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-rw-r--r--servers/physics_2d/space_2d_sw.cpp205
1 files changed, 136 insertions, 69 deletions
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index f36328c985..720742c198 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -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);
@@ -352,6 +365,8 @@ struct _RestCallbackData2D {
const CollisionObject2DSW *object;
const CollisionObject2DSW *best_object;
+ int local_shape;
+ int best_local_shape;
int shape;
int best_shape;
Vector2 best_contact;
@@ -382,6 +397,7 @@ 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) {
@@ -415,6 +431,7 @@ 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;
@@ -487,12 +504,23 @@ 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 (!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
@@ -555,9 +583,11 @@ 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);
+
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;
@@ -568,7 +598,7 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
}
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;
}
@@ -647,12 +677,23 @@ 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 (!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 false;
}
// Undo the currently transform the physics server is aware of and apply the provided one
@@ -663,6 +704,8 @@ 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;
{
@@ -710,24 +753,42 @@ 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_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;
+ 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_collisions = cbk.amount;
+ 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.amount > current_collisions;
}
- 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 +798,10 @@ 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 +889,14 @@ 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 +916,7 @@ 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) {
@@ -869,12 +934,12 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
cbk.max = 1;
cbk.amount = 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 +972,10 @@ 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;
@@ -927,52 +986,61 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
rcd.best_object = NULL;
rcd.best_shape = 0;
- 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++) {
+ Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j);
+ Shape2DSW *body_shape = p_body->get_shape(j);
- int amount = _cull_aabb_for_body(p_body, body_aabb);
+ body_aabb.position += p_motion * unsafe;
+
+ int amount = _cull_aabb_for_body(p_body, body_aabb);
- for (int i = 0; i < amount; i++) {
+ for (int i = 0; i < amount; i++) {
- const CollisionObject2DSW *col_obj = intersection_query_results[i];
- int shape_idx = intersection_query_subindex_results[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;
+ 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 +1049,7 @@ 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 +1064,14 @@ 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;
@@ -1233,6 +1299,7 @@ Space2DSW::Space2DSW() {
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 2025-04-10 00:47:53 +0000