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-rw-r--r--servers/physics_2d/area_pair_2d_sw.cpp4
-rw-r--r--servers/physics_2d/body_pair_2d_sw.cpp2
-rw-r--r--servers/physics_2d/collision_object_2d_sw.h6
-rw-r--r--servers/physics_2d/physics_server_2d_sw.cpp4
-rw-r--r--servers/physics_2d/physics_server_2d_sw.h2
-rw-r--r--servers/physics_2d/physics_server_2d_wrap_mt.h4
-rw-r--r--servers/physics_2d/space_2d_sw.cpp78
-rw-r--r--servers/physics_2d/space_2d_sw.h2
8 files changed, 73 insertions, 29 deletions
diff --git a/servers/physics_2d/area_pair_2d_sw.cpp b/servers/physics_2d/area_pair_2d_sw.cpp
index 5cc5bae09b..5ca16cb6fc 100644
--- a/servers/physics_2d/area_pair_2d_sw.cpp
+++ b/servers/physics_2d/area_pair_2d_sw.cpp
@@ -33,7 +33,7 @@
bool AreaPair2DSW::setup(real_t p_step) {
bool result = false;
- if (area->test_collision_mask(body) && CollisionSolver2DSW::solve(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), Vector2(), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), Vector2(), nullptr, this)) {
+ if (area->interacts_with(body) && CollisionSolver2DSW::solve(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), Vector2(), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), Vector2(), nullptr, this)) {
result = true;
}
@@ -110,7 +110,7 @@ AreaPair2DSW::~AreaPair2DSW() {
bool Area2Pair2DSW::setup(real_t p_step) {
bool result = false;
- if (area_a->test_collision_mask(area_b) && CollisionSolver2DSW::solve(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), Vector2(), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), Vector2(), nullptr, this)) {
+ if (area_a->interacts_with(area_b) && CollisionSolver2DSW::solve(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), Vector2(), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), Vector2(), nullptr, this)) {
result = true;
}
diff --git a/servers/physics_2d/body_pair_2d_sw.cpp b/servers/physics_2d/body_pair_2d_sw.cpp
index e5eb374fa3..71d985a6c5 100644
--- a/servers/physics_2d/body_pair_2d_sw.cpp
+++ b/servers/physics_2d/body_pair_2d_sw.cpp
@@ -229,7 +229,7 @@ bool BodyPair2DSW::setup(real_t p_step) {
dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
- if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
+ if (!A->interacts_with(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
collided = false;
return false;
}
diff --git a/servers/physics_2d/collision_object_2d_sw.h b/servers/physics_2d/collision_object_2d_sw.h
index 67da758d14..14adb0bb18 100644
--- a/servers/physics_2d/collision_object_2d_sw.h
+++ b/servers/physics_2d/collision_object_2d_sw.h
@@ -186,7 +186,11 @@ public:
void set_pickable(bool p_pickable) { pickable = p_pickable; }
_FORCE_INLINE_ bool is_pickable() const { return pickable; }
- _FORCE_INLINE_ bool test_collision_mask(CollisionObject2DSW *p_other) const {
+ _FORCE_INLINE_ bool layer_in_mask(CollisionObject2DSW *p_other) const {
+ return collision_layer & p_other->collision_mask;
+ }
+
+ _FORCE_INLINE_ bool interacts_with(CollisionObject2DSW *p_other) const {
return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
}
diff --git a/servers/physics_2d/physics_server_2d_sw.cpp b/servers/physics_2d/physics_server_2d_sw.cpp
index 155dda4394..467c664302 100644
--- a/servers/physics_2d/physics_server_2d_sw.cpp
+++ b/servers/physics_2d/physics_server_2d_sw.cpp
@@ -946,7 +946,7 @@ void PhysicsServer2DSW::body_set_pickable(RID p_body, bool p_pickable) {
body->set_pickable(p_pickable);
}
-bool PhysicsServer2DSW::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) {
+bool PhysicsServer2DSW::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, const Set<RID> &p_exclude) {
Body2DSW *body = body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
@@ -954,7 +954,7 @@ bool PhysicsServer2DSW::body_test_motion(RID p_body, const Transform2D &p_from,
_update_shapes();
- return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes);
+ return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes, p_exclude);
}
int PhysicsServer2DSW::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, real_t p_margin) {
diff --git a/servers/physics_2d/physics_server_2d_sw.h b/servers/physics_2d/physics_server_2d_sw.h
index 5002bf5fc8..f40b5a7c42 100644
--- a/servers/physics_2d/physics_server_2d_sw.h
+++ b/servers/physics_2d/physics_server_2d_sw.h
@@ -247,7 +247,7 @@ public:
virtual void body_set_pickable(RID p_body, bool p_pickable) override;
- virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.08, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override;
+ virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.08, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override;
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, real_t p_margin = 0.08) override;
// this function only works on physics process, errors and returns null otherwise
diff --git a/servers/physics_2d/physics_server_2d_wrap_mt.h b/servers/physics_2d/physics_server_2d_wrap_mt.h
index a8f7ff3393..fb7235c031 100644
--- a/servers/physics_2d/physics_server_2d_wrap_mt.h
+++ b/servers/physics_2d/physics_server_2d_wrap_mt.h
@@ -253,9 +253,9 @@ 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 = 0.08, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override {
+ bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.08, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override {
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);
+ return physics_2d_server->body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes, p_exclude);
}
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, real_t p_margin = 0.08) override {
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 4b123b2d46..43329fed2f 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -283,22 +283,38 @@ bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transfor
continue;
}
- //just do kinematic solving
- real_t low = 0;
- real_t hi = 1;
Vector2 mnormal = p_motion.normalized();
+ //just do kinematic solving
+ real_t low = 0.0;
+ real_t hi = 1.0;
+ real_t fraction_coeff = 0.5;
for (int j = 0; j < 8; j++) { //steps should be customizable..
-
- real_t ofs = (low + hi) * 0.5;
+ real_t fraction = low + (hi - low) * fraction_coeff;
Vector2 sep = mnormal; //important optimization for this to work fast enough
- bool collided = CollisionSolver2DSW::solve(shape, p_xform, p_motion * ofs, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_margin);
+ bool collided = CollisionSolver2DSW::solve(shape, p_xform, p_motion * fraction, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_margin);
if (collided) {
- hi = ofs;
+ hi = fraction;
+ if ((j == 0) || (low > 0.0)) { // Did it not collide before?
+ // When alternating or first iteration, use dichotomy.
+ fraction_coeff = 0.5;
+ } else {
+ // When colliding again, converge faster towards low fraction
+ // for more accurate results with long motions that collide near the start.
+ fraction_coeff = 0.25;
+ }
} else {
- low = ofs;
+ low = fraction;
+ if ((j == 0) || (hi < 1.0)) { // Did it collide before?
+ // When alternating or first iteration, use dichotomy.
+ fraction_coeff = 0.5;
+ } else {
+ // When not colliding again, converge faster towards high fraction
+ // for more accurate results with long motions that collide near the end.
+ fraction_coeff = 0.75;
+ }
}
}
@@ -492,7 +508,7 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
keep = false;
} else if (intersection_query_results[i]->get_type() == CollisionObject2DSW::TYPE_AREA) {
keep = false;
- } else if ((static_cast<Body2DSW *>(intersection_query_results[i])->test_collision_mask(p_body)) == 0) {
+ } else if (!p_body->layer_in_mask(static_cast<Body2DSW *>(intersection_query_results[i]))) {
keep = false;
} else if (static_cast<Body2DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
keep = false;
@@ -693,7 +709,7 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
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, PhysicsServer2D::MotionResult *r_result, bool p_exclude_raycast_shapes) {
+bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer2D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
//give me back regular physics engine logic
//this is madness
//and most people using this function will think
@@ -785,6 +801,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
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];
+ if (p_exclude.has(col_obj->get_self())) {
+ continue;
+ }
int shape_idx = intersection_query_subindex_results[i];
if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
@@ -914,6 +933,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
+ if (p_exclude.has(col_obj->get_self())) {
+ continue;
+ }
int col_shape_idx = intersection_query_subindex_results[i];
Shape2DSW *against_shape = col_obj->get_shape(col_shape_idx);
@@ -957,20 +979,35 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}
//just do kinematic solving
- real_t low = 0;
- real_t hi = 1;
-
+ real_t low = 0.0;
+ real_t hi = 1.0;
+ real_t fraction_coeff = 0.5;
for (int k = 0; k < 8; k++) { //steps should be customizable..
-
- real_t ofs = (low + hi) * 0.5;
+ real_t fraction = low + (hi - low) * fraction_coeff;
Vector2 sep = motion_normal; //important optimization for this to work fast enough
- bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * ofs, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0);
+ bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * fraction, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0);
if (collided) {
- hi = ofs;
+ hi = fraction;
+ if ((k == 0) || (low > 0.0)) { // Did it not collide before?
+ // When alternating or first iteration, use dichotomy.
+ fraction_coeff = 0.5;
+ } else {
+ // When colliding again, converge faster towards low fraction
+ // for more accurate results with long motions that collide near the start.
+ fraction_coeff = 0.25;
+ }
} else {
- low = ofs;
+ low = fraction;
+ if ((k == 0) || (hi < 1.0)) { // Did it collide before?
+ // When alternating or first iteration, use dichotomy.
+ fraction_coeff = 0.5;
+ } else {
+ // When not colliding again, converge faster towards high fraction
+ // for more accurate results with long motions that collide near the end.
+ fraction_coeff = 0.75;
+ }
}
}
@@ -1055,6 +1092,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
+ if (p_exclude.has(col_obj->get_self())) {
+ continue;
+ }
int shape_idx = intersection_query_subindex_results[i];
if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
@@ -1148,7 +1188,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}
void *Space2DSW::_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self) {
- if (!A->test_collision_mask(B)) {
+ if (!A->interacts_with(B)) {
return nullptr;
}
diff --git a/servers/physics_2d/space_2d_sw.h b/servers/physics_2d/space_2d_sw.h
index 4d737d622f..f7224e4661 100644
--- a/servers/physics_2d/space_2d_sw.h
+++ b/servers/physics_2d/space_2d_sw.h
@@ -183,7 +183,7 @@ public:
int get_collision_pairs() const { return collision_pairs; }
- bool test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer2D::MotionResult *r_result, bool p_exclude_raycast_shapes = true);
+ bool test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer2D::MotionResult *r_result, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>());
int test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, PhysicsServer2D::SeparationResult *r_results, int p_result_max, real_t p_margin);
void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); }
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-02 19:39:40 +0000