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path: root/servers/physics_3d/space_3d_sw.cpp
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Diffstat (limited to 'servers/physics_3d/space_3d_sw.cpp')
-rw-r--r--servers/physics_3d/space_3d_sw.cpp231
1 files changed, 145 insertions, 86 deletions
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index c8741dc930..cdae744ead 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -47,6 +47,10 @@ _FORCE_INLINE_ static bool _can_collide_with(CollisionObject3DSW *p_object, uint
return false;
}
+ if (p_object->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY && !p_collide_with_bodies) {
+ return false;
+ }
+
return true;
}
@@ -55,7 +59,7 @@ int PhysicsDirectSpaceState3DSW::intersect_point(const Vector3 &p_point, ShapeRe
int amount = space->broadphase->cull_point(p_point, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int cc = 0;
- //Transform ai = p_xform.affine_inverse();
+ //Transform3D ai = p_xform.affine_inverse();
for (int i = 0; i < amount; i++) {
if (cc >= p_result_max) {
@@ -75,7 +79,7 @@ int PhysicsDirectSpaceState3DSW::intersect_point(const Vector3 &p_point, ShapeRe
const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
- Transform inv_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
+ 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_point))) {
@@ -132,7 +136,7 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec
const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
- Transform inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
+ 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);
@@ -142,7 +146,7 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec
Vector3 shape_point, shape_normal;
if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal)) {
- Transform xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
+ 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);
@@ -176,7 +180,7 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec
return true;
}
-int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0) {
return 0;
}
@@ -190,7 +194,7 @@ int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Trans
int cc = 0;
- //Transform ai = p_xform.affine_inverse();
+ //Transform3D ai = p_xform.affine_inverse();
for (int i = 0; i < amount; i++) {
if (cc >= p_result_max) {
@@ -210,10 +214,6 @@ int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Trans
const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
- if (col_obj->is_shape_set_as_disabled(shape_idx)) {
- continue;
- }
-
if (!CollisionSolver3DSW::solve_static(shape, p_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), nullptr, nullptr, nullptr, p_margin, 0)) {
continue;
}
@@ -235,7 +235,7 @@ int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Trans
return cc;
}
-bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
+bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.getornull(p_shape);
ERR_FAIL_COND_V(!shape, false);
@@ -248,13 +248,15 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
real_t best_safe = 1;
real_t best_unsafe = 1;
- Transform xform_inv = p_xform.affine_inverse();
+ Transform3D xform_inv = p_xform.affine_inverse();
MotionShape3DSW mshape;
mshape.shape = shape;
mshape.motion = xform_inv.basis.xform(p_motion);
bool best_first = true;
+ Vector3 motion_normal = p_motion.normalized();
+
Vector3 closest_A, closest_B;
for (int i = 0; i < amount; i++) {
@@ -269,49 +271,57 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
- if (col_obj->is_shape_set_as_disabled(shape_idx)) {
- continue;
- }
-
Vector3 point_A, point_B;
- Vector3 sep_axis = p_motion.normalized();
+ Vector3 sep_axis = motion_normal;
- Transform col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
+ 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 (CollisionSolver3DSW::solve_distance(&mshape, p_xform, 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 = p_motion.normalized();
+ sep_axis = motion_normal;
if (!CollisionSolver3DSW::solve_distance(shape, p_xform, 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;
- real_t hi = 1;
- Vector3 mnormal = p_motion.normalized();
-
+ 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;
- real_t ofs = (low + hi) * 0.5;
-
- Vector3 sep = mnormal; //important optimization for this to work fast enough
-
- mshape.motion = xform_inv.basis.xform(p_motion * ofs);
+ mshape.motion = xform_inv.basis.xform(p_motion * fraction);
Vector3 lA, lB;
-
+ Vector3 sep = motion_normal; //important optimization for this to work fast enough
bool collided = !CollisionSolver3DSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep);
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 {
point_A = lA;
point_B = lB;
- 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;
+ }
}
}
@@ -332,7 +342,8 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
best_first = false;
if (col_obj->get_type() == CollisionObject3DSW::TYPE_BODY) {
const Body3DSW *body = static_cast<const Body3DSW *>(col_obj);
- r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B);
+ 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);
}
}
}
@@ -343,7 +354,7 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
return true;
}
-bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0) {
return false;
}
@@ -380,10 +391,6 @@ bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform &p_
int shape_idx = space->intersection_query_subindex_results[i];
- if (col_obj->is_shape_set_as_disabled(shape_idx)) {
- continue;
- }
-
if (CollisionSolver3DSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_margin)) {
collided = true;
}
@@ -407,7 +414,7 @@ struct _RestCallbackData {
real_t min_allowed_depth;
};
-static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) {
+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 = (_RestCallbackData *)p_userdata;
Vector3 contact_rel = p_point_B - p_point_A;
@@ -427,7 +434,7 @@ static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B,
rd->best_local_shape = rd->local_shape;
}
-bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.getornull(p_shape);
ERR_FAIL_COND_V(!shape, 0);
@@ -455,10 +462,6 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform &p_shap
int shape_idx = space->intersection_query_subindex_results[i];
- if (col_obj->is_shape_set_as_disabled(shape_idx)) {
- continue;
- }
-
rcd.object = col_obj;
rcd.shape = shape_idx;
bool sc = CollisionSolver3DSW::solve_static(shape, p_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_margin);
@@ -478,8 +481,8 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform &p_shap
r_info->rid = rcd.best_object->get_self();
if (rcd.best_object->get_type() == CollisionObject3DSW::TYPE_BODY) {
const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_object);
- r_info->linear_velocity = body->get_linear_velocity() +
- (body->get_angular_velocity()).cross(body->get_transform().origin - rcd.best_contact); // * mPos);
+ Vector3 rel_vec = rcd.best_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();
@@ -503,11 +506,11 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob
bool shapes_found = false;
for (int i = 0; i < obj->get_shape_count(); i++) {
- if (obj->is_shape_set_as_disabled(i)) {
+ if (obj->is_shape_disabled(i)) {
continue;
}
- Transform shape_xform = obj->get_transform() * obj->get_shape_transform(i);
+ Transform3D shape_xform = obj->get_transform() * obj->get_shape_transform(i);
Shape3DSW *shape = obj->get_shape(i);
Vector3 point = shape->get_closest_point_to(shape_xform.affine_inverse().xform(p_point));
@@ -544,12 +547,12 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
keep = false;
} else if (intersection_query_results[i]->get_type() == CollisionObject3DSW::TYPE_AREA) {
keep = false;
+ } else if (intersection_query_results[i]->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY) {
+ keep = false;
} else if ((static_cast<Body3DSW *>(intersection_query_results[i])->test_collision_mask(p_body)) == 0) {
keep = false;
} else if (static_cast<Body3DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
keep = false;
- } else if (static_cast<Body3DSW *>(intersection_query_results[i])->is_shape_set_as_disabled(intersection_query_subindex_results[i])) {
- keep = false;
}
if (!keep) {
@@ -566,13 +569,13 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
return amount;
}
-int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin) {
+int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin) {
AABB body_aabb;
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
- if (p_body->is_shape_set_as_disabled(i)) {
+ if (p_body->is_shape_disabled(i)) {
continue;
}
@@ -591,7 +594,7 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_tra
body_aabb = p_transform.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb = body_aabb.grow(p_margin);
- Transform body_transform = p_transform;
+ Transform3D body_transform = p_transform;
for (int i = 0; i < p_result_max; i++) {
//reset results
@@ -619,7 +622,7 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_tra
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_set_as_disabled(j)) {
+ if (p_body->is_shape_disabled(j)) {
continue;
}
@@ -629,7 +632,7 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_tra
continue;
}
- Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
+ Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
for (int i = 0; i < amount; i++) {
const CollisionObject3DSW *col_obj = intersection_query_results[i];
@@ -684,10 +687,8 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_tra
//result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
if (col_obj->get_type() == CollisionObject3DSW::TYPE_BODY) {
Body3DSW *body = (Body3DSW *)col_obj;
-
- Vector3 rel_vec = b - body->get_transform().get_origin();
- //result.collider_velocity = Vector3(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
- result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - rel_vec); // * mPos);
+ Vector3 rel_vec = b - (body->get_transform().origin + body->get_center_of_mass());
+ result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
}
}
}
@@ -719,7 +720,7 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_tra
return rays_found;
}
-bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes) {
+bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes) {
//give me back regular physics engine logic
//this is madness
//and most people using this function will think
@@ -735,7 +736,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
- if (p_body->is_shape_set_as_disabled(i)) {
+ if (p_body->is_shape_disabled(i)) {
continue;
}
@@ -763,7 +764,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
real_t motion_length = p_motion.length();
Vector3 motion_normal = p_motion / motion_length;
- Transform body_transform = p_from;
+ Transform3D body_transform = p_from;
bool recovered = false;
@@ -788,11 +789,11 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
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_set_as_disabled(j)) {
+ if (p_body->is_shape_disabled(j)) {
continue;
}
- Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
+ Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
Shape3DSW *body_shape = p_body->get_shape(j);
if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer3D::SHAPE_RAY) {
continue;
@@ -802,6 +803,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
const CollisionObject3DSW *col_obj = intersection_query_results[i];
int shape_idx = intersection_query_subindex_results[i];
+ if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
+ const Body3DSW *b = static_cast<const Body3DSW *>(col_obj);
+ if (p_infinite_inertia && PhysicsServer3D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer3D::BODY_MODE_KINEMATIC != b->get_mode()) {
+ continue;
+ }
+ }
+
if (CollisionSolver3DSW::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_margin)) {
collided = cbk.amount > 0;
}
@@ -859,18 +867,18 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
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_set_as_disabled(j)) {
+ if (p_body->is_shape_disabled(j)) {
continue;
}
- Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
+ Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
Shape3DSW *body_shape = p_body->get_shape(j);
if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer3D::SHAPE_RAY) {
continue;
}
- Transform body_shape_xform_inv = body_shape_xform.affine_inverse();
+ Transform3D body_shape_xform_inv = body_shape_xform.affine_inverse();
MotionShape3DSW mshape;
mshape.shape = body_shape;
mshape.motion = body_shape_xform_inv.basis.xform(p_motion);
@@ -884,11 +892,18 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
const CollisionObject3DSW *col_obj = intersection_query_results[i];
int shape_idx = intersection_query_subindex_results[i];
+ if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
+ const Body3DSW *b = static_cast<const Body3DSW *>(col_obj);
+ if (p_infinite_inertia && PhysicsServer3D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer3D::BODY_MODE_KINEMATIC != b->get_mode()) {
+ continue;
+ }
+ }
+
//test initial overlap, does it collide if going all the way?
Vector3 point_A, point_B;
Vector3 sep_axis = motion_normal;
- Transform col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
+ 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 (CollisionSolver3DSW::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) {
continue;
@@ -901,27 +916,40 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
}
//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 fraction = low + (hi - low) * fraction_coeff;
- real_t ofs = (low + hi) * 0.5;
-
- Vector3 sep = motion_normal; //important optimization for this to work fast enough
-
- mshape.motion = body_shape_xform_inv.basis.xform(p_motion * ofs);
+ mshape.motion = body_shape_xform_inv.basis.xform(p_motion * fraction);
Vector3 lA, lB;
-
+ Vector3 sep = motion_normal; //important optimization for this to work fast enough
bool collided = !CollisionSolver3DSW::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, motion_aabb, &sep);
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 {
point_A = lA;
point_B = lB;
- 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;
+ }
}
}
@@ -955,7 +983,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
}
//it collided, let's get the rest info in unsafe advance
- Transform ugt = body_transform;
+ Transform3D ugt = body_transform;
ugt.origin += p_motion * unsafe;
_RestCallbackData rcd;
@@ -970,11 +998,11 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
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_set_as_disabled(j)) {
+ if (p_body->is_shape_disabled(j)) {
continue;
}
- Transform body_shape_xform = ugt * p_body->get_shape_transform(j);
+ Transform3D body_shape_xform = ugt * p_body->get_shape_transform(j);
Shape3DSW *body_shape = p_body->get_shape(j);
if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer3D::SHAPE_RAY) {
@@ -989,6 +1017,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
const CollisionObject3DSW *col_obj = intersection_query_results[i];
int shape_idx = intersection_query_subindex_results[i];
+ if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
+ const Body3DSW *b = static_cast<const Body3DSW *>(col_obj);
+ if (p_infinite_inertia && PhysicsServer3D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer3D::BODY_MODE_KINEMATIC != b->get_mode()) {
+ continue;
+ }
+ }
+
rcd.object = col_obj;
rcd.shape = shape_idx;
bool sc = CollisionSolver3DSW::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_margin);
@@ -1006,12 +1041,15 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
r_result->collision_local_shape = rcd.best_local_shape;
r_result->collision_normal = rcd.best_normal;
r_result->collision_point = rcd.best_contact;
+ r_result->collision_depth = rcd.best_len;
+ r_result->collision_safe_fraction = safe;
+ r_result->collision_unsafe_fraction = unsafe;
//r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_object);
- //Vector3 rel_vec = r_result->collision_point - body->get_transform().get_origin();
- // r_result->collider_velocity = Vector3(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
- r_result->collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - rcd.best_contact); // * mPos);
+
+ Vector3 rel_vec = rcd.best_contact - (body->get_transform().origin + body->get_center_of_mass());
+ r_result->collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
r_result->motion = safe * p_motion;
r_result->remainder = p_motion - safe * p_motion;
@@ -1054,14 +1092,23 @@ void *Space3DSW::_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, Coll
Area3DSW *area_b = static_cast<Area3DSW *>(B);
Area2Pair3DSW *area2_pair = memnew(Area2Pair3DSW(area_b, p_subindex_B, area, p_subindex_A));
return area2_pair;
+ } else if (type_B == CollisionObject3DSW::TYPE_SOFT_BODY) {
+ // Area/Soft Body, not supported.
} else {
Body3DSW *body = static_cast<Body3DSW *>(B);
AreaPair3DSW *area_pair = memnew(AreaPair3DSW(body, p_subindex_B, area, p_subindex_A));
return area_pair;
}
+ } else if (type_A == CollisionObject3DSW::TYPE_BODY) {
+ if (type_B == CollisionObject3DSW::TYPE_SOFT_BODY) {
+ BodySoftBodyPair3DSW *soft_pair = memnew(BodySoftBodyPair3DSW((Body3DSW *)A, p_subindex_A, (SoftBody3DSW *)B));
+ return soft_pair;
+ } else {
+ BodyPair3DSW *b = memnew(BodyPair3DSW((Body3DSW *)A, p_subindex_A, (Body3DSW *)B, p_subindex_B));
+ return b;
+ }
} else {
- BodyPair3DSW *b = memnew(BodyPair3DSW((Body3DSW *)A, p_subindex_A, (Body3DSW *)B, p_subindex_B));
- return b;
+ // Soft Body/Soft Body, not supported.
}
return nullptr;
@@ -1144,6 +1191,18 @@ const SelfList<Area3DSW>::List &Space3DSW::get_moved_area_list() const {
return area_moved_list;
}
+const SelfList<SoftBody3DSW>::List &Space3DSW::get_active_soft_body_list() const {
+ return active_soft_body_list;
+}
+
+void Space3DSW::soft_body_add_to_active_list(SelfList<SoftBody3DSW> *p_soft_body) {
+ active_soft_body_list.add(p_soft_body);
+}
+
+void Space3DSW::soft_body_remove_from_active_list(SelfList<SoftBody3DSW> *p_soft_body) {
+ active_soft_body_list.remove(p_soft_body);
+}
+
void Space3DSW::call_queries() {
while (state_query_list.first()) {
Body3DSW *b = state_query_list.first()->self();
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-03 23:29:00 +0000