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-rw-r--r--scene/2d/physics_body_2d.cpp152
-rw-r--r--scene/2d/physics_body_2d.h9
-rw-r--r--scene/3d/physics_body.h2
-rw-r--r--servers/physics_2d/collision_solver_2d_sw.cpp11
-rw-r--r--servers/physics_2d/collision_solver_2d_sw.h2
-rw-r--r--servers/physics_2d/physics_2d_server_sw.cpp14
-rw-r--r--servers/physics_2d/physics_2d_server_sw.h3
-rw-r--r--servers/physics_2d/physics_2d_server_wrap_mt.h10
-rw-r--r--servers/physics_2d/space_2d_sw.cpp163
-rw-r--r--servers/physics_2d/space_2d_sw.h3
-rw-r--r--servers/physics_2d_server.h17
11 files changed, 328 insertions, 58 deletions
diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp
index feb11089d0..d8549af66a 100644
--- a/scene/2d/physics_body_2d.cpp
+++ b/scene/2d/physics_body_2d.cpp
@@ -971,11 +971,11 @@ RigidBody2D::~RigidBody2D() {
//////////////////////////
-Ref<KinematicCollision2D> KinematicBody2D::_move(const Vector2 &p_motion, bool p_infinite_inertia) {
+Ref<KinematicCollision2D> KinematicBody2D::_move(const Vector2 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, bool p_only_move_if_collided, float p_custom_margin) {
Collision col;
- if (move_and_collide(p_motion, p_infinite_inertia, col)) {
+ if (move_and_collide(p_motion, p_infinite_inertia, col, p_exclude_raycast_shapes, p_only_move_if_collided, p_custom_margin)) {
if (motion_cache.is_null()) {
motion_cache.instance();
motion_cache->owner = this;
@@ -989,11 +989,48 @@ Ref<KinematicCollision2D> KinematicBody2D::_move(const Vector2 &p_motion, bool p
return Ref<KinematicCollision2D>();
}
-bool KinematicBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision) {
+bool KinematicBody2D::separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision) {
+
+ Physics2DServer::SeparationResult sep_res[8]; //max 8 rays
+
+ Transform2D gt = get_global_transform();
+
+ Vector2 recover;
+ int hits = Physics2DServer::get_singleton()->body_test_ray_separation(get_rid(), gt, p_infinite_inertia, recover, sep_res, 8, margin);
+ int deepest = -1;
+ float deepest_depth;
+ for (int i = 0; i < hits; i++) {
+ if (deepest == -1 || sep_res[i].collision_depth > deepest_depth) {
+ deepest = i;
+ deepest_depth = sep_res[i].collision_depth;
+ }
+ }
+
+ gt.elements[2] += recover;
+ set_global_transform(gt);
+
+ if (deepest != -1) {
+ r_collision.collider = sep_res[deepest].collider_id;
+ r_collision.collider_metadata = sep_res[deepest].collider_metadata;
+ r_collision.collider_shape = sep_res[deepest].collider_shape;
+ r_collision.collider_vel = sep_res[deepest].collider_velocity;
+ r_collision.collision = sep_res[deepest].collision_point;
+ r_collision.normal = sep_res[deepest].collision_normal;
+ r_collision.local_shape = sep_res[deepest].collision_local_shape;
+ r_collision.travel = recover;
+ r_collision.remainder = Vector2();
+
+ return true;
+ } else {
+ return false;
+ }
+}
+
+bool KinematicBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_only_move_if_collided, float p_custom_margin) {
Transform2D gt = get_global_transform();
Physics2DServer::MotionResult result;
- bool colliding = Physics2DServer::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, margin, &result);
+ bool colliding = Physics2DServer::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, p_custom_margin >= 0 ? p_custom_margin : margin, &result, p_exclude_raycast_shapes);
if (colliding) {
r_collision.collider_metadata = result.collider_metadata;
@@ -1007,13 +1044,15 @@ bool KinematicBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_
r_collision.local_shape = result.collision_local_shape;
}
- gt.elements[2] += result.motion;
- set_global_transform(gt);
+ if (!p_only_move_if_collided || colliding) {
+ gt.elements[2] += result.motion;
+ set_global_transform(gt);
+ }
return colliding;
}
-Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const Vector2 &p_floor_direction, bool p_infinite_inertia, float p_slope_stop_min_velocity, int p_max_slides, float p_floor_max_angle) {
+Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const Vector2 &p_floor_direction, bool p_infinite_inertia, float p_slope_stop_min_velocity, int p_max_slides, float p_floor_max_angle, const Vector2 &p_snap) {
Vector2 motion = (floor_velocity + p_linear_velocity) * get_physics_process_delta_time();
Vector2 lv = p_linear_velocity;
@@ -1027,53 +1066,85 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
while (p_max_slides) {
Collision collision;
+ bool found_collision = false;
+
+ for (int i = 0; i < 2; i++) {
+ bool collided;
+ if (i == 0) { //collide
+ collided = move_and_collide(motion, p_infinite_inertia, collision);
+ if (!collided) {
+ motion = Vector2(); //clear because no collision happened and motion completed
+ }
+ } else { //separate raycasts (if any)
+ collided = separate_raycast_shapes(p_infinite_inertia, collision);
+ if (collided) {
+ collision.remainder = motion; //keep
+ collision.travel = Vector2();
+ }
+ }
- bool collided = move_and_collide(motion, p_infinite_inertia, collision);
-
- if (collided) {
-
- motion = collision.remainder;
-
- if (p_floor_direction == Vector2()) {
- //all is a wall
- on_wall = true;
- } else {
- if (collision.normal.dot(p_floor_direction) >= Math::cos(p_floor_max_angle)) { //floor
+ if (collided) {
+ found_collision = true;
+ }
- on_floor = true;
- floor_velocity = collision.collider_vel;
+ if (collided) {
- Vector2 rel_v = lv - floor_velocity;
- Vector2 hv = rel_v - p_floor_direction * p_floor_direction.dot(rel_v);
+ motion = collision.remainder;
- if (collision.travel.length() < 1 && hv.length() < p_slope_stop_min_velocity) {
- Transform2D gt = get_global_transform();
- gt.elements[2] -= collision.travel;
- set_global_transform(gt);
- return Vector2();
- }
- } else if (collision.normal.dot(-p_floor_direction) >= Math::cos(p_floor_max_angle)) { //ceiling
- on_ceiling = true;
- } else {
+ if (p_floor_direction == Vector2()) {
+ //all is a wall
on_wall = true;
+ } else {
+ if (collision.normal.dot(p_floor_direction) >= Math::cos(p_floor_max_angle)) { //floor
+
+ on_floor = true;
+ floor_velocity = collision.collider_vel;
+
+ Vector2 rel_v = lv - floor_velocity;
+ Vector2 hv = rel_v - p_floor_direction * p_floor_direction.dot(rel_v);
+
+ if (collision.travel.length() < 1 && hv.length() < p_slope_stop_min_velocity) {
+ Transform2D gt = get_global_transform();
+ gt.elements[2] -= collision.travel;
+ set_global_transform(gt);
+ return Vector2();
+ }
+ } else if (collision.normal.dot(-p_floor_direction) >= Math::cos(p_floor_max_angle)) { //ceiling
+ on_ceiling = true;
+ } else {
+ on_wall = true;
+ }
}
- }
- Vector2 n = collision.normal;
- motion = motion.slide(n);
- lv = lv.slide(n);
+ Vector2 n = collision.normal;
+ motion = motion.slide(n);
+ lv = lv.slide(n);
- colliders.push_back(collision);
+ colliders.push_back(collision);
+ }
+ }
- } else {
+ if (!found_collision) {
break;
}
-
p_max_slides--;
if (motion == Vector2())
break;
}
+ if (p_snap != Vector2() && (on_floor || snapped)) {
+
+ Collision collision;
+ if (move_and_collide(p_snap, p_infinite_inertia, collision, false, true, 0)) {
+ snapped = true;
+ } else {
+ snapped = false;
+ }
+
+ } else {
+ snapped = false;
+ }
+
return lv;
}
@@ -1140,8 +1211,8 @@ Ref<KinematicCollision2D> KinematicBody2D::_get_slide_collision(int p_bounce) {
void KinematicBody2D::_bind_methods() {
- ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia"), &KinematicBody2D::_move, DEFVAL(true));
- ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "floor_normal", "infinite_inertia", "slope_stop_min_velocity", "max_bounces", "floor_max_angle"), &KinematicBody2D::move_and_slide, DEFVAL(Vector2(0, 0)), DEFVAL(true), DEFVAL(5), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)));
+ ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "only_move_if_collided", "custom_margin"), &KinematicBody2D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false), DEFVAL(-1.0));
+ ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "floor_normal", "infinite_inertia", "slope_stop_min_velocity", "max_bounces", "floor_max_angle", "snap"), &KinematicBody2D::move_and_slide, DEFVAL(Vector2(0, 0)), DEFVAL(true), DEFVAL(5), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(Vector2()));
ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia"), &KinematicBody2D::test_move);
@@ -1167,6 +1238,7 @@ KinematicBody2D::KinematicBody2D() :
on_floor = false;
on_ceiling = false;
on_wall = false;
+ snapped = false;
}
KinematicBody2D::~KinematicBody2D() {
if (motion_cache.is_valid()) {
diff --git a/scene/2d/physics_body_2d.h b/scene/2d/physics_body_2d.h
index 0fda3c5c05..5ab07cc754 100644
--- a/scene/2d/physics_body_2d.h
+++ b/scene/2d/physics_body_2d.h
@@ -290,26 +290,29 @@ private:
bool on_floor;
bool on_ceiling;
bool on_wall;
+ bool snapped;
Vector<Collision> colliders;
Vector<Ref<KinematicCollision2D> > slide_colliders;
Ref<KinematicCollision2D> motion_cache;
_FORCE_INLINE_ bool _ignores_mode(Physics2DServer::BodyMode) const;
- Ref<KinematicCollision2D> _move(const Vector2 &p_motion, bool p_infinite_inertia = true);
+ Ref<KinematicCollision2D> _move(const Vector2 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, bool p_only_move_if_collided = false, float p_custom_margin = -1);
Ref<KinematicCollision2D> _get_slide_collision(int p_bounce);
protected:
static void _bind_methods();
public:
- bool move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision);
+ bool move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_only_move_if_collided = false, float p_custom_margin = -1);
bool test_move(const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia);
+ bool separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision);
+
void set_safe_margin(float p_margin);
float get_safe_margin() const;
- Vector2 move_and_slide(const Vector2 &p_linear_velocity, const Vector2 &p_floor_direction = Vector2(0, 0), bool p_infinite_inertia = true, float p_slope_stop_min_velocity = 5, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45));
+ Vector2 move_and_slide(const Vector2 &p_linear_velocity, const Vector2 &p_floor_direction = Vector2(0, 0), bool p_infinite_inertia = true, float p_slope_stop_min_velocity = 5, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45), const Vector2 &p_snap = Vector2());
bool is_on_floor() const;
bool is_on_wall() const;
bool is_on_ceiling() const;
diff --git a/scene/3d/physics_body.h b/scene/3d/physics_body.h
index 0190dcbfc3..7236eba685 100644
--- a/scene/3d/physics_body.h
+++ b/scene/3d/physics_body.h
@@ -294,7 +294,7 @@ protected:
static void _bind_methods();
public:
- bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision);
+ bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collisionz);
bool test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia);
void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock);
diff --git a/servers/physics_2d/collision_solver_2d_sw.cpp b/servers/physics_2d/collision_solver_2d_sw.cpp
index efee98a35a..6ce019f36e 100644
--- a/servers/physics_2d/collision_solver_2d_sw.cpp
+++ b/servers/physics_2d/collision_solver_2d_sw.cpp
@@ -72,7 +72,7 @@ bool CollisionSolver2DSW::solve_static_line(const Shape2DSW *p_shape_A, const Tr
return found;
}
-bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis) {
+bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis) {
const RayShape2DSW *ray = static_cast<const RayShape2DSW *>(p_shape_A);
if (p_shape_B->get_type() == Physics2DServer::SHAPE_RAY)
@@ -80,6 +80,11 @@ bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Transf
Vector2 from = p_transform_A.get_origin();
Vector2 to = from + p_transform_A[1] * ray->get_length();
+ if (p_motion_A != Vector2()) {
+ //not the best but should be enough
+ Vector2 normal = (to - from).normalized();
+ to += normal * MAX(0.0, normal.dot(p_motion_A));
+ }
Vector2 support_A = to;
Transform2D invb = p_transform_B.affine_inverse();
@@ -270,9 +275,9 @@ bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p
}
if (swap) {
- return solve_raycast(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, sep_axis);
+ return solve_raycast(p_shape_B, p_motion_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, sep_axis);
} else {
- return solve_raycast(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, sep_axis);
+ return solve_raycast(p_shape_A, p_motion_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, sep_axis);
}
} else if (concave_B) {
diff --git a/servers/physics_2d/collision_solver_2d_sw.h b/servers/physics_2d/collision_solver_2d_sw.h
index e39c41fb75..6faa166115 100644
--- a/servers/physics_2d/collision_solver_2d_sw.h
+++ b/servers/physics_2d/collision_solver_2d_sw.h
@@ -41,7 +41,7 @@ private:
static bool solve_static_line(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static void concave_callback(void *p_userdata, Shape2DSW *p_convex);
static bool solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis = NULL, real_t p_margin_A = 0, real_t p_margin_B = 0);
- static bool solve_raycast(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis = NULL);
+ static bool solve_raycast(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis = NULL);
public:
static bool solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *sep_axis = NULL, real_t p_margin_A = 0, real_t p_margin_B = 0);
diff --git a/servers/physics_2d/physics_2d_server_sw.cpp b/servers/physics_2d/physics_2d_server_sw.cpp
index a14fed8184..faabed84e9 100644
--- a/servers/physics_2d/physics_2d_server_sw.cpp
+++ b/servers/physics_2d/physics_2d_server_sw.cpp
@@ -962,14 +962,24 @@ void Physics2DServerSW::body_set_pickable(RID p_body, bool p_pickable) {
body->set_pickable(p_pickable);
}
-bool Physics2DServerSW::body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, MotionResult *r_result) {
+bool Physics2DServerSW::body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, MotionResult *r_result, bool p_exclude_raycast_shapes) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
- return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result);
+ return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes);
+}
+
+int Physics2DServerSW::body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
+
+ Body2DSW *body = body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, false);
+ ERR_FAIL_COND_V(!body->get_space(), false);
+ ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
+
+ return body->get_space()->test_body_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
}
Physics2DDirectBodyState *Physics2DServerSW::body_get_direct_state(RID p_body) {
diff --git a/servers/physics_2d/physics_2d_server_sw.h b/servers/physics_2d/physics_2d_server_sw.h
index 036eb934e1..e5961b9011 100644
--- a/servers/physics_2d/physics_2d_server_sw.h
+++ b/servers/physics_2d/physics_2d_server_sw.h
@@ -232,7 +232,8 @@ public:
virtual void body_set_pickable(RID p_body, bool p_pickable);
- virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = NULL);
+ virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true);
+ virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001);
// this function only works on physics process, errors and returns null otherwise
virtual Physics2DDirectBodyState *body_get_direct_state(RID p_body);
diff --git a/servers/physics_2d/physics_2d_server_wrap_mt.h b/servers/physics_2d/physics_2d_server_wrap_mt.h
index a15e8bde8b..3119b930d7 100644
--- a/servers/physics_2d/physics_2d_server_wrap_mt.h
+++ b/servers/physics_2d/physics_2d_server_wrap_mt.h
@@ -245,10 +245,16 @@ public:
FUNC2(body_set_pickable, RID, bool);
- bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = NULL) {
+ bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true) {
ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
- return physics_2d_server->body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r_result);
+ return physics_2d_server->body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes);
+ }
+
+ int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) {
+
+ ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
+ return physics_2d_server->body_test_ray_separation(p_body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
}
// this function only works on physics process, errors and returns null otherwise
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 0e1f74d8d0..6e45951f42 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -487,7 +487,156 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
return amount;
}
-bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, Physics2DServer::MotionResult *r_result) {
+int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, Physics2DServer::SeparationResult *r_results, int p_result_max, real_t p_margin) {
+
+ Rect2 body_aabb;
+
+ for (int i = 0; i < p_body->get_shape_count(); i++) {
+
+ if (i == 0)
+ body_aabb = p_body->get_shape_aabb(i);
+ else
+ body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
+ }
+
+ // Undo the currently transform the physics server is aware of and apply the provided one
+ body_aabb = p_transform.xform(p_body->get_inv_transform().xform(body_aabb));
+ body_aabb = body_aabb.grow(p_margin);
+
+ Transform2D body_transform = p_transform;
+
+ for (int i = 0; i < p_result_max; i++) {
+ //reset results
+ r_results[i].collision_depth = 0;
+ }
+
+ int rays_found = 0;
+
+ {
+ // raycast AND separate
+
+ const int max_results = 32;
+ int recover_attempts = 4;
+ Vector2 sr[max_results * 2];
+ Physics2DServerSW::CollCbkData cbk;
+ cbk.max = max_results;
+ Physics2DServerSW::CollCbkData *cbkptr = &cbk;
+ CollisionSolver2DSW::CallbackResult cbkres = Physics2DServerSW::_shape_col_cbk;
+
+ do {
+
+ Vector2 recover_motion;
+
+ bool collided = false;
+
+ int amount = _cull_aabb_for_body(p_body, body_aabb);
+ int ray_index = 0;
+
+ for (int j = 0; j < p_body->get_shape_count(); j++) {
+ if (p_body->is_shape_set_as_disabled(j))
+ continue;
+
+ Shape2DSW *body_shape = p_body->get_shape(j);
+
+ if (body_shape->get_type() != Physics2DServer::SHAPE_RAY)
+ continue;
+
+ Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
+
+ for (int i = 0; i < amount; i++) {
+
+ const CollisionObject2DSW *col_obj = intersection_query_results[i];
+ int shape_idx = intersection_query_subindex_results[i];
+
+ cbk.amount = 0;
+ cbk.ptr = sr;
+ cbk.invalid_by_dir = 0;
+
+ if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
+ const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
+ if (p_infinite_inertia && Physics2DServer::BODY_MODE_STATIC != b->get_mode() && Physics2DServer::BODY_MODE_KINEMATIC != b->get_mode()) {
+ continue;
+ }
+ }
+
+ if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
+
+ cbk.valid_dir = body_shape_xform.get_axis(1).normalized();
+ cbk.valid_depth = p_margin; //only valid depth is the collision margin
+ cbk.invalid_by_dir = 0;
+
+ } else {
+ cbk.valid_dir = Vector2();
+ cbk.valid_depth = 0;
+ cbk.invalid_by_dir = 0;
+ }
+
+ Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
+ if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, NULL, p_margin)) {
+ if (cbk.amount > 0) {
+ collided = true;
+ }
+
+ if (ray_index < p_result_max) {
+ Physics2DServer::SeparationResult &result = r_results[ray_index];
+
+ for (int k = 0; k < cbk.amount; k++) {
+ Vector2 a = sr[k * 2 + 0];
+ Vector2 b = sr[k * 2 + 1];
+
+ recover_motion += (b - a) * 0.4;
+
+ float depth = a.distance_to(b);
+ if (depth > result.collision_depth) {
+
+ result.collision_depth = depth;
+ result.collision_point = b;
+ result.collision_normal = (b - a).normalized();
+ result.collision_local_shape = shape_idx;
+ result.collider = col_obj->get_self();
+ result.collider_id = col_obj->get_instance_id();
+ result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
+ if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
+ Body2DSW *body = (Body2DSW *)col_obj;
+
+ Vector2 rel_vec = b - body->get_transform().get_origin();
+ result.collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
+ }
+ }
+ }
+ }
+ }
+ }
+
+ ray_index++;
+ }
+
+ rays_found = MAX(ray_index, rays_found);
+
+ if (!collided || recover_motion == Vector2()) {
+ break;
+ }
+
+ body_transform.elements[2] += recover_motion;
+ body_aabb.position += recover_motion;
+
+ recover_attempts--;
+ } while (recover_attempts);
+ }
+
+ //optimize results (remove non colliding)
+ for (int i = 0; i < rays_found; i++) {
+ if (r_results[i].collision_depth == 0) {
+ rays_found--;
+ SWAP(r_results[i], r_results[rays_found]);
+ }
+ }
+
+ r_recover_motion = body_transform.elements[2] - p_transform.elements[2];
+ return rays_found;
+}
+
+bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, Physics2DServer::MotionResult *r_result, bool p_exclude_raycast_shapes) {
//give me back regular physics engine logic
//this is madness
@@ -547,8 +696,12 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
if (p_body->is_shape_set_as_disabled(j))
continue;
- Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
Shape2DSW *body_shape = p_body->get_shape(j);
+ if (p_exclude_raycast_shapes && body_shape->get_type() == Physics2DServer::SHAPE_RAY) {
+ continue;
+ }
+
+ Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
@@ -635,8 +788,12 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
if (p_body->is_shape_set_as_disabled(body_shape_idx))
continue;
- Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(body_shape_idx);
Shape2DSW *body_shape = p_body->get_shape(body_shape_idx);
+ if (p_exclude_raycast_shapes && body_shape->get_type() == Physics2DServer::SHAPE_RAY) {
+ continue;
+ }
+
+ Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(body_shape_idx);
bool stuck = false;
diff --git a/servers/physics_2d/space_2d_sw.h b/servers/physics_2d/space_2d_sw.h
index 79349c46f3..959e15e12d 100644
--- a/servers/physics_2d/space_2d_sw.h
+++ b/servers/physics_2d/space_2d_sw.h
@@ -182,7 +182,8 @@ public:
int get_collision_pairs() const { return collision_pairs; }
- bool test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, Physics2DServer::MotionResult *r_result);
+ bool test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, Physics2DServer::MotionResult *r_result, bool p_exclude_raycast_shapes = true);
+ int test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, Physics2DServer::SeparationResult *r_results, int p_result_max, real_t p_margin);
void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); }
_FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.empty(); }
diff --git a/servers/physics_2d_server.h b/servers/physics_2d_server.h
index ba5232f7fe..1d04fbc5c6 100644
--- a/servers/physics_2d_server.h
+++ b/servers/physics_2d_server.h
@@ -479,7 +479,22 @@ public:
Variant collider_metadata;
};
- virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, float p_margin = 0.001, MotionResult *r_result = NULL) = 0;
+ virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, float p_margin = 0.001, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true) = 0;
+
+ struct SeparationResult {
+
+ float collision_depth;
+ Vector2 collision_point;
+ Vector2 collision_normal;
+ Vector2 collider_velocity;
+ int collision_local_shape;
+ ObjectID collider_id;
+ RID collider;
+ int collider_shape;
+ Variant collider_metadata;
+ };
+
+ virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) = 0;
/* JOINT API */
generated by cgit v1.2.3 (git 2.25.1) at 2025-06-23 08:29:01 +0000