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path: root/servers/physics_2d/space_2d_sw.cpp
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Diffstat (limited to 'servers/physics_2d/space_2d_sw.cpp')
-rw-r--r--servers/physics_2d/space_2d_sw.cpp55
1 files changed, 28 insertions, 27 deletions
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 5cd9bf3223..5e25d7f7c4 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -525,7 +525,7 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
return amount;
}
-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) {
+bool Space2DSW::test_body_motion(Body2DSW *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
@@ -557,25 +557,25 @@ 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->travel = p_motion;
+ 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_from.xform(p_body->get_inv_transform().xform(body_aabb));
- body_aabb = body_aabb.grow(p_margin);
+ 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_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+ real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
- real_t motion_length = p_motion.length();
- Vector2 motion_normal = p_motion / motion_length;
+ real_t motion_length = p_parameters.motion.length();
+ Vector2 motion_normal = p_parameters.motion / motion_length;
- Transform2D body_transform = p_from;
+ Transform2D body_transform = p_parameters.from;
bool recovered = false;
@@ -612,7 +612,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
- if (p_exclude.has(col_obj->get_self())) {
+ if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
continue;
}
@@ -624,7 +624,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
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_margin); //user specified, but never less than actual margin or it won't work
+ 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() == CollisionObject2DSW::TYPE_BODY) {
@@ -649,7 +649,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
bool did_collide = false;
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 (CollisionSolver2DSW::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
}
@@ -714,7 +714,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
// STEP 2 ATTEMPT MOTION
Rect2 motion_aabb = body_aabb;
- motion_aabb.position += p_motion;
+ motion_aabb.position += p_parameters.motion;
motion_aabb = motion_aabb.merge(body_aabb);
int amount = _cull_aabb_for_body(p_body, motion_aabb);
@@ -728,7 +728,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
// 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)) {
+ 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<SeparationRayShape2DSW *>(body_shape)->get_slide_on_slope()) {
continue;
@@ -744,9 +744,10 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
- if (p_exclude.has(col_obj->get_self())) {
+ if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
continue;
}
+
int col_shape_idx = intersection_query_subindex_results[i];
Shape2DSW *against_shape = col_obj->get_shape(col_shape_idx);
@@ -765,7 +766,7 @@ 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(col_shape_idx);
//test initial overlap, does it collide if going all the way?
- if (!CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
+ if (!CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_parameters.motion, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
continue;
}
@@ -790,7 +791,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
real_t fraction = low + (hi - low) * fraction_coeff;
Vector2 sep = motion_normal; //important optimization for this to work fast enough
- bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * fraction, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0);
+ bool collided = CollisionSolver2DSW::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;
@@ -827,7 +828,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
cbk.valid_depth = 10e20;
Vector2 sep = motion_normal; //important optimization for this to work fast enough
- bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(col_shape_idx), col_obj_shape_xform, Vector2(), PhysicsServer2DSW::_shape_col_cbk, &cbk, &sep, 0);
+ bool collided = CollisionSolver2DSW::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(), PhysicsServer2DSW::_shape_col_cbk, &cbk, &sep, 0);
if (!collided || cbk.amount == 0) {
continue;
}
@@ -865,7 +866,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
//it collided, let's get the rest info in unsafe advance
Transform2D ugt = body_transform;
- ugt.elements[2] += p_motion * unsafe;
+ ugt.elements[2] += p_parameters.motion * unsafe;
_RestCallbackData2D rcd;
rcd.best_len = 0;
@@ -886,13 +887,13 @@ 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);
- body_aabb.position += p_motion * unsafe;
+ 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 CollisionObject2DSW *col_obj = intersection_query_results[i];
- if (p_exclude.has(col_obj->get_self())) {
+ if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
continue;
}
@@ -917,7 +918,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
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_margin); //user specified, but never less than actual margin or it won't work
+ 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() == CollisionObject2DSW::TYPE_BODY) {
const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
@@ -939,7 +940,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
rcd.object = col_obj;
rcd.shape = shape_idx;
rcd.local_shape = j;
- bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, p_margin);
+ bool sc = CollisionSolver2DSW::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;
}
@@ -962,9 +963,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
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_motion;
- r_result->remainder = p_motion - safe * p_motion;
- r_result->travel += (body_transform.get_origin() - p_from.get_origin());
+ 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;
@@ -972,9 +973,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}
if (!collided && r_result) {
- r_result->travel = p_motion;
+ r_result->travel = p_parameters.motion;
r_result->remainder = Vector2();
- r_result->travel += (body_transform.get_origin() - p_from.get_origin());
+ r_result->travel += (body_transform.get_origin() - p_parameters.from.get_origin());
}
return collided;
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-04 19:53:06 +0000