diff options
Diffstat (limited to 'servers/physics')
45 files changed, 329 insertions, 221 deletions
diff --git a/servers/physics/SCsub b/servers/physics/SCsub index c0ee2cc739..c5cc889112 100644 --- a/servers/physics/SCsub +++ b/servers/physics/SCsub @@ -4,6 +4,4 @@ Import('env') env.add_source_files(env.servers_sources, "*.cpp") -Export('env') - SConscript("joints/SCsub") diff --git a/servers/physics/area_pair_sw.cpp b/servers/physics/area_pair_sw.cpp index d2fef0ab77..fed24e0b58 100644 --- a/servers/physics/area_pair_sw.cpp +++ b/servers/physics/area_pair_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -147,10 +147,10 @@ Area2PairSW::~Area2PairSW() { if (colliding) { - if (area_b->has_area_monitor_callback() && area_a->is_monitorable()) + if (area_b->has_area_monitor_callback()) area_b->remove_area_from_query(area_a, shape_a, shape_b); - if (area_a->has_area_monitor_callback() && area_b->is_monitorable()) + if (area_a->has_area_monitor_callback()) area_a->remove_area_from_query(area_b, shape_b, shape_a); } diff --git a/servers/physics/area_pair_sw.h b/servers/physics/area_pair_sw.h index b66599dd11..48113d0580 100644 --- a/servers/physics/area_pair_sw.h +++ b/servers/physics/area_pair_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/area_sw.cpp b/servers/physics/area_sw.cpp index 8f9d4075b8..ad3e40916d 100644 --- a/servers/physics/area_sw.cpp +++ b/servers/physics/area_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -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/area_sw.h b/servers/physics/area_sw.h index 63a4db5d02..9b14055507 100644 --- a/servers/physics/area_sw.h +++ b/servers/physics/area_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/body_pair_sw.cpp b/servers/physics/body_pair_sw.cpp index 357fc05355..dbe4fbd700 100644 --- a/servers/physics/body_pair_sw.cpp +++ b/servers/physics/body_pair_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/body_pair_sw.h b/servers/physics/body_pair_sw.h index fd85d77718..cd2355d5a1 100644 --- a/servers/physics/body_pair_sw.h +++ b/servers/physics/body_pair_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -76,7 +76,6 @@ class BodyPairSW : public ConstraintSW { Contact contacts[MAX_CONTACTS]; int contact_count; bool collided; - int cc; static void _contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata); diff --git a/servers/physics/body_sw.cpp b/servers/physics/body_sw.cpp index cc9681193c..a3bb581cb5 100644 --- a/servers/physics/body_sw.cpp +++ b/servers/physics/body_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -87,6 +87,10 @@ void BodySW::update_inertias() { for (int i = 0; i < get_shape_count(); i++) { + if (is_shape_disabled(i)) { + continue; + } + const ShapeSW *shape = get_shape(i); real_t area = get_shape_area(i); @@ -192,7 +196,8 @@ void BodySW::set_param(PhysicsServer::BodyParameter p_param, real_t p_value) { angular_damp = p_value; } break; - default: {} + default: { + } } } @@ -222,7 +227,8 @@ real_t BodySW::get_param(PhysicsServer::BodyParameter p_param) const { return angular_damp; } break; - default: {} + default: { + } } return 0; @@ -260,6 +266,7 @@ void BodySW::set_mode(PhysicsServer::BodyMode p_mode) { _inv_mass = mass > 0 ? (1.0 / mass) : 0; _set_static(false); + angular_velocity = Vector3(); } break; } @@ -340,8 +347,7 @@ 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: { @@ -470,7 +476,8 @@ 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: { + } } } } @@ -648,7 +655,7 @@ void BodySW::simulate_motion(const Transform& p_xform,real_t p_step) { linear_velocity=(p_xform.origin - get_transform().origin)/p_step; //compute a FAKE angular velocity, not so easy - Matrix3 rot=get_transform().basis.orthonormalized().transposed() * p_xform.basis.orthonormalized(); + Basis rot=get_transform().basis.orthonormalized().transposed() * p_xform.basis.orthonormalized(); Vector3 axis; real_t angle; @@ -755,10 +762,10 @@ void BodySW::set_kinematic_margin(real_t p_margin) { BodySW::BodySW() : CollisionObjectSW(TYPE_BODY), + locked_axis(0), active_list(this), inertia_update_list(this), - direct_state_query_list(this), - locked_axis(0) { + direct_state_query_list(this) { mode = PhysicsServer::BODY_MODE_RIGID; active = true; diff --git a/servers/physics/body_sw.h b/servers/physics/body_sw.h index 0f7797254e..05c61639de 100644 --- a/servers/physics/body_sw.h +++ b/servers/physics/body_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/broad_phase_basic.cpp b/servers/physics/broad_phase_basic.cpp index d55951b39a..13b91f2be9 100644 --- a/servers/physics/broad_phase_basic.cpp +++ b/servers/physics/broad_phase_basic.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/broad_phase_basic.h b/servers/physics/broad_phase_basic.h index 500b8544a1..3d63a70074 100644 --- a/servers/physics/broad_phase_basic.h +++ b/servers/physics/broad_phase_basic.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/broad_phase_octree.cpp b/servers/physics/broad_phase_octree.cpp index 7f43fbdb6a..1b59779bd6 100644 --- a/servers/physics/broad_phase_octree.cpp +++ b/servers/physics/broad_phase_octree.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -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/broad_phase_octree.h b/servers/physics/broad_phase_octree.h index c4b8ecb299..f4b5d3f2a7 100644 --- a/servers/physics/broad_phase_octree.h +++ b/servers/physics/broad_phase_octree.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/broad_phase_sw.cpp b/servers/physics/broad_phase_sw.cpp index 2a490c3e80..f90520d373 100644 --- a/servers/physics/broad_phase_sw.cpp +++ b/servers/physics/broad_phase_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/broad_phase_sw.h b/servers/physics/broad_phase_sw.h index 2db1c1dd06..9ffbd8986b 100644 --- a/servers/physics/broad_phase_sw.h +++ b/servers/physics/broad_phase_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/collision_object_sw.cpp b/servers/physics/collision_object_sw.cpp index 09f72ff39b..39de440da2 100644 --- a/servers/physics/collision_object_sw.cpp +++ b/servers/physics/collision_object_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -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 993799ee10..08708e2f60 100644 --- a/servers/physics/collision_object_sw.h +++ b/servers/physics/collision_object_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -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; @@ -118,15 +114,19 @@ 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(); } + _FORCE_INLINE_ bool is_shape_disabled(int p_index) const { + CRASH_BAD_INDEX(p_index, shapes.size()); + return shapes[p_index].disabled; + } _FORCE_INLINE_ ShapeSW *get_shape(int p_index) const { return shapes[p_index].shape; } _FORCE_INLINE_ const Transform &get_shape_transform(int p_index) const { return shapes[p_index].xform; } _FORCE_INLINE_ const Transform &get_shape_inv_transform(int p_index) const { return shapes[p_index].xform_inv; } _FORCE_INLINE_ const AABB &get_shape_aabb(int p_index) const { return shapes[p_index].aabb_cache; } - _FORCE_INLINE_ const real_t get_shape_area(int p_index) const { return shapes[p_index].area_cache; } + _FORCE_INLINE_ real_t get_shape_area(int p_index) const { return shapes[p_index].area_cache; } _FORCE_INLINE_ Transform get_transform() const { return transform; } _FORCE_INLINE_ Transform get_inv_transform() const { return inv_transform; } @@ -135,8 +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 087ae570fb..a13fa65009 100644 --- a/servers/physics/collision_solver_sat.cpp +++ b/servers/physics/collision_solver_sat.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -98,8 +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) )<_EDGE_IS_VALID_SUPPORT_TRESHOLD ) { - 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"); @@ -539,8 +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> @@ -679,7 +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(); @@ -768,7 +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())) @@ -822,9 +819,9 @@ static void _collision_box_capsule(const ShapeSW *p_a, const Transform &p_transf // test edges of A - for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { - Vector3 axis = point_axis.cross(p_transform_a.basis.get_axis(i)).cross(p_transform_a.basis.get_axis(i)).normalized(); + Vector3 axis = point_axis.cross(p_transform_a.basis.get_axis(j)).cross(p_transform_a.basis.get_axis(j)).normalized(); if (!separator.test_axis(axis)) return; @@ -836,8 +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> @@ -1118,8 +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> @@ -1244,20 +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> @@ -1338,7 +1325,7 @@ static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a, const T return; } } - //edge-vertex( hsell) + //edge-vertex (shell) for (int i = 0; i < edge_count_A; i++) { @@ -1439,7 +1426,7 @@ static void _collision_convex_polygon_face(const ShapeSW *p_a, const Transform & return; } } - //edge-vertex( hsell) + //edge-vertex (shell) for (int i = 0; i < edge_count; i++) { diff --git a/servers/physics/collision_solver_sat.h b/servers/physics/collision_solver_sat.h index 1d83d9889d..1bbe1de9be 100644 --- a/servers/physics/collision_solver_sat.h +++ b/servers/physics/collision_solver_sat.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/collision_solver_sw.cpp b/servers/physics/collision_solver_sw.cpp index 2f2f6d2908..d970dd39fb 100644 --- a/servers/physics/collision_solver_sw.cpp +++ b/servers/physics/collision_solver_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,7 +31,6 @@ #include "collision_solver_sw.h" #include "collision_solver_sat.h" -#include "collision_solver_sat.h" #include "gjk_epa.h" #define collision_solver sat_calculate_penetration @@ -234,8 +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) { @@ -372,6 +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/collision_solver_sw.h b/servers/physics/collision_solver_sw.h index cbcb6b850a..0a8a17e5e2 100644 --- a/servers/physics/collision_solver_sw.h +++ b/servers/physics/collision_solver_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/constraint_sw.h b/servers/physics/constraint_sw.h index 41789600f6..e92c2c08fa 100644 --- a/servers/physics/constraint_sw.h +++ b/servers/physics/constraint_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/gjk_epa.cpp b/servers/physics/gjk_epa.cpp index a42b7ed82b..1d5ca42838 100644 --- a/servers/physics/gjk_epa.cpp +++ b/servers/physics/gjk_epa.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -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 f6d052608e..d3fa192804 100644 --- a/servers/physics/gjk_epa.h +++ b/servers/physics/gjk_epa.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -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/SCsub b/servers/physics/joints/SCsub index ccc76e823f..d730144861 100644 --- a/servers/physics/joints/SCsub +++ b/servers/physics/joints/SCsub @@ -3,5 +3,3 @@ Import('env') env.add_source_files(env.servers_sources, "*.cpp") - -Export('env') diff --git a/servers/physics/joints/cone_twist_joint_sw.cpp b/servers/physics/joints/cone_twist_joint_sw.cpp index c06f27cc57..1b3de3e913 100644 --- a/servers/physics/joints/cone_twist_joint_sw.cpp +++ b/servers/physics/joints/cone_twist_joint_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -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]); @@ -205,9 +205,9 @@ bool ConeTwistJointSW::setup(real_t p_timestep) { // Twist limits if (m_twistSpan >= real_t(0.)) { - Vector3 b2Axis2 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_axis(1)); + Vector3 b2Axis22 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_axis(1)); Quat rotationArc = Quat(b2Axis1, b1Axis1); - Vector3 TwistRef = rotationArc.xform(b2Axis2); + Vector3 TwistRef = rotationArc.xform(b2Axis22); real_t twist = atan2fast(TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2)); real_t lockedFreeFactor = (m_twistSpan > real_t(0.05f)) ? m_limitSoftness : real_t(0.); @@ -332,6 +332,7 @@ void ConeTwistJointSW::set_param(PhysicsServer::ConeTwistJointParam p_param, rea m_relaxationFactor = p_value; } break; + case PhysicsServer::CONE_TWIST_MAX: break; // Can't happen, but silences warning } } @@ -358,6 +359,7 @@ real_t ConeTwistJointSW::get_param(PhysicsServer::ConeTwistJointParam p_param) c return m_relaxationFactor; } break; + case PhysicsServer::CONE_TWIST_MAX: break; // Can't happen, but silences warning } return 0; diff --git a/servers/physics/joints/cone_twist_joint_sw.h b/servers/physics/joints/cone_twist_joint_sw.h index 3213562c3f..62ae310f35 100644 --- a/servers/physics/joints/cone_twist_joint_sw.h +++ b/servers/physics/joints/cone_twist_joint_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp index c95e5cef32..a9fe045856 100644 --- a/servers/physics/joints/generic_6dof_joint_sw.cpp +++ b/servers/physics/joints/generic_6dof_joint_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -83,7 +83,7 @@ int G6DOFRotationalLimitMotorSW::testLimitValue(real_t test_value) { real_t G6DOFRotationalLimitMotorSW::solveAngularLimits( real_t timeStep, Vector3 &axis, real_t jacDiagABInv, BodySW *body0, BodySW *body1) { - if (needApplyTorques() == false) return 0.0f; + if (!needApplyTorques()) return 0.0f; real_t target_velocity = m_targetVelocity; real_t maxMotorForce = m_maxMotorForce; @@ -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) { @@ -497,6 +496,31 @@ void Generic6DOFJointSW::set_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJoi m_angularLimits[p_axis].m_maxLimitForce = p_value; } break; + case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_MAX: break; // Can't happen, but silences warning } } @@ -572,6 +596,31 @@ real_t Generic6DOFJointSW::get_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJ return m_angularLimits[p_axis].m_maxMotorForce; } break; + case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_MAX: break; // Can't happen, but silences warning } return 0; } @@ -593,6 +642,16 @@ void Generic6DOFJointSW::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJoin m_angularLimits[p_axis].m_enableMotor = p_value; } break; + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_FLAG_MAX: break; // Can't happen, but silences warning } } bool Generic6DOFJointSW::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const { @@ -611,6 +670,16 @@ bool Generic6DOFJointSW::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJoin return m_angularLimits[p_axis].m_enableMotor; } break; + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING: { + // Not implemented in GodotPhysics backend + } break; + case PhysicsServer::G6DOF_JOINT_FLAG_MAX: break; // Can't happen, but silences warning } return 0; diff --git a/servers/physics/joints/generic_6dof_joint_sw.h b/servers/physics/joints/generic_6dof_joint_sw.h index b350546c5d..d4a36f1610 100644 --- a/servers/physics/joints/generic_6dof_joint_sw.h +++ b/servers/physics/joints/generic_6dof_joint_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -118,14 +118,12 @@ public: //! Is limited bool isLimited() { - if (m_loLimit >= m_hiLimit) return false; - return true; + return (m_loLimit < m_hiLimit); } //! Need apply correction bool needApplyTorques() { - if (m_currentLimit == 0 && m_enableMotor == false) return false; - return true; + return (m_enableMotor || m_currentLimit != 0); } //! calculates error diff --git a/servers/physics/joints/hinge_joint_sw.cpp b/servers/physics/joints/hinge_joint_sw.cpp index 368a349632..209cddda5e 100644 --- a/servers/physics/joints/hinge_joint_sw.cpp +++ b/servers/physics/joints/hinge_joint_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -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)); @@ -409,6 +408,7 @@ void HingeJointSW::set_param(PhysicsServer::HingeJointParam p_param, real_t p_va case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION: m_relaxationFactor = p_value; break; case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY: m_motorTargetVelocity = p_value; break; case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: m_maxMotorImpulse = p_value; break; + case PhysicsServer::HINGE_JOINT_MAX: break; // Can't happen, but silences warning } } @@ -424,6 +424,7 @@ real_t HingeJointSW::get_param(PhysicsServer::HingeJointParam p_param) const { case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION: return m_relaxationFactor; case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY: return m_motorTargetVelocity; case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: return m_maxMotorImpulse; + case PhysicsServer::HINGE_JOINT_MAX: break; // Can't happen, but silences warning } return 0; @@ -434,6 +435,7 @@ void HingeJointSW::set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_value) switch (p_flag) { case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT: m_useLimit = p_value; break; case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR: m_enableAngularMotor = p_value; break; + case PhysicsServer::HINGE_JOINT_FLAG_MAX: break; // Can't happen, but silences warning } } bool HingeJointSW::get_flag(PhysicsServer::HingeJointFlag p_flag) const { @@ -441,6 +443,7 @@ bool HingeJointSW::get_flag(PhysicsServer::HingeJointFlag p_flag) const { switch (p_flag) { case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT: return m_useLimit; case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR: return m_enableAngularMotor; + case PhysicsServer::HINGE_JOINT_FLAG_MAX: break; // Can't happen, but silences warning } return false; diff --git a/servers/physics/joints/hinge_joint_sw.h b/servers/physics/joints/hinge_joint_sw.h index cc8af3b370..b94baffc29 100644 --- a/servers/physics/joints/hinge_joint_sw.h +++ b/servers/physics/joints/hinge_joint_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/joints/jacobian_entry_sw.h b/servers/physics/joints/jacobian_entry_sw.h index 4bc1255a9a..a7b437e449 100644 --- a/servers/physics/joints/jacobian_entry_sw.h +++ b/servers/physics/joints/jacobian_entry_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/joints/pin_joint_sw.cpp b/servers/physics/joints/pin_joint_sw.cpp index a094e6c5ae..5d30678fd6 100644 --- a/servers/physics/joints/pin_joint_sw.cpp +++ b/servers/physics/joints/pin_joint_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/joints/pin_joint_sw.h b/servers/physics/joints/pin_joint_sw.h index 7d843f053c..95de733a0a 100644 --- a/servers/physics/joints/pin_joint_sw.h +++ b/servers/physics/joints/pin_joint_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/joints/slider_joint_sw.cpp b/servers/physics/joints/slider_joint_sw.cpp index c0e9660b22..61894f7dc9 100644 --- a/servers/physics/joints/slider_joint_sw.cpp +++ b/servers/physics/joints/slider_joint_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -404,6 +404,8 @@ void SliderJointSW::set_param(PhysicsServer::SliderJointParam p_param, real_t p_ case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: m_softnessOrthoAng = p_value; break; case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: m_restitutionOrthoAng = p_value; break; case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: m_dampingOrthoAng = p_value; break; + + case PhysicsServer::SLIDER_JOINT_MAX: break; // Can't happen, but silences warning } } @@ -433,6 +435,8 @@ real_t SliderJointSW::get_param(PhysicsServer::SliderJointParam p_param) const { case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: return m_softnessOrthoAng; case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: return m_restitutionOrthoAng; case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: return m_dampingOrthoAng; + + case PhysicsServer::SLIDER_JOINT_MAX: break; // Can't happen, but silences warning } return 0; diff --git a/servers/physics/joints/slider_joint_sw.h b/servers/physics/joints/slider_joint_sw.h index 4df632d75f..813eaae097 100644 --- a/servers/physics/joints/slider_joint_sw.h +++ b/servers/physics/joints/slider_joint_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/joints_sw.h b/servers/physics/joints_sw.h index af27b1c25b..d79fb0750a 100644 --- a/servers/physics/joints_sw.h +++ b/servers/physics/joints_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp index 76a6138817..09872977b6 100644 --- a/servers/physics/physics_server_sw.cpp +++ b/servers/physics/physics_server_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -40,6 +40,9 @@ #include "joints/pin_joint_sw.h" #include "joints/slider_joint_sw.h" +#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) { ShapeSW *shape = NULL; @@ -67,8 +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: { @@ -194,11 +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(); } @@ -277,7 +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); @@ -285,7 +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) { @@ -355,10 +353,11 @@ void PhysicsServerSW::area_set_shape_disabled(RID p_area, int p_shape_idx, bool AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND(!area); ERR_FAIL_INDEX(p_shape_idx, area->get_shape_count()); + FLUSH_QUERY_CHECK(area); 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); @@ -366,7 +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 { @@ -437,6 +436,7 @@ void PhysicsServerSW::area_set_monitorable(RID p_area, bool p_monitorable) { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND(!area); + FLUSH_QUERY_CHECK(area); area->set_monitorable(p_monitorable); } @@ -532,7 +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); @@ -540,7 +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) { @@ -585,6 +585,8 @@ void PhysicsServerSW::body_set_shape_disabled(RID p_body, int p_shape_idx, bool BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count()); + FLUSH_QUERY_CHECK(body); + body->set_shape_as_disabled(p_shape_idx, p_disabled); } @@ -663,12 +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 { @@ -977,12 +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; @@ -1400,8 +1397,7 @@ void PhysicsServerSW::free(RID p_rid) { } else { - ERR_EXPLAIN("Invalid ID"); - ERR_FAIL(); + ERR_FAIL_MSG("Invalid ID."); } }; @@ -1459,6 +1455,8 @@ void PhysicsServerSW::flush_queries() { doing_sync = true; + flushing_queries = true; + uint64_t time_beg = OS::get_singleton()->get_ticks_usec(); for (Set<const SpaceSW *>::Element *E = active_spaces.front(); E; E = E->next()) { @@ -1467,6 +1465,8 @@ void PhysicsServerSW::flush_queries() { space->call_queries(); } + flushing_queries = false; + if (ScriptDebugger::get_singleton() && ScriptDebugger::get_singleton()->is_profiling()) { uint64_t total_time[SpaceSW::ELAPSED_TIME_MAX]; @@ -1580,6 +1580,7 @@ PhysicsServerSW::PhysicsServerSW() { collision_pairs = 0; active = true; + flushing_queries = false; }; PhysicsServerSW::~PhysicsServerSW(){ diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h index 4131c5e248..b593e9b5f1 100644 --- a/servers/physics/physics_server_sw.h +++ b/servers/physics/physics_server_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -51,6 +51,8 @@ class PhysicsServerSW : public PhysicsServer { int active_objects; int collision_pairs; + bool flushing_queries; + StepSW *stepper; Set<const SpaceSW *> active_spaces; @@ -117,7 +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); @@ -130,7 +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); @@ -161,7 +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); @@ -174,7 +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); @@ -346,6 +348,9 @@ public: virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable); virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag); + virtual void generic_6dof_joint_set_precision(RID p_joint, int precision) {} + virtual int generic_6dof_joint_get_precision(RID p_joint) { return 0; } + virtual JointType joint_get_type(RID p_joint) const; virtual void joint_set_solver_priority(RID p_joint, int p_priority); @@ -365,6 +370,8 @@ public: virtual void flush_queries(); virtual void finish(); + virtual bool is_flushing_queries() const { return flushing_queries; } + int get_process_info(ProcessInfo p_info); PhysicsServerSW(); diff --git a/servers/physics/shape_sw.cpp b/servers/physics/shape_sw.cpp index e1c985f44f..f01caefdce 100644 --- a/servers/physics/shape_sw.cpp +++ b/servers/physics/shape_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -32,7 +32,7 @@ #include "core/math/geometry.h" #include "core/math/quick_hull.h" -#include "core/sort.h" +#include "core/sort_array.h" #define _POINT_SNAP 0.001953125 #define _EDGE_IS_VALID_SUPPORT_THRESHOLD 0.0002 @@ -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 { @@ -1047,7 +1037,7 @@ void FaceShapeSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_su /** FIND SUPPORT VERTEX **/ int vert_support_idx = -1; - real_t support_max; + real_t support_max = 0; for (int i = 0; i < 3; i++) { @@ -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/shape_sw.h b/servers/physics/shape_sw.h index 073d19e317..6af1224b38 100644 --- a/servers/physics/shape_sw.h +++ b/servers/physics/shape_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp index 731749b8ce..410b6e59a0 100644 --- a/servers/physics/space_sw.cpp +++ b/servers/physics/space_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -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())) @@ -277,7 +277,7 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform real_t hi = 1; Vector3 mnormal = p_motion.normalized(); - for (int i = 0; i < 8; i++) { //steps should be customizable.. + for (int j = 0; j < 8; j++) { //steps should be customizable.. real_t ofs = (low + hi) * 0.5; @@ -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++) { @@ -387,6 +383,7 @@ struct _RestCallbackData { Vector3 best_contact; Vector3 best_normal; real_t best_len; + real_t min_allowed_depth; }; static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) { @@ -395,6 +392,8 @@ static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B, Vector3 contact_rel = p_point_B - p_point_A; real_t len = contact_rel.length(); + if (len < rd->min_allowed_depth) + return; if (len <= rd->best_len) return; @@ -418,6 +417,7 @@ bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_ rcd.best_len = 0; rcd.best_object = NULL; rcd.best_shape = 0; + rcd.min_allowed_depth = space->test_motion_min_contact_depth; for (int i = 0; i < amount; i++) { @@ -437,7 +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(); @@ -544,14 +544,24 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo AABB body_aabb; + bool shapes_found = false; + for (int i = 0; i < p_body->get_shape_count(); i++) { - if (i == 0) + if (p_body->is_shape_set_as_disabled(i)) + continue; + + if (!shapes_found) { body_aabb = p_body->get_shape_aabb(i); - else + shapes_found = true; + } else { body_aabb = body_aabb.merge(p_body->get_shape_aabb(i)); + } } + if (!shapes_found) { + return 0; + } // 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); @@ -583,7 +593,6 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo 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)) @@ -617,7 +626,19 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo collided = true; } - if (ray_index < p_result_max) { + int ray_index = -1; //reuse shape + for (int k = 0; k < rays_found; k++) { + if (r_results[k].collision_local_shape == j) { + ray_index = k; + } + } + + if (ray_index == -1 && rays_found < p_result_max) { + ray_index = rays_found; + rays_found++; + } + + if (ray_index != -1) { PhysicsServer::SeparationResult &result = r_results[ray_index]; for (int k = 0; k < cbk.amount; k++) { @@ -632,9 +653,10 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo result.collision_depth = depth; result.collision_point = b; result.collision_normal = (b - a).normalized(); - result.collision_local_shape = shape_idx; + result.collision_local_shape = j; result.collider = col_obj->get_self(); result.collider_id = col_obj->get_instance_id(); + result.collider_shape = shape_idx; //result.collider_metadata = col_obj->get_shape_metadata(shape_idx); if (col_obj->get_type() == CollisionObjectSW::TYPE_BODY) { BodySW *body = (BodySW *)col_obj; @@ -648,12 +670,8 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo } } } - - ray_index++; } - rays_found = MAX(ray_index, rays_found); - if (!collided || recover_motion == Vector3()) { break; } @@ -691,13 +709,28 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve r_result->collider_shape = 0; } AABB body_aabb; + bool shapes_found = false; for (int i = 0; i < p_body->get_shape_count(); i++) { - if (i == 0) + if (p_body->is_shape_set_as_disabled(i)) + continue; + + if (!shapes_found) { body_aabb = p_body->get_shape_aabb(i); - else + shapes_found = true; + } else { body_aabb = body_aabb.merge(p_body->get_shape_aabb(i)); + } + } + + if (!shapes_found) { + if (r_result) { + *r_result = PhysicsServer::MotionResult(); + r_result->motion = p_motion; + } + + return false; } // Undo the currently transform the physics server is aware of and apply the provided one @@ -835,7 +868,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve real_t hi = 1; Vector3 mnormal = p_motion.normalized(); - for (int i = 0; i < 8; i++) { //steps should be customizable.. + for (int k = 0; k < 8; k++) { //steps should be customizable.. real_t ofs = (low + hi) * 0.5; @@ -904,6 +937,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve rcd.best_len = 0; rcd.best_object = NULL; rcd.best_shape = 0; + rcd.min_allowed_depth = test_motion_min_contact_depth; Transform body_shape_xform = ugt * p_body->get_shape_transform(best_shape); ShapeSW *body_shape = p_body->get_shape(best_shape); @@ -1128,6 +1162,7 @@ void SpaceSW::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) { case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break; case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio = p_value; break; case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break; + case PhysicsServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: test_motion_min_contact_depth = p_value; break; } } @@ -1143,6 +1178,7 @@ real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const { case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep; case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio; case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias; + case PhysicsServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: return test_motion_min_contact_depth; } return 0; } @@ -1178,11 +1214,13 @@ SpaceSW::SpaceSW() { contact_recycle_radius = 0.01; contact_max_separation = 0.05; contact_max_allowed_penetration = 0.01; + test_motion_min_contact_depth = 0.00001; constraint_bias = 0.01; body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1); body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", (8.0 / 180.0 * Math_PI)); body_time_to_sleep = GLOBAL_DEF("physics/3d/time_before_sleep", 0.5); + ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/time_before_sleep", PropertyInfo(Variant::REAL, "physics/3d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater")); body_angular_velocity_damp_ratio = 10; broadphase = BroadPhaseSW::create_func(); diff --git a/servers/physics/space_sw.h b/servers/physics/space_sw.h index d550b374e3..3aaa552845 100644 --- a/servers/physics/space_sw.h +++ b/servers/physics/space_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -96,6 +96,7 @@ private: real_t contact_max_separation; real_t contact_max_allowed_penetration; real_t constraint_bias; + real_t test_motion_min_contact_depth; enum { diff --git a/servers/physics/step_sw.cpp b/servers/physics/step_sw.cpp index 5238f24b20..4082956747 100644 --- a/servers/physics/step_sw.cpp +++ b/servers/physics/step_sw.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/servers/physics/step_sw.h b/servers/physics/step_sw.h index 25e9fedf79..c291190fe4 100644 --- a/servers/physics/step_sw.h +++ b/servers/physics/step_sw.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ |