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path: root/servers/physics_3d/space_3d_sw.cpp
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-rw-r--r--servers/physics_3d/space_3d_sw.cpp72
1 files changed, 41 insertions, 31 deletions
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index 369dad45eb..c88747c017 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -620,7 +620,7 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
return amount;
}
-bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, int p_max_collisions, bool p_collide_separation_ray, const Set<RID> &p_exclude) {
+bool Space3DSW::test_body_motion(Body3DSW *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
@@ -628,7 +628,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
//this took about a week to get right..
//but is it right? who knows at this point..
- ERR_FAIL_INDEX_V(p_max_collisions, PhysicsServer3D::MotionResult::MAX_COLLISIONS, false);
+ ERR_FAIL_INDEX_V(p_parameters.max_collisions, PhysicsServer3D::MotionResult::MAX_COLLISIONS, false);
if (r_result) {
*r_result = PhysicsServer3D::MotionResult();
@@ -652,22 +652,22 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
if (!shapes_found) {
if (r_result) {
- r_result->travel = p_motion;
+ r_result->travel = p_parameters.motion;
}
return false;
}
// Undo the currently transform the physics server is aware of and apply the provided one
- body_aabb = p_from.xform(p_body->get_inv_transform().xform(body_aabb));
- body_aabb = body_aabb.grow(p_margin);
+ body_aabb = p_parameters.from.xform(p_body->get_inv_transform().xform(body_aabb));
+ body_aabb = body_aabb.grow(p_parameters.margin);
- real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+ real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
- real_t motion_length = p_motion.length();
- Vector3 motion_normal = p_motion / motion_length;
+ real_t motion_length = p_parameters.motion.length();
+ Vector3 motion_normal = p_parameters.motion / motion_length;
- Transform3D body_transform = p_from;
+ Transform3D body_transform = p_parameters.from;
bool recovered = false;
@@ -701,13 +701,16 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
for (int i = 0; i < amount; i++) {
const CollisionObject3DSW *col_obj = intersection_query_results[i];
- if (p_exclude.has(col_obj->get_self())) {
+ 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 (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)) {
+ 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_parameters.margin)) {
collided = cbk.amount > 0;
}
}
@@ -757,7 +760,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
// STEP 2 ATTEMPT MOTION
AABB motion_aabb = body_aabb;
- motion_aabb.position += p_motion;
+ motion_aabb.position += p_parameters.motion;
motion_aabb = motion_aabb.merge(body_aabb);
int amount = _cull_aabb_for_body(p_body, motion_aabb);
@@ -771,7 +774,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
// Colliding separation rays allows to properly snap to the ground,
// otherwise it's not needed in regular motion.
- if (!p_collide_separation_ray && (body_shape->get_type() == PhysicsServer3D::SHAPE_SEPARATION_RAY)) {
+ 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<SeparationRayShape3DSW *>(body_shape)->get_slide_on_slope()) {
continue;
@@ -783,7 +786,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
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);
+ mshape.motion = body_shape_xform_inv.basis.xform(p_parameters.motion);
bool stuck = false;
@@ -792,7 +795,10 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
for (int i = 0; i < amount; i++) {
const CollisionObject3DSW *col_obj = intersection_query_results[i];
- if (p_exclude.has(col_obj->get_self())) {
+ if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
+ continue;
+ }
+ if (p_parameters.exclude_objects.has(col_obj->get_instance_id())) {
continue;
}
@@ -821,7 +827,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
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_motion * fraction);
+ 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
@@ -883,13 +889,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
//it collided, let's get the rest info in unsafe advance
Transform3D ugt = body_transform;
- ugt.origin += p_motion * unsafe;
+ ugt.origin += p_parameters.motion * unsafe;
_RestResultData results[PhysicsServer3D::MotionResult::MAX_COLLISIONS];
_RestCallbackData rcd;
- if (p_max_collisions > 1) {
- rcd.max_results = p_max_collisions;
+ if (p_parameters.max_collisions > 1) {
+ rcd.max_results = p_parameters.max_collisions;
rcd.other_results = results;
}
@@ -907,20 +913,24 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
Transform3D body_shape_xform = ugt * p_body->get_shape_transform(j);
Shape3DSW *body_shape = p_body->get_shape(j);
- body_aabb.position += p_motion * unsafe;
+ body_aabb.position += p_parameters.motion * unsafe;
int amount = _cull_aabb_for_body(p_body, body_aabb);
for (int i = 0; i < amount; i++) {
const CollisionObject3DSW *col_obj = intersection_query_results[i];
- if (p_exclude.has(col_obj->get_self())) {
+ 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 = 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);
+ 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_parameters.margin);
if (!sc) {
continue;
}
@@ -948,12 +958,12 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
collision.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
}
- r_result->travel = safe * p_motion;
- r_result->remainder = p_motion - safe * p_motion;
- r_result->travel += (body_transform.get_origin() - p_from.get_origin());
+ 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->safe_fraction = safe;
- r_result->unsafe_fraction = unsafe;
+ r_result->collision_safe_fraction = safe;
+ r_result->collision_unsafe_fraction = unsafe;
r_result->collision_count = rcd.result_count;
}
@@ -963,12 +973,12 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
}
if (!collided && r_result) {
- r_result->travel = p_motion;
+ r_result->travel = p_parameters.motion;
r_result->remainder = Vector3();
- r_result->travel += (body_transform.get_origin() - p_from.get_origin());
+ r_result->travel += (body_transform.get_origin() - p_parameters.from.get_origin());
- r_result->safe_fraction = 1.0;
- r_result->unsafe_fraction = 1.0;
+ r_result->collision_safe_fraction = 1.0;
+ r_result->collision_unsafe_fraction = 1.0;
}
return collided;
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-23 00:17:10 +0000