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Diffstat (limited to 'servers/physics_2d/space_2d_sw.cpp')
-rw-r--r--servers/physics_2d/space_2d_sw.cpp68
1 files changed, 57 insertions, 11 deletions
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 5ed70803ed..831764b40c 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -280,7 +280,7 @@ bool Physics2DDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transfor
real_t hi = 1;
Vector2 mnormal = p_motion.normalized();
- for (int i = 0; i < 8; i++) { //steps should be customizable..
+ for (int j = 0; j < 8; j++) { //steps should be customizable..
real_t ofs = (low + hi) * 0.5;
@@ -375,6 +375,7 @@ struct _RestCallbackData2D {
real_t best_len;
Vector2 valid_dir;
real_t valid_depth;
+ real_t min_allowed_depth;
};
static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) {
@@ -390,6 +391,10 @@ static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B,
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;
@@ -416,6 +421,7 @@ bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Transform2D &p_sh
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
+ rcd.min_allowed_depth = space->test_motion_min_contact_depth;
for (int i = 0; i < amount; i++) {
@@ -512,6 +518,9 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
if (p_body->is_shape_set_as_disabled(i))
continue;
+ if (p_body->get_shape(i)->get_type() != Physics2DServer::SHAPE_RAY)
+ continue;
+
if (!shapes_found) {
body_aabb = p_body->get_shape_aabb(i);
shapes_found = true;
@@ -555,7 +564,6 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
bool collided = false;
int amount = _cull_aabb_for_body(p_body, body_aabb);
- int ray_index = 0;
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j))
@@ -587,6 +595,10 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
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();
@@ -594,10 +606,15 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
cbk.invalid_by_dir = 0;
} else {
- cbk.valid_dir = Vector2();
- cbk.valid_depth = 0;
- cbk.invalid_by_dir = 0;
+*/
+
+ 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, NULL, p_margin)) {
@@ -605,7 +622,20 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
collided = true;
}
- if (ray_index < p_result_max) {
+ 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) {
+
Physics2DServer::SeparationResult &result = r_results[ray_index];
for (int k = 0; k < cbk.amount; k++) {
@@ -620,7 +650,8 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
result.collision_depth = depth;
result.collision_point = b;
result.collision_normal = (b - a).normalized();
- result.collision_local_shape = shape_idx;
+ 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);
@@ -635,12 +666,8 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
}
}
}
-
- ray_index++;
}
- rays_found = MAX(ray_index, rays_found);
-
if (!collided || recover_motion == Vector2()) {
break;
}
@@ -686,6 +713,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
if (p_body->is_shape_set_as_disabled(i))
continue;
+ if (p_exclude_raycast_shapes && p_body->get_shape(i)->get_type() == Physics2DServer::SHAPE_RAY)
+ continue;
+
if (!shapes_found) {
body_aabb = p_body->get_shape_aabb(i);
shapes_found = true;
@@ -695,6 +725,10 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}
if (!shapes_found) {
+ if (r_result) {
+ *r_result = Physics2DServer::MotionResult();
+ r_result->motion = p_motion;
+ }
return false;
}
@@ -990,15 +1024,24 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
+ rcd.min_allowed_depth = test_motion_min_contact_depth;
//optimization
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_set_as_disabled(j))
+ continue;
+
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() == Physics2DServer::SHAPE_RAY) {
+ continue;
+ }
+
body_aabb.position += p_motion * unsafe;
int amount = _cull_aabb_for_body(p_body, body_aabb);
@@ -1249,6 +1292,7 @@ void Space2DSW::set_param(Physics2DServer::SpaceParameter p_param, real_t p_valu
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: body_angular_velocity_sleep_threshold = 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;
+ case Physics2DServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: test_motion_min_contact_depth = p_value; break;
}
}
@@ -1263,6 +1307,7 @@ real_t Space2DSW::get_param(Physics2DServer::SpaceParameter p_param) const {
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: return body_angular_velocity_sleep_threshold;
case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
+ case Physics2DServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: return test_motion_min_contact_depth;
}
return 0;
}
@@ -1299,6 +1344,7 @@ Space2DSW::Space2DSW() {
contact_recycle_radius = 1.0;
contact_max_separation = 1.5;
contact_max_allowed_penetration = 0.3;
+ test_motion_min_contact_depth = 0.005;
constraint_bias = 0.2;
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0);
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-06 22:53:37 +0000