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-rw-r--r--servers/physics_2d/collision_object_2d_sw.cpp1
-rw-r--r--servers/physics_2d/collision_solver_2d_sw.cpp4
-rw-r--r--servers/physics_2d/joints_2d_sw.cpp9
-rw-r--r--servers/physics_2d/physics_2d_server_sw.cpp4
-rw-r--r--servers/physics_2d/physics_2d_server_sw.h2
-rw-r--r--servers/physics_2d/physics_2d_server_wrap_mt.h4
-rw-r--r--servers/physics_2d/shape_2d_sw.cpp9
-rw-r--r--servers/physics_2d/shape_2d_sw.h2
-rw-r--r--servers/physics_2d/space_2d_sw.cpp23
-rw-r--r--servers/physics_2d/space_2d_sw.h2
10 files changed, 49 insertions, 11 deletions
diff --git a/servers/physics_2d/collision_object_2d_sw.cpp b/servers/physics_2d/collision_object_2d_sw.cpp
index 80cdd58aeb..ce06aa9a2b 100644
--- a/servers/physics_2d/collision_object_2d_sw.cpp
+++ b/servers/physics_2d/collision_object_2d_sw.cpp
@@ -100,6 +100,7 @@ void CollisionObject2DSW::remove_shape(int p_index) {
shapes[p_index].shape->remove_owner(this);
shapes.remove(p_index);
+ _update_shapes();
_shapes_changed();
}
diff --git a/servers/physics_2d/collision_solver_2d_sw.cpp b/servers/physics_2d/collision_solver_2d_sw.cpp
index a6ef110149..efee98a35a 100644
--- a/servers/physics_2d/collision_solver_2d_sw.cpp
+++ b/servers/physics_2d/collision_solver_2d_sw.cpp
@@ -95,6 +95,10 @@ bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Transf
}
Vector2 support_B = p_transform_B.xform(p);
+ if (ray->get_slips_on_slope()) {
+ Vector2 global_n = invb.basis_xform_inv(n).normalized();
+ support_B = support_A + (support_B - support_A).length() * global_n;
+ }
if (p_result_callback) {
if (p_swap_result)
diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp
index 7fba8acebd..d49c1b8376 100644
--- a/servers/physics_2d/joints_2d_sw.cpp
+++ b/servers/physics_2d/joints_2d_sw.cpp
@@ -146,14 +146,19 @@ bool PinJoint2DSW::setup(real_t p_step) {
return true;
}
+inline Vector2 custom_cross(const Vector2 &p_vec, real_t p_other) {
+
+ return Vector2(p_other * p_vec.y, -p_other * p_vec.x);
+}
+
void PinJoint2DSW::solve(real_t p_step) {
// compute relative velocity
- Vector2 vA = A->get_linear_velocity() - rA.cross(A->get_angular_velocity());
+ Vector2 vA = A->get_linear_velocity() - custom_cross(rA, A->get_angular_velocity());
Vector2 rel_vel;
if (B)
- rel_vel = B->get_linear_velocity() - rB.cross(B->get_angular_velocity()) - vA;
+ rel_vel = B->get_linear_velocity() - custom_cross(rB, B->get_angular_velocity()) - vA;
else
rel_vel = -vA;
diff --git a/servers/physics_2d/physics_2d_server_sw.cpp b/servers/physics_2d/physics_2d_server_sw.cpp
index 0603287a79..a14fed8184 100644
--- a/servers/physics_2d/physics_2d_server_sw.cpp
+++ b/servers/physics_2d/physics_2d_server_sw.cpp
@@ -962,14 +962,14 @@ 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, 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) {
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_margin, r_result);
+ return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result);
}
Physics2DDirectBodyState *Physics2DServerSW::body_get_direct_state(RID p_body) {
diff --git a/servers/physics_2d/physics_2d_server_sw.h b/servers/physics_2d/physics_2d_server_sw.h
index cf9c2957bf..036eb934e1 100644
--- a/servers/physics_2d/physics_2d_server_sw.h
+++ b/servers/physics_2d/physics_2d_server_sw.h
@@ -232,7 +232,7 @@ 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, 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);
// 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 d625bc9892..a15e8bde8b 100644
--- a/servers/physics_2d/physics_2d_server_wrap_mt.h
+++ b/servers/physics_2d/physics_2d_server_wrap_mt.h
@@ -245,10 +245,10 @@ public:
FUNC2(body_set_pickable, RID, bool);
- bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, 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) {
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_margin, r_result);
+ return physics_2d_server->body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r_result);
}
// this function only works on physics process, errors and returns null otherwise
diff --git a/servers/physics_2d/shape_2d_sw.cpp b/servers/physics_2d/shape_2d_sw.cpp
index 5893f19827..433942708e 100644
--- a/servers/physics_2d/shape_2d_sw.cpp
+++ b/servers/physics_2d/shape_2d_sw.cpp
@@ -184,13 +184,18 @@ real_t RayShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale)
void RayShape2DSW::set_data(const Variant &p_data) {
- length = p_data;
+ Dictionary d = p_data;
+ length = d["length"];
+ slips_on_slope = d["slips_on_slope"];
configure(Rect2(0, 0, 0.001, length));
}
Variant RayShape2DSW::get_data() const {
- return length;
+ Dictionary d;
+ d["length"] = length;
+ d["slips_on_slope"] = slips_on_slope;
+ return d;
}
/*********************************************************/
diff --git a/servers/physics_2d/shape_2d_sw.h b/servers/physics_2d/shape_2d_sw.h
index c4c267b368..d937301f3c 100644
--- a/servers/physics_2d/shape_2d_sw.h
+++ b/servers/physics_2d/shape_2d_sw.h
@@ -197,9 +197,11 @@ public:
class RayShape2DSW : public Shape2DSW {
real_t length;
+ bool slips_on_slope;
public:
_FORCE_INLINE_ real_t get_length() const { return length; }
+ _FORCE_INLINE_ bool get_slips_on_slope() const { return slips_on_slope; }
virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_RAY; }
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index d3b81c627a..c29093d1af 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -483,7 +483,7 @@ 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, Physics2DServer::MotionResult *r_result) {
+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) {
//give me back regular physics engine logic
//this is madness
@@ -550,6 +550,13 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
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 (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
cbk.valid_dir = body_shape_xform.get_axis(1).normalized();
@@ -638,6 +645,13 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
int col_shape_idx = intersection_query_subindex_results[i];
Shape2DSW *against_shape = col_obj->get_shape(col_shape_idx);
+ 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;
+ }
+ }
+
bool excluded = false;
for (int k = 0; k < excluded_shape_pair_count; k++) {
@@ -768,6 +782,13 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
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);
bool excluded = false;
diff --git a/servers/physics_2d/space_2d_sw.h b/servers/physics_2d/space_2d_sw.h
index a18bb2be2d..79349c46f3 100644
--- a/servers/physics_2d/space_2d_sw.h
+++ b/servers/physics_2d/space_2d_sw.h
@@ -182,7 +182,7 @@ public:
int get_collision_pairs() const { return collision_pairs; }
- bool test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, 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);
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 2025-01-15 03:44:03 +0000