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-rw-r--r--servers/physics_2d/body_2d_sw.cpp16
-rw-r--r--servers/physics_2d/body_2d_sw.h8
-rw-r--r--servers/physics_2d/body_pair_2d_sw.cpp42
-rw-r--r--servers/physics_2d/collision_solver_2d_sw.cpp11
-rw-r--r--servers/physics_2d/collision_solver_2d_sw.h2
-rw-r--r--servers/physics_2d/physics_2d_server_sw.cpp40
-rw-r--r--servers/physics_2d/physics_2d_server_sw.h7
-rw-r--r--servers/physics_2d/physics_2d_server_wrap_mt.h13
-rw-r--r--servers/physics_2d/space_2d_sw.cpp163
-rw-r--r--servers/physics_2d/space_2d_sw.h3
10 files changed, 289 insertions, 16 deletions
diff --git a/servers/physics_2d/body_2d_sw.cpp b/servers/physics_2d/body_2d_sw.cpp
index aa063d6c1e..fcd2a65ee7 100644
--- a/servers/physics_2d/body_2d_sw.cpp
+++ b/servers/physics_2d/body_2d_sw.cpp
@@ -405,6 +405,22 @@ void Body2DSW::_compute_area_gravity_and_dampenings(const Area2DSW *p_area) {
area_angular_damp += p_area->get_angular_damp();
}
+void Body2DSW::set_combine_mode(Physics2DServer::BodyParameter p_param, Physics2DServer::CombineMode p_mode) {
+ if (p_param == Physics2DServer::BODY_PARAM_BOUNCE) {
+ bounce_combine_mode = p_mode;
+ } else {
+ friction_combine_mode = p_mode;
+ }
+}
+
+Physics2DServer::CombineMode Body2DSW::get_combine_mode(Physics2DServer::BodyParameter p_param) const {
+ if (p_param == Physics2DServer::BODY_PARAM_BOUNCE) {
+ return bounce_combine_mode;
+ } else {
+ return friction_combine_mode;
+ }
+}
+
void Body2DSW::integrate_forces(real_t p_step) {
if (mode == Physics2DServer::BODY_MODE_STATIC)
diff --git a/servers/physics_2d/body_2d_sw.h b/servers/physics_2d/body_2d_sw.h
index 782adf3416..301bd6b299 100644
--- a/servers/physics_2d/body_2d_sw.h
+++ b/servers/physics_2d/body_2d_sw.h
@@ -54,6 +54,8 @@ class Body2DSW : public CollisionObject2DSW {
real_t mass;
real_t bounce;
real_t friction;
+ Physics2DServer::CombineMode bounce_combine_mode;
+ Physics2DServer::CombineMode friction_combine_mode;
real_t _inv_mass;
real_t _inv_inertia;
@@ -256,6 +258,12 @@ public:
_FORCE_INLINE_ real_t get_linear_damp() const { return linear_damp; }
_FORCE_INLINE_ real_t get_angular_damp() const { return angular_damp; }
+ void set_combine_mode(Physics2DServer::BodyParameter p_param, Physics2DServer::CombineMode p_mode);
+ Physics2DServer::CombineMode get_combine_mode(Physics2DServer::BodyParameter p_param) const;
+
+ _FORCE_INLINE_ Physics2DServer::CombineMode get_bounce_combine_mode() const { return bounce_combine_mode; }
+ _FORCE_INLINE_ Physics2DServer::CombineMode get_friction_combine_mode() const { return friction_combine_mode; }
+
void integrate_forces(real_t p_step);
void integrate_velocities(real_t p_step);
diff --git a/servers/physics_2d/body_pair_2d_sw.cpp b/servers/physics_2d/body_pair_2d_sw.cpp
index 61c0e0063f..be8dcf6fa8 100644
--- a/servers/physics_2d/body_pair_2d_sw.cpp
+++ b/servers/physics_2d/body_pair_2d_sw.cpp
@@ -219,6 +219,44 @@ bool BodyPair2DSW::_test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const
return true;
}
+real_t combine_bounce(Body2DSW *A, Body2DSW *B) {
+ const Physics2DServer::CombineMode cm = A->get_bounce_combine_mode();
+
+ switch (cm) {
+ case Physics2DServer::COMBINE_MODE_INHERIT:
+ if (B->get_bounce_combine_mode() != Physics2DServer::COMBINE_MODE_INHERIT)
+ return combine_bounce(B, A);
+ // else use MAX [This is used when the two bodies doesn't use physical material]
+ case Physics2DServer::COMBINE_MODE_MAX:
+ return MAX(A->get_bounce(), B->get_bounce());
+ case Physics2DServer::COMBINE_MODE_MIN:
+ return MIN(A->get_bounce(), B->get_bounce());
+ case Physics2DServer::COMBINE_MODE_MULTIPLY:
+ return A->get_bounce() * B->get_bounce();
+ default: // Is always Physics2DServer::COMBINE_MODE_AVERAGE:
+ return (A->get_bounce() + B->get_bounce()) / 2;
+ }
+}
+
+real_t combine_friction(Body2DSW *A, Body2DSW *B) {
+ const Physics2DServer::CombineMode cm = A->get_friction_combine_mode();
+
+ switch (cm) {
+ case Physics2DServer::COMBINE_MODE_INHERIT:
+ if (B->get_friction_combine_mode() != Physics2DServer::COMBINE_MODE_INHERIT)
+ return combine_friction(B, A);
+ // else use Multiply [This is used when the two bodies doesn't use physical material]
+ case Physics2DServer::COMBINE_MODE_MULTIPLY:
+ return A->get_friction() * B->get_friction();
+ case Physics2DServer::COMBINE_MODE_MAX:
+ return MAX(A->get_friction(), B->get_friction());
+ case Physics2DServer::COMBINE_MODE_MIN:
+ return MIN(A->get_friction(), B->get_friction());
+ default: // Is always Physics2DServer::COMBINE_MODE_AVERAGE:
+ return (A->get_friction() + B->get_friction()) / 2;
+ }
+}
+
bool BodyPair2DSW::setup(real_t p_step) {
//cannot collide
@@ -432,7 +470,7 @@ bool BodyPair2DSW::setup(real_t p_step) {
#endif
- c.bounce = MAX(A->get_bounce(), B->get_bounce());
+ c.bounce = combine_bounce(A, B);
if (c.bounce) {
Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x);
@@ -488,7 +526,7 @@ void BodyPair2DSW::solve(real_t p_step) {
real_t jnOld = c.acc_normal_impulse;
c.acc_normal_impulse = MAX(jnOld + jn, 0.0f);
- real_t friction = A->get_friction() * B->get_friction();
+ real_t friction = combine_friction(A, B);
real_t jtMax = friction * c.acc_normal_impulse;
real_t jt = -vt * c.mass_tangent;
diff --git a/servers/physics_2d/collision_solver_2d_sw.cpp b/servers/physics_2d/collision_solver_2d_sw.cpp
index efee98a35a..6ce019f36e 100644
--- a/servers/physics_2d/collision_solver_2d_sw.cpp
+++ b/servers/physics_2d/collision_solver_2d_sw.cpp
@@ -72,7 +72,7 @@ bool CollisionSolver2DSW::solve_static_line(const Shape2DSW *p_shape_A, const Tr
return found;
}
-bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis) {
+bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis) {
const RayShape2DSW *ray = static_cast<const RayShape2DSW *>(p_shape_A);
if (p_shape_B->get_type() == Physics2DServer::SHAPE_RAY)
@@ -80,6 +80,11 @@ bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Transf
Vector2 from = p_transform_A.get_origin();
Vector2 to = from + p_transform_A[1] * ray->get_length();
+ if (p_motion_A != Vector2()) {
+ //not the best but should be enough
+ Vector2 normal = (to - from).normalized();
+ to += normal * MAX(0.0, normal.dot(p_motion_A));
+ }
Vector2 support_A = to;
Transform2D invb = p_transform_B.affine_inverse();
@@ -270,9 +275,9 @@ bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p
}
if (swap) {
- return solve_raycast(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, sep_axis);
+ return solve_raycast(p_shape_B, p_motion_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, sep_axis);
} else {
- return solve_raycast(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, sep_axis);
+ return solve_raycast(p_shape_A, p_motion_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, sep_axis);
}
} else if (concave_B) {
diff --git a/servers/physics_2d/collision_solver_2d_sw.h b/servers/physics_2d/collision_solver_2d_sw.h
index e39c41fb75..6faa166115 100644
--- a/servers/physics_2d/collision_solver_2d_sw.h
+++ b/servers/physics_2d/collision_solver_2d_sw.h
@@ -41,7 +41,7 @@ private:
static bool solve_static_line(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static void concave_callback(void *p_userdata, Shape2DSW *p_convex);
static bool solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis = NULL, real_t p_margin_A = 0, real_t p_margin_B = 0);
- static bool solve_raycast(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis = NULL);
+ static bool solve_raycast(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis = NULL);
public:
static bool solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *sep_axis = NULL, real_t p_margin_A = 0, real_t p_margin_B = 0);
diff --git a/servers/physics_2d/physics_2d_server_sw.cpp b/servers/physics_2d/physics_2d_server_sw.cpp
index a14fed8184..cfcef8cb04 100644
--- a/servers/physics_2d/physics_2d_server_sw.cpp
+++ b/servers/physics_2d/physics_2d_server_sw.cpp
@@ -789,6 +789,22 @@ real_t Physics2DServerSW::body_get_param(RID p_body, BodyParameter p_param) cons
return body->get_param(p_param);
};
+void Physics2DServerSW::body_set_combine_mode(RID p_body, BodyParameter p_param, CombineMode p_mode) {
+
+ Body2DSW *body = body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_combine_mode(p_param, p_mode);
+}
+
+Physics2DServer::CombineMode Physics2DServerSW::body_get_combine_mode(RID p_body, BodyParameter p_param) const {
+
+ Body2DSW *body = body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, COMBINE_MODE_INHERIT);
+
+ return body->get_combine_mode(p_param);
+}
+
void Physics2DServerSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
Body2DSW *body = body_owner.get(p_body);
@@ -962,22 +978,40 @@ void Physics2DServerSW::body_set_pickable(RID p_body, bool p_pickable) {
body->set_pickable(p_pickable);
}
-bool Physics2DServerSW::body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, MotionResult *r_result) {
+bool Physics2DServerSW::body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, MotionResult *r_result, bool p_exclude_raycast_shapes) {
+
+ Body2DSW *body = body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, false);
+ ERR_FAIL_COND_V(!body->get_space(), false);
+ ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
+
+ return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes);
+}
+
+int Physics2DServerSW::body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
- return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result);
+ return body->get_space()->test_body_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
}
Physics2DDirectBodyState *Physics2DServerSW::body_get_direct_state(RID p_body) {
+ if ((using_threads && !doing_sync)) {
+ ERR_EXPLAIN("Body state is inaccessible right now, wait for iteration or physics process notification.");
+ ERR_FAIL_V(NULL);
+ }
+
+ if (!body_owner.owns(p_body))
+ return NULL;
+
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, NULL);
- if ((using_threads && !doing_sync) || body->get_space()->is_locked()) {
+ if (body->get_space()->is_locked()) {
ERR_EXPLAIN("Body state is inaccessible right now, wait for iteration or physics process notification.");
ERR_FAIL_V(NULL);
diff --git a/servers/physics_2d/physics_2d_server_sw.h b/servers/physics_2d/physics_2d_server_sw.h
index 036eb934e1..bf00746063 100644
--- a/servers/physics_2d/physics_2d_server_sw.h
+++ b/servers/physics_2d/physics_2d_server_sw.h
@@ -200,6 +200,10 @@ public:
virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value);
virtual real_t body_get_param(RID p_body, BodyParameter p_param) const;
+ /// p_param accept only Bounce and Friction
+ virtual void body_set_combine_mode(RID p_body, BodyParameter p_param, CombineMode p_mode);
+ virtual CombineMode body_get_combine_mode(RID p_body, BodyParameter p_param) const;
+
virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant);
virtual Variant body_get_state(RID p_body, BodyState p_state) const;
@@ -232,7 +236,8 @@ public:
virtual void body_set_pickable(RID p_body, bool p_pickable);
- virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = NULL);
+ virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true);
+ virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001);
// this function only works on physics process, errors and returns null otherwise
virtual Physics2DDirectBodyState *body_get_direct_state(RID p_body);
diff --git a/servers/physics_2d/physics_2d_server_wrap_mt.h b/servers/physics_2d/physics_2d_server_wrap_mt.h
index a15e8bde8b..a85cd5ef8d 100644
--- a/servers/physics_2d/physics_2d_server_wrap_mt.h
+++ b/servers/physics_2d/physics_2d_server_wrap_mt.h
@@ -211,6 +211,9 @@ public:
FUNC3(body_set_param, RID, BodyParameter, real_t);
FUNC2RC(real_t, body_get_param, RID, BodyParameter);
+ FUNC3(body_set_combine_mode, RID, BodyParameter, CombineMode);
+ FUNC2RC(CombineMode, body_get_combine_mode, RID, BodyParameter);
+
FUNC3(body_set_state, RID, BodyState, const Variant &);
FUNC2RC(Variant, body_get_state, RID, BodyState);
@@ -245,10 +248,16 @@ public:
FUNC2(body_set_pickable, RID, bool);
- bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = NULL) {
+ bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true) {
+
+ ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
+ return physics_2d_server->body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes);
+ }
+
+ int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) {
ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
- return physics_2d_server->body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r_result);
+ return physics_2d_server->body_test_ray_separation(p_body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
}
// this function only works on physics process, errors and returns null otherwise
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 0e1f74d8d0..6e45951f42 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -487,7 +487,156 @@ 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, bool p_infinite_inertia, real_t p_margin, Physics2DServer::MotionResult *r_result) {
+int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, Physics2DServer::SeparationResult *r_results, int p_result_max, real_t p_margin) {
+
+ Rect2 body_aabb;
+
+ for (int i = 0; i < p_body->get_shape_count(); i++) {
+
+ if (i == 0)
+ body_aabb = p_body->get_shape_aabb(i);
+ else
+ body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
+ }
+
+ // Undo the currently transform the physics server is aware of and apply the provided one
+ body_aabb = p_transform.xform(p_body->get_inv_transform().xform(body_aabb));
+ body_aabb = body_aabb.grow(p_margin);
+
+ Transform2D body_transform = p_transform;
+
+ for (int i = 0; i < p_result_max; i++) {
+ //reset results
+ r_results[i].collision_depth = 0;
+ }
+
+ int rays_found = 0;
+
+ {
+ // raycast AND separate
+
+ const int max_results = 32;
+ int recover_attempts = 4;
+ Vector2 sr[max_results * 2];
+ Physics2DServerSW::CollCbkData cbk;
+ cbk.max = max_results;
+ Physics2DServerSW::CollCbkData *cbkptr = &cbk;
+ CollisionSolver2DSW::CallbackResult cbkres = Physics2DServerSW::_shape_col_cbk;
+
+ do {
+
+ Vector2 recover_motion;
+
+ 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))
+ continue;
+
+ Shape2DSW *body_shape = p_body->get_shape(j);
+
+ if (body_shape->get_type() != Physics2DServer::SHAPE_RAY)
+ continue;
+
+ Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
+
+ for (int i = 0; i < amount; i++) {
+
+ const CollisionObject2DSW *col_obj = intersection_query_results[i];
+ int shape_idx = intersection_query_subindex_results[i];
+
+ cbk.amount = 0;
+ cbk.ptr = sr;
+ cbk.invalid_by_dir = 0;
+
+ 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 (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.invalid_by_dir = 0;
+
+ } else {
+ 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 (cbk.amount > 0) {
+ collided = true;
+ }
+
+ if (ray_index < p_result_max) {
+ Physics2DServer::SeparationResult &result = r_results[ray_index];
+
+ for (int k = 0; k < cbk.amount; k++) {
+ Vector2 a = sr[k * 2 + 0];
+ Vector2 b = sr[k * 2 + 1];
+
+ recover_motion += (b - a) * 0.4;
+
+ float depth = a.distance_to(b);
+ if (depth > result.collision_depth) {
+
+ result.collision_depth = depth;
+ result.collision_point = b;
+ result.collision_normal = (b - a).normalized();
+ result.collision_local_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);
+ if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
+ Body2DSW *body = (Body2DSW *)col_obj;
+
+ Vector2 rel_vec = b - body->get_transform().get_origin();
+ result.collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
+ }
+ }
+ }
+ }
+ }
+ }
+
+ ray_index++;
+ }
+
+ rays_found = MAX(ray_index, rays_found);
+
+ if (!collided || recover_motion == Vector2()) {
+ break;
+ }
+
+ body_transform.elements[2] += recover_motion;
+ body_aabb.position += recover_motion;
+
+ recover_attempts--;
+ } while (recover_attempts);
+ }
+
+ //optimize results (remove non colliding)
+ for (int i = 0; i < rays_found; i++) {
+ if (r_results[i].collision_depth == 0) {
+ rays_found--;
+ SWAP(r_results[i], r_results[rays_found]);
+ }
+ }
+
+ r_recover_motion = body_transform.elements[2] - p_transform.elements[2];
+ return rays_found;
+}
+
+bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, Physics2DServer::MotionResult *r_result, bool p_exclude_raycast_shapes) {
//give me back regular physics engine logic
//this is madness
@@ -547,8 +696,12 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
if (p_body->is_shape_set_as_disabled(j))
continue;
- Transform2D body_shape_xform = body_transform * 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;
+ }
+
+ Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
@@ -635,8 +788,12 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
if (p_body->is_shape_set_as_disabled(body_shape_idx))
continue;
- Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(body_shape_idx);
Shape2DSW *body_shape = p_body->get_shape(body_shape_idx);
+ if (p_exclude_raycast_shapes && body_shape->get_type() == Physics2DServer::SHAPE_RAY) {
+ continue;
+ }
+
+ Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(body_shape_idx);
bool stuck = false;
diff --git a/servers/physics_2d/space_2d_sw.h b/servers/physics_2d/space_2d_sw.h
index 79349c46f3..959e15e12d 100644
--- a/servers/physics_2d/space_2d_sw.h
+++ b/servers/physics_2d/space_2d_sw.h
@@ -182,7 +182,8 @@ public:
int get_collision_pairs() const { return collision_pairs; }
- bool test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, Physics2DServer::MotionResult *r_result);
+ bool test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, Physics2DServer::MotionResult *r_result, bool p_exclude_raycast_shapes = true);
+ int test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, Physics2DServer::SeparationResult *r_results, int p_result_max, real_t p_margin);
void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); }
_FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.empty(); }
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-01 12:38:46 +0000