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-rw-r--r--servers/physics_2d/space_2d_sw.cpp63
-rw-r--r--servers/physics_3d/space_3d_sw.cpp77
2 files changed, 99 insertions, 41 deletions
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 4b123b2d46..cbde7144b7 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -283,22 +283,38 @@ bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transfor
continue;
}
- //just do kinematic solving
- real_t low = 0;
- real_t hi = 1;
Vector2 mnormal = p_motion.normalized();
+ //just do kinematic solving
+ real_t low = 0.0;
+ real_t hi = 1.0;
+ real_t fraction_coeff = 0.5;
for (int j = 0; j < 8; j++) { //steps should be customizable..
-
- real_t ofs = (low + hi) * 0.5;
+ real_t fraction = low + (hi - low) * fraction_coeff;
Vector2 sep = mnormal; //important optimization for this to work fast enough
- bool collided = CollisionSolver2DSW::solve(shape, p_xform, p_motion * ofs, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_margin);
+ bool collided = CollisionSolver2DSW::solve(shape, p_xform, p_motion * fraction, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_margin);
if (collided) {
- hi = ofs;
+ hi = fraction;
+ if ((j == 0) || (low > 0.0)) { // Did it not collide before?
+ // When alternating or first iteration, use dichotomy.
+ fraction_coeff = 0.5;
+ } else {
+ // When colliding again, converge faster towards low fraction
+ // for more accurate results with long motions that collide near the start.
+ fraction_coeff = 0.25;
+ }
} else {
- low = ofs;
+ low = fraction;
+ if ((j == 0) || (hi < 1.0)) { // Did it collide before?
+ // When alternating or first iteration, use dichotomy.
+ fraction_coeff = 0.5;
+ } else {
+ // When not colliding again, converge faster towards high fraction
+ // for more accurate results with long motions that collide near the end.
+ fraction_coeff = 0.75;
+ }
}
}
@@ -957,20 +973,35 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}
//just do kinematic solving
- real_t low = 0;
- real_t hi = 1;
-
+ real_t low = 0.0;
+ real_t hi = 1.0;
+ real_t fraction_coeff = 0.5;
for (int k = 0; k < 8; k++) { //steps should be customizable..
-
- real_t ofs = (low + hi) * 0.5;
+ real_t fraction = low + (hi - low) * fraction_coeff;
Vector2 sep = motion_normal; //important optimization for this to work fast enough
- bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * ofs, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0);
+ bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * fraction, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0);
if (collided) {
- hi = ofs;
+ hi = fraction;
+ if ((k == 0) || (low > 0.0)) { // Did it not collide before?
+ // When alternating or first iteration, use dichotomy.
+ fraction_coeff = 0.5;
+ } else {
+ // When colliding again, converge faster towards low fraction
+ // for more accurate results with long motions that collide near the start.
+ fraction_coeff = 0.25;
+ }
} else {
- low = ofs;
+ low = fraction;
+ if ((k == 0) || (hi < 1.0)) { // Did it collide before?
+ // When alternating or first iteration, use dichotomy.
+ fraction_coeff = 0.5;
+ } else {
+ // When not colliding again, converge faster towards high fraction
+ // for more accurate results with long motions that collide near the end.
+ fraction_coeff = 0.75;
+ }
}
}
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index eff480396d..cdae744ead 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -255,6 +255,8 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
bool best_first = true;
+ Vector3 motion_normal = p_motion.normalized();
+
Vector3 closest_A, closest_B;
for (int i = 0; i < amount; i++) {
@@ -270,7 +272,7 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
int shape_idx = space->intersection_query_subindex_results[i];
Vector3 point_A, point_B;
- Vector3 sep_axis = p_motion.normalized();
+ Vector3 sep_axis = motion_normal;
Transform3D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
//test initial overlap, does it collide if going all the way?
@@ -279,35 +281,47 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
}
//test initial overlap, ignore objects it's inside of.
- sep_axis = p_motion.normalized();
+ sep_axis = motion_normal;
if (!CollisionSolver3DSW::solve_distance(shape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
continue;
}
//just do kinematic solving
- real_t low = 0;
- real_t hi = 1;
- Vector3 mnormal = p_motion.normalized();
-
+ real_t low = 0.0;
+ real_t hi = 1.0;
+ real_t fraction_coeff = 0.5;
for (int j = 0; j < 8; j++) { //steps should be customizable..
+ real_t fraction = low + (hi - low) * fraction_coeff;
- real_t ofs = (low + hi) * 0.5;
-
- Vector3 sep = mnormal; //important optimization for this to work fast enough
-
- mshape.motion = xform_inv.basis.xform(p_motion * ofs);
+ mshape.motion = xform_inv.basis.xform(p_motion * fraction);
Vector3 lA, lB;
-
+ Vector3 sep = motion_normal; //important optimization for this to work fast enough
bool collided = !CollisionSolver3DSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep);
if (collided) {
- hi = ofs;
+ hi = fraction;
+ if ((j == 0) || (low > 0.0)) { // Did it not collide before?
+ // When alternating or first iteration, use dichotomy.
+ fraction_coeff = 0.5;
+ } else {
+ // When colliding again, converge faster towards low fraction
+ // for more accurate results with long motions that collide near the start.
+ fraction_coeff = 0.25;
+ }
} else {
point_A = lA;
point_B = lB;
- low = ofs;
+ low = fraction;
+ if ((j == 0) || (hi < 1.0)) { // Did it collide before?
+ // When alternating or first iteration, use dichotomy.
+ fraction_coeff = 0.5;
+ } else {
+ // When not colliding again, converge faster towards high fraction
+ // for more accurate results with long motions that collide near the end.
+ fraction_coeff = 0.75;
+ }
}
}
@@ -902,27 +916,40 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
}
//just do kinematic solving
- real_t low = 0;
- real_t hi = 1;
-
+ real_t low = 0.0;
+ real_t hi = 1.0;
+ real_t fraction_coeff = 0.5;
for (int k = 0; k < 8; k++) { //steps should be customizable..
+ real_t fraction = low + (hi - low) * fraction_coeff;
- real_t ofs = (low + hi) * 0.5;
-
- Vector3 sep = motion_normal; //important optimization for this to work fast enough
-
- mshape.motion = body_shape_xform_inv.basis.xform(p_motion * ofs);
+ mshape.motion = body_shape_xform_inv.basis.xform(p_motion * fraction);
Vector3 lA, lB;
-
+ Vector3 sep = motion_normal; //important optimization for this to work fast enough
bool collided = !CollisionSolver3DSW::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, motion_aabb, &sep);
if (collided) {
- hi = ofs;
+ hi = fraction;
+ if ((k == 0) || (low > 0.0)) { // Did it not collide before?
+ // When alternating or first iteration, use dichotomy.
+ fraction_coeff = 0.5;
+ } else {
+ // When colliding again, converge faster towards low fraction
+ // for more accurate results with long motions that collide near the start.
+ fraction_coeff = 0.25;
+ }
} else {
point_A = lA;
point_B = lB;
- low = ofs;
+ low = fraction;
+ if ((k == 0) || (hi < 1.0)) { // Did it collide before?
+ // When alternating or first iteration, use dichotomy.
+ fraction_coeff = 0.5;
+ } else {
+ // When not colliding again, converge faster towards high fraction
+ // for more accurate results with long motions that collide near the end.
+ fraction_coeff = 0.75;
+ }
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-01 22:32:03 +0000