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Diffstat (limited to 'servers/physics_3d/godot_space_3d.cpp')
| -rw-r--r-- | servers/physics_3d/godot_space_3d.cpp | 1270 |
1 files changed, 1270 insertions, 0 deletions
diff --git a/servers/physics_3d/godot_space_3d.cpp b/servers/physics_3d/godot_space_3d.cpp new file mode 100644 index 0000000000..13e9a89b2e --- /dev/null +++ b/servers/physics_3d/godot_space_3d.cpp @@ -0,0 +1,1270 @@ +/*************************************************************************/ +/* godot_space_3d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#include "godot_space_3d.h" + +#include "godot_collision_solver_3d.h" +#include "godot_physics_server_3d.h" + +#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) { + if (!(p_object->get_collision_layer() & p_collision_mask)) { + return false; + } + + if (p_object->get_type() == GodotCollisionObject3D::TYPE_AREA && !p_collide_with_areas) { + return false; + } + + if (p_object->get_type() == GodotCollisionObject3D::TYPE_BODY && !p_collide_with_bodies) { + return false; + } + + if (p_object->get_type() == GodotCollisionObject3D::TYPE_SOFT_BODY && !p_collide_with_bodies) { + return false; + } + + return true; +} + +int GodotPhysicsDirectSpaceState3D::intersect_point(const PointParameters &p_parameters, ShapeResult *r_results, int p_result_max) { + ERR_FAIL_COND_V(space->locked, false); + int amount = space->broadphase->cull_point(p_parameters.position, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + int cc = 0; + + //Transform3D ai = p_xform.affine_inverse(); + + for (int i = 0; i < amount; i++) { + if (cc >= p_result_max) { + break; + } + + if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { + continue; + } + + //area can't be picked by ray (default) + + if (p_parameters.exclude.has(space->intersection_query_results[i]->get_self())) { + continue; + } + + const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; + int shape_idx = space->intersection_query_subindex_results[i]; + + Transform3D inv_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); + inv_xform.affine_invert(); + + if (!col_obj->get_shape(shape_idx)->intersect_point(inv_xform.xform(p_parameters.position))) { + continue; + } + + r_results[cc].collider_id = col_obj->get_instance_id(); + if (r_results[cc].collider_id.is_valid()) { + r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id); + } else { + r_results[cc].collider = nullptr; + } + r_results[cc].rid = col_obj->get_self(); + r_results[cc].shape = shape_idx; + + cc++; + } + + return cc; +} + +bool GodotPhysicsDirectSpaceState3D::intersect_ray(const RayParameters &p_parameters, RayResult &r_result) { + ERR_FAIL_COND_V(space->locked, false); + + Vector3 begin, end; + Vector3 normal; + begin = p_parameters.from; + end = p_parameters.to; + normal = (end - begin).normalized(); + + int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + + //todo, create another array that references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision + + bool collided = false; + Vector3 res_point, res_normal; + int res_shape; + const GodotCollisionObject3D *res_obj; + real_t min_d = 1e10; + + for (int i = 0; i < amount; i++) { + if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { + continue; + } + + if (p_parameters.pick_ray && !(space->intersection_query_results[i]->is_ray_pickable())) { + continue; + } + + if (p_parameters.exclude.has(space->intersection_query_results[i]->get_self())) { + continue; + } + + const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; + + int shape_idx = space->intersection_query_subindex_results[i]; + Transform3D inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform(); + + Vector3 local_from = inv_xform.xform(begin); + Vector3 local_to = inv_xform.xform(end); + + const GodotShape3D *shape = col_obj->get_shape(shape_idx); + + Vector3 shape_point, shape_normal; + + if (shape->intersect_point(local_from)) { + if (p_parameters.hit_from_inside) { + // Hit shape at starting point. + min_d = 0; + res_point = begin; + res_normal = Vector3(); + res_shape = shape_idx; + res_obj = col_obj; + collided = true; + break; + } else { + // Ignore shape when starting inside. + continue; + } + } + + if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal, p_parameters.hit_back_faces)) { + Transform3D xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); + shape_point = xform.xform(shape_point); + + real_t ld = normal.dot(shape_point); + + if (ld < min_d) { + min_d = ld; + res_point = shape_point; + res_normal = inv_xform.basis.xform_inv(shape_normal).normalized(); + res_shape = shape_idx; + res_obj = col_obj; + collided = true; + } + } + } + + if (!collided) { + return false; + } + + r_result.collider_id = res_obj->get_instance_id(); + if (r_result.collider_id.is_valid()) { + r_result.collider = ObjectDB::get_instance(r_result.collider_id); + } else { + r_result.collider = nullptr; + } + r_result.normal = res_normal; + r_result.position = res_point; + r_result.rid = res_obj->get_self(); + r_result.shape = res_shape; + + return true; +} + +int GodotPhysicsDirectSpaceState3D::intersect_shape(const ShapeParameters &p_parameters, ShapeResult *r_results, int p_result_max) { + if (p_result_max <= 0) { + return 0; + } + + GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid); + ERR_FAIL_COND_V(!shape, 0); + + AABB aabb = p_parameters.transform.xform(shape->get_aabb()); + + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + + int cc = 0; + + //Transform3D ai = p_xform.affine_inverse(); + + for (int i = 0; i < amount; i++) { + if (cc >= p_result_max) { + break; + } + + if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { + continue; + } + + //area can't be picked by ray (default) + + if (p_parameters.exclude.has(space->intersection_query_results[i]->get_self())) { + continue; + } + + const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; + int shape_idx = space->intersection_query_subindex_results[i]; + + if (!GodotCollisionSolver3D::solve_static(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), nullptr, nullptr, nullptr, p_parameters.margin, 0)) { + continue; + } + + if (r_results) { + r_results[cc].collider_id = col_obj->get_instance_id(); + if (r_results[cc].collider_id.is_valid()) { + r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id); + } else { + r_results[cc].collider = nullptr; + } + r_results[cc].rid = col_obj->get_self(); + r_results[cc].shape = shape_idx; + } + + cc++; + } + + return cc; +} + +bool GodotPhysicsDirectSpaceState3D::cast_motion(const ShapeParameters &p_parameters, real_t &p_closest_safe, real_t &p_closest_unsafe, ShapeRestInfo *r_info) { + GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid); + ERR_FAIL_COND_V(!shape, false); + + AABB aabb = p_parameters.transform.xform(shape->get_aabb()); + aabb = aabb.merge(AABB(aabb.position + p_parameters.motion, aabb.size)); //motion + aabb = aabb.grow(p_parameters.margin); + + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + + real_t best_safe = 1; + real_t best_unsafe = 1; + + Transform3D xform_inv = p_parameters.transform.affine_inverse(); + GodotMotionShape3D mshape; + mshape.shape = shape; + mshape.motion = xform_inv.basis.xform(p_parameters.motion); + + bool best_first = true; + + Vector3 motion_normal = p_parameters.motion.normalized(); + + Vector3 closest_A, closest_B; + + for (int i = 0; i < amount; i++) { + if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { + continue; + } + + if (p_parameters.exclude.has(space->intersection_query_results[i]->get_self())) { + continue; //ignore excluded + } + + const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; + int shape_idx = space->intersection_query_subindex_results[i]; + + Vector3 point_A, point_B; + Vector3 sep_axis = motion_normal; + + Transform3D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); + //test initial overlap, does it collide if going all the way? + if (GodotCollisionSolver3D::solve_distance(&mshape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) { + continue; + } + + //test initial overlap, ignore objects it's inside of. + sep_axis = motion_normal; + + if (!GodotCollisionSolver3D::solve_distance(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) { + continue; + } + + //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 fraction = low + (hi - low) * fraction_coeff; + + mshape.motion = xform_inv.basis.xform(p_parameters.motion * fraction); + + Vector3 lA, lB; + Vector3 sep = motion_normal; //important optimization for this to work fast enough + bool collided = !GodotCollisionSolver3D::solve_distance(&mshape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep); + + if (collided) { + 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 { + point_A = lA; + point_B = lB; + 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; + } + } + } + + if (low < best_safe) { + best_first = true; //force reset + best_safe = low; + best_unsafe = hi; + } + + if (r_info && (best_first || (point_A.distance_squared_to(point_B) < closest_A.distance_squared_to(closest_B) && low <= best_safe))) { + closest_A = point_A; + closest_B = point_B; + r_info->collider_id = col_obj->get_instance_id(); + r_info->rid = col_obj->get_self(); + r_info->shape = shape_idx; + r_info->point = closest_B; + r_info->normal = (closest_A - closest_B).normalized(); + best_first = false; + if (col_obj->get_type() == GodotCollisionObject3D::TYPE_BODY) { + const GodotBody3D *body = static_cast<const GodotBody3D *>(col_obj); + Vector3 rel_vec = closest_B - (body->get_transform().origin + body->get_center_of_mass()); + r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); + } + } + } + + p_closest_safe = best_safe; + p_closest_unsafe = best_unsafe; + + return true; +} + +bool GodotPhysicsDirectSpaceState3D::collide_shape(const ShapeParameters &p_parameters, Vector3 *r_results, int p_result_max, int &r_result_count) { + if (p_result_max <= 0) { + return false; + } + + GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid); + ERR_FAIL_COND_V(!shape, 0); + + AABB aabb = p_parameters.transform.xform(shape->get_aabb()); + aabb = aabb.grow(p_parameters.margin); + + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + + bool collided = false; + r_result_count = 0; + + GodotPhysicsServer3D::CollCbkData cbk; + cbk.max = p_result_max; + cbk.amount = 0; + cbk.ptr = r_results; + GodotCollisionSolver3D::CallbackResult cbkres = GodotPhysicsServer3D::_shape_col_cbk; + + GodotPhysicsServer3D::CollCbkData *cbkptr = &cbk; + + for (int i = 0; i < amount; i++) { + if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { + continue; + } + + const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; + + if (p_parameters.exclude.has(col_obj->get_self())) { + continue; + } + + int shape_idx = space->intersection_query_subindex_results[i]; + + if (GodotCollisionSolver3D::solve_static(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_parameters.margin)) { + collided = true; + } + } + + r_result_count = cbk.amount; + + return collided; +} + +struct _RestResultData { + const GodotCollisionObject3D *object = nullptr; + int local_shape = 0; + int shape = 0; + Vector3 contact; + Vector3 normal; + real_t len = 0.0; +}; + +struct _RestCallbackData { + const GodotCollisionObject3D *object = nullptr; + int local_shape = 0; + int shape = 0; + + real_t min_allowed_depth = 0.0; + + _RestResultData best_result; + + int max_results = 0; + int result_count = 0; + _RestResultData *other_results = nullptr; +}; + +static void _rest_cbk_result(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { + _RestCallbackData *rd = static_cast<_RestCallbackData *>(p_userdata); + + Vector3 contact_rel = p_point_B - p_point_A; + real_t len = contact_rel.length(); + if (len < rd->min_allowed_depth) { + return; + } + + bool is_best_result = (len > rd->best_result.len); + + if (rd->other_results && rd->result_count > 0) { + // Consider as new result by default. + int prev_result_count = rd->result_count++; + + int result_index = 0; + real_t tested_len = is_best_result ? rd->best_result.len : len; + for (; result_index < prev_result_count - 1; ++result_index) { + if (tested_len > rd->other_results[result_index].len) { + // Re-using a previous result. + rd->result_count--; + break; + } + } + + if (result_index < rd->max_results - 1) { + _RestResultData &result = rd->other_results[result_index]; + + if (is_best_result) { + // Keep the previous best result as separate result. + result = rd->best_result; + } else { + // Keep this result as separate result. + result.len = len; + result.contact = p_point_B; + result.normal = contact_rel / len; + result.object = rd->object; + result.shape = rd->shape; + result.local_shape = rd->local_shape; + } + } else { + // Discarding this result. + rd->result_count--; + } + } else if (is_best_result) { + rd->result_count = 1; + } + + if (!is_best_result) { + return; + } + + rd->best_result.len = len; + rd->best_result.contact = p_point_B; + rd->best_result.normal = contact_rel / len; + rd->best_result.object = rd->object; + rd->best_result.shape = rd->shape; + rd->best_result.local_shape = rd->local_shape; +} + +bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_parameters, ShapeRestInfo *r_info) { + 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(margin); + + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + + _RestCallbackData rcd; + + // 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 = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; + rcd.min_allowed_depth = MIN(motion_length, min_contact_depth); + + for (int i = 0; i < amount; i++) { + if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { + continue; + } + + const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; + + if (p_parameters.exclude.has(col_obj->get_self())) { + continue; + } + + int shape_idx = space->intersection_query_subindex_results[i]; + + 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, margin); + if (!sc) { + continue; + } + } + + if (rcd.best_result.len == 0 || !rcd.best_result.object) { + return false; + } + + r_info->collider_id = rcd.best_result.object->get_instance_id(); + r_info->shape = rcd.best_result.shape; + r_info->normal = rcd.best_result.normal; + r_info->point = rcd.best_result.contact; + r_info->rid = rcd.best_result.object->get_self(); + if (rcd.best_result.object->get_type() == GodotCollisionObject3D::TYPE_BODY) { + const GodotBody3D *body = static_cast<const GodotBody3D *>(rcd.best_result.object); + Vector3 rel_vec = rcd.best_result.contact - (body->get_transform().origin + body->get_center_of_mass()); + r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); + + } else { + r_info->linear_velocity = Vector3(); + } + + return true; +} + +Vector3 GodotPhysicsDirectSpaceState3D::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const { + GodotCollisionObject3D *obj = GodotPhysicsServer3D::godot_singleton->area_owner.get_or_null(p_object); + if (!obj) { + obj = GodotPhysicsServer3D::godot_singleton->body_owner.get_or_null(p_object); + } + ERR_FAIL_COND_V(!obj, Vector3()); + + ERR_FAIL_COND_V(obj->get_space() != space, Vector3()); + + real_t min_distance = 1e20; + Vector3 min_point; + + bool shapes_found = false; + + for (int i = 0; i < obj->get_shape_count(); i++) { + if (obj->is_shape_disabled(i)) { + continue; + } + + Transform3D shape_xform = obj->get_transform() * obj->get_shape_transform(i); + GodotShape3D *shape = obj->get_shape(i); + + Vector3 point = shape->get_closest_point_to(shape_xform.affine_inverse().xform(p_point)); + point = shape_xform.xform(point); + + real_t dist = point.distance_to(p_point); + if (dist < min_distance) { + min_distance = dist; + min_point = point; + } + shapes_found = true; + } + + if (!shapes_found) { + return obj->get_transform().origin; //no shapes found, use distance to origin. + } else { + return min_point; + } +} + +GodotPhysicsDirectSpaceState3D::GodotPhysicsDirectSpaceState3D() { + space = nullptr; +} + +//////////////////////////////////////////////////////////////////////////////////////////////////////////// + +int GodotSpace3D::_cull_aabb_for_body(GodotBody3D *p_body, const AABB &p_aabb) { + int amount = broadphase->cull_aabb(p_aabb, intersection_query_results, INTERSECTION_QUERY_MAX, intersection_query_subindex_results); + + for (int i = 0; i < amount; i++) { + bool keep = true; + + if (intersection_query_results[i] == p_body) { + keep = false; + } else if (intersection_query_results[i]->get_type() == GodotCollisionObject3D::TYPE_AREA) { + keep = false; + } else if (intersection_query_results[i]->get_type() == GodotCollisionObject3D::TYPE_SOFT_BODY) { + keep = false; + } else if (!p_body->collides_with(static_cast<GodotBody3D *>(intersection_query_results[i]))) { + keep = false; + } else if (static_cast<GodotBody3D *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) { + keep = false; + } + + if (!keep) { + if (i < amount - 1) { + SWAP(intersection_query_results[i], intersection_query_results[amount - 1]); + SWAP(intersection_query_subindex_results[i], intersection_query_subindex_results[amount - 1]); + } + + amount--; + i--; + } + } + + return amount; +} + +bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result) { + //give me back regular physics engine logic + //this is madness + //and most people using this function will think + //what it does is simpler than using physics + //this took about a week to get right.. + //but is it right? who knows at this point.. + + ERR_FAIL_INDEX_V(p_parameters.max_collisions, PhysicsServer3D::MotionResult::MAX_COLLISIONS, false); + + if (r_result) { + *r_result = PhysicsServer3D::MotionResult(); + } + + AABB body_aabb; + bool shapes_found = false; + + for (int i = 0; i < p_body->get_shape_count(); i++) { + if (p_body->is_shape_disabled(i)) { + continue; + } + + if (!shapes_found) { + body_aabb = p_body->get_shape_aabb(i); + shapes_found = true; + } else { + body_aabb = body_aabb.merge(p_body->get_shape_aabb(i)); + } + } + + if (!shapes_found) { + if (r_result) { + r_result->travel = p_parameters.motion; + } + + 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(margin); + + 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; + + Transform3D body_transform = p_parameters.from; + + bool recovered = false; + + { + //STEP 1, FREE BODY IF STUCK + + const int max_results = 32; + int recover_attempts = 4; + Vector3 sr[max_results * 2]; + + do { + GodotPhysicsServer3D::CollCbkData cbk; + cbk.max = max_results; + cbk.amount = 0; + cbk.ptr = sr; + + GodotPhysicsServer3D::CollCbkData *cbkptr = &cbk; + GodotCollisionSolver3D::CallbackResult cbkres = GodotPhysicsServer3D::_shape_col_cbk; + + bool collided = false; + + int amount = _cull_aabb_for_body(p_body, body_aabb); + + for (int j = 0; j < p_body->get_shape_count(); j++) { + if (p_body->is_shape_disabled(j)) { + continue; + } + + Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j); + GodotShape3D *body_shape = p_body->get_shape(j); + + for (int i = 0; i < amount; i++) { + const GodotCollisionObject3D *col_obj = intersection_query_results[i]; + if (p_parameters.exclude_bodies.has(col_obj->get_self())) { + continue; + } + if (p_parameters.exclude_objects.has(col_obj->get_instance_id())) { + continue; + } + + 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, margin)) { + collided = cbk.amount > 0; + } + } + } + + if (!collided) { + break; + } + + recovered = true; + + Vector3 recover_motion; + for (int i = 0; i < cbk.amount; i++) { + Vector3 a = sr[i * 2 + 0]; + Vector3 b = sr[i * 2 + 1]; + + // Compute plane on b towards a. + Vector3 n = (a - b).normalized(); + real_t d = n.dot(b); + + // Compute depth on recovered motion. + real_t depth = n.dot(a + recover_motion) - d; + if (depth > min_contact_depth + CMP_EPSILON) { + // Only recover if there is penetration. + recover_motion -= n * (depth - min_contact_depth) * 0.4; + } + } + + if (recover_motion == Vector3()) { + collided = false; + break; + } + + body_transform.origin += recover_motion; + body_aabb.position += recover_motion; + + recover_attempts--; + + } while (recover_attempts); + } + + real_t safe = 1.0; + real_t unsafe = 1.0; + int best_shape = -1; + + { + // STEP 2 ATTEMPT MOTION + + AABB motion_aabb = body_aabb; + motion_aabb.position += p_parameters.motion; + motion_aabb = motion_aabb.merge(body_aabb); + + int amount = _cull_aabb_for_body(p_body, motion_aabb); + + for (int j = 0; j < p_body->get_shape_count(); j++) { + if (p_body->is_shape_disabled(j)) { + continue; + } + + GodotShape3D *body_shape = p_body->get_shape(j); + + // Colliding separation rays allows to properly snap to the ground, + // otherwise it's not needed in regular motion. + if (!p_parameters.collide_separation_ray && (body_shape->get_type() == PhysicsServer3D::SHAPE_SEPARATION_RAY)) { + // When slide on slope is on, separation ray shape acts like a regular shape. + if (!static_cast<GodotSeparationRayShape3D *>(body_shape)->get_slide_on_slope()) { + continue; + } + } + + Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j); + + Transform3D body_shape_xform_inv = body_shape_xform.affine_inverse(); + GodotMotionShape3D mshape; + mshape.shape = body_shape; + mshape.motion = body_shape_xform_inv.basis.xform(p_parameters.motion); + + bool stuck = false; + + real_t best_safe = 1; + real_t best_unsafe = 1; + + for (int i = 0; i < amount; i++) { + const GodotCollisionObject3D *col_obj = intersection_query_results[i]; + if (p_parameters.exclude_bodies.has(col_obj->get_self())) { + continue; + } + if (p_parameters.exclude_objects.has(col_obj->get_instance_id())) { + continue; + } + + int shape_idx = intersection_query_subindex_results[i]; + + //test initial overlap, does it collide if going all the way? + Vector3 point_A, point_B; + Vector3 sep_axis = motion_normal; + + Transform3D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); + //test initial overlap, does it collide if going all the way? + if (GodotCollisionSolver3D::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) { + continue; + } + sep_axis = motion_normal; + + if (!GodotCollisionSolver3D::solve_distance(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) { + stuck = true; + break; + } + + //just do kinematic solving + 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 fraction = low + (hi - low) * fraction_coeff; + + mshape.motion = body_shape_xform_inv.basis.xform(p_parameters.motion * fraction); + + Vector3 lA, lB; + Vector3 sep = motion_normal; //important optimization for this to work fast enough + bool collided = !GodotCollisionSolver3D::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, motion_aabb, &sep); + + if (collided) { + 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 { + point_A = lA; + point_B = lB; + 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; + } + } + } + + if (low < best_safe) { + best_safe = low; + best_unsafe = hi; + } + } + + if (stuck) { + safe = 0; + unsafe = 0; + best_shape = j; //sadly it's the best + break; + } + if (best_safe == 1.0) { + continue; + } + if (best_safe < safe) { + safe = best_safe; + unsafe = best_unsafe; + best_shape = j; + } + } + } + + bool collided = false; + if ((p_parameters.recovery_as_collision && recovered) || (safe < 1)) { + if (safe >= 1) { + best_shape = -1; //no best shape with cast, reset to -1 + } + + //it collided, let's get the rest info in unsafe advance + Transform3D ugt = body_transform; + ugt.origin += p_parameters.motion * unsafe; + + _RestResultData results[PhysicsServer3D::MotionResult::MAX_COLLISIONS]; + + _RestCallbackData rcd; + if (p_parameters.max_collisions > 1) { + rcd.max_results = p_parameters.max_collisions; + rcd.other_results = results; + } + + // Allowed depth can't be lower than motion length, in order to handle contacts at low speed. + rcd.min_allowed_depth = MIN(motion_length, min_contact_depth); + + body_aabb.position += p_parameters.motion * unsafe; + int amount = _cull_aabb_for_body(p_body, body_aabb); + + int from_shape = best_shape != -1 ? best_shape : 0; + int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count(); + + for (int j = from_shape; j < to_shape; j++) { + if (p_body->is_shape_disabled(j)) { + continue; + } + + Transform3D body_shape_xform = ugt * p_body->get_shape_transform(j); + GodotShape3D *body_shape = p_body->get_shape(j); + + for (int i = 0; i < amount; i++) { + const GodotCollisionObject3D *col_obj = intersection_query_results[i]; + if (p_parameters.exclude_bodies.has(col_obj->get_self())) { + continue; + } + if (p_parameters.exclude_objects.has(col_obj->get_instance_id())) { + continue; + } + + int shape_idx = intersection_query_subindex_results[i]; + + 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, margin); + if (!sc) { + continue; + } + } + } + + if (rcd.result_count > 0) { + if (r_result) { + for (int collision_index = 0; collision_index < rcd.result_count; ++collision_index) { + const _RestResultData &result = (collision_index > 0) ? rcd.other_results[collision_index - 1] : rcd.best_result; + + PhysicsServer3D::MotionCollision &collision = r_result->collisions[collision_index]; + + collision.collider = result.object->get_self(); + collision.collider_id = result.object->get_instance_id(); + collision.collider_shape = result.shape; + collision.local_shape = result.local_shape; + collision.normal = result.normal; + collision.position = result.contact; + collision.depth = result.len; + + const GodotBody3D *body = static_cast<const GodotBody3D *>(result.object); + + Vector3 rel_vec = result.contact - (body->get_transform().origin + body->get_center_of_mass()); + collision.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); + } + + r_result->travel = safe * p_parameters.motion; + r_result->remainder = p_parameters.motion - safe * p_parameters.motion; + r_result->travel += (body_transform.get_origin() - p_parameters.from.get_origin()); + + r_result->collision_safe_fraction = safe; + r_result->collision_unsafe_fraction = unsafe; + + r_result->collision_count = rcd.result_count; + r_result->collision_depth = rcd.best_result.len; + } + + collided = true; + } + } + + if (!collided && r_result) { + r_result->travel = p_parameters.motion; + r_result->remainder = Vector3(); + r_result->travel += (body_transform.get_origin() - p_parameters.from.get_origin()); + + r_result->collision_safe_fraction = 1.0; + r_result->collision_unsafe_fraction = 1.0; + r_result->collision_depth = 0.0; + } + + return collided; +} + +// Assumes a valid collision pair, this should have been checked beforehand in the BVH or octree. +void *GodotSpace3D::_broadphase_pair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_self) { + GodotCollisionObject3D::Type type_A = A->get_type(); + GodotCollisionObject3D::Type type_B = B->get_type(); + if (type_A > type_B) { + SWAP(A, B); + SWAP(p_subindex_A, p_subindex_B); + SWAP(type_A, type_B); + } + + GodotSpace3D *self = static_cast<GodotSpace3D *>(p_self); + + self->collision_pairs++; + + if (type_A == GodotCollisionObject3D::TYPE_AREA) { + GodotArea3D *area = static_cast<GodotArea3D *>(A); + if (type_B == GodotCollisionObject3D::TYPE_AREA) { + GodotArea3D *area_b = static_cast<GodotArea3D *>(B); + GodotArea2Pair3D *area2_pair = memnew(GodotArea2Pair3D(area_b, p_subindex_B, area, p_subindex_A)); + return area2_pair; + } else if (type_B == GodotCollisionObject3D::TYPE_SOFT_BODY) { + GodotSoftBody3D *softbody = static_cast<GodotSoftBody3D *>(B); + GodotAreaSoftBodyPair3D *soft_area_pair = memnew(GodotAreaSoftBodyPair3D(softbody, p_subindex_B, area, p_subindex_A)); + return soft_area_pair; + } else { + GodotBody3D *body = static_cast<GodotBody3D *>(B); + GodotAreaPair3D *area_pair = memnew(GodotAreaPair3D(body, p_subindex_B, area, p_subindex_A)); + return area_pair; + } + } else if (type_A == GodotCollisionObject3D::TYPE_BODY) { + if (type_B == GodotCollisionObject3D::TYPE_SOFT_BODY) { + GodotBodySoftBodyPair3D *soft_pair = memnew(GodotBodySoftBodyPair3D(static_cast<GodotBody3D *>(A), p_subindex_A, static_cast<GodotSoftBody3D *>(B))); + return soft_pair; + } else { + GodotBodyPair3D *b = memnew(GodotBodyPair3D(static_cast<GodotBody3D *>(A), p_subindex_A, static_cast<GodotBody3D *>(B), p_subindex_B)); + return b; + } + } else { + // Soft Body/Soft Body, not supported. + } + + return nullptr; +} + +void GodotSpace3D::_broadphase_unpair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_data, void *p_self) { + if (!p_data) { + return; + } + + GodotSpace3D *self = static_cast<GodotSpace3D *>(p_self); + self->collision_pairs--; + GodotConstraint3D *c = static_cast<GodotConstraint3D *>(p_data); + memdelete(c); +} + +const SelfList<GodotBody3D>::List &GodotSpace3D::get_active_body_list() const { + return active_list; +} + +void GodotSpace3D::body_add_to_active_list(SelfList<GodotBody3D> *p_body) { + active_list.add(p_body); +} + +void GodotSpace3D::body_remove_from_active_list(SelfList<GodotBody3D> *p_body) { + active_list.remove(p_body); +} + +void GodotSpace3D::body_add_to_mass_properties_update_list(SelfList<GodotBody3D> *p_body) { + mass_properties_update_list.add(p_body); +} + +void GodotSpace3D::body_remove_from_mass_properties_update_list(SelfList<GodotBody3D> *p_body) { + mass_properties_update_list.remove(p_body); +} + +GodotBroadPhase3D *GodotSpace3D::get_broadphase() { + return broadphase; +} + +void GodotSpace3D::add_object(GodotCollisionObject3D *p_object) { + ERR_FAIL_COND(objects.has(p_object)); + objects.insert(p_object); +} + +void GodotSpace3D::remove_object(GodotCollisionObject3D *p_object) { + ERR_FAIL_COND(!objects.has(p_object)); + objects.erase(p_object); +} + +const HashSet<GodotCollisionObject3D *> &GodotSpace3D::get_objects() const { + return objects; +} + +void GodotSpace3D::body_add_to_state_query_list(SelfList<GodotBody3D> *p_body) { + state_query_list.add(p_body); +} + +void GodotSpace3D::body_remove_from_state_query_list(SelfList<GodotBody3D> *p_body) { + state_query_list.remove(p_body); +} + +void GodotSpace3D::area_add_to_monitor_query_list(SelfList<GodotArea3D> *p_area) { + monitor_query_list.add(p_area); +} + +void GodotSpace3D::area_remove_from_monitor_query_list(SelfList<GodotArea3D> *p_area) { + monitor_query_list.remove(p_area); +} + +void GodotSpace3D::area_add_to_moved_list(SelfList<GodotArea3D> *p_area) { + area_moved_list.add(p_area); +} + +void GodotSpace3D::area_remove_from_moved_list(SelfList<GodotArea3D> *p_area) { + area_moved_list.remove(p_area); +} + +const SelfList<GodotArea3D>::List &GodotSpace3D::get_moved_area_list() const { + return area_moved_list; +} + +const SelfList<GodotSoftBody3D>::List &GodotSpace3D::get_active_soft_body_list() const { + return active_soft_body_list; +} + +void GodotSpace3D::soft_body_add_to_active_list(SelfList<GodotSoftBody3D> *p_soft_body) { + active_soft_body_list.add(p_soft_body); +} + +void GodotSpace3D::soft_body_remove_from_active_list(SelfList<GodotSoftBody3D> *p_soft_body) { + active_soft_body_list.remove(p_soft_body); +} + +void GodotSpace3D::call_queries() { + while (state_query_list.first()) { + GodotBody3D *b = state_query_list.first()->self(); + state_query_list.remove(state_query_list.first()); + b->call_queries(); + } + + while (monitor_query_list.first()) { + GodotArea3D *a = monitor_query_list.first()->self(); + monitor_query_list.remove(monitor_query_list.first()); + a->call_queries(); + } +} + +void GodotSpace3D::setup() { + contact_debug_count = 0; + while (mass_properties_update_list.first()) { + mass_properties_update_list.first()->self()->update_mass_properties(); + mass_properties_update_list.remove(mass_properties_update_list.first()); + } +} + +void GodotSpace3D::update() { + broadphase->update(); +} + +void GodotSpace3D::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value) { + switch (p_param) { + case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: + contact_recycle_radius = p_value; + break; + case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_SEPARATION: + contact_max_separation = p_value; + break; + case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION: + contact_max_allowed_penetration = p_value; + break; + case PhysicsServer3D::SPACE_PARAM_CONTACT_DEFAULT_BIAS: + contact_bias = p_value; + break; + case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: + body_linear_velocity_sleep_threshold = p_value; + break; + case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: + body_angular_velocity_sleep_threshold = p_value; + break; + case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP: + body_time_to_sleep = p_value; + break; + case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS: + solver_iterations = p_value; + break; + } +} + +real_t GodotSpace3D::get_param(PhysicsServer3D::SpaceParameter p_param) const { + switch (p_param) { + case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: + return contact_recycle_radius; + case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_SEPARATION: + return contact_max_separation; + case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION: + return contact_max_allowed_penetration; + case PhysicsServer3D::SPACE_PARAM_CONTACT_DEFAULT_BIAS: + return contact_bias; + case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: + return body_linear_velocity_sleep_threshold; + case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: + return body_angular_velocity_sleep_threshold; + case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP: + return body_time_to_sleep; + case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS: + return solver_iterations; + } + return 0; +} + +void GodotSpace3D::lock() { + locked = true; +} + +void GodotSpace3D::unlock() { + locked = false; +} + +bool GodotSpace3D::is_locked() const { + return locked; +} + +GodotPhysicsDirectSpaceState3D *GodotSpace3D::get_direct_state() { + return direct_access; +} + +GodotSpace3D::GodotSpace3D() { + body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1); + body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", Math::deg2rad(8.0)); + body_time_to_sleep = GLOBAL_DEF("physics/3d/time_before_sleep", 0.5); + ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/3d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater")); + + solver_iterations = GLOBAL_DEF("physics/3d/solver/solver_iterations", 16); + ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/solver_iterations", PropertyInfo(Variant::INT, "physics/3d/solver/solver_iterations", PROPERTY_HINT_RANGE, "1,32,1,or_greater")); + + contact_recycle_radius = GLOBAL_DEF("physics/3d/solver/contact_recycle_radius", 0.01); + ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/contact_recycle_radius", PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,0.1,0.01,or_greater")); + + contact_max_separation = GLOBAL_DEF("physics/3d/solver/contact_max_separation", 0.05); + ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/contact_max_separation", PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,0.1,0.01,or_greater")); + + contact_max_allowed_penetration = GLOBAL_DEF("physics/3d/solver/contact_max_allowed_penetration", 0.01); + ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/contact_max_allowed_penetration", PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_max_allowed_penetration", PROPERTY_HINT_RANGE, "0,0.1,0.01,or_greater")); + + contact_bias = GLOBAL_DEF("physics/3d/solver/default_contact_bias", 0.8); + ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/default_contact_bias", PropertyInfo(Variant::FLOAT, "physics/3d/solver/default_contact_bias", PROPERTY_HINT_RANGE, "0,1,0.01")); + + broadphase = GodotBroadPhase3D::create_func(); + broadphase->set_pair_callback(_broadphase_pair, this); + broadphase->set_unpair_callback(_broadphase_unpair, this); + + direct_access = memnew(GodotPhysicsDirectSpaceState3D); + direct_access->space = this; +} + +GodotSpace3D::~GodotSpace3D() { + memdelete(broadphase); + memdelete(direct_access); +} |