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-rw-r--r--servers/physics/physics_server_sw.cpp16
-rw-r--r--servers/physics/physics_server_sw.h4
-rw-r--r--servers/physics/space_sw.cpp147
-rw-r--r--servers/physics/space_sw.h3
4 files changed, 164 insertions, 6 deletions
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index 3a32c46a9b..61b014713f 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -941,7 +941,7 @@ 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, 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);
@@ -950,7 +950,19 @@ 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_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);
+ 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_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 2b3d2ae91f..ad7aa4aa28 100644
--- a/servers/physics/physics_server_sw.h
+++ b/servers/physics/physics_server_sw.h
@@ -230,8 +230,8 @@ 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 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) { return 0; }
+ 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..9d6ec958b4 100644
--- a/servers/physics/space_sw.cpp
+++ b/servers/physics/space_sw.cpp
@@ -541,7 +541,144 @@ 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 +734,10 @@ 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 +796,10 @@ 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;
diff --git a/servers/physics/space_sw.h b/servers/physics/space_sw.h
index 4d864e9a51..ed4b274d13 100644
--- a/servers/physics/space_sw.h
+++ b/servers/physics/space_sw.h
@@ -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();
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-05 11:27:57 +0000