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-rw-r--r--servers/physics_2d/space_2d_sw.cpp296
1 files changed, 205 insertions, 91 deletions
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index f36328c985..2778775446 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */
+/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
@@ -31,9 +31,9 @@
#include "space_2d_sw.h"
#include "collision_solver_2d_sw.h"
+#include "core/os/os.h"
#include "core/pair.h"
#include "physics_2d_server_sw.h"
-
_FORCE_INLINE_ static bool _can_collide_with(CollisionObject2DSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (!(p_object->get_collision_layer() & p_collision_mask)) {
@@ -49,7 +49,7 @@ _FORCE_INLINE_ static bool _can_collide_with(CollisionObject2DSW *p_object, uint
return true;
}
-int Physics2DDirectSpaceStateSW::intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) {
+int Physics2DDirectSpaceStateSW::_intersect_point_impl(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point, bool p_filter_by_canvas, ObjectID p_canvas_instance_id) {
if (p_result_max <= 0)
return 0;
@@ -75,6 +75,9 @@ int Physics2DDirectSpaceStateSW::intersect_point(const Vector2 &p_point, ShapeRe
if (p_pick_point && !col_obj->is_pickable())
continue;
+ if (p_filter_by_canvas && col_obj->get_canvas_instance_id() != p_canvas_instance_id)
+ continue;
+
int shape_idx = space->intersection_query_subindex_results[i];
Shape2DSW *shape = col_obj->get_shape(shape_idx);
@@ -100,6 +103,16 @@ int Physics2DDirectSpaceStateSW::intersect_point(const Vector2 &p_point, ShapeRe
return cc;
}
+int Physics2DDirectSpaceStateSW::intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) {
+
+ return _intersect_point_impl(p_point, r_results, p_result_max, p_exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_pick_point);
+}
+
+int Physics2DDirectSpaceStateSW::intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) {
+
+ return _intersect_point_impl(p_point, r_results, p_result_max, p_exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_pick_point, true, p_canvas_instance_id);
+}
+
bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
ERR_FAIL_COND_V(space->locked, false);
@@ -267,7 +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;
@@ -315,14 +328,11 @@ bool Physics2DDirectSpaceStateSW::collide_shape(RID p_shape, const Transform2D &
Physics2DServerSW::CollCbkData cbk;
cbk.max = p_result_max;
cbk.amount = 0;
+ cbk.passed = 0;
cbk.ptr = r_results;
- CollisionSolver2DSW::CallbackResult cbkres = NULL;
+ CollisionSolver2DSW::CallbackResult cbkres = Physics2DServerSW::_shape_col_cbk;
- Physics2DServerSW::CollCbkData *cbkptr = NULL;
- if (p_result_max > 0) {
- cbkptr = &cbk;
- cbkres = Physics2DServerSW::_shape_col_cbk;
- }
+ Physics2DServerSW::CollCbkData *cbkptr = &cbk;
for (int i = 0; i < amount; i++) {
@@ -339,7 +349,7 @@ bool Physics2DDirectSpaceStateSW::collide_shape(RID p_shape, const Transform2D &
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 = p_result_max == 0 || cbk.amount > 0;
+ collided = cbk.amount > 0;
}
}
@@ -352,6 +362,8 @@ struct _RestCallbackData2D {
const CollisionObject2DSW *object;
const CollisionObject2DSW *best_object;
+ int local_shape;
+ int best_local_shape;
int shape;
int best_shape;
Vector2 best_contact;
@@ -359,6 +371,7 @@ 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) {
@@ -374,6 +387,10 @@ 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;
@@ -382,6 +399,7 @@ static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B,
rd->best_normal = contact_rel / len;
rd->best_object = rd->object;
rd->best_shape = rd->shape;
+ rd->best_local_shape = rd->local_shape;
}
bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
@@ -399,6 +417,7 @@ 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++) {
@@ -415,12 +434,13 @@ bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Transform2D &p_sh
rcd.valid_depth = 0;
rcd.object = col_obj;
rcd.shape = shape_idx;
+ rcd.local_shape = 0;
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);
if (!sc)
continue;
}
- if (rcd.best_len == 0)
+ if (rcd.best_len == 0 || !rcd.best_object)
return false;
r_info->collider_id = rcd.best_object->get_instance_id();
@@ -487,12 +507,26 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
Rect2 body_aabb;
+ bool shapes_found = false;
+
for (int i = 0; i < p_body->get_shape_count(); i++) {
- if (i == 0)
+ 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);
- else
+ 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
@@ -526,7 +560,6 @@ 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))
@@ -545,6 +578,7 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
int shape_idx = intersection_query_subindex_results[i];
cbk.amount = 0;
+ cbk.passed = 0;
cbk.ptr = sr;
cbk.invalid_by_dir = 0;
@@ -555,25 +589,49 @@ 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 = body_shape_xform.get_axis(1).normalized();
+ 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;
+*/
+
+ 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->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, NULL, p_margin)) {
+ if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, NULL, p_margin)) {
if (cbk.amount > 0) {
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++) {
@@ -588,7 +646,8 @@ 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);
@@ -603,12 +662,8 @@ 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;
}
@@ -647,12 +702,30 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}
Rect2 body_aabb;
+ bool shapes_found = false;
+
for (int i = 0; i < p_body->get_shape_count(); i++) {
- if (i == 0)
+ 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);
- else
+ shapes_found = true;
+ } else {
body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
+ }
+ }
+
+ if (!shapes_found) {
+ if (r_result) {
+ *r_result = Physics2DServer::MotionResult();
+ r_result->motion = p_motion;
+ }
+ return false;
}
// Undo the currently transform the physics server is aware of and apply the provided one
@@ -663,6 +736,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
ExcludedShapeSW excluded_shape_pairs[max_excluded_shape_pairs];
int excluded_shape_pair_count = 0;
+ float separation_margin = MIN(p_margin, MAX(0.0, p_motion.length() - CMP_EPSILON)); //don't separate by more than the intended motion
+
Transform2D body_transform = p_from;
{
@@ -677,6 +752,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
Physics2DServerSW::CollCbkData cbk;
cbk.max = max_results;
cbk.amount = 0;
+ cbk.passed = 0;
cbk.ptr = sr;
cbk.invalid_by_dir = 0;
excluded_shape_pair_count = 0; //last step is the one valid
@@ -710,24 +786,43 @@ 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)) {
- cbk.valid_dir = body_shape_xform.get_axis(1).normalized();
- cbk.valid_depth = p_margin; //only valid depth is the collision margin
+ cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
+
+ float 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.invalid_by_dir = 0;
+ if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
+ const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
+ if (b->get_mode() == Physics2DServer::BODY_MODE_KINEMATIC || b->get_mode() == Physics2DServer::BODY_MODE_RIGID) {
+ //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 * Physics2DDirectBodyStateSW::singleton->step;
+ float motion_len = motion.length();
+ motion.normalize();
+ cbk.valid_depth += motion_len * MAX(motion.dot(-cbk.valid_dir), 0.0);
+ }
+ }
} else {
cbk.valid_dir = Vector2();
cbk.valid_depth = 0;
cbk.invalid_by_dir = 0;
}
+ int current_passed = cbk.passed; //save how many points passed collision
+ 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->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, NULL, p_margin)) {
- collided = cbk.amount > 0;
+ if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, NULL, separation_margin)) {
+ did_collide = cbk.passed > current_passed; //more passed, so collision actually existed
}
- if (!collided && cbk.invalid_by_dir > 0) {
+ if (!did_collide && cbk.invalid_by_dir > 0) {
//this shape must be excluded
if (excluded_shape_pair_count < max_excluded_shape_pairs) {
ExcludedShapeSW esp;
@@ -737,6 +832,10 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
excluded_shape_pairs[excluded_shape_pair_count++] = esp;
}
}
+
+ if (did_collide) {
+ collided = true;
+ }
}
}
@@ -824,14 +923,14 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
continue;
}
- Transform2D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(col_shape_idx);
+ 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_xform, Vector2(), NULL, NULL, NULL, 0)) {
+ if (!CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion, against_shape, col_obj_shape_xform, Vector2(), NULL, NULL, NULL, 0)) {
continue;
}
//test initial overlap
- if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_xform, Vector2(), NULL, NULL, NULL, 0)) {
+ if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), NULL, NULL, NULL, 0)) {
if (col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
continue;
@@ -851,7 +950,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
real_t ofs = (low + hi) * 0.5;
Vector2 sep = mnormal; //important optimization for this to work fast enough
- bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * ofs, against_shape, col_obj_xform, Vector2(), NULL, NULL, &sep, 0);
+ bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * ofs, against_shape, col_obj_shape_xform, Vector2(), NULL, NULL, &sep, 0);
if (collided) {
@@ -868,13 +967,14 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
Physics2DServerSW::CollCbkData cbk;
cbk.max = 1;
cbk.amount = 0;
+ cbk.passed = 0;
cbk.ptr = cd;
- cbk.valid_dir = body_shape_xform.get_axis(1).normalized();
+ cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
cbk.valid_depth = 10e20;
Vector2 sep = mnormal; //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_xform, Vector2(), Physics2DServerSW::_shape_col_cbk, &cbk, &sep, 0);
+ 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(), Physics2DServerSW::_shape_col_cbk, &cbk, &sep, 0);
if (!collided || cbk.amount == 0) {
continue;
}
@@ -907,16 +1007,10 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
bool collided = false;
if (safe >= 1) {
- //not collided
- collided = false;
- if (r_result) {
-
- r_result->motion = p_motion;
- r_result->remainder = Vector2();
- r_result->motion += (body_transform.get_origin() - p_from.get_origin());
- }
+ best_shape = -1; //no best shape with cast, reset to -1
+ }
- } else {
+ {
//it collided, let's get the rest info in unsafe advance
Transform2D ugt = body_transform;
@@ -926,53 +1020,71 @@ 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;
- Transform2D body_shape_xform = ugt * p_body->get_shape_transform(best_shape);
- Shape2DSW *body_shape = p_body->get_shape(best_shape);
+ //optimization
+ int from_shape = best_shape != -1 ? best_shape : 0;
+ int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count();
- body_aabb.position += p_motion * unsafe;
+ for (int j = from_shape; j < to_shape; j++) {
- int amount = _cull_aabb_for_body(p_body, body_aabb);
+ if (p_body->is_shape_set_as_disabled(j))
+ continue;
- for (int i = 0; i < amount; i++) {
+ Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j);
+ Shape2DSW *body_shape = p_body->get_shape(j);
- const CollisionObject2DSW *col_obj = intersection_query_results[i];
- int shape_idx = intersection_query_subindex_results[i];
+ if (p_exclude_raycast_shapes && body_shape->get_type() == Physics2DServer::SHAPE_RAY) {
+ continue;
+ }
- if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
- const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
- if (p_infinite_inertia && Physics2DServer::BODY_MODE_STATIC != b->get_mode() && Physics2DServer::BODY_MODE_KINEMATIC != b->get_mode()) {
- continue;
+ body_aabb.position += p_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];
+ 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 && Physics2DServer::BODY_MODE_STATIC != b->get_mode() && Physics2DServer::BODY_MODE_KINEMATIC != b->get_mode()) {
+ continue;
+ }
}
- }
- Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
+ Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
- bool excluded = false;
- for (int k = 0; k < excluded_shape_pair_count; k++) {
+ bool excluded = false;
+ for (int k = 0; k < excluded_shape_pair_count; k++) {
- if (excluded_shape_pairs[k].local_shape == body_shape && excluded_shape_pairs[k].against_object == col_obj && excluded_shape_pairs[k].against_shape_index == shape_idx) {
- excluded = true;
- break;
+ if (excluded_shape_pairs[k].local_shape == body_shape && excluded_shape_pairs[k].against_object == col_obj && excluded_shape_pairs[k].against_shape_index == shape_idx) {
+ excluded = true;
+ break;
+ }
}
- }
- if (excluded)
- continue;
+ if (excluded)
+ continue;
- if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
+ Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
- rcd.valid_dir = body_shape_xform.get_axis(1).normalized();
- rcd.valid_depth = 10e20;
- } else {
- rcd.valid_dir = Vector2();
- rcd.valid_depth = 0;
- }
+ if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
- rcd.object = col_obj;
- rcd.shape = shape_idx;
- bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, NULL, p_margin);
- if (!sc)
- continue;
+ rcd.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
+ rcd.valid_depth = 10e20;
+ } else {
+ rcd.valid_dir = Vector2();
+ rcd.valid_depth = 0;
+ }
+
+ 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, NULL, p_margin);
+ if (!sc)
+ continue;
+ }
}
if (rcd.best_len != 0) {
@@ -981,7 +1093,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
r_result->collider = rcd.best_object->get_self();
r_result->collider_id = rcd.best_object->get_instance_id();
r_result->collider_shape = rcd.best_shape;
- r_result->collision_local_shape = best_shape;
+ r_result->collision_local_shape = rcd.best_local_shape;
r_result->collision_normal = rcd.best_normal;
r_result->collision_point = rcd.best_contact;
r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
@@ -996,16 +1108,14 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}
collided = true;
- } else {
- if (r_result) {
+ }
+ }
- r_result->motion = p_motion;
- r_result->remainder = Vector2();
- r_result->motion += (body_transform.get_origin() - p_from.get_origin());
- }
+ if (!collided && r_result) {
- collided = false;
- }
+ r_result->motion = p_motion;
+ r_result->remainder = Vector2();
+ r_result->motion += (body_transform.get_origin() - p_from.get_origin());
}
return collided;
@@ -1178,6 +1288,7 @@ 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;
}
}
@@ -1192,6 +1303,7 @@ 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;
}
@@ -1228,11 +1340,13 @@ 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);
body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_angular", (8.0 / 180.0 * Math_PI));
body_time_to_sleep = GLOBAL_DEF("physics/2d/time_before_sleep", 0.5);
+ ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/time_before_sleep", PropertyInfo(Variant::REAL, "physics/2d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
broadphase = BroadPhase2DSW::create_func();
broadphase->set_pair_callback(_broadphase_pair, this);
generated by cgit v1.2.3 (git 2.25.1) at 2025-12-11 14:59:06 +0000