_2d/godot_physics_server_2d.h
+++ b/servers/physics_2d/godot_physics_server_2d.h
@@ -199,6 +199,9 @@ public:
 	virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) override;
 	virtual uint32_t body_get_collision_mask(RID p_body) const override;
 
+	virtual void body_set_collision_priority(RID p_body, real_t p_priority) override;
+	virtual real_t body_get_collision_priority(RID p_body) const override;
+
 	virtual void body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) override;
 	virtual Variant body_get_param(RID p_body, BodyParameter p_param) const override;
 
diff --git a/servers/physics_2d/godot_space_2d.cpp b/servers/physics_2d/godot_space_2d.cpp
index 166ec3049e..4166191be8 100644
--- a/servers/physics_2d/godot_space_2d.cpp
+++ b/servers/physics_2d/godot_space_2d.cpp
@@ -594,6 +594,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
 		const int max_results = 32;
 		int recover_attempts = 4;
 		Vector2 sr[max_results * 2];
+		real_t priorities[max_results];
 
 		do {
 			GodotPhysicsServer2D::CollCbkData cbk;
@@ -606,6 +607,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
 
 			GodotPhysicsServer2D::CollCbkData *cbkptr = &cbk;
 			GodotCollisionSolver2D::CallbackResult cbkres = GodotPhysicsServer2D::_shape_col_cbk;
+			int priority_amount = 0;
 
 			bool collided = false;
 
@@ -664,6 +666,10 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
 					if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, margin)) {
 						did_collide = cbk.passed > current_passed; //more passed, so collision actually existed
 					}
+					while (cbk.amount > priority_amount) {
+						priorities[priority_amount] = col_obj->get_collision_priority();
+						priority_amount++;
+					}
 
 					if (!did_collide && cbk.invalid_by_dir > 0) {
 						//this shape must be excluded
@@ -686,6 +692,12 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
 				break;
 			}
 
+			real_t inv_total_weight = 0.0;
+			for (int i = 0; i < cbk.amount; i++) {
+				inv_total_weight += priorities[i];
+			}
+			inv_total_weight = Math::is_zero_approx(inv_total_weight) ? 1.0 : (real_t)cbk.amount / inv_total_weight;
+
 			recovered = true;
 
 			Vector2 recover_motion;
@@ -701,7 +713,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
 				real_t depth = n.dot(a + recover_motion) - d;
 				if (depth > min_contact_depth + CMP_EPSILON) {
 					// Only recover if there is penetration.
-					recover_motion -= n * (depth - min_contact_depth) * 0.4;
+					recover_motion -= n * (depth - min_contact_depth) * 0.4 * priorities[i] * inv_total_weight;
 				}
 			}
 
diff --git a/servers/physics_3d/godot_collision_object_3d.h b/servers/physics_3d/godot_collision_object_3d.h
index 0f09f21962..2d342f65f3 100644
--- a/servers/physics_3d/godot_collision_object_3d.h
+++ b/servers/physics_3d/godot_collision_object_3d.h
@@ -59,6 +59,7 @@ private:
 	ObjectID instance_id;
 	uint32_t collision_layer = 1;
 	uint32_t collision_mask = 1;
+	real_t collision_priority = 1.0;
 
 	struct Shape {
 		Transform3D xform;
@@ -165,6 +166,13 @@ public:
 	}
 	_FORCE_INLINE_ uint32_t get_collision_mask() const { return collision_mask; }
 
+	_FORCE_INLINE_ void set_collision_priority(real_t p_priority) {
+		ERR_FAIL_COND_MSG(p_priority <= 0, "Priority must be greater than 0.");
+		collision_priority = p_priority;
+		_shape_changed();
+	}
+	_FORCE_INLINE_ real_t get_collision_priority() const { return collision_priority; }
+
 	_FORCE_INLINE_ bool collides_with(GodotCollisionObject3D *p_other) const {
 		return p_other->collision_layer & collision_mask;
 	}
diff --git a/servers/physics_3d/godot_physics_server_3d.cpp b/servers/physics_3d/godot_physics_server_3d.cpp
index b735283ebe..9c1535f561 100644
--- a/servers/physics_3d/godot_physics_server_3d.cpp
+++ b/servers/physics_3d/godot_physics_server_3d.cpp
@@ -593,6 +593,20 @@ uint32_t GodotPhysicsServer3D::body_get_collision_mask(RID p_body) const {
 	return body->get_collision_mask();
 }
 
+void GodotPhysicsServer3D::body_set_collision_priority(RID p_body, real_t p_priority) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_collision_priority(p_priority);
+}
+
+real_t GodotPhysicsServer3D::body_get_collision_priority(RID p_body) const {
+	const GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, 0);
+
+	return body->get_collision_priority();
+}
+
 void GodotPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) {
 	GodotBody3D *body = body_owner.get_or_null(p_body);
 	if (body) {
diff --git a/servers/physics_3d/godot_physics_server_3d.h b/servers/physics_3d/godot_physics_server_3d.h
index 1d57451925..b429f23a0c 100644
--- a/servers/physics_3d/godot_physics_server_3d.h
+++ b/servers/physics_3d/godot_physics_server_3d.h
@@ -192,6 +192,9 @@ public:
 	virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) override;
 	virtual uint32_t body_get_collision_mask(RID p_body) const override;
 
+	virtual void body_set_collision_priority(RID p_body, real_t p_priority) override;
+	virtual real_t body_get_collision_priority(RID p_body) const override;
+
 	virtual void body_set_user_flags(RID p_body, uint32_t p_flags) override;
 	virtual uint32_t body_get_user_flags(RID p_body) const override;
 
diff --git a/servers/physics_3d/godot_space_3d.cpp b/servers/physics_3d/godot_space_3d.cpp
index 13e9a89b2e..074232dd66 100644
--- a/servers/physics_3d/godot_space_3d.cpp
+++ b/servers/physics_3d/godot_space_3d.cpp
@@ -701,6 +701,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
 		const int max_results = 32;
 		int recover_attempts = 4;
 		Vector3 sr[max_results * 2];
+		real_t priorities[max_results];
 
 		do {
 			GodotPhysicsServer3D::CollCbkData cbk;
@@ -710,6 +711,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
 
 			GodotPhysicsServer3D::CollCbkData *cbkptr = &cbk;
 			GodotCollisionSolver3D::CallbackResult cbkres = GodotPhysicsServer3D::_shape_col_cbk;
+			int priority_amount = 0;
 
 			bool collided = false;
 
@@ -737,6 +739,10 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
 					if (GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, margin)) {
 						collided = cbk.amount > 0;
 					}
+					while (cbk.amount > priority_amount) {
+						priorities[priority_amount] = col_obj->get_collision_priority();
+						priority_amount++;
+					}
 				}
 			}
 
@@ -744,6 +750,12 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
 				break;
 			}
 
+			real_t inv_total_weight = 0.0;
+			for (int i = 0; i < cbk.amount; i++) {
+				inv_total_weight += priorities[i];
+			}
+			inv_total_weight = Math::is_zero_approx(inv_total_weight) ? 1.0 : (real_t)cbk.amount / inv_total_weight;
+
 			recovered = true;
 
 			Vector3 recover_motion;
@@ -759,7 +771,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
 				real_t depth = n.dot(a + recover_motion) - d;
 				if (depth > min_contact_depth + CMP_EPSILON) {
 					// Only recover if there is penetration.
-					recover_motion -= n * (depth - min_contact_depth) * 0.4;
+					recover_motion -= n * (depth - min_contact_depth) * 0.4 * priorities[i] * inv_total_weight;
 				}
 			}
 
diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp
index 26768e300c..ee6764d8e1 100644
--- a/servers/physics_server_2d.cpp
+++ b/servers/physics_server_2d.cpp
@@ -706,6 +706,9 @@ void PhysicsServer2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("body_set_collision_mask", "body", "mask"), &PhysicsServer2D::body_set_collision_mask);
 	ClassDB::bind_method(D_METHOD("body_get_collision_mask", "body"), &PhysicsServer2D::body_get_collision_mask);
 
+	ClassDB::bind_method(D_METHOD("body_set_collision_priority", "body", "priority"), &PhysicsServer2D::body_set_collision_priority);
+	ClassDB::bind_method(D_METHOD("body_get_collision_priority", "body"), &PhysicsServer2D::body_get_collision_priority);
+
 	ClassDB::bind_method(D_METHOD("body_set_param", "body", "param", "value"), &PhysicsServer2D::body_set_param);
 	ClassDB::bind_method(D_METHOD("body_get_param", "body", "param"), &PhysicsServer2D::body_get_param);
 
diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h
index 6d95c591c2..df8b641ffc 100644
--- a/servers/physics_server_2d.h
+++ b/servers/physics_server_2d.h
@@ -393,6 +393,9 @@ public:
 	virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) = 0;
 	virtual uint32_t body_get_collision_mask(RID p_body) const = 0;
 
+	virtual void body_set_collision_priority(RID p_body, real_t p_priority) = 0;
+	virtual real_t body_get_collision_priority(RID p_body) const = 0;
+
 	// common body variables
 	enum BodyParameter {
 		BODY_PARAM_BOUNCE,
diff --git a/servers/physics_server_2d_wrap_mt.h b/servers/physics_server_2d_wrap_mt.h
index ddb071f603..d080aac438 100644
--- a/servers/physics_server_2d_wrap_mt.h
+++ b/servers/physics_server_2d_wrap_mt.h
@@ -205,6 +205,9 @@ public:
 	FUNC2(body_set_collision_mask, RID, uint32_t);
 	FUNC1RC(uint32_t, body_get_collision_mask, RID);
 
+	FUNC2(body_set_collision_priority, RID, real_t);
+	FUNC1RC(real_t, body_get_collision_priority, RID);
+
 	FUNC3(body_set_param, RID, BodyParameter, const Variant &);
 	FUNC2RC(Variant, body_get_param, RID, BodyParameter);
 
diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp
index f25db22e66..c985df83b2 100644
--- a/servers/physics_server_3d.cpp
+++ b/servers/physics_server_3d.cpp
@@ -750,6 +750,9 @@ void PhysicsServer3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("body_set_collision_mask", "body", "mask"), &PhysicsServer3D::body_set_collision_mask);
 	ClassDB::bind_method(D_METHOD("body_get_collision_mask", "body"), &PhysicsServer3D::body_get_collision_mask);
 
+	ClassDB::bind_method(D_METHOD("body_set_collision_priority", "body", "priority"), &PhysicsServer3D::body_set_collision_priority);
+	ClassDB::bind_method(D_METHOD("body_get_collision_priority", "body"), &PhysicsServer3D::body_get_collision_priority);
+
 	ClassDB::bind_method(D_METHOD("body_add_shape", "body", "shape", "transform", "disabled"), &PhysicsServer3D::body_add_shape, DEFVAL(Transform3D()), DEFVAL(false));
 	ClassDB::bind_method(D_METHOD("body_set_shape", "body", "shape_idx", "shape"), &PhysicsServer3D::body_set_shape);
 	ClassDB::bind_method(D_METHOD("body_set_shape_transform", "body", "shape_idx", "transform"), &PhysicsServer3D::body_set_shape_transform);
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index 12497c0bdf..01324be0f5 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -421,6 +421,9 @@ public:
 	virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) = 0;
 	virtual uint32_t body_get_collision_mask(RID p_body) const = 0;
 
+	virtual void body_set_collision_priority(RID p_body, real_t p_priority) = 0;
+	virtual real_t body_get_collision_priority(RID p_body) const = 0;
+
 	virtual void body_set_user_flags(RID p_body, uint32_t p_flags) = 0;
 	virtual uint32_t body_get_user_flags(RID p_body) const = 0;
 
diff --git a/servers/physics_server_3d_wrap_mt.h b/servers/physics_server_3d_wrap_mt.h
index d4a4ad3132..ed4546b240 100644
--- a/servers/physics_server_3d_wrap_mt.h
+++ b/servers/physics_server_3d_wrap_mt.h
@@ -202,6 +202,9 @@ public:
 	FUNC2(body_set_collision_mask, RID, uint32_t);
 	FUNC1RC(uint32_t, body_get_collision_mask, RID);
 
+	FUNC2(body_set_collision_priority, RID, real_t);
+	FUNC1RC(real_t, body_get_collision_priority, RID);
+
 	FUNC2(body_set_user_flags, RID, uint32_t);
 	FUNC1RC(uint32_t, body_get_user_flags, RID);