From 66c6dfb3fd89d34ca9e35276113d3f105717e03d Mon Sep 17 00:00:00 2001 From: Juan Linietsky Date: Wed, 14 Nov 2018 21:17:36 -0300 Subject: [PATCH] Ensure that even at slow speed, you will always get collision using kinematic motion. Fixes #16250 --- servers/physics_2d/space_2d_sw.cpp | 125 +++++++++++++++-------------- 1 file changed, 65 insertions(+), 60 deletions(-) diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp index 23c3c739c2c..720742c198f 100644 --- a/servers/physics_2d/space_2d_sw.cpp +++ b/servers/physics_2d/space_2d_sw.cpp @@ -365,6 +365,8 @@ struct _RestCallbackData2D { const CollisionObject2DSW *object; const CollisionObject2DSW *best_object; + int local_shape; + int best_local_shape; int shape; int best_shape; Vector2 best_contact; @@ -395,6 +397,7 @@ static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, rd->best_normal = contact_rel / len; rd->best_object = rd->object; rd->best_shape = rd->shape; + rd->best_local_shape = rd->local_shape; } 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 &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { @@ -428,6 +431,7 @@ bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Transform2D &p_sh rcd.valid_depth = 0; rcd.object = col_obj; rcd.shape = shape_idx; + rcd.local_shape = 0; 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); if (!sc) continue; @@ -700,6 +704,8 @@ 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; + float separation_margin = MIN(p_margin, MAX(0.0, p_motion.length() - CMP_EPSILON)); //don't separate by more than the intended motion + Transform2D body_transform = p_from; { @@ -778,7 +784,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co bool did_collide = false; Shape2DSW *against_shape = col_obj->get_shape(shape_idx); - if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, NULL, p_margin)) { + if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, NULL, separation_margin)) { did_collide = cbk.amount > current_collisions; } @@ -966,16 +972,10 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co bool collided = false; if (safe >= 1) { - //not collided - collided = false; - if (r_result) { + best_shape = -1; //no best shape with cast, reset to -1 + } - 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; @@ -986,54 +986,61 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co 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); + //optimization + int from_shape = best_shape != -1 ? best_shape : 0; + int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count(); - body_aabb.position += p_motion * unsafe; + for (int j = from_shape; j < to_shape; j++) { + Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j); + Shape2DSW *body_shape = p_body->get_shape(j); - int amount = _cull_aabb_for_body(p_body, body_aabb); + body_aabb.position += p_motion * unsafe; - for (int i = 0; i < amount; i++) { + int amount = _cull_aabb_for_body(p_body, body_aabb); - const CollisionObject2DSW *col_obj = intersection_query_results[i]; - int shape_idx = intersection_query_subindex_results[i]; + for (int i = 0; i < amount; i++) { - if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) { - const Body2DSW *b = static_cast(col_obj); - if (p_infinite_inertia && Physics2DServer::BODY_MODE_STATIC != b->get_mode() && Physics2DServer::BODY_MODE_KINEMATIC != b->get_mode()) { + 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(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; + + Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); + + if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) { + + rcd.valid_dir = col_obj_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; + rcd.local_shape = j; + bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, NULL, p_margin); + if (!sc) + 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; - - Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); - - if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) { - - rcd.valid_dir = col_obj_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_shape_xform, Vector2(), _rest_cbk_result, &rcd, NULL, p_margin); - if (!sc) - continue; } if (rcd.best_len != 0) { @@ -1042,7 +1049,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co 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_local_shape = rcd.best_local_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); @@ -1057,18 +1064,16 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co } 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; } } + if (!collided && r_result) { + + r_result->motion = p_motion; + r_result->remainder = Vector2(); + r_result->motion += (body_transform.get_origin() - p_from.get_origin()); + } + return collided; }