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-rw-r--r--servers/physics_3d/space_3d_sw.cpp325
1 files changed, 93 insertions, 232 deletions
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index 2df824b320..730460d66a 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -59,7 +59,7 @@ int PhysicsDirectSpaceState3DSW::intersect_point(const Vector3 &p_point, ShapeRe
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();
+ //Transform3D ai = p_xform.affine_inverse();
for (int i = 0; i < amount; i++) {
if (cc >= p_result_max) {
@@ -79,7 +79,7 @@ int PhysicsDirectSpaceState3DSW::intersect_point(const Vector3 &p_point, ShapeRe
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);
+ 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))) {
@@ -136,7 +136,7 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec
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();
+ 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);
@@ -146,7 +146,7 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec
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);
+ 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);
@@ -180,7 +180,7 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec
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) {
+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;
}
@@ -194,7 +194,7 @@ int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Trans
int cc = 0;
- //Transform ai = p_xform.affine_inverse();
+ //Transform3D ai = p_xform.affine_inverse();
for (int i = 0; i < amount; i++) {
if (cc >= p_result_max) {
@@ -214,10 +214,6 @@ 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;
}
@@ -239,7 +235,7 @@ int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Trans
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) {
+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);
@@ -252,13 +248,15 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
real_t best_safe = 1;
real_t best_unsafe = 1;
- Transform xform_inv = p_xform.affine_inverse();
+ 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++) {
@@ -273,49 +271,57 @@ 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();
+ Vector3 sep_axis = motion_normal;
- Transform col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
+ 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 = p_motion.normalized();
+ 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;
- real_t hi = 1;
- Vector3 mnormal = p_motion.normalized();
-
+ 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;
- 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);
+ 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 = ofs;
+ 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 = ofs;
+ 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;
+ }
}
}
@@ -348,7 +354,7 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
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) {
+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;
}
@@ -385,10 +391,6 @@ bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform &p_
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;
}
@@ -432,7 +434,7 @@ static void _rest_cbk_result(const Vector3 &p_point_A, int p_index_A, const Vect
rd->best_local_shape = rd->local_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) {
+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);
@@ -460,10 +462,6 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform &p_shap
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);
@@ -508,11 +506,11 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob
bool shapes_found = false;
for (int i = 0; i < obj->get_shape_count(); i++) {
- if (obj->is_shape_set_as_disabled(i)) {
+ if (obj->is_shape_disabled(i)) {
continue;
}
- Transform shape_xform = obj->get_transform() * obj->get_shape_transform(i);
+ 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));
@@ -551,12 +549,10 @@ 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_SOFT_BODY) {
keep = false;
- } else if ((static_cast<Body3DSW *>(intersection_query_results[i])->test_collision_mask(p_body)) == 0) {
+ } 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;
- } else if (static_cast<Body3DSW *>(intersection_query_results[i])->is_shape_set_as_disabled(intersection_query_subindex_results[i])) {
- keep = false;
}
if (!keep) {
@@ -573,158 +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 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) / 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 Transform &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, const Set<RID> &p_exclude) {
//give me back regular physics engine logic
//this is madness
//and most people using this function will think
@@ -740,7 +585,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
- if (p_body->is_shape_set_as_disabled(i)) {
+ if (p_body->is_shape_disabled(i)) {
continue;
}
@@ -768,7 +613,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
real_t motion_length = p_motion.length();
Vector3 motion_normal = p_motion / motion_length;
- Transform body_transform = p_from;
+ Transform3D body_transform = p_from;
bool recovered = false;
@@ -793,18 +638,19 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
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)) {
+ if (p_body->is_shape_disabled(j)) {
continue;
}
- Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
+ 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];
+ 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)) {
@@ -864,18 +710,14 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
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)) {
+ if (p_body->is_shape_disabled(j)) {
continue;
}
- Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
+ 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;
- }
-
- Transform body_shape_xform_inv = body_shape_xform.affine_inverse();
+ 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);
@@ -887,13 +729,17 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
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;
- Transform col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
+ 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;
@@ -906,27 +752,40 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
}
//just do kinematic solving
- real_t low = 0;
- real_t hi = 1;
-
+ 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;
- real_t ofs = (low + hi) * 0.5;
-
- Vector3 sep = motion_normal; //important optimization for this to work fast enough
-
- mshape.motion = body_shape_xform_inv.basis.xform(p_motion * ofs);
+ 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 = ofs;
+ 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 = ofs;
+ 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;
+ }
}
}
@@ -960,7 +819,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
}
//it collided, let's get the rest info in unsafe advance
- Transform ugt = body_transform;
+ Transform3D ugt = body_transform;
ugt.origin += p_motion * unsafe;
_RestCallbackData rcd;
@@ -975,23 +834,22 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
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_set_as_disabled(j)) {
+ if (p_body->is_shape_disabled(j)) {
continue;
}
- Transform body_shape_xform = ugt * p_body->get_shape_transform(j);
+ 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];
+ if (p_exclude.has(col_obj->get_self())) {
+ continue;
+ }
int shape_idx = intersection_query_subindex_results[i];
rcd.object = col_obj;
@@ -1011,6 +869,9 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
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);
@@ -1037,7 +898,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
}
void *Space3DSW::_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_self) {
- if (!A->test_collision_mask(B)) {
+ if (!A->interacts_with(B)) {
return nullptr;
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-01 00:40:50 +0000