summaryrefslogtreecommitdiff
path: root/servers/physics_3d/space_3d_sw.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'servers/physics_3d/space_3d_sw.cpp')
-rw-r--r--servers/physics_3d/space_3d_sw.cpp74
1 files changed, 59 insertions, 15 deletions
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index dd5754b9ac..2df824b320 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -47,6 +47,10 @@ _FORCE_INLINE_ static bool _can_collide_with(CollisionObject3DSW *p_object, uint
return false;
}
+ if (p_object->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY && !p_collide_with_bodies) {
+ return false;
+ }
+
return true;
}
@@ -210,6 +214,10 @@ int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Trans
const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
+ if (col_obj->is_shape_set_as_disabled(shape_idx)) {
+ continue;
+ }
+
if (!CollisionSolver3DSW::solve_static(shape, p_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), nullptr, nullptr, nullptr, p_margin, 0)) {
continue;
}
@@ -265,6 +273,10 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
+ if (col_obj->is_shape_set_as_disabled(shape_idx)) {
+ continue;
+ }
+
Vector3 point_A, point_B;
Vector3 sep_axis = p_motion.normalized();
@@ -324,7 +336,8 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
best_first = false;
if (col_obj->get_type() == CollisionObject3DSW::TYPE_BODY) {
const Body3DSW *body = static_cast<const Body3DSW *>(col_obj);
- r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B);
+ Vector3 rel_vec = closest_B - (body->get_transform().origin + body->get_center_of_mass());
+ r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
}
}
}
@@ -365,12 +378,17 @@ bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform &p_
}
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;
}
+ int shape_idx = space->intersection_query_subindex_results[i];
+
+ if (col_obj->is_shape_set_as_disabled(shape_idx)) {
+ continue;
+ }
+
if (CollisionSolver3DSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_margin)) {
collided = true;
}
@@ -394,7 +412,7 @@ struct _RestCallbackData {
real_t min_allowed_depth;
};
-static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) {
+static void _rest_cbk_result(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
_RestCallbackData *rd = (_RestCallbackData *)p_userdata;
Vector3 contact_rel = p_point_B - p_point_A;
@@ -435,12 +453,17 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform &p_shap
}
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;
}
+ int shape_idx = space->intersection_query_subindex_results[i];
+
+ if (col_obj->is_shape_set_as_disabled(shape_idx)) {
+ continue;
+ }
+
rcd.object = col_obj;
rcd.shape = shape_idx;
bool sc = CollisionSolver3DSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_margin);
@@ -460,8 +483,8 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform &p_shap
r_info->rid = rcd.best_object->get_self();
if (rcd.best_object->get_type() == CollisionObject3DSW::TYPE_BODY) {
const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_object);
- r_info->linear_velocity = body->get_linear_velocity() +
- (body->get_angular_velocity()).cross(body->get_transform().origin - rcd.best_contact); // * mPos);
+ Vector3 rel_vec = rcd.best_contact - (body->get_transform().origin + body->get_center_of_mass());
+ r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
} else {
r_info->linear_velocity = Vector3();
@@ -526,6 +549,8 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
keep = false;
} else if (intersection_query_results[i]->get_type() == CollisionObject3DSW::TYPE_AREA) {
keep = false;
+ } else if (intersection_query_results[i]->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY) {
+ keep = false;
} else if ((static_cast<Body3DSW *>(intersection_query_results[i])->test_collision_mask(p_body)) == 0) {
keep = false;
} else if (static_cast<Body3DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
@@ -666,10 +691,8 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_tra
//result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
if (col_obj->get_type() == CollisionObject3DSW::TYPE_BODY) {
Body3DSW *body = (Body3DSW *)col_obj;
-
- Vector3 rel_vec = b - body->get_transform().get_origin();
- //result.collider_velocity = Vector3(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
- result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - rel_vec); // * mPos);
+ Vector3 rel_vec = b - (body->get_transform().origin + body->get_center_of_mass());
+ result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
}
}
}
@@ -991,9 +1014,9 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
//r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_object);
- //Vector3 rel_vec = r_result->collision_point - body->get_transform().get_origin();
- // r_result->collider_velocity = Vector3(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
- r_result->collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - rcd.best_contact); // * mPos);
+
+ Vector3 rel_vec = rcd.best_contact - (body->get_transform().origin + body->get_center_of_mass());
+ r_result->collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
r_result->motion = safe * p_motion;
r_result->remainder = p_motion - safe * p_motion;
@@ -1036,14 +1059,23 @@ void *Space3DSW::_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, Coll
Area3DSW *area_b = static_cast<Area3DSW *>(B);
Area2Pair3DSW *area2_pair = memnew(Area2Pair3DSW(area_b, p_subindex_B, area, p_subindex_A));
return area2_pair;
+ } else if (type_B == CollisionObject3DSW::TYPE_SOFT_BODY) {
+ // Area/Soft Body, not supported.
} else {
Body3DSW *body = static_cast<Body3DSW *>(B);
AreaPair3DSW *area_pair = memnew(AreaPair3DSW(body, p_subindex_B, area, p_subindex_A));
return area_pair;
}
+ } else if (type_A == CollisionObject3DSW::TYPE_BODY) {
+ if (type_B == CollisionObject3DSW::TYPE_SOFT_BODY) {
+ BodySoftBodyPair3DSW *soft_pair = memnew(BodySoftBodyPair3DSW((Body3DSW *)A, p_subindex_A, (SoftBody3DSW *)B));
+ return soft_pair;
+ } else {
+ BodyPair3DSW *b = memnew(BodyPair3DSW((Body3DSW *)A, p_subindex_A, (Body3DSW *)B, p_subindex_B));
+ return b;
+ }
} else {
- BodyPair3DSW *b = memnew(BodyPair3DSW((Body3DSW *)A, p_subindex_A, (Body3DSW *)B, p_subindex_B));
- return b;
+ // Soft Body/Soft Body, not supported.
}
return nullptr;
@@ -1126,6 +1158,18 @@ const SelfList<Area3DSW>::List &Space3DSW::get_moved_area_list() const {
return area_moved_list;
}
+const SelfList<SoftBody3DSW>::List &Space3DSW::get_active_soft_body_list() const {
+ return active_soft_body_list;
+}
+
+void Space3DSW::soft_body_add_to_active_list(SelfList<SoftBody3DSW> *p_soft_body) {
+ active_soft_body_list.add(p_soft_body);
+}
+
+void Space3DSW::soft_body_remove_from_active_list(SelfList<SoftBody3DSW> *p_soft_body) {
+ active_soft_body_list.remove(p_soft_body);
+}
+
void Space3DSW::call_queries() {
while (state_query_list.first()) {
Body3DSW *b = state_query_list.first()->self();
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-26 22:39:17 +0000