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Diffstat (limited to 'servers/physics_3d/space_3d_sw.cpp')
| -rw-r--r-- | servers/physics_3d/space_3d_sw.cpp | 1242 |
1 files changed, 1242 insertions, 0 deletions
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp new file mode 100644 index 0000000000..bd8e89a8f5 --- /dev/null +++ b/servers/physics_3d/space_3d_sw.cpp @@ -0,0 +1,1242 @@ +/*************************************************************************/ +/* space_3d_sw.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 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/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; + + 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; + + //Transform 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]; + + Transform 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]; + Transform 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)) { + + Transform 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 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) { + + if (p_result_max <= 0) + return 0; + + Shape3DSW *shape = static_cast<PhysicsServer3DSW *>(PhysicsServer3D::get_singleton())->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; + + //Transform 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 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) { + + Shape3DSW *shape = static_cast<PhysicsServer3DSW *>(PhysicsServer3D::get_singleton())->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; + + Transform xform_inv = p_xform.affine_inverse(); + MotionShape3DSW mshape; + mshape.shape = shape; + mshape.motion = xform_inv.basis.xform(p_motion); + + bool best_first = true; + + 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 = p_motion.normalized(); + + Transform 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 + sep_axis = p_motion.normalized(); + + if (!CollisionSolver3DSW::solve_distance(shape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) { + return false; + } + + //just do kinematic solving + real_t low = 0; + real_t hi = 1; + Vector3 mnormal = p_motion.normalized(); + + for (int j = 0; j < 8; j++) { //steps should be customizable.. + + 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); + + Vector3 lA, lB; + + 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; + } else { + + point_A = lA; + point_B = lB; + low = ofs; + } + } + + 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); + r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B); + } + } + } + + p_closest_safe = best_safe; + p_closest_unsafe = best_unsafe; + + 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) { + + if (p_result_max <= 0) + return 0; + + Shape3DSW *shape = static_cast<PhysicsServer3DSW *>(PhysicsServer3D::get_singleton())->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]; + int shape_idx = space->intersection_query_subindex_results[i]; + + if (p_exclude.has(col_obj->get_self())) { + 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; + } + } + + r_result_count = cbk.amount; + + return collided; +} + +struct _RestCallbackData { + + const CollisionObject3DSW *object; + const CollisionObject3DSW *best_object; + 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, const Vector3 &p_point_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; +} +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) { + + Shape3DSW *shape = static_cast<PhysicsServer3DSW *>(PhysicsServer3D::get_singleton())->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]; + int shape_idx = space->intersection_query_subindex_results[i]; + + if (p_exclude.has(col_obj->get_self())) + 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); + 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); + r_info->linear_velocity = body->get_linear_velocity() + + (body->get_angular_velocity()).cross(body->get_transform().origin - rcd.best_contact); // * mPos); + + } 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::singleton->area_owner.getornull(p_object); + if (!obj) { + obj = PhysicsServer3DSW::singleton->body_owner.getornull(p_object); + } + ERR_FAIL_COND_V(!obj, Vector3()); + + ERR_FAIL_COND_V(obj->get_space() != space, Vector3()); + + float min_distance = 1e20; + Vector3 min_point; + + bool shapes_found = false; + + for (int i = 0; i < obj->get_shape_count(); i++) { + + if (obj->is_shape_set_as_disabled(i)) + continue; + + Transform 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); + + float 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 ((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) { + + 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; +} + +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) { + + 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)) + 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) { + return 0; + } + // Undo the currently transform the physics server is aware of and apply the provided one + 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; + + for (int i = 0; i < p_result_max; i++) { + //reset results + r_results[i].collision_depth = 0; + } + + int rays_found = 0; + + { + // raycast AND separate + + const int max_results = 32; + int recover_attempts = 4; + Vector3 sr[max_results * 2]; + PhysicsServer3DSW::CollCbkData cbk; + cbk.max = max_results; + PhysicsServer3DSW::CollCbkData *cbkptr = &cbk; + CollisionSolver3DSW::CallbackResult cbkres = PhysicsServer3DSW::_shape_col_cbk; + + do { + + Vector3 recover_motion; + + 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_set_as_disabled(j)) + continue; + + Shape3DSW *body_shape = p_body->get_shape(j); + + if (body_shape->get_type() != PhysicsServer3D::SHAPE_RAY) + continue; + + Transform 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]; + int shape_idx = intersection_query_subindex_results[i]; + + cbk.amount = 0; + cbk.ptr = sr; + + 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; + } + } + + Shape3DSW *against_shape = col_obj->get_shape(shape_idx); + if (CollisionSolver3DSW::solve_static(body_shape, body_shape_xform, against_shape, col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_margin)) { + if (cbk.amount > 0) { + collided = true; + } + + int ray_index = -1; //reuse shape + for (int k = 0; k < rays_found; k++) { + if (r_results[k].collision_local_shape == j) { + ray_index = k; + } + } + + if (ray_index == -1 && rays_found < p_result_max) { + ray_index = rays_found; + rays_found++; + } + + if (ray_index != -1) { + PhysicsServer3D::SeparationResult &result = r_results[ray_index]; + + for (int k = 0; k < cbk.amount; k++) { + Vector3 a = sr[k * 2 + 0]; + Vector3 b = sr[k * 2 + 1]; + + recover_motion += (b - a) * 0.4; + + float depth = a.distance_to(b); + if (depth > result.collision_depth) { + + result.collision_depth = depth; + result.collision_point = b; + result.collision_normal = (b - a).normalized(); + result.collision_local_shape = j; + result.collider = col_obj->get_self(); + result.collider_id = col_obj->get_instance_id(); + result.collider_shape = shape_idx; + //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); + } + } + } + } + } + } + } + + if (!collided || recover_motion == Vector3()) { + break; + } + + body_transform.origin += recover_motion; + body_aabb.position += recover_motion; + + recover_attempts--; + } while (recover_attempts); + } + + //optimize results (remove non colliding) + for (int i = 0; i < rays_found; i++) { + if (r_results[i].collision_depth == 0) { + rays_found--; + SWAP(r_results[i], r_results[rays_found]); + } + } + + r_recover_motion = body_transform.origin - p_transform.origin; + 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) { + + //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_set_as_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->motion = 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); + + Transform body_transform = p_from; + + { + //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_set_as_disabled(j)) + continue; + + Transform 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; + } + + for (int i = 0; i < amount; i++) { + + const CollisionObject3DSW *col_obj = intersection_query_results[i]; + 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]; + recover_motion += (b - a) * 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_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_set_as_disabled(j)) + continue; + + Transform 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(); + 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]; + 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 = p_motion.normalized(); + + Transform 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 = p_motion.normalized(); + + 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; + real_t hi = 1; + Vector3 mnormal = p_motion.normalized(); + + for (int k = 0; k < 8; k++) { //steps should be customizable.. + + real_t ofs = (low + hi) * 0.5; + + Vector3 sep = mnormal; //important optimization for this to work fast enough + + mshape.motion = body_shape_xform_inv.basis.xform(p_motion * ofs); + + Vector3 lA, lB; + + 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; + } else { + + point_A = lA; + point_B = lB; + low = ofs; + } + } + + 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 (safe >= 1) { + //not collided + collided = false; + if (r_result) { + + r_result->motion = p_motion; + r_result->remainder = Vector3(); + r_result->motion += (body_transform.get_origin() - p_from.get_origin()); + } + + } else { + + //it collided, let's get the rest info in unsafe advance + Transform ugt = body_transform; + ugt.origin += p_motion * unsafe; + + _RestCallbackData rcd; + rcd.best_len = 0; + rcd.best_object = nullptr; + rcd.best_shape = 0; + rcd.min_allowed_depth = test_motion_min_contact_depth; + + Transform body_shape_xform = ugt * p_body->get_shape_transform(best_shape); + Shape3DSW *body_shape = p_body->get_shape(best_shape); + + 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]; + 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 = best_shape; + r_result->collision_normal = rcd.best_normal; + r_result->collision_point = rcd.best_contact; + //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); + + r_result->motion = safe * p_motion; + r_result->remainder = p_motion - safe * p_motion; + r_result->motion += (body_transform.get_origin() - p_from.get_origin()); + } + + collided = true; + } else { + if (r_result) { + + r_result->motion = p_motion; + r_result->remainder = Vector3(); + r_result->motion += (body_transform.get_origin() - p_from.get_origin()); + } + + collided = false; + } + } + + return collided; +} + +void *Space3DSW::_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_self) { + + 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 { + + Body3DSW *body = static_cast<Body3DSW *>(B); + AreaPair3DSW *area_pair = memnew(AreaPair3DSW(body, p_subindex_B, area, p_subindex_A)); + return area_pair; + } + } else { + + BodyPair3DSW *b = memnew(BodyPair3DSW((Body3DSW *)A, p_subindex_A, (Body3DSW *)B, p_subindex_B)); + return b; + } + + return nullptr; +} + +void Space3DSW::_broadphase_unpair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_data, void *p_self) { + + 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; +} + +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", (8.0 / 180.0 * Math_PI)); + 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); +} |