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-rw-r--r--servers/physics/body_pair_sw.cpp38
-rw-r--r--servers/physics/body_pair_sw.h1
-rw-r--r--servers/physics/body_sw.cpp10
-rw-r--r--servers/physics/body_sw.h14
-rw-r--r--servers/physics/joints/generic_6dof_joint_sw.cpp4
-rw-r--r--servers/physics/joints/pin_joint_sw.h4
-rw-r--r--servers/physics/physics_server_sw.cpp31
-rw-r--r--servers/physics/physics_server_sw.h5
-rw-r--r--servers/physics/space_sw.cpp32
-rw-r--r--servers/physics/space_sw.h12
10 files changed, 94 insertions, 57 deletions
diff --git a/servers/physics/body_pair_sw.cpp b/servers/physics/body_pair_sw.cpp
index a289b4b0ca..ef54eb58cf 100644
--- a/servers/physics/body_pair_sw.cpp
+++ b/servers/physics/body_pair_sw.cpp
@@ -46,6 +46,7 @@
//#define ALLOWED_PENETRATION 0.01
#define RELAXATION_TIMESTEPS 3
#define MIN_VELOCITY 0.0001
+#define MAX_BIAS_ROTATION (Math_PI / 8)
void BodyPairSW::_contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) {
@@ -71,6 +72,7 @@ void BodyPairSW::contact_added_callback(const Vector3 &p_point_A, const Vector3
contact.acc_normal_impulse = 0;
contact.acc_bias_impulse = 0;
+ contact.acc_bias_impulse_center_of_mass = 0;
contact.acc_tangent_impulse = Vector3();
contact.local_A = local_A;
contact.local_B = local_B;
@@ -82,12 +84,12 @@ void BodyPairSW::contact_added_callback(const Vector3 &p_point_A, const Vector3
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
- if (
- c.local_A.distance_squared_to(local_A) < (contact_recycle_radius * contact_recycle_radius) &&
+ if (c.local_A.distance_squared_to(local_A) < (contact_recycle_radius * contact_recycle_radius) &&
c.local_B.distance_squared_to(local_B) < (contact_recycle_radius * contact_recycle_radius)) {
contact.acc_normal_impulse = c.acc_normal_impulse;
contact.acc_bias_impulse = c.acc_bias_impulse;
+ contact.acc_bias_impulse_center_of_mass = c.acc_bias_impulse_center_of_mass;
contact.acc_tangent_impulse = c.acc_tangent_impulse;
new_index = i;
break;
@@ -325,9 +327,7 @@ bool BodyPairSW::setup(real_t p_step) {
A->apply_impulse(c.rA + A->get_center_of_mass(), -j_vec);
B->apply_impulse(c.rB + B->get_center_of_mass(), j_vec);
c.acc_bias_impulse = 0;
- Vector3 jb_vec = c.normal * c.acc_bias_impulse;
- A->apply_bias_impulse(c.rA + A->get_center_of_mass(), -jb_vec);
- B->apply_bias_impulse(c.rB + B->get_center_of_mass(), jb_vec);
+ c.acc_bias_impulse_center_of_mass = 0;
c.bounce = MAX(A->get_bounce(), B->get_bounce());
if (c.bounce) {
@@ -356,7 +356,7 @@ void BodyPairSW::solve(real_t p_step) {
c.active = false; //try to deactivate, will activate itself if still needed
- //bias impule
+ //bias impulse
Vector3 crbA = A->get_biased_angular_velocity().cross(c.rA);
Vector3 crbB = B->get_biased_angular_velocity().cross(c.rB);
@@ -372,8 +372,26 @@ void BodyPairSW::solve(real_t p_step) {
Vector3 jb = c.normal * (c.acc_bias_impulse - jbnOld);
- A->apply_bias_impulse(c.rA + A->get_center_of_mass(), -jb);
- B->apply_bias_impulse(c.rB + B->get_center_of_mass(), jb);
+ A->apply_bias_impulse(c.rA + A->get_center_of_mass(), -jb, MAX_BIAS_ROTATION / p_step);
+ B->apply_bias_impulse(c.rB + B->get_center_of_mass(), jb, MAX_BIAS_ROTATION / p_step);
+
+ crbA = A->get_biased_angular_velocity().cross(c.rA);
+ crbB = B->get_biased_angular_velocity().cross(c.rB);
+ dbv = B->get_biased_linear_velocity() + crbB - A->get_biased_linear_velocity() - crbA;
+
+ vbn = dbv.dot(c.normal);
+
+ if (Math::abs(-vbn + c.bias) > MIN_VELOCITY) {
+
+ real_t jbn_com = (-vbn + c.bias) / (A->get_inv_mass() + B->get_inv_mass());
+ real_t jbnOld_com = c.acc_bias_impulse_center_of_mass;
+ c.acc_bias_impulse_center_of_mass = MAX(jbnOld_com + jbn_com, 0.0f);
+
+ Vector3 jb_com = c.normal * (c.acc_bias_impulse_center_of_mass - jbnOld_com);
+
+ A->apply_bias_impulse(A->get_center_of_mass(), -jb_com, 0.0f);
+ B->apply_bias_impulse(B->get_center_of_mass(), jb_com, 0.0f);
+ }
c.active = true;
}
@@ -382,7 +400,7 @@ void BodyPairSW::solve(real_t p_step) {
Vector3 crB = B->get_angular_velocity().cross(c.rB);
Vector3 dv = B->get_linear_velocity() + crB - A->get_linear_velocity() - crA;
- //normal impule
+ //normal impulse
real_t vn = dv.dot(c.normal);
if (Math::abs(vn) > MIN_VELOCITY) {
@@ -399,7 +417,7 @@ void BodyPairSW::solve(real_t p_step) {
c.active = true;
}
- //friction impule
+ //friction impulse
real_t friction = A->get_friction() * B->get_friction();
diff --git a/servers/physics/body_pair_sw.h b/servers/physics/body_pair_sw.h
index f09c977950..74fda60998 100644
--- a/servers/physics/body_pair_sw.h
+++ b/servers/physics/body_pair_sw.h
@@ -59,6 +59,7 @@ class BodyPairSW : public ConstraintSW {
real_t acc_normal_impulse; // accumulated normal impulse (Pn)
Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt)
real_t acc_bias_impulse; // accumulated normal impulse for position bias (Pnb)
+ real_t acc_bias_impulse_center_of_mass; // accumulated normal impulse for position bias applied to com
real_t mass_normal;
real_t bias;
real_t bounce;
diff --git a/servers/physics/body_sw.cpp b/servers/physics/body_sw.cpp
index 46a5192e52..f8cd6ca858 100644
--- a/servers/physics/body_sw.cpp
+++ b/servers/physics/body_sw.cpp
@@ -45,8 +45,9 @@ void BodySW::_update_transform_dependant() {
// update inertia tensor
Basis tb = principal_inertia_axes;
Basis tbt = tb.transposed();
- tb.scale(_inv_inertia);
- _inv_inertia_tensor = tb * tbt;
+ Basis diag;
+ diag.scale(_inv_inertia);
+ _inv_inertia_tensor = tb * diag * tbt;
}
void BodySW::update_inertias() {
@@ -735,6 +736,10 @@ void BodySW::set_force_integration_callback(ObjectID p_id, const StringName &p_m
}
}
+void BodySW::set_kinematic_margin(real_t p_margin) {
+ kinematic_safe_margin = p_margin;
+}
+
BodySW::BodySW()
: CollisionObjectSW(TYPE_BODY), active_list(this), inertia_update_list(this), direct_state_query_list(this) {
@@ -742,6 +747,7 @@ BodySW::BodySW()
active = true;
mass = 1;
+ kinematic_safe_margin = 0.01;
//_inv_inertia=Transform();
_inv_mass = 1;
bounce = 0;
diff --git a/servers/physics/body_sw.h b/servers/physics/body_sw.h
index 782bf14a4b..738d99c764 100644
--- a/servers/physics/body_sw.h
+++ b/servers/physics/body_sw.h
@@ -55,6 +55,7 @@ class BodySW : public CollisionObjectSW {
PhysicsServer::BodyAxisLock axis_lock;
+ real_t kinematic_safe_margin;
real_t _inv_mass;
Vector3 _inv_inertia; // Relative to the principal axes of inertia
@@ -149,6 +150,9 @@ class BodySW : public CollisionObjectSW {
public:
void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
+ void set_kinematic_margin(real_t p_margin);
+ _FORCE_INLINE_ real_t get_kinematic_margin() { return kinematic_safe_margin; }
+
_FORCE_INLINE_ void add_area(AreaSW *p_area) {
int index = areas.find(AreaCMP(p_area));
if (index > -1) {
@@ -223,10 +227,16 @@ public:
angular_velocity += _inv_inertia_tensor.xform(p_j);
}
- _FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
+ _FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_pos, const Vector3 &p_j, real_t p_max_delta_av = -1.0) {
biased_linear_velocity += p_j * _inv_mass;
- biased_angular_velocity += _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j));
+ if (p_max_delta_av != 0.0) {
+ Vector3 delta_av = _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j));
+ if (p_max_delta_av > 0 && delta_av.length() > p_max_delta_av) {
+ delta_av = delta_av.normalized() * p_max_delta_av;
+ }
+ biased_angular_velocity += delta_av;
+ }
}
_FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_j) {
diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp
index 70cc549e2d..1e323be36c 100644
--- a/servers/physics/joints/generic_6dof_joint_sw.cpp
+++ b/servers/physics/joints/generic_6dof_joint_sw.cpp
@@ -219,9 +219,9 @@ Generic6DOFJointSW::Generic6DOFJointSW(BodySW *rbA, BodySW *rbB, const Transform
}
void Generic6DOFJointSW::calculateAngleInfo() {
- Basis relative_frame = m_calculatedTransformA.basis.inverse() * m_calculatedTransformB.basis;
+ Basis relative_frame = m_calculatedTransformB.basis.inverse() * m_calculatedTransformA.basis;
- m_calculatedAxisAngleDiff = relative_frame.get_euler();
+ m_calculatedAxisAngleDiff = relative_frame.get_euler_xyz();
// in euler angle mode we do not actually constrain the angular velocity
// along the axes axis[0] and axis[2] (although we do use axis[1]) :
diff --git a/servers/physics/joints/pin_joint_sw.h b/servers/physics/joints/pin_joint_sw.h
index ee9272ce06..f6c11c49b0 100644
--- a/servers/physics/joints/pin_joint_sw.h
+++ b/servers/physics/joints/pin_joint_sw.h
@@ -86,8 +86,8 @@ public:
void set_pos_a(const Vector3 &p_pos) { m_pivotInA = p_pos; }
void set_pos_b(const Vector3 &p_pos) { m_pivotInB = p_pos; }
- Vector3 get_position_a() { return m_pivotInB; }
- Vector3 get_position_b() { return m_pivotInA; }
+ Vector3 get_position_a() { return m_pivotInA; }
+ Vector3 get_position_b() { return m_pivotInB; }
PinJointSW(BodySW *p_body_a, const Vector3 &p_pos_a, BodySW *p_body_b, const Vector3 &p_pos_b);
~PinJointSW();
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index a7c31cf16c..ce63d84617 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -233,14 +233,7 @@ void PhysicsServerSW::area_set_space(RID p_area, RID p_space) {
if (area->get_space() == space)
return; //pointless
- for (Set<ConstraintSW *>::Element *E = area->get_constraints().front(); E; E = E->next()) {
- RID self = E->get()->get_self();
- if (!self.is_valid())
- continue;
- free(self);
- }
area->clear_constraints();
-
area->set_space(space);
};
@@ -494,14 +487,7 @@ void PhysicsServerSW::body_set_space(RID p_body, RID p_space) {
if (body->get_space() == space)
return; //pointless
- for (Map<ConstraintSW *, int>::Element *E = body->get_constraint_map().front(); E; E = E->next()) {
- RID self = E->key()->get_self();
- if (!self.is_valid())
- continue;
- free(self);
- }
body->clear_constraint_map();
-
body->set_space(space);
};
@@ -709,6 +695,19 @@ real_t PhysicsServerSW::body_get_param(RID p_body, BodyParameter p_param) const
return body->get_param(p_param);
};
+void PhysicsServerSW::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) {
+ BodySW *body = body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+ body->set_kinematic_margin(p_margin);
+}
+
+real_t PhysicsServerSW::body_get_kinematic_safe_margin(RID p_body) const {
+ BodySW *body = body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, 0);
+
+ return body->get_kinematic_margin();
+}
+
void PhysicsServerSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
BodySW *body = body_owner.get(p_body);
@@ -902,7 +901,7 @@ bool PhysicsServerSW::body_is_ray_pickable(RID p_body) const {
return body->is_ray_pickable();
}
-bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, float p_margin, MotionResult *r_result) {
+bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, MotionResult *r_result) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
@@ -911,7 +910,7 @@ bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, cons
_update_shapes();
- return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result);
+ return body->get_space()->test_body_motion(body, p_from, p_motion, body->get_kinematic_margin(), r_result);
}
PhysicsDirectBodyState *PhysicsServerSW::body_get_direct_state(RID p_body) {
diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h
index f9eb8fa454..fa754a1c8f 100644
--- a/servers/physics/physics_server_sw.h
+++ b/servers/physics/physics_server_sw.h
@@ -187,6 +187,9 @@ public:
virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value);
virtual real_t body_get_param(RID p_body, BodyParameter p_param) const;
+ virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin);
+ virtual real_t body_get_kinematic_safe_margin(RID p_body) const;
+
virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant);
virtual Variant body_get_state(RID p_body, BodyState p_state) const;
@@ -221,7 +224,7 @@ public:
virtual void body_set_ray_pickable(RID p_body, bool p_enable);
virtual bool body_is_ray_pickable(RID p_body) const;
- virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, float p_margin = 0.001, MotionResult *r_result = NULL);
+ virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, MotionResult *r_result = NULL);
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body);
diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp
index 17e2df6c9e..7fac56f3d7 100644
--- a/servers/physics/space_sw.cpp
+++ b/servers/physics/space_sw.cpp
@@ -33,9 +33,9 @@
#include "physics_server_sw.h"
#include "project_settings.h"
-_FORCE_INLINE_ static bool _match_object_type_query(CollisionObjectSW *p_object, uint32_t p_collision_layer, uint32_t p_type_mask) {
+_FORCE_INLINE_ static bool _match_object_type_query(CollisionObjectSW *p_object, uint32_t p_collision_mask, uint32_t p_type_mask) {
- if ((p_object->get_collision_layer() & p_collision_layer) == 0)
+ if ((p_object->get_collision_layer() & p_collision_mask) == 0)
return false;
if (p_object->get_type() == CollisionObjectSW::TYPE_AREA)
@@ -46,7 +46,7 @@ _FORCE_INLINE_ static bool _match_object_type_query(CollisionObjectSW *p_object,
return (1 << body->get_mode()) & p_type_mask;
}
-int PhysicsDirectSpaceStateSW::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask) {
+int PhysicsDirectSpaceStateSW::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, uint32_t p_object_type_mask) {
ERR_FAIL_COND_V(space->locked, false);
int amount = space->broadphase->cull_point(p_point, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
@@ -59,7 +59,7 @@ int PhysicsDirectSpaceStateSW::intersect_point(const Vector3 &p_point, ShapeResu
if (cc >= p_result_max)
break;
- if (!_match_object_type_query(space->intersection_query_results[i], p_collision_layer, p_object_type_mask))
+ if (!_match_object_type_query(space->intersection_query_results[i], p_collision_mask, p_object_type_mask))
continue;
//area can't be picked by ray (default)
@@ -90,7 +90,7 @@ int PhysicsDirectSpaceStateSW::intersect_point(const Vector3 &p_point, ShapeResu
return cc;
}
-bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask, bool p_pick_ray) {
+bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, uint32_t p_object_type_mask, bool p_pick_ray) {
ERR_FAIL_COND_V(space->locked, false);
@@ -112,7 +112,7 @@ bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3 &p_from, const Vecto
for (int i = 0; i < amount; i++) {
- if (!_match_object_type_query(space->intersection_query_results[i], p_collision_layer, p_object_type_mask))
+ if (!_match_object_type_query(space->intersection_query_results[i], p_collision_mask, p_object_type_mask))
continue;
if (p_pick_ray && !(static_cast<CollisionObjectSW *>(space->intersection_query_results[i])->is_ray_pickable()))
@@ -168,7 +168,7 @@ bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3 &p_from, const Vecto
return true;
}
-int PhysicsDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask) {
+int PhysicsDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, uint32_t p_object_type_mask) {
if (p_result_max <= 0)
return 0;
@@ -189,7 +189,7 @@ int PhysicsDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transfo
if (cc >= p_result_max)
break;
- if (!_match_object_type_query(space->intersection_query_results[i], p_collision_layer, p_object_type_mask))
+ if (!_match_object_type_query(space->intersection_query_results[i], p_collision_mask, p_object_type_mask))
continue;
//area can't be picked by ray (default)
@@ -219,7 +219,7 @@ int PhysicsDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transfo
return cc;
}
-bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask, ShapeRestInfo *r_info) {
+bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, uint32_t p_object_type_mask, ShapeRestInfo *r_info) {
ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape, false);
@@ -249,7 +249,7 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform
for (int i = 0; i < amount; i++) {
- if (!_match_object_type_query(space->intersection_query_results[i], p_collision_layer, p_object_type_mask))
+ if (!_match_object_type_query(space->intersection_query_results[i], p_collision_mask, p_object_type_mask))
continue;
if (p_exclude.has(space->intersection_query_results[i]->get_self()))
@@ -333,7 +333,7 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform
return true;
}
-bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask) {
+bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, uint32_t p_object_type_mask) {
if (p_result_max <= 0)
return 0;
@@ -363,7 +363,7 @@ bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform &p_sh
for (int i = 0; i < amount; i++) {
- if (!_match_object_type_query(space->intersection_query_results[i], p_collision_layer, p_object_type_mask))
+ if (!_match_object_type_query(space->intersection_query_results[i], p_collision_mask, p_object_type_mask))
continue;
const CollisionObjectSW *col_obj = space->intersection_query_results[i];
@@ -412,7 +412,7 @@ static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B,
rd->best_object = rd->object;
rd->best_shape = rd->shape;
}
-bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask) {
+bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, uint32_t p_object_type_mask) {
ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape, 0);
@@ -429,7 +429,7 @@ bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_
for (int i = 0; i < amount; i++) {
- if (!_match_object_type_query(space->intersection_query_results[i], p_collision_layer, p_object_type_mask))
+ if (!_match_object_type_query(space->intersection_query_results[i], p_collision_mask, p_object_type_mask))
continue;
const CollisionObjectSW *col_obj = space->intersection_query_results[i];
@@ -956,15 +956,15 @@ void SpaceSW::call_queries() {
while (state_query_list.first()) {
BodySW *b = state_query_list.first()->self();
- b->call_queries();
state_query_list.remove(state_query_list.first());
+ b->call_queries();
}
while (monitor_query_list.first()) {
AreaSW *a = monitor_query_list.first()->self();
- a->call_queries();
monitor_query_list.remove(monitor_query_list.first());
+ a->call_queries();
}
}
diff --git a/servers/physics/space_sw.h b/servers/physics/space_sw.h
index 56f4d2f10d..270e4ef1bd 100644
--- a/servers/physics/space_sw.h
+++ b/servers/physics/space_sw.h
@@ -47,12 +47,12 @@ class PhysicsDirectSpaceStateSW : public PhysicsDirectSpaceState {
public:
SpaceSW *space;
- virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
- virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, bool p_pick_ray = false);
- virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
- virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, ShapeRestInfo *r_info = NULL);
- virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
- virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
+ virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
+ virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, bool p_pick_ray = false);
+ virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
+ virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, ShapeRestInfo *r_info = NULL);
+ virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
+ virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const;
PhysicsDirectSpaceStateSW();
generated by cgit v1.2.3 (git 2.25.1) at 2025-12-31 23:03:08 +0000