summaryrefslogtreecommitdiff
path: root/servers/physics_2d/godot_space_2d.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'servers/physics_2d/godot_space_2d.cpp')
-rw-r--r--servers/physics_2d/godot_space_2d.cpp38
1 files changed, 27 insertions, 11 deletions
diff --git a/servers/physics_2d/godot_space_2d.cpp b/servers/physics_2d/godot_space_2d.cpp
index 7a5eb26bb3..d0c464cb4e 100644
--- a/servers/physics_2d/godot_space_2d.cpp
+++ b/servers/physics_2d/godot_space_2d.cpp
@@ -36,6 +36,7 @@
#include "core/os/os.h"
#include "core/templates/pair.h"
+#define TEST_MOTION_MARGIN_MIN_VALUE 0.0001
#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05
_FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject2D *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
@@ -439,9 +440,11 @@ bool GodotPhysicsDirectSpaceState2D::rest_info(const ShapeParameters &p_paramete
GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid);
ERR_FAIL_COND_V(!shape, 0);
+ real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE);
+
Rect2 aabb = p_parameters.transform.xform(shape->get_aabb());
aabb = aabb.merge(Rect2(aabb.position + p_parameters.motion, aabb.size)); //motion
- aabb = aabb.grow(p_parameters.margin);
+ aabb = aabb.grow(margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
@@ -449,7 +452,7 @@ bool GodotPhysicsDirectSpaceState2D::rest_info(const ShapeParameters &p_paramete
// Allowed depth can't be lower than motion length, in order to handle contacts at low speed.
real_t motion_length = p_parameters.motion.length();
- real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+ real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
rcd.min_allowed_depth = MIN(motion_length, min_contact_depth);
for (int i = 0; i < amount; i++) {
@@ -469,7 +472,7 @@ bool GodotPhysicsDirectSpaceState2D::rest_info(const ShapeParameters &p_paramete
rcd.object = col_obj;
rcd.shape = shape_idx;
rcd.local_shape = 0;
- bool sc = GodotCollisionSolver2D::solve(shape, p_parameters.transform, p_parameters.motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
+ bool sc = GodotCollisionSolver2D::solve(shape, p_parameters.transform, p_parameters.motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, nullptr, margin);
if (!sc) {
continue;
}
@@ -540,6 +543,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
r_result->collider_id = ObjectID();
r_result->collider_shape = 0;
}
+
Rect2 body_aabb;
bool shapes_found = false;
@@ -565,15 +569,17 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
return false;
}
+ real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE);
+
// Undo the currently transform the physics server is aware of and apply the provided one
body_aabb = p_parameters.from.xform(p_body->get_inv_transform().xform(body_aabb));
- body_aabb = body_aabb.grow(p_parameters.margin);
+ body_aabb = body_aabb.grow(margin);
static const int max_excluded_shape_pairs = 32;
ExcludedShapeSW excluded_shape_pairs[max_excluded_shape_pairs];
int excluded_shape_pair_count = 0;
- real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+ real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
real_t motion_length = p_parameters.motion.length();
Vector2 motion_normal = p_parameters.motion / motion_length;
@@ -630,7 +636,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
- cbk.valid_depth = MAX(owc_margin, p_parameters.margin); //user specified, but never less than actual margin or it won't work
+ cbk.valid_depth = MAX(owc_margin, margin); //user specified, but never less than actual margin or it won't work
cbk.invalid_by_dir = 0;
if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) {
@@ -655,7 +661,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
bool did_collide = false;
GodotShape2D *against_shape = col_obj->get_shape(shape_idx);
- if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_parameters.margin)) {
+ 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
}
@@ -927,7 +933,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
rcd.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
- rcd.valid_depth = MAX(owc_margin, p_parameters.margin); //user specified, but never less than actual margin or it won't work
+ 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);
@@ -949,7 +955,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
rcd.object = col_obj;
rcd.shape = shape_idx;
rcd.local_shape = j;
- bool sc = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
+ bool sc = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, margin);
if (!sc) {
continue;
}
@@ -1138,9 +1144,12 @@ void GodotSpace2D::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_v
case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_SEPARATION:
contact_max_separation = p_value;
break;
- case PhysicsServer2D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION:
+ case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION:
contact_max_allowed_penetration = p_value;
break;
+ case PhysicsServer2D::SPACE_PARAM_CONTACT_DEFAULT_BIAS:
+ contact_bias = p_value;
+ break;
case PhysicsServer2D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
body_linear_velocity_sleep_threshold = p_value;
break;
@@ -1153,6 +1162,9 @@ void GodotSpace2D::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_v
case PhysicsServer2D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
constraint_bias = p_value;
break;
+ case PhysicsServer2D::SPACE_PARAM_SOLVER_ITERATIONS:
+ solver_iterations = p_value;
+ break;
}
}
@@ -1162,8 +1174,10 @@ real_t GodotSpace2D::get_param(PhysicsServer2D::SpaceParameter p_param) const {
return contact_recycle_radius;
case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_SEPARATION:
return contact_max_separation;
- case PhysicsServer2D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION:
+ case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION:
return contact_max_allowed_penetration;
+ case PhysicsServer2D::SPACE_PARAM_CONTACT_DEFAULT_BIAS:
+ return contact_bias;
case PhysicsServer2D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
return body_linear_velocity_sleep_threshold;
case PhysicsServer2D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD:
@@ -1172,6 +1186,8 @@ real_t GodotSpace2D::get_param(PhysicsServer2D::SpaceParameter p_param) const {
return body_time_to_sleep;
case PhysicsServer2D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
return constraint_bias;
+ case PhysicsServer2D::SPACE_PARAM_SOLVER_ITERATIONS:
+ return solver_iterations;
}
return 0;
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-27 04:17:33 +0000