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-rw-r--r--servers/physics_2d/body_pair_2d_sw.cpp4
-rw-r--r--servers/physics_2d/collision_solver_2d_sw.cpp40
-rw-r--r--servers/physics_2d/collision_solver_2d_sw.h6
-rw-r--r--servers/physics_2d/shape_2d_sw.cpp9
-rw-r--r--servers/physics_2d/shape_2d_sw.h4
-rw-r--r--servers/physics_2d/space_2d_sw.cpp8
-rw-r--r--servers/physics_3d/collision_solver_3d_sw.cpp18
-rw-r--r--servers/physics_3d/collision_solver_3d_sw.h2
8 files changed, 57 insertions, 34 deletions
diff --git a/servers/physics_2d/body_pair_2d_sw.cpp b/servers/physics_2d/body_pair_2d_sw.cpp
index 91d747b492..8bcc4609f4 100644
--- a/servers/physics_2d/body_pair_2d_sw.cpp
+++ b/servers/physics_2d/body_pair_2d_sw.cpp
@@ -298,7 +298,7 @@ bool BodyPair2DSW::setup(real_t p_step) {
}
if (!prev_collided) {
- if (A->is_shape_set_as_one_way_collision(shape_A)) {
+ if (shape_B_ptr->allows_one_way_collision() && A->is_shape_set_as_one_way_collision(shape_A)) {
Vector2 direction = xform_A.get_axis(1).normalized();
bool valid = false;
for (int i = 0; i < contact_count; i++) {
@@ -319,7 +319,7 @@ bool BodyPair2DSW::setup(real_t p_step) {
}
}
- if (B->is_shape_set_as_one_way_collision(shape_B)) {
+ if (shape_A_ptr->allows_one_way_collision() && B->is_shape_set_as_one_way_collision(shape_B)) {
Vector2 direction = xform_B.get_axis(1).normalized();
bool valid = false;
for (int i = 0; i < contact_count; i++) {
diff --git a/servers/physics_2d/collision_solver_2d_sw.cpp b/servers/physics_2d/collision_solver_2d_sw.cpp
index 1946dae2e3..34c94150e2 100644
--- a/servers/physics_2d/collision_solver_2d_sw.cpp
+++ b/servers/physics_2d/collision_solver_2d_sw.cpp
@@ -73,14 +73,14 @@ bool CollisionSolver2DSW::solve_static_world_margin(const Shape2DSW *p_shape_A,
return found;
}
-bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis) {
+bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin) {
const RayShape2DSW *ray = static_cast<const RayShape2DSW *>(p_shape_A);
if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_RAY) {
return false;
}
Vector2 from = p_transform_A.get_origin();
- Vector2 to = from + p_transform_A[1] * ray->get_length();
+ Vector2 to = from + p_transform_A[1] * (ray->get_length() + p_margin);
if (p_motion_A != Vector2()) {
//not the best but should be enough
Vector2 normal = (to - from).normalized();
@@ -94,8 +94,24 @@ bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Vector
Vector2 p, n;
if (!p_shape_B->intersect_segment(from, to, p, n)) {
- if (sep_axis) {
- *sep_axis = p_transform_A[1].normalized();
+ if (r_sep_axis) {
+ *r_sep_axis = p_transform_A[1].normalized();
+ }
+ return false;
+ }
+
+ // Discard contacts when the ray is fully contained inside the shape.
+ if (n == Vector2()) {
+ if (r_sep_axis) {
+ *r_sep_axis = p_transform_A[1].normalized();
+ }
+ return false;
+ }
+
+ // Discard contacts in the wrong direction.
+ if (n.dot(from - to) < CMP_EPSILON) {
+ if (r_sep_axis) {
+ *r_sep_axis = p_transform_A[1].normalized();
}
return false;
}
@@ -149,7 +165,7 @@ void CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex
cinfo.collisions++;
}
-bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) {
+bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
const ConcaveShape2DSW *concave_B = static_cast<const ConcaveShape2DSW *>(p_shape_B);
_ConcaveCollisionInfo2D cinfo;
@@ -162,7 +178,7 @@ bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transf
cinfo.swap_result = p_swap_result;
cinfo.collided = false;
cinfo.collisions = 0;
- cinfo.sep_axis = sep_axis;
+ cinfo.sep_axis = r_sep_axis;
cinfo.margin_A = p_margin_A;
cinfo.margin_B = p_margin_B;
@@ -193,7 +209,7 @@ bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transf
return cinfo.collided;
}
-bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) {
+bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
PhysicsServer2D::ShapeType type_A = p_shape_A->get_type();
PhysicsServer2D::ShapeType type_B = p_shape_B->get_type();
bool concave_A = p_shape_A->is_concave();
@@ -226,9 +242,9 @@ bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p
}
if (swap) {
- return solve_raycast(p_shape_B, p_motion_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, sep_axis);
+ return solve_raycast(p_shape_B, p_motion_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, r_sep_axis, p_margin_B);
} else {
- return solve_raycast(p_shape_A, p_motion_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, sep_axis);
+ return solve_raycast(p_shape_A, p_motion_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, r_sep_axis, p_margin_A);
}
} else if (concave_B) {
@@ -237,12 +253,12 @@ bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p
}
if (!swap) {
- return solve_concave(p_shape_A, p_transform_A, p_motion_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, sep_axis, margin_A, margin_B);
+ return solve_concave(p_shape_A, p_transform_A, p_motion_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, r_sep_axis, margin_A, margin_B);
} else {
- return solve_concave(p_shape_B, p_transform_B, p_motion_B, p_shape_A, p_transform_A, p_motion_A, p_result_callback, p_userdata, true, sep_axis, margin_A, margin_B);
+ return solve_concave(p_shape_B, p_transform_B, p_motion_B, p_shape_A, p_transform_A, p_motion_A, p_result_callback, p_userdata, true, r_sep_axis, margin_A, margin_B);
}
} else {
- return collision_solver(p_shape_A, p_transform_A, p_motion_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, sep_axis, margin_A, margin_B);
+ return collision_solver(p_shape_A, p_transform_A, p_motion_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, r_sep_axis, margin_A, margin_B);
}
}
diff --git a/servers/physics_2d/collision_solver_2d_sw.h b/servers/physics_2d/collision_solver_2d_sw.h
index 17c0c2fe70..c2f13d0e13 100644
--- a/servers/physics_2d/collision_solver_2d_sw.h
+++ b/servers/physics_2d/collision_solver_2d_sw.h
@@ -40,11 +40,11 @@ public:
private:
static bool solve_static_world_margin(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static void concave_callback(void *p_userdata, Shape2DSW *p_convex);
- static bool solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
- static bool solve_raycast(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis = nullptr);
+ static bool solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
+ static bool solve_raycast(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin = 0);
public:
- static bool solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
+ static bool solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
};
#endif // COLLISION_SOLVER_2D_SW_H
diff --git a/servers/physics_2d/shape_2d_sw.cpp b/servers/physics_2d/shape_2d_sw.cpp
index be2f83b705..a82f0c2e6f 100644
--- a/servers/physics_2d/shape_2d_sw.cpp
+++ b/servers/physics_2d/shape_2d_sw.cpp
@@ -570,14 +570,7 @@ bool ConvexPolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vec
}
}
- if (inters) {
- if (n.dot(r_normal) > 0) {
- r_normal = -r_normal;
- }
- }
-
- //return get_aabb().intersects_segment(p_begin,p_end,&r_point,&r_normal);
- return inters; //todo
+ return inters;
}
real_t ConvexPolygonShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
diff --git a/servers/physics_2d/shape_2d_sw.h b/servers/physics_2d/shape_2d_sw.h
index d1640b39cf..6813e25a0b 100644
--- a/servers/physics_2d/shape_2d_sw.h
+++ b/servers/physics_2d/shape_2d_sw.h
@@ -64,6 +64,8 @@ public:
_FORCE_INLINE_ Rect2 get_aabb() const { return aabb; }
_FORCE_INLINE_ bool is_configured() const { return configured; }
+ virtual bool allows_one_way_collision() const { return true; }
+
virtual bool is_concave() const { return false; }
virtual bool contains_point(const Vector2 &p_point) const = 0;
@@ -187,6 +189,8 @@ public:
virtual PhysicsServer2D::ShapeType get_type() const { return PhysicsServer2D::SHAPE_RAY; }
+ virtual bool allows_one_way_collision() const override { return false; }
+
virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); }
virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const;
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index f04f3ab583..61ec48c090 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -621,7 +621,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
- if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
+ if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
@@ -762,7 +762,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
//test initial overlap
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
- if (col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
+ if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
Vector2 direction = col_obj_shape_xform.get_axis(1).normalized();
if (motion_normal.dot(direction) < 0) {
continue;
@@ -806,7 +806,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}
}
- if (col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
+ if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
Vector2 cd[2];
PhysicsServer2DSW::CollCbkData cbk;
cbk.max = 1;
@@ -904,7 +904,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
- if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
+ if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
rcd.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
diff --git a/servers/physics_3d/collision_solver_3d_sw.cpp b/servers/physics_3d/collision_solver_3d_sw.cpp
index c61b9cbd4e..8803b355d4 100644
--- a/servers/physics_3d/collision_solver_3d_sw.cpp
+++ b/servers/physics_3d/collision_solver_3d_sw.cpp
@@ -89,11 +89,11 @@ bool CollisionSolver3DSW::solve_static_plane(const Shape3DSW *p_shape_A, const T
return found;
}
-bool CollisionSolver3DSW::solve_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
+bool CollisionSolver3DSW::solve_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) {
const RayShape3DSW *ray = static_cast<const RayShape3DSW *>(p_shape_A);
Vector3 from = p_transform_A.origin;
- Vector3 to = from + p_transform_A.basis.get_axis(2) * ray->get_length();
+ Vector3 to = from + p_transform_A.basis.get_axis(2) * (ray->get_length() + p_margin);
Vector3 support_A = to;
Transform3D ai = p_transform_B.affine_inverse();
@@ -106,6 +106,16 @@ bool CollisionSolver3DSW::solve_ray(const Shape3DSW *p_shape_A, const Transform3
return false;
}
+ // Discard contacts when the ray is fully contained inside the shape.
+ if (n == Vector3()) {
+ return false;
+ }
+
+ // Discard contacts in the wrong direction.
+ if (n.dot(from - to) < CMP_EPSILON) {
+ return false;
+ }
+
Vector3 support_B = p_transform_B.xform(p);
if (ray->get_slips_on_slope()) {
Vector3 global_n = ai.basis.xform_inv(n).normalized();
@@ -370,9 +380,9 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo
}
if (swap) {
- return solve_ray(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
+ return solve_ray(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, p_margin_B);
} else {
- return solve_ray(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
+ return solve_ray(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, p_margin_A);
}
} else if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) {
diff --git a/servers/physics_3d/collision_solver_3d_sw.h b/servers/physics_3d/collision_solver_3d_sw.h
index a5dd7d48eb..cbde9ce18f 100644
--- a/servers/physics_3d/collision_solver_3d_sw.h
+++ b/servers/physics_3d/collision_solver_3d_sw.h
@@ -43,7 +43,7 @@ private:
static void soft_body_concave_callback(void *p_userdata, Shape3DSW *p_convex);
static void concave_callback(void *p_userdata, Shape3DSW *p_convex);
static bool solve_static_plane(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
- static bool solve_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
+ static bool solve_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0);
static bool solve_soft_body(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static bool solve_concave(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A = 0, real_t p_margin_B = 0);
static void concave_distance_callback(void *p_userdata, Shape3DSW *p_convex);
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-25 15:16:47 +0000