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Diffstat (limited to 'servers/physics_3d/space_3d_sw.cpp')
| -rw-r--r-- | servers/physics_3d/space_3d_sw.cpp | 1179 |
1 files changed, 0 insertions, 1179 deletions
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp deleted file mode 100644 index 37dee436df..0000000000 --- a/servers/physics_3d/space_3d_sw.cpp +++ /dev/null @@ -1,1179 +0,0 @@ -/*************************************************************************/ -/* space_3d_sw.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2021 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 "space_3d_sw.h" - -#include "collision_solver_3d_sw.h" -#include "core/config/project_settings.h" -#include "physics_server_3d_sw.h" - -_FORCE_INLINE_ static bool _can_collide_with(CollisionObject3DSW *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() == CollisionObject3DSW::TYPE_AREA && !p_collide_with_areas) { - return false; - } - - if (p_object->get_type() == CollisionObject3DSW::TYPE_BODY && !p_collide_with_bodies) { - return false; - } - - if (p_object->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY && !p_collide_with_bodies) { - return false; - } - - return true; -} - -int PhysicsDirectSpaceState3DSW::intersect_point(const Vector3 &p_point, 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) { - ERR_FAIL_COND_V(space->locked, false); - int amount = space->broadphase->cull_point(p_point, space->intersection_query_results, Space3DSW::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_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { - continue; - } - - //area can't be picked by ray (default) - - if (p_exclude.has(space->intersection_query_results[i]->get_self())) { - continue; - } - - const CollisionObject3DSW *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_point))) { - 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 PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) { - ERR_FAIL_COND_V(space->locked, false); - - Vector3 begin, end; - Vector3 normal; - begin = p_from; - end = p_to; - normal = (end - begin).normalized(); - - int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, Space3DSW::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 CollisionObject3DSW *res_obj; - real_t min_d = 1e10; - - for (int i = 0; i < amount; i++) { - if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { - continue; - } - - if (p_pick_ray && !(space->intersection_query_results[i]->is_ray_pickable())) { - continue; - } - - if (p_exclude.has(space->intersection_query_results[i]->get_self())) { - continue; - } - - const CollisionObject3DSW *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 Shape3DSW *shape = col_obj->get_shape(shape_idx); - - Vector3 shape_point, shape_normal; - - if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal)) { - 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 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; - } - - Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.getornull(p_shape); - ERR_FAIL_COND_V(!shape, 0); - - AABB aabb = p_xform.xform(shape->get_aabb()); - - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::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_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { - continue; - } - - //area can't be picked by ray (default) - - if (p_exclude.has(space->intersection_query_results[i]->get_self())) { - continue; - } - - const CollisionObject3DSW *col_obj = space->intersection_query_results[i]; - int shape_idx = space->intersection_query_subindex_results[i]; - - 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; - } - - 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 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); - - AABB aabb = p_xform.xform(shape->get_aabb()); - aabb = aabb.merge(AABB(aabb.position + p_motion, aabb.size)); //motion - aabb = aabb.grow(p_margin); - - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - - real_t best_safe = 1; - real_t best_unsafe = 1; - - 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++) { - if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { - continue; - } - - if (p_exclude.has(space->intersection_query_results[i]->get_self())) { - continue; //ignore excluded - } - - const CollisionObject3DSW *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 (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 = 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 = 0.0; - 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_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 = 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() == CollisionObject3DSW::TYPE_BODY) { - const Body3DSW *body = static_cast<const Body3DSW *>(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 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; - } - - Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.getornull(p_shape); - ERR_FAIL_COND_V(!shape, 0); - - AABB aabb = p_shape_xform.xform(shape->get_aabb()); - aabb = aabb.grow(p_margin); - - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - - bool collided = false; - r_result_count = 0; - - PhysicsServer3DSW::CollCbkData cbk; - cbk.max = p_result_max; - cbk.amount = 0; - cbk.ptr = r_results; - CollisionSolver3DSW::CallbackResult cbkres = PhysicsServer3DSW::_shape_col_cbk; - - PhysicsServer3DSW::CollCbkData *cbkptr = &cbk; - - for (int i = 0; i < amount; i++) { - if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { - continue; - } - - const CollisionObject3DSW *col_obj = space->intersection_query_results[i]; - - if (p_exclude.has(col_obj->get_self())) { - continue; - } - - int shape_idx = space->intersection_query_subindex_results[i]; - - 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; - } - } - - r_result_count = cbk.amount; - - return collided; -} - -struct _RestCallbackData { - const CollisionObject3DSW *object; - const CollisionObject3DSW *best_object; - int local_shape; - int best_local_shape; - int shape; - int best_shape; - Vector3 best_contact; - Vector3 best_normal; - real_t best_len; - real_t min_allowed_depth; -}; - -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; - real_t len = contact_rel.length(); - if (len < rd->min_allowed_depth) { - return; - } - if (len <= rd->best_len) { - return; - } - - rd->best_len = len; - rd->best_contact = p_point_B; - rd->best_normal = contact_rel / len; - rd->best_object = rd->object; - rd->best_shape = rd->shape; - rd->best_local_shape = rd->local_shape; -} - -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); - - AABB aabb = p_shape_xform.xform(shape->get_aabb()); - aabb = aabb.grow(p_margin); - - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - - _RestCallbackData rcd; - rcd.best_len = 0; - rcd.best_object = nullptr; - rcd.best_shape = 0; - rcd.min_allowed_depth = space->test_motion_min_contact_depth; - - for (int i = 0; i < amount; i++) { - if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { - continue; - } - - const CollisionObject3DSW *col_obj = space->intersection_query_results[i]; - - if (p_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 = 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); - if (!sc) { - continue; - } - } - - if (rcd.best_len == 0 || !rcd.best_object) { - return false; - } - - r_info->collider_id = rcd.best_object->get_instance_id(); - r_info->shape = rcd.best_shape; - r_info->normal = rcd.best_normal; - r_info->point = rcd.best_contact; - 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); - 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(); - } - - return true; -} - -Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const { - CollisionObject3DSW *obj = PhysicsServer3DSW::singletonsw->area_owner.getornull(p_object); - if (!obj) { - obj = PhysicsServer3DSW::singletonsw->body_owner.getornull(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); - Shape3DSW *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; - } -} - -PhysicsDirectSpaceState3DSW::PhysicsDirectSpaceState3DSW() { - space = nullptr; -} - -//////////////////////////////////////////////////////////////////////////////////////////////////////////// - -int Space3DSW::_cull_aabb_for_body(Body3DSW *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() == CollisionObject3DSW::TYPE_AREA) { - keep = false; - } else if (intersection_query_results[i]->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY) { - keep = false; - } else if (!p_body->collides_with(static_cast<Body3DSW *>(intersection_query_results[i]))) { - 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; - } - - 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 Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_collide_separation_ray, const Set<RID> &p_exclude) { - //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.. - - if (r_result) { - r_result->collider_id = ObjectID(); - r_result->collider_shape = 0; - } - 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 = PhysicsServer3D::MotionResult(); - r_result->travel = p_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); - - real_t motion_length = p_motion.length(); - Vector3 motion_normal = p_motion / motion_length; - - Transform3D body_transform = p_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 { - PhysicsServer3DSW::CollCbkData cbk; - cbk.max = max_results; - cbk.amount = 0; - cbk.ptr = sr; - - PhysicsServer3DSW::CollCbkData *cbkptr = &cbk; - CollisionSolver3DSW::CallbackResult cbkres = PhysicsServer3DSW::_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); - Shape3DSW *body_shape = p_body->get_shape(j); - - for (int i = 0; i < amount; i++) { - const CollisionObject3DSW *col_obj = intersection_query_results[i]; - if (p_exclude.has(col_obj->get_self())) { - 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)) { - collided = cbk.amount > 0; - } - } - } - - if (!collided) { - break; - } - - 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 > 0.0) { - // Only recover if there is penetration. - recover_motion -= n * depth * 0.4; - } - } - - if (recover_motion == Vector3()) { - collided = false; - break; - } - - recovered = true; - - 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_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; - } - - Shape3DSW *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_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; - } - } - - Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j); - - 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); - - bool stuck = false; - - real_t best_safe = 1; - real_t best_unsafe = 1; - - for (int i = 0; i < amount; i++) { - const CollisionObject3DSW *col_obj = intersection_query_results[i]; - if (p_exclude.has(col_obj->get_self())) { - 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 (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; - } - sep_axis = motion_normal; - - if (!CollisionSolver3DSW::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_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 = 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 (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_motion * unsafe; - - _RestCallbackData rcd; - rcd.best_len = 0; - rcd.best_object = nullptr; - rcd.best_shape = 0; - - // Allowed depth can't be lower than motion length, in order to handle contacts at low speed. - rcd.min_allowed_depth = MIN(motion_length, test_motion_min_contact_depth); - - 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); - Shape3DSW *body_shape = p_body->get_shape(j); - - body_aabb.position += p_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())) { - 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); - if (!sc) { - continue; - } - } - } - - if (rcd.best_len != 0) { - if (r_result) { - r_result->collider = rcd.best_object->get_self(); - r_result->collider_id = rcd.best_object->get_instance_id(); - r_result->collider_shape = rcd.best_shape; - 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 = 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->travel = safe * p_motion; - r_result->remainder = p_motion - safe * p_motion; - r_result->travel += (body_transform.get_origin() - p_from.get_origin()); - } - - collided = true; - } - } - - if (!collided && r_result) { - r_result->travel = p_motion; - r_result->remainder = Vector3(); - r_result->travel += (body_transform.get_origin() - p_from.get_origin()); - } - - return collided; -} - -void *Space3DSW::_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_self) { - if (!A->interacts_with(B)) { - return nullptr; - } - - CollisionObject3DSW::Type type_A = A->get_type(); - CollisionObject3DSW::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); - } - - Space3DSW *self = (Space3DSW *)p_self; - - self->collision_pairs++; - - if (type_A == CollisionObject3DSW::TYPE_AREA) { - Area3DSW *area = static_cast<Area3DSW *>(A); - if (type_B == CollisionObject3DSW::TYPE_AREA) { - 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) { - SoftBody3DSW *softbody = static_cast<SoftBody3DSW *>(B); - AreaSoftBodyPair3DSW *soft_area_pair = memnew(AreaSoftBodyPair3DSW(softbody, p_subindex_B, area, p_subindex_A)); - return soft_area_pair; - } 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 { - // Soft Body/Soft Body, not supported. - } - - return nullptr; -} - -void Space3DSW::_broadphase_unpair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_data, void *p_self) { - if (!p_data) { - return; - } - - Space3DSW *self = (Space3DSW *)p_self; - self->collision_pairs--; - Constraint3DSW *c = (Constraint3DSW *)p_data; - memdelete(c); -} - -const SelfList<Body3DSW>::List &Space3DSW::get_active_body_list() const { - return active_list; -} - -void Space3DSW::body_add_to_active_list(SelfList<Body3DSW> *p_body) { - active_list.add(p_body); -} - -void Space3DSW::body_remove_from_active_list(SelfList<Body3DSW> *p_body) { - active_list.remove(p_body); -} - -void Space3DSW::body_add_to_inertia_update_list(SelfList<Body3DSW> *p_body) { - inertia_update_list.add(p_body); -} - -void Space3DSW::body_remove_from_inertia_update_list(SelfList<Body3DSW> *p_body) { - inertia_update_list.remove(p_body); -} - -BroadPhase3DSW *Space3DSW::get_broadphase() { - return broadphase; -} - -void Space3DSW::add_object(CollisionObject3DSW *p_object) { - ERR_FAIL_COND(objects.has(p_object)); - objects.insert(p_object); -} - -void Space3DSW::remove_object(CollisionObject3DSW *p_object) { - ERR_FAIL_COND(!objects.has(p_object)); - objects.erase(p_object); -} - -const Set<CollisionObject3DSW *> &Space3DSW::get_objects() const { - return objects; -} - -void Space3DSW::body_add_to_state_query_list(SelfList<Body3DSW> *p_body) { - state_query_list.add(p_body); -} - -void Space3DSW::body_remove_from_state_query_list(SelfList<Body3DSW> *p_body) { - state_query_list.remove(p_body); -} - -void Space3DSW::area_add_to_monitor_query_list(SelfList<Area3DSW> *p_area) { - monitor_query_list.add(p_area); -} - -void Space3DSW::area_remove_from_monitor_query_list(SelfList<Area3DSW> *p_area) { - monitor_query_list.remove(p_area); -} - -void Space3DSW::area_add_to_moved_list(SelfList<Area3DSW> *p_area) { - area_moved_list.add(p_area); -} - -void Space3DSW::area_remove_from_moved_list(SelfList<Area3DSW> *p_area) { - area_moved_list.remove(p_area); -} - -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(); - state_query_list.remove(state_query_list.first()); - b->call_queries(); - } - - while (monitor_query_list.first()) { - Area3DSW *a = monitor_query_list.first()->self(); - monitor_query_list.remove(monitor_query_list.first()); - a->call_queries(); - } -} - -void Space3DSW::setup() { - contact_debug_count = 0; - while (inertia_update_list.first()) { - inertia_update_list.first()->self()->update_inertias(); - inertia_update_list.remove(inertia_update_list.first()); - } -} - -void Space3DSW::update() { - broadphase->update(); -} - -void Space3DSW::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_BODY_MAX_ALLOWED_PENETRATION: - contact_max_allowed_penetration = 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_BODY_ANGULAR_VELOCITY_DAMP_RATIO: - body_angular_velocity_damp_ratio = p_value; - break; - case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: - constraint_bias = p_value; - break; - case PhysicsServer3D::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: - test_motion_min_contact_depth = p_value; - break; - } -} - -real_t Space3DSW::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_BODY_MAX_ALLOWED_PENETRATION: - return contact_max_allowed_penetration; - 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_BODY_ANGULAR_VELOCITY_DAMP_RATIO: - return body_angular_velocity_damp_ratio; - case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: - return constraint_bias; - case PhysicsServer3D::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: - return test_motion_min_contact_depth; - } - return 0; -} - -void Space3DSW::lock() { - locked = true; -} - -void Space3DSW::unlock() { - locked = false; -} - -bool Space3DSW::is_locked() const { - return locked; -} - -PhysicsDirectSpaceState3DSW *Space3DSW::get_direct_state() { - return direct_access; -} - -Space3DSW::Space3DSW() { - collision_pairs = 0; - active_objects = 0; - island_count = 0; - contact_debug_count = 0; - - locked = false; - contact_recycle_radius = 0.01; - contact_max_separation = 0.05; - contact_max_allowed_penetration = 0.01; - test_motion_min_contact_depth = 0.00001; - - constraint_bias = 0.01; - 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")); - body_angular_velocity_damp_ratio = 10; - - broadphase = BroadPhase3DSW::create_func(); - broadphase->set_pair_callback(_broadphase_pair, this); - broadphase->set_unpair_callback(_broadphase_unpair, this); - area = nullptr; - - direct_access = memnew(PhysicsDirectSpaceState3DSW); - direct_access->space = this; - - for (int i = 0; i < ELAPSED_TIME_MAX; i++) { - elapsed_time[i] = 0; - } -} - -Space3DSW::~Space3DSW() { - memdelete(broadphase); - memdelete(direct_access); -} |