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Merge pull request #50495 from nekomatata/move-and-slide-fixes-3.x 

[3.x] Backport KinematicBody move_and_slide and move_and_collide fixes
This commit is contained in:
Rémi Verschelde 2021-07-19 20:11:51 +02:00 committed by GitHub
parent 9636deac55 beeebb4c2f
commit 526447b86f
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GPG Key ID: 4AEE18F83AFDEB23
12 changed files with 299 additions and 72 deletions
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6
doc/classes/Physics2DTestMotionResult.xml
View File

@ -19,10 +19,16 @@
</member>
<member name="collider_velocity" type="Vector2" setter="" getter="get_collider_velocity" default="Vector2( 0, 0 )">
</member>
<member name="collision_depth" type="float" setter="" getter="get_collision_depth" default="0.0">
</member>
<member name="collision_normal" type="Vector2" setter="" getter="get_collision_normal" default="Vector2( 0, 0 )">
</member>
<member name="collision_point" type="Vector2" setter="" getter="get_collision_point" default="Vector2( 0, 0 )">
</member>
<member name="collision_safe_fraction" type="float" setter="" getter="get_collision_safe_fraction" default="0.0">
</member>
<member name="collision_unsafe_fraction" type="float" setter="" getter="get_collision_unsafe_fraction" default="0.0">
</member>
<member name="motion" type="Vector2" setter="" getter="get_motion" default="Vector2( 0, 0 )">
</member>
<member name="motion_remainder" type="Vector2" setter="" getter="get_motion_remainder" default="Vector2( 0, 0 )">

6
doc/classes/PhysicsTestMotionResult.xml
View File

@ -19,10 +19,16 @@
</member>
<member name="collider_velocity" type="Vector3" setter="" getter="get_collider_velocity" default="Vector3( 0, 0, 0 )">
</member>
<member name="collision_depth" type="float" setter="" getter="get_collision_depth" default="0.0">
</member>
<member name="collision_normal" type="Vector3" setter="" getter="get_collision_normal" default="Vector3( 0, 0, 0 )">
</member>
<member name="collision_point" type="Vector3" setter="" getter="get_collision_point" default="Vector3( 0, 0, 0 )">
</member>
<member name="collision_safe_fraction" type="float" setter="" getter="get_collision_safe_fraction" default="0.0">
</member>
<member name="collision_unsafe_fraction" type="float" setter="" getter="get_collision_unsafe_fraction" default="0.0">
</member>
<member name="motion" type="Vector3" setter="" getter="get_motion" default="Vector3( 0, 0, 0 )">
</member>
<member name="motion_remainder" type="Vector3" setter="" getter="get_motion_remainder" default="Vector3( 0, 0, 0 )">

79
scene/2d/physics_body_2d.cpp
View File

@ -1030,7 +1030,7 @@ bool KinematicBody2D::separate_raycast_shapes(bool p_infinite_inertia, Collision
}
}
bool KinematicBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only, const Set<RID> &p_exclude) {
bool KinematicBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only, bool p_cancel_sliding, const Set<RID> &p_exclude) {
if (sync_to_physics) {
ERR_PRINT("Functions move_and_slide and move_and_collide do not work together with 'sync to physics' option. Please read the documentation.");
}
@ -1039,6 +1039,44 @@ bool KinematicBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_
bool colliding = Physics2DServer::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, margin, &result, p_exclude_raycast_shapes, p_exclude);
// Restore direction of motion to be along original motion,
// in order to avoid sliding due to recovery,
// but only if collision depth is low enough to avoid tunneling.
if (p_cancel_sliding) {
real_t motion_length = p_motion.length();
real_t precision = 0.001;
if (colliding) {
// Can't just use margin as a threshold because collision depth is calculated on unsafe motion,
// so even in normal resting cases the depth can be a bit more than the margin.
precision += motion_length * (result.collision_unsafe_fraction - result.collision_safe_fraction);
if (result.collision_depth > (real_t)margin + precision) {
p_cancel_sliding = false;
}
}
if (p_cancel_sliding) {
// When motion is null, recovery is the resulting motion.
Vector2 motion_normal;
if (motion_length > CMP_EPSILON) {
motion_normal = p_motion / motion_length;
}
// Check depth of recovery.
real_t projected_length = result.motion.dot(motion_normal);
Vector2 recovery = result.motion - motion_normal * projected_length;
real_t recovery_length = recovery.length();
// Fixes cases where canceling slide causes the motion to go too deep into the ground,
// because we're only taking rest information into account and not general recovery.
if (recovery_length < (real_t)margin + precision) {
// Apply adjustment to motion.
result.motion = motion_normal * projected_length;
result.remainder = p_motion - result.motion;
}
}
}
if (colliding) {
r_collision.collider_metadata = result.collider_metadata;
r_collision.collider_shape = result.collider_shape;
@ -1092,7 +1130,7 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
Collision floor_collision;
Set<RID> exclude;
exclude.insert(on_floor_body);
if (move_and_collide(current_floor_velocity * delta, p_infinite_inertia, floor_collision, true, false, exclude)) {
if (move_and_collide(current_floor_velocity * delta, p_infinite_inertia, floor_collision, true, false, false, exclude)) {
colliders.push_back(floor_collision);
_set_collision_direction(floor_collision, up_direction, p_floor_max_angle);
}
@ -1101,14 +1139,17 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
on_floor_body = RID();
Vector2 motion = body_velocity * delta;
while (p_max_slides) {
// No sliding on first attempt to keep floor motion stable when possible,
// when stop on slope is enabled.
bool sliding_enabled = !p_stop_on_slope;
for (int iteration = 0; iteration < p_max_slides; ++iteration) {
Collision collision;
bool found_collision = false;
for (int i = 0; i < 2; ++i) {
bool collided;
if (i == 0) { //collide
collided = move_and_collide(motion, p_infinite_inertia, collision);
collided = move_and_collide(motion, p_infinite_inertia, collision, true, false, !sliding_enabled);
if (!collided) {
motion = Vector2(); //clear because no collision happened and motion completed
}
@ -1124,29 +1165,36 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
found_collision = true;
colliders.push_back(collision);
motion = collision.remainder;
_set_collision_direction(collision, up_direction, p_floor_max_angle);
if (on_floor && p_stop_on_slope) {
if ((body_velocity_normal + up_direction).length() < 0.01 && collision.travel.length() < 1) {
if ((body_velocity_normal + up_direction).length() < 0.01) {
Transform2D gt = get_global_transform();
gt.elements[2] -= collision.travel.slide(up_direction);
if (collision.travel.length() > margin) {
gt.elements[2] -= collision.travel.slide(up_direction);
} else {
gt.elements[2] -= collision.travel;
}
set_global_transform(gt);
return Vector2();
}
}
motion = motion.slide(collision.normal);
body_velocity = body_velocity.slide(collision.normal);
if (sliding_enabled || !on_floor) {
motion = collision.remainder.slide(collision.normal);
body_velocity = body_velocity.slide(collision.normal);
} else {
motion = collision.remainder;
}
}
sliding_enabled = true;
}
if (!found_collision || motion == Vector2()) {
break;
}
--p_max_slides;
}
if (!on_floor && !on_wall) {
@ -1169,7 +1217,7 @@ Vector2 KinematicBody2D::move_and_slide_with_snap(const Vector2 &p_linear_veloci
Collision col;
Transform2D gt = get_global_transform();
if (move_and_collide(p_snap, p_infinite_inertia, col, false, true)) {
if (move_and_collide(p_snap, p_infinite_inertia, col, false, true, false)) {
bool apply = true;
if (up_direction != Vector2()) {
if (Math::acos(col.normal.dot(up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) {
@ -1180,9 +1228,12 @@ Vector2 KinematicBody2D::move_and_slide_with_snap(const Vector2 &p_linear_veloci
if (p_stop_on_slope) {
// move and collide may stray the object a bit because of pre un-stucking,
// so only ensure that motion happens on floor direction in this case.
col.travel = up_direction * up_direction.dot(col.travel);
if (col.travel.length() > margin) {
col.travel = up_direction * up_direction.dot(col.travel);
} else {
col.travel = Vector2();
}
}
} else {
apply = false;
}

2
scene/2d/physics_body_2d.h
View File

@ -311,7 +311,7 @@ protected:
static void _bind_methods();
public:
bool move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false, const Set<RID> &p_exclude = Set<RID>());
bool move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false, bool p_cancel_sliding = true, const Set<RID> &p_exclude = Set<RID>());
bool test_move(const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia = true);

82
scene/3d/physics_body.cpp
View File

@ -973,7 +973,7 @@ Ref<KinematicCollision> KinematicBody::_move(const Vector3 &p_motion, bool p_inf
return Ref<KinematicCollision>();
}
bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only) {
bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only, bool p_cancel_sliding) {
if (sync_to_physics) {
ERR_PRINT("Functions move_and_slide and move_and_collide do not work together with 'sync to physics' option. Please read the documentation.");
}
@ -982,6 +982,44 @@ bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_in
PhysicsServer::MotionResult result;
bool colliding = PhysicsServer::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, &result, p_exclude_raycast_shapes);
// Restore direction of motion to be along original motion,
// in order to avoid sliding due to recovery,
// but only if collision depth is low enough to avoid tunneling.
if (p_cancel_sliding) {
real_t motion_length = p_motion.length();
real_t precision = 0.001;
if (colliding) {
// Can't just use margin as a threshold because collision depth is calculated on unsafe motion,
// so even in normal resting cases the depth can be a bit more than the margin.
precision += motion_length * (result.collision_unsafe_fraction - result.collision_safe_fraction);
if (result.collision_depth > (real_t)margin + precision) {
p_cancel_sliding = false;
}
}
if (p_cancel_sliding) {
// When motion is null, recovery is the resulting motion.
Vector3 motion_normal;
if (motion_length > CMP_EPSILON) {
motion_normal = p_motion / motion_length;
}
// Check depth of recovery.
real_t projected_length = result.motion.dot(motion_normal);
Vector3 recovery = result.motion - motion_normal * projected_length;
real_t recovery_length = recovery.length();
// Fixes cases where canceling slide causes the motion to go too deep into the ground,
// because we're only taking rest information into account and not general recovery.
if (recovery_length < (real_t)margin + precision) {
// Apply adjustment to motion.
result.motion = motion_normal * projected_length;
result.remainder = p_motion - result.motion;
}
}
}
if (colliding) {
r_collision.collider_metadata = result.collider_metadata;
r_collision.collider_shape = result.collider_shape;
@ -1043,14 +1081,17 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
floor_normal = Vector3();
floor_velocity = Vector3();
while (p_max_slides) {
// No sliding on first attempt to keep floor motion stable when possible,
// when stop on slope is enabled.
bool sliding_enabled = !p_stop_on_slope;
for (int iteration = 0; iteration < p_max_slides; ++iteration) {
Collision collision;
bool found_collision = false;
for (int i = 0; i < 2; ++i) {
bool collided;
if (i == 0) { //collide
collided = move_and_collide(motion, p_infinite_inertia, collision);
collided = move_and_collide(motion, p_infinite_inertia, collision, true, false, !sliding_enabled);
if (!collided) {
motion = Vector3(); //clear because no collision happened and motion completed
}
@ -1066,7 +1107,6 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
found_collision = true;
colliders.push_back(collision);
motion = collision.remainder;
if (up_direction == Vector3()) {
//all is a wall
@ -1080,9 +1120,13 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
floor_velocity = collision.collider_vel;
if (p_stop_on_slope) {
if ((body_velocity_normal + up_direction).length() < 0.01 && collision.travel.length() < 1) {
if ((body_velocity_normal + up_direction).length() < 0.01) {
Transform gt = get_global_transform();
gt.origin -= collision.travel.slide(up_direction);
if (collision.travel.length() > margin) {
gt.origin -= collision.travel.slide(up_direction);
} else {
gt.origin -= collision.travel;
}
set_global_transform(gt);
return Vector3();
}
@ -1094,22 +1138,26 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
}
}
motion = motion.slide(collision.normal);
body_velocity = body_velocity.slide(collision.normal);
if (sliding_enabled || !on_floor) {
motion = collision.remainder.slide(collision.normal);
body_velocity = body_velocity.slide(collision.normal);
for (int j = 0; j < 3; j++) {
if (locked_axis & (1 << j)) {
body_velocity[j] = 0;
for (int j = 0; j < 3; j++) {
if (locked_axis & (1 << j)) {
body_velocity[j] = 0;
}
}
} else {
motion = collision.remainder;
}
}
sliding_enabled = true;
}
if (!found_collision || motion == Vector3()) {
break;
}
--p_max_slides;
}
return body_velocity;
@ -1127,7 +1175,7 @@ Vector3 KinematicBody::move_and_slide_with_snap(const Vector3 &p_linear_velocity
Collision col;
Transform gt = get_global_transform();
if (move_and_collide(p_snap, p_infinite_inertia, col, false, true)) {
if (move_and_collide(p_snap, p_infinite_inertia, col, false, true, false)) {
bool apply = true;
if (up_direction != Vector3()) {
if (Math::acos(col.normal.dot(up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) {
@ -1138,7 +1186,11 @@ Vector3 KinematicBody::move_and_slide_with_snap(const Vector3 &p_linear_velocity
if (p_stop_on_slope) {
// move and collide may stray the object a bit because of pre un-stucking,
// so only ensure that motion happens on floor direction in this case.
col.travel = col.travel.project(up_direction);
if (col.travel.length() > margin) {
col.travel = col.travel.project(up_direction);
} else {
col.travel = Vector3();
}
}
} else {
apply = false; //snapped with floor direction, but did not snap to a floor, do not snap.

2
scene/3d/physics_body.h
View File

@ -306,7 +306,7 @@ protected:
static void _bind_methods();
public:
bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false, bool p_cancel_sliding = true);
bool test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia);
bool separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision);

80
servers/physics/space_sw.cpp
View File

@ -251,6 +251,8 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform
bool best_first = true;
Vector3 motion_normal = p_motion.normalized();
Vector3 closest_A, closest_B;
for (int i = 0; i < amount; i++) {
@ -266,7 +268,7 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform
int shape_idx = space->intersection_query_subindex_results[i];
Vector3 point_A, point_B;
Vector3 sep_axis = p_motion.normalized();
Vector3 sep_axis = motion_normal;
Transform 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?
@ -275,35 +277,47 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform
}
//test initial overlap, ignore objects it's inside of.
sep_axis = p_motion.normalized();
sep_axis = motion_normal;
if (!CollisionSolverSW::solve_distance(shape, p_xform, 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;
real_t hi = 1;
Vector3 mnormal = p_motion.normalized();
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;
real_t ofs = (low + hi) * 0.5;
Vector3 sep = mnormal; //important optimization for this to work fast enough
mshape.motion = xform_inv.basis.xform(p_motion * ofs);
mshape.motion = xform_inv.basis.xform(p_motion * fraction);
Vector3 lA, lB;
Vector3 sep = motion_normal; //important optimization for this to work fast enough
bool collided = !CollisionSolverSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep);
if (collided) {
hi = ofs;
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 = ofs;
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;
}
}
}
@ -894,27 +908,40 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
}
//just do kinematic solving
real_t low = 0;
real_t hi = 1;
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;
real_t ofs = (low + hi) * 0.5;
Vector3 sep = motion_normal; //important optimization for this to work fast enough
mshape.motion = body_shape_xform_inv.basis.xform(p_motion * ofs);
mshape.motion = body_shape_xform_inv.basis.xform(p_motion * fraction);
Vector3 lA, lB;
Vector3 sep = motion_normal; //important optimization for this to work fast enough
bool collided = !CollisionSolverSW::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, motion_aabb, &sep);
if (collided) {
hi = ofs;
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 = ofs;
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;
}
}
}
@ -1008,6 +1035,9 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
r_result->collision_local_shape = rcd.best_local_shape;
r_result->collision_normal = rcd.best_normal;
r_result->collision_point = rcd.best_contact;
r_result->collision_depth = rcd.best_len;
r_result->collision_safe_fraction = safe;
r_result->collision_unsafe_fraction = unsafe;
//r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
const BodySW *body = static_cast<const BodySW *>(rcd.best_object);

66
servers/physics_2d/space_2d_sw.cpp
View File

@ -283,22 +283,38 @@ bool Physics2DDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transfor
continue;
}
//just do kinematic solving
real_t low = 0;
real_t hi = 1;
Vector2 mnormal = p_motion.normalized();
//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 ofs = (low + hi) * 0.5;
real_t fraction = low + (hi - low) * fraction_coeff;
Vector2 sep = mnormal; //important optimization for this to work fast enough
bool collided = CollisionSolver2DSW::solve(shape, p_xform, p_motion * ofs, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_margin);
bool collided = CollisionSolver2DSW::solve(shape, p_xform, p_motion * fraction, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_margin);
if (collided) {
hi = ofs;
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 {
low = ofs;
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;
}
}
}
@ -962,20 +978,35 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}
//just do kinematic solving
real_t low = 0;
real_t hi = 1;
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 ofs = (low + hi) * 0.5;
real_t fraction = low + (hi - low) * fraction_coeff;
Vector2 sep = motion_normal; //important optimization for this to work fast enough
bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * ofs, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0);
bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * fraction, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0);
if (collided) {
hi = ofs;
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 {
low = ofs;
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;
}
}
}
@ -1128,6 +1159,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
r_result->collision_local_shape = rcd.best_local_shape;
r_result->collision_normal = rcd.best_normal;
r_result->collision_point = rcd.best_contact;
r_result->collision_depth = rcd.best_len;
r_result->collision_safe_fraction = safe;
r_result->collision_unsafe_fraction = unsafe;
r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);

18
servers/physics_2d_server.cpp
View File

@ -444,6 +444,18 @@ int Physics2DTestMotionResult::get_collider_shape() const {
return result.collider_shape;
}
real_t Physics2DTestMotionResult::get_collision_depth() const {
return result.collision_depth;
}
real_t Physics2DTestMotionResult::get_collision_safe_fraction() const {
return result.collision_safe_fraction;
}
real_t Physics2DTestMotionResult::get_collision_unsafe_fraction() const {
return result.collision_unsafe_fraction;
}
void Physics2DTestMotionResult::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_motion"), &Physics2DTestMotionResult::get_motion);
ClassDB::bind_method(D_METHOD("get_motion_remainder"), &Physics2DTestMotionResult::get_motion_remainder);
@ -454,6 +466,9 @@ void Physics2DTestMotionResult::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_collider_rid"), &Physics2DTestMotionResult::get_collider_rid);
ClassDB::bind_method(D_METHOD("get_collider"), &Physics2DTestMotionResult::get_collider);
ClassDB::bind_method(D_METHOD("get_collider_shape"), &Physics2DTestMotionResult::get_collider_shape);
ClassDB::bind_method(D_METHOD("get_collision_depth"), &Physics2DTestMotionResult::get_collision_depth);
ClassDB::bind_method(D_METHOD("get_collision_safe_fraction"), &Physics2DTestMotionResult::get_collision_safe_fraction);
ClassDB::bind_method(D_METHOD("get_collision_unsafe_fraction"), &Physics2DTestMotionResult::get_collision_unsafe_fraction);
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "motion"), "", "get_motion");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "motion_remainder"), "", "get_motion_remainder");
@ -464,6 +479,9 @@ void Physics2DTestMotionResult::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::_RID, "collider_rid"), "", "get_collider_rid");
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_collider");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape"), "", "get_collider_shape");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_depth"), "", "get_collision_depth");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_safe_fraction"), "", "get_collision_safe_fraction");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_unsafe_fraction"), "", "get_collision_unsafe_fraction");
}
///////////////////////////////////////

6
servers/physics_2d_server.h
View File

@ -469,6 +469,9 @@ public:
Vector2 collision_point;
Vector2 collision_normal;
Vector2 collider_velocity;
real_t collision_depth = 0.0;
real_t collision_safe_fraction = 0.0;
real_t collision_unsafe_fraction = 0.0;
int collision_local_shape = 0;
ObjectID collider_id = 0;
RID collider;
@ -594,6 +597,9 @@ public:
RID get_collider_rid() const;
Object *get_collider() const;
int get_collider_shape() const;
real_t get_collision_depth() const;
real_t get_collision_safe_fraction() const;
real_t get_collision_unsafe_fraction() const;
};
typedef Physics2DServer *(*CreatePhysics2DServerCallback)();

18
servers/physics_server.cpp
View File

@ -392,6 +392,18 @@ int PhysicsTestMotionResult::get_collider_shape() const {
return result.collider_shape;
}
real_t PhysicsTestMotionResult::get_collision_depth() const {
return result.collision_depth;
}
real_t PhysicsTestMotionResult::get_collision_safe_fraction() const {
return result.collision_safe_fraction;
}
real_t PhysicsTestMotionResult::get_collision_unsafe_fraction() const {
return result.collision_unsafe_fraction;
}
void PhysicsTestMotionResult::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_motion"), &PhysicsTestMotionResult::get_motion);
ClassDB::bind_method(D_METHOD("get_motion_remainder"), &PhysicsTestMotionResult::get_motion_remainder);
@ -402,6 +414,9 @@ void PhysicsTestMotionResult::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_collider_rid"), &PhysicsTestMotionResult::get_collider_rid);
ClassDB::bind_method(D_METHOD("get_collider"), &PhysicsTestMotionResult::get_collider);
ClassDB::bind_method(D_METHOD("get_collider_shape"), &PhysicsTestMotionResult::get_collider_shape);
ClassDB::bind_method(D_METHOD("get_collision_depth"), &PhysicsTestMotionResult::get_collision_depth);
ClassDB::bind_method(D_METHOD("get_collision_safe_fraction"), &PhysicsTestMotionResult::get_collision_safe_fraction);
ClassDB::bind_method(D_METHOD("get_collision_unsafe_fraction"), &PhysicsTestMotionResult::get_collision_unsafe_fraction);
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "motion"), "", "get_motion");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "motion_remainder"), "", "get_motion_remainder");
@ -412,6 +427,9 @@ void PhysicsTestMotionResult::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::_RID, "collider_rid"), "", "get_collider_rid");
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_collider");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape"), "", "get_collider_shape");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_depth"), "", "get_collision_depth");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_safe_fraction"), "", "get_collision_safe_fraction");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_unsafe_fraction"), "", "get_collision_unsafe_fraction");
}
///////////////////////////////////////

6
servers/physics_server.h
View File

@ -461,6 +461,9 @@ public:
Vector3 collision_point;
Vector3 collision_normal;
Vector3 collider_velocity;
real_t collision_depth = 0.0;
real_t collision_safe_fraction = 0.0;
real_t collision_unsafe_fraction = 0.0;
int collision_local_shape = 0;
ObjectID collider_id = 0;
RID collider;
@ -765,6 +768,9 @@ public:
RID get_collider_rid() const;
Object *get_collider() const;
int get_collider_shape() const;
real_t get_collision_depth() const;
real_t get_collision_safe_fraction() const;
real_t get_collision_unsafe_fraction() const;
};
typedef PhysicsServer *(*CreatePhysicsServerCallback)();