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-rw-r--r--servers/physics_3d/body_3d_sw.h2
-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.cpp18
-rw-r--r--servers/physics_3d/shape_3d_sw.h8
-rw-r--r--servers/physics_3d/space_3d_sw.cpp11
-rw-r--r--servers/physics_3d/space_3d_sw.h2
8 files changed, 35 insertions, 16 deletions
diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/body_3d_sw.h
index 0fa31c5037..bdc615ab6c 100644
--- a/servers/physics_3d/body_3d_sw.h
+++ b/servers/physics_3d/body_3d_sw.h
@@ -389,6 +389,8 @@ public:
virtual void set_transform(const Transform3D &p_transform) override { body->set_state(PhysicsServer3D::BODY_STATE_TRANSFORM, p_transform); }
virtual Transform3D get_transform() const override { return body->get_transform(); }
+ virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const override { return body->get_velocity_in_local_point(p_position); }
+
virtual void add_central_force(const Vector3 &p_force) override { body->add_central_force(p_force); }
virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override {
body->add_force(p_force, p_position);
diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp
index c1a9d6259d..e2ab84428b 100644
--- a/servers/physics_3d/physics_server_3d_sw.cpp
+++ b/servers/physics_3d/physics_server_3d_sw.cpp
@@ -854,7 +854,7 @@ 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, bool p_infinite_inertia, real_t p_margin, MotionResult *r_result, bool p_exclude_raycast_shapes) {
+bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, MotionResult *r_result, bool p_exclude_raycast_shapes, 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);
@@ -862,7 +862,7 @@ 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_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes);
+ return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes, p_exclude);
}
int PhysicsServer3DSW::body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h
index 0ccd15fbb2..326b6fbe7a 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, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override;
+ virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override;
virtual int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override;
// this function only works on physics process, errors and returns null otherwise
diff --git a/servers/physics_3d/physics_server_3d_wrap_mt.h b/servers/physics_3d/physics_server_3d_wrap_mt.h
index 9beec22bcd..c3c2e50e56 100644
--- a/servers/physics_3d/physics_server_3d_wrap_mt.h
+++ b/servers/physics_3d/physics_server_3d_wrap_mt.h
@@ -250,9 +250,9 @@ public:
FUNC2(body_set_ray_pickable, RID, bool);
- bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override {
+ bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, 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_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes);
+ return physics_3d_server->body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes, p_exclude);
}
int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override {
diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp
index 04a174f9c8..5b3721861e 100644
--- a/servers/physics_3d/shape_3d_sw.cpp
+++ b/servers/physics_3d/shape_3d_sw.cpp
@@ -1635,7 +1635,7 @@ ConcavePolygonShape3DSW::ConcavePolygonShape3DSW() {
/* HEIGHT MAP SHAPE */
-Vector<float> HeightMapShape3DSW::get_heights() const {
+Vector<real_t> HeightMapShape3DSW::get_heights() const {
return heights;
}
@@ -1932,7 +1932,7 @@ Vector3 HeightMapShape3DSW::get_moment_of_inertia(real_t p_mass) const {
(p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y));
}
-void HeightMapShape3DSW::_setup(const Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
+void HeightMapShape3DSW::_setup(const Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
heights = p_heights;
width = p_width;
depth = p_depth;
@@ -1966,8 +1966,12 @@ void HeightMapShape3DSW::set_data(const Variant &p_data) {
ERR_FAIL_COND(depth <= 0.0);
Variant heights_variant = d["heights"];
- Vector<float> heights_buffer;
+ Vector<real_t> heights_buffer;
+#ifdef REAL_T_IS_DOUBLE
+ if (heights_variant.get_type() == Variant::PACKED_FLOAT64_ARRAY) {
+#else
if (heights_variant.get_type() == Variant::PACKED_FLOAT32_ARRAY) {
+#endif
// Ready-to-use heights can be passed.
heights_buffer = heights_variant;
} else if (heights_variant.get_type() == Variant::OBJECT) {
@@ -1980,13 +1984,17 @@ void HeightMapShape3DSW::set_data(const Variant &p_data) {
PackedByteArray im_data = image->get_data();
heights_buffer.resize(image->get_width() * image->get_height());
- float *w = heights_buffer.ptrw();
- float *rp = (float *)im_data.ptr();
+ real_t *w = heights_buffer.ptrw();
+ real_t *rp = (real_t *)im_data.ptr();
for (int i = 0; i < heights_buffer.size(); ++i) {
w[i] = rp[i];
}
} else {
+#ifdef REAL_T_IS_DOUBLE
+ ERR_FAIL_MSG("Expected PackedFloat64Array or float Image.");
+#else
ERR_FAIL_MSG("Expected PackedFloat32Array or float Image.");
+#endif
}
// Compute min and max heights or use precomputed values.
diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h
index 0d1b7cc3d7..72be34b788 100644
--- a/servers/physics_3d/shape_3d_sw.h
+++ b/servers/physics_3d/shape_3d_sw.h
@@ -389,12 +389,12 @@ public:
};
struct HeightMapShape3DSW : public ConcaveShape3DSW {
- Vector<float> heights;
+ Vector<real_t> heights;
int width = 0;
int depth = 0;
Vector3 local_origin;
- _FORCE_INLINE_ float _get_height(int p_x, int p_z) const {
+ _FORCE_INLINE_ real_t _get_height(int p_x, int p_z) const {
return heights[(p_z * width) + p_x];
}
@@ -406,10 +406,10 @@ struct HeightMapShape3DSW : public ConcaveShape3DSW {
void _get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const;
- void _setup(const Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
+ void _setup(const Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
public:
- Vector<float> get_heights() const;
+ Vector<real_t> get_heights() const;
int get_width() const;
int get_depth() const;
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index 1037243d3b..2a39a9d363 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -720,7 +720,7 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform3D &p_t
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, bool p_infinite_inertia, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
//give me back regular physics engine logic
//this is madness
//and most people using this function will think
@@ -801,6 +801,9 @@ 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];
+ if (p_exclude.has(col_obj->get_self())) {
+ continue;
+ }
int shape_idx = intersection_query_subindex_results[i];
if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
@@ -890,6 +893,9 @@ 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];
+ if (p_exclude.has(col_obj->get_self())) {
+ continue;
+ }
int shape_idx = intersection_query_subindex_results[i];
if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
@@ -1015,6 +1021,9 @@ 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];
+ if (p_exclude.has(col_obj->get_self())) {
+ continue;
+ }
int shape_idx = intersection_query_subindex_results[i];
if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
diff --git a/servers/physics_3d/space_3d_sw.h b/servers/physics_3d/space_3d_sw.h
index 18e93c90cc..580693deba 100644
--- a/servers/physics_3d/space_3d_sw.h
+++ b/servers/physics_3d/space_3d_sw.h
@@ -204,7 +204,7 @@ public:
uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; }
int 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);
- bool 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 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, const Set<RID> &p_exclude = Set<RID>());
Space3DSW();
~Space3DSW();
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-20 19:26:09 +0000