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Fix and clean disabled shapes handling in godot physics servers

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In 3D, disabled shapes are now not added to the broadphase anymore.
Since they are removed right away when disabled, no need to check for
disabled shapes for any query that comes from the broadphase.
Also Fixes raycast queries returning disabled shapes.

In 2D, disabled shapes where already not added to the broadphase.
Remove the same unnecessary checks as in 3D.

Overall harmonized API for disabled shapes in the physics servers and
removed duplicate method.
This commit is contained in:
PouleyKetchoupp 2021-06-22 16:19:15 -07:00
parent 2827d6be19
commit 10fdd196b7
12 changed files with 76 additions and 86 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

9
servers/physics/area_pair_sw.cpp
View file

@ -33,10 +33,7 @@
bool AreaPairSW::setup(real_t p_step) {
bool result = false;
if (area->is_shape_set_as_disabled(area_shape) || body->is_shape_set_as_disabled(body_shape)) {
result = false;
} else if (area->test_collision_mask(body) && CollisionSolverSW::solve_static(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), nullptr, this)) {
if (area->test_collision_mask(body) && CollisionSolverSW::solve_static(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), nullptr, this)) {
result = true;
}
@ -97,9 +94,7 @@ AreaPairSW::~AreaPairSW() {
bool Area2PairSW::setup(real_t p_step) {
bool result = false;
if (area_a->is_shape_set_as_disabled(shape_a) || area_b->is_shape_set_as_disabled(shape_b)) {
result = false;
} else if (area_a->test_collision_mask(area_b) && CollisionSolverSW::solve_static(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), nullptr, this)) {
if (area_a->test_collision_mask(area_b) && CollisionSolverSW::solve_static(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), nullptr, this)) {
result = true;
}

5
servers/physics/body_pair_sw.cpp
View file

@ -216,11 +216,6 @@ bool BodyPairSW::setup(real_t p_step) {
return false;
}
if (A->is_shape_set_as_disabled(shape_A) || B->is_shape_set_as_disabled(shape_B)) {
collided = false;
return false;
}
offset_B = B->get_transform().get_origin() - A->get_transform().get_origin();
validate_contacts();

42
servers/physics/collision_object_sw.cpp
View file

@ -45,8 +45,6 @@ void CollisionObjectSW::add_shape(ShapeSW *p_shape, const Transform &p_transform
if (!pending_shape_update_list.in_list()) {
PhysicsServerSW::singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
//_update_shapes();
//_shapes_changed();
}
void CollisionObjectSW::set_shape(int p_index, ShapeSW *p_shape) {
@ -58,8 +56,6 @@ void CollisionObjectSW::set_shape(int p_index, ShapeSW *p_shape) {
if (!pending_shape_update_list.in_list()) {
PhysicsServerSW::singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
//_update_shapes();
//_shapes_changed();
}
void CollisionObjectSW::set_shape_transform(int p_index, const Transform &p_transform) {
ERR_FAIL_INDEX(p_index, shapes.size());
@ -69,14 +65,32 @@ void CollisionObjectSW::set_shape_transform(int p_index, const Transform &p_tran
if (!pending_shape_update_list.in_list()) {
PhysicsServerSW::singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
//_update_shapes();
//_shapes_changed();
}
void CollisionObjectSW::set_shape_as_disabled(int p_idx, bool p_enable) {
shapes.write[p_idx].disabled = p_enable;
if (!pending_shape_update_list.in_list()) {
PhysicsServerSW::singleton->pending_shape_update_list.add(&pending_shape_update_list);
void CollisionObjectSW::set_shape_disabled(int p_idx, bool p_disabled) {
ERR_FAIL_INDEX(p_idx, shapes.size());
CollisionObjectSW::Shape &shape = shapes.write[p_idx];
if (shape.disabled == p_disabled) {
return;
}
shape.disabled = p_disabled;
if (!space) {
return;
}
if (p_disabled && shape.bpid != 0) {
space->get_broadphase()->remove(shape.bpid);
shape.bpid = 0;
if (!pending_shape_update_list.in_list()) {
PhysicsServerSW::singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
} else if (!p_disabled && shape.bpid == 0) {
if (!pending_shape_update_list.in_list()) {
PhysicsServerSW::singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
}
}
@ -107,8 +121,6 @@ void CollisionObjectSW::remove_shape(int p_index) {
if (!pending_shape_update_list.in_list()) {
PhysicsServerSW::singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
//_update_shapes();
//_shapes_changed();
}
void CollisionObjectSW::_set_static(bool p_static) {
@ -145,6 +157,9 @@ void CollisionObjectSW::_update_shapes() {
for (int i = 0; i < shapes.size(); i++) {
Shape &s = shapes.write[i];
if (s.disabled) {
continue;
}
//not quite correct, should compute the next matrix..
AABB shape_aabb = s.shape->get_aabb();
@ -172,6 +187,9 @@ void CollisionObjectSW::_update_shapes_with_motion(const Vector3 &p_motion) {
for (int i = 0; i < shapes.size(); i++) {
Shape &s = shapes.write[i];
if (s.disabled) {
continue;
}
//not quite correct, should compute the next matrix..
AABB shape_aabb = s.shape->get_aabb();

31
servers/physics/collision_object_sw.h
View file

@ -119,15 +119,26 @@ public:
void set_shape(int p_index, ShapeSW *p_shape);
void set_shape_transform(int p_index, const Transform &p_transform);
_FORCE_INLINE_ int get_shape_count() const { return shapes.size(); }
_FORCE_INLINE_ bool is_shape_disabled(int p_index) const {
_FORCE_INLINE_ ShapeSW *get_shape(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].disabled;
return shapes[p_index].shape;
}
_FORCE_INLINE_ const Transform &get_shape_transform(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].xform;
}
_FORCE_INLINE_ const Transform &get_shape_inv_transform(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].xform_inv;
}
_FORCE_INLINE_ const AABB &get_shape_aabb(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].aabb_cache;
}
_FORCE_INLINE_ real_t get_shape_area(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].area_cache;
}
_FORCE_INLINE_ ShapeSW *get_shape(int p_index) const { return shapes[p_index].shape; }
_FORCE_INLINE_ const Transform &get_shape_transform(int p_index) const { return shapes[p_index].xform; }
_FORCE_INLINE_ const Transform &get_shape_inv_transform(int p_index) const { return shapes[p_index].xform_inv; }
_FORCE_INLINE_ const AABB &get_shape_aabb(int p_index) const { return shapes[p_index].aabb_cache; }
_FORCE_INLINE_ real_t get_shape_area(int p_index) const { return shapes[p_index].area_cache; }
_FORCE_INLINE_ Transform get_transform() const { return transform; }
_FORCE_INLINE_ Transform get_inv_transform() const { return inv_transform; }
@ -136,9 +147,9 @@ public:
_FORCE_INLINE_ void set_ray_pickable(bool p_enable) { ray_pickable = p_enable; }
_FORCE_INLINE_ bool is_ray_pickable() const { return ray_pickable; }
void set_shape_as_disabled(int p_idx, bool p_enable);
_FORCE_INLINE_ bool is_shape_set_as_disabled(int p_idx) const {
CRASH_BAD_INDEX(p_idx, shapes.size());
void set_shape_disabled(int p_idx, bool p_disabled);
_FORCE_INLINE_ bool is_shape_disabled(int p_idx) const {
ERR_FAIL_INDEX_V(p_idx, shapes.size(), false);
return shapes[p_idx].disabled;
}

4
servers/physics/physics_server_sw.cpp
View file

@ -320,7 +320,7 @@ void PhysicsServerSW::area_set_shape_disabled(RID p_area, int p_shape_idx, bool
ERR_FAIL_COND(!area);
ERR_FAIL_INDEX(p_shape_idx, area->get_shape_count());
FLUSH_QUERY_CHECK(area);
area->set_shape_as_disabled(p_shape_idx, p_disabled);
area->set_shape_disabled(p_shape_idx, p_disabled);
}
void PhysicsServerSW::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
@ -533,7 +533,7 @@ void PhysicsServerSW::body_set_shape_disabled(RID p_body, int p_shape_idx, bool
ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
FLUSH_QUERY_CHECK(body);
body->set_shape_as_disabled(p_shape_idx, p_disabled);
body->set_shape_disabled(p_shape_idx, p_disabled);
}
Transform PhysicsServerSW::body_get_shape_transform(RID p_body, int p_shape_idx) const {

16
servers/physics/space_sw.cpp
View file

@ -485,7 +485,7 @@ Vector3 PhysicsDirectSpaceStateSW::get_closest_point_to_object_volume(RID p_obje
bool shapes_found = false;
for (int i = 0; i < obj->get_shape_count(); i++) {
if (obj->is_shape_set_as_disabled(i)) {
if (obj->is_shape_disabled(i)) {
continue;
}
@ -530,8 +530,6 @@ int SpaceSW::_cull_aabb_for_body(BodySW *p_body, const AABB &p_aabb) {
keep = false;
} else if (static_cast<BodySW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
keep = false;
} else if (static_cast<BodySW *>(intersection_query_results[i])->is_shape_set_as_disabled(intersection_query_subindex_results[i])) {
keep = false;
}
if (!keep) {
@ -554,7 +552,7 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
if (p_body->is_shape_set_as_disabled(i)) {
if (p_body->is_shape_disabled(i)) {
continue;
}
@ -601,7 +599,7 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
int amount = _cull_aabb_for_body(p_body, body_aabb);
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j)) {
if (p_body->is_shape_disabled(j)) {
continue;
}
@ -716,7 +714,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
if (p_body->is_shape_set_as_disabled(i)) {
if (p_body->is_shape_disabled(i)) {
continue;
}
@ -769,7 +767,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
int amount = _cull_aabb_for_body(p_body, body_aabb);
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j)) {
if (p_body->is_shape_disabled(j)) {
continue;
}
@ -847,7 +845,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
int amount = _cull_aabb_for_body(p_body, motion_aabb);
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j)) {
if (p_body->is_shape_disabled(j)) {
continue;
}
@ -966,7 +964,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count();
for (int j = from_shape; j < to_shape; j++) {
if (p_body->is_shape_set_as_disabled(j)) {
if (p_body->is_shape_disabled(j)) {
continue;
}

9
servers/physics_2d/area_pair_2d_sw.cpp
View file

@ -33,10 +33,7 @@
bool AreaPair2DSW::setup(real_t p_step) {
bool result = false;
if (area->is_shape_set_as_disabled(area_shape) || body->is_shape_set_as_disabled(body_shape)) {
result = false;
} else if (area->test_collision_mask(body) && CollisionSolver2DSW::solve(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), Vector2(), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), Vector2(), nullptr, this)) {
if (area->test_collision_mask(body) && CollisionSolver2DSW::solve(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), Vector2(), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), Vector2(), nullptr, this)) {
result = true;
}
@ -97,9 +94,7 @@ AreaPair2DSW::~AreaPair2DSW() {
bool Area2Pair2DSW::setup(real_t p_step) {
bool result = false;
if (area_a->is_shape_set_as_disabled(shape_a) || area_b->is_shape_set_as_disabled(shape_b)) {
result = false;
} else if (area_a->test_collision_mask(area_b) && CollisionSolver2DSW::solve(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), Vector2(), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), Vector2(), nullptr, this)) {
if (area_a->test_collision_mask(area_b) && CollisionSolver2DSW::solve(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), Vector2(), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), Vector2(), nullptr, this)) {
result = true;
}

5
servers/physics_2d/body_pair_2d_sw.cpp
View file

@ -226,11 +226,6 @@ bool BodyPair2DSW::setup(real_t p_step) {
return false;
}
if (A->is_shape_set_as_disabled(shape_A) || B->is_shape_set_as_disabled(shape_B)) {
collided = false;
return false;
}
//use local A coordinates to avoid numerical issues on collision detection
offset_B = B->get_transform().get_origin() - A->get_transform().get_origin();

13
servers/physics_2d/collision_object_2d_sw.cpp
View file

@ -47,8 +47,6 @@ void CollisionObject2DSW::add_shape(Shape2DSW *p_shape, const Transform2D &p_tra
if (!pending_shape_update_list.in_list()) {
Physics2DServerSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
// _update_shapes();
// _shapes_changed();
}
void CollisionObject2DSW::set_shape(int p_index, Shape2DSW *p_shape) {
@ -61,8 +59,6 @@ void CollisionObject2DSW::set_shape(int p_index, Shape2DSW *p_shape) {
if (!pending_shape_update_list.in_list()) {
Physics2DServerSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
// _update_shapes();
// _shapes_changed();
}
void CollisionObject2DSW::set_shape_metadata(int p_index, const Variant &p_metadata) {
@ -79,11 +75,9 @@ void CollisionObject2DSW::set_shape_transform(int p_index, const Transform2D &p_
if (!pending_shape_update_list.in_list()) {
Physics2DServerSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
// _update_shapes();
// _shapes_changed();
}
void CollisionObject2DSW::set_shape_as_disabled(int p_idx, bool p_disabled) {
void CollisionObject2DSW::set_shape_disabled(int p_idx, bool p_disabled) {
ERR_FAIL_INDEX(p_idx, shapes.size());
CollisionObject2DSW::Shape &shape = shapes.write[p_idx];
@ -103,12 +97,10 @@ void CollisionObject2DSW::set_shape_as_disabled(int p_idx, bool p_disabled) {
if (!pending_shape_update_list.in_list()) {
Physics2DServerSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
//_update_shapes();
} else if (!p_disabled && shape.bpid == 0) {
if (!pending_shape_update_list.in_list()) {
Physics2DServerSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
//_update_shapes(); // automatically adds shape with bpid == 0
}
}
@ -139,8 +131,6 @@ void CollisionObject2DSW::remove_shape(int p_index) {
if (!pending_shape_update_list.in_list()) {
Physics2DServerSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
// _update_shapes();
// _shapes_changed();
}
void CollisionObject2DSW::_set_static(bool p_static) {
@ -177,7 +167,6 @@ void CollisionObject2DSW::_update_shapes() {
for (int i = 0; i < shapes.size(); i++) {
Shape &s = shapes.write[i];
if (s.disabled) {
continue;
}

10
servers/physics_2d/collision_object_2d_sw.h
View file

@ -118,10 +118,6 @@ public:
void set_shape_metadata(int p_index, const Variant &p_metadata);
_FORCE_INLINE_ int get_shape_count() const { return shapes.size(); }
_FORCE_INLINE_ bool is_shape_disabled(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].disabled;
}
_FORCE_INLINE_ Shape2DSW *get_shape(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].shape;
@ -147,9 +143,9 @@ public:
_FORCE_INLINE_ Transform2D get_inv_transform() const { return inv_transform; }
_FORCE_INLINE_ Space2DSW *get_space() const { return space; }
void set_shape_as_disabled(int p_idx, bool p_disabled);
_FORCE_INLINE_ bool is_shape_set_as_disabled(int p_idx) const {
CRASH_BAD_INDEX(p_idx, shapes.size());
void set_shape_disabled(int p_idx, bool p_disabled);
_FORCE_INLINE_ bool is_shape_disabled(int p_idx) const {
ERR_FAIL_INDEX_V(p_idx, shapes.size(), false);
return shapes[p_idx].disabled;
}

4
servers/physics_2d/physics_2d_server_sw.cpp
View file

@ -361,7 +361,7 @@ void Physics2DServerSW::area_set_shape_disabled(RID p_area, int p_shape, bool p_
ERR_FAIL_INDEX(p_shape, area->get_shape_count());
FLUSH_QUERY_CHECK(area);
area->set_shape_as_disabled(p_shape, p_disabled);
area->set_shape_disabled(p_shape, p_disabled);
}
int Physics2DServerSW::area_get_shape_count(RID p_area) const {
@ -651,7 +651,7 @@ void Physics2DServerSW::body_set_shape_disabled(RID p_body, int p_shape_idx, boo
ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
FLUSH_QUERY_CHECK(body);
body->set_shape_as_disabled(p_shape_idx, p_disabled);
body->set_shape_disabled(p_shape_idx, p_disabled);
}
void Physics2DServerSW::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, float p_margin) {
Body2DSW *body = body_owner.get(p_body);

14
servers/physics_2d/space_2d_sw.cpp
View file

@ -494,8 +494,6 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
keep = false;
} else if (static_cast<Body2DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
keep = false;
} else if (static_cast<Body2DSW *>(intersection_query_results[i])->is_shape_set_as_disabled(intersection_query_subindex_results[i])) {
keep = false;
}
if (!keep) {
@ -518,7 +516,7 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
if (p_body->is_shape_set_as_disabled(i)) {
if (p_body->is_shape_disabled(i)) {
continue;
}
@ -570,7 +568,7 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
int amount = _cull_aabb_for_body(p_body, body_aabb);
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j)) {
if (p_body->is_shape_disabled(j)) {
continue;
}
@ -711,7 +709,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
if (p_body->is_shape_set_as_disabled(i)) {
if (p_body->is_shape_disabled(i)) {
continue;
}
@ -774,7 +772,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
int amount = _cull_aabb_for_body(p_body, body_aabb);
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j)) {
if (p_body->is_shape_disabled(j)) {
continue;
}
@ -897,7 +895,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
int amount = _cull_aabb_for_body(p_body, motion_aabb);
for (int body_shape_idx = 0; body_shape_idx < p_body->get_shape_count(); body_shape_idx++) {
if (p_body->is_shape_set_as_disabled(body_shape_idx)) {
if (p_body->is_shape_disabled(body_shape_idx)) {
continue;
}
@ -1039,7 +1037,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count();
for (int j = from_shape; j < to_shape; j++) {
if (p_body->is_shape_set_as_disabled(j)) {
if (p_body->is_shape_disabled(j)) {
continue;
}