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-rw-r--r--doc/classes/PhysicsTestMotionResult2D.xml6
-rw-r--r--scene/2d/physics_body_2d.cpp57
-rw-r--r--scene/2d/physics_body_2d.h2
-rw-r--r--scene/3d/physics_body_3d.cpp63
-rw-r--r--scene/3d/physics_body_3d.h2
-rw-r--r--servers/physics_2d/space_2d_sw.cpp3
-rw-r--r--servers/physics_3d/space_3d_sw.cpp3
-rw-r--r--servers/physics_server_2d.cpp18
-rw-r--r--servers/physics_server_2d.h6
-rw-r--r--servers/physics_server_3d.h3
10 files changed, 138 insertions, 25 deletions
diff --git a/doc/classes/PhysicsTestMotionResult2D.xml b/doc/classes/PhysicsTestMotionResult2D.xml
index da04ffa86a..bf3497386e 100644
--- a/doc/classes/PhysicsTestMotionResult2D.xml
+++ b/doc/classes/PhysicsTestMotionResult2D.xml
@@ -19,10 +19,16 @@
</member>
<member name="collider_velocity" type="Vector2" setter="" getter="get_collider_velocity" default="Vector2(0, 0)">
</member>
+ <member name="collision_depth" type="float" setter="" getter="get_collision_depth" default="0.0">
+ </member>
<member name="collision_normal" type="Vector2" setter="" getter="get_collision_normal" default="Vector2(0, 0)">
</member>
<member name="collision_point" type="Vector2" setter="" getter="get_collision_point" default="Vector2(0, 0)">
</member>
+ <member name="collision_safe_fraction" type="float" setter="" getter="get_collision_safe_fraction" default="0.0">
+ </member>
+ <member name="collision_unsafe_fraction" type="float" setter="" getter="get_collision_unsafe_fraction" default="0.0">
+ </member>
<member name="motion" type="Vector2" setter="" getter="get_motion" default="Vector2(0, 0)">
</member>
<member name="motion_remainder" type="Vector2" setter="" getter="get_motion_remainder" default="Vector2(0, 0)">
diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp
index 6c1cdc2129..2f552af3d9 100644
--- a/scene/2d/physics_body_2d.cpp
+++ b/scene/2d/physics_body_2d.cpp
@@ -76,13 +76,46 @@ Ref<KinematicCollision2D> PhysicsBody2D::_move(const Vector2 &p_motion, bool p_i
return Ref<KinematicCollision2D>();
}
-bool PhysicsBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, PhysicsServer2D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes, bool p_test_only) {
+bool PhysicsBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, PhysicsServer2D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes, bool p_test_only, bool p_cancel_sliding) {
if (is_only_update_transform_changes_enabled()) {
ERR_PRINT("Move functions do not work together with 'sync to physics' option. Please read the documentation.");
}
Transform2D gt = get_global_transform();
bool colliding = PhysicsServer2D::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, p_margin, &r_result, p_exclude_raycast_shapes);
+ // Restore direction of motion to be along original motion,
+ // in order to avoid sliding due to recovery,
+ // but only if collision depth is low enough to avoid tunneling.
+ real_t motion_length = p_motion.length();
+ if (motion_length > CMP_EPSILON) {
+ real_t precision = 0.001;
+
+ if (colliding && p_cancel_sliding) {
+ // Can't just use margin as a threshold because collision depth is calculated on unsafe motion,
+ // so even in normal resting cases the depth can be a bit more than the margin.
+ precision += motion_length * (r_result.collision_unsafe_fraction - r_result.collision_safe_fraction);
+
+ if (r_result.collision_depth > (real_t)p_margin + precision) {
+ p_cancel_sliding = false;
+ }
+ }
+
+ if (p_cancel_sliding) {
+ // Check depth of recovery.
+ Vector2 motion_normal = p_motion / motion_length;
+ real_t dot = r_result.motion.dot(motion_normal);
+ Vector2 recovery = r_result.motion - motion_normal * dot;
+ real_t recovery_length = recovery.length();
+ // Fixes cases where canceling slide causes the motion to go too deep into the ground,
+ // Becauses we're only taking rest information into account and not general recovery.
+ if (recovery_length < (real_t)p_margin + precision) {
+ // Apply adjustment to motion.
+ r_result.motion = motion_normal * dot;
+ r_result.remainder = p_motion - r_result.motion;
+ }
+ }
+ }
+
if (!p_test_only) {
gt.elements[2] += r_result.motion;
set_global_transform(gt);
@@ -942,15 +975,16 @@ void CharacterBody2D::move_and_slide() {
floor_normal = Vector2();
floor_velocity = Vector2();
- int slide_count = max_slides;
- while (slide_count) {
+ // No sliding on first attempt to keep floor motion stable when possible.
+ bool sliding_enabled = false;
+ for (int iteration = 0; iteration < max_slides; ++iteration) {
PhysicsServer2D::MotionResult result;
bool found_collision = false;
for (int i = 0; i < 2; ++i) {
bool collided;
if (i == 0) { //collide
- collided = move_and_collide(motion, infinite_inertia, result, margin);
+ collided = move_and_collide(motion, infinite_inertia, result, margin, true, false, !sliding_enabled);
if (!collided) {
motion = Vector2(); //clear because no collision happened and motion completed
}
@@ -966,7 +1000,6 @@ void CharacterBody2D::move_and_slide() {
found_collision = true;
motion_results.push_back(result);
- motion = result.remainder;
if (up_direction == Vector2()) {
//all is a wall
@@ -980,7 +1013,7 @@ void CharacterBody2D::move_and_slide() {
floor_velocity = result.collider_velocity;
if (stop_on_slope) {
- if ((body_velocity_normal + up_direction).length() < 0.01 && result.motion.length() < 1) {
+ if ((body_velocity_normal + up_direction).length() < 0.01) {
Transform2D gt = get_global_transform();
gt.elements[2] -= result.motion.slide(up_direction);
set_global_transform(gt);
@@ -995,16 +1028,20 @@ void CharacterBody2D::move_and_slide() {
}
}
- motion = motion.slide(result.collision_normal);
- linear_velocity = linear_velocity.slide(result.collision_normal);
+ if (sliding_enabled || !on_floor) {
+ motion = result.remainder.slide(result.collision_normal);
+ linear_velocity = linear_velocity.slide(result.collision_normal);
+ } else {
+ motion = result.remainder;
+ }
}
+
+ sliding_enabled = true;
}
if (!found_collision || motion == Vector2()) {
break;
}
-
- --slide_count;
}
if (!was_on_floor || snap == Vector2()) {
diff --git a/scene/2d/physics_body_2d.h b/scene/2d/physics_body_2d.h
index f084a247aa..b1d48a2cc9 100644
--- a/scene/2d/physics_body_2d.h
+++ b/scene/2d/physics_body_2d.h
@@ -50,7 +50,7 @@ protected:
Ref<KinematicCollision2D> _move(const Vector2 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, bool p_test_only = false, real_t p_margin = 0.08);
public:
- bool move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, PhysicsServer2D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
+ bool move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, PhysicsServer2D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes = true, bool p_test_only = false, bool p_cancel_sliding = true);
bool test_move(const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, const Ref<KinematicCollision2D> &r_collision = Ref<KinematicCollision2D>(), real_t p_margin = 0.08);
TypedArray<PhysicsBody2D> get_collision_exceptions();
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index 8e10a37afb..7c9245cd3e 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -118,10 +118,43 @@ Ref<KinematicCollision3D> PhysicsBody3D::_move(const Vector3 &p_motion, bool p_i
return Ref<KinematicCollision3D>();
}
-bool PhysicsBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes, bool p_test_only) {
+bool PhysicsBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes, bool p_test_only, bool p_cancel_sliding) {
Transform3D gt = get_global_transform();
bool colliding = PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, p_margin, &r_result, p_exclude_raycast_shapes);
+ // Restore direction of motion to be along original motion,
+ // in order to avoid sliding due to recovery,
+ // but only if collision depth is low enough to avoid tunneling.
+ real_t motion_length = p_motion.length();
+ if (motion_length > CMP_EPSILON) {
+ real_t precision = CMP_EPSILON;
+
+ if (colliding && p_cancel_sliding) {
+ // Can't just use margin as a threshold because collision depth is calculated on unsafe motion,
+ // so even in normal resting cases the depth can be a bit more than the margin.
+ precision += motion_length * (r_result.collision_unsafe_fraction - r_result.collision_safe_fraction);
+
+ if (r_result.collision_depth > (real_t)p_margin + precision) {
+ p_cancel_sliding = false;
+ }
+ }
+
+ if (p_cancel_sliding) {
+ // Check depth of recovery.
+ Vector3 motion_normal = p_motion / motion_length;
+ real_t dot = r_result.motion.dot(motion_normal);
+ Vector3 recovery = r_result.motion - motion_normal * dot;
+ real_t recovery_length = recovery.length();
+ // Fixes cases where canceling slide causes the motion to go too deep into the ground,
+ // Becauses we're only taking rest information into account and not general recovery.
+ if (recovery_length < (real_t)p_margin + precision) {
+ // Apply adjustment to motion.
+ r_result.motion = motion_normal * dot;
+ r_result.remainder = p_motion - r_result.motion;
+ }
+ }
+ }
+
for (int i = 0; i < 3; i++) {
if (locked_axis & (1 << i)) {
r_result.motion[i] = 0;
@@ -978,15 +1011,16 @@ void CharacterBody3D::move_and_slide() {
floor_normal = Vector3();
floor_velocity = Vector3();
- int slide_count = max_slides;
- while (slide_count) {
+ // No sliding on first attempt to keep motion stable when possible.
+ bool sliding_enabled = false;
+ for (int iteration = 0; iteration < max_slides; ++iteration) {
PhysicsServer3D::MotionResult result;
bool found_collision = false;
for (int i = 0; i < 2; ++i) {
bool collided;
if (i == 0) { //collide
- collided = move_and_collide(motion, infinite_inertia, result, margin);
+ collided = move_and_collide(motion, infinite_inertia, result, margin, true, false, !sliding_enabled);
if (!collided) {
motion = Vector3(); //clear because no collision happened and motion completed
}
@@ -1002,7 +1036,6 @@ void CharacterBody3D::move_and_slide() {
found_collision = true;
motion_results.push_back(result);
- motion = result.remainder;
if (up_direction == Vector3()) {
//all is a wall
@@ -1016,7 +1049,7 @@ void CharacterBody3D::move_and_slide() {
floor_velocity = result.collider_velocity;
if (stop_on_slope) {
- if ((body_velocity_normal + up_direction).length() < 0.01 && result.motion.length() < 1) {
+ if ((body_velocity_normal + up_direction).length() < 0.01) {
Transform3D gt = get_global_transform();
gt.origin -= result.motion.slide(up_direction);
set_global_transform(gt);
@@ -1031,22 +1064,26 @@ void CharacterBody3D::move_and_slide() {
}
}
- motion = motion.slide(result.collision_normal);
- linear_velocity = linear_velocity.slide(result.collision_normal);
+ if (sliding_enabled || !on_floor) {
+ motion = result.remainder.slide(result.collision_normal);
+ linear_velocity = linear_velocity.slide(result.collision_normal);
- for (int j = 0; j < 3; j++) {
- if (locked_axis & (1 << j)) {
- linear_velocity[j] = 0.0;
+ for (int j = 0; j < 3; j++) {
+ if (locked_axis & (1 << j)) {
+ linear_velocity[j] = 0.0;
+ }
}
+ } else {
+ motion = result.remainder;
}
}
+
+ sliding_enabled = true;
}
if (!found_collision || motion == Vector3()) {
break;
}
-
- --slide_count;
}
if (!was_on_floor || snap == Vector3()) {
diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h
index 7d7adf1624..bc4556494d 100644
--- a/scene/3d/physics_body_3d.h
+++ b/scene/3d/physics_body_3d.h
@@ -53,7 +53,7 @@ protected:
Ref<KinematicCollision3D> _move(const Vector3 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, bool p_test_only = false, real_t p_margin = 0.001);
public:
- bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
+ bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes = true, bool p_test_only = false, bool p_cancel_sliding = true);
bool test_move(const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, const Ref<KinematicCollision3D> &r_collision = Ref<KinematicCollision3D>(), real_t p_margin = 0.001);
void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 1380e57b57..905f08011b 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -1142,6 +1142,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
r_result->collision_local_shape = rcd.best_local_shape;
r_result->collision_normal = rcd.best_normal;
r_result->collision_point = rcd.best_contact;
+ r_result->collision_depth = rcd.best_len;
+ r_result->collision_safe_fraction = safe;
+ r_result->collision_unsafe_fraction = unsafe;
r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index c1e09c9a22..e411ff8266 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -1032,6 +1032,9 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
r_result->collision_local_shape = rcd.best_local_shape;
r_result->collision_normal = rcd.best_normal;
r_result->collision_point = rcd.best_contact;
+ r_result->collision_depth = rcd.best_len;
+ r_result->collision_safe_fraction = safe;
+ r_result->collision_unsafe_fraction = unsafe;
//r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_object);
diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp
index faab4f43b8..12200989fd 100644
--- a/servers/physics_server_2d.cpp
+++ b/servers/physics_server_2d.cpp
@@ -487,6 +487,18 @@ int PhysicsTestMotionResult2D::get_collider_shape() const {
return result.collider_shape;
}
+real_t PhysicsTestMotionResult2D::get_collision_depth() const {
+ return result.collision_depth;
+}
+
+real_t PhysicsTestMotionResult2D::get_collision_safe_fraction() const {
+ return result.collision_safe_fraction;
+}
+
+real_t PhysicsTestMotionResult2D::get_collision_unsafe_fraction() const {
+ return result.collision_unsafe_fraction;
+}
+
void PhysicsTestMotionResult2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_motion"), &PhysicsTestMotionResult2D::get_motion);
ClassDB::bind_method(D_METHOD("get_motion_remainder"), &PhysicsTestMotionResult2D::get_motion_remainder);
@@ -497,6 +509,9 @@ void PhysicsTestMotionResult2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_collider_rid"), &PhysicsTestMotionResult2D::get_collider_rid);
ClassDB::bind_method(D_METHOD("get_collider"), &PhysicsTestMotionResult2D::get_collider);
ClassDB::bind_method(D_METHOD("get_collider_shape"), &PhysicsTestMotionResult2D::get_collider_shape);
+ ClassDB::bind_method(D_METHOD("get_collision_depth"), &PhysicsTestMotionResult2D::get_collision_depth);
+ ClassDB::bind_method(D_METHOD("get_collision_safe_fraction"), &PhysicsTestMotionResult2D::get_collision_safe_fraction);
+ ClassDB::bind_method(D_METHOD("get_collision_unsafe_fraction"), &PhysicsTestMotionResult2D::get_collision_unsafe_fraction);
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "motion"), "", "get_motion");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "motion_remainder"), "", "get_motion_remainder");
@@ -507,6 +522,9 @@ void PhysicsTestMotionResult2D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::RID, "collider_rid"), "", "get_collider_rid");
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_collider");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape"), "", "get_collider_shape");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_depth"), "", "get_collision_depth");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_safe_fraction"), "", "get_collision_safe_fraction");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_unsafe_fraction"), "", "get_collision_unsafe_fraction");
}
///////////////////////////////////////
diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h
index df39d6ae50..90f50810f9 100644
--- a/servers/physics_server_2d.h
+++ b/servers/physics_server_2d.h
@@ -493,6 +493,9 @@ public:
Vector2 collision_point;
Vector2 collision_normal;
Vector2 collider_velocity;
+ real_t collision_depth = 0.0;
+ real_t collision_safe_fraction = 0.0;
+ real_t collision_unsafe_fraction = 0.0;
int collision_local_shape = 0;
ObjectID collider_id;
RID collider;
@@ -619,6 +622,9 @@ public:
RID get_collider_rid() const;
Object *get_collider() const;
int get_collider_shape() const;
+ real_t get_collision_depth() const;
+ real_t get_collision_safe_fraction() const;
+ real_t get_collision_unsafe_fraction() const;
};
typedef PhysicsServer2D *(*CreatePhysicsServer2DCallback)();
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index d9b805de87..fcdd207843 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -497,6 +497,9 @@ public:
Vector3 collision_point;
Vector3 collision_normal;
Vector3 collider_velocity;
+ real_t collision_depth = 0.0;
+ real_t collision_safe_fraction = 0.0;
+ real_t collision_unsafe_fraction = 0.0;
int collision_local_shape = 0;
ObjectID collider_id;
RID collider;
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-02 13:27:41 +0000