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-rw-r--r--servers/physics_2d/space_2d_sw.cpp24
-rw-r--r--servers/physics_2d/space_2d_sw.h1
-rw-r--r--servers/physics_3d/space_3d_sw.cpp24
-rw-r--r--servers/physics_3d/space_3d_sw.h1
-rw-r--r--servers/physics_server_2d.cpp1
-rw-r--r--servers/physics_server_2d.h1
-rw-r--r--servers/physics_server_3d.cpp1
-rw-r--r--servers/physics_server_3d.h1
8 files changed, 25 insertions, 29 deletions
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index b9b26eb21d..1058f75407 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -34,6 +34,9 @@
#include "core/os/os.h"
#include "core/templates/pair.h"
#include "physics_server_2d_sw.h"
+
+#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05
+
_FORCE_INLINE_ static bool _can_collide_with(CollisionObject2DSW *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;
@@ -435,6 +438,8 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
Shape2DSW *shape = PhysicsServer2DSW::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;
+
Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion
aabb = aabb.grow(p_margin);
@@ -445,7 +450,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
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)) {
@@ -569,6 +574,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
ExcludedShapeSW excluded_shape_pairs[max_excluded_shape_pairs];
int excluded_shape_pair_count = 0;
+ real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+
real_t motion_length = p_motion.length();
Vector2 motion_normal = p_motion / motion_length;
@@ -671,6 +678,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
break;
}
+ recovered = true;
+
Vector2 recover_motion;
for (int i = 0; i < cbk.amount; i++) {
Vector2 a = sr[i * 2 + 0];
@@ -682,9 +691,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &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;
}
}
@@ -693,8 +702,6 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
break;
}
- recovered = true;
-
body_transform.elements[2] += recover_motion;
body_aabb.position += recover_motion;
@@ -870,7 +877,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
rcd.best_shape = 0;
// 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();
@@ -1141,9 +1148,6 @@ void Space2DSW::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_valu
case PhysicsServer2D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
constraint_bias = p_value;
break;
- case PhysicsServer2D::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH:
- test_motion_min_contact_depth = p_value;
- break;
}
}
@@ -1163,8 +1167,6 @@ real_t Space2DSW::get_param(PhysicsServer2D::SpaceParameter p_param) const {
return body_time_to_sleep;
case PhysicsServer2D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
return constraint_bias;
- case PhysicsServer2D::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH:
- return test_motion_min_contact_depth;
}
return 0;
}
diff --git a/servers/physics_2d/space_2d_sw.h b/servers/physics_2d/space_2d_sw.h
index 30c6b4cf55..a1a8a77ee4 100644
--- a/servers/physics_2d/space_2d_sw.h
+++ b/servers/physics_2d/space_2d_sw.h
@@ -102,7 +102,6 @@ private:
real_t contact_max_separation = 1.5;
real_t contact_max_allowed_penetration = 0.3;
real_t constraint_bias = 0.2;
- real_t test_motion_min_contact_depth = 0.005;
enum {
INTERSECTION_QUERY_MAX = 2048
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index cc4eab1f0b..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;
@@ -488,13 +490,15 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh
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.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)) {
@@ -658,6 +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;
@@ -711,8 +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];
@@ -723,9 +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;
}
}
@@ -734,8 +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;
@@ -889,7 +894,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
}
// 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();
@@ -1158,9 +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;
}
}
@@ -1182,8 +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 fc2a7d304d..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
diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp
index 8d5367e735..b94245a2d1 100644
--- a/servers/physics_server_2d.cpp
+++ b/servers/physics_server_2d.cpp
@@ -670,7 +670,6 @@ void PhysicsServer2D::_bind_methods() {
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS);
- BIND_ENUM_CONSTANT(SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH);
BIND_ENUM_CONSTANT(SHAPE_WORLD_BOUNDARY);
BIND_ENUM_CONSTANT(SHAPE_SEPARATION_RAY);
diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h
index 30d3c47051..9a9ba2103d 100644
--- a/servers/physics_server_2d.h
+++ b/servers/physics_server_2d.h
@@ -262,7 +262,6 @@ public:
SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD,
SPACE_PARAM_BODY_TIME_TO_SLEEP,
SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
- SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH,
};
virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0;
diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp
index e868246636..e61f1088f5 100644
--- a/servers/physics_server_3d.cpp
+++ b/servers/physics_server_3d.cpp
@@ -867,7 +867,6 @@ void PhysicsServer3D::_bind_methods() {
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS);
- BIND_ENUM_CONSTANT(SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_X);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Y);
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index 3e34da9561..e43a59ec93 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -271,7 +271,6 @@ public:
SPACE_PARAM_BODY_TIME_TO_SLEEP,
SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO,
SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
- SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH
};
virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0;
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-15 00:42:28 +0000