1 files changed, 29 insertions, 189 deletions

diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index 1037243d3b..37dee436df 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -569,158 +569,7 @@ 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 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_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);
-
-	Transform3D 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_disabled(j)) {
-					continue;
-				}
-
-				Shape3DSW *body_shape = p_body->get_shape(j);
-
-				if (body_shape->get_type() != PhysicsServer3D::SHAPE_RAY) {
-					continue;
-				}
-
-				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];
-					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) / cbk.amount;
-
-								real_t 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().origin + body->get_center_of_mass());
-										result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
-									}
-								}
-							}
-						}
-					}
-				}
-			}
-
-			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 Transform3D &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, 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
@@ -751,7 +600,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 	if (!shapes_found) {
 		if (r_result) {
 			*r_result = PhysicsServer3D::MotionResult();
-			r_result->motion = p_motion;
+			r_result->travel = p_motion;
 		}
 
 		return false;
@@ -795,21 +644,15 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 
 				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;
-				}
 
 				for (int i = 0; i < amount; i++) {
 					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 (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;
 					}
@@ -871,13 +714,19 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 				continue;
 			}
 
-			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;
+			// 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;
@@ -890,15 +739,12 @@ 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];
-				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 (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;
@@ -1005,24 +851,16 @@ 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);
 
-			if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer3D::SHAPE_RAY) {
-				continue;
-			}
-
 			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];
-
-				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 (p_exclude.has(col_obj->get_self())) {
+					continue;
 				}
+				int shape_idx = intersection_query_subindex_results[i];
 
 				rcd.object = col_obj;
 				rcd.shape = shape_idx;
@@ -1051,9 +889,9 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 				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->travel = safe * p_motion;
 				r_result->remainder = p_motion - safe * p_motion;
-				r_result->motion += (body_transform.get_origin() - p_from.get_origin());
+				r_result->travel += (body_transform.get_origin() - p_from.get_origin());
 			}
 
 			collided = true;
@@ -1061,9 +899,9 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 	}
 
 	if (!collided && r_result) {
-		r_result->motion = p_motion;
+		r_result->travel = p_motion;
 		r_result->remainder = Vector3();
-		r_result->motion += (body_transform.get_origin() - p_from.get_origin());
+		r_result->travel += (body_transform.get_origin() - p_from.get_origin());
 	}
 
 	return collided;
@@ -1093,7 +931,9 @@ void *Space3DSW::_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, Coll
 			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.
+			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));