/**************************************************************************/ /* godot_space_3d.cpp */ /**************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /**************************************************************************/ /* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ /* */ /* 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 "godot_space_3d.h" #include "godot_collision_solver_3d.h" #include "godot_physics_server_3d.h" #include "core/config/project_settings.h" #define TEST_MOTION_MARGIN_MIN_VALUE 0.0001 #define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05 _FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject3D *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (!(p_object->get_collision_layer() & p_collision_mask)) { return false; } if (p_object->get_type() == GodotCollisionObject3D::TYPE_AREA && !p_collide_with_areas) { return false; } if (p_object->get_type() == GodotCollisionObject3D::TYPE_BODY && !p_collide_with_bodies) { return false; } if (p_object->get_type() == GodotCollisionObject3D::TYPE_SOFT_BODY && !p_collide_with_bodies) { return false; } return true; } int GodotPhysicsDirectSpaceState3D::intersect_point(const PointParameters &p_parameters, ShapeResult *r_results, int p_result_max) { ERR_FAIL_COND_V(space->locked, false); int amount = space->broadphase->cull_point(p_parameters.position, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); int cc = 0; //Transform3D ai = p_xform.affine_inverse(); for (int i = 0; i < amount; i++) { if (cc >= p_result_max) { break; } if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { continue; } //area can't be picked by ray (default) if (p_parameters.exclude.has(space->intersection_query_results[i]->get_self())) { continue; } const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; Transform3D inv_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); inv_xform.affine_invert(); if (!col_obj->get_shape(shape_idx)->intersect_point(inv_xform.xform(p_parameters.position))) { continue; } r_results[cc].collider_id = col_obj->get_instance_id(); if (r_results[cc].collider_id.is_valid()) { r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id); } else { r_results[cc].collider = nullptr; } r_results[cc].rid = col_obj->get_self(); r_results[cc].shape = shape_idx; cc++; } return cc; } bool GodotPhysicsDirectSpaceState3D::intersect_ray(const RayParameters &p_parameters, RayResult &r_result) { ERR_FAIL_COND_V(space->locked, false); Vector3 begin, end; Vector3 normal; begin = p_parameters.from; end = p_parameters.to; normal = (end - begin).normalized(); int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); //todo, create another array that references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision bool collided = false; Vector3 res_point, res_normal; int res_shape = -1; const GodotCollisionObject3D *res_obj = nullptr; real_t min_d = 1e10; for (int i = 0; i < amount; i++) { if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { continue; } if (p_parameters.pick_ray && !(space->intersection_query_results[i]->is_ray_pickable())) { continue; } if (p_parameters.exclude.has(space->intersection_query_results[i]->get_self())) { continue; } const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; Transform3D inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform(); Vector3 local_from = inv_xform.xform(begin); Vector3 local_to = inv_xform.xform(end); const GodotShape3D *shape = col_obj->get_shape(shape_idx); Vector3 shape_point, shape_normal; if (shape->intersect_point(local_from)) { if (p_parameters.hit_from_inside) { // Hit shape at starting point. min_d = 0; res_point = begin; res_normal = Vector3(); res_shape = shape_idx; res_obj = col_obj; collided = true; break; } else { // Ignore shape when starting inside. continue; } } if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal, p_parameters.hit_back_faces)) { Transform3D xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); shape_point = xform.xform(shape_point); real_t ld = normal.dot(shape_point); if (ld < min_d) { min_d = ld; res_point = shape_point; res_normal = inv_xform.basis.xform_inv(shape_normal).normalized(); res_shape = shape_idx; res_obj = col_obj; collided = true; } } } if (!collided) { return false; } ERR_FAIL_NULL_V(res_obj, false); // Shouldn't happen but silences warning. r_result.collider_id = res_obj->get_instance_id(); if (r_result.collider_id.is_valid()) { r_result.collider = ObjectDB::get_instance(r_result.collider_id); } else { r_result.collider = nullptr; } r_result.normal = res_normal; r_result.position = res_point; r_result.rid = res_obj->get_self(); r_result.shape = res_shape; return true; } int GodotPhysicsDirectSpaceState3D::intersect_shape(const ShapeParameters &p_parameters, ShapeResult *r_results, int p_result_max) { if (p_result_max <= 0) { return 0; } GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid); ERR_FAIL_COND_V(!shape, 0); AABB aabb = p_parameters.transform.xform(shape->get_aabb()); int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); int cc = 0; //Transform3D ai = p_xform.affine_inverse(); for (int i = 0; i < amount; i++) { if (cc >= p_result_max) { break; } if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { continue; } //area can't be picked by ray (default) if (p_parameters.exclude.has(space->intersection_query_results[i]->get_self())) { continue; } const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; if (!GodotCollisionSolver3D::solve_static(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), nullptr, nullptr, nullptr, p_parameters.margin, 0)) { continue; } if (r_results) { r_results[cc].collider_id = col_obj->get_instance_id(); if (r_results[cc].collider_id.is_valid()) { r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id); } else { r_results[cc].collider = nullptr; } r_results[cc].rid = col_obj->get_self(); r_results[cc].shape = shape_idx; } cc++; } return cc; } bool GodotPhysicsDirectSpaceState3D::cast_motion(const ShapeParameters &p_parameters, real_t &p_closest_safe, real_t &p_closest_unsafe, ShapeRestInfo *r_info) { GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid); ERR_FAIL_COND_V(!shape, false); AABB aabb = p_parameters.transform.xform(shape->get_aabb()); aabb = aabb.merge(AABB(aabb.position + p_parameters.motion, aabb.size)); //motion aabb = aabb.grow(p_parameters.margin); int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); real_t best_safe = 1; real_t best_unsafe = 1; Transform3D xform_inv = p_parameters.transform.affine_inverse(); GodotMotionShape3D mshape; mshape.shape = shape; mshape.motion = xform_inv.basis.xform(p_parameters.motion); bool best_first = true; Vector3 motion_normal = p_parameters.motion.normalized(); Vector3 closest_A, closest_B; for (int i = 0; i < amount; i++) { if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { continue; } if (p_parameters.exclude.has(space->intersection_query_results[i]->get_self())) { continue; //ignore excluded } const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; Vector3 point_A, point_B; Vector3 sep_axis = motion_normal; Transform3D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); //test initial overlap, does it collide if going all the way? if (GodotCollisionSolver3D::solve_distance(&mshape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) { continue; } //test initial overlap, ignore objects it's inside of. sep_axis = motion_normal; if (!GodotCollisionSolver3D::solve_distance(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) { continue; } //just do kinematic solving real_t low = 0.0; real_t hi = 1.0; real_t fraction_coeff = 0.5; for (int j = 0; j < 8; j++) { //steps should be customizable.. real_t fraction = low + (hi - low) * fraction_coeff; mshape.motion = xform_inv.basis.xform(p_parameters.motion * fraction); Vector3 lA, lB; Vector3 sep = motion_normal; //important optimization for this to work fast enough bool collided = !GodotCollisionSolver3D::solve_distance(&mshape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep); if (collided) { hi = fraction; if ((j == 0) || (low > 0.0)) { // Did it not collide before? // When alternating or first iteration, use dichotomy. fraction_coeff = 0.5; } else { // When colliding again, converge faster towards low fraction // for more accurate results with long motions that collide near the start. fraction_coeff = 0.25; } } else { point_A = lA; point_B = lB; low = fraction; if ((j == 0) || (hi < 1.0)) { // Did it collide before? // When alternating or first iteration, use dichotomy. fraction_coeff = 0.5; } else { // When not colliding again, converge faster towards high fraction // for more accurate results with long motions that collide near the end. fraction_coeff = 0.75; } } } if (low < best_safe) { best_first = true; //force reset best_safe = low; best_unsafe = hi; } if (r_info && (best_first || (point_A.distance_squared_to(point_B) < closest_A.distance_squared_to(closest_B) && low <= best_safe))) { closest_A = point_A; closest_B = point_B; r_info->collider_id = col_obj->get_instance_id(); r_info->rid = col_obj->get_self(); r_info->shape = shape_idx; r_info->point = closest_B; r_info->normal = (closest_A - closest_B).normalized(); best_first = false; if (col_obj->get_type() == GodotCollisionObject3D::TYPE_BODY) { const GodotBody3D *body = static_cast<const GodotBody3D *>(col_obj); Vector3 rel_vec = closest_B - (body->get_transform().origin + body->get_center_of_mass()); r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); } } } p_closest_safe = best_safe; p_closest_unsafe = best_unsafe; return true; } bool GodotPhysicsDirectSpaceState3D::collide_shape(const ShapeParameters &p_parameters, Vector3 *r_results, int p_result_max, int &r_result_count) { if (p_result_max <= 0) { return false; } GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid); ERR_FAIL_COND_V(!shape, 0); AABB aabb = p_parameters.transform.xform(shape->get_aabb()); aabb = aabb.grow(p_parameters.margin); int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); bool collided = false; r_result_count = 0; GodotPhysicsServer3D::CollCbkData cbk; cbk.max = p_result_max; cbk.amount = 0; cbk.ptr = r_results; GodotCollisionSolver3D::CallbackResult cbkres = GodotPhysicsServer3D::_shape_col_cbk; GodotPhysicsServer3D::CollCbkData *cbkptr = &cbk; for (int i = 0; i < amount; i++) { if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { continue; } const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; if (p_parameters.exclude.has(col_obj->get_self())) { continue; } int shape_idx = space->intersection_query_subindex_results[i]; if (GodotCollisionSolver3D::solve_static(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_parameters.margin)) { collided = true; } } r_result_count = cbk.amount; return collided; } struct _RestResultData { const GodotCollisionObject3D *object = nullptr; int local_shape = 0; int shape = 0; Vector3 contact; Vector3 normal; real_t len = 0.0; }; struct _RestCallbackData { const GodotCollisionObject3D *object = nullptr; int local_shape = 0; int shape = 0; real_t min_allowed_depth = 0.0; _RestResultData best_result; int max_results = 0; int result_count = 0; _RestResultData *other_results = nullptr; }; static void _rest_cbk_result(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, const Vector3 &normal, void *p_userdata) { _RestCallbackData *rd = static_cast<_RestCallbackData *>(p_userdata); Vector3 contact_rel = p_point_B - p_point_A; real_t len = contact_rel.length(); if (len < rd->min_allowed_depth) { return; } bool is_best_result = (len > rd->best_result.len); if (rd->other_results && rd->result_count > 0) { // Consider as new result by default. int prev_result_count = rd->result_count++; int result_index = 0; real_t tested_len = is_best_result ? rd->best_result.len : len; for (; result_index < prev_result_count - 1; ++result_index) { if (tested_len > rd->other_results[result_index].len) { // Re-using a previous result. rd->result_count--; break; } } if (result_index < rd->max_results - 1) { _RestResultData &result = rd->other_results[result_index]; if (is_best_result) { // Keep the previous best result as separate result. result = rd->best_result; } else { // Keep this result as separate result. result.len = len; result.contact = p_point_B; result.normal = normal; result.object = rd->object; result.shape = rd->shape; result.local_shape = rd->local_shape; } } else { // Discarding this result. rd->result_count--; } } else if (is_best_result) { rd->result_count = 1; } if (!is_best_result) { return; } rd->best_result.len = len; rd->best_result.contact = p_point_B; rd->best_result.normal = normal; rd->best_result.object = rd->object; rd->best_result.shape = rd->shape; rd->best_result.local_shape = rd->local_shape; } bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_parameters, ShapeRestInfo *r_info) { GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid); ERR_FAIL_COND_V(!shape, 0); real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE); AABB aabb = p_parameters.transform.xform(shape->get_aabb()); aabb = aabb.grow(margin); int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); _RestCallbackData rcd; // Allowed depth can't be lower than motion length, in order to handle contacts at low speed. real_t motion_length = p_parameters.motion.length(); real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; rcd.min_allowed_depth = MIN(motion_length, min_contact_depth); for (int i = 0; i < amount; i++) { if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { continue; } const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; if (p_parameters.exclude.has(col_obj->get_self())) { continue; } int shape_idx = space->intersection_query_subindex_results[i]; rcd.object = col_obj; rcd.shape = shape_idx; bool sc = GodotCollisionSolver3D::solve_static(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, margin); if (!sc) { continue; } } if (rcd.best_result.len == 0 || !rcd.best_result.object) { return false; } r_info->collider_id = rcd.best_result.object->get_instance_id(); r_info->shape = rcd.best_result.shape; r_info->normal = rcd.best_result.normal; r_info->point = rcd.best_result.contact; r_info->rid = rcd.best_result.object->get_self(); if (rcd.best_result.object->get_type() == GodotCollisionObject3D::TYPE_BODY) { const GodotBody3D *body = static_cast<const GodotBody3D *>(rcd.best_result.object); Vector3 rel_vec = rcd.best_result.contact - (body->get_transform().origin + body->get_center_of_mass()); r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); } else { r_info->linear_velocity = Vector3(); } return true; } Vector3 GodotPhysicsDirectSpaceState3D::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const { GodotCollisionObject3D *obj = GodotPhysicsServer3D::godot_singleton->area_owner.get_or_null(p_object); if (!obj) { obj = GodotPhysicsServer3D::godot_singleton->body_owner.get_or_null(p_object); } ERR_FAIL_COND_V(!obj, Vector3()); ERR_FAIL_COND_V(obj->get_space() != space, Vector3()); real_t min_distance = 1e20; Vector3 min_point; bool shapes_found = false; for (int i = 0; i < obj->get_shape_count(); i++) { if (obj->is_shape_disabled(i)) { continue; } Transform3D shape_xform = obj->get_transform() * obj->get_shape_transform(i); GodotShape3D *shape = obj->get_shape(i); Vector3 point = shape->get_closest_point_to(shape_xform.affine_inverse().xform(p_point)); point = shape_xform.xform(point); real_t dist = point.distance_to(p_point); if (dist < min_distance) { min_distance = dist; min_point = point; } shapes_found = true; } if (!shapes_found) { return obj->get_transform().origin; //no shapes found, use distance to origin. } else { return min_point; } } GodotPhysicsDirectSpaceState3D::GodotPhysicsDirectSpaceState3D() { space = nullptr; } //////////////////////////////////////////////////////////////////////////////////////////////////////////// int GodotSpace3D::_cull_aabb_for_body(GodotBody3D *p_body, const AABB &p_aabb) { int amount = broadphase->cull_aabb(p_aabb, intersection_query_results, INTERSECTION_QUERY_MAX, intersection_query_subindex_results); for (int i = 0; i < amount; i++) { bool keep = true; if (intersection_query_results[i] == p_body) { keep = false; } else if (intersection_query_results[i]->get_type() == GodotCollisionObject3D::TYPE_AREA) { keep = false; } else if (intersection_query_results[i]->get_type() == GodotCollisionObject3D::TYPE_SOFT_BODY) { keep = false; } else if (!p_body->collides_with(static_cast<GodotBody3D *>(intersection_query_results[i]))) { keep = false; } else if (static_cast<GodotBody3D *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) { keep = false; } if (!keep) { if (i < amount - 1) { SWAP(intersection_query_results[i], intersection_query_results[amount - 1]); SWAP(intersection_query_subindex_results[i], intersection_query_subindex_results[amount - 1]); } amount--; i--; } } return amount; } bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result) { //give me back regular physics engine logic //this is madness //and most people using this function will think //what it does is simpler than using physics //this took about a week to get right.. //but is it right? who knows at this point.. ERR_FAIL_INDEX_V(p_parameters.max_collisions, PhysicsServer3D::MotionResult::MAX_COLLISIONS, false); if (r_result) { *r_result = PhysicsServer3D::MotionResult(); } 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) { if (r_result) { r_result->travel = p_parameters.motion; } return false; } real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE); // Undo the currently transform the physics server is aware of and apply the provided one body_aabb = p_parameters.from.xform(p_body->get_inv_transform().xform(body_aabb)); body_aabb = body_aabb.grow(margin); real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; real_t motion_length = p_parameters.motion.length(); Vector3 motion_normal = p_parameters.motion / motion_length; Transform3D body_transform = p_parameters.from; bool recovered = false; { //STEP 1, FREE BODY IF STUCK const int max_results = 32; int recover_attempts = 4; Vector3 sr[max_results * 2]; real_t priorities[max_results]; do { GodotPhysicsServer3D::CollCbkData cbk; cbk.max = max_results; cbk.amount = 0; cbk.ptr = sr; GodotPhysicsServer3D::CollCbkData *cbkptr = &cbk; GodotCollisionSolver3D::CallbackResult cbkres = GodotPhysicsServer3D::_shape_col_cbk; int priority_amount = 0; 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; } Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j); GodotShape3D *body_shape = p_body->get_shape(j); for (int i = 0; i < amount; i++) { const GodotCollisionObject3D *col_obj = intersection_query_results[i]; if (p_parameters.exclude_bodies.has(col_obj->get_self())) { continue; } if (p_parameters.exclude_objects.has(col_obj->get_instance_id())) { continue; } int shape_idx = intersection_query_subindex_results[i]; if (GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, margin)) { collided = cbk.amount > 0; } while (cbk.amount > priority_amount) { priorities[priority_amount] = col_obj->get_collision_priority(); priority_amount++; } } } if (!collided) { break; } real_t inv_total_weight = 0.0; for (int i = 0; i < cbk.amount; i++) { inv_total_weight += priorities[i]; } inv_total_weight = Math::is_zero_approx(inv_total_weight) ? 1.0 : (real_t)cbk.amount / inv_total_weight; recovered = true; Vector3 recover_motion; for (int i = 0; i < cbk.amount; i++) { Vector3 a = sr[i * 2 + 0]; Vector3 b = sr[i * 2 + 1]; // Compute plane on b towards a. Vector3 n = (a - b).normalized(); real_t d = n.dot(b); // Compute depth on recovered motion. real_t depth = n.dot(a + recover_motion) - d; if (depth > min_contact_depth + CMP_EPSILON) { // Only recover if there is penetration. recover_motion -= n * (depth - min_contact_depth) * 0.4 * priorities[i] * inv_total_weight; } } if (recover_motion == Vector3()) { collided = false; break; } body_transform.origin += recover_motion; body_aabb.position += recover_motion; recover_attempts--; } while (recover_attempts); } real_t safe = 1.0; real_t unsafe = 1.0; int best_shape = -1; { // STEP 2 ATTEMPT MOTION AABB motion_aabb = body_aabb; motion_aabb.position += p_parameters.motion; motion_aabb = motion_aabb.merge(body_aabb); int amount = _cull_aabb_for_body(p_body, motion_aabb); for (int j = 0; j < p_body->get_shape_count(); j++) { if (p_body->is_shape_disabled(j)) { continue; } GodotShape3D *body_shape = p_body->get_shape(j); // Colliding separation rays allows to properly snap to the ground, // otherwise it's not needed in regular motion. if (!p_parameters.collide_separation_ray && (body_shape->get_type() == PhysicsServer3D::SHAPE_SEPARATION_RAY)) { // When slide on slope is on, separation ray shape acts like a regular shape. if (!static_cast<GodotSeparationRayShape3D *>(body_shape)->get_slide_on_slope()) { continue; } } Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j); Transform3D body_shape_xform_inv = body_shape_xform.affine_inverse(); GodotMotionShape3D mshape; mshape.shape = body_shape; mshape.motion = body_shape_xform_inv.basis.xform(p_parameters.motion); bool stuck = false; real_t best_safe = 1; real_t best_unsafe = 1; for (int i = 0; i < amount; i++) { const GodotCollisionObject3D *col_obj = intersection_query_results[i]; if (p_parameters.exclude_bodies.has(col_obj->get_self())) { continue; } if (p_parameters.exclude_objects.has(col_obj->get_instance_id())) { 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; Vector3 sep_axis = motion_normal; Transform3D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); //test initial overlap, does it collide if going all the way? if (GodotCollisionSolver3D::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) { continue; } sep_axis = motion_normal; if (!GodotCollisionSolver3D::solve_distance(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) { stuck = true; break; } //just do kinematic solving real_t low = 0.0; real_t hi = 1.0; real_t fraction_coeff = 0.5; for (int k = 0; k < 8; k++) { //steps should be customizable.. real_t fraction = low + (hi - low) * fraction_coeff; mshape.motion = body_shape_xform_inv.basis.xform(p_parameters.motion * fraction); Vector3 lA, lB; Vector3 sep = motion_normal; //important optimization for this to work fast enough bool collided = !GodotCollisionSolver3D::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, motion_aabb, &sep); if (collided) { hi = fraction; if ((k == 0) || (low > 0.0)) { // Did it not collide before? // When alternating or first iteration, use dichotomy. fraction_coeff = 0.5; } else { // When colliding again, converge faster towards low fraction // for more accurate results with long motions that collide near the start. fraction_coeff = 0.25; } } else { point_A = lA; point_B = lB; low = fraction; if ((k == 0) || (hi < 1.0)) { // Did it collide before? // When alternating or first iteration, use dichotomy. fraction_coeff = 0.5; } else { // When not colliding again, converge faster towards high fraction // for more accurate results with long motions that collide near the end. fraction_coeff = 0.75; } } } if (low < best_safe) { best_safe = low; best_unsafe = hi; } } if (stuck) { safe = 0; unsafe = 0; best_shape = j; //sadly it's the best break; } if (best_safe == 1.0) { continue; } if (best_safe < safe) { safe = best_safe; unsafe = best_unsafe; best_shape = j; } } } bool collided = false; if ((p_parameters.recovery_as_collision && recovered) || (safe < 1)) { if (safe >= 1) { best_shape = -1; //no best shape with cast, reset to -1 } //it collided, let's get the rest info in unsafe advance Transform3D ugt = body_transform; ugt.origin += p_parameters.motion * unsafe; _RestResultData results[PhysicsServer3D::MotionResult::MAX_COLLISIONS]; _RestCallbackData rcd; if (p_parameters.max_collisions > 1) { rcd.max_results = p_parameters.max_collisions; rcd.other_results = results; } // Allowed depth can't be lower than motion length, in order to handle contacts at low speed. rcd.min_allowed_depth = MIN(motion_length, min_contact_depth); body_aabb.position += p_parameters.motion * unsafe; int amount = _cull_aabb_for_body(p_body, body_aabb); int from_shape = best_shape != -1 ? best_shape : 0; int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count(); for (int j = from_shape; j < to_shape; j++) { if (p_body->is_shape_disabled(j)) { continue; } Transform3D body_shape_xform = ugt * p_body->get_shape_transform(j); GodotShape3D *body_shape = p_body->get_shape(j); for (int i = 0; i < amount; i++) { const GodotCollisionObject3D *col_obj = intersection_query_results[i]; if (p_parameters.exclude_bodies.has(col_obj->get_self())) { continue; } if (p_parameters.exclude_objects.has(col_obj->get_instance_id())) { continue; } int shape_idx = intersection_query_subindex_results[i]; rcd.object = col_obj; rcd.shape = shape_idx; bool sc = GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, margin); if (!sc) { continue; } } } if (rcd.result_count > 0) { if (r_result) { for (int collision_index = 0; collision_index < rcd.result_count; ++collision_index) { const _RestResultData &result = (collision_index > 0) ? rcd.other_results[collision_index - 1] : rcd.best_result; PhysicsServer3D::MotionCollision &collision = r_result->collisions[collision_index]; collision.collider = result.object->get_self(); collision.collider_id = result.object->get_instance_id(); collision.collider_shape = result.shape; collision.local_shape = result.local_shape; collision.normal = result.normal; collision.position = result.contact; collision.depth = result.len; const GodotBody3D *body = static_cast<const GodotBody3D *>(result.object); Vector3 rel_vec = result.contact - (body->get_transform().origin + body->get_center_of_mass()); collision.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); collision.collider_angular_velocity = body->get_angular_velocity(); } r_result->travel = safe * p_parameters.motion; r_result->remainder = p_parameters.motion - safe * p_parameters.motion; r_result->travel += (body_transform.get_origin() - p_parameters.from.get_origin()); r_result->collision_safe_fraction = safe; r_result->collision_unsafe_fraction = unsafe; r_result->collision_count = rcd.result_count; r_result->collision_depth = rcd.best_result.len; } collided = true; } } if (!collided && r_result) { r_result->travel = p_parameters.motion; r_result->remainder = Vector3(); r_result->travel += (body_transform.get_origin() - p_parameters.from.get_origin()); r_result->collision_safe_fraction = 1.0; r_result->collision_unsafe_fraction = 1.0; r_result->collision_depth = 0.0; } return collided; } // Assumes a valid collision pair, this should have been checked beforehand in the BVH or octree. void *GodotSpace3D::_broadphase_pair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_self) { GodotCollisionObject3D::Type type_A = A->get_type(); GodotCollisionObject3D::Type type_B = B->get_type(); if (type_A > type_B) { SWAP(A, B); SWAP(p_subindex_A, p_subindex_B); SWAP(type_A, type_B); } GodotSpace3D *self = static_cast<GodotSpace3D *>(p_self); self->collision_pairs++; if (type_A == GodotCollisionObject3D::TYPE_AREA) { GodotArea3D *area = static_cast<GodotArea3D *>(A); if (type_B == GodotCollisionObject3D::TYPE_AREA) { GodotArea3D *area_b = static_cast<GodotArea3D *>(B); GodotArea2Pair3D *area2_pair = memnew(GodotArea2Pair3D(area_b, p_subindex_B, area, p_subindex_A)); return area2_pair; } else if (type_B == GodotCollisionObject3D::TYPE_SOFT_BODY) { GodotSoftBody3D *softbody = static_cast<GodotSoftBody3D *>(B); GodotAreaSoftBodyPair3D *soft_area_pair = memnew(GodotAreaSoftBodyPair3D(softbody, p_subindex_B, area, p_subindex_A)); return soft_area_pair; } else { GodotBody3D *body = static_cast<GodotBody3D *>(B); GodotAreaPair3D *area_pair = memnew(GodotAreaPair3D(body, p_subindex_B, area, p_subindex_A)); return area_pair; } } else if (type_A == GodotCollisionObject3D::TYPE_BODY) { if (type_B == GodotCollisionObject3D::TYPE_SOFT_BODY) { GodotBodySoftBodyPair3D *soft_pair = memnew(GodotBodySoftBodyPair3D(static_cast<GodotBody3D *>(A), p_subindex_A, static_cast<GodotSoftBody3D *>(B))); return soft_pair; } else { GodotBodyPair3D *b = memnew(GodotBodyPair3D(static_cast<GodotBody3D *>(A), p_subindex_A, static_cast<GodotBody3D *>(B), p_subindex_B)); return b; } } else { // Soft Body/Soft Body, not supported. } return nullptr; } void GodotSpace3D::_broadphase_unpair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_data, void *p_self) { if (!p_data) { return; } GodotSpace3D *self = static_cast<GodotSpace3D *>(p_self); self->collision_pairs--; GodotConstraint3D *c = static_cast<GodotConstraint3D *>(p_data); memdelete(c); } const SelfList<GodotBody3D>::List &GodotSpace3D::get_active_body_list() const { return active_list; } void GodotSpace3D::body_add_to_active_list(SelfList<GodotBody3D> *p_body) { active_list.add(p_body); } void GodotSpace3D::body_remove_from_active_list(SelfList<GodotBody3D> *p_body) { active_list.remove(p_body); } void GodotSpace3D::body_add_to_mass_properties_update_list(SelfList<GodotBody3D> *p_body) { mass_properties_update_list.add(p_body); } void GodotSpace3D::body_remove_from_mass_properties_update_list(SelfList<GodotBody3D> *p_body) { mass_properties_update_list.remove(p_body); } GodotBroadPhase3D *GodotSpace3D::get_broadphase() { return broadphase; } void GodotSpace3D::add_object(GodotCollisionObject3D *p_object) { ERR_FAIL_COND(objects.has(p_object)); objects.insert(p_object); } void GodotSpace3D::remove_object(GodotCollisionObject3D *p_object) { ERR_FAIL_COND(!objects.has(p_object)); objects.erase(p_object); } const HashSet<GodotCollisionObject3D *> &GodotSpace3D::get_objects() const { return objects; } void GodotSpace3D::body_add_to_state_query_list(SelfList<GodotBody3D> *p_body) { state_query_list.add(p_body); } void GodotSpace3D::body_remove_from_state_query_list(SelfList<GodotBody3D> *p_body) { state_query_list.remove(p_body); } void GodotSpace3D::area_add_to_monitor_query_list(SelfList<GodotArea3D> *p_area) { monitor_query_list.add(p_area); } void GodotSpace3D::area_remove_from_monitor_query_list(SelfList<GodotArea3D> *p_area) { monitor_query_list.remove(p_area); } void GodotSpace3D::area_add_to_moved_list(SelfList<GodotArea3D> *p_area) { area_moved_list.add(p_area); } void GodotSpace3D::area_remove_from_moved_list(SelfList<GodotArea3D> *p_area) { area_moved_list.remove(p_area); } const SelfList<GodotArea3D>::List &GodotSpace3D::get_moved_area_list() const { return area_moved_list; } const SelfList<GodotSoftBody3D>::List &GodotSpace3D::get_active_soft_body_list() const { return active_soft_body_list; } void GodotSpace3D::soft_body_add_to_active_list(SelfList<GodotSoftBody3D> *p_soft_body) { active_soft_body_list.add(p_soft_body); } void GodotSpace3D::soft_body_remove_from_active_list(SelfList<GodotSoftBody3D> *p_soft_body) { active_soft_body_list.remove(p_soft_body); } void GodotSpace3D::call_queries() { while (state_query_list.first()) { GodotBody3D *b = state_query_list.first()->self(); state_query_list.remove(state_query_list.first()); b->call_queries(); } while (monitor_query_list.first()) { GodotArea3D *a = monitor_query_list.first()->self(); monitor_query_list.remove(monitor_query_list.first()); a->call_queries(); } } void GodotSpace3D::setup() { contact_debug_count = 0; while (mass_properties_update_list.first()) { mass_properties_update_list.first()->self()->update_mass_properties(); mass_properties_update_list.remove(mass_properties_update_list.first()); } } void GodotSpace3D::update() { broadphase->update(); } void GodotSpace3D::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value) { switch (p_param) { case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius = p_value; break; case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation = p_value; break; case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration = p_value; break; case PhysicsServer3D::SPACE_PARAM_CONTACT_DEFAULT_BIAS: contact_bias = p_value; break; case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: body_linear_velocity_sleep_threshold = p_value; break; case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: body_angular_velocity_sleep_threshold = p_value; break; case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break; case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS: solver_iterations = p_value; break; } } real_t GodotSpace3D::get_param(PhysicsServer3D::SpaceParameter p_param) const { switch (p_param) { case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius; case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation; case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration; case PhysicsServer3D::SPACE_PARAM_CONTACT_DEFAULT_BIAS: return contact_bias; case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: return body_linear_velocity_sleep_threshold; case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: return body_angular_velocity_sleep_threshold; case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep; case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS: return solver_iterations; } return 0; } void GodotSpace3D::lock() { locked = true; } void GodotSpace3D::unlock() { locked = false; } bool GodotSpace3D::is_locked() const { return locked; } GodotPhysicsDirectSpaceState3D *GodotSpace3D::get_direct_state() { return direct_access; } GodotSpace3D::GodotSpace3D() { body_linear_velocity_sleep_threshold = GLOBAL_GET("physics/3d/sleep_threshold_linear"); body_angular_velocity_sleep_threshold = GLOBAL_GET("physics/3d/sleep_threshold_angular"); body_time_to_sleep = GLOBAL_GET("physics/3d/time_before_sleep"); solver_iterations = GLOBAL_GET("physics/3d/solver/solver_iterations"); contact_recycle_radius = GLOBAL_GET("physics/3d/solver/contact_recycle_radius"); contact_max_separation = GLOBAL_GET("physics/3d/solver/contact_max_separation"); contact_max_allowed_penetration = GLOBAL_GET("physics/3d/solver/contact_max_allowed_penetration"); contact_bias = GLOBAL_GET("physics/3d/solver/default_contact_bias"); broadphase = GodotBroadPhase3D::create_func(); broadphase->set_pair_callback(_broadphase_pair, this); broadphase->set_unpair_callback(_broadphase_unpair, this); direct_access = memnew(GodotPhysicsDirectSpaceState3D); direct_access->space = this; } GodotSpace3D::~GodotSpace3D() { memdelete(broadphase); memdelete(direct_access); }