diff --git a/doc/classes/CharacterBody2D.xml b/doc/classes/CharacterBody2D.xml index 882aa8bd71b..6e8d7a2b15e 100644 --- a/doc/classes/CharacterBody2D.xml +++ b/doc/classes/CharacterBody2D.xml @@ -133,7 +133,7 @@ Maximum angle (in radians) where a slope is still considered a floor (or a ceiling), rather than a wall, when calling [method move_and_slide]. The default value equals 45 degrees. - + Sets a snapping distance. When set to a value different from [code]0.0[/code], the body is kept attached to slopes when calling [method move_and_slide]. The snapping vector is determined by the given distance along the opposite direction of the [member up_direction]. As long as the snapping vector is in contact with the ground and the body moves against `up_direction`, the body will remain attached to the surface. Snapping is not applied if the body moves along `up_direction`, so it will be able to detach from the ground when jumping. diff --git a/doc/classes/PhysicsServer2D.xml b/doc/classes/PhysicsServer2D.xml index 7e5d7ca7043..b604503163d 100644 --- a/doc/classes/PhysicsServer2D.xml +++ b/doc/classes/PhysicsServer2D.xml @@ -851,8 +851,6 @@ Constant to set/get the default solver bias for all physics constraints. A solver bias is a factor controlling how much two objects "rebound", after violating a constraint, to avoid leaving them in that state because of numerical imprecision. - - This is the constant for creating world boundary shapes. A world boundary shape is an [i]infinite[/i] line with an origin point, and a normal. Thus, it can be used for front/behind checks. diff --git a/doc/classes/PhysicsServer3D.xml b/doc/classes/PhysicsServer3D.xml index 9f48c36b62d..30812845e2c 100644 --- a/doc/classes/PhysicsServer3D.xml +++ b/doc/classes/PhysicsServer3D.xml @@ -1361,8 +1361,6 @@ Constant to set/get the default solver bias for all physics constraints. A solver bias is a factor controlling how much two objects "rebound", after violating a constraint, to avoid leaving them in that state because of numerical imprecision. - - diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp index c3dc9ab92b1..c5d444090b9 100644 --- a/scene/2d/physics_body_2d.cpp +++ b/scene/2d/physics_body_2d.cpp @@ -1090,9 +1090,7 @@ void CharacterBody2D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo if (on_floor && floor_stop_on_slope && (linear_velocity.normalized() + up_direction).length() < 0.01) { Transform2D gt = get_global_transform(); - if (result.travel.length() > margin) { - gt.elements[2] -= result.travel.slide(up_direction); - } else { + if (result.travel.length() <= margin + CMP_EPSILON) { gt.elements[2] -= result.travel; } set_global_transform(gt); @@ -1111,7 +1109,7 @@ void CharacterBody2D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo // Avoid to move forward on a wall if floor_block_on_wall is true. if (p_was_on_floor && !on_floor && !vel_dir_facing_up) { // If the movement is large the body can be prevented from reaching the walls. - if (result.travel.length() <= margin) { + if (result.travel.length() <= margin + CMP_EPSILON) { // Cancels the motion. Transform2D gt = get_global_transform(); gt.elements[2] -= result.travel; @@ -1240,13 +1238,16 @@ void CharacterBody2D::_move_and_slide_free(double p_delta) { } void CharacterBody2D::_snap_on_floor(bool was_on_floor, bool vel_dir_facing_up) { - if (Math::is_equal_approx(floor_snap_length, 0) || on_floor || !was_on_floor || vel_dir_facing_up) { + if (on_floor || !was_on_floor || vel_dir_facing_up) { return; } + // Snap by at least collision margin to keep floor state consistent. + real_t length = MAX(floor_snap_length, margin); + Transform2D gt = get_global_transform(); PhysicsServer2D::MotionResult result; - if (move_and_collide(up_direction * -floor_snap_length, result, margin, true, false, true)) { + if (move_and_collide(-up_direction * length, result, margin, true, false, true)) { bool apply = true; if (result.get_angle(up_direction) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { on_floor = true; @@ -1274,12 +1275,15 @@ void CharacterBody2D::_snap_on_floor(bool was_on_floor, bool vel_dir_facing_up) } bool CharacterBody2D::_on_floor_if_snapped(bool was_on_floor, bool vel_dir_facing_up) { - if (Math::is_equal_approx(floor_snap_length, 0) || up_direction == Vector2() || on_floor || !was_on_floor || vel_dir_facing_up) { + if (up_direction == Vector2() || on_floor || !was_on_floor || vel_dir_facing_up) { return false; } + // Snap by at least collision margin to keep floor state consistent. + real_t length = MAX(floor_snap_length, margin); + PhysicsServer2D::MotionResult result; - if (move_and_collide(up_direction * -floor_snap_length, result, margin, true, false, true)) { + if (move_and_collide(-up_direction * length, result, margin, true, false, true)) { if (result.get_angle(up_direction) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { return true; } @@ -1568,7 +1572,7 @@ void CharacterBody2D::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_constant_speed"), "set_floor_constant_speed_enabled", "is_floor_constant_speed_enabled"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_block_on_wall"), "set_floor_block_on_wall_enabled", "is_floor_block_on_wall_enabled"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_max_angle", PROPERTY_HINT_RANGE, "0,180,0.1,radians"), "set_floor_max_angle", "get_floor_max_angle"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_snap_length", PROPERTY_HINT_RANGE, "0,1000,0.1"), "set_floor_snap_length", "get_floor_snap_length"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_snap_length", PROPERTY_HINT_RANGE, "0,32,0.1,or_greater"), "set_floor_snap_length", "get_floor_snap_length"); ADD_GROUP("Moving platform", "moving_platform"); ADD_PROPERTY(PropertyInfo(Variant::INT, "moving_platform_floor_layers", PROPERTY_HINT_LAYERS_2D_PHYSICS), "set_moving_platform_floor_layers", "get_moving_platform_floor_layers"); ADD_PROPERTY(PropertyInfo(Variant::INT, "moving_platform_wall_layers", PROPERTY_HINT_LAYERS_2D_PHYSICS), "set_moving_platform_wall_layers", "get_moving_platform_wall_layers"); diff --git a/scene/2d/physics_body_2d.h b/scene/2d/physics_body_2d.h index 5d0d98a2df2..3836fc4b627 100644 --- a/scene/2d/physics_body_2d.h +++ b/scene/2d/physics_body_2d.h @@ -334,7 +334,7 @@ private: int max_slides = 4; int platform_layer; real_t floor_max_angle = Math::deg2rad((real_t)45.0); - real_t floor_snap_length = 0; + real_t floor_snap_length = 1; real_t free_mode_min_slide_angle = Math::deg2rad((real_t)15.0); Vector2 up_direction = Vector2(0.0, -1.0); uint32_t moving_platform_floor_layers = UINT32_MAX; diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp index 48da1868606..6f0f0bd1094 100644 --- a/scene/3d/physics_body_3d.cpp +++ b/scene/3d/physics_body_3d.cpp @@ -1146,8 +1146,7 @@ void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo if (collision_state.floor && floor_stop_on_slope && (linear_velocity.normalized() + up_direction).length() < 0.01) { Transform3D gt = get_global_transform(); - real_t travel_total = result.travel.length(); - if (travel_total <= margin + CMP_EPSILON) { + if (result.travel.length() <= margin + CMP_EPSILON) { gt.origin -= result.travel; } set_global_transform(gt); @@ -1186,7 +1185,7 @@ void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo Transform3D gt = get_global_transform(); real_t travel_total = result.travel.length(); real_t cancel_dist_max = MIN(0.1, margin * 20); - if (travel_total < margin + CMP_EPSILON) { + if (travel_total <= margin + CMP_EPSILON) { gt.origin -= result.travel; } else if (travel_total < cancel_dist_max) { // If the movement is large the body can be prevented from reaching the walls. gt.origin -= result.travel.slide(up_direction); @@ -1377,7 +1376,9 @@ void CharacterBody3D::_snap_on_floor(bool was_on_floor, bool vel_dir_facing_up) return; } + // Snap by at least collision margin to keep floor state consistent. real_t length = MAX(floor_snap_length, margin); + Transform3D gt = get_global_transform(); PhysicsServer3D::MotionResult result; if (move_and_collide(-up_direction * length, result, margin, true, 4, false, true)) { @@ -1403,12 +1404,15 @@ void CharacterBody3D::_snap_on_floor(bool was_on_floor, bool vel_dir_facing_up) } bool CharacterBody3D::_on_floor_if_snapped(bool was_on_floor, bool vel_dir_facing_up) { - if (Math::is_zero_approx(floor_snap_length) || up_direction == Vector3() || collision_state.floor || !was_on_floor || vel_dir_facing_up) { + if (up_direction == Vector3() || collision_state.floor || !was_on_floor || vel_dir_facing_up) { return false; } + // Snap by at least collision margin to keep floor state consistent. + real_t length = MAX(floor_snap_length, margin); + PhysicsServer3D::MotionResult result; - if (move_and_collide(-up_direction * floor_snap_length, result, margin, true, 4, false, true)) { + if (move_and_collide(-up_direction * length, result, margin, true, 4, false, true)) { CollisionState result_state; // Don't apply direction for any type. _set_collision_direction(result, result_state, CollisionState()); diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp index b9b26eb21d7..1058f754079 100644 --- a/servers/physics_2d/space_2d_sw.cpp +++ b/servers/physics_2d/space_2d_sw.cpp @@ -34,6 +34,9 @@ #include "core/os/os.h" #include "core/templates/pair.h" #include "physics_server_2d_sw.h" + +#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05 + _FORCE_INLINE_ static bool _can_collide_with(CollisionObject2DSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (!(p_object->get_collision_layer() & p_collision_mask)) { return false; @@ -435,6 +438,8 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.getornull(p_shape); ERR_FAIL_COND_V(!shape, 0); + real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; + Rect2 aabb = p_shape_xform.xform(shape->get_aabb()); aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion aabb = aabb.grow(p_margin); @@ -445,7 +450,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh rcd.best_len = 0; rcd.best_object = nullptr; rcd.best_shape = 0; - rcd.min_allowed_depth = space->test_motion_min_contact_depth; + rcd.min_allowed_depth = min_contact_depth; for (int i = 0; i < amount; i++) { if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { @@ -569,6 +574,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co ExcludedShapeSW excluded_shape_pairs[max_excluded_shape_pairs]; int excluded_shape_pair_count = 0; + real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; + real_t motion_length = p_motion.length(); Vector2 motion_normal = p_motion / motion_length; @@ -671,6 +678,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co break; } + recovered = true; + Vector2 recover_motion; for (int i = 0; i < cbk.amount; i++) { Vector2 a = sr[i * 2 + 0]; @@ -682,9 +691,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co // Compute depth on recovered motion. real_t depth = n.dot(a + recover_motion) - d; - if (depth > 0.0) { + if (depth > min_contact_depth + CMP_EPSILON) { // Only recover if there is penetration. - recover_motion -= n * depth * 0.4; + recover_motion -= n * (depth - min_contact_depth) * 0.4; } } @@ -693,8 +702,6 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co break; } - recovered = true; - body_transform.elements[2] += recover_motion; body_aabb.position += recover_motion; @@ -870,7 +877,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co rcd.best_shape = 0; // Allowed depth can't be lower than motion length, in order to handle contacts at low speed. - rcd.min_allowed_depth = MIN(motion_length, test_motion_min_contact_depth); + rcd.min_allowed_depth = MIN(motion_length, min_contact_depth); int from_shape = best_shape != -1 ? best_shape : 0; int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count(); @@ -1141,9 +1148,6 @@ void Space2DSW::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_valu case PhysicsServer2D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break; - case PhysicsServer2D::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: - test_motion_min_contact_depth = p_value; - break; } } @@ -1163,8 +1167,6 @@ real_t Space2DSW::get_param(PhysicsServer2D::SpaceParameter p_param) const { return body_time_to_sleep; case PhysicsServer2D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias; - case PhysicsServer2D::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: - return test_motion_min_contact_depth; } return 0; } diff --git a/servers/physics_2d/space_2d_sw.h b/servers/physics_2d/space_2d_sw.h index 30c6b4cf55b..a1a8a77ee42 100644 --- a/servers/physics_2d/space_2d_sw.h +++ b/servers/physics_2d/space_2d_sw.h @@ -102,7 +102,6 @@ private: real_t contact_max_separation = 1.5; real_t contact_max_allowed_penetration = 0.3; real_t constraint_bias = 0.2; - real_t test_motion_min_contact_depth = 0.005; enum { INTERSECTION_QUERY_MAX = 2048 diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp index cc4eab1f0ba..78c4e30c832 100644 --- a/servers/physics_3d/space_3d_sw.cpp +++ b/servers/physics_3d/space_3d_sw.cpp @@ -34,6 +34,8 @@ #include "core/config/project_settings.h" #include "physics_server_3d_sw.h" +#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05 + _FORCE_INLINE_ static bool _can_collide_with(CollisionObject3DSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (!(p_object->get_collision_layer() & p_collision_mask)) { return false; @@ -488,13 +490,15 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.getornull(p_shape); ERR_FAIL_COND_V(!shape, 0); + real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; + AABB aabb = p_shape_xform.xform(shape->get_aabb()); aabb = aabb.grow(p_margin); int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); _RestCallbackData rcd; - rcd.min_allowed_depth = space->test_motion_min_contact_depth; + rcd.min_allowed_depth = min_contact_depth; for (int i = 0; i < amount; i++) { if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { @@ -658,6 +662,8 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co body_aabb = p_from.xform(p_body->get_inv_transform().xform(body_aabb)); body_aabb = body_aabb.grow(p_margin); + real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; + real_t motion_length = p_motion.length(); Vector3 motion_normal = p_motion / motion_length; @@ -711,8 +717,9 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co break; } - Vector3 recover_motion; + recovered = true; + Vector3 recover_motion; for (int i = 0; i < cbk.amount; i++) { Vector3 a = sr[i * 2 + 0]; Vector3 b = sr[i * 2 + 1]; @@ -723,9 +730,9 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co // Compute depth on recovered motion. real_t depth = n.dot(a + recover_motion) - d; - if (depth > 0.0) { + if (depth > min_contact_depth + CMP_EPSILON) { // Only recover if there is penetration. - recover_motion -= n * depth * 0.4; + recover_motion -= n * (depth - min_contact_depth) * 0.4; } } @@ -734,8 +741,6 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co break; } - recovered = true; - body_transform.origin += recover_motion; body_aabb.position += recover_motion; @@ -889,7 +894,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co } // Allowed depth can't be lower than motion length, in order to handle contacts at low speed. - rcd.min_allowed_depth = MIN(motion_length, test_motion_min_contact_depth); + rcd.min_allowed_depth = MIN(motion_length, min_contact_depth); int from_shape = best_shape != -1 ? best_shape : 0; int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count(); @@ -1158,9 +1163,6 @@ void Space3DSW::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_valu case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break; - case PhysicsServer3D::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: - test_motion_min_contact_depth = p_value; - break; } } @@ -1182,8 +1184,6 @@ real_t Space3DSW::get_param(PhysicsServer3D::SpaceParameter p_param) const { return body_angular_velocity_damp_ratio; case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias; - case PhysicsServer3D::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: - return test_motion_min_contact_depth; } return 0; } diff --git a/servers/physics_3d/space_3d_sw.h b/servers/physics_3d/space_3d_sw.h index fc2a7d304df..daa1244bf8c 100644 --- a/servers/physics_3d/space_3d_sw.h +++ b/servers/physics_3d/space_3d_sw.h @@ -96,7 +96,6 @@ private: real_t contact_max_separation = 0.05; real_t contact_max_allowed_penetration = 0.01; real_t constraint_bias = 0.01; - real_t test_motion_min_contact_depth = 0.00001; enum { INTERSECTION_QUERY_MAX = 2048 diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp index 8d5367e735e..b94245a2d11 100644 --- a/servers/physics_server_2d.cpp +++ b/servers/physics_server_2d.cpp @@ -670,7 +670,6 @@ void PhysicsServer2D::_bind_methods() { BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD); BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP); BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS); - BIND_ENUM_CONSTANT(SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH); BIND_ENUM_CONSTANT(SHAPE_WORLD_BOUNDARY); BIND_ENUM_CONSTANT(SHAPE_SEPARATION_RAY); diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h index 30d3c470519..9a9ba2103db 100644 --- a/servers/physics_server_2d.h +++ b/servers/physics_server_2d.h @@ -262,7 +262,6 @@ public: SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD, SPACE_PARAM_BODY_TIME_TO_SLEEP, SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS, - SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH, }; virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0; diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp index e8682466367..e61f1088f54 100644 --- a/servers/physics_server_3d.cpp +++ b/servers/physics_server_3d.cpp @@ -867,7 +867,6 @@ void PhysicsServer3D::_bind_methods() { BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP); BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO); BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS); - BIND_ENUM_CONSTANT(SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH); BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_X); BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Y); diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h index 3e34da95613..e43a59ec93d 100644 --- a/servers/physics_server_3d.h +++ b/servers/physics_server_3d.h @@ -271,7 +271,6 @@ public: SPACE_PARAM_BODY_TIME_TO_SLEEP, SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO, SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS, - SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH }; virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0;