From b31115cdc1c635e0e33f7a1e053dc2d944bcf521 Mon Sep 17 00:00:00 2001 From: Silc Renew Date: Thu, 11 Aug 2022 01:45:36 +0900 Subject: Add collision weight to PhysicsBody for penetrations must be avoided Co-authored-by: Juan Linietsky --- servers/physics_3d/godot_collision_object_3d.h | 8 ++++++++ servers/physics_3d/godot_physics_server_3d.cpp | 14 ++++++++++++++ servers/physics_3d/godot_physics_server_3d.h | 3 +++ servers/physics_3d/godot_space_3d.cpp | 14 +++++++++++++- 4 files changed, 38 insertions(+), 1 deletion(-) (limited to 'servers/physics_3d') diff --git a/servers/physics_3d/godot_collision_object_3d.h b/servers/physics_3d/godot_collision_object_3d.h index 0f09f21962..2d342f65f3 100644 --- a/servers/physics_3d/godot_collision_object_3d.h +++ b/servers/physics_3d/godot_collision_object_3d.h @@ -59,6 +59,7 @@ private: ObjectID instance_id; uint32_t collision_layer = 1; uint32_t collision_mask = 1; + real_t collision_priority = 1.0; struct Shape { Transform3D xform; @@ -165,6 +166,13 @@ public: } _FORCE_INLINE_ uint32_t get_collision_mask() const { return collision_mask; } + _FORCE_INLINE_ void set_collision_priority(real_t p_priority) { + ERR_FAIL_COND_MSG(p_priority <= 0, "Priority must be greater than 0."); + collision_priority = p_priority; + _shape_changed(); + } + _FORCE_INLINE_ real_t get_collision_priority() const { return collision_priority; } + _FORCE_INLINE_ bool collides_with(GodotCollisionObject3D *p_other) const { return p_other->collision_layer & collision_mask; } diff --git a/servers/physics_3d/godot_physics_server_3d.cpp b/servers/physics_3d/godot_physics_server_3d.cpp index b735283ebe..9c1535f561 100644 --- a/servers/physics_3d/godot_physics_server_3d.cpp +++ b/servers/physics_3d/godot_physics_server_3d.cpp @@ -593,6 +593,20 @@ uint32_t GodotPhysicsServer3D::body_get_collision_mask(RID p_body) const { return body->get_collision_mask(); } +void GodotPhysicsServer3D::body_set_collision_priority(RID p_body, real_t p_priority) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_collision_priority(p_priority); +} + +real_t GodotPhysicsServer3D::body_get_collision_priority(RID p_body) const { + const GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_priority(); +} + void GodotPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) { GodotBody3D *body = body_owner.get_or_null(p_body); if (body) { diff --git a/servers/physics_3d/godot_physics_server_3d.h b/servers/physics_3d/godot_physics_server_3d.h index 1d57451925..b429f23a0c 100644 --- a/servers/physics_3d/godot_physics_server_3d.h +++ b/servers/physics_3d/godot_physics_server_3d.h @@ -192,6 +192,9 @@ public: virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) override; virtual uint32_t body_get_collision_mask(RID p_body) const override; + virtual void body_set_collision_priority(RID p_body, real_t p_priority) override; + virtual real_t body_get_collision_priority(RID p_body) const override; + virtual void body_set_user_flags(RID p_body, uint32_t p_flags) override; virtual uint32_t body_get_user_flags(RID p_body) const override; diff --git a/servers/physics_3d/godot_space_3d.cpp b/servers/physics_3d/godot_space_3d.cpp index 13e9a89b2e..074232dd66 100644 --- a/servers/physics_3d/godot_space_3d.cpp +++ b/servers/physics_3d/godot_space_3d.cpp @@ -701,6 +701,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D:: const int max_results = 32; int recover_attempts = 4; Vector3 sr[max_results * 2]; + real_t priorities[max_results]; do { GodotPhysicsServer3D::CollCbkData cbk; @@ -710,6 +711,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D:: GodotPhysicsServer3D::CollCbkData *cbkptr = &cbk; GodotCollisionSolver3D::CallbackResult cbkres = GodotPhysicsServer3D::_shape_col_cbk; + int priority_amount = 0; bool collided = false; @@ -737,6 +739,10 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D:: if (GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, margin)) { collided = cbk.amount > 0; } + while (cbk.amount > priority_amount) { + priorities[priority_amount] = col_obj->get_collision_priority(); + priority_amount++; + } } } @@ -744,6 +750,12 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D:: break; } + real_t inv_total_weight = 0.0; + for (int i = 0; i < cbk.amount; i++) { + inv_total_weight += priorities[i]; + } + inv_total_weight = Math::is_zero_approx(inv_total_weight) ? 1.0 : (real_t)cbk.amount / inv_total_weight; + recovered = true; Vector3 recover_motion; @@ -759,7 +771,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D:: real_t depth = n.dot(a + recover_motion) - d; if (depth > min_contact_depth + CMP_EPSILON) { // Only recover if there is penetration. - recover_motion -= n * (depth - min_contact_depth) * 0.4; + recover_motion -= n * (depth - min_contact_depth) * 0.4 * priorities[i] * inv_total_weight; } } -- cgit v1.2.3