diff options
Diffstat (limited to 'servers/physics_3d/godot_space_3d.cpp')
| -rw-r--r-- | servers/physics_3d/godot_space_3d.cpp | 19 |
1 files changed, 12 insertions, 7 deletions
diff --git a/servers/physics_3d/godot_space_3d.cpp b/servers/physics_3d/godot_space_3d.cpp index b2a8b00bca..3afccb62bc 100644 --- a/servers/physics_3d/godot_space_3d.cpp +++ b/servers/physics_3d/godot_space_3d.cpp @@ -35,6 +35,7 @@ #include "core/config/project_settings.h" +#define TEST_MOTION_MARGIN_MIN_VALUE 0.0001 #define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05 _FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject3D *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { @@ -507,8 +508,10 @@ bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_paramete GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid); ERR_FAIL_COND_V(!shape, 0); + real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE); + AABB aabb = p_parameters.transform.xform(shape->get_aabb()); - aabb = aabb.grow(p_parameters.margin); + aabb = aabb.grow(margin); int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); @@ -516,7 +519,7 @@ bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_paramete // Allowed depth can't be lower than motion length, in order to handle contacts at low speed. real_t motion_length = p_parameters.motion.length(); - real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; + real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; rcd.min_allowed_depth = MIN(motion_length, min_contact_depth); for (int i = 0; i < amount; i++) { @@ -534,7 +537,7 @@ bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_paramete rcd.object = col_obj; rcd.shape = shape_idx; - bool sc = GodotCollisionSolver3D::solve_static(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_parameters.margin); + bool sc = GodotCollisionSolver3D::solve_static(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, margin); if (!sc) { continue; } @@ -677,11 +680,13 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D:: return false; } + real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE); + // Undo the currently transform the physics server is aware of and apply the provided one body_aabb = p_parameters.from.xform(p_body->get_inv_transform().xform(body_aabb)); - body_aabb = body_aabb.grow(p_parameters.margin); + body_aabb = body_aabb.grow(margin); - real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; + real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; real_t motion_length = p_parameters.motion.length(); Vector3 motion_normal = p_parameters.motion / motion_length; @@ -729,7 +734,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D:: int shape_idx = intersection_query_subindex_results[i]; - if (GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_parameters.margin)) { + if (GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, margin)) { collided = cbk.amount > 0; } } @@ -949,7 +954,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D:: rcd.object = col_obj; rcd.shape = shape_idx; - bool sc = GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_parameters.margin); + bool sc = GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, margin); if (!sc) { continue; } |