3 files changed, 45 insertions, 2 deletions
diff --git a/servers/physics/body_pair_sw.cpp b/servers/physics/body_pair_sw.cpp
index bca6a9fa72..2e66c9e27b 100644
--- a/servers/physics/body_pair_sw.cpp
+++ b/servers/physics/body_pair_sw.cpp
@@ -175,7 +175,7 @@ void BodyPairSW::validate_contacts() {
 bool BodyPairSW::setup(float p_step) {
 
 	//cannot collide
-	if (A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode()<=PhysicsServer::BODY_MODE_KINEMATIC && B->get_mode()<=PhysicsServer::BODY_MODE_KINEMATIC && A->get_max_contacts_reported()==0 && B->get_max_contacts_reported()==0)) {
+	if ((A->get_layer_mask()&B->get_layer_mask())==0 || A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode()<=PhysicsServer::BODY_MODE_KINEMATIC && B->get_mode()<=PhysicsServer::BODY_MODE_KINEMATIC && A->get_max_contacts_reported()==0 && B->get_max_contacts_reported()==0)) {
 		collided=false;
 		return false;
 	}
diff --git a/servers/physics/collision_solver_sw.cpp b/servers/physics/collision_solver_sw.cpp
index 56f2784145..86e3b679f2 100644
--- a/servers/physics/collision_solver_sw.cpp
+++ b/servers/physics/collision_solver_sw.cpp
@@ -275,6 +275,44 @@ void CollisionSolverSW::concave_distance_callback(void *p_userdata, ShapeSW *p_c
 }
 
 
+
+bool CollisionSolverSW::solve_distance_plane(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,Vector3& r_point_A,Vector3& r_point_B) {
+
+	const PlaneShapeSW *plane = static_cast<const PlaneShapeSW*>(p_shape_A);
+	if (p_shape_B->get_type()==PhysicsServer::SHAPE_PLANE)
+		return false;
+	Plane p = p_transform_A.xform(plane->get_plane());
+
+	static const int max_supports = 16;
+	Vector3 supports[max_supports];
+	int support_count;
+
+	p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(),max_supports,supports,support_count);
+
+	bool collided=false;
+	Vector3 closest;
+	float closest_d;
+
+
+	for(int i=0;i<support_count;i++) {
+
+		supports[i] = p_transform_B.xform( supports[i] );
+		real_t d = p.distance_to(supports[i]);
+		if (i==0 || d<closest_d) {
+			closest=supports[i];
+			closest_d=d;
+			if (d<=0)
+				collided=true;
+		}
+
+	}
+
+	r_point_A=p.project(closest);
+	r_point_B=closest;
+
+	return collided;
+}
+
 bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,Vector3& r_point_A,Vector3& r_point_B,const AABB& p_concave_hint,Vector3 *r_sep_axis) {
 
 	if (p_shape_A->is_concave())
@@ -282,7 +320,11 @@ bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A,const Transform&
 
 	if (p_shape_B->get_type()==PhysicsServer::SHAPE_PLANE) {
 
-		return false; //unsupported
+		Vector3 a,b;
+		bool col = solve_distance_plane(p_shape_B,p_transform_B,p_shape_A,p_transform_A,a,b);
+		r_point_A=b;
+		r_point_B=a;
+		return !col;
 
 	} else if (p_shape_B->is_concave()) {
 
diff --git a/servers/physics/collision_solver_sw.h b/servers/physics/collision_solver_sw.h
index 430f057c7c..764c32926c 100644
--- a/servers/physics/collision_solver_sw.h
+++ b/servers/physics/collision_solver_sw.h
@@ -42,6 +42,7 @@ private:
 	static bool solve_ray(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result);
 	static bool solve_concave(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result,float p_margin_A=0,float p_margin_B=0);
 	static void concave_distance_callback(void *p_userdata, ShapeSW *p_convex);
+	static bool solve_distance_plane(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,Vector3& r_point_A,Vector3& r_point_B);
 
 public: