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-rw-r--r--servers/physics_2d/godot_space_2d.cpp14
-rw-r--r--servers/physics_3d/godot_collision_solver_3d.cpp6
-rw-r--r--servers/physics_3d/godot_collision_solver_3d_sat.cpp79
-rw-r--r--servers/physics_3d/godot_shape_3d.cpp8
-rw-r--r--servers/physics_3d/godot_shape_3d.h7
-rw-r--r--servers/physics_3d/godot_soft_body_3d.cpp10
-rw-r--r--servers/physics_3d/godot_soft_body_3d.h3
-rw-r--r--servers/physics_3d/godot_space_3d.cpp8
8 files changed, 90 insertions, 45 deletions
diff --git a/servers/physics_2d/godot_space_2d.cpp b/servers/physics_2d/godot_space_2d.cpp
index 6465a5542c..7a5eb26bb3 100644
--- a/servers/physics_2d/godot_space_2d.cpp
+++ b/servers/physics_2d/godot_space_2d.cpp
@@ -439,8 +439,6 @@ bool GodotPhysicsDirectSpaceState2D::rest_info(const ShapeParameters &p_paramete
GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid);
ERR_FAIL_COND_V(!shape, 0);
- real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
-
Rect2 aabb = p_parameters.transform.xform(shape->get_aabb());
aabb = aabb.merge(Rect2(aabb.position + p_parameters.motion, aabb.size)); //motion
aabb = aabb.grow(p_parameters.margin);
@@ -448,10 +446,11 @@ bool GodotPhysicsDirectSpaceState2D::rest_info(const ShapeParameters &p_paramete
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
_RestCallbackData2D rcd;
- rcd.best_len = 0;
- rcd.best_object = nullptr;
- rcd.best_shape = 0;
- rcd.min_allowed_depth = min_contact_depth;
+
+ // Allowed depth can't be lower than motion length, in order to handle contacts at low speed.
+ real_t motion_length = p_parameters.motion.length();
+ real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+ rcd.min_allowed_depth = MIN(motion_length, min_contact_depth);
for (int i = 0; i < amount; i++) {
if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) {
@@ -879,9 +878,6 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
ugt.elements[2] += p_parameters.motion * unsafe;
_RestCallbackData2D rcd;
- rcd.best_len = 0;
- rcd.best_object = nullptr;
- 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, min_contact_depth);
diff --git a/servers/physics_3d/godot_collision_solver_3d.cpp b/servers/physics_3d/godot_collision_solver_3d.cpp
index 686f3e4d59..540b16c6e3 100644
--- a/servers/physics_3d/godot_collision_solver_3d.cpp
+++ b/servers/physics_3d/godot_collision_solver_3d.cpp
@@ -264,7 +264,7 @@ bool GodotCollisionSolver3D::solve_soft_body(const GodotShape3D *p_shape_A, cons
local_aabb.size[i] = smax - smin;
}
- concave_shape_A->cull(local_aabb, soft_body_concave_callback, &query_cinfo);
+ concave_shape_A->cull(local_aabb, soft_body_concave_callback, &query_cinfo, true);
} else {
AABB shape_aabb = p_transform_A.xform(p_shape_A->get_aabb());
shape_aabb.grow_by(collision_margin);
@@ -346,7 +346,7 @@ bool GodotCollisionSolver3D::solve_concave(const GodotShape3D *p_shape_A, const
local_aabb.size[i] = smax - smin;
}
- concave_B->cull(local_aabb, concave_callback, &cinfo);
+ concave_B->cull(local_aabb, concave_callback, &cinfo, false);
return cinfo.collided;
}
@@ -559,7 +559,7 @@ bool GodotCollisionSolver3D::solve_distance(const GodotShape3D *p_shape_A, const
local_aabb.size[i] = smax - smin;
}
- concave_B->cull(local_aabb, concave_distance_callback, &cinfo);
+ concave_B->cull(local_aabb, concave_distance_callback, &cinfo, false);
if (!cinfo.collided) {
r_point_A = cinfo.close_A;
r_point_B = cinfo.close_B;
diff --git a/servers/physics_3d/godot_collision_solver_3d_sat.cpp b/servers/physics_3d/godot_collision_solver_3d_sat.cpp
index 0790333f65..4faa07b6c9 100644
--- a/servers/physics_3d/godot_collision_solver_3d_sat.cpp
+++ b/servers/physics_3d/godot_collision_solver_3d_sat.cpp
@@ -36,6 +36,8 @@
#define fallback_collision_solver gjk_epa_calculate_penetration
+#define _BACKFACE_NORMAL_THRESHOLD -0.0002
+
// Cylinder SAT analytic methods and face-circle contact points for cylinder-trimesh and cylinder-box collision are based on ODE colliders.
/*
@@ -612,13 +614,14 @@ class SeparatorAxisTest {
const Transform3D *transform_A = nullptr;
const Transform3D *transform_B = nullptr;
real_t best_depth = 1e15;
- Vector3 best_axis;
_CollectorCallback *callback = nullptr;
real_t margin_A = 0.0;
real_t margin_B = 0.0;
Vector3 separator_axis;
public:
+ Vector3 best_axis;
+
_FORCE_INLINE_ bool test_previous_axis() {
if (callback && callback->prev_axis && *callback->prev_axis != Vector3()) {
return test_axis(*callback->prev_axis);
@@ -627,7 +630,7 @@ public:
}
}
- _FORCE_INLINE_ bool test_axis(const Vector3 &p_axis, bool p_directional = false) {
+ _FORCE_INLINE_ bool test_axis(const Vector3 &p_axis) {
Vector3 axis = p_axis;
if (axis.is_equal_approx(Vector3())) {
@@ -661,12 +664,7 @@ public:
//use the smallest depth
if (min_B < 0.0) { // could be +0.0, we don't want it to become -0.0
- if (p_directional) {
- min_B = max_B;
- axis = -axis;
- } else {
- min_B = -min_B;
- }
+ min_B = -min_B;
}
if (max_B < min_B) {
@@ -1014,7 +1012,7 @@ static void _collision_sphere_face(const GodotShape3D *p_a, const Transform3D &p
Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized();
- if (!separator.test_axis(normal, !face_B->backface_collision)) {
+ if (!separator.test_axis(normal)) {
return;
}
@@ -1041,6 +1039,17 @@ static void _collision_sphere_face(const GodotShape3D *p_a, const Transform3D &p
}
}
+ if (!face_B->backface_collision) {
+ if (separator.best_axis.dot(normal) < _BACKFACE_NORMAL_THRESHOLD) {
+ if (face_B->invert_backface_collision) {
+ separator.best_axis = separator.best_axis.bounce(normal);
+ } else {
+ // Just ignore backface collision.
+ return;
+ }
+ }
+ }
+
separator.generate_contacts();
}
@@ -1486,7 +1495,7 @@ static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_tr
Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized();
- if (!separator.test_axis(normal, !face_B->backface_collision)) {
+ if (!separator.test_axis(normal)) {
return;
}
@@ -1591,6 +1600,17 @@ static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_tr
}
}
+ if (!face_B->backface_collision) {
+ if (separator.best_axis.dot(normal) < _BACKFACE_NORMAL_THRESHOLD) {
+ if (face_B->invert_backface_collision) {
+ separator.best_axis = separator.best_axis.bounce(normal);
+ } else {
+ // Just ignore backface collision.
+ return;
+ }
+ }
+ }
+
separator.generate_contacts();
}
@@ -1802,7 +1822,7 @@ static void _collision_capsule_face(const GodotShape3D *p_a, const Transform3D &
Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized();
- if (!separator.test_axis(normal, !face_B->backface_collision)) {
+ if (!separator.test_axis(normal)) {
return;
}
@@ -1858,6 +1878,17 @@ static void _collision_capsule_face(const GodotShape3D *p_a, const Transform3D &
}
}
+ if (!face_B->backface_collision) {
+ if (separator.best_axis.dot(normal) < _BACKFACE_NORMAL_THRESHOLD) {
+ if (face_B->invert_backface_collision) {
+ separator.best_axis = separator.best_axis.bounce(normal);
+ } else {
+ // Just ignore backface collision.
+ return;
+ }
+ }
+ }
+
separator.generate_contacts();
}
@@ -1952,7 +1983,7 @@ static void _collision_cylinder_face(const GodotShape3D *p_a, const Transform3D
Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized();
// Face B normal.
- if (!separator.test_axis(normal, !face_B->backface_collision)) {
+ if (!separator.test_axis(normal)) {
return;
}
@@ -2034,6 +2065,17 @@ static void _collision_cylinder_face(const GodotShape3D *p_a, const Transform3D
}
}
+ if (!face_B->backface_collision) {
+ if (separator.best_axis.dot(normal) < _BACKFACE_NORMAL_THRESHOLD) {
+ if (face_B->invert_backface_collision) {
+ separator.best_axis = separator.best_axis.bounce(normal);
+ } else {
+ // Just ignore backface collision.
+ return;
+ }
+ }
+ }
+
separator.generate_contacts();
}
@@ -2174,7 +2216,7 @@ static void _collision_convex_polygon_face(const GodotShape3D *p_a, const Transf
Vector3 normal = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]).normalized();
- if (!separator.test_axis(normal, !face_B->backface_collision)) {
+ if (!separator.test_axis(normal)) {
return;
}
@@ -2266,6 +2308,17 @@ static void _collision_convex_polygon_face(const GodotShape3D *p_a, const Transf
}
}
+ if (!face_B->backface_collision) {
+ if (separator.best_axis.dot(normal) < _BACKFACE_NORMAL_THRESHOLD) {
+ if (face_B->invert_backface_collision) {
+ separator.best_axis = separator.best_axis.bounce(normal);
+ } else {
+ // Just ignore backface collision.
+ return;
+ }
+ }
+ }
+
separator.generate_contacts();
}
diff --git a/servers/physics_3d/godot_shape_3d.cpp b/servers/physics_3d/godot_shape_3d.cpp
index d1e919ab6a..5364a9833d 100644
--- a/servers/physics_3d/godot_shape_3d.cpp
+++ b/servers/physics_3d/godot_shape_3d.cpp
@@ -1401,7 +1401,7 @@ bool GodotConcavePolygonShape3D::_cull(int p_idx, _CullParams *p_params) const {
return false;
}
-void GodotConcavePolygonShape3D::cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const {
+void GodotConcavePolygonShape3D::cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const {
// make matrix local to concave
if (faces.size() == 0) {
return;
@@ -1416,6 +1416,7 @@ void GodotConcavePolygonShape3D::cull(const AABB &p_local_aabb, QueryCallback p_
GodotFaceShape3D face; // use this to send in the callback
face.backface_collision = backface_collision;
+ face.invert_backface_collision = p_invert_backface_collision;
_CullParams params;
params.aabb = local_aabb;
@@ -1961,7 +1962,7 @@ void GodotHeightMapShape3D::_get_cell(const Vector3 &p_point, int &r_x, int &r_y
r_z = (clamped_point.z < 0.0) ? (clamped_point.z - 0.5) : (clamped_point.z + 0.5);
}
-void GodotHeightMapShape3D::cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const {
+void GodotHeightMapShape3D::cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const {
if (heights.is_empty()) {
return;
}
@@ -1988,7 +1989,8 @@ void GodotHeightMapShape3D::cull(const AABB &p_local_aabb, QueryCallback p_callb
int end_z = MIN(depth - 1, aabb_max[2]);
GodotFaceShape3D face;
- face.backface_collision = true;
+ face.backface_collision = !p_invert_backface_collision;
+ face.invert_backface_collision = p_invert_backface_collision;
for (int z = start_z; z < end_z; z++) {
for (int x = start_x; x < end_x; x++) {
diff --git a/servers/physics_3d/godot_shape_3d.h b/servers/physics_3d/godot_shape_3d.h
index 7a32b69166..43319510d4 100644
--- a/servers/physics_3d/godot_shape_3d.h
+++ b/servers/physics_3d/godot_shape_3d.h
@@ -107,7 +107,7 @@ public:
// Returns true to stop the query.
typedef bool (*QueryCallback)(void *p_userdata, GodotShape3D *p_convex);
- virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0;
+ virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const = 0;
GodotConcaveShape3D() {}
};
@@ -370,7 +370,7 @@ public:
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
- virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const override;
+ virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
@@ -433,7 +433,7 @@ public:
virtual bool intersect_point(const Vector3 &p_point) const override;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const override;
- virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const override;
+ virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata, bool p_invert_backface_collision) const override;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const override;
@@ -448,6 +448,7 @@ struct GodotFaceShape3D : public GodotShape3D {
Vector3 normal; //cache
Vector3 vertex[3];
bool backface_collision = false;
+ bool invert_backface_collision = false;
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONCAVE_POLYGON; }
diff --git a/servers/physics_3d/godot_soft_body_3d.cpp b/servers/physics_3d/godot_soft_body_3d.cpp
index b8e9ab4fb9..231b8686f5 100644
--- a/servers/physics_3d/godot_soft_body_3d.cpp
+++ b/servers/physics_3d/godot_soft_body_3d.cpp
@@ -964,12 +964,6 @@ void GodotSoftBody3D::apply_forces(const LocalVector<GodotArea3D *> &p_wind_area
}
}
-void GodotSoftBody3D::_compute_area_gravity(const GodotArea3D *p_area) {
- Vector3 area_gravity;
- p_area->compute_gravity(get_transform().get_origin(), area_gravity);
- gravity += area_gravity;
-}
-
Vector3 GodotSoftBody3D::_compute_area_windforce(const GodotArea3D *p_area, const Face *p_face) {
real_t wfm = p_area->get_wind_force_magnitude();
real_t waf = p_area->get_wind_attenuation_factor();
@@ -987,12 +981,12 @@ void GodotSoftBody3D::predict_motion(real_t p_delta) {
ERR_FAIL_COND(!get_space());
- int ac = areas.size();
-
bool gravity_done = false;
+ Vector3 gravity;
LocalVector<GodotArea3D *> wind_areas;
+ int ac = areas.size();
if (ac) {
areas.sort();
const AreaCMP *aa = &areas[0];
diff --git a/servers/physics_3d/godot_soft_body_3d.h b/servers/physics_3d/godot_soft_body_3d.h
index c03951959f..5198186b5d 100644
--- a/servers/physics_3d/godot_soft_body_3d.h
+++ b/servers/physics_3d/godot_soft_body_3d.h
@@ -101,8 +101,6 @@ class GodotSoftBody3D : public GodotCollisionObject3D {
real_t drag_coefficient = 0.0; // [0,1]
LocalVector<int> pinned_vertices;
- Vector3 gravity;
-
SelfList<GodotSoftBody3D> active_list;
Set<GodotConstraint3D *> constraints;
@@ -113,7 +111,6 @@ class GodotSoftBody3D : public GodotCollisionObject3D {
uint64_t island_step = 0;
- _FORCE_INLINE_ void _compute_area_gravity(const GodotArea3D *p_area);
_FORCE_INLINE_ Vector3 _compute_area_windforce(const GodotArea3D *p_area, const Face *p_face);
public:
diff --git a/servers/physics_3d/godot_space_3d.cpp b/servers/physics_3d/godot_space_3d.cpp
index e2f90b90ad..f503273c88 100644
--- a/servers/physics_3d/godot_space_3d.cpp
+++ b/servers/physics_3d/godot_space_3d.cpp
@@ -507,15 +507,17 @@ bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_paramete
GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid);
ERR_FAIL_COND_V(!shape, 0);
- real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
-
AABB aabb = p_parameters.transform.xform(shape->get_aabb());
aabb = aabb.grow(p_parameters.margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
_RestCallbackData rcd;
- rcd.min_allowed_depth = min_contact_depth;
+
+ // Allowed depth can't be lower than motion length, in order to handle contacts at low speed.
+ real_t motion_length = p_parameters.motion.length();
+ real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+ rcd.min_allowed_depth = MIN(motion_length, min_contact_depth);
for (int i = 0; i < amount; i++) {
if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) {
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-08 17:43:34 +0000