diff options
Diffstat (limited to 'servers/physics_2d')
| -rw-r--r-- | servers/physics_2d/space_2d_sw.cpp | 63 |
1 files changed, 47 insertions, 16 deletions
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp index 4b123b2d46..cbde7144b7 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; + } } } @@ -957,20 +973,35 @@ 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; + } } } |