1 files changed, 33 insertions, 238 deletions

diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 43329fed2f..7dbd1243cc 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -482,7 +482,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
 	r_info->metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
 	if (rcd.best_object->get_type() == CollisionObject2DSW::TYPE_BODY) {
 		const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);
-		Vector2 rel_vec = r_info->point - body->get_transform().get_origin();
+		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 {
@@ -508,7 +508,7 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
 			keep = false;
 		} else if (intersection_query_results[i]->get_type() == CollisionObject2DSW::TYPE_AREA) {
 			keep = false;
-		} else if (!p_body->layer_in_mask(static_cast<Body2DSW *>(intersection_query_results[i]))) {
+		} else if (!p_body->collides_with(static_cast<Body2DSW *>(intersection_query_results[i]))) {
 			keep = false;
 		} else if (static_cast<Body2DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
 			keep = false;
@@ -528,188 +528,7 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
 	return amount;
 }
 
-int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, PhysicsServer2D::SeparationResult *r_results, int p_result_max, real_t p_margin) {
-	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 (p_body->get_shape(i)->get_type() != PhysicsServer2D::SHAPE_RAY) {
-			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) {
-		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);
-
-	Transform2D body_transform = p_transform;
-
-	for (int i = 0; i < p_result_max; i++) {
-		//reset results
-		r_results[i].collision_depth = 0;
-	}
-
-	int rays_found = 0;
-
-	{
-		// raycast AND separate
-
-		const int max_results = 32;
-		int recover_attempts = 4;
-		Vector2 sr[max_results * 2];
-		PhysicsServer2DSW::CollCbkData cbk;
-		cbk.max = max_results;
-		PhysicsServer2DSW::CollCbkData *cbkptr = &cbk;
-		CollisionSolver2DSW::CallbackResult cbkres = PhysicsServer2DSW::_shape_col_cbk;
-
-		do {
-			Vector2 recover_motion;
-
-			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;
-				}
-
-				Shape2DSW *body_shape = p_body->get_shape(j);
-
-				if (body_shape->get_type() != PhysicsServer2D::SHAPE_RAY) {
-					continue;
-				}
-
-				Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
-
-				for (int i = 0; i < amount; i++) {
-					const CollisionObject2DSW *col_obj = intersection_query_results[i];
-					int shape_idx = intersection_query_subindex_results[i];
-
-					cbk.amount = 0;
-					cbk.passed = 0;
-					cbk.ptr = sr;
-					cbk.invalid_by_dir = 0;
-
-					if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
-						const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
-						if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) {
-							continue;
-						}
-					}
-
-					Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
-
-					/*
- * There is no point in supporting one way collisions with ray shapes, as they will always collide in the desired
- * direction. Use a short ray shape if you want to achieve a similar effect.
- *
-					if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
-						cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
-						cbk.valid_depth = p_margin; //only valid depth is the collision margin
-						cbk.invalid_by_dir = 0;
-
-					} else {
-*/
-
-					cbk.valid_dir = Vector2();
-					cbk.valid_depth = 0;
-					cbk.invalid_by_dir = 0;
-
-					/*
-					}
-					*/
-
-					Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
-					if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_margin)) {
-						if (cbk.amount > 0) {
-							collided = true;
-						}
-
-						int ray_index = -1; //reuse shape
-						for (int k = 0; k < rays_found; k++) {
-							if (r_results[ray_index].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) {
-							PhysicsServer2D::SeparationResult &result = r_results[ray_index];
-
-							for (int k = 0; k < cbk.amount; k++) {
-								Vector2 a = sr[k * 2 + 0];
-								Vector2 b = sr[k * 2 + 1];
-
-								recover_motion += (b - a) / cbk.amount;
-
-								real_t depth = a.distance_to(b);
-								if (depth > result.collision_depth) {
-									result.collision_depth = depth;
-									result.collision_point = b;
-									result.collision_normal = (b - a).normalized();
-									result.collision_local_shape = j;
-									result.collider_shape = shape_idx;
-									result.collider = col_obj->get_self();
-									result.collider_id = col_obj->get_instance_id();
-									result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
-									if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
-										Body2DSW *body = (Body2DSW *)col_obj;
-
-										Vector2 rel_vec = b - body->get_transform().get_origin();
-										result.collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
-									}
-								}
-							}
-						}
-					}
-				}
-			}
-
-			if (!collided || recover_motion == Vector2()) {
-				break;
-			}
-
-			body_transform.elements[2] += recover_motion;
-			body_aabb.position += recover_motion;
-
-			recover_attempts--;
-		} while (recover_attempts);
-	}
-
-	//optimize results (remove non colliding)
-	for (int i = 0; i < rays_found; i++) {
-		if (r_results[i].collision_depth == 0) {
-			rays_found--;
-			SWAP(r_results[i], r_results[rays_found]);
-		}
-	}
-
-	r_recover_motion = body_transform.elements[2] - p_transform.elements[2];
-	return rays_found;
-}
-
-bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer2D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
+bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, PhysicsServer2D::MotionResult *r_result, bool p_collide_separation_ray, const Set<RID> &p_exclude) {
 	//give me back regular physics engine logic
 	//this is madness
 	//and most people using this function will think
@@ -730,10 +549,6 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 			continue;
 		}
 
-		if (p_exclude_raycast_shapes && p_body->get_shape(i)->get_type() == PhysicsServer2D::SHAPE_RAY) {
-			continue;
-		}
-
 		if (!shapes_found) {
 			body_aabb = p_body->get_shape_aabb(i);
 			shapes_found = true;
@@ -745,7 +560,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 	if (!shapes_found) {
 		if (r_result) {
 			*r_result = PhysicsServer2D::MotionResult();
-			r_result->motion = p_motion;
+			r_result->travel = p_motion;
 		}
 		return false;
 	}
@@ -794,28 +609,19 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 				}
 
 				Shape2DSW *body_shape = p_body->get_shape(j);
-				if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer2D::SHAPE_RAY) {
-					continue;
-				}
-
 				Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
+
 				for (int i = 0; i < amount; i++) {
 					const CollisionObject2DSW *col_obj = intersection_query_results[i];
 					if (p_exclude.has(col_obj->get_self())) {
 						continue;
 					}
-					int shape_idx = intersection_query_subindex_results[i];
 
-					if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
-						const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
-						if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) {
-							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 (col_obj->is_shape_set_as_one_way_collision(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);
@@ -828,7 +634,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 								//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 * PhysicsDirectBodyState2DSW::singleton->step;
+								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);
@@ -920,8 +726,14 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 			}
 
 			Shape2DSW *body_shape = p_body->get_shape(body_shape_idx);
-			if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer2D::SHAPE_RAY) {
-				continue;
+
+			// Colliding separation rays allows to properly snap to the ground,
+			// otherwise it's not needed in regular motion.
+			if (!p_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<SeparationRayShape2DSW *>(body_shape)->get_slide_on_slope()) {
+					continue;
+				}
 			}
 
 			Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(body_shape_idx);
@@ -939,13 +751,6 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 				int col_shape_idx = intersection_query_subindex_results[i];
 				Shape2DSW *against_shape = col_obj->get_shape(col_shape_idx);
 
-				if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
-					const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
-					if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) {
-						continue;
-					}
-				}
-
 				bool excluded = false;
 
 				for (int k = 0; k < excluded_shape_pair_count; k++) {
@@ -967,7 +772,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 
 				//test initial overlap
 				if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
-					if (col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
+					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;
@@ -1011,7 +816,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 					}
 				}
 
-				if (col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
+				if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
 					Vector2 cd[2];
 					PhysicsServer2DSW::CollCbkData cbk;
 					cbk.max = 1;
@@ -1082,10 +887,6 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 			Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j);
 			Shape2DSW *body_shape = p_body->get_shape(j);
 
-			if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer2D::SHAPE_RAY) {
-				continue;
-			}
-
 			body_aabb.position += p_motion * unsafe;
 
 			int amount = _cull_aabb_for_body(p_body, body_aabb);
@@ -1095,14 +896,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 				if (p_exclude.has(col_obj->get_self())) {
 					continue;
 				}
-				int shape_idx = intersection_query_subindex_results[i];
 
-				if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
-					const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
-					if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) {
-						continue;
-					}
-				}
+				int shape_idx = intersection_query_subindex_results[i];
 
 				Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
 
@@ -1119,7 +914,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 
 				Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
 
-				if (col_obj->is_shape_set_as_one_way_collision(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);
@@ -1131,7 +926,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 							//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 * PhysicsDirectBodyState2DSW::singleton->step;
+							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);
@@ -1166,12 +961,12 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 				r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
 
 				const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);
-				Vector2 rel_vec = r_result->collision_point - body->get_transform().get_origin();
+				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->motion = safe * p_motion;
+				r_result->travel = safe * p_motion;
 				r_result->remainder = p_motion - safe * p_motion;
-				r_result->motion += (body_transform.get_origin() - p_from.get_origin());
+				r_result->travel += (body_transform.get_origin() - p_from.get_origin());
 			}
 
 			collided = true;
@@ -1179,9 +974,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 	}
 
 	if (!collided && r_result) {
-		r_result->motion = p_motion;
+		r_result->travel = p_motion;
 		r_result->remainder = Vector2();
-		r_result->motion += (body_transform.get_origin() - p_from.get_origin());
+		r_result->travel += (body_transform.get_origin() - p_from.get_origin());
 	}
 
 	return collided;
@@ -1246,12 +1041,12 @@ void Space2DSW::body_remove_from_active_list(SelfList<Body2DSW> *p_body) {
 	active_list.remove(p_body);
 }
 
-void Space2DSW::body_add_to_inertia_update_list(SelfList<Body2DSW> *p_body) {
-	inertia_update_list.add(p_body);
+void Space2DSW::body_add_to_mass_properties_update_list(SelfList<Body2DSW> *p_body) {
+	mass_properties_update_list.add(p_body);
 }
 
-void Space2DSW::body_remove_from_inertia_update_list(SelfList<Body2DSW> *p_body) {
-	inertia_update_list.remove(p_body);
+void Space2DSW::body_remove_from_mass_properties_update_list(SelfList<Body2DSW> *p_body) {
+	mass_properties_update_list.remove(p_body);
 }
 
 BroadPhase2DSW *Space2DSW::get_broadphase() {
@@ -1317,9 +1112,9 @@ void Space2DSW::call_queries() {
 void Space2DSW::setup() {
 	contact_debug_count = 0;
 
-	while (inertia_update_list.first()) {
-		inertia_update_list.first()->self()->update_inertias();
-		inertia_update_list.remove(inertia_update_list.first());
+	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());
 	}
 }