diff options
Diffstat (limited to 'servers')
| -rw-r--r-- | servers/physics_2d/body_pair_2d_sw.cpp | 43 | ||||
| -rw-r--r-- | servers/physics_3d/body_pair_3d_sw.cpp | 20 |
2 files changed, 39 insertions, 24 deletions
diff --git a/servers/physics_2d/body_pair_2d_sw.cpp b/servers/physics_2d/body_pair_2d_sw.cpp index feced36a2b..da70ac7d4b 100644 --- a/servers/physics_2d/body_pair_2d_sw.cpp +++ b/servers/physics_2d/body_pair_2d_sw.cpp @@ -221,11 +221,21 @@ real_t combine_friction(Body2DSW *A, Body2DSW *B) { bool BodyPair2DSW::setup(real_t p_step) { //cannot collide - if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC && A->get_max_contacts_reported() == 0 && B->get_max_contacts_reported() == 0)) { + if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) { collided = false; return false; } + bool report_contacts_only = false; + if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) { + if ((A->get_max_contacts_reported() > 0) || (B->get_max_contacts_reported() > 0)) { + report_contacts_only = true; + } else { + collided = false; + return false; + } + } + if (A->is_shape_set_as_disabled(shape_A) || B->is_shape_set_as_disabled(shape_B)) { collided = false; return false; @@ -350,51 +360,44 @@ bool BodyPair2DSW::setup(real_t p_step) { for (int i = 0; i < contact_count; i++) { Contact &c = contacts[i]; + c.active = false; + Vector2 global_A = xform_Au.xform(c.local_A); Vector2 global_B = xform_Bu.xform(c.local_B); real_t depth = c.normal.dot(global_A - global_B); if (depth <= 0 || !c.reused) { - c.active = false; continue; } - c.active = true; #ifdef DEBUG_ENABLED if (space->is_debugging_contacts()) { space->add_debug_contact(global_A + offset_A); space->add_debug_contact(global_B + offset_A); } #endif - int gather_A = A->can_report_contacts(); - int gather_B = B->can_report_contacts(); c.rA = global_A; c.rB = global_B - offset_B; - if (gather_A | gather_B) { - //Vector2 crB( -B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x ); - - global_A += offset_A; - global_B += offset_A; + if (A->can_report_contacts()) { + Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x); + A->add_contact(global_A + offset_A, -c.normal, depth, shape_A, global_B + offset_A, shape_B, B->get_instance_id(), B->get_self(), crB + B->get_linear_velocity()); + } - if (gather_A) { - Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x); - A->add_contact(global_A, -c.normal, depth, shape_A, global_B, shape_B, B->get_instance_id(), B->get_self(), crB + B->get_linear_velocity()); - } - if (gather_B) { - Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x); - B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crA + A->get_linear_velocity()); - } + if (B->can_report_contacts()) { + Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x); + B->add_contact(global_B + offset_A, c.normal, depth, shape_B, global_A + offset_A, shape_A, A->get_instance_id(), A->get_self(), crA + A->get_linear_velocity()); } - if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) { - c.active = false; + if (report_contacts_only) { collided = false; continue; } + c.active = true; + // Precompute normal mass, tangent mass, and bias. real_t rnA = c.rA.dot(c.normal); real_t rnB = c.rB.dot(c.normal); diff --git a/servers/physics_3d/body_pair_3d_sw.cpp b/servers/physics_3d/body_pair_3d_sw.cpp index 6012ff1522..0703007736 100644 --- a/servers/physics_3d/body_pair_3d_sw.cpp +++ b/servers/physics_3d/body_pair_3d_sw.cpp @@ -211,11 +211,21 @@ real_t combine_friction(Body3DSW *A, Body3DSW *B) { bool BodyPair3DSW::setup(real_t p_step) { //cannot collide - if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC && A->get_max_contacts_reported() == 0 && B->get_max_contacts_reported() == 0)) { + if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) { collided = false; return false; } + bool report_contacts_only = false; + if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) { + if ((A->get_max_contacts_reported() > 0) || (B->get_max_contacts_reported() > 0)) { + report_contacts_only = true; + } else { + collided = false; + return false; + } + } + if (A->is_shape_set_as_disabled(shape_A) || B->is_shape_set_as_disabled(shape_B)) { collided = false; return false; @@ -279,12 +289,9 @@ bool BodyPair3DSW::setup(real_t p_step) { real_t depth = c.normal.dot(global_A - global_B); if (depth <= 0) { - c.active = false; continue; } - c.active = true; - #ifdef DEBUG_ENABLED if (space->is_debugging_contacts()) { @@ -308,6 +315,11 @@ bool BodyPair3DSW::setup(real_t p_step) { B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crB); } + if (report_contacts_only) { + collided = false; + continue; + } + c.active = true; // Precompute normal mass, tangent mass, and bias. |