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Diffstat (limited to 'servers/physics_2d/godot_space_2d.cpp')
-rw-r--r--servers/physics_2d/godot_space_2d.cpp53
1 files changed, 32 insertions, 21 deletions
diff --git a/servers/physics_2d/godot_space_2d.cpp b/servers/physics_2d/godot_space_2d.cpp
index 99c0566fb1..a82d7dbbc4 100644
--- a/servers/physics_2d/godot_space_2d.cpp
+++ b/servers/physics_2d/godot_space_2d.cpp
@@ -129,8 +129,8 @@ bool GodotPhysicsDirectSpaceState2D::intersect_ray(const RayParameters &p_parame
bool collided = false;
Vector2 res_point, res_normal;
- int res_shape;
- const GodotCollisionObject2D *res_obj;
+ int res_shape = -1;
+ const GodotCollisionObject2D *res_obj = nullptr;
real_t min_d = 1e10;
for (int i = 0; i < amount; i++) {
@@ -190,6 +190,7 @@ bool GodotPhysicsDirectSpaceState2D::intersect_ray(const RayParameters &p_parame
if (!collided) {
return false;
}
+ ERR_FAIL_NULL_V(res_obj, false); // Shouldn't happen but silences warning.
r_result.collider_id = res_obj->get_instance_id();
if (r_result.collider_id.is_valid()) {
@@ -403,7 +404,7 @@ struct _RestCallbackData2D {
};
static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) {
- _RestCallbackData2D *rd = (_RestCallbackData2D *)p_userdata;
+ _RestCallbackData2D *rd = static_cast<_RestCallbackData2D *>(p_userdata);
Vector2 contact_rel = p_point_B - p_point_A;
real_t len = contact_rel.length();
@@ -594,6 +595,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
const int max_results = 32;
int recover_attempts = 4;
Vector2 sr[max_results * 2];
+ real_t priorities[max_results];
do {
GodotPhysicsServer2D::CollCbkData cbk;
@@ -606,6 +608,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
GodotPhysicsServer2D::CollCbkData *cbkptr = &cbk;
GodotCollisionSolver2D::CallbackResult cbkres = GodotPhysicsServer2D::_shape_col_cbk;
+ int priority_amount = 0;
bool collided = false;
@@ -633,7 +636,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
- cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
+ cbk.valid_dir = col_obj_shape_xform.columns[1].normalized();
real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
cbk.valid_depth = MAX(owc_margin, margin); //user specified, but never less than actual margin or it won't work
@@ -641,7 +644,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) {
const GodotBody2D *b = static_cast<const GodotBody2D *>(col_obj);
- if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_DYNAMIC) {
+ if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_RIGID) {
//fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction
Vector2 lv = b->get_linear_velocity();
//compute displacement from linear velocity
@@ -664,6 +667,10 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, margin)) {
did_collide = cbk.passed > current_passed; //more passed, so collision actually existed
}
+ while (cbk.amount > priority_amount) {
+ priorities[priority_amount] = col_obj->get_collision_priority();
+ priority_amount++;
+ }
if (!did_collide && cbk.invalid_by_dir > 0) {
//this shape must be excluded
@@ -686,6 +693,12 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
break;
}
+ real_t inv_total_weight = 0.0;
+ for (int i = 0; i < cbk.amount; i++) {
+ inv_total_weight += priorities[i];
+ }
+ inv_total_weight = Math::is_zero_approx(inv_total_weight) ? 1.0 : (real_t)cbk.amount / inv_total_weight;
+
recovered = true;
Vector2 recover_motion;
@@ -701,7 +714,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
real_t depth = n.dot(a + recover_motion) - d;
if (depth > min_contact_depth + CMP_EPSILON) {
// Only recover if there is penetration.
- recover_motion -= n * (depth - min_contact_depth) * 0.4;
+ recover_motion -= n * (depth - min_contact_depth) * 0.4 * priorities[i] * inv_total_weight;
}
}
@@ -710,7 +723,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
break;
}
- body_transform.elements[2] += recover_motion;
+ body_transform.columns[2] += recover_motion;
body_aabb.position += recover_motion;
recover_attempts--;
@@ -788,7 +801,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
//test initial overlap
if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
- Vector2 direction = col_obj_shape_xform.get_axis(1).normalized();
+ Vector2 direction = col_obj_shape_xform.columns[1].normalized();
if (motion_normal.dot(direction) < 0) {
continue;
}
@@ -838,7 +851,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
cbk.amount = 0;
cbk.passed = 0;
cbk.ptr = cd;
- cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
+ cbk.valid_dir = col_obj_shape_xform.columns[1].normalized();
cbk.valid_depth = 10e20;
@@ -874,14 +887,14 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
bool collided = false;
- if (recovered || (safe < 1)) {
+ if ((p_parameters.recovery_as_collision && recovered) || (safe < 1)) {
if (safe >= 1) {
best_shape = -1; //no best shape with cast, reset to -1
}
//it collided, let's get the rest info in unsafe advance
Transform2D ugt = body_transform;
- ugt.elements[2] += p_parameters.motion * unsafe;
+ ugt.columns[2] += p_parameters.motion * unsafe;
_RestCallbackData2D rcd;
@@ -929,14 +942,14 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
- rcd.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
+ rcd.valid_dir = col_obj_shape_xform.columns[1].normalized();
real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
rcd.valid_depth = MAX(owc_margin, margin); //user specified, but never less than actual margin or it won't work
if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) {
const GodotBody2D *b = static_cast<const GodotBody2D *>(col_obj);
- if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_DYNAMIC) {
+ if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_RIGID) {
//fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction
Vector2 lv = b->get_linear_velocity();
//compute displacement from linear velocity
@@ -1005,7 +1018,7 @@ void *GodotSpace2D::_broadphase_pair(GodotCollisionObject2D *A, int p_subindex_A
SWAP(type_A, type_B);
}
- GodotSpace2D *self = (GodotSpace2D *)p_self;
+ GodotSpace2D *self = static_cast<GodotSpace2D *>(p_self);
self->collision_pairs++;
if (type_A == GodotCollisionObject2D::TYPE_AREA) {
@@ -1021,11 +1034,9 @@ void *GodotSpace2D::_broadphase_pair(GodotCollisionObject2D *A, int p_subindex_A
}
} else {
- GodotBodyPair2D *b = memnew(GodotBodyPair2D((GodotBody2D *)A, p_subindex_A, (GodotBody2D *)B, p_subindex_B));
+ GodotBodyPair2D *b = memnew(GodotBodyPair2D(static_cast<GodotBody2D *>(A), p_subindex_A, static_cast<GodotBody2D *>(B), p_subindex_B));
return b;
}
-
- return nullptr;
}
void GodotSpace2D::_broadphase_unpair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_data, void *p_self) {
@@ -1033,9 +1044,9 @@ void GodotSpace2D::_broadphase_unpair(GodotCollisionObject2D *A, int p_subindex_
return;
}
- GodotSpace2D *self = (GodotSpace2D *)p_self;
+ GodotSpace2D *self = static_cast<GodotSpace2D *>(p_self);
self->collision_pairs--;
- GodotConstraint2D *c = (GodotConstraint2D *)p_data;
+ GodotConstraint2D *c = static_cast<GodotConstraint2D *>(p_data);
memdelete(c);
}
@@ -1073,7 +1084,7 @@ void GodotSpace2D::remove_object(GodotCollisionObject2D *p_object) {
objects.erase(p_object);
}
-const Set<GodotCollisionObject2D *> &GodotSpace2D::get_objects() const {
+const HashSet<GodotCollisionObject2D *> &GodotSpace2D::get_objects() const {
return objects;
}
@@ -1206,7 +1217,7 @@ GodotPhysicsDirectSpaceState2D *GodotSpace2D::get_direct_state() {
GodotSpace2D::GodotSpace2D() {
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0);
- body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_angular", Math::deg2rad(8.0));
+ body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_angular", Math::deg_to_rad(8.0));
body_time_to_sleep = GLOBAL_DEF("physics/2d/time_before_sleep", 0.5);
ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/2d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-21 12:42:37 +0000