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Diffstat (limited to 'servers/physics_2d/space_2d_sw.cpp')
-rw-r--r--servers/physics_2d/space_2d_sw.cpp92
1 files changed, 84 insertions, 8 deletions
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 21a99cd4b2..f2ed74ffbf 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -98,7 +98,7 @@ bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2& p_from, const Vec
if (shape->intersect_segment(local_from,local_to,shape_point,shape_normal)) {
- //print_line("inters sgment!");
+
Matrix32 xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
shape_point=xform.xform(shape_point);
@@ -126,6 +126,7 @@ bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2& p_from, const Vec
if (r_result.collider_id!=0)
r_result.collider=ObjectDB::get_instance(r_result.collider_id);
r_result.normal=res_normal;
+ r_result.metadata=res_obj->get_shape_metadata(res_shape);
r_result.position=res_point;
r_result.rid=res_obj->get_self();
r_result.shape=res_shape;
@@ -171,6 +172,7 @@ int Physics2DDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Matri
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;
+ r_results[cc].metadata=col_obj->get_shape_metadata(shape_idx);
cc++;
@@ -215,6 +217,16 @@ bool Physics2DDirectSpaceStateSW::cast_motion(const RID& p_shape, const Matrix32
int shape_idx=space->intersection_query_subindex_results[i];
+ /*if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
+
+ const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
+ if (body->get_one_way_collision_direction()!=Vector2() && p_motion.dot(body->get_one_way_collision_direction())<=CMP_EPSILON) {
+ print_line("failed in motion dir");
+ continue;
+ }
+ }*/
+
+
Matrix32 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 (!CollisionSolver2DSW::solve(shape,p_xform,p_motion,col_obj->get_shape(shape_idx),col_obj_xform,Vector2() ,NULL,NULL,NULL,p_margin)) {
@@ -225,6 +237,14 @@ bool Physics2DDirectSpaceStateSW::cast_motion(const RID& p_shape, const Matrix32
//test initial overlap
if (CollisionSolver2DSW::solve(shape,p_xform,Vector2(),col_obj->get_shape(shape_idx),col_obj_xform,Vector2() ,NULL,NULL,NULL,p_margin)) {
+ if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
+ //if one way collision direction ignore initial overlap
+ const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
+ if (body->get_one_way_collision_direction()!=Vector2()) {
+ continue;
+ }
+ }
+
return false;
}
@@ -251,6 +271,29 @@ bool Physics2DDirectSpaceStateSW::cast_motion(const RID& p_shape, const Matrix32
}
}
+ if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
+
+ const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
+ if (body->get_one_way_collision_direction()!=Vector2()) {
+
+ Vector2 cd[2];
+ Physics2DServerSW::CollCbkData cbk;
+ cbk.max=1;
+ cbk.amount=0;
+ cbk.ptr=cd;
+ cbk.valid_dir=body->get_one_way_collision_direction();
+ cbk.valid_depth=body->get_one_way_collision_max_depth();
+
+ Vector2 sep=mnormal; //important optimization for this to work fast enough
+ bool collided = CollisionSolver2DSW::solve(shape,p_xform,p_motion*(hi+space->contact_max_allowed_penetration),col_obj->get_shape(shape_idx),col_obj_xform,Vector2(),Physics2DServerSW::_shape_col_cbk,&cbk,&sep,p_margin);
+ if (!collided || cbk.amount==0) {
+ continue;
+ }
+
+ }
+ }
+
+
if (low<best_safe) {
best_safe=low;
best_unsafe=hi;
@@ -309,14 +352,23 @@ bool Physics2DDirectSpaceStateSW::collide_shape(RID p_shape, const Matrix32& p_s
if (p_exclude.has( col_obj->get_self() ))
continue;
-
+ if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
+
+ const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
+ cbk.valid_dir=body->get_one_way_collision_direction();
+ cbk.valid_depth=body->get_one_way_collision_max_depth();
+ } else {
+ cbk.valid_dir=Vector2();
+ cbk.valid_depth=0;
+ }
if (CollisionSolver2DSW::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,NULL,p_margin)) {
- collided=true;
+ collided=p_result_max==0 || cbk.amount>0;
}
}
+
r_result_count=cbk.amount;
return collided;
@@ -332,6 +384,8 @@ struct _RestCallbackData2D {
Vector2 best_contact;
Vector2 best_normal;
float best_len;
+ Vector2 valid_dir;
+ float valid_depth;
};
static void _rest_cbk_result(const Vector2& p_point_A,const Vector2& p_point_B,void *p_userdata) {
@@ -339,17 +393,30 @@ static void _rest_cbk_result(const Vector2& p_point_A,const Vector2& p_point_B,v
_RestCallbackData2D *rd=(_RestCallbackData2D*)p_userdata;
+ if (rd->valid_dir!=Vector2()) {
+
+ if (rd->valid_dir!=Vector2()) {
+ if (p_point_A.distance_squared_to(p_point_B)>rd->valid_depth*rd->valid_depth)
+ return;
+ if (rd->valid_dir.dot((p_point_A-p_point_B).normalized())<Math_PI*0.25)
+ return;
+ }
+
+ }
+
Vector2 contact_rel = p_point_B - p_point_A;
float len = contact_rel.length();
if (len <= rd->best_len)
return;
+
rd->best_len=len;
rd->best_contact=p_point_B;
rd->best_normal=contact_rel/len;
rd->best_object=rd->object;
rd->best_shape=rd->shape;
+
}
@@ -382,6 +449,17 @@ bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Matrix32& p_shape
if (p_exclude.has( col_obj->get_self() ))
continue;
+ if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
+
+ const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
+ rcd.valid_dir=body->get_one_way_collision_direction();
+ rcd.valid_depth=body->get_one_way_collision_max_depth();
+ } else {
+ rcd.valid_dir=Vector2();
+ rcd.valid_depth=0;
+ }
+
+
rcd.object=col_obj;
rcd.shape=shape_idx;
bool sc = CollisionSolver2DSW::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,NULL,p_margin);
@@ -399,6 +477,7 @@ bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Matrix32& p_shape
r_info->normal=rcd.best_normal;
r_info->point=rcd.best_contact;
r_info->rid=rcd.best_object->get_self();
+ 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);
@@ -433,6 +512,7 @@ Physics2DDirectSpaceStateSW::Physics2DDirectSpaceStateSW() {
void* Space2DSW::_broadphase_pair(CollisionObject2DSW *A,int p_subindex_A,CollisionObject2DSW *B,int p_subindex_B,void *p_self) {
+
CollisionObject2DSW::Type type_A=A->get_type();
CollisionObject2DSW::Type type_B=B->get_type();
if (type_A>type_B) {
@@ -447,7 +527,6 @@ void* Space2DSW::_broadphase_pair(CollisionObject2DSW *A,int p_subindex_A,Collis
if (type_A==CollisionObject2DSW::TYPE_AREA) {
-
ERR_FAIL_COND_V(type_B!=CollisionObject2DSW::TYPE_BODY,NULL);
Area2DSW *area=static_cast<Area2DSW*>(A);
Body2DSW *body=static_cast<Body2DSW*>(B);
@@ -602,8 +681,7 @@ void Space2DSW::set_param(Physics2DServer::SpaceParameter p_param, real_t p_valu
case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration=p_value; break;
case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: body_linear_velocity_sleep_treshold=p_value; break;
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_treshold=p_value; break;
- case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep=p_value; break;
- case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio=p_value; break;
+ case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep=p_value; break;
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias=p_value; break;
}
}
@@ -618,7 +696,6 @@ real_t Space2DSW::get_param(Physics2DServer::SpaceParameter p_param) const {
case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: return body_linear_velocity_sleep_treshold;
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: return body_angular_velocity_sleep_treshold;
case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
- case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio;
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
}
return 0;
@@ -660,7 +737,6 @@ Space2DSW::Space2DSW() {
body_linear_velocity_sleep_treshold=0.01;
body_angular_velocity_sleep_treshold=(8.0 / 180.0 * Math_PI);
body_time_to_sleep=0.5;
- body_angular_velocity_damp_ratio=15;
broadphase = BroadPhase2DSW::create_func();
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-07 12:15:28 +0000