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-rw-r--r--servers/physics_3d/body_3d_sw.cpp8
-rw-r--r--servers/physics_3d/body_direct_state_3d_sw.cpp8
-rw-r--r--servers/physics_3d/physics_server_3d_sw.cpp4
-rw-r--r--servers/physics_3d/physics_server_3d_sw.h2
-rw-r--r--servers/physics_3d/physics_server_3d_wrap_mt.h4
-rw-r--r--servers/physics_3d/shape_3d_sw.cpp2
-rw-r--r--servers/physics_3d/space_3d_sw.cpp191
-rw-r--r--servers/physics_3d/space_3d_sw.h3
8 files changed, 146 insertions, 76 deletions
diff --git a/servers/physics_3d/body_3d_sw.cpp b/servers/physics_3d/body_3d_sw.cpp
index a8b19d7710..91fe80a3dc 100644
--- a/servers/physics_3d/body_3d_sw.cpp
+++ b/servers/physics_3d/body_3d_sw.cpp
@@ -110,7 +110,7 @@ void Body3DSW::update_mass_properties() {
real_t mass = area * this->mass / total_area;
- Basis shape_inertia_tensor = shape->get_moment_of_inertia(mass).to_diagonal_matrix();
+ Basis shape_inertia_tensor = Basis::from_scale(shape->get_moment_of_inertia(mass));
Transform3D shape_transform = get_shape_transform(i);
Basis shape_basis = shape_transform.basis.orthonormalized();
@@ -123,7 +123,7 @@ void Body3DSW::update_mass_properties() {
// Set the inertia to a valid value when there are no valid shapes.
if (!inertia_set) {
- inertia_tensor.set_diagonal(Vector3(1.0, 1.0, 1.0));
+ inertia_tensor = Basis();
}
// Handle partial custom inertia.
@@ -215,7 +215,7 @@ void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, const Variant &
} else {
calculate_inertia = false;
if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) {
- principal_inertia_axes_local.set_diagonal(Vector3(1.0, 1.0, 1.0));
+ principal_inertia_axes_local = Basis();
_inv_inertia = inertia.inverse();
_update_transform_dependant();
}
@@ -301,7 +301,7 @@ void Body3DSW::set_mode(PhysicsServer3D::BodyMode p_mode) {
case PhysicsServer3D::BODY_MODE_DYNAMIC: {
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
if (!calculate_inertia) {
- principal_inertia_axes_local.set_diagonal(Vector3(1.0, 1.0, 1.0));
+ principal_inertia_axes_local = Basis();
_inv_inertia = inertia.inverse();
_update_transform_dependant();
}
diff --git a/servers/physics_3d/body_direct_state_3d_sw.cpp b/servers/physics_3d/body_direct_state_3d_sw.cpp
index d197dd288d..e74baefc3a 100644
--- a/servers/physics_3d/body_direct_state_3d_sw.cpp
+++ b/servers/physics_3d/body_direct_state_3d_sw.cpp
@@ -66,6 +66,7 @@ Basis PhysicsDirectBodyState3DSW::get_inverse_inertia_tensor() const {
}
void PhysicsDirectBodyState3DSW::set_linear_velocity(const Vector3 &p_velocity) {
+ body->set_active(true);
body->set_linear_velocity(p_velocity);
}
@@ -74,6 +75,7 @@ Vector3 PhysicsDirectBodyState3DSW::get_linear_velocity() const {
}
void PhysicsDirectBodyState3DSW::set_angular_velocity(const Vector3 &p_velocity) {
+ body->set_active(true);
body->set_angular_velocity(p_velocity);
}
@@ -94,26 +96,32 @@ Vector3 PhysicsDirectBodyState3DSW::get_velocity_at_local_position(const Vector3
}
void PhysicsDirectBodyState3DSW::add_central_force(const Vector3 &p_force) {
+ body->set_active(true);
body->add_central_force(p_force);
}
void PhysicsDirectBodyState3DSW::add_force(const Vector3 &p_force, const Vector3 &p_position) {
+ body->set_active(true);
body->add_force(p_force, p_position);
}
void PhysicsDirectBodyState3DSW::add_torque(const Vector3 &p_torque) {
+ body->set_active(true);
body->add_torque(p_torque);
}
void PhysicsDirectBodyState3DSW::apply_central_impulse(const Vector3 &p_impulse) {
+ body->set_active(true);
body->apply_central_impulse(p_impulse);
}
void PhysicsDirectBodyState3DSW::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+ body->set_active(true);
body->apply_impulse(p_impulse, p_position);
}
void PhysicsDirectBodyState3DSW::apply_torque_impulse(const Vector3 &p_impulse) {
+ body->set_active(true);
body->apply_torque_impulse(p_impulse);
}
diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp
index 8bfadeb356..8fbb0ba477 100644
--- a/servers/physics_3d/physics_server_3d_sw.cpp
+++ b/servers/physics_3d/physics_server_3d_sw.cpp
@@ -868,7 +868,7 @@ void PhysicsServer3DSW::body_set_ray_pickable(RID p_body, bool p_enable) {
body->set_ray_pickable(p_enable);
}
-bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, MotionResult *r_result, bool p_collide_separation_ray, const Set<RID> &p_exclude) {
+bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, MotionResult *r_result, int p_max_collisions, bool p_collide_separation_ray, const Set<RID> &p_exclude) {
Body3DSW *body = body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
@@ -876,7 +876,7 @@ bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from,
_update_shapes();
- return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result, p_collide_separation_ray, p_exclude);
+ return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result, p_max_collisions, p_collide_separation_ray, p_exclude);
}
PhysicsDirectBodyState3D *PhysicsServer3DSW::body_get_direct_state(RID p_body) {
diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h
index c34f8bff7a..357bfba1d7 100644
--- a/servers/physics_3d/physics_server_3d_sw.h
+++ b/servers/physics_3d/physics_server_3d_sw.h
@@ -242,7 +242,7 @@ public:
virtual void body_set_ray_pickable(RID p_body, bool p_enable) override;
- virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override;
+ virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, int p_max_collisions = 1, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override;
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override;
diff --git a/servers/physics_3d/physics_server_3d_wrap_mt.h b/servers/physics_3d/physics_server_3d_wrap_mt.h
index a5683b99c3..6869484f8c 100644
--- a/servers/physics_3d/physics_server_3d_wrap_mt.h
+++ b/servers/physics_3d/physics_server_3d_wrap_mt.h
@@ -253,9 +253,9 @@ public:
FUNC2(body_set_ray_pickable, RID, bool);
- bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override {
+ bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, int p_max_collisions = 1, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override {
ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
- return physics_3d_server->body_test_motion(p_body, p_from, p_motion, p_margin, r_result, p_collide_separation_ray, p_exclude);
+ return physics_3d_server->body_test_motion(p_body, p_from, p_motion, p_margin, r_result, p_max_collisions, p_collide_separation_ray, p_exclude);
}
// this function only works on physics process, errors and returns null otherwise
diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp
index 1533d6e592..7deddb000e 100644
--- a/servers/physics_3d/shape_3d_sw.cpp
+++ b/servers/physics_3d/shape_3d_sw.cpp
@@ -1576,7 +1576,7 @@ void ConcavePolygonShape3DSW::_setup(const Vector<Vector3> &p_faces, bool p_back
Face3 face(facesr[i * 3 + 0], facesr[i * 3 + 1], facesr[i * 3 + 2]);
bvh_arrayw[i].aabb = face.get_aabb();
- bvh_arrayw[i].center = bvh_arrayw[i].aabb.position + bvh_arrayw[i].aabb.size * 0.5;
+ bvh_arrayw[i].center = bvh_arrayw[i].aabb.get_center();
bvh_arrayw[i].face_index = i;
facesw[i].indices[0] = i * 3 + 0;
facesw[i].indices[1] = i * 3 + 1;
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index bf72e90932..78c4e30c83 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -34,6 +34,8 @@
#include "core/config/project_settings.h"
#include "physics_server_3d_sw.h"
+#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05
+
_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;
@@ -401,17 +403,27 @@ bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform3D &
return collided;
}
+struct _RestResultData {
+ const CollisionObject3DSW *object = nullptr;
+ int local_shape = 0;
+ int shape = 0;
+ Vector3 contact;
+ Vector3 normal;
+ real_t len = 0.0;
+};
+
struct _RestCallbackData {
- const CollisionObject3DSW *object;
- const CollisionObject3DSW *best_object;
- int local_shape;
- int best_local_shape;
- int shape;
- int best_shape;
- Vector3 best_contact;
- Vector3 best_normal;
- real_t best_len;
- real_t min_allowed_depth;
+ const CollisionObject3DSW *object = nullptr;
+ int local_shape = 0;
+ int shape = 0;
+
+ real_t min_allowed_depth = 0.0;
+
+ _RestResultData best_result;
+
+ int max_results = 0;
+ int result_count = 0;
+ _RestResultData *other_results = nullptr;
};
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) {
@@ -422,32 +434,71 @@ static void _rest_cbk_result(const Vector3 &p_point_A, int p_index_A, const Vect
if (len < rd->min_allowed_depth) {
return;
}
- if (len <= rd->best_len) {
+
+ bool is_best_result = (len > rd->best_result.len);
+
+ if (rd->other_results && rd->result_count > 0) {
+ // Consider as new result by default.
+ int prev_result_count = rd->result_count++;
+
+ int result_index = 0;
+ real_t tested_len = is_best_result ? rd->best_result.len : len;
+ for (; result_index < prev_result_count - 1; ++result_index) {
+ if (tested_len > rd->other_results[result_index].len) {
+ // Re-using a previous result.
+ rd->result_count--;
+ break;
+ }
+ }
+
+ if (result_index < rd->max_results - 1) {
+ _RestResultData &result = rd->other_results[result_index];
+
+ if (is_best_result) {
+ // Keep the previous best result as separate result.
+ result = rd->best_result;
+ } else {
+ // Keep this result as separate result.
+ result.len = len;
+ result.contact = p_point_B;
+ result.normal = contact_rel / len;
+ result.object = rd->object;
+ result.shape = rd->shape;
+ result.local_shape = rd->local_shape;
+ }
+ } else {
+ // Discarding this result.
+ rd->result_count--;
+ }
+ } else if (is_best_result) {
+ rd->result_count = 1;
+ }
+
+ if (!is_best_result) {
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;
- rd->best_local_shape = rd->local_shape;
+ rd->best_result.len = len;
+ rd->best_result.contact = p_point_B;
+ rd->best_result.normal = contact_rel / len;
+ rd->best_result.object = rd->object;
+ rd->best_result.shape = rd->shape;
+ rd->best_result.local_shape = rd->local_shape;
}
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);
+ real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+
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;
+ rcd.min_allowed_depth = 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)) {
@@ -470,18 +521,18 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh
}
}
- if (rcd.best_len == 0 || !rcd.best_object) {
+ if (rcd.best_result.len == 0 || !rcd.best_result.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);
- Vector3 rel_vec = rcd.best_contact - (body->get_transform().origin + body->get_center_of_mass());
+ r_info->collider_id = rcd.best_result.object->get_instance_id();
+ r_info->shape = rcd.best_result.shape;
+ r_info->normal = rcd.best_result.normal;
+ r_info->point = rcd.best_result.contact;
+ r_info->rid = rcd.best_result.object->get_self();
+ if (rcd.best_result.object->get_type() == CollisionObject3DSW::TYPE_BODY) {
+ const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_result.object);
+ Vector3 rel_vec = rcd.best_result.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 {
@@ -569,7 +620,7 @@ 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, bool p_collide_separation_ray, 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, int p_max_collisions, 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
@@ -577,10 +628,12 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
//this took about a week to get right..
//but is it right? who knows at this point..
+ ERR_FAIL_INDEX_V(p_max_collisions, PhysicsServer3D::MotionResult::MAX_COLLISIONS, false);
+
if (r_result) {
- r_result->collider_id = ObjectID();
- r_result->collider_shape = 0;
+ *r_result = PhysicsServer3D::MotionResult();
}
+
AABB body_aabb;
bool shapes_found = false;
@@ -599,7 +652,6 @@ 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->travel = p_motion;
}
@@ -610,6 +662,8 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
body_aabb = p_from.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb = body_aabb.grow(p_margin);
+ real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+
real_t motion_length = p_motion.length();
Vector3 motion_normal = p_motion / motion_length;
@@ -663,8 +717,9 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
break;
}
- Vector3 recover_motion;
+ recovered = true;
+ Vector3 recover_motion;
for (int i = 0; i < cbk.amount; i++) {
Vector3 a = sr[i * 2 + 0];
Vector3 b = sr[i * 2 + 1];
@@ -675,9 +730,9 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
// Compute depth on recovered motion.
real_t depth = n.dot(a + recover_motion) - d;
- if (depth > 0.0) {
+ if (depth > min_contact_depth + CMP_EPSILON) {
// Only recover if there is penetration.
- recover_motion -= n * depth * 0.4;
+ recover_motion -= n * (depth - min_contact_depth) * 0.4;
}
}
@@ -686,8 +741,6 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
break;
}
- recovered = true;
-
body_transform.origin += recover_motion;
body_aabb.position += recover_motion;
@@ -832,13 +885,16 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
Transform3D ugt = body_transform;
ugt.origin += p_motion * unsafe;
+ _RestResultData results[PhysicsServer3D::MotionResult::MAX_COLLISIONS];
+
_RestCallbackData rcd;
- rcd.best_len = 0;
- rcd.best_object = nullptr;
- rcd.best_shape = 0;
+ if (p_max_collisions > 1) {
+ rcd.max_results = p_max_collisions;
+ rcd.other_results = results;
+ }
// Allowed depth can't be lower than motion length, in order to handle contacts at low speed.
- rcd.min_allowed_depth = MIN(motion_length, test_motion_min_contact_depth);
+ rcd.min_allowed_depth = MIN(motion_length, min_contact_depth);
int from_shape = best_shape != -1 ? best_shape : 0;
int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count();
@@ -871,27 +927,36 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
}
}
- if (rcd.best_len != 0) {
+ if (rcd.result_count > 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 = 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);
-
- 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);
+ for (int collision_index = 0; collision_index < rcd.result_count; ++collision_index) {
+ const _RestResultData &result = (collision_index > 0) ? rcd.other_results[collision_index - 1] : rcd.best_result;
+
+ PhysicsServer3D::MotionCollision &collision = r_result->collisions[collision_index];
+
+ collision.collider = result.object->get_self();
+ collision.collider_id = result.object->get_instance_id();
+ collision.collider_shape = result.shape;
+ collision.local_shape = result.local_shape;
+ collision.normal = result.normal;
+ collision.position = result.contact;
+ collision.depth = result.len;
+ //r_result->collider_metadata = result.object->get_shape_metadata(result.shape);
+
+ const Body3DSW *body = static_cast<const Body3DSW *>(result.object);
+
+ Vector3 rel_vec = result.contact - (body->get_transform().origin + body->get_center_of_mass());
+ collision.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
+ }
r_result->travel = safe * p_motion;
r_result->remainder = p_motion - safe * p_motion;
r_result->travel += (body_transform.get_origin() - p_from.get_origin());
+
+ r_result->safe_fraction = safe;
+ r_result->unsafe_fraction = unsafe;
+
+ r_result->collision_count = rcd.result_count;
}
collided = true;
@@ -902,6 +967,9 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
r_result->travel = p_motion;
r_result->remainder = Vector3();
r_result->travel += (body_transform.get_origin() - p_from.get_origin());
+
+ r_result->safe_fraction = 1.0;
+ r_result->unsafe_fraction = 1.0;
}
return collided;
@@ -1095,9 +1163,6 @@ void Space3DSW::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_valu
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;
}
}
@@ -1119,8 +1184,6 @@ real_t Space3DSW::get_param(PhysicsServer3D::SpaceParameter p_param) const {
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;
}
diff --git a/servers/physics_3d/space_3d_sw.h b/servers/physics_3d/space_3d_sw.h
index aa4557d136..daa1244bf8 100644
--- a/servers/physics_3d/space_3d_sw.h
+++ b/servers/physics_3d/space_3d_sw.h
@@ -96,7 +96,6 @@ private:
real_t contact_max_separation = 0.05;
real_t contact_max_allowed_penetration = 0.01;
real_t constraint_bias = 0.01;
- real_t test_motion_min_contact_depth = 0.00001;
enum {
INTERSECTION_QUERY_MAX = 2048
@@ -208,7 +207,7 @@ public:
void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; }
uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; }
- bool 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 = false, const Set<RID> &p_exclude = Set<RID>());
+ bool test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, int p_max_collisions = 1, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>());
Space3DSW();
~Space3DSW();
generated by cgit v1.2.3 (git 2.25.1) at 2025-10-05 09:11:20 +0000