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-rw-r--r--scene/2d/physics_body_2d.cpp274
1 files changed, 119 insertions, 155 deletions
diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp
index 166ee4daa8..afdca4a3be 100644
--- a/scene/2d/physics_body_2d.cpp
+++ b/scene/2d/physics_body_2d.cpp
@@ -744,192 +744,149 @@ bool KinematicBody2D::_ignores_mode(Physics2DServer::BodyMode p_mode) const {
return true;
}
-bool KinematicBody2D::is_trapped() const {
-
- ERR_FAIL_COND_V(!is_inside_scene(),false);
-
- Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
- ERR_FAIL_COND_V(!dss,false);
-
- const int max_shapes=32;
- Physics2DDirectSpaceState::ShapeResult sr[max_shapes];
-
- Set<RID> exclude;
- exclude.insert(get_rid());
-
-
- for(int i=0;i<get_shape_count();i++) {
-
-
- int res = dss->intersect_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),Vector2(),sr,max_shapes,exclude);
-
- for(int j=0;j<res;j++) {
-
- Physics2DServer::BodyMode bm = Physics2DServer::get_singleton()->body_get_mode(sr[j].rid);
- if (!_ignores_mode(bm)) {
- return true; //it's indeed trapped
- }
-
- }
-
- }
-
- return false;
+Vector2 KinematicBody2D::move(const Vector2& p_motion) {
-}
-void KinematicBody2D::untrap() {
+ //give me back regular physics engine logic
+ //this is madness
+ //and most people using this function will think
+ //what it does is simpler than using physics
+ //this took about a week to get right..
+ //but is it right? who knows at this point..
- //this is reaaaaaaaaally wild, will probably only work for simple cases
- ERR_FAIL_COND(!is_inside_scene());
+ colliding=false;
+ ERR_FAIL_COND_V(!is_inside_scene(),Vector2());
Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
- ERR_FAIL_COND(!dss);
-
+ ERR_FAIL_COND_V(!dss,Vector2());
const int max_shapes=32;
- Physics2DDirectSpaceState::ShapeResult sr[max_shapes];
- const int max_contacts=8;
- Vector2 pairs[max_contacts*2];
+ Vector2 sr[max_shapes*2];
+ int res_shapes;
Set<RID> exclude;
exclude.insert(get_rid());
- Vector2 untrap_vec;
-
- for(int i=0;i<get_shape_count();i++) {
- Matrix32 shape_xform = get_global_transform() * get_shape_transform(i);
- int res = dss->intersect_shape(get_shape(i)->get_rid(), shape_xform,Vector2(),sr,max_shapes,exclude);
+ //recover first
+ int recover_attempts=4;
- for(int j=0;j<res;j++) {
+ bool collided=false;
+ uint32_t mask=0;
+ if (collide_static)
+ mask|=Physics2DDirectSpaceState::TYPE_MASK_STATIC_BODY;
+ if (collide_kinematic)
+ mask|=Physics2DDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
+ if (collide_rigid)
+ mask|=Physics2DDirectSpaceState::TYPE_MASK_RIGID_BODY;
+ if (collide_character)
+ mask|=Physics2DDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
- Physics2DServer::BodyMode bm = Physics2DServer::get_singleton()->body_get_mode(sr[j].rid);
- if (_ignores_mode(bm)) {
- exclude.insert(sr[j].rid);
- } else {
+// print_line("motion: "+p_motion+" margin: "+rtos(margin));
- int rc;
- bool c = Physics2DServer::get_singleton()->body_collide_shape(sr[j].rid,sr[j].shape,get_shape(i)->get_rid(),shape_xform,Vector2(),pairs,max_contacts,rc);
+ //print_line("margin: "+rtos(margin));
+ do {
- if (c) {
-
- for(int k=0;k<rc;k++) {
+ //fill exclude list..
+ for(int i=0;i<get_shape_count();i++) {
- untrap_vec+=pairs[k*2+0]-pairs[k*2+1];
- }
- }
- }
+ if (dss->collide_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),Vector2(),margin,sr,max_shapes,res_shapes,exclude,0,mask))
+ collided=true;
}
- }
-
- untrap_vec += untrap_vec.normalized()*margin;
+ if (!collided)
+ break;
+ Vector2 recover_motion;
- Matrix32 gt = get_global_transform();
- gt.elements[2]+=untrap_vec;
- set_global_transform(gt);
+ for(int i=0;i<res_shapes;i++) {
-}
+ Vector2 a = sr[i*2+0];
+ Vector2 b = sr[i*2+1];
-Vector2 KinematicBody2D::move(const Vector2& p_motion) {
+ float d = a.distance_to(b);
- colliding=false;
- ERR_FAIL_COND_V(!is_inside_scene(),Vector2());
- Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
- ERR_FAIL_COND_V(!dss,Vector2());
- const int max_shapes=32;
- Physics2DDirectSpaceState::ShapeResult sr[max_shapes];
+ //if (d<margin)
+ /// continue;
+ recover_motion+=(b-a)*0.2;
+ }
- float best_travel = 1e20;
- Physics2DDirectSpaceState::MotionCastCollision mcc_final;
- Set<RID> exclude;
- exclude.insert(get_rid());
+ if (recover_motion==Vector2()) {
+ collided=false;
+ break;
+ }
- print_line("pos: "+get_global_pos());
- print_line("mlen: "+p_motion);
+ Matrix32 gt = get_global_transform();
+ gt.elements[2]+=recover_motion;
+ set_global_transform(gt);
- if (!collide_static || ! collide_rigid || !collide_character || !collide_kinematic) {
- //fill exclude list..
- for(int i=0;i<get_shape_count();i++) {
+ recover_attempts--;
+ } while (recover_attempts);
- int res = dss->intersect_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),p_motion,sr,max_shapes,exclude);
- for(int j=0;j<res;j++) {
-
- Physics2DServer::BodyMode bm = Physics2DServer::get_singleton()->body_get_mode(sr[j].rid);
- if (_ignores_mode(bm)) {
- exclude.insert(sr[j].rid);
- } else {
- // print_line("DANGER???");
- }
- }
- }
- }
+ //move second
+ float safe = 1.0;
+ float unsafe = 1.0;
+ int best_shape=-1;
for(int i=0;i<get_shape_count();i++) {
- Physics2DDirectSpaceState::MotionCastCollision mcc;
- bool res = dss->cast_motion(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i), p_motion, mcc,exclude,0);
- if (res==false)
+ float lsafe,lunsafe;
+ bool valid = dss->cast_motion(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i), p_motion, 0,lsafe,lunsafe,exclude,0,mask);
+ //print_line("shape: "+itos(i)+" travel:"+rtos(ltravel));
+ if (!valid) {
+ safe=0;
+ unsafe=0;
+ best_shape=i; //sadly it's the best
+ break;
+ }
+ if (lsafe==1.0) {
continue;
- if (mcc.travel<=0) {
- //uh it's trapped
- colliding=false;
- return p_motion;
}
- if (mcc.travel < best_travel) {
+ if (lsafe < safe) {
- mcc_final=mcc;
- best_travel=mcc.travel;
+ safe=lsafe;
+ unsafe=lunsafe;
+ best_shape=i;
}
}
- float motion;
- Vector2 motion_ret;
- Vector2 push;
- if (best_travel>1) {
+
+ //print_line("best shape: "+itos(best_shape)+" motion "+p_motion);
+
+ if (safe>=1) {
//not collided
colliding=false;
- motion=p_motion.length(); //no stopped
} else {
- colliding=true;
- collision=mcc_final.point;
- normal=mcc_final.normal;
- collider=mcc_final.collider_id;
- Vector2 mnormal=p_motion.normalized();
-
- float sine = Math::abs(mnormal.dot(normal));
- float retreat=0;
- motion = p_motion.length()*mcc_final.travel;
-
- if (sine==0) {
- //something odd going on, do not allow motion?
-
- retreat=motion;
-
+ //it collided, let's get the rest info in unsafe advance
+ Matrix32 ugt = get_global_transform();
+ ugt.elements[2]+=p_motion*unsafe;
+ Physics2DDirectSpaceState::ShapeRestInfo rest_info;
+ bool c2 = dss->rest_info(get_shape(best_shape)->get_rid(), ugt*get_shape_transform(best_shape), Vector2(), margin,&rest_info,exclude,0,mask);
+ if (!c2) {
+ //should not happen, but floating point precision is so weird..
+ colliding=false;
} else {
- retreat = margin/sine;
- if (retreat>motion)
- retreat=motion;
+ //print_line("Travel: "+rtos(travel));
+ colliding=true;
+ collision=rest_info.point;
+ normal=rest_info.normal;
+ collider=rest_info.collider_id;
+ collider_vel=rest_info.linear_velocity;
}
- motion_ret=p_motion.normalized() * ( p_motion.length() - motion);
- motion-=retreat;
-
-
}
+ Vector2 motion=p_motion*safe;
Matrix32 gt = get_global_transform();
- gt.elements[2]+=p_motion.normalized()*motion;
+ gt.elements[2]+=motion;
set_global_transform(gt);
- return motion_ret;
+ return p_motion-motion;
}
@@ -938,18 +895,31 @@ Vector2 KinematicBody2D::move_to(const Vector2& p_position) {
return move(p_position-get_global_pos());
}
-bool KinematicBody2D::can_move_to(const Vector2& p_position) {
+bool KinematicBody2D::can_move_to(const Vector2& p_position, bool p_discrete) {
ERR_FAIL_COND_V(!is_inside_scene(),false);
Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
ERR_FAIL_COND_V(!dss,false);
- const int max_shapes=32;
- Physics2DDirectSpaceState::ShapeResult sr[max_shapes];
+ uint32_t mask=0;
+ if (collide_static)
+ mask|=Physics2DDirectSpaceState::TYPE_MASK_STATIC_BODY;
+ if (collide_kinematic)
+ mask|=Physics2DDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
+ if (collide_rigid)
+ mask|=Physics2DDirectSpaceState::TYPE_MASK_RIGID_BODY;
+ if (collide_character)
+ mask|=Physics2DDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
Vector2 motion = p_position-get_global_pos();
+ Matrix32 xform=get_global_transform();
+
+ if (p_discrete) {
+
+ xform.elements[2]+=motion;
+ motion=Vector2();
+ }
- Physics2DDirectSpaceState::MotionCastCollision mcc_final;
Set<RID> exclude;
exclude.insert(get_rid());
@@ -957,19 +927,9 @@ bool KinematicBody2D::can_move_to(const Vector2& p_position) {
for(int i=0;i<get_shape_count();i++) {
- int res = dss->intersect_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),motion,sr,max_shapes,exclude);
-
- for(int j=0;j<res;j++) {
-
- Physics2DServer::BodyMode bm = Physics2DServer::get_singleton()->body_get_mode(sr[j].rid);
- if (_ignores_mode(bm)) {
- exclude.insert(sr[j].rid);
- continue;
- }
-
- return false; //omg collided
-
- }
+ bool col = dss->intersect_shape(get_shape(i)->get_rid(), xform * get_shape_transform(i),motion,0,NULL,0,exclude,0,mask);
+ if (col)
+ return false;
}
return true;
@@ -993,6 +953,12 @@ Vector2 KinematicBody2D::get_collision_normal() const {
return normal;
}
+
+Vector2 KinematicBody2D::get_collider_velocity() const {
+
+ return collider_vel;
+}
+
ObjectID KinematicBody2D::get_collider() const {
ERR_FAIL_COND_V(!colliding,0);
@@ -1051,9 +1017,6 @@ float KinematicBody2D::get_collision_margin() const{
void KinematicBody2D::_bind_methods() {
- ObjectTypeDB::bind_method(_MD("is_trapped"),&KinematicBody2D::is_trapped);
- ObjectTypeDB::bind_method(_MD("untrap"),&KinematicBody2D::untrap);
-
ObjectTypeDB::bind_method(_MD("move","rel_vec"),&KinematicBody2D::move);
ObjectTypeDB::bind_method(_MD("move_to","position"),&KinematicBody2D::move_to);
@@ -1063,6 +1026,7 @@ void KinematicBody2D::_bind_methods() {
ObjectTypeDB::bind_method(_MD("get_collision_pos"),&KinematicBody2D::get_collision_pos);
ObjectTypeDB::bind_method(_MD("get_collision_normal"),&KinematicBody2D::get_collision_normal);
+ ObjectTypeDB::bind_method(_MD("get_collider_velocity"),&KinematicBody2D::get_collider_velocity);
ObjectTypeDB::bind_method(_MD("get_collider:Object"),&KinematicBody2D::get_collider);
@@ -1085,7 +1049,7 @@ void KinematicBody2D::_bind_methods() {
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/kinematic"),_SCS("set_collide_with_kinematic_bodies"),_SCS("can_collide_with_kinematic_bodies"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/rigid"),_SCS("set_collide_with_rigid_bodies"),_SCS("can_collide_with_rigid_bodies"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/character"),_SCS("set_collide_with_character_bodies"),_SCS("can_collide_with_character_bodies"));
- ADD_PROPERTY( PropertyInfo(Variant::REAL,"collision/margin",PROPERTY_HINT_RANGE,"0.01,256,0.01"),_SCS("set_collision_margin"),_SCS("get_collision_margin"));
+ ADD_PROPERTY( PropertyInfo(Variant::REAL,"collision/margin",PROPERTY_HINT_RANGE,"0.001,256,0.001"),_SCS("set_collision_margin"),_SCS("get_collision_margin"));
}
@@ -1100,7 +1064,7 @@ KinematicBody2D::KinematicBody2D() : PhysicsBody2D(Physics2DServer::BODY_MODE_KI
colliding=false;
collider=0;
- margin=1;
+ margin=0.01;
}
KinematicBody2D::~KinematicBody2D() {
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-02 15:36:12 +0000