diff options
Diffstat (limited to 'servers')
| -rw-r--r-- | servers/physics_3d/physics_server_3d_sw.cpp | 4 | ||||
| -rw-r--r-- | servers/physics_3d/physics_server_3d_sw.h | 2 | ||||
| -rw-r--r-- | servers/physics_3d/physics_server_3d_wrap_mt.h | 4 | ||||
| -rw-r--r-- | servers/physics_3d/space_3d_sw.cpp | 167 | ||||
| -rw-r--r-- | servers/physics_3d/space_3d_sw.h | 2 | ||||
| -rw-r--r-- | servers/physics_server_3d.cpp | 141 | ||||
| -rw-r--r-- | servers/physics_server_3d.h | 65 |
7 files changed, 260 insertions, 125 deletions
diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp index 8bfadeb356..8fbb0ba477 100644 --- a/servers/physics_3d/physics_server_3d_sw.cpp +++ b/servers/physics_3d/physics_server_3d_sw.cpp @@ -868,7 +868,7 @@ 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, real_t p_margin, MotionResult *r_result, bool p_collide_separation_ray, const Set<RID> &p_exclude) { +bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, MotionResult *r_result, int p_max_collisions, bool p_collide_separation_ray, 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); @@ -876,7 +876,7 @@ 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_margin, r_result, p_collide_separation_ray, p_exclude); + return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result, p_max_collisions, p_collide_separation_ray, p_exclude); } PhysicsDirectBodyState3D *PhysicsServer3DSW::body_get_direct_state(RID p_body) { diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h index c34f8bff7a..357bfba1d7 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, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override; + virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, int p_max_collisions = 1, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override; // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override; diff --git a/servers/physics_3d/physics_server_3d_wrap_mt.h b/servers/physics_3d/physics_server_3d_wrap_mt.h index a5683b99c3..6869484f8c 100644 --- a/servers/physics_3d/physics_server_3d_wrap_mt.h +++ b/servers/physics_3d/physics_server_3d_wrap_mt.h @@ -253,9 +253,9 @@ public: FUNC2(body_set_ray_pickable, RID, bool); - bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override { + bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, int p_max_collisions = 1, bool p_collide_separation_ray = false, 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_margin, r_result, p_collide_separation_ray, p_exclude); + return physics_3d_server->body_test_motion(p_body, p_from, p_motion, p_margin, r_result, p_max_collisions, p_collide_separation_ray, p_exclude); } // this function only works on physics process, errors and returns null otherwise diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp index bf72e90932..cc4eab1f0b 100644 --- a/servers/physics_3d/space_3d_sw.cpp +++ b/servers/physics_3d/space_3d_sw.cpp @@ -401,17 +401,27 @@ bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform3D & return collided; } +struct _RestResultData { + const CollisionObject3DSW *object = nullptr; + int local_shape = 0; + int shape = 0; + Vector3 contact; + Vector3 normal; + real_t len = 0.0; +}; + struct _RestCallbackData { - const CollisionObject3DSW *object; - const CollisionObject3DSW *best_object; - int local_shape; - int best_local_shape; - int shape; - int best_shape; - Vector3 best_contact; - Vector3 best_normal; - real_t best_len; - real_t min_allowed_depth; + const CollisionObject3DSW *object = nullptr; + int local_shape = 0; + int shape = 0; + + real_t min_allowed_depth = 0.0; + + _RestResultData best_result; + + int max_results = 0; + int result_count = 0; + _RestResultData *other_results = nullptr; }; static void _rest_cbk_result(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { @@ -422,16 +432,56 @@ static void _rest_cbk_result(const Vector3 &p_point_A, int p_index_A, const Vect if (len < rd->min_allowed_depth) { return; } - if (len <= rd->best_len) { + + bool is_best_result = (len > rd->best_result.len); + + if (rd->other_results && rd->result_count > 0) { + // Consider as new result by default. + int prev_result_count = rd->result_count++; + + int result_index = 0; + real_t tested_len = is_best_result ? rd->best_result.len : len; + for (; result_index < prev_result_count - 1; ++result_index) { + if (tested_len > rd->other_results[result_index].len) { + // Re-using a previous result. + rd->result_count--; + break; + } + } + + if (result_index < rd->max_results - 1) { + _RestResultData &result = rd->other_results[result_index]; + + if (is_best_result) { + // Keep the previous best result as separate result. + result = rd->best_result; + } else { + // Keep this result as separate result. + result.len = len; + result.contact = p_point_B; + result.normal = contact_rel / len; + result.object = rd->object; + result.shape = rd->shape; + result.local_shape = rd->local_shape; + } + } else { + // Discarding this result. + rd->result_count--; + } + } else if (is_best_result) { + rd->result_count = 1; + } + + if (!is_best_result) { return; } - rd->best_len = len; - rd->best_contact = p_point_B; - rd->best_normal = contact_rel / len; - rd->best_object = rd->object; - rd->best_shape = rd->shape; - rd->best_local_shape = rd->local_shape; + rd->best_result.len = len; + rd->best_result.contact = p_point_B; + rd->best_result.normal = contact_rel / len; + rd->best_result.object = rd->object; + rd->best_result.shape = rd->shape; + rd->best_result.local_shape = rd->local_shape; } bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { @@ -444,9 +494,6 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); _RestCallbackData rcd; - rcd.best_len = 0; - rcd.best_object = nullptr; - rcd.best_shape = 0; rcd.min_allowed_depth = space->test_motion_min_contact_depth; for (int i = 0; i < amount; i++) { @@ -470,18 +517,18 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh } } - if (rcd.best_len == 0 || !rcd.best_object) { + if (rcd.best_result.len == 0 || !rcd.best_result.object) { return false; } - r_info->collider_id = rcd.best_object->get_instance_id(); - r_info->shape = rcd.best_shape; - r_info->normal = rcd.best_normal; - r_info->point = rcd.best_contact; - r_info->rid = rcd.best_object->get_self(); - if (rcd.best_object->get_type() == CollisionObject3DSW::TYPE_BODY) { - const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_object); - Vector3 rel_vec = rcd.best_contact - (body->get_transform().origin + body->get_center_of_mass()); + r_info->collider_id = rcd.best_result.object->get_instance_id(); + r_info->shape = rcd.best_result.shape; + r_info->normal = rcd.best_result.normal; + r_info->point = rcd.best_result.contact; + r_info->rid = rcd.best_result.object->get_self(); + if (rcd.best_result.object->get_type() == CollisionObject3DSW::TYPE_BODY) { + const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_result.object); + Vector3 rel_vec = rcd.best_result.contact - (body->get_transform().origin + body->get_center_of_mass()); r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); } else { @@ -569,7 +616,7 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) { return amount; } -bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_collide_separation_ray, const Set<RID> &p_exclude) { +bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, int p_max_collisions, bool p_collide_separation_ray, const Set<RID> &p_exclude) { //give me back regular physics engine logic //this is madness //and most people using this function will think @@ -577,10 +624,12 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co //this took about a week to get right.. //but is it right? who knows at this point.. + ERR_FAIL_INDEX_V(p_max_collisions, PhysicsServer3D::MotionResult::MAX_COLLISIONS, false); + if (r_result) { - r_result->collider_id = ObjectID(); - r_result->collider_shape = 0; + *r_result = PhysicsServer3D::MotionResult(); } + AABB body_aabb; bool shapes_found = false; @@ -599,7 +648,6 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co if (!shapes_found) { if (r_result) { - *r_result = PhysicsServer3D::MotionResult(); r_result->travel = p_motion; } @@ -832,10 +880,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co Transform3D ugt = body_transform; ugt.origin += p_motion * unsafe; + _RestResultData results[PhysicsServer3D::MotionResult::MAX_COLLISIONS]; + _RestCallbackData rcd; - rcd.best_len = 0; - rcd.best_object = nullptr; - rcd.best_shape = 0; + if (p_max_collisions > 1) { + rcd.max_results = p_max_collisions; + rcd.other_results = results; + } // 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); @@ -871,27 +922,36 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co } } - if (rcd.best_len != 0) { + if (rcd.result_count > 0) { if (r_result) { - r_result->collider = rcd.best_object->get_self(); - r_result->collider_id = rcd.best_object->get_instance_id(); - r_result->collider_shape = rcd.best_shape; - r_result->collision_local_shape = rcd.best_local_shape; - r_result->collision_normal = rcd.best_normal; - r_result->collision_point = rcd.best_contact; - r_result->collision_depth = rcd.best_len; - r_result->collision_safe_fraction = safe; - r_result->collision_unsafe_fraction = unsafe; - //r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape); - - const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_object); - - Vector3 rel_vec = rcd.best_contact - (body->get_transform().origin + body->get_center_of_mass()); - r_result->collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); + for (int collision_index = 0; collision_index < rcd.result_count; ++collision_index) { + const _RestResultData &result = (collision_index > 0) ? rcd.other_results[collision_index - 1] : rcd.best_result; + + PhysicsServer3D::MotionCollision &collision = r_result->collisions[collision_index]; + + collision.collider = result.object->get_self(); + collision.collider_id = result.object->get_instance_id(); + collision.collider_shape = result.shape; + collision.local_shape = result.local_shape; + collision.normal = result.normal; + collision.position = result.contact; + collision.depth = result.len; + //r_result->collider_metadata = result.object->get_shape_metadata(result.shape); + + const Body3DSW *body = static_cast<const Body3DSW *>(result.object); + + Vector3 rel_vec = result.contact - (body->get_transform().origin + body->get_center_of_mass()); + collision.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); + } r_result->travel = safe * p_motion; r_result->remainder = p_motion - safe * p_motion; r_result->travel += (body_transform.get_origin() - p_from.get_origin()); + + r_result->safe_fraction = safe; + r_result->unsafe_fraction = unsafe; + + r_result->collision_count = rcd.result_count; } collided = true; @@ -902,6 +962,9 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co r_result->travel = p_motion; r_result->remainder = Vector3(); r_result->travel += (body_transform.get_origin() - p_from.get_origin()); + + r_result->safe_fraction = 1.0; + r_result->unsafe_fraction = 1.0; } return collided; diff --git a/servers/physics_3d/space_3d_sw.h b/servers/physics_3d/space_3d_sw.h index aa4557d136..fc2a7d304d 100644 --- a/servers/physics_3d/space_3d_sw.h +++ b/servers/physics_3d/space_3d_sw.h @@ -208,7 +208,7 @@ public: void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; } uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; } - bool test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()); + bool test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, int p_max_collisions = 1, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()); Space3DSW(); ~Space3DSW(); diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp index 0ff29394e5..e868246636 100644 --- a/servers/physics_server_3d.cpp +++ b/servers/physics_server_3d.cpp @@ -370,77 +370,132 @@ Vector3 PhysicsTestMotionResult3D::get_remainder() const { return result.remainder; } -Vector3 PhysicsTestMotionResult3D::get_collision_point() const { - return result.collision_point; +real_t PhysicsTestMotionResult3D::get_safe_fraction() const { + return result.safe_fraction; } -Vector3 PhysicsTestMotionResult3D::get_collision_normal() const { - return result.collision_normal; +real_t PhysicsTestMotionResult3D::get_unsafe_fraction() const { + return result.unsafe_fraction; } -Vector3 PhysicsTestMotionResult3D::get_collider_velocity() const { - return result.collider_velocity; +int PhysicsTestMotionResult3D::get_collision_count() const { + return result.collision_count; } -ObjectID PhysicsTestMotionResult3D::get_collider_id() const { - return result.collider_id; +Vector3 PhysicsTestMotionResult3D::get_collision_point(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3()); + return result.collisions[p_collision_index].position; } -RID PhysicsTestMotionResult3D::get_collider_rid() const { - return result.collider; +Vector3 PhysicsTestMotionResult3D::get_collision_normal(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3()); + return result.collisions[p_collision_index].normal; } -Object *PhysicsTestMotionResult3D::get_collider() const { - return ObjectDB::get_instance(result.collider_id); +Vector3 PhysicsTestMotionResult3D::get_collider_velocity(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3()); + return result.collisions[p_collision_index].collider_velocity; } -int PhysicsTestMotionResult3D::get_collider_shape() const { - return result.collider_shape; +ObjectID PhysicsTestMotionResult3D::get_collider_id(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, ObjectID()); + return result.collisions[p_collision_index].collider_id; } -real_t PhysicsTestMotionResult3D::get_collision_depth() const { - return result.collision_depth; +RID PhysicsTestMotionResult3D::get_collider_rid(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, RID()); + return result.collisions[p_collision_index].collider; } -real_t PhysicsTestMotionResult3D::get_collision_safe_fraction() const { - return result.collision_safe_fraction; +Object *PhysicsTestMotionResult3D::get_collider(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, nullptr); + return ObjectDB::get_instance(result.collisions[p_collision_index].collider_id); } -real_t PhysicsTestMotionResult3D::get_collision_unsafe_fraction() const { - return result.collision_unsafe_fraction; +int PhysicsTestMotionResult3D::get_collider_shape(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0); + return result.collisions[p_collision_index].collider_shape; +} + +real_t PhysicsTestMotionResult3D::get_collision_depth(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0.0); + return result.collisions[p_collision_index].depth; +} + +Vector3 PhysicsTestMotionResult3D::get_best_collision_point() const { + return result.collision_count ? get_collision_point() : Vector3(); +} + +Vector3 PhysicsTestMotionResult3D::get_best_collision_normal() const { + return result.collision_count ? get_collision_normal() : Vector3(); +} + +Vector3 PhysicsTestMotionResult3D::get_best_collider_velocity() const { + return result.collision_count ? get_collider_velocity() : Vector3(); +} + +ObjectID PhysicsTestMotionResult3D::get_best_collider_id() const { + return result.collision_count ? get_collider_id() : ObjectID(); +} + +RID PhysicsTestMotionResult3D::get_best_collider_rid() const { + return result.collision_count ? get_collider_rid() : RID(); +} + +Object *PhysicsTestMotionResult3D::get_best_collider() const { + return result.collision_count ? get_collider() : nullptr; +} + +int PhysicsTestMotionResult3D::get_best_collider_shape() const { + return result.collision_count ? get_collider_shape() : 0; +} + +real_t PhysicsTestMotionResult3D::get_best_collision_depth() const { + return result.collision_count ? get_collision_depth() : 0.0; } void PhysicsTestMotionResult3D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_travel"), &PhysicsTestMotionResult3D::get_travel); ClassDB::bind_method(D_METHOD("get_remainder"), &PhysicsTestMotionResult3D::get_remainder); - ClassDB::bind_method(D_METHOD("get_collision_point"), &PhysicsTestMotionResult3D::get_collision_point); - ClassDB::bind_method(D_METHOD("get_collision_normal"), &PhysicsTestMotionResult3D::get_collision_normal); - ClassDB::bind_method(D_METHOD("get_collider_velocity"), &PhysicsTestMotionResult3D::get_collider_velocity); - ClassDB::bind_method(D_METHOD("get_collider_id"), &PhysicsTestMotionResult3D::get_collider_id); - ClassDB::bind_method(D_METHOD("get_collider_rid"), &PhysicsTestMotionResult3D::get_collider_rid); - ClassDB::bind_method(D_METHOD("get_collider"), &PhysicsTestMotionResult3D::get_collider); - ClassDB::bind_method(D_METHOD("get_collider_shape"), &PhysicsTestMotionResult3D::get_collider_shape); - ClassDB::bind_method(D_METHOD("get_collision_depth"), &PhysicsTestMotionResult3D::get_collision_depth); - ClassDB::bind_method(D_METHOD("get_collision_safe_fraction"), &PhysicsTestMotionResult3D::get_collision_safe_fraction); - ClassDB::bind_method(D_METHOD("get_collision_unsafe_fraction"), &PhysicsTestMotionResult3D::get_collision_unsafe_fraction); + ClassDB::bind_method(D_METHOD("get_safe_fraction"), &PhysicsTestMotionResult3D::get_safe_fraction); + ClassDB::bind_method(D_METHOD("get_unsafe_fraction"), &PhysicsTestMotionResult3D::get_unsafe_fraction); + ClassDB::bind_method(D_METHOD("get_collision_count"), &PhysicsTestMotionResult3D::get_collision_count); + ClassDB::bind_method(D_METHOD("get_collision_point", "collision_index"), &PhysicsTestMotionResult3D::get_collision_point, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collision_normal", "collision_index"), &PhysicsTestMotionResult3D::get_collision_normal, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider_velocity", "collision_index"), &PhysicsTestMotionResult3D::get_collider_velocity, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider_id", "collision_index"), &PhysicsTestMotionResult3D::get_collider_id, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider_rid", "collision_index"), &PhysicsTestMotionResult3D::get_collider_rid, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider", "collision_index"), &PhysicsTestMotionResult3D::get_collider, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider_shape", "collision_index"), &PhysicsTestMotionResult3D::get_collider_shape, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collision_depth", "collision_index"), &PhysicsTestMotionResult3D::get_collision_depth, DEFVAL(0)); + + ClassDB::bind_method(D_METHOD("get_best_collision_point"), &PhysicsTestMotionResult3D::get_best_collision_point); + ClassDB::bind_method(D_METHOD("get_best_collision_normal"), &PhysicsTestMotionResult3D::get_best_collision_normal); + ClassDB::bind_method(D_METHOD("get_best_collider_velocity"), &PhysicsTestMotionResult3D::get_best_collider_velocity); + ClassDB::bind_method(D_METHOD("get_best_collider_id"), &PhysicsTestMotionResult3D::get_best_collider_id); + ClassDB::bind_method(D_METHOD("get_best_collider_rid"), &PhysicsTestMotionResult3D::get_best_collider_rid); + ClassDB::bind_method(D_METHOD("get_best_collider"), &PhysicsTestMotionResult3D::get_best_collider); + ClassDB::bind_method(D_METHOD("get_best_collider_shape"), &PhysicsTestMotionResult3D::get_best_collider_shape); + ClassDB::bind_method(D_METHOD("get_best_collision_depth"), &PhysicsTestMotionResult3D::get_best_collision_depth); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "travel"), "", "get_travel"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "remainder"), "", "get_remainder"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collision_point"), "", "get_collision_point"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collision_normal"), "", "get_collision_normal"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collider_velocity"), "", "get_collider_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_id", PROPERTY_HINT_OBJECT_ID), "", "get_collider_id"); - ADD_PROPERTY(PropertyInfo(Variant::RID, "collider_rid"), "", "get_collider_rid"); - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_collider"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape"), "", "get_collider_shape"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_depth"), "", "get_collision_depth"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_safe_fraction"), "", "get_collision_safe_fraction"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_unsafe_fraction"), "", "get_collision_unsafe_fraction"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "safe_fraction"), "", "get_safe_fraction"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "unsafe_fraction"), "", "get_unsafe_fraction"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_count"), "", "get_collision_count"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collision_point"), "", "get_best_collision_point"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collision_normal"), "", "get_best_collision_normal"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collider_velocity"), "", "get_best_collider_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_id", PROPERTY_HINT_OBJECT_ID), "", "get_best_collider_id"); + ADD_PROPERTY(PropertyInfo(Variant::RID, "collider_rid"), "", "get_best_collider_rid"); + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_best_collider"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape"), "", "get_best_collider_shape"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_depth"), "", "get_best_collision_depth"); } /////////////////////////////////////// -bool PhysicsServer3D::_body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, const Ref<PhysicsTestMotionResult3D> &p_result, bool p_collide_separation_ray, const Vector<RID> &p_exclude) { +bool PhysicsServer3D::_body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, const Ref<PhysicsTestMotionResult3D> &p_result, bool p_collide_separation_ray, const Vector<RID> &p_exclude, int p_max_collisions) { MotionResult *r = nullptr; if (p_result.is_valid()) { r = p_result->get_result_ptr(); @@ -449,7 +504,7 @@ bool PhysicsServer3D::_body_test_motion(RID p_body, const Transform3D &p_from, c for (int i = 0; i < p_exclude.size(); i++) { exclude.insert(p_exclude[i]); } - return body_test_motion(p_body, p_from, p_motion, p_margin, r, p_collide_separation_ray, exclude); + return body_test_motion(p_body, p_from, p_motion, p_margin, r, p_max_collisions, p_collide_separation_ray, exclude); } RID PhysicsServer3D::shape_create(ShapeType p_shape) { @@ -607,7 +662,7 @@ void PhysicsServer3D::_bind_methods() { ClassDB::bind_method(D_METHOD("body_set_ray_pickable", "body", "enable"), &PhysicsServer3D::body_set_ray_pickable); - ClassDB::bind_method(D_METHOD("body_test_motion", "body", "from", "motion", "margin", "result", "collide_separation_ray", "exclude"), &PhysicsServer3D::_body_test_motion, DEFVAL(0.001), DEFVAL(Variant()), DEFVAL(false), DEFVAL(Array())); + ClassDB::bind_method(D_METHOD("body_test_motion", "body", "from", "motion", "margin", "result", "collide_separation_ray", "exclude", "max_collisions"), &PhysicsServer3D::_body_test_motion, DEFVAL(0.001), DEFVAL(Variant()), DEFVAL(false), DEFVAL(Array()), DEFVAL(1)); ClassDB::bind_method(D_METHOD("body_get_direct_state", "body"), &PhysicsServer3D::body_get_direct_state); diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h index 590b0929b1..3e34da9561 100644 --- a/servers/physics_server_3d.h +++ b/servers/physics_server_3d.h @@ -210,7 +210,7 @@ class PhysicsServer3D : public Object { static PhysicsServer3D *singleton; - virtual bool _body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, const Ref<PhysicsTestMotionResult3D> &p_result = Ref<PhysicsTestMotionResult3D>(), bool p_collide_separation_ray = false, const Vector<RID> &p_exclude = Vector<RID>()); + virtual bool _body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, const Ref<PhysicsTestMotionResult3D> &p_result = Ref<PhysicsTestMotionResult3D>(), bool p_collide_separation_ray = false, const Vector<RID> &p_exclude = Vector<RID>(), int p_max_collisions = 1); protected: static void _bind_methods(); @@ -484,28 +484,34 @@ public: // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) = 0; - struct MotionResult { - Vector3 travel; - Vector3 remainder; - - Vector3 collision_point; - Vector3 collision_normal; + struct MotionCollision { + Vector3 position; + Vector3 normal; Vector3 collider_velocity; - real_t collision_depth = 0.0; - real_t collision_safe_fraction = 0.0; - real_t collision_unsafe_fraction = 0.0; - int collision_local_shape = 0; + real_t depth = 0.0; + int local_shape = 0; ObjectID collider_id; RID collider; int collider_shape = 0; Variant collider_metadata; real_t get_angle(Vector3 p_up_direction) const { - return Math::acos(collision_normal.dot(p_up_direction)); + return Math::acos(normal.dot(p_up_direction)); } }; - virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) = 0; + struct MotionResult { + Vector3 travel; + Vector3 remainder; + real_t safe_fraction = 0.0; + real_t unsafe_fraction = 0.0; + + static const int MAX_COLLISIONS = 32; + MotionCollision collisions[MAX_COLLISIONS]; + int collision_count = 0; + }; + + virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, int p_max_collisions = 1, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) = 0; /* SOFT BODY */ @@ -770,17 +776,28 @@ public: Vector3 get_travel() const; Vector3 get_remainder() const; - - Vector3 get_collision_point() const; - Vector3 get_collision_normal() const; - Vector3 get_collider_velocity() const; - ObjectID get_collider_id() const; - RID get_collider_rid() const; - Object *get_collider() const; - int get_collider_shape() const; - real_t get_collision_depth() const; - real_t get_collision_safe_fraction() const; - real_t get_collision_unsafe_fraction() const; + real_t get_safe_fraction() const; + real_t get_unsafe_fraction() const; + + int get_collision_count() const; + + Vector3 get_collision_point(int p_collision_index = 0) const; + Vector3 get_collision_normal(int p_collision_index = 0) const; + Vector3 get_collider_velocity(int p_collision_index = 0) const; + ObjectID get_collider_id(int p_collision_index = 0) const; + RID get_collider_rid(int p_collision_index = 0) const; + Object *get_collider(int p_collision_index = 0) const; + int get_collider_shape(int p_collision_index = 0) const; + real_t get_collision_depth(int p_collision_index = 0) const; + + Vector3 get_best_collision_point() const; + Vector3 get_best_collision_normal() const; + Vector3 get_best_collider_velocity() const; + ObjectID get_best_collider_id() const; + RID get_best_collider_rid() const; + Object *get_best_collider() const; + int get_best_collider_shape() const; + real_t get_best_collision_depth() const; }; typedef PhysicsServer3D *(*CreatePhysicsServer3DCallback)(); 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