diff options
Diffstat (limited to 'servers/physics/space_sw.cpp')
| -rw-r--r-- | servers/physics/space_sw.cpp | 43 |
1 files changed, 32 insertions, 11 deletions
diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp index 3b5344f020..4ab92715f4 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; @@ -387,6 +387,7 @@ 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 +396,8 @@ 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 +421,7 @@ 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 +597,6 @@ 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 +630,19 @@ 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[ray_index].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 +657,10 @@ 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 +674,8 @@ 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 +729,11 @@ 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 +872,7 @@ 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 +941,7 @@ 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 +1166,7 @@ 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 +1182,7 @@ 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 +1218,7 @@ 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); |