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-rw-r--r--servers/physics/space_sw.cpp49
1 files changed, 34 insertions, 15 deletions
diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp
index 3b5344f020..8b9f210850 100644
--- a/servers/physics/space_sw.cpp
+++ b/servers/physics/space_sw.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */
+/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
@@ -277,7 +277,7 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform
real_t hi = 1;
Vector3 mnormal = p_motion.normalized();
- for (int i = 0; i < 8; i++) { //steps should be customizable..
+ for (int j = 0; j < 8; j++) { //steps should be customizable..
real_t ofs = (low + hi) * 0.5;
@@ -351,10 +351,8 @@ bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform &p_sh
CollisionSolverSW::CallbackResult cbkres = NULL;
PhysicsServerSW::CollCbkData *cbkptr = NULL;
- if (p_result_max > 0) {
- cbkptr = &cbk;
- cbkres = PhysicsServerSW::_shape_col_cbk;
- }
+ cbkptr = &cbk;
+ cbkres = PhysicsServerSW::_shape_col_cbk;
for (int i = 0; i < amount; i++) {
@@ -387,6 +385,7 @@ struct _RestCallbackData {
Vector3 best_contact;
Vector3 best_normal;
real_t best_len;
+ real_t min_allowed_depth;
};
static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) {
@@ -395,6 +394,8 @@ static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B,
Vector3 contact_rel = p_point_B - p_point_A;
real_t len = contact_rel.length();
+ if (len < rd->min_allowed_depth)
+ return;
if (len <= rd->best_len)
return;
@@ -418,6 +419,7 @@ bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
+ rcd.min_allowed_depth = space->test_motion_min_contact_depth;
for (int i = 0; i < amount; i++) {
@@ -593,7 +595,6 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
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))
@@ -627,7 +628,19 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
collided = true;
}
- if (ray_index < p_result_max) {
+ int ray_index = -1; //reuse shape
+ for (int k = 0; k < rays_found; k++) {
+ if (r_results[k].collision_local_shape == j) {
+ ray_index = k;
+ }
+ }
+
+ if (ray_index == -1 && rays_found < p_result_max) {
+ ray_index = rays_found;
+ rays_found++;
+ }
+
+ if (ray_index != -1) {
PhysicsServer::SeparationResult &result = r_results[ray_index];
for (int k = 0; k < cbk.amount; k++) {
@@ -642,9 +655,10 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
result.collision_depth = depth;
result.collision_point = b;
result.collision_normal = (b - a).normalized();
- result.collision_local_shape = shape_idx;
+ result.collision_local_shape = j;
result.collider = col_obj->get_self();
result.collider_id = col_obj->get_instance_id();
+ result.collider_shape = shape_idx;
//result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
if (col_obj->get_type() == CollisionObjectSW::TYPE_BODY) {
BodySW *body = (BodySW *)col_obj;
@@ -658,12 +672,8 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
}
}
}
-
- ray_index++;
}
- rays_found = MAX(ray_index, rays_found);
-
if (!collided || recover_motion == Vector3()) {
break;
}
@@ -717,6 +727,11 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
}
if (!shapes_found) {
+ if (r_result) {
+ *r_result = PhysicsServer::MotionResult();
+ r_result->motion = p_motion;
+ }
+
return false;
}
@@ -855,7 +870,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
real_t hi = 1;
Vector3 mnormal = p_motion.normalized();
- for (int i = 0; i < 8; i++) { //steps should be customizable..
+ for (int k = 0; k < 8; k++) { //steps should be customizable..
real_t ofs = (low + hi) * 0.5;
@@ -924,6 +939,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
+ rcd.min_allowed_depth = test_motion_min_contact_depth;
Transform body_shape_xform = ugt * p_body->get_shape_transform(best_shape);
ShapeSW *body_shape = p_body->get_shape(best_shape);
@@ -1148,6 +1164,7 @@ void SpaceSW::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) {
case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break;
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio = p_value; break;
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break;
+ case PhysicsServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: test_motion_min_contact_depth = p_value; break;
}
}
@@ -1163,6 +1180,7 @@ real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const {
case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio;
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
+ case PhysicsServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: return test_motion_min_contact_depth;
}
return 0;
}
@@ -1198,6 +1216,7 @@ SpaceSW::SpaceSW() {
contact_recycle_radius = 0.01;
contact_max_separation = 0.05;
contact_max_allowed_penetration = 0.01;
+ test_motion_min_contact_depth = 0.00001;
constraint_bias = 0.01;
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1);
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-29 14:43:30 +0000