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-rw-r--r--servers/physics/space_sw.cpp35
-rw-r--r--servers/physics/space_sw.h1
-rw-r--r--servers/physics_2d/space_2d_sw.cpp55
-rw-r--r--servers/physics_2d/space_2d_sw.h1
-rw-r--r--servers/physics_2d_server.cpp1
-rw-r--r--servers/physics_2d_server.h7
-rw-r--r--servers/physics_server.cpp2
-rw-r--r--servers/physics_server.h6
8 files changed, 91 insertions, 17 deletions
diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp
index 1087cd2483..80c17b437c 100644
--- a/servers/physics/space_sw.cpp
+++ b/servers/physics/space_sw.cpp
@@ -387,6 +387,7 @@ struct _RestCallbackData {
Vector3 best_contact;
Vector3 best_normal;
real_t best_len;
+ real_t min_allowed_depth;
};
static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) {
@@ -395,6 +396,8 @@ static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B,
Vector3 contact_rel = p_point_B - p_point_A;
real_t len = contact_rel.length();
+ if (len < rd->min_allowed_depth)
+ return;
if (len <= rd->best_len)
return;
@@ -418,6 +421,7 @@ bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
+ rcd.min_allowed_depth = space->test_motion_min_contact_depth;
for (int i = 0; i < amount; i++) {
@@ -593,7 +597,6 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
bool collided = false;
int amount = _cull_aabb_for_body(p_body, body_aabb);
- int ray_index = 0;
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j))
@@ -627,7 +630,19 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
collided = true;
}
- if (ray_index < p_result_max) {
+ int ray_index = -1; //reuse shape
+ for (int k = 0; k < rays_found; k++) {
+ if (r_results[ray_index].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) {
PhysicsServer::SeparationResult &result = r_results[ray_index];
for (int k = 0; k < cbk.amount; k++) {
@@ -642,9 +657,10 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
result.collision_depth = depth;
result.collision_point = b;
result.collision_normal = (b - a).normalized();
- result.collision_local_shape = shape_idx;
+ 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() == CollisionObjectSW::TYPE_BODY) {
BodySW *body = (BodySW *)col_obj;
@@ -658,12 +674,8 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
}
}
}
-
- ray_index++;
}
- rays_found = MAX(ray_index, rays_found);
-
if (!collided || recover_motion == Vector3()) {
break;
}
@@ -717,6 +729,11 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
}
if (!shapes_found) {
+ if (r_result) {
+ *r_result = PhysicsServer::MotionResult();
+ r_result->motion = p_motion;
+ }
+
return false;
}
@@ -924,6 +941,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
+ rcd.min_allowed_depth = test_motion_min_contact_depth;
Transform body_shape_xform = ugt * p_body->get_shape_transform(best_shape);
ShapeSW *body_shape = p_body->get_shape(best_shape);
@@ -1148,6 +1166,7 @@ void SpaceSW::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) {
case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break;
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio = p_value; break;
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break;
+ case PhysicsServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: test_motion_min_contact_depth = p_value; break;
}
}
@@ -1163,6 +1182,7 @@ real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const {
case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio;
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
+ case PhysicsServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: return test_motion_min_contact_depth;
}
return 0;
}
@@ -1198,6 +1218,7 @@ SpaceSW::SpaceSW() {
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);
diff --git a/servers/physics/space_sw.h b/servers/physics/space_sw.h
index ae6f349e51..3aaa552845 100644
--- a/servers/physics/space_sw.h
+++ b/servers/physics/space_sw.h
@@ -96,6 +96,7 @@ private:
real_t contact_max_separation;
real_t contact_max_allowed_penetration;
real_t constraint_bias;
+ real_t test_motion_min_contact_depth;
enum {
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 5ed70803ed..2e338b03cc 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -375,6 +375,7 @@ struct _RestCallbackData2D {
real_t best_len;
Vector2 valid_dir;
real_t valid_depth;
+ real_t min_allowed_depth;
};
static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) {
@@ -390,6 +391,10 @@ static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B,
Vector2 contact_rel = p_point_B - p_point_A;
real_t len = contact_rel.length();
+
+ if (len < rd->min_allowed_depth)
+ return;
+
if (len <= rd->best_len)
return;
@@ -416,6 +421,7 @@ bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Transform2D &p_sh
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
+ rcd.min_allowed_depth = space->test_motion_min_contact_depth;
for (int i = 0; i < amount; i++) {
@@ -555,7 +561,6 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
bool collided = false;
int amount = _cull_aabb_for_body(p_body, body_aabb);
- int ray_index = 0;
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j))
@@ -587,6 +592,10 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
+ /*
+ * There is no point in supporting one way collisions with ray shapes, as they will always collide in the desired
+ * direction. Use a short ray shape if you want to achieve a similar effect.
+ *
if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
@@ -594,10 +603,15 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
cbk.invalid_by_dir = 0;
} else {
- cbk.valid_dir = Vector2();
- cbk.valid_depth = 0;
- cbk.invalid_by_dir = 0;
+*/
+
+ cbk.valid_dir = Vector2();
+ cbk.valid_depth = 0;
+ cbk.invalid_by_dir = 0;
+
+ /*
}
+ */
Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, NULL, p_margin)) {
@@ -605,7 +619,19 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
collided = true;
}
- if (ray_index < p_result_max) {
+ int ray_index = -1; //reuse shape
+ for (int k = 0; k < rays_found; k++) {
+ if (r_results[ray_index].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) {
Physics2DServer::SeparationResult &result = r_results[ray_index];
for (int k = 0; k < cbk.amount; k++) {
@@ -620,7 +646,8 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
result.collision_depth = depth;
result.collision_point = b;
result.collision_normal = (b - a).normalized();
- result.collision_local_shape = shape_idx;
+ result.collision_local_shape = j;
+ result.collider_shape = shape_idx;
result.collider = col_obj->get_self();
result.collider_id = col_obj->get_instance_id();
result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
@@ -635,12 +662,8 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
}
}
}
-
- ray_index++;
}
- rays_found = MAX(ray_index, rays_found);
-
if (!collided || recover_motion == Vector2()) {
break;
}
@@ -695,6 +718,10 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}
if (!shapes_found) {
+ if (r_result) {
+ *r_result = Physics2DServer::MotionResult();
+ r_result->motion = p_motion;
+ }
return false;
}
@@ -990,12 +1017,17 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
+ rcd.min_allowed_depth = test_motion_min_contact_depth;
//optimization
int from_shape = best_shape != -1 ? best_shape : 0;
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))
+ continue;
+
Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j);
Shape2DSW *body_shape = p_body->get_shape(j);
@@ -1249,6 +1281,7 @@ void Space2DSW::set_param(Physics2DServer::SpaceParameter p_param, real_t p_valu
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: body_angular_velocity_sleep_threshold = p_value; break;
case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break;
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break;
+ case Physics2DServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: test_motion_min_contact_depth = p_value; break;
}
}
@@ -1263,6 +1296,7 @@ real_t Space2DSW::get_param(Physics2DServer::SpaceParameter p_param) const {
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: return body_angular_velocity_sleep_threshold;
case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
+ case Physics2DServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: return test_motion_min_contact_depth;
}
return 0;
}
@@ -1299,6 +1333,7 @@ Space2DSW::Space2DSW() {
contact_recycle_radius = 1.0;
contact_max_separation = 1.5;
contact_max_allowed_penetration = 0.3;
+ test_motion_min_contact_depth = 0.005;
constraint_bias = 0.2;
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0);
diff --git a/servers/physics_2d/space_2d_sw.h b/servers/physics_2d/space_2d_sw.h
index 64f8c9e156..14c24959b7 100644
--- a/servers/physics_2d/space_2d_sw.h
+++ b/servers/physics_2d/space_2d_sw.h
@@ -104,6 +104,7 @@ private:
real_t contact_max_separation;
real_t contact_max_allowed_penetration;
real_t constraint_bias;
+ real_t test_motion_min_contact_depth;
enum {
diff --git a/servers/physics_2d_server.cpp b/servers/physics_2d_server.cpp
index ca914b67e0..3a05791f17 100644
--- a/servers/physics_2d_server.cpp
+++ b/servers/physics_2d_server.cpp
@@ -693,6 +693,7 @@ void Physics2DServer::_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_LINE);
BIND_ENUM_CONSTANT(SHAPE_RAY);
diff --git a/servers/physics_2d_server.h b/servers/physics_2d_server.h
index df7fe46f76..1de9c7df93 100644
--- a/servers/physics_2d_server.h
+++ b/servers/physics_2d_server.h
@@ -289,6 +289,7 @@ 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;
@@ -504,6 +505,12 @@ public:
RID collider;
int collider_shape;
Variant collider_metadata;
+
+ MotionResult() {
+ collision_local_shape = 0;
+ collider_shape = 0;
+ collider_id = 0;
+ }
};
virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, float p_margin = 0.001, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true) = 0;
diff --git a/servers/physics_server.cpp b/servers/physics_server.cpp
index 967e74d322..e07133b5bb 100644
--- a/servers/physics_server.cpp
+++ b/servers/physics_server.cpp
@@ -709,6 +709,8 @@ void PhysicsServer::_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);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Z);
diff --git a/servers/physics_server.h b/servers/physics_server.h
index 4ba096a994..c71bb01943 100644
--- a/servers/physics_server.h
+++ b/servers/physics_server.h
@@ -274,6 +274,7 @@ 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;
@@ -492,6 +493,11 @@ public:
RID collider;
int collider_shape;
Variant collider_metadata;
+ MotionResult() {
+ collision_local_shape = 0;
+ collider_id = 0;
+ collider_shape = 0;
+ }
};
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true) = 0;
generated by cgit v1.2.3 (git 2.25.1) at 2025-12-30 13:19:26 +0000