diff options
Diffstat (limited to 'servers/physics_3d/space_3d_sw.cpp')
| -rw-r--r-- | servers/physics_3d/space_3d_sw.cpp | 59 |
1 files changed, 27 insertions, 32 deletions
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp index 730460d66a..bf72e90932 100644 --- a/servers/physics_3d/space_3d_sw.cpp +++ b/servers/physics_3d/space_3d_sw.cpp @@ -569,7 +569,7 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) { return amount; } -bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, const Set<RID> &p_exclude) { +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 @@ -600,7 +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; @@ -714,9 +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); + // 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; @@ -879,9 +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; @@ -889,9 +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; @@ -921,7 +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)); @@ -965,12 +977,12 @@ 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_add_to_mass_properties_update_list(SelfList<Body3DSW> *p_body) { + mass_properties_update_list.add(p_body); } -void Space3DSW::body_remove_from_inertia_update_list(SelfList<Body3DSW> *p_body) { - inertia_update_list.remove(p_body); +void Space3DSW::body_remove_from_mass_properties_update_list(SelfList<Body3DSW> *p_body) { + mass_properties_update_list.remove(p_body); } BroadPhase3DSW *Space3DSW::get_broadphase() { @@ -1047,9 +1059,9 @@ void Space3DSW::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()); + while (mass_properties_update_list.first()) { + mass_properties_update_list.first()->self()->update_mass_properties(); + mass_properties_update_list.remove(mass_properties_update_list.first()); } } @@ -1130,18 +1142,6 @@ PhysicsDirectSpaceState3DSW *Space3DSW::get_direct_state() { } 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); @@ -1151,14 +1151,9 @@ Space3DSW::Space3DSW() { 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() { |