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Diffstat (limited to 'servers/physics_2d/godot_space_2d.cpp')
| -rw-r--r-- | servers/physics_2d/godot_space_2d.cpp | 1213 |
1 files changed, 1213 insertions, 0 deletions
diff --git a/servers/physics_2d/godot_space_2d.cpp b/servers/physics_2d/godot_space_2d.cpp new file mode 100644 index 0000000000..d72014a8ed --- /dev/null +++ b/servers/physics_2d/godot_space_2d.cpp @@ -0,0 +1,1213 @@ +/*************************************************************************/ +/* godot_space_2d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 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 */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#include "godot_space_2d.h" + +#include "godot_collision_solver_2d.h" +#include "godot_physics_server_2d.h" + +#include "core/os/os.h" +#include "core/templates/pair.h" + +#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) { + if (!(p_object->get_collision_layer() & p_collision_mask)) { + return false; + } + + if (p_object->get_type() == GodotCollisionObject2D::TYPE_AREA && !p_collide_with_areas) { + return false; + } + + if (p_object->get_type() == GodotCollisionObject2D::TYPE_BODY && !p_collide_with_bodies) { + return false; + } + + return true; +} + +int GodotPhysicsDirectSpaceState2D::_intersect_point_impl(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point, bool p_filter_by_canvas, ObjectID p_canvas_instance_id) { + if (p_result_max <= 0) { + return 0; + } + + Rect2 aabb; + aabb.position = p_point - Vector2(0.00001, 0.00001); + aabb.size = Vector2(0.00002, 0.00002); + + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + + int cc = 0; + + for (int i = 0; i < amount; i++) { + if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { + continue; + } + + if (p_exclude.has(space->intersection_query_results[i]->get_self())) { + continue; + } + + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; + + if (p_pick_point && !col_obj->is_pickable()) { + continue; + } + + if (p_filter_by_canvas && col_obj->get_canvas_instance_id() != p_canvas_instance_id) { + continue; + } + + int shape_idx = space->intersection_query_subindex_results[i]; + + GodotShape2D *shape = col_obj->get_shape(shape_idx); + + Vector2 local_point = (col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).affine_inverse().xform(p_point); + + if (!shape->contains_point(local_point)) { + continue; + } + + if (cc >= p_result_max) { + continue; + } + + r_results[cc].collider_id = col_obj->get_instance_id(); + if (r_results[cc].collider_id.is_valid()) { + r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id); + } + r_results[cc].rid = col_obj->get_self(); + r_results[cc].shape = shape_idx; + + cc++; + } + + return cc; +} + +int GodotPhysicsDirectSpaceState2D::intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) { + return _intersect_point_impl(p_point, r_results, p_result_max, p_exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_pick_point); +} + +int GodotPhysicsDirectSpaceState2D::intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) { + return _intersect_point_impl(p_point, r_results, p_result_max, p_exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_pick_point, true, p_canvas_instance_id); +} + +bool GodotPhysicsDirectSpaceState2D::intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { + ERR_FAIL_COND_V(space->locked, false); + + Vector2 begin, end; + Vector2 normal; + begin = p_from; + end = p_to; + normal = (end - begin).normalized(); + + int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + + //todo, create another array that references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision + + bool collided = false; + Vector2 res_point, res_normal; + int res_shape; + const GodotCollisionObject2D *res_obj; + real_t min_d = 1e10; + + for (int i = 0; i < amount; i++) { + if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { + continue; + } + + if (p_exclude.has(space->intersection_query_results[i]->get_self())) { + continue; + } + + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; + + int shape_idx = space->intersection_query_subindex_results[i]; + Transform2D inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform(); + + Vector2 local_from = inv_xform.xform(begin); + Vector2 local_to = inv_xform.xform(end); + + /*local_from = col_obj->get_inv_transform().xform(begin); + local_from = col_obj->get_shape_inv_transform(shape_idx).xform(local_from); + + local_to = col_obj->get_inv_transform().xform(end); + local_to = col_obj->get_shape_inv_transform(shape_idx).xform(local_to);*/ + + const GodotShape2D *shape = col_obj->get_shape(shape_idx); + + Vector2 shape_point, shape_normal; + + if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal)) { + Transform2D xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); + shape_point = xform.xform(shape_point); + + real_t ld = normal.dot(shape_point); + + if (ld < min_d) { + min_d = ld; + res_point = shape_point; + res_normal = inv_xform.basis_xform_inv(shape_normal).normalized(); + res_shape = shape_idx; + res_obj = col_obj; + collided = true; + } + } + } + + if (!collided) { + return false; + } + + r_result.collider_id = res_obj->get_instance_id(); + if (r_result.collider_id.is_valid()) { + r_result.collider = ObjectDB::get_instance(r_result.collider_id); + } + r_result.normal = res_normal; + r_result.position = res_point; + r_result.rid = res_obj->get_self(); + r_result.shape = res_shape; + + return true; +} + +int GodotPhysicsDirectSpaceState2D::intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { + if (p_result_max <= 0) { + return 0; + } + + GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape); + ERR_FAIL_COND_V(!shape, 0); + + Rect2 aabb = p_xform.xform(shape->get_aabb()); + aabb = aabb.grow(p_margin); + + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + + int cc = 0; + + for (int i = 0; i < amount; i++) { + if (cc >= p_result_max) { + break; + } + + if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { + continue; + } + + if (p_exclude.has(space->intersection_query_results[i]->get_self())) { + continue; + } + + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; + int shape_idx = space->intersection_query_subindex_results[i]; + + if (!GodotCollisionSolver2D::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), nullptr, nullptr, nullptr, p_margin)) { + continue; + } + + r_results[cc].collider_id = col_obj->get_instance_id(); + if (r_results[cc].collider_id.is_valid()) { + r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id); + } + r_results[cc].rid = col_obj->get_self(); + r_results[cc].shape = shape_idx; + + cc++; + } + + return cc; +} + +bool GodotPhysicsDirectSpaceState2D::cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { + GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape); + ERR_FAIL_COND_V(!shape, false); + + Rect2 aabb = p_xform.xform(shape->get_aabb()); + aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion + aabb = aabb.grow(p_margin); + + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + + real_t best_safe = 1; + real_t best_unsafe = 1; + + for (int i = 0; i < amount; i++) { + if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { + continue; + } + + if (p_exclude.has(space->intersection_query_results[i]->get_self())) { + continue; //ignore excluded + } + + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; + int shape_idx = space->intersection_query_subindex_results[i]; + + Transform2D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); + //test initial overlap, does it collide if going all the way? + if (!GodotCollisionSolver2D::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) { + continue; + } + + //test initial overlap, ignore objects it's inside of. + if (GodotCollisionSolver2D::solve(shape, p_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) { + continue; + } + + Vector2 mnormal = p_motion.normalized(); + + //just do kinematic solving + real_t low = 0.0; + real_t hi = 1.0; + real_t fraction_coeff = 0.5; + for (int j = 0; j < 8; j++) { //steps should be customizable.. + real_t fraction = low + (hi - low) * fraction_coeff; + + Vector2 sep = mnormal; //important optimization for this to work fast enough + bool collided = GodotCollisionSolver2D::solve(shape, p_xform, p_motion * fraction, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_margin); + + if (collided) { + hi = fraction; + if ((j == 0) || (low > 0.0)) { // Did it not collide before? + // When alternating or first iteration, use dichotomy. + fraction_coeff = 0.5; + } else { + // When colliding again, converge faster towards low fraction + // for more accurate results with long motions that collide near the start. + fraction_coeff = 0.25; + } + } else { + low = fraction; + if ((j == 0) || (hi < 1.0)) { // Did it collide before? + // When alternating or first iteration, use dichotomy. + fraction_coeff = 0.5; + } else { + // When not colliding again, converge faster towards high fraction + // for more accurate results with long motions that collide near the end. + fraction_coeff = 0.75; + } + } + } + + if (low < best_safe) { + best_safe = low; + best_unsafe = hi; + } + } + + p_closest_safe = best_safe; + p_closest_unsafe = best_unsafe; + + return true; +} + +bool GodotPhysicsDirectSpaceState2D::collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { + if (p_result_max <= 0) { + return false; + } + + GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape); + ERR_FAIL_COND_V(!shape, 0); + + Rect2 aabb = p_shape_xform.xform(shape->get_aabb()); + aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion + aabb = aabb.grow(p_margin); + + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + + bool collided = false; + r_result_count = 0; + + GodotPhysicsServer2D::CollCbkData cbk; + cbk.max = p_result_max; + cbk.amount = 0; + cbk.passed = 0; + cbk.ptr = r_results; + GodotCollisionSolver2D::CallbackResult cbkres = GodotPhysicsServer2D::_shape_col_cbk; + + GodotPhysicsServer2D::CollCbkData *cbkptr = &cbk; + + for (int i = 0; i < amount; i++) { + if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { + continue; + } + + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; + + if (p_exclude.has(col_obj->get_self())) { + continue; + } + + int shape_idx = space->intersection_query_subindex_results[i]; + + cbk.valid_dir = Vector2(); + cbk.valid_depth = 0; + + if (GodotCollisionSolver2D::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, nullptr, p_margin)) { + collided = cbk.amount > 0; + } + } + + r_result_count = cbk.amount; + + return collided; +} + +struct _RestCallbackData2D { + const GodotCollisionObject2D *object = nullptr; + const GodotCollisionObject2D *best_object = nullptr; + int local_shape = 0; + int best_local_shape = 0; + int shape = 0; + int best_shape = 0; + Vector2 best_contact; + Vector2 best_normal; + real_t best_len = 0.0; + Vector2 valid_dir; + real_t valid_depth = 0.0; + real_t min_allowed_depth = 0.0; +}; + +static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) { + _RestCallbackData2D *rd = (_RestCallbackData2D *)p_userdata; + + Vector2 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; + } + + Vector2 normal = contact_rel / len; + + if (rd->valid_dir != Vector2()) { + if (len > rd->valid_depth) { + return; + } + + if (rd->valid_dir.dot(normal) > -CMP_EPSILON) { + return; + } + } + + rd->best_len = len; + rd->best_contact = p_point_B; + rd->best_normal = normal; + rd->best_object = rd->object; + rd->best_shape = rd->shape; + rd->best_local_shape = rd->local_shape; +} + +bool GodotPhysicsDirectSpaceState2D::rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { + GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape); + ERR_FAIL_COND_V(!shape, 0); + + real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; + + Rect2 aabb = p_shape_xform.xform(shape->get_aabb()); + aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion + aabb = aabb.grow(p_margin); + + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + + _RestCallbackData2D rcd; + rcd.best_len = 0; + rcd.best_object = nullptr; + rcd.best_shape = 0; + rcd.min_allowed_depth = min_contact_depth; + + for (int i = 0; i < amount; i++) { + if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { + continue; + } + + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; + + if (p_exclude.has(col_obj->get_self())) { + continue; + } + + int shape_idx = space->intersection_query_subindex_results[i]; + + rcd.valid_dir = Vector2(); + rcd.object = col_obj; + rcd.shape = shape_idx; + rcd.local_shape = 0; + bool sc = GodotCollisionSolver2D::solve(shape, p_shape_xform, p_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_margin); + if (!sc) { + continue; + } + } + + if (rcd.best_len == 0 || !rcd.best_object) { + return false; + } + + r_info->collider_id = rcd.best_object->get_instance_id(); + r_info->shape = rcd.best_shape; + r_info->normal = rcd.best_normal; + r_info->point = rcd.best_contact; + r_info->rid = rcd.best_object->get_self(); + if (rcd.best_object->get_type() == GodotCollisionObject2D::TYPE_BODY) { + const GodotBody2D *body = static_cast<const GodotBody2D *>(rcd.best_object); + Vector2 rel_vec = r_info->point - (body->get_transform().get_origin() + body->get_center_of_mass()); + r_info->linear_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity(); + + } else { + r_info->linear_velocity = Vector2(); + } + + return true; +} + +//////////////////////////////////////////////////////////////////////////////////////////////////////////// + +int GodotSpace2D::_cull_aabb_for_body(GodotBody2D *p_body, const Rect2 &p_aabb) { + int amount = broadphase->cull_aabb(p_aabb, intersection_query_results, INTERSECTION_QUERY_MAX, intersection_query_subindex_results); + + for (int i = 0; i < amount; i++) { + bool keep = true; + + if (intersection_query_results[i] == p_body) { + keep = false; + } else if (intersection_query_results[i]->get_type() == GodotCollisionObject2D::TYPE_AREA) { + keep = false; + } else if (!p_body->collides_with(static_cast<GodotBody2D *>(intersection_query_results[i]))) { + keep = false; + } else if (static_cast<GodotBody2D *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) { + keep = false; + } + + if (!keep) { + if (i < amount - 1) { + SWAP(intersection_query_results[i], intersection_query_results[amount - 1]); + SWAP(intersection_query_subindex_results[i], intersection_query_subindex_results[amount - 1]); + } + + amount--; + i--; + } + } + + return amount; +} + +bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result) { + //give me back regular physics engine logic + //this is madness + //and most people using this function will think + //what it does is simpler than using physics + //this took about a week to get right.. + //but is it right? who knows at this point.. + + if (r_result) { + r_result->collider_id = ObjectID(); + r_result->collider_shape = 0; + } + Rect2 body_aabb; + + bool shapes_found = false; + + for (int i = 0; i < p_body->get_shape_count(); i++) { + if (p_body->is_shape_disabled(i)) { + continue; + } + + if (!shapes_found) { + body_aabb = p_body->get_shape_aabb(i); + shapes_found = true; + } else { + body_aabb = body_aabb.merge(p_body->get_shape_aabb(i)); + } + } + + if (!shapes_found) { + if (r_result) { + *r_result = PhysicsServer2D::MotionResult(); + r_result->travel = p_parameters.motion; + } + return false; + } + + // 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); + + 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 motion_length = p_parameters.motion.length(); + Vector2 motion_normal = p_parameters.motion / motion_length; + + Transform2D body_transform = p_parameters.from; + + bool recovered = false; + + { + //STEP 1, FREE BODY IF STUCK + + const int max_results = 32; + int recover_attempts = 4; + Vector2 sr[max_results * 2]; + + do { + GodotPhysicsServer2D::CollCbkData cbk; + cbk.max = max_results; + cbk.amount = 0; + cbk.passed = 0; + cbk.ptr = sr; + cbk.invalid_by_dir = 0; + excluded_shape_pair_count = 0; //last step is the one valid + + GodotPhysicsServer2D::CollCbkData *cbkptr = &cbk; + GodotCollisionSolver2D::CallbackResult cbkres = GodotPhysicsServer2D::_shape_col_cbk; + + bool collided = false; + + int amount = _cull_aabb_for_body(p_body, body_aabb); + + for (int j = 0; j < p_body->get_shape_count(); j++) { + if (p_body->is_shape_disabled(j)) { + continue; + } + + GodotShape2D *body_shape = p_body->get_shape(j); + Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j); + + for (int i = 0; i < amount; i++) { + const GodotCollisionObject2D *col_obj = intersection_query_results[i]; + if (p_parameters.exclude_bodies.has(col_obj->get_self())) { + continue; + } + if (p_parameters.exclude_objects.has(col_obj->get_instance_id())) { + continue; + } + + int shape_idx = intersection_query_subindex_results[i]; + + 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(); + + 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.invalid_by_dir = 0; + + 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) { + //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 + Vector2 motion = lv * last_step; + real_t motion_len = motion.length(); + motion.normalize(); + cbk.valid_depth += motion_len * MAX(motion.dot(-cbk.valid_dir), 0.0); + } + } + } else { + cbk.valid_dir = Vector2(); + cbk.valid_depth = 0; + cbk.invalid_by_dir = 0; + } + + int current_passed = cbk.passed; //save how many points passed collision + 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)) { + did_collide = cbk.passed > current_passed; //more passed, so collision actually existed + } + + if (!did_collide && cbk.invalid_by_dir > 0) { + //this shape must be excluded + if (excluded_shape_pair_count < max_excluded_shape_pairs) { + ExcludedShapeSW esp; + esp.local_shape = body_shape; + esp.against_object = col_obj; + esp.against_shape_index = shape_idx; + excluded_shape_pairs[excluded_shape_pair_count++] = esp; + } + } + + if (did_collide) { + collided = true; + } + } + } + + if (!collided) { + break; + } + + recovered = true; + + Vector2 recover_motion; + for (int i = 0; i < cbk.amount; i++) { + Vector2 a = sr[i * 2 + 0]; + Vector2 b = sr[i * 2 + 1]; + + // Compute plane on b towards a. + Vector2 n = (a - b).normalized(); + real_t d = n.dot(b); + + // Compute depth on recovered motion. + 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; + } + } + + if (recover_motion == Vector2()) { + collided = false; + break; + } + + body_transform.elements[2] += recover_motion; + body_aabb.position += recover_motion; + + recover_attempts--; + + } while (recover_attempts); + } + + real_t safe = 1.0; + real_t unsafe = 1.0; + int best_shape = -1; + + { + // STEP 2 ATTEMPT MOTION + + Rect2 motion_aabb = body_aabb; + motion_aabb.position += p_parameters.motion; + motion_aabb = motion_aabb.merge(body_aabb); + + int amount = _cull_aabb_for_body(p_body, motion_aabb); + + for (int body_shape_idx = 0; body_shape_idx < p_body->get_shape_count(); body_shape_idx++) { + if (p_body->is_shape_disabled(body_shape_idx)) { + continue; + } + + GodotShape2D *body_shape = p_body->get_shape(body_shape_idx); + + // Colliding separation rays allows to properly snap to the ground, + // otherwise it's not needed in regular motion. + if (!p_parameters.collide_separation_ray && (body_shape->get_type() == PhysicsServer2D::SHAPE_SEPARATION_RAY)) { + // When slide on slope is on, separation ray shape acts like a regular shape. + if (!static_cast<GodotSeparationRayShape2D *>(body_shape)->get_slide_on_slope()) { + continue; + } + } + + Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(body_shape_idx); + + bool stuck = false; + + real_t best_safe = 1; + real_t best_unsafe = 1; + + for (int i = 0; i < amount; i++) { + const GodotCollisionObject2D *col_obj = intersection_query_results[i]; + if (p_parameters.exclude_bodies.has(col_obj->get_self())) { + continue; + } + if (p_parameters.exclude_objects.has(col_obj->get_instance_id())) { + continue; + } + + int col_shape_idx = intersection_query_subindex_results[i]; + GodotShape2D *against_shape = col_obj->get_shape(col_shape_idx); + + bool excluded = false; + + for (int k = 0; k < excluded_shape_pair_count; k++) { + if (excluded_shape_pairs[k].local_shape == body_shape && excluded_shape_pairs[k].against_object == col_obj && excluded_shape_pairs[k].against_shape_index == col_shape_idx) { + excluded = true; + break; + } + } + + if (excluded) { + continue; + } + + Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(col_shape_idx); + //test initial overlap, does it collide if going all the way? + if (!GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) { + continue; + } + + //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(); + if (motion_normal.dot(direction) < 0) { + continue; + } + } + + stuck = true; + break; + } + + //just do kinematic solving + real_t low = 0.0; + real_t hi = 1.0; + real_t fraction_coeff = 0.5; + for (int k = 0; k < 8; k++) { //steps should be customizable.. + real_t fraction = low + (hi - low) * fraction_coeff; + + Vector2 sep = motion_normal; //important optimization for this to work fast enough + bool collided = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion * fraction, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0); + + if (collided) { + hi = fraction; + if ((k == 0) || (low > 0.0)) { // Did it not collide before? + // When alternating or first iteration, use dichotomy. + fraction_coeff = 0.5; + } else { + // When colliding again, converge faster towards low fraction + // for more accurate results with long motions that collide near the start. + fraction_coeff = 0.25; + } + } else { + low = fraction; + if ((k == 0) || (hi < 1.0)) { // Did it collide before? + // When alternating or first iteration, use dichotomy. + fraction_coeff = 0.5; + } else { + // When not colliding again, converge faster towards high fraction + // for more accurate results with long motions that collide near the end. + fraction_coeff = 0.75; + } + } + } + + if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) { + Vector2 cd[2]; + GodotPhysicsServer2D::CollCbkData cbk; + cbk.max = 1; + cbk.amount = 0; + cbk.passed = 0; + cbk.ptr = cd; + cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized(); + + cbk.valid_depth = 10e20; + + Vector2 sep = motion_normal; //important optimization for this to work fast enough + bool collided = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(col_shape_idx), col_obj_shape_xform, Vector2(), GodotPhysicsServer2D::_shape_col_cbk, &cbk, &sep, 0); + if (!collided || cbk.amount == 0) { + continue; + } + } + + if (low < best_safe) { + best_safe = low; + best_unsafe = hi; + } + } + + if (stuck) { + safe = 0; + unsafe = 0; + best_shape = body_shape_idx; //sadly it's the best + break; + } + if (best_safe == 1.0) { + continue; + } + if (best_safe < safe) { + safe = best_safe; + unsafe = best_unsafe; + best_shape = body_shape_idx; + } + } + } + + bool collided = false; + + if (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; + + _RestCallbackData2D rcd; + rcd.best_len = 0; + rcd.best_object = nullptr; + rcd.best_shape = 0; + + // Allowed depth can't be lower than motion length, in order to handle contacts at low speed. + rcd.min_allowed_depth = MIN(motion_length, min_contact_depth); + + int from_shape = best_shape != -1 ? best_shape : 0; + int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count(); + + for (int j = from_shape; j < to_shape; j++) { + if (p_body->is_shape_disabled(j)) { + continue; + } + + Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j); + GodotShape2D *body_shape = p_body->get_shape(j); + + body_aabb.position += p_parameters.motion * unsafe; + + int amount = _cull_aabb_for_body(p_body, body_aabb); + + for (int i = 0; i < amount; i++) { + const GodotCollisionObject2D *col_obj = intersection_query_results[i]; + if (p_parameters.exclude_bodies.has(col_obj->get_self())) { + continue; + } + if (p_parameters.exclude_objects.has(col_obj->get_instance_id())) { + continue; + } + + int shape_idx = intersection_query_subindex_results[i]; + + GodotShape2D *against_shape = col_obj->get_shape(shape_idx); + + bool excluded = false; + for (int k = 0; k < excluded_shape_pair_count; k++) { + if (excluded_shape_pairs[k].local_shape == body_shape && excluded_shape_pairs[k].against_object == col_obj && excluded_shape_pairs[k].against_shape_index == shape_idx) { + excluded = true; + break; + } + } + if (excluded) { + continue; + } + + 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(); + + 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 + + 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) { + //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 + Vector2 motion = lv * last_step; + real_t motion_len = motion.length(); + motion.normalize(); + rcd.valid_depth += motion_len * MAX(motion.dot(-rcd.valid_dir), 0.0); + } + } + } else { + rcd.valid_dir = Vector2(); + rcd.valid_depth = 0; + } + + 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); + if (!sc) { + continue; + } + } + } + + if (rcd.best_len != 0) { + if (r_result) { + r_result->collider = rcd.best_object->get_self(); + r_result->collider_id = rcd.best_object->get_instance_id(); + r_result->collider_shape = rcd.best_shape; + r_result->collision_local_shape = rcd.best_local_shape; + r_result->collision_normal = rcd.best_normal; + r_result->collision_point = rcd.best_contact; + r_result->collision_depth = rcd.best_len; + r_result->collision_safe_fraction = safe; + r_result->collision_unsafe_fraction = unsafe; + + const GodotBody2D *body = static_cast<const GodotBody2D *>(rcd.best_object); + Vector2 rel_vec = r_result->collision_point - (body->get_transform().get_origin() + body->get_center_of_mass()); + r_result->collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity(); + + r_result->travel = safe * p_parameters.motion; + r_result->remainder = p_parameters.motion - safe * p_parameters.motion; + r_result->travel += (body_transform.get_origin() - p_parameters.from.get_origin()); + } + + collided = true; + } + } + + if (!collided && r_result) { + r_result->travel = p_parameters.motion; + r_result->remainder = Vector2(); + r_result->travel += (body_transform.get_origin() - p_parameters.from.get_origin()); + } + + return collided; +} + +void *GodotSpace2D::_broadphase_pair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_self) { + if (!A->interacts_with(B)) { + return nullptr; + } + + GodotCollisionObject2D::Type type_A = A->get_type(); + GodotCollisionObject2D::Type type_B = B->get_type(); + if (type_A > type_B) { + SWAP(A, B); + SWAP(p_subindex_A, p_subindex_B); + SWAP(type_A, type_B); + } + + GodotSpace2D *self = (GodotSpace2D *)p_self; + self->collision_pairs++; + + if (type_A == GodotCollisionObject2D::TYPE_AREA) { + GodotArea2D *area = static_cast<GodotArea2D *>(A); + if (type_B == GodotCollisionObject2D::TYPE_AREA) { + GodotArea2D *area_b = static_cast<GodotArea2D *>(B); + GodotArea2Pair2D *area2_pair = memnew(GodotArea2Pair2D(area_b, p_subindex_B, area, p_subindex_A)); + return area2_pair; + } else { + GodotBody2D *body = static_cast<GodotBody2D *>(B); + GodotAreaPair2D *area_pair = memnew(GodotAreaPair2D(body, p_subindex_B, area, p_subindex_A)); + return area_pair; + } + + } else { + GodotBodyPair2D *b = memnew(GodotBodyPair2D((GodotBody2D *)A, p_subindex_A, (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) { + if (!p_data) { + return; + } + + GodotSpace2D *self = (GodotSpace2D *)p_self; + self->collision_pairs--; + GodotConstraint2D *c = (GodotConstraint2D *)p_data; + memdelete(c); +} + +const SelfList<GodotBody2D>::List &GodotSpace2D::get_active_body_list() const { + return active_list; +} + +void GodotSpace2D::body_add_to_active_list(SelfList<GodotBody2D> *p_body) { + active_list.add(p_body); +} + +void GodotSpace2D::body_remove_from_active_list(SelfList<GodotBody2D> *p_body) { + active_list.remove(p_body); +} + +void GodotSpace2D::body_add_to_mass_properties_update_list(SelfList<GodotBody2D> *p_body) { + mass_properties_update_list.add(p_body); +} + +void GodotSpace2D::body_remove_from_mass_properties_update_list(SelfList<GodotBody2D> *p_body) { + mass_properties_update_list.remove(p_body); +} + +GodotBroadPhase2D *GodotSpace2D::get_broadphase() { + return broadphase; +} + +void GodotSpace2D::add_object(GodotCollisionObject2D *p_object) { + ERR_FAIL_COND(objects.has(p_object)); + objects.insert(p_object); +} + +void GodotSpace2D::remove_object(GodotCollisionObject2D *p_object) { + ERR_FAIL_COND(!objects.has(p_object)); + objects.erase(p_object); +} + +const Set<GodotCollisionObject2D *> &GodotSpace2D::get_objects() const { + return objects; +} + +void GodotSpace2D::body_add_to_state_query_list(SelfList<GodotBody2D> *p_body) { + state_query_list.add(p_body); +} + +void GodotSpace2D::body_remove_from_state_query_list(SelfList<GodotBody2D> *p_body) { + state_query_list.remove(p_body); +} + +void GodotSpace2D::area_add_to_monitor_query_list(SelfList<GodotArea2D> *p_area) { + monitor_query_list.add(p_area); +} + +void GodotSpace2D::area_remove_from_monitor_query_list(SelfList<GodotArea2D> *p_area) { + monitor_query_list.remove(p_area); +} + +void GodotSpace2D::area_add_to_moved_list(SelfList<GodotArea2D> *p_area) { + area_moved_list.add(p_area); +} + +void GodotSpace2D::area_remove_from_moved_list(SelfList<GodotArea2D> *p_area) { + area_moved_list.remove(p_area); +} + +const SelfList<GodotArea2D>::List &GodotSpace2D::get_moved_area_list() const { + return area_moved_list; +} + +void GodotSpace2D::call_queries() { + while (state_query_list.first()) { + GodotBody2D *b = state_query_list.first()->self(); + state_query_list.remove(state_query_list.first()); + b->call_queries(); + } + + while (monitor_query_list.first()) { + GodotArea2D *a = monitor_query_list.first()->self(); + monitor_query_list.remove(monitor_query_list.first()); + a->call_queries(); + } +} + +void GodotSpace2D::setup() { + contact_debug_count = 0; + + while (mass_properties_update_list.first()) { + mass_properties_update_list.first()->self()->update_mass_properties(); + mass_properties_update_list.remove(mass_properties_update_list.first()); + } +} + +void GodotSpace2D::update() { + broadphase->update(); +} + +void GodotSpace2D::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_value) { + switch (p_param) { + case PhysicsServer2D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: + contact_recycle_radius = p_value; + break; + case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_SEPARATION: + contact_max_separation = p_value; + break; + case PhysicsServer2D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: + contact_max_allowed_penetration = p_value; + break; + case PhysicsServer2D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: + body_linear_velocity_sleep_threshold = p_value; + break; + case PhysicsServer2D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: + body_angular_velocity_sleep_threshold = p_value; + break; + case PhysicsServer2D::SPACE_PARAM_BODY_TIME_TO_SLEEP: + body_time_to_sleep = p_value; + break; + case PhysicsServer2D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: + constraint_bias = p_value; + break; + } +} + +real_t GodotSpace2D::get_param(PhysicsServer2D::SpaceParameter p_param) const { + switch (p_param) { + case PhysicsServer2D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: + return contact_recycle_radius; + case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_SEPARATION: + return contact_max_separation; + case PhysicsServer2D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: + return contact_max_allowed_penetration; + case PhysicsServer2D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: + return body_linear_velocity_sleep_threshold; + case PhysicsServer2D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: + return body_angular_velocity_sleep_threshold; + case PhysicsServer2D::SPACE_PARAM_BODY_TIME_TO_SLEEP: + return body_time_to_sleep; + case PhysicsServer2D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: + return constraint_bias; + } + return 0; +} + +void GodotSpace2D::lock() { + locked = true; +} + +void GodotSpace2D::unlock() { + locked = false; +} + +bool GodotSpace2D::is_locked() const { + return locked; +} + +GodotPhysicsDirectSpaceState2D *GodotSpace2D::get_direct_state() { + return direct_access; +} + +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_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")); + + broadphase = GodotBroadPhase2D::create_func(); + broadphase->set_pair_callback(_broadphase_pair, this); + broadphase->set_unpair_callback(_broadphase_unpair, this); + + direct_access = memnew(GodotPhysicsDirectSpaceState2D); + direct_access->space = this; +} + +GodotSpace2D::~GodotSpace2D() { + memdelete(broadphase); + memdelete(direct_access); +} |