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Diffstat (limited to 'servers/physics_2d/space_2d_sw.cpp')
-rw-r--r--servers/physics_2d/space_2d_sw.cpp82
1 files changed, 35 insertions, 47 deletions
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index f04f3ab583..b9b26eb21d 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -383,18 +383,18 @@ bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D &
}
struct _RestCallbackData2D {
- const CollisionObject2DSW *object;
- const CollisionObject2DSW *best_object;
- int local_shape;
- int best_local_shape;
- int shape;
- int best_shape;
+ const CollisionObject2DSW *object = nullptr;
+ const CollisionObject2DSW *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;
+ real_t best_len = 0.0;
Vector2 valid_dir;
- real_t valid_depth;
- real_t min_allowed_depth;
+ 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) {
@@ -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 {
@@ -492,10 +492,6 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
return true;
}
-PhysicsDirectSpaceState2DSW::PhysicsDirectSpaceState2DSW() {
- space = nullptr;
-}
-
////////////////////////////////////////////////////////////////////////////////////////////////////////////
int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
@@ -528,7 +524,7 @@ 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, 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
@@ -621,7 +617,7 @@ 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)) {
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);
@@ -634,7 +630,7 @@ 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);
@@ -726,6 +722,16 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}
Shape2DSW *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_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);
bool stuck = false;
@@ -762,7 +768,7 @@ 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;
@@ -806,7 +812,7 @@ 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;
@@ -904,7 +910,7 @@ 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);
@@ -916,7 +922,7 @@ 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);
@@ -951,7 +957,7 @@ 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->travel = safe * p_motion;
@@ -1031,12 +1037,12 @@ 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() {
@@ -1102,9 +1108,9 @@ 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());
}
}
@@ -1180,19 +1186,6 @@ PhysicsDirectSpaceState2DSW *Space2DSW::get_direct_state() {
}
Space2DSW::Space2DSW() {
- collision_pairs = 0;
- active_objects = 0;
- island_count = 0;
-
- contact_debug_count = 0;
-
- locked = false;
- 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);
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);
@@ -1201,14 +1194,9 @@ Space2DSW::Space2DSW() {
broadphase = BroadPhase2DSW::create_func();
broadphase->set_pair_callback(_broadphase_pair, this);
broadphase->set_unpair_callback(_broadphase_unpair, this);
- area = nullptr;
direct_access = memnew(PhysicsDirectSpaceState2DSW);
direct_access->space = this;
-
- for (int i = 0; i < ELAPSED_TIME_MAX; i++) {
- elapsed_time[i] = 0;
- }
}
Space2DSW::~Space2DSW() {
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-05 08:57:28 +0000