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-rw-r--r--scene/2d/physics_body_2d.cpp48
-rw-r--r--scene/2d/physics_body_2d.h4
-rw-r--r--scene/3d/physics_body.cpp183
-rw-r--r--scene/3d/physics_body.h11
4 files changed, 181 insertions, 65 deletions
diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp
index 8758ffef9f..02213e07d0 100644
--- a/scene/2d/physics_body_2d.cpp
+++ b/scene/2d/physics_body_2d.cpp
@@ -1207,7 +1207,7 @@ bool KinematicBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_
//so, if you pass 45 as limit, avoid numerical precision erros when angle is 45.
#define FLOOR_ANGLE_THRESHOLD 0.01
-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, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle) {
Vector2 floor_motion = floor_velocity;
if (on_floor && on_floor_body.is_valid()) {
@@ -1228,6 +1228,8 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
colliders.clear();
floor_velocity = Vector2();
+ Vector2 lv_n = p_linear_velocity.normalized();
+
while (p_max_slides) {
Collision collision;
@@ -1254,8 +1256,10 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
if (collided) {
+ colliders.push_back(collision);
motion = collision.remainder;
+ bool is_on_slope = false;
if (p_floor_direction == Vector2()) {
//all is a wall
on_wall = true;
@@ -1266,15 +1270,17 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
on_floor_body = collision.collider_rid;
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();
+ if (p_stop_on_slope) {
+ if (Vector2() == lv_n + p_floor_direction) {
+ Transform2D gt = get_global_transform();
+ gt.elements[2] -= collision.travel;
+ set_global_transform(gt);
+ return Vector2();
+ }
}
+
+ 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 {
@@ -1282,12 +1288,18 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
}
}
- Vector2 n = collision.normal;
- motion = motion.slide(n);
- lv = lv.slide(n);
-
- colliders.push_back(collision);
+ if (p_stop_on_slope && is_on_slope) {
+ motion = motion.slide(p_floor_direction);
+ lv = lv.slide(p_floor_direction);
+ } else {
+ Vector2 n = collision.normal;
+ motion = motion.slide(n);
+ lv = lv.slide(n);
+ }
}
+
+ if (p_stop_on_slope)
+ break;
}
if (!found_collision) {
@@ -1301,11 +1313,11 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
return lv;
}
-Vector2 KinematicBody2D::move_and_slide_with_snap(const Vector2 &p_linear_velocity, const Vector2 &p_snap, 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_with_snap(const Vector2 &p_linear_velocity, const Vector2 &p_snap, const Vector2 &p_floor_direction, bool p_infinite_inertia, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle) {
bool was_on_floor = on_floor;
- Vector2 ret = move_and_slide(p_linear_velocity, p_floor_direction, p_infinite_inertia, p_slope_stop_min_velocity, p_max_slides, p_floor_max_angle);
+ Vector2 ret = move_and_slide(p_linear_velocity, p_floor_direction, p_infinite_inertia, p_stop_on_slope, p_max_slides, p_floor_max_angle);
if (!was_on_floor || p_snap == Vector2()) {
return ret;
}
@@ -1439,8 +1451,8 @@ void KinematicBody2D::_notification(int p_what) {
void KinematicBody2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only"), &KinematicBody2D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false));
- 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_slide_with_snap", "linear_velocity", "snap", "floor_normal", "infinite_inertia", "slope_stop_min_velocity", "max_bounces", "floor_max_angle"), &KinematicBody2D::move_and_slide_with_snap, DEFVAL(Vector2(0, 0)), DEFVAL(true), DEFVAL(5), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)));
+ ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "floor_normal", "infinite_inertia", "stop_on_slope", "max_bounces", "floor_max_angle"), &KinematicBody2D::move_and_slide, DEFVAL(Vector2(0, 0)), DEFVAL(true), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)));
+ ClassDB::bind_method(D_METHOD("move_and_slide_with_snap", "linear_velocity", "snap", "floor_normal", "infinite_inertia", "stop_on_slope", "max_bounces", "floor_max_angle"), &KinematicBody2D::move_and_slide_with_snap, DEFVAL(Vector2(0, 0)), DEFVAL(true), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)));
ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia"), &KinematicBody2D::test_move);
diff --git a/scene/2d/physics_body_2d.h b/scene/2d/physics_body_2d.h
index 0a2ce0918b..852963a721 100644
--- a/scene/2d/physics_body_2d.h
+++ b/scene/2d/physics_body_2d.h
@@ -338,8 +338,8 @@ public:
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_with_snap(const Vector2 &p_linear_velocity, const Vector2 &p_snap, 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, bool p_stop_on_slope = false, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45));
+ Vector2 move_and_slide_with_snap(const Vector2 &p_linear_velocity, const Vector2 &p_snap, const Vector2 &p_floor_direction = Vector2(0, 0), bool p_infinite_inertia = true, bool p_stop_on_slope = false, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45));
bool is_on_floor() const;
bool is_on_wall() const;
bool is_on_ceiling() const;
diff --git a/scene/3d/physics_body.cpp b/scene/3d/physics_body.cpp
index e53ccb4cf4..d56ba5d403 100644
--- a/scene/3d/physics_body.cpp
+++ b/scene/3d/physics_body.cpp
@@ -1078,10 +1078,10 @@ void RigidBody::_reload_physics_characteristics() {
//////////////////////////////////////////////////////
//////////////////////////
-Ref<KinematicCollision> KinematicBody::_move(const Vector3 &p_motion, bool p_infinite_inertia) {
+Ref<KinematicCollision> KinematicBody::_move(const Vector3 &p_motion, bool p_infinite_inertia, bool p_test_only) {
Collision col;
- if (move_and_collide(p_motion, p_infinite_inertia, col)) {
+ if (move_and_collide(p_motion, p_infinite_inertia, col, p_test_only)) {
if (motion_cache.is_null()) {
motion_cache.instance();
motion_cache->owner = this;
@@ -1095,7 +1095,7 @@ Ref<KinematicCollision> KinematicBody::_move(const Vector3 &p_motion, bool p_inf
return Ref<KinematicCollision>();
}
-bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision) {
+bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_test_only) {
Transform gt = get_global_transform();
PhysicsServer::MotionResult result;
@@ -1108,6 +1108,7 @@ bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_in
r_collision.collision = result.collision_point;
r_collision.normal = result.collision_normal;
r_collision.collider = result.collider_id;
+ r_collision.collider_rid = result.collider;
r_collision.travel = result.motion;
r_collision.remainder = result.remainder;
r_collision.local_shape = result.collision_local_shape;
@@ -1119,8 +1120,10 @@ bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_in
}
}
- gt.origin += result.motion;
- set_global_transform(gt);
+ if (!p_test_only) {
+ gt.origin += result.motion;
+ set_global_transform(gt);
+ }
return colliding;
}
@@ -1128,7 +1131,7 @@ 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;
@@ -1146,69 +1149,127 @@ 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);
-
- if (collided) {
+ bool found_collision = false;
- motion = collision.remainder;
+ int test_type = 0;
- if (p_floor_direction == Vector3()) {
- //all is a wall
- on_wall = true;
+ do {
+ bool collided;
+ if (test_type == 0) { //collide
+ collided = move_and_collide(motion, p_infinite_inertia, collision);
+ if (!collided) {
+ motion = Vector3(); //clear because no collision happened and motion completed
+ }
} else {
- if (collision.normal.dot(p_floor_direction) >= Math::cos(p_floor_max_angle + FLOOR_ANGLE_THRESHOLD)) { //floor
+ collided = separate_raycast_shapes(p_infinite_inertia, collision);
+ if (collided) {
+ collision.remainder = motion; //keep
+ collision.travel = Vector3();
+ }
+ }
- on_floor = true;
- floor_velocity = collision.collider_vel;
+ if (collided) {
+ found_collision = true;
+ }
- Vector3 rel_v = lv - floor_velocity;
- Vector3 hv = rel_v - p_floor_direction * p_floor_direction.dot(rel_v);
+ if (collided) {
- 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);
- }
- } else if (collision.normal.dot(-p_floor_direction) >= Math::cos(p_floor_max_angle + FLOOR_ANGLE_THRESHOLD)) { //ceiling
- on_ceiling = true;
- } else {
+ colliders.push_back(collision);
+ motion = collision.remainder;
+
+ bool is_on_slope = false;
+ if (p_floor_direction == Vector3()) {
+ //all is a wall
on_wall = true;
+ } else {
+ if (collision.normal.dot(p_floor_direction) >= Math::cos(p_floor_max_angle + FLOOR_ANGLE_THRESHOLD)) { //floor
+
+ on_floor = true;
+ on_floor_body = collision.collider_rid;
+ floor_velocity = collision.collider_vel;
+
+ 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 {
+ on_wall = true;
+ }
}
- }
- 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)) {
- lv[i] = 0;
+ for (int i = 0; i < 3; i++) {
+ if (locked_axis & (1 << i)) {
+ lv[i] = 0;
+ }
}
}
- colliders.push_back(collision);
+ ++test_type;
+ } while (!p_stop_on_slope && test_type < 2);
- } else {
+ if (!found_collision || motion == Vector3())
break;
- }
- p_max_slides--;
- if (motion == Vector3())
- break;
+ --p_max_slides;
}
return lv;
}
+Vector3 KinematicBody::move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_floor_direction, bool p_infinite_inertia, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle) {
+
+ bool was_on_floor = on_floor;
+
+ Vector3 ret = move_and_slide(p_linear_velocity, p_floor_direction, p_stop_on_slope, p_max_slides, p_floor_max_angle, p_infinite_inertia);
+ if (!was_on_floor || p_snap == Vector3()) {
+ return ret;
+ }
+
+ Collision col;
+ Transform gt = get_global_transform();
+
+ if (move_and_collide(p_snap, p_infinite_inertia, col, true)) {
+ gt.origin += col.travel;
+ if (p_floor_direction != Vector3() && Math::acos(p_floor_direction.normalized().dot(col.normal)) < p_floor_max_angle) {
+ on_floor = true;
+ on_floor_body = col.collider_rid;
+ floor_velocity = col.collider_vel;
+ }
+ set_global_transform(gt);
+ }
+
+ return ret;
+}
+
bool KinematicBody::is_on_floor() const {
return on_floor;
}
+
bool KinematicBody::is_on_wall() const {
return on_wall;
@@ -1230,6 +1291,43 @@ bool KinematicBody::test_move(const Transform &p_from, const Vector3 &p_motion,
return PhysicsServer::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_infinite_inertia);
}
+bool KinematicBody::separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision) {
+
+ PhysicsServer::SeparationResult sep_res[8]; //max 8 rays
+
+ Transform gt = get_global_transform();
+
+ Vector3 recover;
+ int hits = PhysicsServer::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.origin += 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 = Vector3();
+
+ return true;
+ } else {
+ return false;
+ }
+}
+
void KinematicBody::set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock) {
PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
}
@@ -1276,8 +1374,9 @@ 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_collide", "rel_vec", "infinite_inertia", "test_only"), &KinematicBody::_move, DEFVAL(true), DEFVAL(false));
+ ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "floor_normal", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true));
+ ClassDB::bind_method(D_METHOD("move_and_slide_with_snap", "linear_velocity", "snap", "floor_normal", "infinite_inertia", "stop_on_slope", "max_bounces", "floor_max_angle"), &KinematicBody::move_and_slide_with_snap, DEFVAL(Vector3(0, 0, 0)), DEFVAL(true), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)));
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..c4db41f577 100644
--- a/scene/3d/physics_body.h
+++ b/scene/3d/physics_body.h
@@ -285,6 +285,7 @@ public:
Vector3 normal;
Vector3 collider_vel;
ObjectID collider;
+ RID collider_rid;
int collider_shape;
Variant collider_metadata;
Vector3 remainder;
@@ -298,6 +299,7 @@ private:
float margin;
Vector3 floor_velocity;
+ RID on_floor_body;
bool on_floor;
bool on_ceiling;
bool on_wall;
@@ -307,23 +309,26 @@ private:
_FORCE_INLINE_ bool _ignores_mode(PhysicsServer::BodyMode) const;
- Ref<KinematicCollision> _move(const Vector3 &p_motion, bool p_infinite_inertia = true);
+ Ref<KinematicCollision> _move(const Vector3 &p_motion, bool p_infinite_inertia = true, bool p_test_only = false);
Ref<KinematicCollision> _get_slide_collision(int p_bounce);
protected:
static void _bind_methods();
public:
- bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collisionz);
+ bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collisionz, bool p_test_only = false);
bool test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia);
+ bool separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision);
+
void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock);
bool get_axis_lock(PhysicsServer::BodyAxis p_axis) const;
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);
+ Vector3 move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_floor_direction = Vector3(0, 0, 0), bool p_infinite_inertia = true, bool p_stop_on_slope = false, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45));
bool is_on_floor() const;
bool is_on_wall() const;
bool is_on_ceiling() const;
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-14 18:00:22 +0000