diff options
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 4 | ||||
| -rw-r--r-- | scene/3d/physics_body.cpp | 39 | ||||
| -rw-r--r-- | scene/3d/physics_body.h | 2 |
3 files changed, 27 insertions, 18 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 97228a972f..d1fb5b01d6 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -924,11 +924,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f btVector3 __rec(0, 0, 0); RecoverResult r_recover_result; - has_penetration = recover_from_penetration(p_body, body_transform, 0, p_infinite_inertia, __rec, &r_recover_result); + has_penetration = recover_from_penetration(p_body, body_transform, 1, p_infinite_inertia, __rec, &r_recover_result); // Parse results if (r_result) { - B_TO_G(motion + initial_recover_motion, r_result->motion); + B_TO_G(motion + initial_recover_motion + __rec, r_result->motion); if (has_penetration) { diff --git a/scene/3d/physics_body.cpp b/scene/3d/physics_body.cpp index e53ccb4cf4..52e23b0d95 100644 --- a/scene/3d/physics_body.cpp +++ b/scene/3d/physics_body.cpp @@ -1128,7 +1128,7 @@ bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_in //so, if you pass 45 as limit, avoid numerical precision erros when angle is 45. #define FLOOR_ANGLE_THRESHOLD 0.01 -Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction, float p_slope_stop_min_velocity, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) { +Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) { Vector3 lv = p_linear_velocity; @@ -1146,14 +1146,18 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve colliders.clear(); floor_velocity = Vector3(); + Vector3 lv_n = p_linear_velocity.normalized(); + while (p_max_slides) { Collision collision; bool collided = move_and_collide(motion, p_infinite_inertia, collision); + bool is_on_slope = false; if (collided) { + colliders.push_back(collision); motion = collision.remainder; if (p_floor_direction == Vector3()) { @@ -1165,15 +1169,17 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve on_floor = true; floor_velocity = collision.collider_vel; - Vector3 rel_v = lv - floor_velocity; - Vector3 hv = rel_v - p_floor_direction * p_floor_direction.dot(rel_v); - - if (collision.travel.length() < 0.05 && hv.length() < p_slope_stop_min_velocity) { - Transform gt = get_global_transform(); - gt.origin -= collision.travel; - set_global_transform(gt); - return floor_velocity - p_floor_direction * p_floor_direction.dot(floor_velocity); + if (p_stop_on_slope) { + if (Vector3() == lv_n + p_floor_direction) { + Transform gt = get_global_transform(); + gt.origin -= collision.travel; + set_global_transform(gt); + return Vector3(); + } } + + is_on_slope = true; + } else if (collision.normal.dot(-p_floor_direction) >= Math::cos(p_floor_max_angle + FLOOR_ANGLE_THRESHOLD)) { //ceiling on_ceiling = true; } else { @@ -1181,9 +1187,14 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve } } - Vector3 n = collision.normal; - motion = motion.slide(n); - lv = lv.slide(n); + if (p_stop_on_slope && is_on_slope) { + motion = motion.slide(p_floor_direction); + lv = lv.slide(p_floor_direction); + } else { + Vector3 n = collision.normal; + motion = motion.slide(n); + lv = lv.slide(n); + } for (int i = 0; i < 3; i++) { if (locked_axis & (1 << i)) { @@ -1191,8 +1202,6 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve } } - colliders.push_back(collision); - } else { break; } @@ -1277,7 +1286,7 @@ Ref<KinematicCollision> KinematicBody::_get_slide_collision(int p_bounce) { void KinematicBody::_bind_methods() { ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia"), &KinematicBody::_move, DEFVAL(true)); - ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "floor_normal", "slope_stop_min_velocity", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(0.05), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true)); + ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "floor_normal", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true)); ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia"), &KinematicBody::test_move); diff --git a/scene/3d/physics_body.h b/scene/3d/physics_body.h index 80bf422c98..a39616893d 100644 --- a/scene/3d/physics_body.h +++ b/scene/3d/physics_body.h @@ -323,7 +323,7 @@ public: void set_safe_margin(float p_margin); float get_safe_margin() const; - Vector3 move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction = Vector3(0, 0, 0), float p_slope_stop_min_velocity = 0.05, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45), bool p_infinite_inertia = true); + Vector3 move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction = Vector3(0, 0, 0), bool p_stop_on_slope = false, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45), bool p_infinite_inertia = true); bool is_on_floor() const; bool is_on_wall() const; bool is_on_ceiling() const; |