summaryrefslogtreecommitdiff
path: root/servers/physics
diff options
context:
space:
mode:
Diffstat (limited to 'servers/physics')
-rw-r--r--servers/physics/area_sw.cpp2
-rw-r--r--servers/physics/body_sw.cpp17
-rw-r--r--servers/physics/broad_phase_octree.cpp2
-rw-r--r--servers/physics/collision_object_sw.cpp10
-rw-r--r--servers/physics/collision_object_sw.h15
-rw-r--r--servers/physics/collision_solver_sat.cpp18
-rw-r--r--servers/physics/collision_solver_sw.cpp4
-rw-r--r--servers/physics/gjk_epa.cpp5
-rw-r--r--servers/physics/gjk_epa.h5
-rw-r--r--servers/physics/joints/cone_twist_joint_sw.cpp8
-rw-r--r--servers/physics/joints/generic_6dof_joint_sw.cpp3
-rw-r--r--servers/physics/joints/hinge_joint_sw.cpp9
-rw-r--r--servers/physics/physics_server_sw.cpp42
-rw-r--r--servers/physics/physics_server_sw.h8
-rw-r--r--servers/physics/shape_sw.cpp14
-rw-r--r--servers/physics/space_sw.cpp14
16 files changed, 71 insertions, 105 deletions
diff --git a/servers/physics/area_sw.cpp b/servers/physics/area_sw.cpp
index 9d68869bc2..ad3e40916d 100644
--- a/servers/physics/area_sw.cpp
+++ b/servers/physics/area_sw.cpp
@@ -250,7 +250,7 @@ AreaSW::AreaSW() :
gravity_is_point = false;
gravity_distance_scale = 0;
point_attenuation = 1;
- angular_damp = 1.0;
+ angular_damp = 0.1;
linear_damp = 0.1;
priority = 0;
set_ray_pickable(false);
diff --git a/servers/physics/body_sw.cpp b/servers/physics/body_sw.cpp
index f0fbbafe1c..ba98e14d2e 100644
--- a/servers/physics/body_sw.cpp
+++ b/servers/physics/body_sw.cpp
@@ -196,7 +196,8 @@ void BodySW::set_param(PhysicsServer::BodyParameter p_param, real_t p_value) {
angular_damp = p_value;
} break;
- default: {}
+ default: {
+ }
}
}
@@ -226,7 +227,8 @@ real_t BodySW::get_param(PhysicsServer::BodyParameter p_param) const {
return angular_damp;
} break;
- default: {}
+ default: {
+ }
}
return 0;
@@ -258,12 +260,15 @@ void BodySW::set_mode(PhysicsServer::BodyMode p_mode) {
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
_set_static(false);
+ set_active(true);
} break;
case PhysicsServer::BODY_MODE_CHARACTER: {
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
_set_static(false);
+ set_active(true);
+ angular_velocity = Vector3();
} break;
}
@@ -344,8 +349,7 @@ void BodySW::set_state(PhysicsServer::BodyState p_state, const Variant &p_varian
//biased_angular_velocity=Vector3();
set_active(false);
} else {
- if (mode != PhysicsServer::BODY_MODE_STATIC)
- set_active(true);
+ set_active(true);
}
} break;
case PhysicsServer::BODY_STATE_CAN_SLEEP: {
@@ -474,7 +478,8 @@ void BodySW::integrate_forces(real_t p_step) {
_compute_area_gravity_and_dampenings(aa[i].area);
stopped = mode == PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE;
} break;
- default: {}
+ default: {
+ }
}
}
}
@@ -791,7 +796,7 @@ BodySW::BodySW() :
still_time = 0;
continuous_cd = false;
- can_sleep = false;
+ can_sleep = true;
fi_callback = NULL;
}
diff --git a/servers/physics/broad_phase_octree.cpp b/servers/physics/broad_phase_octree.cpp
index 94bf274f9c..1b59779bd6 100644
--- a/servers/physics/broad_phase_octree.cpp
+++ b/servers/physics/broad_phase_octree.cpp
@@ -45,7 +45,7 @@ void BroadPhaseOctree::move(ID p_id, const AABB &p_aabb) {
void BroadPhaseOctree::set_static(ID p_id, bool p_static) {
CollisionObjectSW *it = octree.get(p_id);
- octree.set_pairable(p_id, p_static ? false : true, 1 << it->get_type(), p_static ? 0 : 0xFFFFF); //pair everything, don't care 1?
+ octree.set_pairable(p_id, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF); //pair everything, don't care 1?
}
void BroadPhaseOctree::remove(ID p_id) {
diff --git a/servers/physics/collision_object_sw.cpp b/servers/physics/collision_object_sw.cpp
index 085ad4f9ea..39de440da2 100644
--- a/servers/physics/collision_object_sw.cpp
+++ b/servers/physics/collision_object_sw.cpp
@@ -32,13 +32,14 @@
#include "servers/physics/physics_server_sw.h"
#include "space_sw.h"
-void CollisionObjectSW::add_shape(ShapeSW *p_shape, const Transform &p_transform) {
+void CollisionObjectSW::add_shape(ShapeSW *p_shape, const Transform &p_transform, bool p_disabled) {
Shape s;
s.shape = p_shape;
s.xform = p_transform;
s.xform_inv = s.xform.affine_inverse();
s.bpid = 0; //needs update
+ s.disabled = p_disabled;
shapes.push_back(s);
p_shape->add_owner(this);
@@ -75,6 +76,13 @@ void CollisionObjectSW::set_shape_transform(int p_index, const Transform &p_tran
//_shapes_changed();
}
+void CollisionObjectSW::set_shape_as_disabled(int p_idx, bool p_enable) {
+ shapes.write[p_idx].disabled = p_enable;
+ if (!pending_shape_update_list.in_list()) {
+ PhysicsServerSW::singleton->pending_shape_update_list.add(&pending_shape_update_list);
+ }
+}
+
void CollisionObjectSW::remove_shape(ShapeSW *p_shape) {
//remove a shape, all the times it appears
diff --git a/servers/physics/collision_object_sw.h b/servers/physics/collision_object_sw.h
index 5c14d5aaf9..08708e2f60 100644
--- a/servers/physics/collision_object_sw.h
+++ b/servers/physics/collision_object_sw.h
@@ -86,13 +86,9 @@ protected:
void _unregister_shapes();
_FORCE_INLINE_ void _set_transform(const Transform &p_transform, bool p_update_shapes = true) {
-
#ifdef DEBUG_ENABLED
- if (p_transform.origin.length_squared() > MAX_OBJECT_DISTANCE_X2) {
- ERR_EXPLAIN("Object went too far away (more than " + itos(MAX_OBJECT_DISTANCE) + "mts from origin).");
- ERR_FAIL();
- }
+ ERR_FAIL_COND_MSG(p_transform.origin.length_squared() > MAX_OBJECT_DISTANCE_X2, "Object went too far away (more than '" + itos(MAX_OBJECT_DISTANCE) + "' units from origin).");
#endif
transform = p_transform;
@@ -118,7 +114,7 @@ public:
void _shape_changed();
_FORCE_INLINE_ Type get_type() const { return type; }
- void add_shape(ShapeSW *p_shape, const Transform &p_transform = Transform());
+ void add_shape(ShapeSW *p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
void set_shape(int p_index, ShapeSW *p_shape);
void set_shape_transform(int p_index, const Transform &p_transform);
_FORCE_INLINE_ int get_shape_count() const { return shapes.size(); }
@@ -139,8 +135,11 @@ public:
_FORCE_INLINE_ void set_ray_pickable(bool p_enable) { ray_pickable = p_enable; }
_FORCE_INLINE_ bool is_ray_pickable() const { return ray_pickable; }
- _FORCE_INLINE_ void set_shape_as_disabled(int p_idx, bool p_enable) { shapes.write[p_idx].disabled = p_enable; }
- _FORCE_INLINE_ bool is_shape_set_as_disabled(int p_idx) const { return shapes[p_idx].disabled; }
+ void set_shape_as_disabled(int p_idx, bool p_enable);
+ _FORCE_INLINE_ bool is_shape_set_as_disabled(int p_idx) const {
+ CRASH_BAD_INDEX(p_idx, shapes.size());
+ return shapes[p_idx].disabled;
+ }
_FORCE_INLINE_ void set_collision_layer(uint32_t p_layer) { collision_layer = p_layer; }
_FORCE_INLINE_ uint32_t get_collision_layer() const { return collision_layer; }
diff --git a/servers/physics/collision_solver_sat.cpp b/servers/physics/collision_solver_sat.cpp
index baf7431e28..a13fa65009 100644
--- a/servers/physics/collision_solver_sat.cpp
+++ b/servers/physics/collision_solver_sat.cpp
@@ -98,7 +98,7 @@ static void _generate_contacts_edge_edge(const Vector3 *p_points_A, int p_point_
Vector3 c = rel_A.cross(rel_B).cross(rel_B);
- if (Math::abs(rel_A.dot(c)) < CMP_EPSILON) {
+ if (Math::is_zero_approx(rel_A.dot(c))) {
// should handle somehow..
//ERR_PRINT("TODO FIX");
@@ -538,8 +538,6 @@ static void _collision_sphere_capsule(const ShapeSW *p_a, const Transform &p_tra
template <bool withMargin>
static void _collision_sphere_cylinder(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-
- return;
}
template <bool withMargin>
@@ -678,7 +676,7 @@ static void _collision_box_box(const ShapeSW *p_a, const Transform &p_transform_
Vector3 axis = p_transform_a.basis.get_axis(i).cross(p_transform_b.basis.get_axis(j));
- if (axis.length_squared() < CMP_EPSILON)
+ if (Math::is_zero_approx(axis.length_squared()))
continue;
axis.normalize();
@@ -767,7 +765,7 @@ static void _collision_box_capsule(const ShapeSW *p_a, const Transform &p_transf
// cylinder
Vector3 box_axis = p_transform_a.basis.get_axis(i);
Vector3 axis = box_axis.cross(cyl_axis);
- if (axis.length_squared() < CMP_EPSILON)
+ if (Math::is_zero_approx(axis.length_squared()))
continue;
if (!separator.test_axis(axis.normalized()))
@@ -835,8 +833,6 @@ static void _collision_box_capsule(const ShapeSW *p_a, const Transform &p_transf
template <bool withMargin>
static void _collision_box_cylinder(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-
- return;
}
template <bool withMargin>
@@ -1117,8 +1113,6 @@ static void _collision_capsule_capsule(const ShapeSW *p_a, const Transform &p_tr
template <bool withMargin>
static void _collision_capsule_cylinder(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-
- return;
}
template <bool withMargin>
@@ -1243,20 +1237,14 @@ static void _collision_capsule_face(const ShapeSW *p_a, const Transform &p_trans
template <bool withMargin>
static void _collision_cylinder_cylinder(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-
- return;
}
template <bool withMargin>
static void _collision_cylinder_convex_polygon(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-
- return;
}
template <bool withMargin>
static void _collision_cylinder_face(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-
- return;
}
template <bool withMargin>
diff --git a/servers/physics/collision_solver_sw.cpp b/servers/physics/collision_solver_sw.cpp
index 0d10dae8cc..d970dd39fb 100644
--- a/servers/physics/collision_solver_sw.cpp
+++ b/servers/physics/collision_solver_sw.cpp
@@ -233,8 +233,6 @@ bool CollisionSolverSW::solve_static(const ShapeSW *p_shape_A, const Transform &
return collision_solver(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, r_sep_axis, p_margin_A, p_margin_B);
}
-
- return false;
}
void CollisionSolverSW::concave_distance_callback(void *p_userdata, ShapeSW *p_convex) {
@@ -371,6 +369,4 @@ bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A, const Transform
return gjk_epa_calculate_distance(p_shape_A, p_transform_A, p_shape_B, p_transform_B, r_point_A, r_point_B); //should pass sepaxis..
}
-
- return false;
}
diff --git a/servers/physics/gjk_epa.cpp b/servers/physics/gjk_epa.cpp
index ae512183fd..1d5ca42838 100644
--- a/servers/physics/gjk_epa.cpp
+++ b/servers/physics/gjk_epa.cpp
@@ -722,7 +722,10 @@ struct GJK
append(m_stock,face);
return(0);
}
- m_status=m_stock.root?eStatus::OutOfVertices:eStatus::OutOfFaces;
+ // -- GODOT start --
+ //m_status=m_stock.root?eStatus::OutOfVertices:eStatus::OutOfFaces;
+ m_status=eStatus::OutOfFaces;
+ // -- GODOT end --
return(0);
}
sFace* findbest()
diff --git a/servers/physics/gjk_epa.h b/servers/physics/gjk_epa.h
index 0b7885c9a5..d3fa192804 100644
--- a/servers/physics/gjk_epa.h
+++ b/servers/physics/gjk_epa.h
@@ -31,11 +31,8 @@
#ifndef GJK_EPA_H
#define GJK_EPA_H
-#include "shape_sw.h"
-/**
- @author Juan Linietsky <reduzio@gmail.com>
-*/
#include "collision_solver_sw.h"
+#include "shape_sw.h"
bool gjk_epa_calculate_penetration(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CollisionSolverSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false);
bool gjk_epa_calculate_distance(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B);
diff --git a/servers/physics/joints/cone_twist_joint_sw.cpp b/servers/physics/joints/cone_twist_joint_sw.cpp
index 268b9eefeb..cd86128dc3 100644
--- a/servers/physics/joints/cone_twist_joint_sw.cpp
+++ b/servers/physics/joints/cone_twist_joint_sw.cpp
@@ -53,7 +53,7 @@ Written by: Marcus Hennix
static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
- if (Math::abs(n.z) > 0.707106781186547524400844362) {
+ if (Math::abs(n.z) > Math_SQRT12) {
// choose p in y-z plane
real_t a = n[1] * n[1] + n[2] * n[2];
real_t k = 1.0 / Math::sqrt(a);
@@ -127,10 +127,10 @@ bool ConeTwistJointSW::setup(real_t p_timestep) {
Vector3 relPos = pivotBInW - pivotAInW;
Vector3 normal[3];
- if (relPos.length_squared() > CMP_EPSILON) {
- normal[0] = relPos.normalized();
- } else {
+ if (Math::is_zero_approx(relPos.length_squared())) {
normal[0] = Vector3(real_t(1.0), 0, 0);
+ } else {
+ normal[0] = relPos.normalized();
}
plane_space(normal[0], normal[1], normal[2]);
diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp
index 756348f448..a9fe045856 100644
--- a/servers/physics/joints/generic_6dof_joint_sw.cpp
+++ b/servers/physics/joints/generic_6dof_joint_sw.cpp
@@ -107,7 +107,7 @@ real_t G6DOFRotationalLimitMotorSW::solveAngularLimits(
// correction velocity
real_t motor_relvel = m_limitSoftness * (target_velocity - m_damping * rel_vel);
- if (motor_relvel < CMP_EPSILON && motor_relvel > -CMP_EPSILON) {
+ if (Math::is_zero_approx(motor_relvel)) {
return 0.0f; //no need for applying force
}
@@ -421,7 +421,6 @@ void Generic6DOFJointSW::calcAnchorPos(void) {
const Vector3 &pA = m_calculatedTransformA.origin;
const Vector3 &pB = m_calculatedTransformB.origin;
m_AnchorPos = pA * weight + pB * (real_t(1.0) - weight);
- return;
} // Generic6DOFJointSW::calcAnchorPos()
void Generic6DOFJointSW::set_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param, real_t p_value) {
diff --git a/servers/physics/joints/hinge_joint_sw.cpp b/servers/physics/joints/hinge_joint_sw.cpp
index e972496b2b..633f0b4921 100644
--- a/servers/physics/joints/hinge_joint_sw.cpp
+++ b/servers/physics/joints/hinge_joint_sw.cpp
@@ -51,7 +51,7 @@ subject to the following restrictions:
static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
- if (Math::abs(n.z) > 0.707106781186547524400844362) {
+ if (Math::abs(n.z) > Math_SQRT12) {
// choose p in y-z plane
real_t a = n[1] * n[1] + n[2] * n[2];
real_t k = 1.0 / Math::sqrt(a);
@@ -167,10 +167,10 @@ bool HingeJointSW::setup(real_t p_step) {
Vector3 relPos = pivotBInW - pivotAInW;
Vector3 normal[3];
- if (relPos.length_squared() > CMP_EPSILON) {
- normal[0] = relPos.normalized();
- } else {
+ if (Math::is_zero_approx(relPos.length_squared())) {
normal[0] = Vector3(real_t(1.0), 0, 0);
+ } else {
+ normal[0] = relPos.normalized();
}
plane_space(normal[0], normal[1], normal[2]);
@@ -198,7 +198,6 @@ bool HingeJointSW::setup(real_t p_step) {
plane_space(m_rbAFrame.basis.get_axis(2), jointAxis0local, jointAxis1local);
- A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2));
Vector3 jointAxis0 = A->get_transform().basis.xform(jointAxis0local);
Vector3 jointAxis1 = A->get_transform().basis.xform(jointAxis1local);
Vector3 hingeAxisWorld = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2));
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index 36d18e8901..09872977b6 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -40,11 +40,8 @@
#include "joints/pin_joint_sw.h"
#include "joints/slider_joint_sw.h"
-#define FLUSH_QUERY_CHECK(m_object) \
- if (m_object->get_space() && flushing_queries) { \
- ERR_EXPLAIN("Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead"); \
- ERR_FAIL(); \
- }
+#define FLUSH_QUERY_CHECK(m_object) \
+ ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead.");
RID PhysicsServerSW::shape_create(ShapeType p_shape) {
@@ -73,8 +70,7 @@ RID PhysicsServerSW::shape_create(ShapeType p_shape) {
} break;
case SHAPE_CYLINDER: {
- ERR_EXPLAIN("CylinderShape is not supported in GodotPhysics. Please switch to Bullet in the Project Settings.");
- ERR_FAIL_V(RID());
+ ERR_FAIL_V_MSG(RID(), "CylinderShape is not supported in GodotPhysics. Please switch to Bullet in the Project Settings.");
} break;
case SHAPE_CONVEX_POLYGON: {
@@ -200,11 +196,7 @@ PhysicsDirectSpaceState *PhysicsServerSW::space_get_direct_state(RID p_space) {
SpaceSW *space = space_owner.get(p_space);
ERR_FAIL_COND_V(!space, NULL);
- if (!doing_sync || space->is_locked()) {
-
- ERR_EXPLAIN("Space state is inaccessible right now, wait for iteration or physics process notification.");
- ERR_FAIL_V(NULL);
- }
+ ERR_FAIL_COND_V_MSG(!doing_sync || space->is_locked(), NULL, "Space state is inaccessible right now, wait for iteration or physics process notification.");
return space->get_direct_state();
}
@@ -283,7 +275,7 @@ PhysicsServer::AreaSpaceOverrideMode PhysicsServerSW::area_get_space_override_mo
return area->get_space_override_mode();
}
-void PhysicsServerSW::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform) {
+void PhysicsServerSW::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform, bool p_disabled) {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
@@ -291,7 +283,7 @@ void PhysicsServerSW::area_add_shape(RID p_area, RID p_shape, const Transform &p
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
- area->add_shape(shape, p_transform);
+ area->add_shape(shape, p_transform, p_disabled);
}
void PhysicsServerSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
@@ -365,7 +357,7 @@ void PhysicsServerSW::area_set_shape_disabled(RID p_area, int p_shape_idx, bool
area->set_shape_as_disabled(p_shape_idx, p_disabled);
}
-void PhysicsServerSW::area_attach_object_instance_id(RID p_area, ObjectID p_ID) {
+void PhysicsServerSW::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
if (space_owner.owns(p_area)) {
SpaceSW *space = space_owner.get(p_area);
@@ -373,7 +365,7 @@ void PhysicsServerSW::area_attach_object_instance_id(RID p_area, ObjectID p_ID)
}
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
- area->set_instance_id(p_ID);
+ area->set_instance_id(p_id);
}
ObjectID PhysicsServerSW::area_get_object_instance_id(RID p_area) const {
@@ -540,7 +532,7 @@ PhysicsServer::BodyMode PhysicsServerSW::body_get_mode(RID p_body) const {
return body->get_mode();
};
-void PhysicsServerSW::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform) {
+void PhysicsServerSW::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform, bool p_disabled) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
@@ -548,7 +540,7 @@ void PhysicsServerSW::body_add_shape(RID p_body, RID p_shape, const Transform &p
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
- body->add_shape(shape, p_transform);
+ body->add_shape(shape, p_transform, p_disabled);
}
void PhysicsServerSW::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
@@ -673,12 +665,12 @@ uint32_t PhysicsServerSW::body_get_collision_mask(RID p_body) const {
return body->get_collision_mask();
}
-void PhysicsServerSW::body_attach_object_instance_id(RID p_body, uint32_t p_ID) {
+void PhysicsServerSW::body_attach_object_instance_id(RID p_body, uint32_t p_id) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
- body->set_instance_id(p_ID);
+ body->set_instance_id(p_id);
};
uint32_t PhysicsServerSW::body_get_object_instance_id(RID p_body) const {
@@ -987,12 +979,7 @@ PhysicsDirectBodyState *PhysicsServerSW::body_get_direct_state(RID p_body) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, NULL);
-
- if (!doing_sync || body->get_space()->is_locked()) {
-
- ERR_EXPLAIN("Body state is inaccessible right now, wait for iteration or physics process notification.");
- ERR_FAIL_V(NULL);
- }
+ ERR_FAIL_COND_V_MSG(!doing_sync || body->get_space()->is_locked(), NULL, "Body state is inaccessible right now, wait for iteration or physics process notification.");
direct_state->body = body;
return direct_state;
@@ -1410,8 +1397,7 @@ void PhysicsServerSW::free(RID p_rid) {
} else {
- ERR_EXPLAIN("Invalid ID");
- ERR_FAIL();
+ ERR_FAIL_MSG("Invalid ID.");
}
};
diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h
index 5d0ba3628e..b593e9b5f1 100644
--- a/servers/physics/physics_server_sw.h
+++ b/servers/physics/physics_server_sw.h
@@ -119,7 +119,7 @@ public:
virtual void area_set_space(RID p_area, RID p_space);
virtual RID area_get_space(RID p_area) const;
- virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform());
+ virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape);
virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform);
@@ -132,7 +132,7 @@ public:
virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled);
- virtual void area_attach_object_instance_id(RID p_area, ObjectID p_ID);
+ virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id);
virtual ObjectID area_get_object_instance_id(RID p_area) const;
virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value);
@@ -163,7 +163,7 @@ public:
virtual void body_set_mode(RID p_body, BodyMode p_mode);
virtual BodyMode body_get_mode(RID p_body) const;
- virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform());
+ virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape);
virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform);
@@ -176,7 +176,7 @@ public:
virtual void body_remove_shape(RID p_body, int p_shape_idx);
virtual void body_clear_shapes(RID p_body);
- virtual void body_attach_object_instance_id(RID p_body, uint32_t p_ID);
+ virtual void body_attach_object_instance_id(RID p_body, uint32_t p_id);
virtual uint32_t body_get_object_instance_id(RID p_body) const;
virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable);
diff --git a/servers/physics/shape_sw.cpp b/servers/physics/shape_sw.cpp
index d40de669fd..f01caefdce 100644
--- a/servers/physics/shape_sw.cpp
+++ b/servers/physics/shape_sw.cpp
@@ -543,16 +543,6 @@ void CapsuleShapeSW::project_range(const Vector3 &p_normal, const Transform &p_t
r_max = p_normal.dot(p_transform.xform(n));
r_min = p_normal.dot(p_transform.xform(-n));
- return;
-
- n = p_transform.basis.xform(n);
-
- real_t distance = p_normal.dot(p_transform.origin);
- real_t length = Math::abs(p_normal.dot(n));
- r_min = distance - length;
- r_max = distance + length;
-
- ERR_FAIL_COND(r_max < r_min);
}
Vector3 CapsuleShapeSW::get_support(const Vector3 &p_normal) const {
@@ -1524,8 +1514,8 @@ void ConcavePolygonShapeSW::_setup(PoolVector<Vector3> p_faces) {
_aabb.merge_with(bvh_arrayw[i].aabb);
}
- w = PoolVector<Face>::Write();
- vw = PoolVector<Vector3>::Write();
+ w.release();
+ vw.release();
int count = 0;
_VolumeSW_BVH *bvh_tree = _volume_sw_build_bvh(bvh_arrayw, src_face_count, count);
diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp
index 4ab92715f4..410b6e59a0 100644
--- a/servers/physics/space_sw.cpp
+++ b/servers/physics/space_sw.cpp
@@ -118,7 +118,7 @@ bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3 &p_from, const Vecto
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()))
+ if (p_pick_ray && !(space->intersection_query_results[i]->is_ray_pickable()))
continue;
if (p_exclude.has(space->intersection_query_results[i]->get_self()))
@@ -348,13 +348,9 @@ bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform &p_sh
cbk.max = p_result_max;
cbk.amount = 0;
cbk.ptr = r_results;
- CollisionSolverSW::CallbackResult cbkres = NULL;
+ CollisionSolverSW::CallbackResult cbkres = PhysicsServerSW::_shape_col_cbk;
- PhysicsServerSW::CollCbkData *cbkptr = NULL;
- if (p_result_max > 0) {
- cbkptr = &cbk;
- cbkres = PhysicsServerSW::_shape_col_cbk;
- }
+ PhysicsServerSW::CollCbkData *cbkptr = &cbk;
for (int i = 0; i < amount; i++) {
@@ -441,7 +437,7 @@ bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_
continue;
}
- if (rcd.best_len == 0)
+ if (rcd.best_len == 0 || !rcd.best_object)
return false;
r_info->collider_id = rcd.best_object->get_instance_id();
@@ -632,7 +628,7 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
int ray_index = -1; //reuse shape
for (int k = 0; k < rays_found; k++) {
- if (r_results[ray_index].collision_local_shape == j) {
+ if (r_results[k].collision_local_shape == j) {
ray_index = k;
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-09 21:40:37 +0000