255febefb2
These changes improve Rayshape behavior for Godot Physics 2D and 3D when using move_and_slide with and without snapping. Kinematic margin is now applied to ray shapes when handling snapping collision tests and separation raycasts to help getting consistent results in slopes and flat surfaces. Recovery is calculated without the margin and a depth of 0 is still considered a collision to stabilize results when on flat surface. Recovery depth takes into account the current recovery vector (just like test_body_motion) to fix jittering issues with multiple ray shapes due to applying too much recovery.
248 lines
9.4 KiB
C++
248 lines
9.4 KiB
C++
/*************************************************************************/
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/* collision_solver_2d_sw.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "collision_solver_2d_sw.h"
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#include "collision_solver_2d_sat.h"
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#define collision_solver sat_2d_calculate_penetration
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//#define collision_solver gjk_epa_calculate_penetration
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bool CollisionSolver2DSW::solve_static_line(const Shape2DSW *p_shape_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) {
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const LineShape2DSW *line = static_cast<const LineShape2DSW *>(p_shape_A);
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if (p_shape_B->get_type() == Physics2DServer::SHAPE_LINE) {
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return false;
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}
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Vector2 n = p_transform_A.basis_xform(line->get_normal()).normalized();
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Vector2 p = p_transform_A.xform(line->get_normal() * line->get_d());
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real_t d = n.dot(p);
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Vector2 supports[2];
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int support_count;
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p_shape_B->get_supports(p_transform_B.affine_inverse().basis_xform(-n).normalized(), supports, support_count);
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bool found = false;
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for (int i = 0; i < support_count; i++) {
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supports[i] = p_transform_B.xform(supports[i]);
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real_t pd = n.dot(supports[i]);
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if (pd >= d) {
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continue;
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}
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found = true;
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Vector2 support_A = supports[i] - n * (pd - d);
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if (p_result_callback) {
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if (p_swap_result) {
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p_result_callback(supports[i], support_A, p_userdata);
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} else {
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p_result_callback(support_A, supports[i], p_userdata);
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}
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}
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}
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return found;
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}
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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, real_t p_margin) {
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const RayShape2DSW *ray = static_cast<const RayShape2DSW *>(p_shape_A);
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if (p_shape_B->get_type() == Physics2DServer::SHAPE_RAY) {
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return false;
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}
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Vector2 from = p_transform_A.get_origin();
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Vector2 to = from + p_transform_A[1] * (ray->get_length() + p_margin);
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if (p_motion_A != Vector2()) {
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//not the best but should be enough
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Vector2 normal = (to - from).normalized();
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to += normal * MAX(0.0, normal.dot(p_motion_A));
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}
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Vector2 support_A = to;
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Transform2D invb = p_transform_B.affine_inverse();
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from = invb.xform(from);
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to = invb.xform(to);
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Vector2 p, n;
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if (!p_shape_B->intersect_segment(from, to, p, n)) {
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if (sep_axis) {
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*sep_axis = p_transform_A[1].normalized();
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}
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return false;
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}
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Vector2 support_B = p_transform_B.xform(p);
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if (ray->get_slips_on_slope()) {
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Vector2 global_n = invb.basis_xform_inv(n).normalized();
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support_B = support_A + (support_B - support_A).length() * global_n;
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}
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if (p_result_callback) {
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if (p_swap_result) {
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p_result_callback(support_B, support_A, p_userdata);
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} else {
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p_result_callback(support_A, support_B, p_userdata);
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}
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}
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return true;
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}
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struct _ConcaveCollisionInfo2D {
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const Transform2D *transform_A;
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const Shape2DSW *shape_A;
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const Transform2D *transform_B;
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Vector2 motion_A;
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Vector2 motion_B;
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real_t margin_A;
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real_t margin_B;
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CollisionSolver2DSW::CallbackResult result_callback;
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void *userdata;
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bool swap_result;
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bool collided;
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int aabb_tests;
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int collisions;
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Vector2 *sep_axis;
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};
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bool CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex) {
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_ConcaveCollisionInfo2D &cinfo = *(_ConcaveCollisionInfo2D *)(p_userdata);
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cinfo.aabb_tests++;
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bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, cinfo.motion_A, p_convex, *cinfo.transform_B, cinfo.motion_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result, cinfo.sep_axis, cinfo.margin_A, cinfo.margin_B);
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if (!collided) {
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return false;
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}
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cinfo.collided = true;
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cinfo.collisions++;
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// Stop at first collision if contacts are not needed.
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return !cinfo.result_callback;
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}
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bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) {
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const ConcaveShape2DSW *concave_B = static_cast<const ConcaveShape2DSW *>(p_shape_B);
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_ConcaveCollisionInfo2D cinfo;
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cinfo.transform_A = &p_transform_A;
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cinfo.shape_A = p_shape_A;
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cinfo.transform_B = &p_transform_B;
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cinfo.motion_A = p_motion_A;
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cinfo.result_callback = p_result_callback;
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cinfo.userdata = p_userdata;
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cinfo.swap_result = p_swap_result;
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cinfo.collided = false;
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cinfo.collisions = 0;
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cinfo.sep_axis = sep_axis;
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cinfo.margin_A = p_margin_A;
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cinfo.margin_B = p_margin_B;
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cinfo.aabb_tests = 0;
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Transform2D rel_transform = p_transform_A;
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rel_transform.elements[2] -= p_transform_B.get_origin();
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//quickly compute a local Rect2
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Rect2 local_aabb;
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for (int i = 0; i < 2; i++) {
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Vector2 axis(p_transform_B.elements[i]);
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real_t axis_scale = 1.0 / axis.length();
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axis *= axis_scale;
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real_t smin, smax;
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p_shape_A->project_rangev(axis, rel_transform, smin, smax);
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smin *= axis_scale;
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smax *= axis_scale;
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local_aabb.position[i] = smin;
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local_aabb.size[i] = smax - smin;
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}
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concave_B->cull(local_aabb, concave_callback, &cinfo);
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return cinfo.collided;
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}
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bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) {
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Physics2DServer::ShapeType type_A = p_shape_A->get_type();
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Physics2DServer::ShapeType type_B = p_shape_B->get_type();
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bool concave_A = p_shape_A->is_concave();
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bool concave_B = p_shape_B->is_concave();
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real_t margin_A = p_margin_A, margin_B = p_margin_B;
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bool swap = false;
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if (type_A > type_B) {
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SWAP(type_A, type_B);
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SWAP(concave_A, concave_B);
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SWAP(margin_A, margin_B);
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swap = true;
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}
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if (type_A == Physics2DServer::SHAPE_LINE) {
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if (type_B == Physics2DServer::SHAPE_LINE || type_B == Physics2DServer::SHAPE_RAY) {
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return false;
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}
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if (swap) {
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return solve_static_line(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
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} else {
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return solve_static_line(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
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}
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} else if (type_A == Physics2DServer::SHAPE_RAY) {
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if (type_B == Physics2DServer::SHAPE_RAY) {
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return false; //no ray-ray
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}
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if (swap) {
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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, p_margin_B);
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} else {
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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, p_margin_A);
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}
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} else if (concave_B) {
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if (concave_A) {
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return false;
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}
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if (!swap) {
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return solve_concave(p_shape_A, p_transform_A, p_motion_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, sep_axis, margin_A, margin_B);
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} else {
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return solve_concave(p_shape_B, p_transform_B, p_motion_B, p_shape_A, p_transform_A, p_motion_A, p_result_callback, p_userdata, true, sep_axis, margin_A, margin_B);
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}
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} else {
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return collision_solver(p_shape_A, p_transform_A, p_motion_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, sep_axis, margin_A, margin_B);
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}
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}
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