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Handle test body motion with 0 margin

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Margin needs to have a high enough value for test body motion to work
properly (separate using the margin, move without then gather rest info
with the margin again).

Fixes issues with test motion returning no collision in some cases with
margin equal to 0.
This commit is contained in:
PouleyKetchoupp 2021-12-09 10:52:27 -07:00
parent f1e3c87244
commit 0c354047e1
2 changed files with 27 additions and 16 deletions
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24
servers/physics_2d/godot_space_2d.cpp
View file

@ -36,6 +36,7 @@
#include "core/os/os.h"
#include "core/templates/pair.h"
#define TEST_MOTION_MARGIN_MIN_VALUE 0.0001
#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05
_FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject2D *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
@ -439,9 +440,11 @@ bool GodotPhysicsDirectSpaceState2D::rest_info(const ShapeParameters &p_paramete
GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid);
ERR_FAIL_COND_V(!shape, 0);
real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE);
Rect2 aabb = p_parameters.transform.xform(shape->get_aabb());
aabb = aabb.merge(Rect2(aabb.position + p_parameters.motion, aabb.size)); //motion
aabb = aabb.grow(p_parameters.margin);
aabb = aabb.grow(margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
@ -449,7 +452,7 @@ bool GodotPhysicsDirectSpaceState2D::rest_info(const ShapeParameters &p_paramete
// Allowed depth can't be lower than motion length, in order to handle contacts at low speed.
real_t motion_length = p_parameters.motion.length();
real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
rcd.min_allowed_depth = MIN(motion_length, min_contact_depth);
for (int i = 0; i < amount; i++) {
@ -469,7 +472,7 @@ bool GodotPhysicsDirectSpaceState2D::rest_info(const ShapeParameters &p_paramete
rcd.object = col_obj;
rcd.shape = shape_idx;
rcd.local_shape = 0;
bool sc = GodotCollisionSolver2D::solve(shape, p_parameters.transform, p_parameters.motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
bool sc = GodotCollisionSolver2D::solve(shape, p_parameters.transform, p_parameters.motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, nullptr, margin);
if (!sc) {
continue;
}
@ -540,6 +543,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
r_result->collider_id = ObjectID();
r_result->collider_shape = 0;
}
Rect2 body_aabb;
bool shapes_found = false;
@ -565,15 +569,17 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
return false;
}
real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE);
// Undo the currently transform the physics server is aware of and apply the provided one
body_aabb = p_parameters.from.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb = body_aabb.grow(p_parameters.margin);
body_aabb = body_aabb.grow(margin);
static const int max_excluded_shape_pairs = 32;
ExcludedShapeSW excluded_shape_pairs[max_excluded_shape_pairs];
int excluded_shape_pair_count = 0;
real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
real_t motion_length = p_parameters.motion.length();
Vector2 motion_normal = p_parameters.motion / motion_length;
@ -630,7 +636,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
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);
cbk.valid_depth = MAX(owc_margin, p_parameters.margin); //user specified, but never less than actual margin or it won't work
cbk.valid_depth = MAX(owc_margin, margin); //user specified, but never less than actual margin or it won't work
cbk.invalid_by_dir = 0;
if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) {
@ -655,7 +661,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
bool did_collide = false;
GodotShape2D *against_shape = col_obj->get_shape(shape_idx);
if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_parameters.margin)) {
if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, margin)) {
did_collide = cbk.passed > current_passed; //more passed, so collision actually existed
}
@ -927,7 +933,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
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);
rcd.valid_depth = MAX(owc_margin, p_parameters.margin); //user specified, but never less than actual margin or it won't work
rcd.valid_depth = MAX(owc_margin, margin); //user specified, but never less than actual margin or it won't work
if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) {
const GodotBody2D *b = static_cast<const GodotBody2D *>(col_obj);
@ -949,7 +955,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
rcd.object = col_obj;
rcd.shape = shape_idx;
rcd.local_shape = j;
bool sc = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
bool sc = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, margin);
if (!sc) {
continue;
}

19
servers/physics_3d/godot_space_3d.cpp
View file

@ -35,6 +35,7 @@
#include "core/config/project_settings.h"
#define TEST_MOTION_MARGIN_MIN_VALUE 0.0001
#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05
_FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject3D *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
@ -507,8 +508,10 @@ bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_paramete
GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid);
ERR_FAIL_COND_V(!shape, 0);
real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE);
AABB aabb = p_parameters.transform.xform(shape->get_aabb());
aabb = aabb.grow(p_parameters.margin);
aabb = aabb.grow(margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
@ -516,7 +519,7 @@ bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_paramete
// Allowed depth can't be lower than motion length, in order to handle contacts at low speed.
real_t motion_length = p_parameters.motion.length();
real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
rcd.min_allowed_depth = MIN(motion_length, min_contact_depth);
for (int i = 0; i < amount; i++) {
@ -534,7 +537,7 @@ bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_paramete
rcd.object = col_obj;
rcd.shape = shape_idx;
bool sc = GodotCollisionSolver3D::solve_static(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
bool sc = GodotCollisionSolver3D::solve_static(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, margin);
if (!sc) {
continue;
}
@ -677,11 +680,13 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
return false;
}
real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE);
// Undo the currently transform the physics server is aware of and apply the provided one
body_aabb = p_parameters.from.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb = body_aabb.grow(p_parameters.margin);
body_aabb = body_aabb.grow(margin);
real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
real_t motion_length = p_parameters.motion.length();
Vector3 motion_normal = p_parameters.motion / motion_length;
@ -729,7 +734,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
int shape_idx = intersection_query_subindex_results[i];
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, p_parameters.margin)) {
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;
}
}
@ -949,7 +954,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
rcd.object = col_obj;
rcd.shape = shape_idx;
bool sc = 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), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
bool sc = 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), _rest_cbk_result, &rcd, nullptr, margin);
if (!sc) {
continue;
}