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-rw-r--r--servers/physics/collision_solver_sat.cpp22
-rw-r--r--servers/physics/collision_solver_sw.cpp4
-rw-r--r--servers/physics/joints/hinge_joint_sw.cpp6
-rw-r--r--servers/physics/physics_server_sw.cpp24
-rw-r--r--servers/physics/physics_server_sw.h7
-rw-r--r--servers/physics/space_sw.cpp199
-rw-r--r--servers/physics/space_sw.h15
-rw-r--r--servers/physics/step_sw.cpp1
8 files changed, 206 insertions, 72 deletions
diff --git a/servers/physics/collision_solver_sat.cpp b/servers/physics/collision_solver_sat.cpp
index b059c20c95..294b1df241 100644
--- a/servers/physics/collision_solver_sat.cpp
+++ b/servers/physics/collision_solver_sat.cpp
@@ -44,12 +44,6 @@ struct _CollectorCallback {
_FORCE_INLINE_ void call(const Vector3 &p_point_A, const Vector3 &p_point_B) {
- /*
- if (normal.dot(p_point_A) >= normal.dot(p_point_B))
- return;
- print_line("** A: "+p_point_A+" B: "+p_point_B+" D: "+rtos(p_point_A.distance_to(p_point_B)));
- */
-
if (swap)
callback(p_point_B, p_point_A, userdata);
else
@@ -410,26 +404,13 @@ public:
supports_B[i] += best_axis * margin_B;
}
}
- /*
- print_line("best depth: "+rtos(best_depth));
- print_line("best axis: "+(best_axis));
- for(int i=0;i<support_count_A;i++) {
- print_line("A-"+itos(i)+": "+supports_A[i]);
- }
- for(int i=0;i<support_count_B;i++) {
-
- print_line("B-"+itos(i)+": "+supports_B[i]);
- }
-*/
callback->normal = best_axis;
if (callback->prev_axis)
*callback->prev_axis = best_axis;
_generate_contacts_from_supports(supports_A, support_count_A, supports_B, support_count_B, callback);
callback->collided = true;
- //CollisionSolverSW::CallbackResult cbk=NULL;
- //cbk(Vector3(),Vector3(),NULL);
}
_FORCE_INLINE_ SeparatorAxisTest(const ShapeA *p_shape_A, const Transform &p_transform_A, const ShapeB *p_shape_B, const Transform &p_transform_B, _CollectorCallback *p_callback, real_t p_margin_A = 0, real_t p_margin_B = 0) {
@@ -445,9 +426,6 @@ public:
};
/****** SAT TESTS *******/
-/****** SAT TESTS *******/
-/****** SAT TESTS *******/
-/****** SAT TESTS *******/
typedef void (*CollisionFunc)(const ShapeSW *, const Transform &, const ShapeSW *, const Transform &, _CollectorCallback *p_callback, real_t, real_t);
diff --git a/servers/physics/collision_solver_sw.cpp b/servers/physics/collision_solver_sw.cpp
index 0037b9a862..2f2f6d2908 100644
--- a/servers/physics/collision_solver_sw.cpp
+++ b/servers/physics/collision_solver_sw.cpp
@@ -176,7 +176,6 @@ bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A, const Transform
}
concave_B->cull(local_aabb, concave_callback, &cinfo);
- //print_line("COL AABB TESTS: "+itos(cinfo.aabb_tests));
return cinfo.collided;
}
@@ -364,13 +363,10 @@ bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A, const Transform
concave_B->cull(local_aabb, concave_distance_callback, &cinfo);
if (!cinfo.collided) {
- //print_line(itos(cinfo.tested));
r_point_A = cinfo.close_A;
r_point_B = cinfo.close_B;
}
- //print_line("DIST AABB TESTS: "+itos(cinfo.aabb_tests));
-
return !cinfo.collided;
} else {
diff --git a/servers/physics/joints/hinge_joint_sw.cpp b/servers/physics/joints/hinge_joint_sw.cpp
index d660eba879..368a349632 100644
--- a/servers/physics/joints/hinge_joint_sw.cpp
+++ b/servers/physics/joints/hinge_joint_sw.cpp
@@ -224,18 +224,12 @@ bool HingeJointSW::setup(real_t p_step) {
// Compute limit information
real_t hingeAngle = get_hinge_angle();
- //print_line("angle: "+rtos(hingeAngle));
//set bias, sign, clear accumulator
m_correction = real_t(0.);
m_limitSign = real_t(0.);
m_solveLimit = false;
m_accLimitImpulse = real_t(0.);
- /*if (m_useLimit) {
- print_line("low: "+rtos(m_lowerLimit));
- print_line("hi: "+rtos(m_upperLimit));
- }*/
-
//if (m_lowerLimit < m_upperLimit)
if (m_useLimit && m_lowerLimit <= m_upperLimit) {
//if (hingeAngle <= m_lowerLimit*m_limitSoftness)
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index 3a32c46a9b..472283833e 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -124,6 +124,13 @@ Variant PhysicsServerSW::shape_get_data(RID p_shape) const {
return shape->get_data();
};
+void PhysicsServerSW::shape_set_margin(RID p_shape, real_t p_margin) {
+}
+
+real_t PhysicsServerSW::shape_get_margin(RID p_shape) const {
+ return 0.0;
+}
+
real_t PhysicsServerSW::shape_get_custom_solver_bias(RID p_shape) const {
const ShapeSW *shape = shape_owner.get(p_shape);
@@ -292,6 +299,7 @@ void PhysicsServerSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
area->set_shape(p_shape_idx, shape);
}
+
void PhysicsServerSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) {
AreaSW *area = area_owner.get(p_area);
@@ -941,7 +949,19 @@ 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, bool p_infinite_inertia, MotionResult *r_result) {
+bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes) {
+
+ BodySW *body = body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, false);
+ ERR_FAIL_COND_V(!body->get_space(), false);
+ ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
+
+ _update_shapes();
+
+ return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, body->get_kinematic_margin(), r_result, p_exclude_raycast_shapes);
+}
+
+int PhysicsServerSW::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
@@ -950,7 +970,7 @@ 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_infinite_inertia, body->get_kinematic_margin(), r_result);
+ return body->get_space()->test_body_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
}
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 1c5754124d..4131c5e248 100644
--- a/servers/physics/physics_server_sw.h
+++ b/servers/physics/physics_server_sw.h
@@ -85,6 +85,10 @@ public:
virtual ShapeType shape_get_type(RID p_shape) const;
virtual Variant shape_get_data(RID p_shape) const;
+
+ virtual void shape_set_margin(RID p_shape, real_t p_margin);
+ virtual real_t shape_get_margin(RID p_shape) const;
+
virtual real_t shape_get_custom_solver_bias(RID p_shape) const;
/* SPACE API */
@@ -230,7 +234,8 @@ 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, bool p_infinite_inertia, MotionResult *r_result = NULL);
+ virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true);
+ virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001);
// 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 b604e5cdf6..b2ab7bec16 100644
--- a/servers/physics/space_sw.cpp
+++ b/servers/physics/space_sw.cpp
@@ -34,12 +34,22 @@
#include "physics_server_sw.h"
#include "project_settings.h"
-_FORCE_INLINE_ static bool _can_collide_with(CollisionObjectSW *p_object, uint32_t p_collision_mask) {
+_FORCE_INLINE_ static bool _can_collide_with(CollisionObjectSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
- return p_object->get_collision_layer() & p_collision_mask;
+ if (!(p_object->get_collision_layer() & p_collision_mask)) {
+ return false;
+ }
+
+ if (p_object->get_type() == CollisionObjectSW::TYPE_AREA && !p_collide_with_areas)
+ return false;
+
+ if (p_object->get_type() == CollisionObjectSW::TYPE_BODY && !p_collide_with_bodies)
+ return false;
+
+ return true;
}
-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) {
+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, bool p_collide_with_bodies, bool p_collide_with_areas) {
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);
@@ -52,7 +62,7 @@ int PhysicsDirectSpaceStateSW::intersect_point(const Vector3 &p_point, ShapeResu
if (cc >= p_result_max)
break;
- if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask))
+ if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
continue;
//area can't be picked by ray (default)
@@ -83,7 +93,7 @@ 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_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, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) {
ERR_FAIL_COND_V(space->locked, false);
@@ -105,7 +115,7 @@ bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3 &p_from, const Vecto
for (int i = 0; i < amount; i++) {
- if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask))
+ if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
continue;
if (p_pick_ray && !(static_cast<CollisionObjectSW *>(space->intersection_query_results[i])->is_ray_pickable()))
@@ -161,7 +171,7 @@ 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_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, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0)
return 0;
@@ -182,7 +192,7 @@ int PhysicsDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transfo
if (cc >= p_result_max)
break;
- if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask))
+ if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
continue;
//area can't be picked by ray (default)
@@ -212,7 +222,7 @@ 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_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, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape, false);
@@ -221,11 +231,6 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform
aabb = aabb.merge(AABB(aabb.position + p_motion, aabb.size)); //motion
aabb = aabb.grow(p_margin);
- /*
- if (p_motion!=Vector3())
- print_line(p_motion);
- */
-
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
real_t best_safe = 1;
@@ -242,7 +247,7 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform
for (int i = 0; i < amount; i++) {
- if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask))
+ if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
continue;
if (p_exclude.has(space->intersection_query_results[i]->get_self()))
@@ -257,7 +262,6 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform
Transform col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
//test initial overlap, does it collide if going all the way?
if (CollisionSolverSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
- //print_line("failed motion cast (no collision)");
continue;
}
@@ -265,7 +269,6 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform
sep_axis = p_motion.normalized();
if (!CollisionSolverSW::solve_distance(shape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
- //print_line("failed motion cast (no collision)");
return false;
}
@@ -288,7 +291,6 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform
if (collided) {
- //print_line(itos(i)+": "+rtos(ofs));
hi = ofs;
} else {
@@ -326,7 +328,7 @@ 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_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, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0)
return 0;
@@ -356,7 +358,7 @@ bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform &p_sh
for (int i = 0; i < amount; i++) {
- if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask))
+ if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
continue;
const CollisionObjectSW *col_obj = space->intersection_query_results[i];
@@ -366,9 +368,6 @@ bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform &p_sh
continue;
}
- //print_line("AGAINST: "+itos(col_obj->get_self().get_id())+":"+itos(shape_idx));
- //print_line("THE ABBB: "+(col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).xform(col_obj->get_shape(shape_idx)->get_aabb()));
-
if (CollisionSolverSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, NULL, p_margin)) {
collided = true;
}
@@ -405,7 +404,7 @@ 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_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, bool p_collide_with_bodies, bool p_collide_with_areas) {
ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape, 0);
@@ -422,7 +421,7 @@ bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_
for (int i = 0; i < amount; i++) {
- if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask))
+ if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
continue;
const CollisionObjectSW *col_obj = space->intersection_query_results[i];
@@ -541,7 +540,144 @@ int SpaceSW::_cull_aabb_for_body(BodySW *p_body, const AABB &p_aabb) {
return amount;
}
-bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer::MotionResult *r_result) {
+int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer::SeparationResult *r_results, int p_result_max, real_t p_margin) {
+
+ AABB body_aabb;
+
+ for (int i = 0; i < p_body->get_shape_count(); i++) {
+
+ if (i == 0)
+ body_aabb = p_body->get_shape_aabb(i);
+ else
+ body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
+ }
+
+ // Undo the currently transform the physics server is aware of and apply the provided one
+ body_aabb = p_transform.xform(p_body->get_inv_transform().xform(body_aabb));
+ body_aabb = body_aabb.grow(p_margin);
+
+ Transform body_transform = p_transform;
+
+ for (int i = 0; i < p_result_max; i++) {
+ //reset results
+ r_results[i].collision_depth = 0;
+ }
+
+ int rays_found = 0;
+
+ {
+ // raycast AND separate
+
+ const int max_results = 32;
+ int recover_attempts = 4;
+ Vector3 sr[max_results * 2];
+ PhysicsServerSW::CollCbkData cbk;
+ cbk.max = max_results;
+ PhysicsServerSW::CollCbkData *cbkptr = &cbk;
+ CollisionSolverSW::CallbackResult cbkres = PhysicsServerSW::_shape_col_cbk;
+
+ do {
+
+ Vector3 recover_motion;
+
+ 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))
+ continue;
+
+ ShapeSW *body_shape = p_body->get_shape(j);
+
+ if (body_shape->get_type() != PhysicsServer::SHAPE_RAY)
+ continue;
+
+ Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
+
+ for (int i = 0; i < amount; i++) {
+
+ const CollisionObjectSW *col_obj = intersection_query_results[i];
+ int shape_idx = intersection_query_subindex_results[i];
+
+ cbk.amount = 0;
+ cbk.ptr = sr;
+
+ if (CollisionObjectSW::TYPE_BODY == col_obj->get_type()) {
+ const BodySW *b = static_cast<const BodySW *>(col_obj);
+ if (p_infinite_inertia && PhysicsServer::BODY_MODE_STATIC != b->get_mode() && PhysicsServer::BODY_MODE_KINEMATIC != b->get_mode()) {
+ continue;
+ }
+ }
+
+ ShapeSW *against_shape = col_obj->get_shape(shape_idx);
+ if (CollisionSolverSW::solve_static(body_shape, body_shape_xform, against_shape, col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, NULL, p_margin)) {
+ if (cbk.amount > 0) {
+ collided = true;
+ }
+
+ if (ray_index < p_result_max) {
+ PhysicsServer::SeparationResult &result = r_results[ray_index];
+
+ for (int k = 0; k < cbk.amount; k++) {
+ Vector3 a = sr[k * 2 + 0];
+ Vector3 b = sr[k * 2 + 1];
+
+ recover_motion += (b - a) * 0.4;
+
+ float depth = a.distance_to(b);
+ if (depth > result.collision_depth) {
+
+ result.collision_depth = depth;
+ result.collision_point = b;
+ result.collision_normal = (b - a).normalized();
+ result.collision_local_shape = shape_idx;
+ result.collider = col_obj->get_self();
+ result.collider_id = col_obj->get_instance_id();
+ //result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
+ if (col_obj->get_type() == CollisionObjectSW::TYPE_BODY) {
+ BodySW *body = (BodySW *)col_obj;
+
+ Vector3 rel_vec = b - body->get_transform().get_origin();
+ //result.collider_velocity = Vector3(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
+ result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - rel_vec); // * mPos);
+ }
+ }
+ }
+ }
+ }
+ }
+
+ ray_index++;
+ }
+
+ rays_found = MAX(ray_index, rays_found);
+
+ if (!collided || recover_motion == Vector3()) {
+ break;
+ }
+
+ body_transform.origin += recover_motion;
+ body_aabb.position += recover_motion;
+
+ recover_attempts--;
+ } while (recover_attempts);
+ }
+
+ //optimize results (remove non colliding)
+ for (int i = 0; i < rays_found; i++) {
+ if (r_results[i].collision_depth == 0) {
+ rays_found--;
+ SWAP(r_results[i], r_results[rays_found]);
+ }
+ }
+
+ r_recover_motion = body_transform.origin - p_transform.origin;
+ return rays_found;
+}
+
+bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes) {
//give me back regular physics engine logic
//this is madness
@@ -597,6 +733,10 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
ShapeSW *body_shape = p_body->get_shape(j);
+ if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer::SHAPE_RAY) {
+ continue;
+ }
+
for (int i = 0; i < amount; i++) {
const CollisionObjectSW *col_obj = intersection_query_results[i];
@@ -655,6 +795,10 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
ShapeSW *body_shape = p_body->get_shape(j);
+ if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer::SHAPE_RAY) {
+ continue;
+ }
+
Transform body_shape_xform_inv = body_shape_xform.affine_inverse();
MotionShapeSW mshape;
mshape.shape = body_shape;
@@ -677,13 +821,11 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
Transform col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
//test initial overlap, does it collide if going all the way?
if (CollisionSolverSW::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) {
- //print_line("failed motion cast (no collision)");
continue;
}
sep_axis = p_motion.normalized();
if (!CollisionSolverSW::solve_distance(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) {
- //print_line("failed motion cast (no collision)");
stuck = true;
break;
}
@@ -707,7 +849,6 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
if (collided) {
- //print_line(itos(i)+": "+rtos(ofs));
hi = ofs;
} else {
diff --git a/servers/physics/space_sw.h b/servers/physics/space_sw.h
index 4d864e9a51..e7231df532 100644
--- a/servers/physics/space_sw.h
+++ b/servers/physics/space_sw.h
@@ -48,12 +48,12 @@ 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_mask = 0xFFFFFFFF);
- 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, 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);
- 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, 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);
- 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);
+ 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, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
+ 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, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, 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, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
+ 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, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, 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, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
+ 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, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const;
PhysicsDirectSpaceStateSW();
@@ -197,7 +197,8 @@ public:
void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; }
uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; }
- bool test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer::MotionResult *r_result);
+ int test_body_ray_separation(BodySW *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer::SeparationResult *r_results, int p_result_max, real_t p_margin);
+ bool test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes);
SpaceSW();
~SpaceSW();
diff --git a/servers/physics/step_sw.cpp b/servers/physics/step_sw.cpp
index ad08cb6353..4128e1ec1a 100644
--- a/servers/physics/step_sw.cpp
+++ b/servers/physics/step_sw.cpp
@@ -228,7 +228,6 @@ void StepSW::step(SpaceSW *p_space, real_t p_delta, int p_iterations) {
profile_begtime = profile_endtime;
}
- //print_line("island count: "+itos(island_count)+" active count: "+itos(active_count));
/* SETUP CONSTRAINT ISLANDS */
{
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-14 08:24:53 +0000