1ba106a71e
Physics2DDirectSpaceStateSW was applying the result limit to broadphase collision detection instead of narrow. This is inconsistent with its 3D variant, as well as the rest of the 2D direct space state functions. Broadphase is now limited by INTERSECTION_QUERY_MAX like everything else, and narrow phase is exited early when the result limit has been reached.
1099 lines
34 KiB
C++
1099 lines
34 KiB
C++
/*************************************************************************/
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/* space_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) 2007-2018 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2018 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 "space_2d_sw.h"
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#include "collision_solver_2d_sw.h"
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#include "pair.h"
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#include "physics_2d_server_sw.h"
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_FORCE_INLINE_ static bool _can_collide_with(CollisionObject2DSW *p_object, uint32_t p_collision_mask) {
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return p_object->get_collision_layer() & p_collision_mask;
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}
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int Physics2DDirectSpaceStateSW::intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_pick_point) {
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if (p_result_max <= 0)
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return 0;
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Rect2 aabb;
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aabb.position = p_point - Vector2(0.00001, 0.00001);
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aabb.size = Vector2(0.00002, 0.00002);
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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int cc = 0;
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for (int i = 0; i < amount; i++) {
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if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask))
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continue;
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if (p_exclude.has(space->intersection_query_results[i]->get_self()))
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continue;
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const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
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if (p_pick_point && !col_obj->is_pickable())
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continue;
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int shape_idx = space->intersection_query_subindex_results[i];
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Shape2DSW *shape = col_obj->get_shape(shape_idx);
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Vector2 local_point = (col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).affine_inverse().xform(p_point);
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if (!shape->contains_point(local_point))
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continue;
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if (cc >= p_result_max)
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continue;
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r_results[cc].collider_id = col_obj->get_instance_id();
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if (r_results[cc].collider_id != 0)
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r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id);
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r_results[cc].rid = col_obj->get_self();
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r_results[cc].shape = shape_idx;
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r_results[cc].metadata = col_obj->get_shape_metadata(shape_idx);
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cc++;
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}
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return cc;
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}
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bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
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ERR_FAIL_COND_V(space->locked, false);
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Vector2 begin, end;
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Vector2 normal;
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begin = p_from;
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end = p_to;
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normal = (end - begin).normalized();
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int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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//todo, create another array tha references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision
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bool collided = false;
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Vector2 res_point, res_normal;
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int res_shape;
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const CollisionObject2DSW *res_obj;
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real_t min_d = 1e10;
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for (int i = 0; i < amount; i++) {
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if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask))
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continue;
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if (p_exclude.has(space->intersection_query_results[i]->get_self()))
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continue;
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const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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Transform2D inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
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Vector2 local_from = inv_xform.xform(begin);
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Vector2 local_to = inv_xform.xform(end);
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/*local_from = col_obj->get_inv_transform().xform(begin);
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local_from = col_obj->get_shape_inv_transform(shape_idx).xform(local_from);
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local_to = col_obj->get_inv_transform().xform(end);
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local_to = col_obj->get_shape_inv_transform(shape_idx).xform(local_to);*/
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const Shape2DSW *shape = col_obj->get_shape(shape_idx);
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Vector2 shape_point, shape_normal;
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if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal)) {
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Transform2D xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
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shape_point = xform.xform(shape_point);
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real_t ld = normal.dot(shape_point);
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if (ld < min_d) {
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min_d = ld;
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res_point = shape_point;
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res_normal = inv_xform.basis_xform_inv(shape_normal).normalized();
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res_shape = shape_idx;
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res_obj = col_obj;
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collided = true;
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}
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}
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}
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if (!collided)
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return false;
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r_result.collider_id = res_obj->get_instance_id();
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if (r_result.collider_id != 0)
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r_result.collider = ObjectDB::get_instance(r_result.collider_id);
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r_result.normal = res_normal;
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r_result.metadata = res_obj->get_shape_metadata(res_shape);
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r_result.position = res_point;
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r_result.rid = res_obj->get_self();
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r_result.shape = res_shape;
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return true;
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}
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int Physics2DDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
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if (p_result_max <= 0)
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return 0;
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Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, 0);
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Rect2 aabb = p_xform.xform(shape->get_aabb());
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aabb = aabb.grow(p_margin);
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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int cc = 0;
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for (int i = 0; i < amount; i++) {
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if (cc >= p_result_max)
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break;
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if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask))
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continue;
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if (p_exclude.has(space->intersection_query_results[i]->get_self()))
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continue;
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const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), NULL, NULL, NULL, p_margin))
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continue;
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r_results[cc].collider_id = col_obj->get_instance_id();
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if (r_results[cc].collider_id != 0)
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r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id);
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r_results[cc].rid = col_obj->get_self();
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r_results[cc].shape = shape_idx;
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r_results[cc].metadata = col_obj->get_shape_metadata(shape_idx);
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cc++;
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}
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return cc;
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}
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bool Physics2DDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
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Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, false);
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Rect2 aabb = p_xform.xform(shape->get_aabb());
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aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion
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aabb = aabb.grow(p_margin);
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/*
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if (p_motion!=Vector2())
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print_line(p_motion);
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*/
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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real_t best_safe = 1;
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real_t best_unsafe = 1;
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for (int i = 0; i < amount; i++) {
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if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask))
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continue;
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if (p_exclude.has(space->intersection_query_results[i]->get_self()))
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continue; //ignore excluded
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const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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/*if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
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const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
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if (body->get_one_way_collision_direction()!=Vector2() && p_motion.dot(body->get_one_way_collision_direction())<=CMP_EPSILON) {
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print_line("failed in motion dir");
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continue;
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}
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}*/
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Transform2D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
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//test initial overlap, does it collide if going all the way?
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if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, p_margin)) {
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continue;
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}
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//test initial overlap
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if (CollisionSolver2DSW::solve(shape, p_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, p_margin)) {
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return false;
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}
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//just do kinematic solving
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real_t low = 0;
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real_t hi = 1;
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Vector2 mnormal = p_motion.normalized();
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for (int i = 0; i < 8; i++) { //steps should be customizable..
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real_t ofs = (low + hi) * 0.5;
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Vector2 sep = mnormal; //important optimization for this to work fast enough
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bool collided = CollisionSolver2DSW::solve(shape, p_xform, p_motion * ofs, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, &sep, p_margin);
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if (collided) {
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hi = ofs;
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} else {
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low = ofs;
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}
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}
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if (low < best_safe) {
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best_safe = low;
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best_unsafe = hi;
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}
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}
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p_closest_safe = best_safe;
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p_closest_unsafe = best_unsafe;
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return true;
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}
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bool Physics2DDirectSpaceStateSW::collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
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if (p_result_max <= 0)
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return 0;
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Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, 0);
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Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
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aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion
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aabb = aabb.grow(p_margin);
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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bool collided = false;
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r_result_count = 0;
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Physics2DServerSW::CollCbkData cbk;
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cbk.max = p_result_max;
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cbk.amount = 0;
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cbk.ptr = r_results;
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CollisionSolver2DSW::CallbackResult cbkres = NULL;
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Physics2DServerSW::CollCbkData *cbkptr = NULL;
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if (p_result_max > 0) {
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cbkptr = &cbk;
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cbkres = Physics2DServerSW::_shape_col_cbk;
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}
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for (int i = 0; i < amount; i++) {
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if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask))
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continue;
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const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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if (p_exclude.has(col_obj->get_self()))
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continue;
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cbk.valid_dir = Vector2();
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cbk.valid_depth = 0;
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if (CollisionSolver2DSW::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, NULL, p_margin)) {
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collided = p_result_max == 0 || cbk.amount > 0;
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}
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}
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r_result_count = cbk.amount;
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return collided;
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}
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struct _RestCallbackData2D {
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const CollisionObject2DSW *object;
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const CollisionObject2DSW *best_object;
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int shape;
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int best_shape;
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Vector2 best_contact;
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Vector2 best_normal;
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real_t best_len;
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Vector2 valid_dir;
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real_t valid_depth;
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};
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static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) {
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_RestCallbackData2D *rd = (_RestCallbackData2D *)p_userdata;
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if (rd->valid_dir != Vector2()) {
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if (p_point_A.distance_squared_to(p_point_B) > rd->valid_depth * rd->valid_depth)
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return;
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if (rd->valid_dir.dot((p_point_A - p_point_B).normalized()) < Math_PI * 0.25)
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return;
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}
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Vector2 contact_rel = p_point_B - p_point_A;
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real_t len = contact_rel.length();
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if (len <= rd->best_len)
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return;
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rd->best_len = len;
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rd->best_contact = p_point_B;
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rd->best_normal = contact_rel / len;
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rd->best_object = rd->object;
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rd->best_shape = rd->shape;
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}
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bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
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Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, 0);
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Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
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aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion
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aabb = aabb.grow(p_margin);
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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_RestCallbackData2D rcd;
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rcd.best_len = 0;
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rcd.best_object = NULL;
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rcd.best_shape = 0;
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for (int i = 0; i < amount; i++) {
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if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask))
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continue;
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const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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if (p_exclude.has(col_obj->get_self()))
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continue;
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rcd.valid_dir = Vector2();
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rcd.valid_depth = 0;
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rcd.object = col_obj;
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rcd.shape = shape_idx;
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bool sc = CollisionSolver2DSW::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, NULL, p_margin);
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if (!sc)
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continue;
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}
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if (rcd.best_len == 0)
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return false;
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r_info->collider_id = rcd.best_object->get_instance_id();
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r_info->shape = rcd.best_shape;
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r_info->normal = rcd.best_normal;
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r_info->point = rcd.best_contact;
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r_info->rid = rcd.best_object->get_self();
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r_info->metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
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if (rcd.best_object->get_type() == CollisionObject2DSW::TYPE_BODY) {
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const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);
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Vector2 rel_vec = r_info->point - body->get_transform().get_origin();
|
|
r_info->linear_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
|
|
|
|
} else {
|
|
r_info->linear_velocity = Vector2();
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
Physics2DDirectSpaceStateSW::Physics2DDirectSpaceStateSW() {
|
|
|
|
space = NULL;
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &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() == CollisionObject2DSW::TYPE_AREA)
|
|
keep = false;
|
|
else if ((static_cast<Body2DSW *>(intersection_query_results[i])->test_collision_mask(p_body)) == 0)
|
|
keep = false;
|
|
else if (static_cast<Body2DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self()))
|
|
keep = false;
|
|
else if (static_cast<Body2DSW *>(intersection_query_results[i])->is_shape_set_as_disabled(intersection_query_subindex_results[i]))
|
|
keep = false;
|
|
|
|
if (!keep) {
|
|
|
|
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 Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, Physics2DServer::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..
|
|
|
|
if (r_result) {
|
|
r_result->collider_id = 0;
|
|
r_result->collider_shape = 0;
|
|
}
|
|
Rect2 body_aabb;
|
|
|
|
for (int i = 0; i < p_body->get_shape_count(); i++) {
|
|
|
|
if (i == 0)
|
|
body_aabb = p_body->get_shape_aabb(i);
|
|
else
|
|
body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
|
|
}
|
|
|
|
// Undo the currently transform the physics server is aware of and apply the provided one
|
|
body_aabb = p_from.xform(p_body->get_inv_transform().xform(body_aabb));
|
|
body_aabb = body_aabb.grow(p_margin);
|
|
|
|
static const int max_excluded_shape_pairs = 32;
|
|
ExcludedShapeSW excluded_shape_pairs[max_excluded_shape_pairs];
|
|
int excluded_shape_pair_count = 0;
|
|
|
|
Transform2D body_transform = p_from;
|
|
|
|
{
|
|
//STEP 1, FREE BODY IF STUCK
|
|
|
|
const int max_results = 32;
|
|
int recover_attempts = 4;
|
|
Vector2 sr[max_results * 2];
|
|
|
|
do {
|
|
|
|
Physics2DServerSW::CollCbkData cbk;
|
|
cbk.max = max_results;
|
|
cbk.amount = 0;
|
|
cbk.ptr = sr;
|
|
cbk.invalid_by_dir = 0;
|
|
excluded_shape_pair_count = 0; //last step is the one valid
|
|
|
|
Physics2DServerSW::CollCbkData *cbkptr = &cbk;
|
|
CollisionSolver2DSW::CallbackResult cbkres = Physics2DServerSW::_shape_col_cbk;
|
|
|
|
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_set_as_disabled(j))
|
|
continue;
|
|
|
|
Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
|
|
Shape2DSW *body_shape = p_body->get_shape(j);
|
|
for (int i = 0; i < amount; i++) {
|
|
|
|
const CollisionObject2DSW *col_obj = intersection_query_results[i];
|
|
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 && Physics2DServer::BODY_MODE_STATIC != b->get_mode() && Physics2DServer::BODY_MODE_KINEMATIC != b->get_mode()) {
|
|
continue;
|
|
}
|
|
}
|
|
|
|
if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
|
|
|
|
cbk.valid_dir = body_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->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, NULL, p_margin)) {
|
|
collided = cbk.amount > 0;
|
|
}
|
|
|
|
if (!collided && cbk.invalid_by_dir > 0) {
|
|
//this shape must be excluded
|
|
if (excluded_shape_pair_count < max_excluded_shape_pairs) {
|
|
ExcludedShapeSW esp;
|
|
esp.local_shape = body_shape;
|
|
esp.against_object = col_obj;
|
|
esp.against_shape_index = shape_idx;
|
|
excluded_shape_pairs[excluded_shape_pair_count++] = esp;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (!collided) {
|
|
break;
|
|
}
|
|
|
|
Vector2 recover_motion;
|
|
|
|
for (int i = 0; i < cbk.amount; i++) {
|
|
|
|
Vector2 a = sr[i * 2 + 0];
|
|
Vector2 b = sr[i * 2 + 1];
|
|
recover_motion += (b - a) * 0.4;
|
|
}
|
|
|
|
if (recover_motion == Vector2()) {
|
|
collided = false;
|
|
break;
|
|
}
|
|
|
|
body_transform.elements[2] += 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
|
|
|
|
Rect2 motion_aabb = body_aabb;
|
|
motion_aabb.position += p_motion;
|
|
motion_aabb = motion_aabb.merge(body_aabb);
|
|
|
|
int amount = _cull_aabb_for_body(p_body, motion_aabb);
|
|
|
|
for (int body_shape_idx = 0; body_shape_idx < p_body->get_shape_count(); body_shape_idx++) {
|
|
|
|
if (p_body->is_shape_set_as_disabled(body_shape_idx))
|
|
continue;
|
|
|
|
Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(body_shape_idx);
|
|
Shape2DSW *body_shape = p_body->get_shape(body_shape_idx);
|
|
|
|
bool stuck = false;
|
|
|
|
real_t best_safe = 1;
|
|
real_t best_unsafe = 1;
|
|
|
|
for (int i = 0; i < amount; i++) {
|
|
|
|
const CollisionObject2DSW *col_obj = intersection_query_results[i];
|
|
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 && Physics2DServer::BODY_MODE_STATIC != b->get_mode() && Physics2DServer::BODY_MODE_KINEMATIC != b->get_mode()) {
|
|
continue;
|
|
}
|
|
}
|
|
|
|
bool excluded = false;
|
|
|
|
for (int k = 0; k < excluded_shape_pair_count; k++) {
|
|
|
|
if (excluded_shape_pairs[k].local_shape == body_shape && excluded_shape_pairs[k].against_object == col_obj && excluded_shape_pairs[k].against_shape_index == col_shape_idx) {
|
|
excluded = true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (excluded) {
|
|
|
|
continue;
|
|
}
|
|
|
|
Transform2D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(col_shape_idx);
|
|
//test initial overlap, does it collide if going all the way?
|
|
if (!CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion, against_shape, col_obj_xform, Vector2(), NULL, NULL, NULL, 0)) {
|
|
continue;
|
|
}
|
|
|
|
//test initial overlap
|
|
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_xform, Vector2(), NULL, NULL, NULL, 0)) {
|
|
|
|
if (col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
|
|
continue;
|
|
}
|
|
|
|
stuck = true;
|
|
break;
|
|
}
|
|
|
|
//just do kinematic solving
|
|
real_t low = 0;
|
|
real_t hi = 1;
|
|
Vector2 mnormal = p_motion.normalized();
|
|
|
|
for (int k = 0; k < 8; k++) { //steps should be customizable..
|
|
|
|
real_t ofs = (low + hi) * 0.5;
|
|
|
|
Vector2 sep = mnormal; //important optimization for this to work fast enough
|
|
bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * ofs, against_shape, col_obj_xform, Vector2(), NULL, NULL, &sep, 0);
|
|
|
|
if (collided) {
|
|
|
|
hi = ofs;
|
|
} else {
|
|
|
|
low = ofs;
|
|
}
|
|
}
|
|
|
|
if (col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
|
|
|
|
Vector2 cd[2];
|
|
Physics2DServerSW::CollCbkData cbk;
|
|
cbk.max = 1;
|
|
cbk.amount = 0;
|
|
cbk.ptr = cd;
|
|
cbk.valid_dir = body_shape_xform.get_axis(1).normalized();
|
|
|
|
cbk.valid_depth = 10e20;
|
|
|
|
Vector2 sep = mnormal; //important optimization for this to work fast enough
|
|
bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(col_shape_idx), col_obj_xform, Vector2(), Physics2DServerSW::_shape_col_cbk, &cbk, &sep, 0);
|
|
if (!collided || cbk.amount == 0) {
|
|
continue;
|
|
}
|
|
}
|
|
|
|
if (low < best_safe) {
|
|
best_safe = low;
|
|
best_unsafe = hi;
|
|
}
|
|
}
|
|
|
|
if (stuck) {
|
|
|
|
safe = 0;
|
|
unsafe = 0;
|
|
best_shape = body_shape_idx; //sadly it's the best
|
|
break;
|
|
}
|
|
if (best_safe == 1.0) {
|
|
continue;
|
|
}
|
|
if (best_safe < safe) {
|
|
|
|
safe = best_safe;
|
|
unsafe = best_unsafe;
|
|
best_shape = body_shape_idx;
|
|
}
|
|
}
|
|
}
|
|
|
|
bool collided = false;
|
|
if (safe >= 1) {
|
|
//not collided
|
|
collided = false;
|
|
if (r_result) {
|
|
|
|
r_result->motion = p_motion;
|
|
r_result->remainder = Vector2();
|
|
r_result->motion += (body_transform.get_origin() - p_from.get_origin());
|
|
}
|
|
|
|
} else {
|
|
|
|
//it collided, let's get the rest info in unsafe advance
|
|
Transform2D ugt = body_transform;
|
|
ugt.elements[2] += p_motion * unsafe;
|
|
|
|
_RestCallbackData2D rcd;
|
|
rcd.best_len = 0;
|
|
rcd.best_object = NULL;
|
|
rcd.best_shape = 0;
|
|
|
|
Transform2D body_shape_xform = ugt * p_body->get_shape_transform(best_shape);
|
|
Shape2DSW *body_shape = p_body->get_shape(best_shape);
|
|
|
|
body_aabb.position += p_motion * unsafe;
|
|
|
|
int amount = _cull_aabb_for_body(p_body, body_aabb);
|
|
|
|
for (int i = 0; i < amount; i++) {
|
|
|
|
const CollisionObject2DSW *col_obj = intersection_query_results[i];
|
|
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 && Physics2DServer::BODY_MODE_STATIC != b->get_mode() && Physics2DServer::BODY_MODE_KINEMATIC != b->get_mode()) {
|
|
continue;
|
|
}
|
|
}
|
|
|
|
Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
|
|
|
|
bool excluded = false;
|
|
for (int k = 0; k < excluded_shape_pair_count; k++) {
|
|
|
|
if (excluded_shape_pairs[k].local_shape == body_shape && excluded_shape_pairs[k].against_object == col_obj && excluded_shape_pairs[k].against_shape_index == shape_idx) {
|
|
excluded = true;
|
|
break;
|
|
}
|
|
}
|
|
if (excluded)
|
|
continue;
|
|
|
|
if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
|
|
|
|
rcd.valid_dir = body_shape_xform.get_axis(1).normalized();
|
|
rcd.valid_depth = 10e20;
|
|
} else {
|
|
rcd.valid_dir = Vector2();
|
|
rcd.valid_depth = 0;
|
|
}
|
|
|
|
rcd.object = col_obj;
|
|
rcd.shape = shape_idx;
|
|
bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, NULL, p_margin);
|
|
if (!sc)
|
|
continue;
|
|
}
|
|
|
|
if (rcd.best_len != 0) {
|
|
|
|
if (r_result) {
|
|
r_result->collider = rcd.best_object->get_self();
|
|
r_result->collider_id = rcd.best_object->get_instance_id();
|
|
r_result->collider_shape = rcd.best_shape;
|
|
r_result->collision_local_shape = best_shape;
|
|
r_result->collision_normal = rcd.best_normal;
|
|
r_result->collision_point = rcd.best_contact;
|
|
r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
|
|
|
|
const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);
|
|
Vector2 rel_vec = r_result->collision_point - body->get_transform().get_origin();
|
|
r_result->collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
|
|
|
|
r_result->motion = safe * p_motion;
|
|
r_result->remainder = p_motion - safe * p_motion;
|
|
r_result->motion += (body_transform.get_origin() - p_from.get_origin());
|
|
}
|
|
|
|
collided = true;
|
|
} else {
|
|
if (r_result) {
|
|
|
|
r_result->motion = p_motion;
|
|
r_result->remainder = Vector2();
|
|
r_result->motion += (body_transform.get_origin() - p_from.get_origin());
|
|
}
|
|
|
|
collided = false;
|
|
}
|
|
}
|
|
|
|
return collided;
|
|
}
|
|
|
|
void *Space2DSW::_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self) {
|
|
|
|
CollisionObject2DSW::Type type_A = A->get_type();
|
|
CollisionObject2DSW::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);
|
|
}
|
|
|
|
Space2DSW *self = (Space2DSW *)p_self;
|
|
self->collision_pairs++;
|
|
|
|
if (type_A == CollisionObject2DSW::TYPE_AREA) {
|
|
|
|
Area2DSW *area = static_cast<Area2DSW *>(A);
|
|
if (type_B == CollisionObject2DSW::TYPE_AREA) {
|
|
|
|
Area2DSW *area_b = static_cast<Area2DSW *>(B);
|
|
Area2Pair2DSW *area2_pair = memnew(Area2Pair2DSW(area_b, p_subindex_B, area, p_subindex_A));
|
|
return area2_pair;
|
|
} else {
|
|
|
|
Body2DSW *body = static_cast<Body2DSW *>(B);
|
|
AreaPair2DSW *area_pair = memnew(AreaPair2DSW(body, p_subindex_B, area, p_subindex_A));
|
|
return area_pair;
|
|
}
|
|
|
|
} else {
|
|
|
|
BodyPair2DSW *b = memnew(BodyPair2DSW((Body2DSW *)A, p_subindex_A, (Body2DSW *)B, p_subindex_B));
|
|
return b;
|
|
}
|
|
|
|
return NULL;
|
|
}
|
|
|
|
void Space2DSW::_broadphase_unpair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_self) {
|
|
|
|
Space2DSW *self = (Space2DSW *)p_self;
|
|
self->collision_pairs--;
|
|
Constraint2DSW *c = (Constraint2DSW *)p_data;
|
|
memdelete(c);
|
|
}
|
|
|
|
const SelfList<Body2DSW>::List &Space2DSW::get_active_body_list() const {
|
|
|
|
return active_list;
|
|
}
|
|
void Space2DSW::body_add_to_active_list(SelfList<Body2DSW> *p_body) {
|
|
|
|
active_list.add(p_body);
|
|
}
|
|
void Space2DSW::body_remove_from_active_list(SelfList<Body2DSW> *p_body) {
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active_list.remove(p_body);
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}
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void Space2DSW::body_add_to_inertia_update_list(SelfList<Body2DSW> *p_body) {
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inertia_update_list.add(p_body);
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}
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void Space2DSW::body_remove_from_inertia_update_list(SelfList<Body2DSW> *p_body) {
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inertia_update_list.remove(p_body);
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}
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BroadPhase2DSW *Space2DSW::get_broadphase() {
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return broadphase;
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}
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void Space2DSW::add_object(CollisionObject2DSW *p_object) {
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ERR_FAIL_COND(objects.has(p_object));
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objects.insert(p_object);
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}
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void Space2DSW::remove_object(CollisionObject2DSW *p_object) {
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ERR_FAIL_COND(!objects.has(p_object));
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objects.erase(p_object);
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}
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const Set<CollisionObject2DSW *> &Space2DSW::get_objects() const {
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return objects;
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}
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void Space2DSW::body_add_to_state_query_list(SelfList<Body2DSW> *p_body) {
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state_query_list.add(p_body);
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}
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void Space2DSW::body_remove_from_state_query_list(SelfList<Body2DSW> *p_body) {
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state_query_list.remove(p_body);
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}
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void Space2DSW::area_add_to_monitor_query_list(SelfList<Area2DSW> *p_area) {
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monitor_query_list.add(p_area);
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}
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void Space2DSW::area_remove_from_monitor_query_list(SelfList<Area2DSW> *p_area) {
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monitor_query_list.remove(p_area);
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}
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void Space2DSW::area_add_to_moved_list(SelfList<Area2DSW> *p_area) {
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area_moved_list.add(p_area);
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}
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void Space2DSW::area_remove_from_moved_list(SelfList<Area2DSW> *p_area) {
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area_moved_list.remove(p_area);
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}
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const SelfList<Area2DSW>::List &Space2DSW::get_moved_area_list() const {
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return area_moved_list;
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}
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void Space2DSW::call_queries() {
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while (state_query_list.first()) {
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Body2DSW *b = state_query_list.first()->self();
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state_query_list.remove(state_query_list.first());
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b->call_queries();
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}
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while (monitor_query_list.first()) {
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Area2DSW *a = monitor_query_list.first()->self();
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monitor_query_list.remove(monitor_query_list.first());
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a->call_queries();
|
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}
|
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}
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void Space2DSW::setup() {
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contact_debug_count = 0;
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|
|
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while (inertia_update_list.first()) {
|
|
inertia_update_list.first()->self()->update_inertias();
|
|
inertia_update_list.remove(inertia_update_list.first());
|
|
}
|
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}
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void Space2DSW::update() {
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|
broadphase->update();
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|
}
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void Space2DSW::set_param(Physics2DServer::SpaceParameter p_param, real_t p_value) {
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|
|
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switch (p_param) {
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|
|
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case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius = p_value; break;
|
|
case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation = p_value; break;
|
|
case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration = p_value; break;
|
|
case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: body_linear_velocity_sleep_threshold = p_value; break;
|
|
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: body_angular_velocity_sleep_threshold = p_value; break;
|
|
case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break;
|
|
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break;
|
|
}
|
|
}
|
|
|
|
real_t Space2DSW::get_param(Physics2DServer::SpaceParameter p_param) const {
|
|
|
|
switch (p_param) {
|
|
|
|
case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius;
|
|
case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation;
|
|
case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration;
|
|
case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: return body_linear_velocity_sleep_threshold;
|
|
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: return body_angular_velocity_sleep_threshold;
|
|
case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
|
|
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
void Space2DSW::lock() {
|
|
|
|
locked = true;
|
|
}
|
|
|
|
void Space2DSW::unlock() {
|
|
|
|
locked = false;
|
|
}
|
|
|
|
bool Space2DSW::is_locked() const {
|
|
|
|
return locked;
|
|
}
|
|
|
|
Physics2DDirectSpaceStateSW *Space2DSW::get_direct_state() {
|
|
|
|
return direct_access;
|
|
}
|
|
|
|
Space2DSW::Space2DSW() {
|
|
|
|
collision_pairs = 0;
|
|
active_objects = 0;
|
|
island_count = 0;
|
|
|
|
contact_debug_count = 0;
|
|
|
|
locked = false;
|
|
contact_recycle_radius = 1.0;
|
|
contact_max_separation = 1.5;
|
|
contact_max_allowed_penetration = 0.3;
|
|
|
|
constraint_bias = 0.2;
|
|
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0);
|
|
body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_angular", (8.0 / 180.0 * Math_PI));
|
|
body_time_to_sleep = GLOBAL_DEF("physics/2d/time_before_sleep", 0.5);
|
|
|
|
broadphase = BroadPhase2DSW::create_func();
|
|
broadphase->set_pair_callback(_broadphase_pair, this);
|
|
broadphase->set_unpair_callback(_broadphase_unpair, this);
|
|
area = NULL;
|
|
|
|
direct_access = memnew(Physics2DDirectSpaceStateSW);
|
|
direct_access->space = this;
|
|
|
|
for (int i = 0; i < ELAPSED_TIME_MAX; i++)
|
|
elapsed_time[i] = 0;
|
|
}
|
|
|
|
Space2DSW::~Space2DSW() {
|
|
|
|
memdelete(broadphase);
|
|
memdelete(direct_access);
|
|
}
|