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Remove infinite inertia and ray shapes from CharacterBody

Browse source 
Infinite inertia:
Not needed anymore, since it's now possible to set one-directional
collision layers in order for characters to ignore rigid bodies, while
rigid bodies still collide with characters.

Ray shapes:
They were introduced as a work around to allow constant speed on slopes,
which is now possible with the new property in CharacterBody instead.
This commit is contained in:
PouleyKetchoupp 2021-08-10 11:48:19 -07:00
parent ac1dab5062
commit 4da3a87f7d
46 changed files with 220 additions and 1634 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

3
doc/classes/CharacterBody2D.xml
View file

@ -122,9 +122,6 @@
Sets a snapping distance. When set to a value different from [code]0.0[/code], the body is kept attached to slopes when calling [method move_and_slide]. The snapping vector is determined by the given distance along the opposite direction of the [member up_direction].
As long as the snapping vector is in contact with the ground and the body moves against `up_direction`, the body will remain attached to the surface. Snapping is not applied if the body moves along `up_direction`, so it will be able to detach from the ground when jumping.
</member>
<member name="infinite_inertia" type="bool" setter="set_infinite_inertia_enabled" getter="is_infinite_inertia_enabled" default="true">
If [code]true[/code], the body will be able to push [RigidBody2D] nodes when calling [method move_and_slide], but it also won't detect any collisions with them. If [code]false[/code], it will interact with [RigidBody2D] nodes like with [StaticBody2D].
</member>
<member name="linear_velocity" type="Vector2" setter="set_linear_velocity" getter="get_linear_velocity" default="Vector2(0, 0)">
Current velocity vector in pixels per second, used and modified during calls to [method move_and_slide].
</member>

3
doc/classes/CharacterBody3D.xml
View file

@ -79,9 +79,6 @@
<member name="floor_max_angle" type="float" setter="set_floor_max_angle" getter="get_floor_max_angle" default="0.785398">
Maximum angle (in radians) where a slope is still considered a floor (or a ceiling), rather than a wall, when calling [method move_and_slide]. The default value equals 45 degrees.
</member>
<member name="infinite_inertia" type="bool" setter="set_infinite_inertia_enabled" getter="is_infinite_inertia_enabled" default="true">
If [code]true[/code], the body will be able to push [RigidBody3D] nodes when calling [method move_and_slide], but it also won't detect any collisions with them. If [code]false[/code], it will interact with [RigidBody3D] nodes like with [StaticBody3D].
</member>
<member name="linear_velocity" type="Vector3" setter="set_linear_velocity" getter="get_linear_velocity" default="Vector3(0, 0, 0)">
Current velocity vector (typically meters per second), used and modified during calls to [method move_and_slide].
</member>

12
doc/classes/PhysicsBody2D.xml
View file

@ -26,10 +26,8 @@
<method name="move_and_collide">
<return type="KinematicCollision2D" />
<argument index="0" name="rel_vec" type="Vector2" />
<argument index="1" name="infinite_inertia" type="bool" default="true" />
<argument index="2" name="exclude_raycast_shapes" type="bool" default="true" />
<argument index="3" name="test_only" type="bool" default="false" />
<argument index="4" name="safe_margin" type="float" default="0.08" />
<argument index="1" name="test_only" type="bool" default="false" />
<argument index="2" name="safe_margin" type="float" default="0.08" />
<description>
Moves the body along the vector [code]rel_vec[/code]. The body will stop if it collides. Returns a [KinematicCollision2D], which contains information about the collision.
If [code]test_only[/code] is [code]true[/code], the body does not move but the would-be collision information is given.
@ -47,10 +45,8 @@
<return type="bool" />
<argument index="0" name="from" type="Transform2D" />
<argument index="1" name="rel_vec" type="Vector2" />
<argument index="2" name="infinite_inertia" type="bool" default="true" />
<argument index="3" name="exclude_raycast_shapes" type="bool" default="true" />
<argument index="4" name="collision" type="KinematicCollision2D" default="null" />
<argument index="5" name="safe_margin" type="float" default="0.08" />
<argument index="2" name="collision" type="KinematicCollision2D" default="null" />
<argument index="3" name="safe_margin" type="float" default="0.08" />
<description>
Checks for collisions without moving the body. Virtually sets the node's position, scale and rotation to that of the given [Transform2D], then tries to move the body along the vector [code]rel_vec[/code]. Returns [code]true[/code] if a collision would occur.
[code]collision[/code] is an optional object of type [KinematicCollision2D], which contains additional information about the collision (should there be one).

12
doc/classes/PhysicsBody3D.xml
View file

@ -33,10 +33,8 @@
<method name="move_and_collide">
<return type="KinematicCollision3D" />
<argument index="0" name="rel_vec" type="Vector3" />
<argument index="1" name="infinite_inertia" type="bool" default="true" />
<argument index="2" name="exclude_raycast_shapes" type="bool" default="true" />
<argument index="3" name="test_only" type="bool" default="false" />
<argument index="4" name="safe_margin" type="float" default="0.001" />
<argument index="1" name="test_only" type="bool" default="false" />
<argument index="2" name="safe_margin" type="float" default="0.001" />
<description>
Moves the body along the vector [code]rel_vec[/code]. The body will stop if it collides. Returns a [KinematicCollision3D], which contains information about the collision.
If [code]test_only[/code] is [code]true[/code], the body does not move but the would-be collision information is given.
@ -62,10 +60,8 @@
<return type="bool" />
<argument index="0" name="from" type="Transform3D" />
<argument index="1" name="rel_vec" type="Vector3" />
<argument index="2" name="infinite_inertia" type="bool" default="true" />
<argument index="3" name="exclude_raycast_shapes" type="bool" default="true" />
<argument index="4" name="collision" type="KinematicCollision3D" default="null" />
<argument index="5" name="safe_margin" type="float" default="0.001" />
<argument index="2" name="collision" type="KinematicCollision3D" default="null" />
<argument index="3" name="safe_margin" type="float" default="0.001" />
<description>
Checks for collisions without moving the body. Virtually sets the node's position, scale and rotation to that of the given [Transform3D], then tries to move the body along the vector [code]rel_vec[/code]. Returns [code]true[/code] if a collision would occur.
[code]collision[/code] is an optional object of type [KinematicCollision3D], which contains additional information about the collision (should there be one).

29
doc/classes/PhysicsServer2D.xml
View file

@ -593,11 +593,9 @@
<argument index="0" name="body" type="RID" />
<argument index="1" name="from" type="Transform2D" />
<argument index="2" name="motion" type="Vector2" />
<argument index="3" name="infinite_inertia" type="bool" />
<argument index="4" name="margin" type="float" default="0.08" />
<argument index="5" name="result" type="PhysicsTestMotionResult2D" default="null" />
<argument index="6" name="exclude_raycast_shapes" type="bool" default="true" />
<argument index="7" name="exclude" type="Array" default="[]" />
<argument index="3" name="margin" type="float" default="0.08" />
<argument index="4" name="result" type="PhysicsTestMotionResult2D" default="null" />
<argument index="5" name="exclude" type="Array" default="[]" />
<description>
Returns [code]true[/code] if a collision would result from moving in the given direction from a given point in space. Margin increases the size of the shapes involved in the collision detection. [PhysicsTestMotionResult2D] can be passed to return additional information in.
</description>
@ -723,11 +721,6 @@
<description>
</description>
</method>
<method name="ray_shape_create">
<return type="RID" />
<description>
</description>
</method>
<method name="rectangle_shape_create">
<return type="RID" />
<description>
@ -847,27 +840,25 @@
<constant name="SHAPE_LINE" value="0" enum="ShapeType">
This is the constant for creating line shapes. A line shape is an infinite line with an origin point, and a normal. Thus, it can be used for front/behind checks.
</constant>
<constant name="SHAPE_RAY" value="1" enum="ShapeType">
</constant>
<constant name="SHAPE_SEGMENT" value="2" enum="ShapeType">
<constant name="SHAPE_SEGMENT" value="1" enum="ShapeType">
This is the constant for creating segment shapes. A segment shape is a line from a point A to a point B. It can be checked for intersections.
</constant>
<constant name="SHAPE_CIRCLE" value="3" enum="ShapeType">
<constant name="SHAPE_CIRCLE" value="2" enum="ShapeType">
This is the constant for creating circle shapes. A circle shape only has a radius. It can be used for intersections and inside/outside checks.
</constant>
<constant name="SHAPE_RECTANGLE" value="4" enum="ShapeType">
<constant name="SHAPE_RECTANGLE" value="3" enum="ShapeType">
This is the constant for creating rectangle shapes. A rectangle shape is defined by a width and a height. It can be used for intersections and inside/outside checks.
</constant>
<constant name="SHAPE_CAPSULE" value="5" enum="ShapeType">
<constant name="SHAPE_CAPSULE" value="4" enum="ShapeType">
This is the constant for creating capsule shapes. A capsule shape is defined by a radius and a length. It can be used for intersections and inside/outside checks.
</constant>
<constant name="SHAPE_CONVEX_POLYGON" value="6" enum="ShapeType">
<constant name="SHAPE_CONVEX_POLYGON" value="5" enum="ShapeType">
This is the constant for creating convex polygon shapes. A polygon is defined by a list of points. It can be used for intersections and inside/outside checks. Unlike the [member CollisionPolygon2D.polygon] property, polygons modified with [method shape_set_data] do not verify that the points supplied form is a convex polygon.
</constant>
<constant name="SHAPE_CONCAVE_POLYGON" value="7" enum="ShapeType">
<constant name="SHAPE_CONCAVE_POLYGON" value="6" enum="ShapeType">
This is the constant for creating concave polygon shapes. A polygon is defined by a list of points. It can be used for intersections checks, but not for inside/outside checks.
</constant>
<constant name="SHAPE_CUSTOM" value="8" enum="ShapeType">
<constant name="SHAPE_CUSTOM" value="7" enum="ShapeType">
This constant is used internally by the engine. Any attempt to create this kind of shape results in an error.
</constant>
<constant name="AREA_PARAM_GRAVITY" value="0" enum="AreaParameter">

34
doc/classes/PhysicsServer3D.xml
View file

@ -569,11 +569,9 @@
<argument index="0" name="body" type="RID" />
<argument index="1" name="from" type="Transform3D" />
<argument index="2" name="motion" type="Vector3" />
<argument index="3" name="infinite_inertia" type="bool" />
<argument index="4" name="margin" type="float" default="0.001" />
<argument index="5" name="result" type="PhysicsTestMotionResult3D" default="null" />
<argument index="6" name="exclude_raycast_shapes" type="bool" default="true" />
<argument index="7" name="exclude" type="Array" default="[]" />
<argument index="3" name="margin" type="float" default="0.001" />
<argument index="4" name="result" type="PhysicsTestMotionResult3D" default="null" />
<argument index="5" name="exclude" type="Array" default="[]" />
<description>
Returns [code]true[/code] if a collision would result from moving in the given direction from a given point in space. Margin increases the size of the shapes involved in the collision detection. [PhysicsTestMotionResult3D] can be passed to return additional information in.
</description>
@ -851,11 +849,6 @@
<description>
</description>
</method>
<method name="ray_shape_create">
<return type="RID" />
<description>
</description>
</method>
<method name="set_active">
<return type="void" />
<argument index="0" name="active" type="bool" />
@ -1178,34 +1171,31 @@
<constant name="SHAPE_PLANE" value="0" enum="ShapeType">
The [Shape3D] is a [WorldMarginShape3D].
</constant>
<constant name="SHAPE_RAY" value="1" enum="ShapeType">
The [Shape3D] is a [RayShape3D].
</constant>
<constant name="SHAPE_SPHERE" value="2" enum="ShapeType">
<constant name="SHAPE_SPHERE" value="1" enum="ShapeType">
The [Shape3D] is a [SphereShape3D].
</constant>
<constant name="SHAPE_BOX" value="3" enum="ShapeType">
<constant name="SHAPE_BOX" value="2" enum="ShapeType">
The [Shape3D] is a [BoxShape3D].
</constant>
<constant name="SHAPE_CAPSULE" value="4" enum="ShapeType">
<constant name="SHAPE_CAPSULE" value="3" enum="ShapeType">
The [Shape3D] is a [CapsuleShape3D].
</constant>
<constant name="SHAPE_CYLINDER" value="5" enum="ShapeType">
<constant name="SHAPE_CYLINDER" value="4" enum="ShapeType">
The [Shape3D] is a [CylinderShape3D].
</constant>
<constant name="SHAPE_CONVEX_POLYGON" value="6" enum="ShapeType">
<constant name="SHAPE_CONVEX_POLYGON" value="5" enum="ShapeType">
The [Shape3D] is a [ConvexPolygonShape3D].
</constant>
<constant name="SHAPE_CONCAVE_POLYGON" value="7" enum="ShapeType">
<constant name="SHAPE_CONCAVE_POLYGON" value="6" enum="ShapeType">
The [Shape3D] is a [ConcavePolygonShape3D].
</constant>
<constant name="SHAPE_HEIGHTMAP" value="8" enum="ShapeType">
<constant name="SHAPE_HEIGHTMAP" value="7" enum="ShapeType">
The [Shape3D] is a [HeightMapShape3D].
</constant>
<constant name="SHAPE_SOFT_BODY" value="9" enum="ShapeType">
<constant name="SHAPE_SOFT_BODY" value="8" enum="ShapeType">
The [Shape3D] is a [SoftBody3D].
</constant>
<constant name="SHAPE_CUSTOM" value="10" enum="ShapeType">
<constant name="SHAPE_CUSTOM" value="9" enum="ShapeType">
This constant is used internally by the engine. Any attempt to create this kind of shape results in an error.
</constant>
<constant name="AREA_PARAM_GRAVITY" value="0" enum="AreaParameter">

23
doc/classes/RayShape2D.xml
View file

@ -1,23 +0,0 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="RayShape2D" inherits="Shape2D" version="4.0">
<brief_description>
Ray shape for 2D collisions.
</brief_description>
<description>
Ray shape for 2D collisions. A ray is not really a collision body; instead, it tries to separate itself from whatever is touching its far endpoint. It's often useful for characters.
</description>
<tutorials>
</tutorials>
<methods>
</methods>
<members>
<member name="length" type="float" setter="set_length" getter="get_length" default="20.0">
The ray's length.
</member>
<member name="slips_on_slope" type="bool" setter="set_slips_on_slope" getter="get_slips_on_slope" default="false">
If [code]true[/code], allow the shape to return the correct normal.
</member>
</members>
<constants>
</constants>
</class>

23
doc/classes/RayShape3D.xml
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@ -1,23 +0,0 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="RayShape3D" inherits="Shape3D" version="4.0">
<brief_description>
Ray shape for 3D collisions.
</brief_description>
<description>
Ray shape for 3D collisions, which can be set into a [PhysicsBody3D] or [Area3D]. A ray is not really a collision body; instead, it tries to separate itself from whatever is touching its far endpoint. It's often useful for characters.
</description>
<tutorials>
</tutorials>
<methods>
</methods>
<members>
<member name="length" type="float" setter="set_length" getter="get_length" default="1.0">
The ray's length.
</member>
<member name="slips_on_slope" type="bool" setter="set_slips_on_slope" getter="get_slips_on_slope" default="false">
If [code]true[/code], allow the shape to return the correct normal.
</member>
</members>
<constants>
</constants>
</class>

1
editor/icons/RayShape2D.svg
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@ -1 +0,0 @@
<svg height="16" viewBox="0 0 16 16" width="16" xmlns="http://www.w3.org/2000/svg"><path d="m8 1a1 1 0 0 0 -1 1v9.5859l-1.293-1.293a1 1 0 0 0 -.7207-.29102 1 1 0 0 0 -.69336.29102 1 1 0 0 0 0 1.4141l3 3a1.0001 1.0001 0 0 0 .0039062.003907 1 1 0 0 0 .050781.044921 1.0001 1.0001 0 0 0 .03125.027344 1 1 0 0 0 .048828.035156 1.0001 1.0001 0 0 0 .023438.015625 1 1 0 0 0 .076172.044922 1.0001 1.0001 0 0 0 .0058593.003906 1 1 0 0 0 .013672.007813 1.0001 1.0001 0 0 0 .078125.035156 1 1 0 0 0 .074219.025391 1.0001 1.0001 0 0 0 .025391.009766 1 1 0 0 0 .039062.009765 1.0001 1.0001 0 0 0 .068359.013672 1.0001 1.0001 0 0 0 .097656.011719 1.0001 1.0001 0 0 0 .0078125 0 1 1 0 0 0 .0625.003906 1 1 0 0 0 .015625-.001953 1.0001 1.0001 0 0 0 .083984-.003906 1 1 0 0 0 .015625-.001953 1.0001 1.0001 0 0 0 .083984-.013672 1.0001 1.0001 0 0 0 .052734-.013672 1 1 0 0 0 .058594-.015625 1.0001 1.0001 0 0 0 .078125-.029297 1 1 0 0 0 .013672-.00586 1.0001 1.0001 0 0 0 .076172-.037109 1 1 0 0 0 .013672-.007812 1.0001 1.0001 0 0 0 .072266-.044922 1 1 0 0 0 .011719-.007813 1.0001 1.0001 0 0 0 .068359-.052734 1 1 0 0 0 .011719-.009766 1.0001 1.0001 0 0 0 .050781-.046875l.0097657-.011719 2.9902-2.9883a1 1 0 0 0 0-1.4141 1 1 0 0 0 -1.4141 0l-1.293 1.293v-9.5859a1 1 0 0 0 -1-1z" fill="#68b6ff" fill-rule="evenodd"/></svg>
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1
editor/icons/RayShape3D.svg
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@ -1 +0,0 @@
<svg height="16" viewBox="0 0 16 16" width="16" xmlns="http://www.w3.org/2000/svg"><g fill-rule="evenodd"><path d="m8 1-6 5 4 2.666v4.334l2 2v-5-2z" fill="#a2d2ff"/><path d="m8 1v7 2l-2-1.334v1.334l2 1.5v3.5l2-2v-4.334l4-2.666z" fill="#2998ff"/></g></svg>
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6
editor/import/resource_importer_scene.cpp
View file

@ -45,7 +45,6 @@
#include "scene/resources/animation.h"
#include "scene/resources/box_shape_3d.h"
#include "scene/resources/packed_scene.h"
#include "scene/resources/ray_shape_3d.h"
#include "scene/resources/resource_format_text.h"
#include "scene/resources/sphere_shape_3d.h"
#include "scene/resources/surface_tool.h"
@ -381,11 +380,6 @@ Node *ResourceImporterScene::_pre_fix_node(Node *p_node, Node *p_root, Map<Ref<E
BoxShape3D *boxShape = memnew(BoxShape3D);
boxShape->set_size(Vector3(2, 2, 2));
colshape->set_shape(boxShape);
} else if (empty_draw_type == "SINGLE_ARROW") {
RayShape3D *rayShape = memnew(RayShape3D);
rayShape->set_length(1);
colshape->set_shape(rayShape);
Object::cast_to<Node3D>(sb)->rotate_x(Math_PI / 2);
} else if (empty_draw_type == "IMAGE") {
WorldMarginShape3D *world_margin_shape = memnew(WorldMarginShape3D);
colshape->set_shape(world_margin_shape);

41
editor/plugins/collision_shape_2d_editor_plugin.cpp
View file

@ -37,7 +37,6 @@
#include "scene/resources/concave_polygon_shape_2d.h"
#include "scene/resources/convex_polygon_shape_2d.h"
#include "scene/resources/line_shape_2d.h"
#include "scene/resources/ray_shape_2d.h"
#include "scene/resources/rectangle_shape_2d.h"
#include "scene/resources/segment_shape_2d.h"
@ -86,15 +85,6 @@ Variant CollisionShape2DEditor::get_handle_value(int idx) const {
} break;
case RAY_SHAPE: {
Ref<RayShape2D> ray = node->get_shape();
if (idx == 0) {
return ray->get_length();
}
} break;
case RECTANGLE_SHAPE: {
Ref<RectangleShape2D> rect = node->get_shape();
@ -167,15 +157,6 @@ void CollisionShape2DEditor::set_handle(int idx, Point2 &p_point) {
} break;
case RAY_SHAPE: {
Ref<RayShape2D> ray = node->get_shape();
ray->set_length(Math::abs(p_point.y));
canvas_item_editor->update_viewport();
} break;
case RECTANGLE_SHAPE: {
if (idx < 8) {
Ref<RectangleShape2D> rect = node->get_shape();
@ -277,16 +258,6 @@ void CollisionShape2DEditor::commit_handle(int idx, Variant &p_org) {
} break;
case RAY_SHAPE: {
Ref<RayShape2D> ray = node->get_shape();
undo_redo->add_do_method(ray.ptr(), "set_length", ray->get_length());
undo_redo->add_do_method(canvas_item_editor, "update_viewport");
undo_redo->add_undo_method(ray.ptr(), "set_length", p_org);
undo_redo->add_undo_method(canvas_item_editor, "update_viewport");
} break;
case RECTANGLE_SHAPE: {
Ref<RectangleShape2D> rect = node->get_shape();
@ -428,8 +399,6 @@ void CollisionShape2DEditor::_get_current_shape_type() {
shape_type = CONVEX_POLYGON_SHAPE;
} else if (Object::cast_to<LineShape2D>(*s)) {
shape_type = LINE_SHAPE;
} else if (Object::cast_to<RayShape2D>(*s)) {
shape_type = RAY_SHAPE;
} else if (Object::cast_to<RectangleShape2D>(*s)) {
shape_type = RECTANGLE_SHAPE;
} else if (Object::cast_to<SegmentShape2D>(*s)) {
@ -507,16 +476,6 @@ void CollisionShape2DEditor::forward_canvas_draw_over_viewport(Control *p_overla
} break;
case RAY_SHAPE: {
Ref<RayShape2D> shape = node->get_shape();
handles.resize(1);
handles.write[0] = Point2(0, shape->get_length());
p_overlay->draw_texture(h, gt.xform(handles[0]) - size);
} break;
case RECTANGLE_SHAPE: {
Ref<RectangleShape2D> shape = node->get_shape();

1
editor/plugins/collision_shape_2d_editor_plugin.h
View file

@ -47,7 +47,6 @@ class CollisionShape2DEditor : public Control {
CONCAVE_POLYGON_SHAPE,
CONVEX_POLYGON_SHAPE,
LINE_SHAPE,
RAY_SHAPE,
RECTANGLE_SHAPE,
SEGMENT_SHAPE
};

53
editor/plugins/node_3d_editor_gizmos.cpp
View file

@ -66,7 +66,6 @@
#include "scene/resources/cylinder_shape_3d.h"
#include "scene/resources/height_map_shape_3d.h"
#include "scene/resources/primitive_meshes.h"
#include "scene/resources/ray_shape_3d.h"
#include "scene/resources/sphere_shape_3d.h"
#include "scene/resources/surface_tool.h"
#include "scene/resources/world_margin_shape_3d.h"
@ -4081,10 +4080,6 @@ String CollisionShape3DGizmoPlugin::get_handle_name(const EditorNode3DGizmo *p_g
return p_id == 0 ? "Radius" : "Height";
}
if (Object::cast_to<RayShape3D>(*s)) {
return "Length";
}
return "";
}
@ -4116,11 +4111,6 @@ Variant CollisionShape3DGizmoPlugin::get_handle_value(const EditorNode3DGizmo *p
return p_id == 0 ? cs2->get_radius() : cs2->get_height();
}
if (Object::cast_to<RayShape3D>(*s)) {
Ref<RayShape3D> cs2 = s;
return cs2->get_length();
}
return Variant();
}
@ -4156,22 +4146,6 @@ void CollisionShape3DGizmoPlugin::set_handle(const EditorNode3DGizmo *p_gizmo, i
ss->set_radius(d);
}
if (Object::cast_to<RayShape3D>(*s)) {
Ref<RayShape3D> rs = s;
Vector3 ra, rb;
Geometry3D::get_closest_points_between_segments(Vector3(), Vector3(0, 0, 4096), sg[0], sg[1], ra, rb);
float d = ra.z;
if (Node3DEditor::get_singleton()->is_snap_enabled()) {
d = Math::snapped(d, Node3DEditor::get_singleton()->get_translate_snap());
}
if (d < 0.001) {
d = 0.001;
}
rs->set_length(d);
}
if (Object::cast_to<BoxShape3D>(*s)) {
Vector3 axis;
axis[p_id] = 1.0;
@ -4330,20 +4304,6 @@ void CollisionShape3DGizmoPlugin::commit_handle(const EditorNode3DGizmo *p_gizmo
ur->commit_action();
}
if (Object::cast_to<RayShape3D>(*s)) {
Ref<RayShape3D> ss = s;
if (p_cancel) {
ss->set_length(p_restore);
return;
}
UndoRedo *ur = Node3DEditor::get_singleton()->get_undo_redo();
ur->create_action(TTR("Change Ray Shape Length"));
ur->add_do_method(ss.ptr(), "set_length", ss->get_length());
ur->add_undo_method(ss.ptr(), "set_length", p_restore);
ur->commit_action();
}
}
void CollisionShape3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
@ -4614,19 +4574,6 @@ void CollisionShape3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
p_gizmo->add_collision_segments(cs2->get_debug_mesh_lines());
}
if (Object::cast_to<RayShape3D>(*s)) {
Ref<RayShape3D> rs = s;
Vector<Vector3> points;
points.push_back(Vector3());
points.push_back(Vector3(0, 0, rs->get_length()));
p_gizmo->add_lines(points, material);
p_gizmo->add_collision_segments(points);
Vector<Vector3> handles;
handles.push_back(Vector3(0, 0, rs->get_length()));
p_gizmo->add_handles(handles, handles_material);
}
if (Object::cast_to<HeightMapShape3D>(*s)) {
Ref<HeightMapShape3D> hms = s;

261
scene/2d/physics_body_2d.cpp
View file

@ -39,8 +39,8 @@
#include "scene/scene_string_names.h"
void PhysicsBody2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only", "safe_margin"), &PhysicsBody2D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false), DEFVAL(0.08));
ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "collision", "safe_margin"), &PhysicsBody2D::test_move, DEFVAL(true), DEFVAL(true), DEFVAL(Variant()), DEFVAL(0.08));
ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "test_only", "safe_margin"), &PhysicsBody2D::_move, DEFVAL(false), DEFVAL(0.08));
ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "collision", "safe_margin"), &PhysicsBody2D::test_move, DEFVAL(Variant()), DEFVAL(0.08));
ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody2D::get_collision_exceptions);
ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody2D::add_collision_exception_with);
@ -59,10 +59,10 @@ PhysicsBody2D::~PhysicsBody2D() {
}
}
Ref<KinematicCollision2D> PhysicsBody2D::_move(const Vector2 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, bool p_test_only, real_t p_margin) {
Ref<KinematicCollision2D> PhysicsBody2D::_move(const Vector2 &p_motion, bool p_test_only, real_t p_margin) {
PhysicsServer2D::MotionResult result;
if (move_and_collide(p_motion, p_infinite_inertia, result, p_margin, p_exclude_raycast_shapes, p_test_only)) {
if (move_and_collide(p_motion, result, p_margin, p_test_only)) {
if (motion_cache.is_null()) {
motion_cache.instantiate();
motion_cache->owner = this;
@ -75,12 +75,12 @@ Ref<KinematicCollision2D> PhysicsBody2D::_move(const Vector2 &p_motion, bool p_i
return Ref<KinematicCollision2D>();
}
bool PhysicsBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, PhysicsServer2D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes, bool p_test_only, bool p_cancel_sliding, const Set<RID> &p_exclude) {
bool PhysicsBody2D::move_and_collide(const Vector2 &p_motion, PhysicsServer2D::MotionResult &r_result, real_t p_margin, bool p_test_only, bool p_cancel_sliding, const Set<RID> &p_exclude) {
if (is_only_update_transform_changes_enabled()) {
ERR_PRINT("Move functions do not work together with 'sync to physics' option. Please read the documentation.");
}
Transform2D gt = get_global_transform();
bool colliding = PhysicsServer2D::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, p_margin, &r_result, p_exclude_raycast_shapes, p_exclude);
bool colliding = PhysicsServer2D::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_margin, &r_result, p_exclude);
// Restore direction of motion to be along original motion,
// in order to avoid sliding due to recovery,
@ -128,7 +128,7 @@ bool PhysicsBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_in
return colliding;
}
bool PhysicsBody2D::test_move(const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, const Ref<KinematicCollision2D> &r_collision, real_t p_margin) {
bool PhysicsBody2D::test_move(const Transform2D &p_from, const Vector2 &p_motion, const Ref<KinematicCollision2D> &r_collision, real_t p_margin) {
ERR_FAIL_COND_V(!is_inside_tree(), false);
PhysicsServer2D::MotionResult *r = nullptr;
@ -137,7 +137,7 @@ bool PhysicsBody2D::test_move(const Transform2D &p_from, const Vector2 &p_motion
r = const_cast<PhysicsServer2D::MotionResult *>(&r_collision->result);
}
return PhysicsServer2D::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_infinite_inertia, p_margin, r, p_exclude_raycast_shapes);
return PhysicsServer2D::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_margin, r);
}
TypedArray<PhysicsBody2D> PhysicsBody2D::get_collision_exceptions() {
@ -1080,7 +1080,7 @@ void CharacterBody2D::move_and_slide() {
PhysicsServer2D::MotionResult floor_result;
Set<RID> exclude;
exclude.insert(platform_rid);
if (move_and_collide(current_platform_velocity * delta, infinite_inertia, floor_result, true, false, false, false, exclude)) {
if (move_and_collide(current_platform_velocity * delta, floor_result, margin, false, false, exclude)) {
motion_results.push_back(floor_result);
_set_collision_direction(floor_result);
}
@ -1113,123 +1113,113 @@ void CharacterBody2D::move_and_slide() {
Vector2 prev_position = get_global_transform().elements[2];
for (int i = 0; i < 2; ++i) {
bool collided;
if (i == 0) { // Collide.
collided = move_and_collide(motion, infinite_inertia, result, margin, true, false, !sliding_enabled);
} else { // Separate raycasts (if any).
collided = separate_raycast_shapes(result);
if (collided) {
result.remainder = motion; // Keep.
result.motion = Vector2();
bool collided = move_and_collide(motion, result, margin, false, !sliding_enabled);
if (collided) {
found_collision = true;
motion_results.push_back(result);
_set_collision_direction(result);
if (on_floor && stop_on_slope && (linear_velocity.normalized() + up_direction).length() < 0.01) {
Transform2D gt = get_global_transform();
if (result.motion.length() > margin) {
gt.elements[2] -= result.motion.slide(up_direction);
} else {
gt.elements[2] -= result.motion;
}
set_global_transform(gt);
linear_velocity = Vector2();
motion = Vector2();
break;
}
if (collided) {
found_collision = true;
motion_results.push_back(result);
_set_collision_direction(result);
if (result.remainder.is_equal_approx(Vector2())) {
motion = Vector2();
break;
}
if (on_floor && stop_on_slope && (linear_velocity.normalized() + up_direction).length() < 0.01) {
Transform2D gt = get_global_transform();
if (result.motion.length() > margin) {
gt.elements[2] -= result.motion.slide(up_direction);
} else {
// Move on floor only checks.
if (move_on_floor_only && on_wall && motion_slide_up.dot(result.collision_normal) <= 0) {
// Avoid to move forward on a wall if move_on_floor_only is true.
if (was_on_floor && !is_on_floor_only() && !vel_dir_facing_up) {
// If the movement is large the body can be prevented from reaching the walls.
if (result.motion.length() <= margin) {
// Cancels the motion.
Transform2D gt = get_global_transform();
gt.elements[2] -= result.motion;
set_global_transform(gt);
}
set_global_transform(gt);
on_floor = true;
platform_rid = prev_platform_rid;
platform_layer = prev_platform_layer;
platform_velocity = prev_platform_velocity;
floor_normal = prev_floor_normal;
linear_velocity = Vector2();
motion = Vector2();
break;
}
if (result.remainder.is_equal_approx(Vector2())) {
motion = Vector2();
break;
}
// Move on floor only checks.
if (move_on_floor_only && on_wall && motion_slide_up.dot(result.collision_normal) <= 0) {
// Avoid to move forward on a wall if move_on_floor_only is true.
if (was_on_floor && !is_on_floor_only() && !vel_dir_facing_up) {
// If the movement is large the body can be prevented from reaching the walls.
if (result.motion.length() <= margin) {
// Cancels the motion.
Transform2D gt = get_global_transform();
gt.elements[2] -= result.motion;
set_global_transform(gt);
}
on_floor = true;
platform_rid = prev_platform_rid;
platform_layer = prev_platform_layer;
platform_velocity = prev_platform_velocity;
floor_normal = prev_floor_normal;
linear_velocity = Vector2();
motion = Vector2();
break;
}
// Prevents the body from being able to climb a slope when it moves forward against the wall.
else if (!is_on_floor_only()) {
motion = up_direction * up_direction.dot(result.remainder);
motion = motion.slide(result.collision_normal);
} else {
motion = result.remainder;
}
}
// Constant Speed when the slope is upward.
else if (constant_speed_on_floor && is_on_floor_only() && can_apply_constant_speed && was_on_floor && motion.dot(result.collision_normal) < 0) {
can_apply_constant_speed = false;
Vector2 motion_slide_norm = result.remainder.slide(result.collision_normal).normalized();
if (!motion_slide_norm.is_equal_approx(Vector2())) {
motion = motion_slide_norm * (motion_slide_up.length() - result.motion.slide(up_direction).length() - last_travel.slide(up_direction).length());
}
}
// Regular sliding, the last part of the test handle the case when you don't want to slide on the ceiling.
else if ((sliding_enabled || !on_floor) && (!on_ceiling || slide_on_ceiling || !vel_dir_facing_up)) {
Vector2 slide_motion = result.remainder.slide(result.collision_normal);
if (slide_motion.dot(linear_velocity) > 0.0) {
motion = slide_motion;
} else {
motion = Vector2();
}
if (slide_on_ceiling && on_ceiling) {
// Apply slide only in the direction of the input motion, otherwise just stop to avoid jittering when moving against a wall.
if (vel_dir_facing_up) {
linear_velocity = linear_velocity.slide(result.collision_normal);
} else {
// Avoid acceleration in slope when falling.
linear_velocity = up_direction * up_direction.dot(linear_velocity);
}
}
}
// No sliding on first attempt to keep floor motion stable when possible.
else {
// Prevents the body from being able to climb a slope when it moves forward against the wall.
else if (!is_on_floor_only()) {
motion = up_direction * up_direction.dot(result.remainder);
motion = motion.slide(result.collision_normal);
} else {
motion = result.remainder;
if (on_ceiling && !slide_on_ceiling && vel_dir_facing_up) {
linear_velocity = linear_velocity.slide(up_direction);
motion = motion.slide(up_direction);
}
}
// Constant Speed when the slope is upward.
else if (constant_speed_on_floor && is_on_floor_only() && can_apply_constant_speed && was_on_floor && motion.dot(result.collision_normal) < 0) {
can_apply_constant_speed = false;
Vector2 motion_slide_norm = result.remainder.slide(result.collision_normal).normalized();
if (!motion_slide_norm.is_equal_approx(Vector2())) {
motion = motion_slide_norm * (motion_slide_up.length() - result.motion.slide(up_direction).length() - last_travel.slide(up_direction).length());
}
}
// Regular sliding, the last part of the test handle the case when you don't want to slide on the ceiling.
else if ((sliding_enabled || !on_floor) && (!on_ceiling || slide_on_ceiling || !vel_dir_facing_up)) {
Vector2 slide_motion = result.remainder.slide(result.collision_normal);
if (slide_motion.dot(linear_velocity) > 0.0) {
motion = slide_motion;
} else {
motion = Vector2();
}
if (slide_on_ceiling && on_ceiling) {
// Apply slide only in the direction of the input motion, otherwise just stop to avoid jittering when moving against a wall.
if (vel_dir_facing_up) {
linear_velocity = linear_velocity.slide(result.collision_normal);
} else {
// Avoid acceleration in slope when falling.
linear_velocity = up_direction * up_direction.dot(linear_velocity);
}
}
last_travel = result.motion;
}
// When you move forward in a downward slope you don’t collide because you will be in the air.
// This test ensures that constant speed is applied, only if the player is still on the ground after the snap is applied.
else if (i == 0 && constant_speed_on_floor && first_slide && _on_floor_if_snapped(was_on_floor, vel_dir_facing_up)) {
can_apply_constant_speed = false;
sliding_enabled = true;
Transform2D gt = get_global_transform();
gt.elements[2] = prev_position;
set_global_transform(gt);
Vector2 motion_slide_norm = motion.slide(prev_floor_normal).normalized();
if (!motion_slide_norm.is_equal_approx(Vector2())) {
motion = motion_slide_norm * (motion_slide_up.length());
found_collision = true;
// No sliding on first attempt to keep floor motion stable when possible.
else {
motion = result.remainder;
if (on_ceiling && !slide_on_ceiling && vel_dir_facing_up) {
linear_velocity = linear_velocity.slide(up_direction);
motion = motion.slide(up_direction);
}
}
last_travel = result.motion;
}
// When you move forward in a downward slope you don’t collide because you will be in the air.
// This test ensures that constant speed is applied, only if the player is still on the ground after the snap is applied.
else if (constant_speed_on_floor && first_slide && _on_floor_if_snapped(was_on_floor, vel_dir_facing_up)) {
can_apply_constant_speed = false;
sliding_enabled = true;
Transform2D gt = get_global_transform();
gt.elements[2] = prev_position;
set_global_transform(gt);
Vector2 motion_slide_norm = motion.slide(prev_floor_normal).normalized();
if (!motion_slide_norm.is_equal_approx(Vector2())) {
motion = motion_slide_norm * (motion_slide_up.length());
found_collision = true;
}
}
can_apply_constant_speed = !can_apply_constant_speed && !sliding_enabled;
sliding_enabled = true;
first_slide = false;
@ -1259,7 +1249,7 @@ void CharacterBody2D::_snap_on_floor(bool was_on_floor, bool vel_dir_facing_up)
Transform2D gt = get_global_transform();
PhysicsServer2D::MotionResult result;
if (move_and_collide(up_direction * -floor_snap_length, infinite_inertia, result, margin, false, true, false)) {
if (move_and_collide(up_direction * -floor_snap_length, result, margin, true, false)) {
bool apply = true;
float collision_angle = Math::acos(result.collision_normal.dot(up_direction));
if (collision_angle <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) {
@ -1294,7 +1284,7 @@ bool CharacterBody2D::_on_floor_if_snapped(bool was_on_floor, bool vel_dir_facin
}
PhysicsServer2D::MotionResult result;
if (move_and_collide(up_direction * -floor_snap_length, infinite_inertia, result, margin, false, true, false)) {
if (move_and_collide(up_direction * -floor_snap_length, result, margin, true, false)) {
if (Math::acos(result.collision_normal.dot(up_direction)) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) {
return true;
}
@ -1331,42 +1321,6 @@ void CharacterBody2D::_set_platform_data(const PhysicsServer2D::MotionResult &p_
}
}
bool CharacterBody2D::separate_raycast_shapes(PhysicsServer2D::MotionResult &r_result) {
PhysicsServer2D::SeparationResult sep_res[8]; //max 8 rays
Transform2D gt = get_global_transform();
Vector2 recover;
int hits = PhysicsServer2D::get_singleton()->body_test_ray_separation(get_rid(), gt, infinite_inertia, recover, sep_res, 8, margin);
int deepest = -1;
real_t deepest_depth;
for (int i = 0; i < hits; i++) {
if (deepest == -1 || sep_res[i].collision_depth > deepest_depth) {
deepest = i;
deepest_depth = sep_res[i].collision_depth;
}
}
gt.elements[2] += recover;
set_global_transform(gt);
if (deepest != -1) {
r_result.collider_id = sep_res[deepest].collider_id;
r_result.collider_metadata = sep_res[deepest].collider_metadata;
r_result.collider_shape = sep_res[deepest].collider_shape;
r_result.collider_velocity = sep_res[deepest].collider_velocity;
r_result.collision_point = sep_res[deepest].collision_point;
r_result.collision_normal = sep_res[deepest].collision_normal;
r_result.collision_local_shape = sep_res[deepest].collision_local_shape;
r_result.motion = recover;
r_result.remainder = Vector2();
return true;
} else {
return false;
}
}
const Vector2 &CharacterBody2D::get_linear_velocity() const {
return linear_velocity;
}
@ -1447,16 +1401,10 @@ void CharacterBody2D::set_stop_on_slope_enabled(bool p_enabled) {
stop_on_slope = p_enabled;
}
bool CharacterBody2D::is_infinite_inertia_enabled() const {
return infinite_inertia;
}
void CharacterBody2D::set_infinite_inertia_enabled(bool p_enabled) {
infinite_inertia = p_enabled;
}
bool CharacterBody2D::is_constant_speed_on_floor_enabled() const {
return constant_speed_on_floor;
}
void CharacterBody2D::set_constant_speed_on_floor_enabled(bool p_enabled) {
constant_speed_on_floor = p_enabled;
}
@ -1464,6 +1412,7 @@ void CharacterBody2D::set_constant_speed_on_floor_enabled(bool p_enabled) {
bool CharacterBody2D::is_move_on_floor_only_enabled() const {
return move_on_floor_only;
}
void CharacterBody2D::set_move_on_floor_only_enabled(bool p_enabled) {
move_on_floor_only = p_enabled;
}
@ -1471,6 +1420,7 @@ void CharacterBody2D::set_move_on_floor_only_enabled(bool p_enabled) {
bool CharacterBody2D::is_slide_on_ceiling_enabled() const {
return slide_on_ceiling;
}
void CharacterBody2D::set_slide_on_ceiling_enabled(bool p_enabled) {
slide_on_ceiling = p_enabled;
}
@ -1541,7 +1491,6 @@ void CharacterBody2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_safe_margin"), &CharacterBody2D::get_safe_margin);
ClassDB::bind_method(D_METHOD("is_stop_on_slope_enabled"), &CharacterBody2D::is_stop_on_slope_enabled);
ClassDB::bind_method(D_METHOD("set_stop_on_slope_enabled", "enabled"), &CharacterBody2D::set_stop_on_slope_enabled);
ClassDB::bind_method(D_METHOD("is_infinite_inertia_enabled"), &CharacterBody2D::is_infinite_inertia_enabled);
ClassDB::bind_method(D_METHOD("set_constant_speed_on_floor_enabled", "enabled"), &CharacterBody2D::set_constant_speed_on_floor_enabled);
ClassDB::bind_method(D_METHOD("is_constant_speed_on_floor_enabled"), &CharacterBody2D::is_constant_speed_on_floor_enabled);
ClassDB::bind_method(D_METHOD("set_move_on_floor_only_enabled", "enabled"), &CharacterBody2D::set_move_on_floor_only_enabled);
@ -1552,7 +1501,6 @@ void CharacterBody2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_exclude_body_layers", "exclude_layer"), &CharacterBody2D::set_exclude_body_layers);
ClassDB::bind_method(D_METHOD("get_exclude_body_layers"), &CharacterBody2D::get_exclude_body_layers);
ClassDB::bind_method(D_METHOD("set_infinite_inertia_enabled", "enabled"), &CharacterBody2D::set_infinite_inertia_enabled);
ClassDB::bind_method(D_METHOD("get_max_slides"), &CharacterBody2D::get_max_slides);
ClassDB::bind_method(D_METHOD("set_max_slides", "max_slides"), &CharacterBody2D::set_max_slides);
ClassDB::bind_method(D_METHOD("get_floor_max_angle"), &CharacterBody2D::get_floor_max_angle);
@ -1575,7 +1523,6 @@ void CharacterBody2D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "stop_on_slope"), "set_stop_on_slope_enabled", "is_stop_on_slope_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "infinite_inertia"), "set_infinite_inertia_enabled", "is_infinite_inertia_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "constant_speed_on_floor"), "set_constant_speed_on_floor_enabled", "is_constant_speed_on_floor_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "move_on_floor_only"), "set_move_on_floor_only_enabled", "is_move_on_floor_only_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "slide_on_ceiling"), "set_slide_on_ceiling_enabled", "is_slide_on_ceiling_enabled");

15
scene/2d/physics_body_2d.h
View file

@ -47,11 +47,11 @@ protected:
Ref<KinematicCollision2D> motion_cache;
Ref<KinematicCollision2D> _move(const Vector2 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, bool p_test_only = false, real_t p_margin = 0.08);
Ref<KinematicCollision2D> _move(const Vector2 &p_motion, bool p_test_only = false, real_t p_margin = 0.08);
public:
bool move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, PhysicsServer2D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes = true, bool p_test_only = false, bool p_cancel_sliding = true, const Set<RID> &p_exclude = Set<RID>());
bool test_move(const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, const Ref<KinematicCollision2D> &r_collision = Ref<KinematicCollision2D>(), real_t p_margin = 0.08);
bool move_and_collide(const Vector2 &p_motion, PhysicsServer2D::MotionResult &r_result, real_t p_margin, bool p_test_only = false, bool p_cancel_sliding = true, const Set<RID> &p_exclude = Set<RID>());
bool test_move(const Transform2D &p_from, const Vector2 &p_motion, const Ref<KinematicCollision2D> &r_collision = Ref<KinematicCollision2D>(), real_t p_margin = 0.08);
TypedArray<PhysicsBody2D> get_collision_exceptions();
void add_collision_exception_with(Node *p_node); //must be physicsbody
@ -272,7 +272,6 @@ private:
real_t margin = 0.08;
bool stop_on_slope = false;
bool infinite_inertia = true;
bool constant_speed_on_floor = false;
bool move_on_floor_only = true;
bool slide_on_ceiling = true;
@ -294,17 +293,12 @@ private:
Vector<PhysicsServer2D::MotionResult> motion_results;
Vector<Ref<KinematicCollision2D>> slide_colliders;
bool separate_raycast_shapes(PhysicsServer2D::MotionResult &r_result);
void set_safe_margin(real_t p_margin);
real_t get_safe_margin() const;
bool is_stop_on_slope_enabled() const;
void set_stop_on_slope_enabled(bool p_enabled);
bool is_infinite_inertia_enabled() const;
void set_infinite_inertia_enabled(bool p_enabled);
bool is_constant_speed_on_floor_enabled() const;
void set_constant_speed_on_floor_enabled(bool p_enabled);
@ -317,9 +311,6 @@ private:
int get_max_slides() const;
void set_max_slides(int p_max_slides);
real_t get_move_max_angle() const;
void set_move_max_angle(real_t p_radians);
real_t get_floor_max_angle() const;
void set_floor_max_angle(real_t p_radians);

7
scene/3d/collision_shape_3d.cpp
View file

@ -33,17 +33,10 @@
#include "core/math/quick_hull.h"
#include "mesh_instance_3d.h"
#include "physics_body_3d.h"
#include "scene/resources/box_shape_3d.h"
#include "scene/resources/capsule_shape_3d.h"
#include "scene/resources/concave_polygon_shape_3d.h"
#include "scene/resources/convex_polygon_shape_3d.h"
#include "scene/resources/ray_shape_3d.h"
#include "scene/resources/sphere_shape_3d.h"
#include "scene/resources/world_margin_shape_3d.h"
#include "servers/rendering_server.h"
//TODO: Implement CylinderShape and HeightMapShape?
void CollisionShape3D::make_convex_from_siblings() {
Node *p = get_parent();
if (!p) {

139
scene/3d/physics_body_3d.cpp
View file

@ -44,8 +44,8 @@
#endif
void PhysicsBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only", "safe_margin"), &PhysicsBody3D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false), DEFVAL(0.001));
ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "collision", "safe_margin"), &PhysicsBody3D::test_move, DEFVAL(true), DEFVAL(true), DEFVAL(Variant()), DEFVAL(0.001));
ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "test_only", "safe_margin"), &PhysicsBody3D::_move, DEFVAL(false), DEFVAL(0.001));
ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "collision", "safe_margin"), &PhysicsBody3D::test_move, DEFVAL(Variant()), DEFVAL(0.001));
ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &PhysicsBody3D::set_axis_lock);
ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &PhysicsBody3D::get_axis_lock);
@ -101,9 +101,9 @@ void PhysicsBody3D::remove_collision_exception_with(Node *p_node) {
PhysicsServer3D::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid());
}
Ref<KinematicCollision3D> PhysicsBody3D::_move(const Vector3 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, bool p_test_only, real_t p_margin) {
Ref<KinematicCollision3D> PhysicsBody3D::_move(const Vector3 &p_motion, bool p_test_only, real_t p_margin) {
PhysicsServer3D::MotionResult result;
if (move_and_collide(p_motion, p_infinite_inertia, result, p_margin, p_exclude_raycast_shapes, p_test_only)) {
if (move_and_collide(p_motion, result, p_margin, p_test_only)) {
if (motion_cache.is_null()) {
motion_cache.instantiate();
motion_cache->owner = this;
@ -117,9 +117,9 @@ Ref<KinematicCollision3D> PhysicsBody3D::_move(const Vector3 &p_motion, bool p_i
return Ref<KinematicCollision3D>();
}
bool PhysicsBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes, bool p_test_only, bool p_cancel_sliding, const Set<RID> &p_exclude) {
bool PhysicsBody3D::move_and_collide(const Vector3 &p_motion, PhysicsServer3D::MotionResult &r_result, real_t p_margin, bool p_test_only, bool p_cancel_sliding, const Set<RID> &p_exclude) {
Transform3D gt = get_global_transform();
bool colliding = PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, p_margin, &r_result, p_exclude_raycast_shapes, p_exclude);
bool colliding = PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_margin, &r_result, p_exclude);
// Restore direction of motion to be along original motion,
// in order to avoid sliding due to recovery,
@ -173,7 +173,7 @@ bool PhysicsBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_in
return colliding;
}
bool PhysicsBody3D::test_move(const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, const Ref<KinematicCollision3D> &r_collision, real_t p_margin) {
bool PhysicsBody3D::test_move(const Transform3D &p_from, const Vector3 &p_motion, const Ref<KinematicCollision3D> &r_collision, real_t p_margin) {
ERR_FAIL_COND_V(!is_inside_tree(), false);
PhysicsServer3D::MotionResult *r = nullptr;
@ -182,7 +182,7 @@ bool PhysicsBody3D::test_move(const Transform3D &p_from, const Vector3 &p_motion
r = const_cast<PhysicsServer3D::MotionResult *>(&r_collision->result);
}
return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_infinite_inertia, p_margin, r, p_exclude_raycast_shapes);
return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_margin, r);
}
void PhysicsBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) {
@ -1121,7 +1121,7 @@ void CharacterBody3D::move_and_slide() {
PhysicsServer3D::MotionResult floor_result;
Set<RID> exclude;
exclude.insert(on_floor_body);
if (move_and_collide(current_floor_velocity * delta, infinite_inertia, floor_result, true, false, false, false, exclude)) {
if (move_and_collide(current_floor_velocity * delta, floor_result, margin, false, false, exclude)) {
motion_results.push_back(floor_result);
_set_collision_direction(floor_result);
}
@ -1138,58 +1138,45 @@ void CharacterBody3D::move_and_slide() {
PhysicsServer3D::MotionResult result;
bool found_collision = false;
for (int i = 0; i < 2; ++i) {
bool collided;
if (i == 0) { //collide
collided = move_and_collide(motion, infinite_inertia, result, margin, true, false, !sliding_enabled);
if (!collided) {
motion = Vector3(); //clear because no collision happened and motion completed
}
} else { //separate raycasts (if any)
collided = separate_raycast_shapes(result);
if (collided) {
result.remainder = motion; //keep
result.motion = Vector3();
bool collided = move_and_collide(motion, result, margin, false, !sliding_enabled);
if (!collided) {
motion = Vector3(); //clear because no collision happened and motion completed
} else {
found_collision = true;
motion_results.push_back(result);
_set_collision_direction(result);
if (on_floor && stop_on_slope) {
if ((body_velocity_normal + up_direction).length() < 0.01) {
Transform3D gt = get_global_transform();
if (result.motion.length() > margin) {
gt.origin -= result.motion.slide(up_direction);
} else {
gt.origin -= result.motion;
}
set_global_transform(gt);
linear_velocity = Vector3();
return;
}
}
if (collided) {
found_collision = true;
if (sliding_enabled || !on_floor) {
motion = result.remainder.slide(result.collision_normal);
linear_velocity = linear_velocity.slide(result.collision_normal);
motion_results.push_back(result);
_set_collision_direction(result);
if (on_floor && stop_on_slope) {
if ((body_velocity_normal + up_direction).length() < 0.01) {
Transform3D gt = get_global_transform();
if (result.motion.length() > margin) {
gt.origin -= result.motion.slide(up_direction);
} else {
gt.origin -= result.motion;
}
set_global_transform(gt);
linear_velocity = Vector3();
return;
for (int j = 0; j < 3; j++) {
if (locked_axis & (1 << j)) {
linear_velocity[j] = 0.0;
}
}
if (sliding_enabled || !on_floor) {
motion = result.remainder.slide(result.collision_normal);
linear_velocity = linear_velocity.slide(result.collision_normal);
for (int j = 0; j < 3; j++) {
if (locked_axis & (1 << j)) {
linear_velocity[j] = 0.0;
}
}
} else {
motion = result.remainder;
}
} else {
motion = result.remainder;
}
sliding_enabled = true;
}
sliding_enabled = true;
if (!found_collision || motion == Vector3()) {
break;
}
@ -1207,7 +1194,7 @@ void CharacterBody3D::move_and_slide() {
// Apply snap.
Transform3D gt = get_global_transform();
PhysicsServer3D::MotionResult result;
if (move_and_collide(snap, infinite_inertia, result, margin, false, true, false)) {
if (move_and_collide(snap, result, margin, true, false)) {
bool apply = true;
if (up_direction != Vector3()) {
if (Math::acos(result.collision_normal.dot(up_direction)) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) {
@ -1258,42 +1245,6 @@ void CharacterBody3D::_set_collision_direction(const PhysicsServer3D::MotionResu
}
}
bool CharacterBody3D::separate_raycast_shapes(PhysicsServer3D::MotionResult &r_result) {
PhysicsServer3D::SeparationResult sep_res[8]; //max 8 rays
Transform3D gt = get_global_transform();
Vector3 recover;
int hits = PhysicsServer3D::get_singleton()->body_test_ray_separation(get_rid(), gt, infinite_inertia, recover, sep_res, 8, margin);
int deepest = -1;
real_t deepest_depth;
for (int i = 0; i < hits; i++) {
if (deepest == -1 || sep_res[i].collision_depth > deepest_depth) {
deepest = i;
deepest_depth = sep_res[i].collision_depth;
}
}
gt.origin += recover;
set_global_transform(gt);
if (deepest != -1) {
r_result.collider_id = sep_res[deepest].collider_id;
r_result.collider_metadata = sep_res[deepest].collider_metadata;
r_result.collider_shape = sep_res[deepest].collider_shape;
r_result.collider_velocity = sep_res[deepest].collider_velocity;
r_result.collision_point = sep_res[deepest].collision_point;
r_result.collision_normal = sep_res[deepest].collision_normal;
r_result.collision_local_shape = sep_res[deepest].collision_local_shape;
r_result.motion = recover;
r_result.remainder = Vector3();
return true;
} else {
return false;
}
}
void CharacterBody3D::set_safe_margin(real_t p_margin) {
margin = p_margin;
}
@ -1362,13 +1313,6 @@ void CharacterBody3D::set_stop_on_slope_enabled(bool p_enabled) {
stop_on_slope = p_enabled;
}
bool CharacterBody3D::is_infinite_inertia_enabled() const {
return infinite_inertia;
}
void CharacterBody3D::set_infinite_inertia_enabled(bool p_enabled) {
infinite_inertia = p_enabled;
}
int CharacterBody3D::get_max_slides() const {
return max_slides;
}
@ -1426,8 +1370,6 @@ void CharacterBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_safe_margin"), &CharacterBody3D::get_safe_margin);
ClassDB::bind_method(D_METHOD("is_stop_on_slope_enabled"), &CharacterBody3D::is_stop_on_slope_enabled);
ClassDB::bind_method(D_METHOD("set_stop_on_slope_enabled", "enabled"), &CharacterBody3D::set_stop_on_slope_enabled);
ClassDB::bind_method(D_METHOD("is_infinite_inertia_enabled"), &CharacterBody3D::is_infinite_inertia_enabled);
ClassDB::bind_method(D_METHOD("set_infinite_inertia_enabled", "enabled"), &CharacterBody3D::set_infinite_inertia_enabled);
ClassDB::bind_method(D_METHOD("get_max_slides"), &CharacterBody3D::get_max_slides);
ClassDB::bind_method(D_METHOD("set_max_slides", "max_slides"), &CharacterBody3D::set_max_slides);
ClassDB::bind_method(D_METHOD("get_floor_max_angle"), &CharacterBody3D::get_floor_max_angle);
@ -1448,7 +1390,6 @@ void CharacterBody3D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "stop_on_slope"), "set_stop_on_slope_enabled", "is_stop_on_slope_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "infinite_inertia"), "set_infinite_inertia_enabled", "is_infinite_inertia_enabled");
ADD_PROPERTY(PropertyInfo(Variant::INT, "max_slides", PROPERTY_HINT_RANGE, "1,8,1,or_greater"), "set_max_slides", "get_max_slides");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_max_angle", PROPERTY_HINT_RANGE, "0,180,0.1,radians"), "set_floor_max_angle", "get_floor_max_angle");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "snap"), "set_snap", "get_snap");

12
scene/3d/physics_body_3d.h
View file

@ -50,11 +50,11 @@ protected:
uint16_t locked_axis = 0;
Ref<KinematicCollision3D> _move(const Vector3 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, bool p_test_only = false, real_t p_margin = 0.001);
Ref<KinematicCollision3D> _move(const Vector3 &p_motion, bool p_test_only = false, real_t p_margin = 0.001);
public:
bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes = true, bool p_test_only = false, bool p_cancel_sliding = true, const Set<RID> &p_exclude = Set<RID>());
bool test_move(const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, const Ref<KinematicCollision3D> &r_collision = Ref<KinematicCollision3D>(), real_t p_margin = 0.001);
bool move_and_collide(const Vector3 &p_motion, PhysicsServer3D::MotionResult &r_result, real_t p_margin, bool p_test_only = false, bool p_cancel_sliding = true, const Set<RID> &p_exclude = Set<RID>());
bool test_move(const Transform3D &p_from, const Vector3 &p_motion, const Ref<KinematicCollision3D> &r_collision = Ref<KinematicCollision3D>(), real_t p_margin = 0.001);
void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
@ -279,7 +279,6 @@ private:
real_t margin = 0.001;
bool stop_on_slope = false;
bool infinite_inertia = true;
int max_slides = 4;
real_t floor_max_angle = Math::deg2rad((real_t)45.0);
Vector3 snap;
@ -300,17 +299,12 @@ private:
void _set_collision_direction(const PhysicsServer3D::MotionResult &p_result);
bool separate_raycast_shapes(PhysicsServer3D::MotionResult &r_result);
void set_safe_margin(real_t p_margin);
real_t get_safe_margin() const;
bool is_stop_on_slope_enabled() const;
void set_stop_on_slope_enabled(bool p_enabled);
bool is_infinite_inertia_enabled() const;
void set_infinite_inertia_enabled(bool p_enabled);
int get_max_slides() const;
void set_max_slides(int p_max_slides);

5
scene/register_scene_types.cpp
View file

@ -158,8 +158,6 @@
#include "scene/resources/physics_material.h"
#include "scene/resources/polygon_path_finder.h"
#include "scene/resources/primitive_meshes.h"
#include "scene/resources/ray_shape_2d.h"
#include "scene/resources/ray_shape_3d.h"
#include "scene/resources/rectangle_shape_2d.h"
#include "scene/resources/resource_format_text.h"
#include "scene/resources/segment_shape_2d.h"
@ -747,7 +745,6 @@ void register_scene_types() {
OS::get_singleton()->yield(); //may take time to init
GDREGISTER_VIRTUAL_CLASS(Shape3D);
GDREGISTER_CLASS(RayShape3D);
GDREGISTER_CLASS(SphereShape3D);
GDREGISTER_CLASS(BoxShape3D);
GDREGISTER_CLASS(CapsuleShape3D);
@ -828,7 +825,6 @@ void register_scene_types() {
GDREGISTER_VIRTUAL_CLASS(Shape2D);
GDREGISTER_CLASS(LineShape2D);
GDREGISTER_CLASS(SegmentShape2D);
GDREGISTER_CLASS(RayShape2D);
GDREGISTER_CLASS(CircleShape2D);
GDREGISTER_CLASS(RectangleShape2D);
GDREGISTER_CLASS(CapsuleShape2D);
@ -948,7 +944,6 @@ void register_scene_types() {
ClassDB::add_compatibility_class("ProceduralSky", "Sky");
ClassDB::add_compatibility_class("ProximityGroup", "ProximityGroup3D");
ClassDB::add_compatibility_class("RayCast", "RayCast3D");
ClassDB::add_compatibility_class("RayShape", "RayShape3D");
ClassDB::add_compatibility_class("RemoteTransform", "RemoteTransform3D");
ClassDB::add_compatibility_class("RigidBody", "RigidBody3D");
ClassDB::add_compatibility_class("Shape", "Shape3D");

119
scene/resources/ray_shape_2d.cpp
View file

@ -1,119 +0,0 @@
/*************************************************************************/
/* ray_shape_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "ray_shape_2d.h"
#include "servers/physics_server_2d.h"
#include "servers/rendering_server.h"
void RayShape2D::_update_shape() {
Dictionary d;
d["length"] = length;
d["slips_on_slope"] = slips_on_slope;
PhysicsServer2D::get_singleton()->shape_set_data(get_rid(), d);
emit_changed();
}
void RayShape2D::draw(const RID &p_to_rid, const Color &p_color) {
const Vector2 target_position = Vector2(0, get_length());
const float max_arrow_size = 6;
const float line_width = 1.4;
bool no_line = target_position.length() < line_width;
float arrow_size = CLAMP(target_position.length() * 2 / 3, line_width, max_arrow_size);
if (no_line) {
arrow_size = target_position.length();
} else {
RS::get_singleton()->canvas_item_add_line(p_to_rid, Vector2(), target_position - target_position.normalized() * arrow_size, p_color, line_width);
}
Transform2D xf;
xf.rotate(target_position.angle());
xf.translate(Vector2(no_line ? 0 : target_position.length() - arrow_size, 0));
Vector<Vector2> pts;
pts.push_back(xf.xform(Vector2(arrow_size, 0)));
pts.push_back(xf.xform(Vector2(0, 0.5 * arrow_size)));
pts.push_back(xf.xform(Vector2(0, -0.5 * arrow_size)));
Vector<Color> cols;
for (int i = 0; i < 3; i++) {
cols.push_back(p_color);
}
RS::get_singleton()->canvas_item_add_primitive(p_to_rid, pts, cols, Vector<Point2>(), RID());
}
Rect2 RayShape2D::get_rect() const {
Rect2 rect;
rect.position = Vector2();
rect.expand_to(Vector2(0, length));
rect = rect.grow(Math_SQRT12 * 4);
return rect;
}
real_t RayShape2D::get_enclosing_radius() const {
return length;
}
void RayShape2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_length", "length"), &RayShape2D::set_length);
ClassDB::bind_method(D_METHOD("get_length"), &RayShape2D::get_length);
ClassDB::bind_method(D_METHOD("set_slips_on_slope", "active"), &RayShape2D::set_slips_on_slope);
ClassDB::bind_method(D_METHOD("get_slips_on_slope"), &RayShape2D::get_slips_on_slope);
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "length"), "set_length", "get_length");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "slips_on_slope"), "set_slips_on_slope", "get_slips_on_slope");
}
void RayShape2D::set_length(real_t p_length) {
length = p_length;
_update_shape();
}
real_t RayShape2D::get_length() const {
return length;
}
void RayShape2D::set_slips_on_slope(bool p_active) {
slips_on_slope = p_active;
_update_shape();
}
bool RayShape2D::get_slips_on_slope() const {
return slips_on_slope;
}
RayShape2D::RayShape2D() :
Shape2D(PhysicsServer2D::get_singleton()->ray_shape_create()) {
_update_shape();
}

61
scene/resources/ray_shape_2d.h
View file

@ -1,61 +0,0 @@
/*************************************************************************/
/* ray_shape_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef RAY_SHAPE_2D_H
#define RAY_SHAPE_2D_H
#include "scene/resources/shape_2d.h"
class RayShape2D : public Shape2D {
GDCLASS(RayShape2D, Shape2D);
real_t length = 20.0;
bool slips_on_slope = false;
void _update_shape();
protected:
static void _bind_methods();
public:
void set_length(real_t p_length);
real_t get_length() const;
void set_slips_on_slope(bool p_active);
bool get_slips_on_slope() const;
virtual void draw(const RID &p_to_rid, const Color &p_color) override;
virtual Rect2 get_rect() const override;
virtual real_t get_enclosing_radius() const override;
RayShape2D();
};
#endif // RAY_SHAPE_2D_H

91
scene/resources/ray_shape_3d.cpp
View file

@ -1,91 +0,0 @@
/*************************************************************************/
/* ray_shape_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "ray_shape_3d.h"
#include "servers/physics_server_3d.h"
Vector<Vector3> RayShape3D::get_debug_mesh_lines() const {
Vector<Vector3> points;
points.push_back(Vector3());
points.push_back(Vector3(0, 0, get_length()));
return points;
}
real_t RayShape3D::get_enclosing_radius() const {
return length;
}
void RayShape3D::_update_shape() {
Dictionary d;
d["length"] = length;
d["slips_on_slope"] = slips_on_slope;
PhysicsServer3D::get_singleton()->shape_set_data(get_shape(), d);
Shape3D::_update_shape();
}
void RayShape3D::set_length(float p_length) {
length = p_length;
_update_shape();
notify_change_to_owners();
}
float RayShape3D::get_length() const {
return length;
}
void RayShape3D::set_slips_on_slope(bool p_active) {
slips_on_slope = p_active;
_update_shape();
notify_change_to_owners();
}
bool RayShape3D::get_slips_on_slope() const {
return slips_on_slope;
}
void RayShape3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_length", "length"), &RayShape3D::set_length);
ClassDB::bind_method(D_METHOD("get_length"), &RayShape3D::get_length);
ClassDB::bind_method(D_METHOD("set_slips_on_slope", "active"), &RayShape3D::set_slips_on_slope);
ClassDB::bind_method(D_METHOD("get_slips_on_slope"), &RayShape3D::get_slips_on_slope);
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "length", PROPERTY_HINT_RANGE, "0,4096,0.001"), "set_length", "get_length");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "slips_on_slope"), "set_slips_on_slope", "get_slips_on_slope");
}
RayShape3D::RayShape3D() :
Shape3D(PhysicsServer3D::get_singleton()->shape_create(PhysicsServer3D::SHAPE_RAY)) {
/* Code copied from setters to prevent the use of uninitialized variables */
_update_shape();
notify_change_to_owners();
}

56
scene/resources/ray_shape_3d.h
View file

@ -1,56 +0,0 @@
/*************************************************************************/
/* ray_shape_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef RAY_SHAPE_H
#define RAY_SHAPE_H
#include "scene/resources/shape_3d.h"
class RayShape3D : public Shape3D {
GDCLASS(RayShape3D, Shape3D);
float length = 1.0;
bool slips_on_slope = false;
protected:
static void _bind_methods();
virtual void _update_shape() override;
public:
void set_length(float p_length);
float get_length() const;
void set_slips_on_slope(bool p_active);
bool get_slips_on_slope() const;
virtual Vector<Vector3> get_debug_mesh_lines() const override;
virtual real_t get_enclosing_radius() const override;
RayShape3D();
};
#endif // RAY_SHAPE_H

18
servers/physics_2d/collision_solver_2d_sat.cpp
View file

@ -1098,13 +1098,11 @@ bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D
PhysicsServer2D::ShapeType type_A = p_shape_A->get_type();
ERR_FAIL_COND_V(type_A == PhysicsServer2D::SHAPE_LINE, false);
//ERR_FAIL_COND_V(type_A==PhysicsServer2D::SHAPE_RAY,false);
ERR_FAIL_COND_V(p_shape_A->is_concave(), false);
PhysicsServer2D::ShapeType type_B = p_shape_B->get_type();
ERR_FAIL_COND_V(type_B == PhysicsServer2D::SHAPE_LINE, false);
//ERR_FAIL_COND_V(type_B==PhysicsServer2D::SHAPE_RAY,false);
ERR_FAIL_COND_V(p_shape_B->is_concave(), false);
static const CollisionFunc collision_table[5][5] = {
@ -1367,23 +1365,23 @@ bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D
if (p_margin_A || p_margin_B) {
if (*motion_A == Vector2() && *motion_B == Vector2()) {
collision_func = collision_table_margin[type_A - 2][type_B - 2];
collision_func = collision_table_margin[type_A - 1][type_B - 1];
} else if (*motion_A != Vector2() && *motion_B == Vector2()) {
collision_func = collision_table_castA_margin[type_A - 2][type_B - 2];
collision_func = collision_table_castA_margin[type_A - 1][type_B - 1];
} else if (*motion_A == Vector2() && *motion_B != Vector2()) {
collision_func = collision_table_castB_margin[type_A - 2][type_B - 2];
collision_func = collision_table_castB_margin[type_A - 1][type_B - 1];
} else {
collision_func = collision_table_castA_castB_margin[type_A - 2][type_B - 2];
collision_func = collision_table_castA_castB_margin[type_A - 1][type_B - 1];
}
} else {
if (*motion_A == Vector2() && *motion_B == Vector2()) {
collision_func = collision_table[type_A - 2][type_B - 2];
collision_func = collision_table[type_A - 1][type_B - 1];
} else if (*motion_A != Vector2() && *motion_B == Vector2()) {
collision_func = collision_table_castA[type_A - 2][type_B - 2];
collision_func = collision_table_castA[type_A - 1][type_B - 1];
} else if (*motion_A == Vector2() && *motion_B != Vector2()) {
collision_func = collision_table_castB[type_A - 2][type_B - 2];
collision_func = collision_table_castB[type_A - 1][type_B - 1];
} else {
collision_func = collision_table_castA_castB[type_A - 2][type_B - 2];
collision_func = collision_table_castA_castB[type_A - 1][type_B - 1];
}
}

56
servers/physics_2d/collision_solver_2d_sw.cpp
View file

@ -73,49 +73,6 @@ bool CollisionSolver2DSW::solve_static_line(const Shape2DSW *p_shape_A, const Tr
return found;
}
bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis) {
const RayShape2DSW *ray = static_cast<const RayShape2DSW *>(p_shape_A);
if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_RAY) {
return false;
}
Vector2 from = p_transform_A.get_origin();
Vector2 to = from + p_transform_A[1] * ray->get_length();
if (p_motion_A != Vector2()) {
//not the best but should be enough
Vector2 normal = (to - from).normalized();
to += normal * MAX(0.0, normal.dot(p_motion_A));
}
Vector2 support_A = to;
Transform2D invb = p_transform_B.affine_inverse();
from = invb.xform(from);
to = invb.xform(to);
Vector2 p, n;
if (!p_shape_B->intersect_segment(from, to, p, n)) {
if (sep_axis) {
*sep_axis = p_transform_A[1].normalized();
}
return false;
}
Vector2 support_B = p_transform_B.xform(p);
if (ray->get_slips_on_slope()) {
Vector2 global_n = invb.basis_xform_inv(n).normalized();
support_B = support_A + (support_B - support_A).length() * global_n;
}
if (p_result_callback) {
if (p_swap_result) {
p_result_callback(support_B, support_A, p_userdata);
} else {
p_result_callback(support_A, support_B, p_userdata);
}
}
return true;
}
struct _ConcaveCollisionInfo2D {
const Transform2D *transform_A;
const Shape2DSW *shape_A;
@ -210,7 +167,7 @@ bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p
}
if (type_A == PhysicsServer2D::SHAPE_LINE) {
if (type_B == PhysicsServer2D::SHAPE_LINE || type_B == PhysicsServer2D::SHAPE_RAY) {
if (type_B == PhysicsServer2D::SHAPE_LINE) {
return false;
}
@ -220,17 +177,6 @@ bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p
return solve_static_line(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
}
} else if (type_A == PhysicsServer2D::SHAPE_RAY) {
if (type_B == PhysicsServer2D::SHAPE_RAY) {
return false; //no ray-ray
}
if (swap) {
return solve_raycast(p_shape_B, p_motion_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, sep_axis);
} else {
return solve_raycast(p_shape_A, p_motion_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, sep_axis);
}
} else if (concave_B) {
if (concave_A) {
return false;

20
servers/physics_2d/physics_server_2d_sw.cpp
View file

@ -45,9 +45,6 @@ RID PhysicsServer2DSW::_shape_create(ShapeType p_shape) {
case SHAPE_LINE: {
shape = memnew(LineShape2DSW);
} break;
case SHAPE_RAY: {
shape = memnew(RayShape2DSW);
} break;
case SHAPE_SEGMENT: {
shape = memnew(SegmentShape2DSW);
} break;
@ -82,10 +79,6 @@ RID PhysicsServer2DSW::line_shape_create() {
return _shape_create(SHAPE_LINE);
}
RID PhysicsServer2DSW::ray_shape_create() {
return _shape_create(SHAPE_RAY);
}
RID PhysicsServer2DSW::segment_shape_create() {
return _shape_create(SHAPE_SEGMENT);
}
@ -946,7 +939,7 @@ void PhysicsServer2DSW::body_set_pickable(RID p_body, bool p_pickable) {
body->set_pickable(p_pickable);
}
bool PhysicsServer2DSW::body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
bool PhysicsServer2DSW::body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, MotionResult *r_result, const Set<RID> &p_exclude) {
Body2DSW *body = body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
@ -954,16 +947,7 @@ bool PhysicsServer2DSW::body_test_motion(RID p_body, const Transform2D &p_from,
_update_shapes();
return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes, p_exclude);
}
int PhysicsServer2DSW::body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
Body2DSW *body = body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
return body->get_space()->test_body_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result, p_exclude);
}
PhysicsDirectBodyState2D *PhysicsServer2DSW::body_get_direct_state(RID p_body) {

4
servers/physics_2d/physics_server_2d_sw.h
View file

@ -88,7 +88,6 @@ public:
};
virtual RID line_shape_create() override;
virtual RID ray_shape_create() override;
virtual RID segment_shape_create() override;
virtual RID circle_shape_create() override;
virtual RID rectangle_shape_create() override;
@ -247,8 +246,7 @@ public:
virtual void body_set_pickable(RID p_body, bool p_pickable) override;
virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.08, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override;
virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.08) override;
virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin = 0.08, MotionResult *r_result = nullptr, const Set<RID> &p_exclude = Set<RID>()) override;
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState2D *body_get_direct_state(RID p_body) override;

10
servers/physics_2d/physics_server_2d_wrap_mt.h
View file

@ -80,7 +80,6 @@ public:
//FUNC1RID(shape,ShapeType); todo fix
FUNCRID(line_shape)
FUNCRID(ray_shape)
FUNCRID(segment_shape)
FUNCRID(circle_shape)
FUNCRID(rectangle_shape)
@ -253,14 +252,9 @@ public:
FUNC2(body_set_pickable, RID, bool);
bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.08, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override {
bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin = 0.08, MotionResult *r_result = nullptr, const Set<RID> &p_exclude = Set<RID>()) override {
ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
return physics_2d_server->body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes, p_exclude);
}
int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.08) override {
ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
return physics_2d_server->body_test_ray_separation(p_body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
return physics_2d_server->body_test_motion(p_body, p_from, p_motion, p_margin, r_result, p_exclude);
}
// this function only works on physics process, errors and returns null otherwise

40
servers/physics_2d/shape_2d_sw.cpp
View file

@ -143,46 +143,6 @@ Variant LineShape2DSW::get_data() const {
/*********************************************************/
/*********************************************************/
void RayShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
r_amount = 1;
if (p_normal.y > 0) {
*r_supports = Vector2(0, length);
} else {
*r_supports = Vector2();
}
}
bool RayShape2DSW::contains_point(const Vector2 &p_point) const {
return false;
}
bool RayShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
return false; //rays can't be intersected
}
real_t RayShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
return 0; //rays are mass-less
}
void RayShape2DSW::set_data(const Variant &p_data) {
Dictionary d = p_data;
length = d["length"];
slips_on_slope = d["slips_on_slope"];
configure(Rect2(0, 0, 0.001, length));
}
Variant RayShape2DSW::get_data() const {
Dictionary d;
d["length"] = length;
d["slips_on_slope"] = slips_on_slope;
return d;
}
/*********************************************************/
/*********************************************************/
/*********************************************************/
void SegmentShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
if (Math::abs(p_normal.dot(n)) > _SEGMENT_IS_VALID_SUPPORT_THRESHOLD) {
r_supports[0] = a;

35
servers/physics_2d/shape_2d_sw.h
View file

@ -189,41 +189,6 @@ public:
}
};
class RayShape2DSW : public Shape2DSW {
real_t length;
bool slips_on_slope;
public:
_FORCE_INLINE_ real_t get_length() const { return length; }
_FORCE_INLINE_ bool get_slips_on_slope() const { return slips_on_slope; }
virtual PhysicsServer2D::ShapeType get_type() const { return PhysicsServer2D::SHAPE_RAY; }
virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); }
virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const;
virtual bool contains_point(const Vector2 &p_point) const;
virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const;
virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const;
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
//real large
r_max = p_normal.dot(p_transform.get_origin());
r_min = p_normal.dot(p_transform.xform(Vector2(0, length)));
if (r_max < r_min) {
SWAP(r_max, r_min);
}
}
DEFAULT_PROJECT_RANGE_CAST
_FORCE_INLINE_ RayShape2DSW() {}
_FORCE_INLINE_ RayShape2DSW(real_t p_length) { length = p_length; }
};
class SegmentShape2DSW : public Shape2DSW {
Vector2 a;
Vector2 b;

223
servers/physics_2d/space_2d_sw.cpp
View file

@ -528,188 +528,7 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
return amount;
}
int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, PhysicsServer2D::SeparationResult *r_results, int p_result_max, real_t p_margin) {
Rect2 body_aabb;
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
if (p_body->is_shape_disabled(i)) {
continue;
}
if (p_body->get_shape(i)->get_type() != PhysicsServer2D::SHAPE_RAY) {
continue;
}
if (!shapes_found) {
body_aabb = p_body->get_shape_aabb(i);
shapes_found = true;
} else {
body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
}
}
if (!shapes_found) {
return 0;
}
// Undo the currently transform the physics server is aware of and apply the provided one
body_aabb = p_transform.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb = body_aabb.grow(p_margin);
Transform2D body_transform = p_transform;
for (int i = 0; i < p_result_max; i++) {
//reset results
r_results[i].collision_depth = 0;
}
int rays_found = 0;
{
// raycast AND separate
const int max_results = 32;
int recover_attempts = 4;
Vector2 sr[max_results * 2];
PhysicsServer2DSW::CollCbkData cbk;
cbk.max = max_results;
PhysicsServer2DSW::CollCbkData *cbkptr = &cbk;
CollisionSolver2DSW::CallbackResult cbkres = PhysicsServer2DSW::_shape_col_cbk;
do {
Vector2 recover_motion;
bool collided = false;
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_disabled(j)) {
continue;
}
Shape2DSW *body_shape = p_body->get_shape(j);
if (body_shape->get_type() != PhysicsServer2D::SHAPE_RAY) {
continue;
}
Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
int shape_idx = intersection_query_subindex_results[i];
cbk.amount = 0;
cbk.passed = 0;
cbk.ptr = sr;
cbk.invalid_by_dir = 0;
if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}
Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
/*
* There is no point in supporting one way collisions with ray shapes, as they will always collide in the desired
* direction. Use a short ray shape if you want to achieve a similar effect.
*
if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
cbk.valid_depth = p_margin; //only valid depth is the collision margin
cbk.invalid_by_dir = 0;
} else {
*/
cbk.valid_dir = Vector2();
cbk.valid_depth = 0;
cbk.invalid_by_dir = 0;
/*
}
*/
Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_margin)) {
if (cbk.amount > 0) {
collided = true;
}
int ray_index = -1; //reuse shape
for (int k = 0; k < rays_found; k++) {
if (r_results[ray_index].collision_local_shape == j) {
ray_index = k;
}
}
if (ray_index == -1 && rays_found < p_result_max) {
ray_index = rays_found;
rays_found++;
}
if (ray_index != -1) {
PhysicsServer2D::SeparationResult &result = r_results[ray_index];
for (int k = 0; k < cbk.amount; k++) {
Vector2 a = sr[k * 2 + 0];
Vector2 b = sr[k * 2 + 1];
recover_motion += (b - a) / cbk.amount;
real_t depth = a.distance_to(b);
if (depth > result.collision_depth) {
result.collision_depth = depth;
result.collision_point = b;
result.collision_normal = (b - a).normalized();
result.collision_local_shape = j;
result.collider_shape = shape_idx;
result.collider = col_obj->get_self();
result.collider_id = col_obj->get_instance_id();
result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
Body2DSW *body = (Body2DSW *)col_obj;
Vector2 rel_vec = b - body->get_transform().get_origin();
result.collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
}
}
}
}
}
}
}
if (!collided || recover_motion == Vector2()) {
break;
}
body_transform.elements[2] += recover_motion;
body_aabb.position += recover_motion;
recover_attempts--;
} while (recover_attempts);
}
//optimize results (remove non colliding)
for (int i = 0; i < rays_found; i++) {
if (r_results[i].collision_depth == 0) {
rays_found--;
SWAP(r_results[i], r_results[rays_found]);
}
}
r_recover_motion = body_transform.elements[2] - p_transform.elements[2];
return rays_found;
}
bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer2D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, PhysicsServer2D::MotionResult *r_result, const Set<RID> &p_exclude) {
//give me back regular physics engine logic
//this is madness
//and most people using this function will think
@ -730,10 +549,6 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
continue;
}
if (p_exclude_raycast_shapes && p_body->get_shape(i)->get_type() == PhysicsServer2D::SHAPE_RAY) {
continue;
}
if (!shapes_found) {
body_aabb = p_body->get_shape_aabb(i);
shapes_found = true;
@ -794,24 +609,15 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}
Shape2DSW *body_shape = p_body->get_shape(j);
if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer2D::SHAPE_RAY) {
continue;
}
Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
if (p_exclude.has(col_obj->get_self())) {
continue;
}
int shape_idx = intersection_query_subindex_results[i];
if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}
int shape_idx = intersection_query_subindex_results[i];
Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
@ -920,10 +726,6 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}
Shape2DSW *body_shape = p_body->get_shape(body_shape_idx);
if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer2D::SHAPE_RAY) {
continue;
}
Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(body_shape_idx);
bool stuck = false;
@ -939,13 +741,6 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
int col_shape_idx = intersection_query_subindex_results[i];
Shape2DSW *against_shape = col_obj->get_shape(col_shape_idx);
if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}
bool excluded = false;
for (int k = 0; k < excluded_shape_pair_count; k++) {
@ -1082,10 +877,6 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j);
Shape2DSW *body_shape = p_body->get_shape(j);
if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer2D::SHAPE_RAY) {
continue;
}
body_aabb.position += p_motion * unsafe;
int amount = _cull_aabb_for_body(p_body, body_aabb);
@ -1095,14 +886,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
if (p_exclude.has(col_obj->get_self())) {
continue;
}
int shape_idx = intersection_query_subindex_results[i];
if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}
int shape_idx = intersection_query_subindex_results[i];
Shape2DSW *against_shape = col_obj->get_shape(shape_idx);

3
servers/physics_2d/space_2d_sw.h
View file

@ -183,8 +183,7 @@ public:
int get_collision_pairs() const { return collision_pairs; }
bool test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer2D::MotionResult *r_result, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>());
int test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, PhysicsServer2D::SeparationResult *r_results, int p_result_max, real_t p_margin);
bool test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, PhysicsServer2D::MotionResult *r_result, const Set<RID> &p_exclude = Set<RID>());
void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); }
_FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.is_empty(); }

6
servers/physics_3d/collision_solver_3d_sat.cpp
View file

@ -2273,13 +2273,11 @@ bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_
PhysicsServer3D::ShapeType type_A = p_shape_A->get_type();
ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_PLANE, false);
ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_RAY, false);
ERR_FAIL_COND_V(p_shape_A->is_concave(), false);
PhysicsServer3D::ShapeType type_B = p_shape_B->get_type();
ERR_FAIL_COND_V(type_B == PhysicsServer3D::SHAPE_PLANE, false);
ERR_FAIL_COND_V(type_B == PhysicsServer3D::SHAPE_RAY, false);
ERR_FAIL_COND_V(p_shape_B->is_concave(), false);
static const CollisionFunc collision_table[6][6] = {
@ -2384,10 +2382,10 @@ bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_
CollisionFunc collision_func;
if (margin_A != 0.0 || margin_B != 0.0) {
collision_func = collision_table_margin[type_A - 2][type_B - 2];
collision_func = collision_table_margin[type_A - 1][type_B - 1];
} else {
collision_func = collision_table[type_A - 2][type_B - 2];
collision_func = collision_table[type_A - 1][type_B - 1];
}
ERR_FAIL_COND_V(!collision_func, false);

47
servers/physics_3d/collision_solver_3d_sw.cpp
View file

@ -89,39 +89,6 @@ bool CollisionSolver3DSW::solve_static_plane(const Shape3DSW *p_shape_A, const T
return found;
}
bool CollisionSolver3DSW::solve_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
const RayShape3DSW *ray = static_cast<const RayShape3DSW *>(p_shape_A);
Vector3 from = p_transform_A.origin;
Vector3 to = from + p_transform_A.basis.get_axis(2) * ray->get_length();
Vector3 support_A = to;
Transform3D ai = p_transform_B.affine_inverse();
from = ai.xform(from);
to = ai.xform(to);
Vector3 p, n;
if (!p_shape_B->intersect_segment(from, to, p, n)) {
return false;
}
Vector3 support_B = p_transform_B.xform(p);
if (ray->get_slips_on_slope()) {
Vector3 global_n = ai.basis.xform_inv(n).normalized();
support_B = support_A + (support_B - support_A).length() * global_n;
}
if (p_result_callback) {
if (p_swap_result) {
p_result_callback(support_B, 0, support_A, 0, p_userdata);
} else {
p_result_callback(support_A, 0, support_B, 0, p_userdata);
}
}
return true;
}
struct _SoftBodyContactCollisionInfo {
int node_index = 0;
CollisionSolver3DSW::CallbackResult result_callback = nullptr;
@ -347,9 +314,6 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo
if (type_B == PhysicsServer3D::SHAPE_PLANE) {
return false;
}
if (type_B == PhysicsServer3D::SHAPE_RAY) {
return false;
}
if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) {
return false;
}
@ -360,17 +324,6 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo
return solve_static_plane(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
}
} else if (type_A == PhysicsServer3D::SHAPE_RAY) {
if (type_B == PhysicsServer3D::SHAPE_RAY) {
return false;
}
if (swap) {
return solve_ray(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
} else {
return solve_ray(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
}
} else if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) {
if (type_A == PhysicsServer3D::SHAPE_SOFT_BODY) {
// Soft Body / Soft Body not supported.

21
servers/physics_3d/physics_server_3d_sw.cpp
View file

@ -48,12 +48,6 @@ RID PhysicsServer3DSW::plane_shape_create() {
shape->set_self(rid);
return rid;
}
RID PhysicsServer3DSW::ray_shape_create() {
Shape3DSW *shape = memnew(RayShape3DSW);
RID rid = shape_owner.make_rid(shape);
shape->set_self(rid);
return rid;
}
RID PhysicsServer3DSW::sphere_shape_create() {
Shape3DSW *shape = memnew(SphereShape3DSW);
RID rid = shape_owner.make_rid(shape);
@ -854,7 +848,7 @@ void PhysicsServer3DSW::body_set_ray_pickable(RID p_body, bool p_enable) {
body->set_ray_pickable(p_enable);
}
bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, MotionResult *r_result, const Set<RID> &p_exclude) {
Body3DSW *body = body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
@ -862,18 +856,7 @@ bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from,
_update_shapes();
return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes, p_exclude);
}
int PhysicsServer3DSW::body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
Body3DSW *body = body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
_update_shapes();
return body->get_space()->test_body_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result, p_exclude);
}
PhysicsDirectBodyState3D *PhysicsServer3DSW::body_get_direct_state(RID p_body) {

4
servers/physics_3d/physics_server_3d_sw.h
View file

@ -83,7 +83,6 @@ public:
static void _shape_col_cbk(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata);
virtual RID plane_shape_create() override;
virtual RID ray_shape_create() override;
virtual RID sphere_shape_create() override;
virtual RID box_shape_create() override;
virtual RID capsule_shape_create() override;
@ -242,8 +241,7 @@ public:
virtual void body_set_ray_pickable(RID p_body, bool p_enable) override;
virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override;
virtual int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override;
virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, const Set<RID> &p_exclude = Set<RID>()) override;
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override;

10
servers/physics_3d/physics_server_3d_wrap_mt.h
View file

@ -79,7 +79,6 @@ public:
//FUNC1RID(shape,ShapeType); todo fix
FUNCRID(plane_shape)
FUNCRID(ray_shape)
FUNCRID(sphere_shape)
FUNCRID(box_shape)
FUNCRID(capsule_shape)
@ -250,14 +249,9 @@ public:
FUNC2(body_set_ray_pickable, RID, bool);
bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override {
bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, const Set<RID> &p_exclude = Set<RID>()) override {
ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
return physics_3d_server->body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes, p_exclude);
}
int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override {
ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
return physics_3d_server->body_test_ray_separation(p_body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
return physics_3d_server->body_test_motion(p_body, p_from, p_motion, p_margin, r_result, p_exclude);
}
// this function only works on physics process, errors and returns null otherwise

85
servers/physics_3d/shape_3d_sw.cpp
View file

@ -164,91 +164,6 @@ Variant PlaneShape3DSW::get_data() const {
PlaneShape3DSW::PlaneShape3DSW() {
}
//
real_t RayShape3DSW::get_length() const {
return length;
}
bool RayShape3DSW::get_slips_on_slope() const {
return slips_on_slope;
}
void RayShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const {
// don't think this will be even used
r_min = 0;
r_max = 1;
}
Vector3 RayShape3DSW::get_support(const Vector3 &p_normal) const {
if (p_normal.z > 0) {
return Vector3(0, 0, length);
} else {
return Vector3(0, 0, 0);
}
}
void RayShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const {
if (Math::abs(p_normal.z) < _EDGE_IS_VALID_SUPPORT_THRESHOLD) {
r_amount = 2;
r_type = FEATURE_EDGE;
r_supports[0] = Vector3(0, 0, 0);
r_supports[1] = Vector3(0, 0, length);
} else if (p_normal.z > 0) {
r_amount = 1;
r_type = FEATURE_POINT;
*r_supports = Vector3(0, 0, length);
} else {
r_amount = 1;
r_type = FEATURE_POINT;
*r_supports = Vector3(0, 0, 0);
}
}
bool RayShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const {
return false; //simply not possible
}
bool RayShape3DSW::intersect_point(const Vector3 &p_point) const {
return false; //simply not possible
}
Vector3 RayShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
Vector3 s[2] = {
Vector3(0, 0, 0),
Vector3(0, 0, length)
};
return Geometry3D::get_closest_point_to_segment(p_point, s);
}
Vector3 RayShape3DSW::get_moment_of_inertia(real_t p_mass) const {
return Vector3();
}
void RayShape3DSW::_setup(real_t p_length, bool p_slips_on_slope) {
length = p_length;
slips_on_slope = p_slips_on_slope;
configure(AABB(Vector3(0, 0, 0), Vector3(0.1, 0.1, length)));
}
void RayShape3DSW::set_data(const Variant &p_data) {
Dictionary d = p_data;
_setup(d["length"], d["slips_on_slope"]);
}
Variant RayShape3DSW::get_data() const {
Dictionary d;
d["length"] = length;
d["slips_on_slope"] = slips_on_slope;
return d;
}
RayShape3DSW::RayShape3DSW() {
length = 1;
slips_on_slope = false;
}
/********** SPHERE *************/
real_t SphereShape3DSW::get_radius() const {

28
servers/physics_3d/shape_3d_sw.h
View file

@ -145,34 +145,6 @@ public:
PlaneShape3DSW();
};
class RayShape3DSW : public Shape3DSW {
real_t length;
bool slips_on_slope;
void _setup(real_t p_length, bool p_slips_on_slope);
public:
real_t get_length() const;
bool get_slips_on_slope() const;
virtual real_t get_area() const { return 0.0; }
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_RAY; }
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3 &p_normal) const;
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
virtual bool intersect_point(const Vector3 &p_point) const;
virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
RayShape3DSW();
};
class SphereShape3DSW : public Shape3DSW {
real_t radius;

187
servers/physics_3d/space_3d_sw.cpp
View file

@ -569,158 +569,7 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
return amount;
}
int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin) {
AABB body_aabb;
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
if (p_body->is_shape_disabled(i)) {
continue;
}
if (!shapes_found) {
body_aabb = p_body->get_shape_aabb(i);
shapes_found = true;
} else {
body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
}
}
if (!shapes_found) {
return 0;
}
// Undo the currently transform the physics server is aware of and apply the provided one
body_aabb = p_transform.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb = body_aabb.grow(p_margin);
Transform3D body_transform = p_transform;
for (int i = 0; i < p_result_max; i++) {
//reset results
r_results[i].collision_depth = 0;
}
int rays_found = 0;
{
// raycast AND separate
const int max_results = 32;
int recover_attempts = 4;
Vector3 sr[max_results * 2];
PhysicsServer3DSW::CollCbkData cbk;
cbk.max = max_results;
PhysicsServer3DSW::CollCbkData *cbkptr = &cbk;
CollisionSolver3DSW::CallbackResult cbkres = PhysicsServer3DSW::_shape_col_cbk;
do {
Vector3 recover_motion;
bool collided = false;
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_disabled(j)) {
continue;
}
Shape3DSW *body_shape = p_body->get_shape(j);
if (body_shape->get_type() != PhysicsServer3D::SHAPE_RAY) {
continue;
}
Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
for (int i = 0; i < amount; i++) {
const CollisionObject3DSW *col_obj = intersection_query_results[i];
int shape_idx = intersection_query_subindex_results[i];
cbk.amount = 0;
cbk.ptr = sr;
if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
const Body3DSW *b = static_cast<const Body3DSW *>(col_obj);
if (p_infinite_inertia && PhysicsServer3D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer3D::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}
Shape3DSW *against_shape = col_obj->get_shape(shape_idx);
if (CollisionSolver3DSW::solve_static(body_shape, body_shape_xform, against_shape, col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_margin)) {
if (cbk.amount > 0) {
collided = true;
}
int ray_index = -1; //reuse shape
for (int k = 0; k < rays_found; k++) {
if (r_results[k].collision_local_shape == j) {
ray_index = k;
}
}
if (ray_index == -1 && rays_found < p_result_max) {
ray_index = rays_found;
rays_found++;
}
if (ray_index != -1) {
PhysicsServer3D::SeparationResult &result = r_results[ray_index];
for (int k = 0; k < cbk.amount; k++) {
Vector3 a = sr[k * 2 + 0];
Vector3 b = sr[k * 2 + 1];
recover_motion += (b - a) / cbk.amount;
real_t depth = a.distance_to(b);
if (depth > result.collision_depth) {
result.collision_depth = depth;
result.collision_point = b;
result.collision_normal = (b - a).normalized();
result.collision_local_shape = j;
result.collider = col_obj->get_self();
result.collider_id = col_obj->get_instance_id();
result.collider_shape = shape_idx;
//result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
if (col_obj->get_type() == CollisionObject3DSW::TYPE_BODY) {
Body3DSW *body = (Body3DSW *)col_obj;
Vector3 rel_vec = b - (body->get_transform().origin + body->get_center_of_mass());
result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
}
}
}
}
}
}
}
if (!collided || recover_motion == Vector3()) {
break;
}
body_transform.origin += recover_motion;
body_aabb.position += recover_motion;
recover_attempts--;
} while (recover_attempts);
}
//optimize results (remove non colliding)
for (int i = 0; i < rays_found; i++) {
if (r_results[i].collision_depth == 0) {
rays_found--;
SWAP(r_results[i], r_results[rays_found]);
}
}
r_recover_motion = body_transform.origin - p_transform.origin;
return rays_found;
}
bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, const Set<RID> &p_exclude) {
//give me back regular physics engine logic
//this is madness
//and most people using this function will think
@ -795,23 +644,14 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
Shape3DSW *body_shape = p_body->get_shape(j);
if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer3D::SHAPE_RAY) {
continue;
}
for (int i = 0; i < amount; i++) {
const CollisionObject3DSW *col_obj = intersection_query_results[i];
if (p_exclude.has(col_obj->get_self())) {
continue;
}
int shape_idx = intersection_query_subindex_results[i];
if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
const Body3DSW *b = static_cast<const Body3DSW *>(col_obj);
if (p_infinite_inertia && PhysicsServer3D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer3D::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}
int shape_idx = intersection_query_subindex_results[i];
if (CollisionSolver3DSW::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_margin)) {
collided = cbk.amount > 0;
@ -877,10 +717,6 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
Shape3DSW *body_shape = p_body->get_shape(j);
if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer3D::SHAPE_RAY) {
continue;
}
Transform3D body_shape_xform_inv = body_shape_xform.affine_inverse();
MotionShape3DSW mshape;
mshape.shape = body_shape;
@ -896,14 +732,8 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
if (p_exclude.has(col_obj->get_self())) {
continue;
}
int shape_idx = intersection_query_subindex_results[i];
if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
const Body3DSW *b = static_cast<const Body3DSW *>(col_obj);
if (p_infinite_inertia && PhysicsServer3D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer3D::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}
int shape_idx = intersection_query_subindex_results[i];
//test initial overlap, does it collide if going all the way?
Vector3 point_A, point_B;
@ -1011,10 +841,6 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
Transform3D body_shape_xform = ugt * p_body->get_shape_transform(j);
Shape3DSW *body_shape = p_body->get_shape(j);
if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer3D::SHAPE_RAY) {
continue;
}
body_aabb.position += p_motion * unsafe;
int amount = _cull_aabb_for_body(p_body, body_aabb);
@ -1026,13 +852,6 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
}
int shape_idx = intersection_query_subindex_results[i];
if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
const Body3DSW *b = static_cast<const Body3DSW *>(col_obj);
if (p_infinite_inertia && PhysicsServer3D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer3D::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}
rcd.object = col_obj;
rcd.shape = shape_idx;
bool sc = CollisionSolver3DSW::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_margin);

3
servers/physics_3d/space_3d_sw.h
View file

@ -203,8 +203,7 @@ public:
void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; }
uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; }
int test_body_ray_separation(Body3DSW *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin);
bool test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude = Set<RID>());
bool test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, const Set<RID> &p_exclude = Set<RID>());
Space3DSW();
~Space3DSW();

8
servers/physics_server_2d.cpp
View file

@ -500,7 +500,7 @@ void PhysicsTestMotionResult2D::_bind_methods() {
///////////////////////////////////////
bool PhysicsServer2D::_body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, const Ref<PhysicsTestMotionResult2D> &p_result, bool p_exclude_raycast_shapes, const Vector<RID> &p_exclude) {
bool PhysicsServer2D::_body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, const Ref<PhysicsTestMotionResult2D> &p_result, const Vector<RID> &p_exclude) {
MotionResult *r = nullptr;
if (p_result.is_valid()) {
r = p_result->get_result_ptr();
@ -509,12 +509,11 @@ bool PhysicsServer2D::_body_test_motion(RID p_body, const Transform2D &p_from, c
for (int i = 0; i < p_exclude.size(); i++) {
exclude.insert(p_exclude[i]);
}
return body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r, p_exclude_raycast_shapes, exclude);
return body_test_motion(p_body, p_from, p_motion, p_margin, r, exclude);
}
void PhysicsServer2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("line_shape_create"), &PhysicsServer2D::line_shape_create);
ClassDB::bind_method(D_METHOD("ray_shape_create"), &PhysicsServer2D::ray_shape_create);
ClassDB::bind_method(D_METHOD("segment_shape_create"), &PhysicsServer2D::segment_shape_create);
ClassDB::bind_method(D_METHOD("circle_shape_create"), &PhysicsServer2D::circle_shape_create);
ClassDB::bind_method(D_METHOD("rectangle_shape_create"), &PhysicsServer2D::rectangle_shape_create);
@ -636,7 +635,7 @@ void PhysicsServer2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("body_set_force_integration_callback", "body", "callable", "userdata"), &PhysicsServer2D::body_set_force_integration_callback, DEFVAL(Variant()));
ClassDB::bind_method(D_METHOD("body_test_motion", "body", "from", "motion", "infinite_inertia", "margin", "result", "exclude_raycast_shapes", "exclude"), &PhysicsServer2D::_body_test_motion, DEFVAL(0.08), DEFVAL(Variant()), DEFVAL(true), DEFVAL(Array()));
ClassDB::bind_method(D_METHOD("body_test_motion", "body", "from", "motion", "margin", "result", "exclude"), &PhysicsServer2D::_body_test_motion, DEFVAL(0.08), DEFVAL(Variant()), DEFVAL(Array()));
ClassDB::bind_method(D_METHOD("body_get_direct_state", "body"), &PhysicsServer2D::body_get_direct_state);
@ -676,7 +675,6 @@ void PhysicsServer2D::_bind_methods() {
BIND_ENUM_CONSTANT(SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH);
BIND_ENUM_CONSTANT(SHAPE_LINE);
BIND_ENUM_CONSTANT(SHAPE_RAY);
BIND_ENUM_CONSTANT(SHAPE_SEGMENT);
BIND_ENUM_CONSTANT(SHAPE_CIRCLE);
BIND_ENUM_CONSTANT(SHAPE_RECTANGLE);

8
servers/physics_server_2d.h
View file

@ -210,7 +210,7 @@ class PhysicsServer2D : public Object {
static PhysicsServer2D *singleton;
virtual bool _body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.08, const Ref<PhysicsTestMotionResult2D> &p_result = Ref<PhysicsTestMotionResult2D>(), bool p_exclude_raycast_shapes = true, const Vector<RID> &p_exclude = Vector<RID>());
virtual bool _body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin = 0.08, const Ref<PhysicsTestMotionResult2D> &p_result = Ref<PhysicsTestMotionResult2D>(), const Vector<RID> &p_exclude = Vector<RID>());
protected:
static void _bind_methods();
@ -220,7 +220,6 @@ public:
enum ShapeType {
SHAPE_LINE, ///< plane:"plane"
SHAPE_RAY, ///< float:"length"
SHAPE_SEGMENT, ///< float:"length"
SHAPE_CIRCLE, ///< float:"radius"
SHAPE_RECTANGLE, ///< vec3:"extents"
@ -231,7 +230,6 @@ public:
};
virtual RID line_shape_create() = 0;
virtual RID ray_shape_create() = 0;
virtual RID segment_shape_create() = 0;
virtual RID circle_shape_create() = 0;
virtual RID rectangle_shape_create() = 0;
@ -483,7 +481,7 @@ public:
Variant collider_metadata;
};
virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.08, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) = 0;
virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin = 0.08, MotionResult *r_result = nullptr, const Set<RID> &p_exclude = Set<RID>()) = 0;
struct SeparationResult {
real_t collision_depth;
@ -497,8 +495,6 @@ public:
Variant collider_metadata;
};
virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.08) = 0;
/* JOINT API */
virtual RID joint_create() = 0;

10
servers/physics_server_3d.cpp
View file

@ -447,7 +447,7 @@ void PhysicsTestMotionResult3D::_bind_methods() {
///////////////////////////////////////
bool PhysicsServer3D::_body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, const Ref<PhysicsTestMotionResult3D> &p_result, bool p_exclude_raycast_shapes, const Vector<RID> &p_exclude) {
bool PhysicsServer3D::_body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, const Ref<PhysicsTestMotionResult3D> &p_result, const Vector<RID> &p_exclude) {
MotionResult *r = nullptr;
if (p_result.is_valid()) {
r = p_result->get_result_ptr();
@ -456,15 +456,13 @@ bool PhysicsServer3D::_body_test_motion(RID p_body, const Transform3D &p_from, c
for (int i = 0; i < p_exclude.size(); i++) {
exclude.insert(p_exclude[i]);
}
return body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r, p_exclude_raycast_shapes, exclude);
return body_test_motion(p_body, p_from, p_motion, p_margin, r, exclude);
}
RID PhysicsServer3D::shape_create(ShapeType p_shape) {
switch (p_shape) {
case SHAPE_PLANE:
return plane_shape_create();
case SHAPE_RAY:
return ray_shape_create();
case SHAPE_SPHERE:
return sphere_shape_create();
case SHAPE_BOX:
@ -490,7 +488,6 @@ void PhysicsServer3D::_bind_methods() {
#ifndef _3D_DISABLED
ClassDB::bind_method(D_METHOD("plane_shape_create"), &PhysicsServer3D::plane_shape_create);
ClassDB::bind_method(D_METHOD("ray_shape_create"), &PhysicsServer3D::ray_shape_create);
ClassDB::bind_method(D_METHOD("sphere_shape_create"), &PhysicsServer3D::sphere_shape_create);
ClassDB::bind_method(D_METHOD("box_shape_create"), &PhysicsServer3D::box_shape_create);
ClassDB::bind_method(D_METHOD("capsule_shape_create"), &PhysicsServer3D::capsule_shape_create);
@ -612,7 +609,7 @@ void PhysicsServer3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("body_set_ray_pickable", "body", "enable"), &PhysicsServer3D::body_set_ray_pickable);
ClassDB::bind_method(D_METHOD("body_test_motion", "body", "from", "motion", "infinite_inertia", "margin", "result", "exclude_raycast_shapes", "exclude"), &PhysicsServer3D::_body_test_motion, DEFVAL(0.001), DEFVAL(Variant()), DEFVAL(true), DEFVAL(Array()));
ClassDB::bind_method(D_METHOD("body_test_motion", "body", "from", "motion", "margin", "result", "exclude"), &PhysicsServer3D::_body_test_motion, DEFVAL(0.001), DEFVAL(Variant()), DEFVAL(Array()));
ClassDB::bind_method(D_METHOD("body_get_direct_state", "body"), &PhysicsServer3D::body_get_direct_state);
@ -751,7 +748,6 @@ void PhysicsServer3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_process_info", "process_info"), &PhysicsServer3D::get_process_info);
BIND_ENUM_CONSTANT(SHAPE_PLANE);
BIND_ENUM_CONSTANT(SHAPE_RAY);
BIND_ENUM_CONSTANT(SHAPE_SPHERE);
BIND_ENUM_CONSTANT(SHAPE_BOX);
BIND_ENUM_CONSTANT(SHAPE_CAPSULE);

20
servers/physics_server_3d.h
View file

@ -212,7 +212,7 @@ class PhysicsServer3D : public Object {
static PhysicsServer3D *singleton;
virtual bool _body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, const Ref<PhysicsTestMotionResult3D> &p_result = Ref<PhysicsTestMotionResult3D>(), bool p_exclude_raycast_shapes = true, const Vector<RID> &p_exclude = Vector<RID>());
virtual bool _body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, const Ref<PhysicsTestMotionResult3D> &p_result = Ref<PhysicsTestMotionResult3D>(), const Vector<RID> &p_exclude = Vector<RID>());
protected:
static void _bind_methods();
@ -222,7 +222,6 @@ public:
enum ShapeType {
SHAPE_PLANE, ///< plane:"plane"
SHAPE_RAY, ///< float:"length"
SHAPE_SPHERE, ///< float:"radius"
SHAPE_BOX, ///< vec3:"extents"
SHAPE_CAPSULE, ///< dict( float:"radius", float:"height"):capsule
@ -237,7 +236,6 @@ public:
RID shape_create(ShapeType p_shape);
virtual RID plane_shape_create() = 0;
virtual RID ray_shape_create() = 0;
virtual RID sphere_shape_create() = 0;
virtual RID box_shape_create() = 0;
virtual RID capsule_shape_create() = 0;
@ -491,21 +489,7 @@ public:
Variant collider_metadata;
};
virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) = 0;
struct SeparationResult {
real_t collision_depth;
Vector3 collision_point;
Vector3 collision_normal;
Vector3 collider_velocity;
int collision_local_shape;
ObjectID collider_id;
RID collider;
int collider_shape;
Variant collider_metadata;
};
virtual int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) = 0;
virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, const Set<RID> &p_exclude = Set<RID>()) = 0;
/* SOFT BODY */