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Fix collision solving between world boundary and shapes in motion (2D)

This commit is contained in:
Ricardo Buring 2022-08-29 17:34:06 +02:00
parent ecb89bfbd5
commit 219a582a15
2 changed files with 6 additions and 4 deletions
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8
servers/physics_2d/godot_collision_solver_2d.cpp
View File

@ -34,7 +34,7 @@
#define collision_solver sat_2d_calculate_penetration
//#define collision_solver gjk_epa_calculate_penetration
bool GodotCollisionSolver2D::solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
bool GodotCollisionSolver2D::solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) {
const GodotWorldBoundaryShape2D *world_boundary = static_cast<const GodotWorldBoundaryShape2D *>(p_shape_A);
if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_WORLD_BOUNDARY) {
return false;
@ -52,7 +52,9 @@ bool GodotCollisionSolver2D::solve_static_world_boundary(const GodotShape2D *p_s
bool found = false;
for (int i = 0; i < support_count; i++) {
supports[i] += p_margin * supports[i].normalized();
supports[i] = p_transform_B.xform(supports[i]);
supports[i] += p_motion_B;
real_t pd = n.dot(supports[i]);
if (pd >= d) {
continue;
@ -231,9 +233,9 @@ bool GodotCollisionSolver2D::solve(const GodotShape2D *p_shape_A, const Transfor
}
if (swap) {
return solve_static_world_boundary(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
return solve_static_world_boundary(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_motion_A, p_result_callback, p_userdata, true, p_margin_A);
} else {
return solve_static_world_boundary(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
return solve_static_world_boundary(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, p_margin_B);
}
} else if (type_A == PhysicsServer2D::SHAPE_SEPARATION_RAY) {

2
servers/physics_2d/godot_collision_solver_2d.h
View File

@ -38,7 +38,7 @@ public:
typedef void (*CallbackResult)(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata);
private:
static bool solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static bool solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0);
static bool concave_callback(void *p_userdata, GodotShape2D *p_convex);
static bool solve_concave(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *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 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
static bool solve_separation_ray(const GodotShape2D *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin = 0);