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-added kinematic body 

-added kinematic body demos
This commit is contained in:
Juan Linietsky 2014-02-22 20:28:19 -03:00
parent b62ec387f3
commit 7ca29bfaa7
42 changed files with 1171 additions and 559 deletions
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2
core/script_language.h
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@ -31,6 +31,7 @@
#include "resource.h"
#include "map.h"
#include "pair.h"
/**
@author Juan Linietsky <reduzio@gmail.com>
*/
@ -157,6 +158,7 @@ public:
virtual void get_recognized_extensions(List<String> *p_extensions) const=0;
virtual void get_public_functions(List<MethodInfo> *p_functions) const=0;
virtual void get_public_constants(List<Pair<String,Variant> > *p_constants) const=0;
virtual void frame();

17
demos/2d/kinematic_char/colworld.gd Normal file
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@ -0,0 +1,17 @@
extends Node2D
# member variables here, example:
# var a=2
# var b="textvar"
func _ready():
# Initalization here
pass
func _on_princess_body_enter( body ):
#the name of this editor-generated callback is unfortunate
get_node("youwin").show()

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demos/2d/kinematic_char/engine.cfg Normal file
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@ -0,0 +1,13 @@
[application]
name="Kinematic Collision"
main_scene="res://colworld.scn"
icon="res://icon.png"
[input]
move_up=[key(Up)]
move_left=[key(Left)]
move_right=[key(Right)]
move_bottom=[key(Down)]
jump=[key(Space)]

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demos/2d/kinematic_char/player.gd Normal file
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@ -0,0 +1,116 @@
extends KinematicBody2D
# This is a simple collision demo showing how
# the kinematic cotroller works.
# move() will allow to move the node, and will
# always move it to a non-colliding spot,
# as long as it starts from a non-colliding spot too.
#pixels / second
const GRAVITY = 500.0
# Angle in degrees towards either side that the player can
# consider "floor".
const FLOOR_ANGLE_TOLERANCE = 40
const WALK_FORCE = 600
const WALK_MAX_SPEED = 200
const STOP_FORCE = 1300
const JUMP_SPEED = 200
const JUMP_MAX_AIRBORNE_TIME=0.2
var velocity = Vector2()
var on_air_time=100
var jumping=false
var prev_jump_pressed=false
func _fixed_process(delta):
#create forces
var force = Vector2(0,GRAVITY)
var stop = velocity.x!=0.0
var walk_left = Input.is_action_pressed("move_left")
var walk_right = Input.is_action_pressed("move_right")
var jump = Input.is_action_pressed("jump")
var stop=true
if (walk_left):
if (velocity.x<=0 and velocity.x > -WALK_MAX_SPEED):
force.x-=WALK_FORCE
stop=false
elif (walk_right):
if (velocity.x>=0 and velocity.x < WALK_MAX_SPEED):
force.x+=WALK_FORCE
stop=false
if (stop):
var vsign = sign(velocity.x)
var vlen = abs(velocity.x)
vlen -= STOP_FORCE * delta
if (vlen<0):
vlen=0
velocity.x=vlen*vsign
#integrate forces to velocity
velocity += force * delta
#integrate velocity into motion and move
var motion = velocity * delta
#move and consume motion
#
motion = move(motion)
var floor_velocity=Vector2()
if (is_colliding()):
#ran against something, is it the floor? get normal
var n = get_collision_normal()
if ( rad2deg(acos(n.dot( Vector2(0,-1)))) < FLOOR_ANGLE_TOLERANCE ):
#if angle to the "up" vectors is < angle tolerance
#char is on floor
on_air_time=0
floor_velocity=get_collider_velocity()
#velocity.y=0
# But we were moving and our motion was interrupted,
# so try to complete the motion by "sliding"
# by the normal
motion = n.slide(motion)
velocity = n.slide(velocity)
#then move again
move(motion)
if (floor_velocity!=Vector2()):
#if floor moves, move with floor
move(floor_velocity*delta)
if (jumping and velocity.y>0):
jumping=false
if (on_air_time<JUMP_MAX_AIRBORNE_TIME and jump and not prev_jump_pressed and not jumping):
velocity.y=-JUMP_SPEED
jumping=true
on_air_time+=delta
prev_jump_pressed=jump
func _ready():
# Initalization here
set_fixed_process(true)
pass

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demos/2d/kinematic_col/engine.cfg Normal file
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@ -0,0 +1,12 @@
[application]
name="Kinematic Collision"
main_scene="res://colworld.scn"
icon="res://icon.png"
[input]
move_up=[key(Up)]
move_left=[key(Left)]
move_right=[key(Right)]
move_bottom=[key(Down)]

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demos/2d/kinematic_col/player.gd Normal file
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@ -0,0 +1,36 @@
extends KinematicBody2D
# This is a simple collision demo showing how
# the kinematic cotroller works.
# move() will allow to move the node, and will
# always move it to a non-colliding spot,
# as long as it starts from a non-colliding spot too.
#pixels / second
const MOTION_SPEED=160
func _fixed_process(delta):
var motion = Vector2()
if (Input.is_action_pressed("move_up")):
motion+=Vector2(0,-1)
if (Input.is_action_pressed("move_bottom")):
motion+=Vector2(0,1)
if (Input.is_action_pressed("move_left")):
motion+=Vector2(-1,0)
if (Input.is_action_pressed("move_right")):
motion+=Vector2(1,0)
motion = motion.normalized() * MOTION_SPEED * delta
move(motion)
func _ready():
# Initalization here
set_fixed_process(true)
pass

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300
scene/2d/physics_body_2d.cpp
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@ -744,192 +744,149 @@ bool KinematicBody2D::_ignores_mode(Physics2DServer::BodyMode p_mode) const {
return true;
}
bool KinematicBody2D::is_trapped() const {
ERR_FAIL_COND_V(!is_inside_scene(),false);
Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
ERR_FAIL_COND_V(!dss,false);
const int max_shapes=32;
Physics2DDirectSpaceState::ShapeResult sr[max_shapes];
Set<RID> exclude;
exclude.insert(get_rid());
for(int i=0;i<get_shape_count();i++) {
int res = dss->intersect_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),Vector2(),sr,max_shapes,exclude);
for(int j=0;j<res;j++) {
Physics2DServer::BodyMode bm = Physics2DServer::get_singleton()->body_get_mode(sr[j].rid);
if (!_ignores_mode(bm)) {
return true; //it's indeed trapped
}
}
}
return false;
}
void KinematicBody2D::untrap() {
//this is reaaaaaaaaally wild, will probably only work for simple cases
ERR_FAIL_COND(!is_inside_scene());
Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
ERR_FAIL_COND(!dss);
const int max_shapes=32;
Physics2DDirectSpaceState::ShapeResult sr[max_shapes];
const int max_contacts=8;
Vector2 pairs[max_contacts*2];
Set<RID> exclude;
exclude.insert(get_rid());
Vector2 untrap_vec;
for(int i=0;i<get_shape_count();i++) {
Matrix32 shape_xform = get_global_transform() * get_shape_transform(i);
int res = dss->intersect_shape(get_shape(i)->get_rid(), shape_xform,Vector2(),sr,max_shapes,exclude);
for(int j=0;j<res;j++) {
Physics2DServer::BodyMode bm = Physics2DServer::get_singleton()->body_get_mode(sr[j].rid);
if (_ignores_mode(bm)) {
exclude.insert(sr[j].rid);
} else {
int rc;
bool c = Physics2DServer::get_singleton()->body_collide_shape(sr[j].rid,sr[j].shape,get_shape(i)->get_rid(),shape_xform,Vector2(),pairs,max_contacts,rc);
if (c) {
for(int k=0;k<rc;k++) {
untrap_vec+=pairs[k*2+0]-pairs[k*2+1];
}
}
}
}
}
untrap_vec += untrap_vec.normalized()*margin;
Matrix32 gt = get_global_transform();
gt.elements[2]+=untrap_vec;
set_global_transform(gt);
}
Vector2 KinematicBody2D::move(const Vector2& p_motion) {
//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..
colliding=false;
ERR_FAIL_COND_V(!is_inside_scene(),Vector2());
Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
ERR_FAIL_COND_V(!dss,Vector2());
const int max_shapes=32;
Physics2DDirectSpaceState::ShapeResult sr[max_shapes];
Vector2 sr[max_shapes*2];
int res_shapes;
float best_travel = 1e20;
Physics2DDirectSpaceState::MotionCastCollision mcc_final;
Set<RID> exclude;
exclude.insert(get_rid());
print_line("pos: "+get_global_pos());
print_line("mlen: "+p_motion);
if (!collide_static || ! collide_rigid || !collide_character || !collide_kinematic) {
//recover first
int recover_attempts=4;
bool collided=false;
uint32_t mask=0;
if (collide_static)
mask|=Physics2DDirectSpaceState::TYPE_MASK_STATIC_BODY;
if (collide_kinematic)
mask|=Physics2DDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
if (collide_rigid)
mask|=Physics2DDirectSpaceState::TYPE_MASK_RIGID_BODY;
if (collide_character)
mask|=Physics2DDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
// print_line("motion: "+p_motion+" margin: "+rtos(margin));
//print_line("margin: "+rtos(margin));
do {
//fill exclude list..
for(int i=0;i<get_shape_count();i++) {
int res = dss->intersect_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),p_motion,sr,max_shapes,exclude);
if (dss->collide_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),Vector2(),margin,sr,max_shapes,res_shapes,exclude,0,mask))
collided=true;
for(int j=0;j<res;j++) {
Physics2DServer::BodyMode bm = Physics2DServer::get_singleton()->body_get_mode(sr[j].rid);
if (_ignores_mode(bm)) {
exclude.insert(sr[j].rid);
} else {
// print_line("DANGER???");
}
}
}
}
if (!collided)
break;
Vector2 recover_motion;
for(int i=0;i<res_shapes;i++) {
Vector2 a = sr[i*2+0];
Vector2 b = sr[i*2+1];
float d = a.distance_to(b);
//if (d<margin)
/// continue;
recover_motion+=(b-a)*0.2;
}
if (recover_motion==Vector2()) {
collided=false;
break;
}
Matrix32 gt = get_global_transform();
gt.elements[2]+=recover_motion;
set_global_transform(gt);
recover_attempts--;
} while (recover_attempts);
//move second
float safe = 1.0;
float unsafe = 1.0;
int best_shape=-1;
for(int i=0;i<get_shape_count();i++) {
Physics2DDirectSpaceState::MotionCastCollision mcc;
bool res = dss->cast_motion(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i), p_motion, mcc,exclude,0);
if (res==false)
continue;
if (mcc.travel<=0) {
//uh it's trapped
colliding=false;
return p_motion;
float lsafe,lunsafe;
bool valid = dss->cast_motion(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i), p_motion, 0,lsafe,lunsafe,exclude,0,mask);
//print_line("shape: "+itos(i)+" travel:"+rtos(ltravel));
if (!valid) {
safe=0;
unsafe=0;
best_shape=i; //sadly it's the best
break;
}
if (mcc.travel < best_travel) {
if (lsafe==1.0) {
continue;
}
if (lsafe < safe) {
mcc_final=mcc;
best_travel=mcc.travel;
safe=lsafe;
unsafe=lunsafe;
best_shape=i;
}
}
float motion;
Vector2 motion_ret;
Vector2 push;
if (best_travel>1) {
//print_line("best shape: "+itos(best_shape)+" motion "+p_motion);
if (safe>=1) {
//not collided
colliding=false;
motion=p_motion.length(); //no stopped
} else {
colliding=true;
collision=mcc_final.point;
normal=mcc_final.normal;
collider=mcc_final.collider_id;
Vector2 mnormal=p_motion.normalized();
float sine = Math::abs(mnormal.dot(normal));
float retreat=0;
motion = p_motion.length()*mcc_final.travel;
if (sine==0) {
//something odd going on, do not allow motion?
retreat=motion;
//it collided, let's get the rest info in unsafe advance
Matrix32 ugt = get_global_transform();
ugt.elements[2]+=p_motion*unsafe;
Physics2DDirectSpaceState::ShapeRestInfo rest_info;
bool c2 = dss->rest_info(get_shape(best_shape)->get_rid(), ugt*get_shape_transform(best_shape), Vector2(), margin,&rest_info,exclude,0,mask);
if (!c2) {
//should not happen, but floating point precision is so weird..
colliding=false;
} else {
retreat = margin/sine;
if (retreat>motion)
retreat=motion;
//print_line("Travel: "+rtos(travel));
colliding=true;
collision=rest_info.point;
normal=rest_info.normal;
collider=rest_info.collider_id;
collider_vel=rest_info.linear_velocity;
}
motion_ret=p_motion.normalized() * ( p_motion.length() - motion);
motion-=retreat;
}
Vector2 motion=p_motion*safe;
Matrix32 gt = get_global_transform();
gt.elements[2]+=p_motion.normalized()*motion;
gt.elements[2]+=motion;
set_global_transform(gt);
return motion_ret;
return p_motion-motion;
}
@ -938,18 +895,31 @@ Vector2 KinematicBody2D::move_to(const Vector2& p_position) {
return move(p_position-get_global_pos());
}
bool KinematicBody2D::can_move_to(const Vector2& p_position) {
bool KinematicBody2D::can_move_to(const Vector2& p_position, bool p_discrete) {
ERR_FAIL_COND_V(!is_inside_scene(),false);
Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
ERR_FAIL_COND_V(!dss,false);
const int max_shapes=32;
Physics2DDirectSpaceState::ShapeResult sr[max_shapes];
uint32_t mask=0;
if (collide_static)
mask|=Physics2DDirectSpaceState::TYPE_MASK_STATIC_BODY;
if (collide_kinematic)
mask|=Physics2DDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
if (collide_rigid)
mask|=Physics2DDirectSpaceState::TYPE_MASK_RIGID_BODY;
if (collide_character)
mask|=Physics2DDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
Vector2 motion = p_position-get_global_pos();
Matrix32 xform=get_global_transform();
if (p_discrete) {
xform.elements[2]+=motion;
motion=Vector2();
}
Physics2DDirectSpaceState::MotionCastCollision mcc_final;
Set<RID> exclude;
exclude.insert(get_rid());
@ -957,19 +927,9 @@ bool KinematicBody2D::can_move_to(const Vector2& p_position) {
for(int i=0;i<get_shape_count();i++) {
int res = dss->intersect_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),motion,sr,max_shapes,exclude);
for(int j=0;j<res;j++) {
Physics2DServer::BodyMode bm = Physics2DServer::get_singleton()->body_get_mode(sr[j].rid);
if (_ignores_mode(bm)) {
exclude.insert(sr[j].rid);
continue;
}
return false; //omg collided
}
bool col = dss->intersect_shape(get_shape(i)->get_rid(), xform * get_shape_transform(i),motion,0,NULL,0,exclude,0,mask);
if (col)
return false;
}
return true;
@ -993,6 +953,12 @@ Vector2 KinematicBody2D::get_collision_normal() const {
return normal;
}
Vector2 KinematicBody2D::get_collider_velocity() const {
return collider_vel;
}
ObjectID KinematicBody2D::get_collider() const {
ERR_FAIL_COND_V(!colliding,0);
@ -1051,9 +1017,6 @@ float KinematicBody2D::get_collision_margin() const{
void KinematicBody2D::_bind_methods() {
ObjectTypeDB::bind_method(_MD("is_trapped"),&KinematicBody2D::is_trapped);
ObjectTypeDB::bind_method(_MD("untrap"),&KinematicBody2D::untrap);
ObjectTypeDB::bind_method(_MD("move","rel_vec"),&KinematicBody2D::move);
ObjectTypeDB::bind_method(_MD("move_to","position"),&KinematicBody2D::move_to);
@ -1063,6 +1026,7 @@ void KinematicBody2D::_bind_methods() {
ObjectTypeDB::bind_method(_MD("get_collision_pos"),&KinematicBody2D::get_collision_pos);
ObjectTypeDB::bind_method(_MD("get_collision_normal"),&KinematicBody2D::get_collision_normal);
ObjectTypeDB::bind_method(_MD("get_collider_velocity"),&KinematicBody2D::get_collider_velocity);
ObjectTypeDB::bind_method(_MD("get_collider:Object"),&KinematicBody2D::get_collider);
@ -1085,7 +1049,7 @@ void KinematicBody2D::_bind_methods() {
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/kinematic"),_SCS("set_collide_with_kinematic_bodies"),_SCS("can_collide_with_kinematic_bodies"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/rigid"),_SCS("set_collide_with_rigid_bodies"),_SCS("can_collide_with_rigid_bodies"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/character"),_SCS("set_collide_with_character_bodies"),_SCS("can_collide_with_character_bodies"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"collision/margin",PROPERTY_HINT_RANGE,"0.01,256,0.01"),_SCS("set_collision_margin"),_SCS("get_collision_margin"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"collision/margin",PROPERTY_HINT_RANGE,"0.001,256,0.001"),_SCS("set_collision_margin"),_SCS("get_collision_margin"));
}
@ -1100,7 +1064,7 @@ KinematicBody2D::KinematicBody2D() : PhysicsBody2D(Physics2DServer::BODY_MODE_KI
colliding=false;
collider=0;
margin=1;
margin=0.01;
}
KinematicBody2D::~KinematicBody2D() {

7
scene/2d/physics_body_2d.h
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@ -243,6 +243,7 @@ class KinematicBody2D : public PhysicsBody2D {
bool colliding;
Vector2 collision;
Vector2 normal;
Vector2 collider_vel;
ObjectID collider;
@ -254,16 +255,14 @@ protected:
static void _bind_methods();
public:
bool is_trapped() const;
void untrap();
Vector2 move(const Vector2& p_motion);
Vector2 move_to(const Vector2& p_position);
bool can_move_to(const Vector2& p_position);
bool can_move_to(const Vector2& p_position,bool p_discrete=false);
bool is_colliding() const;
Vector2 get_collision_pos() const;
Vector2 get_collision_normal() const;
Vector2 get_collider_velocity() const;
ObjectID get_collider() const;
void set_collide_with_static_bodies(bool p_enable);

115
scene/main/node.cpp
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@ -462,7 +462,7 @@ void Node::_set_name_nocheck(const StringName& p_name) {
void Node::set_name(const String& p_name) {
String name=p_name.replace(":","").replace("/","");
String name=p_name.replace(":","").replace("/","").replace("@","");
ERR_FAIL_COND(name=="");
data.name=name;
@ -479,45 +479,97 @@ void Node::set_name(const String& p_name) {
}
}
static bool node_hrcr=false;
static SafeRefCount node_hrcr_count;
void Node::init_node_hrcr() {
node_hrcr_count.init(1);
}
void Node::set_human_readable_collision_renaming(bool p_enabled) {
node_hrcr=p_enabled;
}
void Node::_validate_child_name(Node *p_child) {
/* Make sure the name is unique */
String basename = p_child->data.name;
if (basename=="") {
basename = p_child->get_type();
}
int val=1;
for(;;) {
String attempted = val > 1 ? (basename + " " +itos(val) ) : basename;
if (node_hrcr) {
//this approach to autoset node names is human readable but very slow
//it's turned on while running in the editor
String basename = p_child->data.name;
if (basename=="") {
basename = p_child->get_type();
}
int val=1;
for(;;) {
String attempted = val > 1 ? (basename + " " +itos(val) ) : basename;
bool found=false;
for (int i=0;i<data.children.size();i++) {
if (data.children[i]==p_child)
continue;
if (data.children[i]->get_name() == attempted) {
found=true;
break;
}
bool found=false;
for (int i=0;i<data.children.size();i++) {
if (data.children[i]==p_child)
continue;
if (data.children[i]->get_name() == attempted) {
found=true;
break;
}
if (found) {
val++;
continue;
}
p_child->data.name=attempted;
break;
}
if (found) {
val++;
continue;
} else {
//this approach to autoset node names is fast but not as readable
//it's the default and reserves the '@' character for unique names.
bool unique=true;
if (p_child->data.name==StringName() || p_child->data.name.operator String()[0]=='@') {
//new unique name must be assigned
unique=false;
} else {
//check if exists
Node **childs=data.children.ptr();
int cc = data.children.size();
for(int i=0;i<cc;i++) {
if (childs[i]->data.name==p_child->data.name) {
unique=false;
break;
}
}
}
if (!unique) {
node_hrcr_count.ref();
#ifdef DEBUG_ENABLED
String name = "@"+String(p_child->get_type_name())+itos(node_hrcr_count.get());
#else
String name = "@"+itos(node_hrcr_count.get());
#endif
p_child->data.name=name;
}
p_child->data.name=attempted;
break;
}
}
void Node::_add_child_nocheck(Node* p_child,const StringName& p_name) {
@ -541,6 +593,7 @@ void Node::_add_child_nocheck(Node* p_child,const StringName& p_name) {
}
void Node::add_child(Node *p_child) {
ERR_FAIL_NULL(p_child);

3
scene/main/node.h
View File

@ -261,6 +261,9 @@ public:
void queue_delete();
static void set_human_readable_collision_renaming(bool p_enabled);
static void init_node_hrcr();
/* CANVAS */
Node();

3
scene/register_scene_types.cpp
View File

@ -223,6 +223,7 @@ void register_scene_types() {
OS::get_singleton()->yield(); //may take time to init
Node::init_node_hrcr();
#ifdef OLD_SCENE_FORMAT_ENABLED
ObjectTypeDB::register_type<SceneIO>();
@ -452,7 +453,7 @@ void register_scene_types() {
ObjectTypeDB::register_virtual_type<PhysicsBody2D>();
ObjectTypeDB::register_type<StaticBody2D>();
ObjectTypeDB::register_type<RigidBody2D>();
//ObjectTypeDB::register_type<KinematicBody2D>();
ObjectTypeDB::register_type<KinematicBody2D>();
ObjectTypeDB::register_type<Area2D>();
ObjectTypeDB::register_type<CollisionShape2D>();
ObjectTypeDB::register_type<CollisionPolygon2D>();

8
script/gdscript/gd_editor.cpp
View File

@ -282,6 +282,14 @@ void GDScriptLanguage::get_public_functions(List<MethodInfo> *p_functions) const
}
}
void GDScriptLanguage::get_public_constants(List<Pair<String,Variant> > *p_constants) const {
Pair<String,Variant> pi;
pi.first="PI";
pi.second=Math_PI;
p_constants->push_back(pi);
}
String GDScriptLanguage::make_function(const String& p_class,const String& p_name,const StringArray& p_args) const {
String s="func "+p_name+"(";

2
script/gdscript/gd_script.h
View File

@ -440,6 +440,8 @@ public:
virtual void frame();
virtual void get_public_functions(List<MethodInfo> *p_functions) const;
virtual void get_public_constants(List<Pair<String,Variant> > *p_constants) const;
/* LOADER FUNCTIONS */
virtual void get_recognized_extensions(List<String> *p_extensions) const;

1
script/multiscript/multi_script.h
View File

@ -148,6 +148,7 @@ public:
virtual void get_recognized_extensions(List<String> *p_extensions) const {}
virtual void get_public_functions(List<MethodInfo> *p_functions) const {}
virtual void get_public_constants(List<Pair<String,Variant> > *p_constants) const {}
MultiScriptLanguage() { singleton=this; }
virtual ~MultiScriptLanguage() {};

1
servers/physics_2d/body_2d_sw.h
View File

@ -62,6 +62,7 @@ class Body2DSW : public CollisionObject2DSW {
Vector2 applied_force;
real_t applied_torque;
SelfList<Body2DSW> active_list;
SelfList<Body2DSW> inertia_update_list;
SelfList<Body2DSW> direct_state_query_list;

3
servers/physics_2d/broad_phase_2d_hash_grid.cpp
View File

@ -434,8 +434,9 @@ void BroadPhase2DHashGrid::_cull(const Point2i p_cell,const Rect2& p_aabb,const
if (E->key()->pass==pass)
continue;
if (use_aabb && !p_aabb.intersects(E->key()->aabb))
if (use_aabb && !p_aabb.intersects(E->key()->aabb)) {
continue;
}
if (use_segment && !E->key()->aabb.intersects_segment(p_from,p_to))
continue;

1
servers/physics_2d/collision_object_2d_sw.cpp
View File

@ -218,4 +218,5 @@ CollisionObject2DSW::CollisionObject2DSW(Type p_type) {
type=p_type;
space=NULL;
instance_id=0;
user_mask=0;
}

3
servers/physics_2d/collision_object_2d_sw.h
View File

@ -65,6 +65,7 @@ private:
Space2DSW *space;
Matrix32 transform;
Matrix32 inv_transform;
uint32_t user_mask;
bool _static;
void _update_shapes();
@ -117,6 +118,8 @@ public:
_FORCE_INLINE_ bool is_shape_set_as_trigger(int p_idx) const { return shapes[p_idx].trigger; }
void set_user_mask(uint32_t p_mask) {user_mask=p_mask;}
_FORCE_INLINE_ uint32_t get_user_mask() const { return user_mask; }
void remove_shape(Shape2DSW *p_shape);
void remove_shape(int p_index);

622
servers/physics_2d/collision_solver_2d_sat.cpp
View File

File diff suppressed because it is too large Load Diff

2
servers/physics_2d/collision_solver_2d_sat.h
View File

@ -32,6 +32,6 @@
#include "collision_solver_2d_sw.h"
bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Matrix32& p_transform_A, const Vector2& p_motion_A,const Shape2DSW *p_shape_B, const Matrix32& p_transform_B,const Vector2& p_motion_B, CollisionSolver2DSW::CallbackResult p_result_callback,void *p_userdata, bool p_swap=false,Vector2 *sep_axis=NULL);
bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Matrix32& p_transform_A, const Vector2& p_motion_A,const Shape2DSW *p_shape_B, const Matrix32& p_transform_B,const Vector2& p_motion_B, CollisionSolver2DSW::CallbackResult p_result_callback,void *p_userdata, bool p_swap=false,Vector2 *sep_axis=NULL,float p_margin_A=0,float p_margin_B=0);
#endif // COLLISION_SOLVER_2D_SAT_H

18
servers/physics_2d/collision_solver_2d_sw.cpp
View File

@ -150,6 +150,8 @@ struct _ConcaveCollisionInfo2D {
const Matrix32 *transform_B;
Vector2 motion_A;
Vector2 motion_B;
real_t margin_A;
real_t margin_B;
CollisionSolver2DSW::CallbackResult result_callback;
void *userdata;
bool swap_result;
@ -169,7 +171,7 @@ void CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex
if (!cinfo.result_callback && cinfo.collided)
return; //already collided and no contacts requested, don't test anymore
bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, cinfo.motion_A, p_convex,*cinfo.transform_B, cinfo.motion_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result,cinfo.sep_axis );
bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, cinfo.motion_A, p_convex,*cinfo.transform_B, cinfo.motion_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result,cinfo.sep_axis,cinfo.margin_A,cinfo.margin_B );
if (!collided)
return;
@ -179,7 +181,7 @@ void CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex
}
bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Vector2& p_motion_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,const Vector2& p_motion_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result,Vector2 *sep_axis) {
bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Vector2& p_motion_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,const Vector2& p_motion_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result,Vector2 *sep_axis,float p_margin_A,float p_margin_B) {
const ConcaveShape2DSW *concave_B=static_cast<const ConcaveShape2DSW*>(p_shape_B);
@ -195,6 +197,8 @@ bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A,const Matrix3
cinfo.collided=false;
cinfo.collisions=0;
cinfo.sep_axis=sep_axis;
cinfo.margin_A=p_margin_A;
cinfo.margin_B=p_margin_B;
cinfo.aabb_tests=0;
@ -227,7 +231,7 @@ bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A,const Matrix3
}
bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Vector2& p_motion_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,const Vector2& p_motion_B,CallbackResult p_result_callback,void *p_userdata,Vector2 *sep_axis) {
bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Vector2& p_motion_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,const Vector2& p_motion_B,CallbackResult p_result_callback,void *p_userdata,Vector2 *sep_axis,float p_margin_A,float p_margin_B) {
@ -236,12 +240,14 @@ bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A,const Matrix32& p_tra
Physics2DServer::ShapeType type_B=p_shape_B->get_type();
bool concave_A=p_shape_A->is_concave();
bool concave_B=p_shape_B->is_concave();
real_t margin_A=p_margin_A,margin_B=p_margin_B;
bool swap = false;
if (type_A>type_B) {
SWAP(type_A,type_B);
SWAP(concave_A,concave_B);
SWAP(margin_A,margin_B);
swap=true;
}
@ -292,16 +298,16 @@ bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A,const Matrix32& p_tra
return false;
if (!swap)
return solve_concave(p_shape_A,p_transform_A,p_motion_A,p_shape_B,p_transform_B,p_motion_B,p_result_callback,p_userdata,false,sep_axis);
return solve_concave(p_shape_A,p_transform_A,p_motion_A,p_shape_B,p_transform_B,p_motion_B,p_result_callback,p_userdata,false,sep_axis,margin_A,margin_B);
else
return solve_concave(p_shape_B,p_transform_B,p_motion_B,p_shape_A,p_transform_A,p_motion_A,p_result_callback,p_userdata,true,sep_axis);
return solve_concave(p_shape_B,p_transform_B,p_motion_B,p_shape_A,p_transform_A,p_motion_A,p_result_callback,p_userdata,true,sep_axis,margin_A,margin_B);
} else {
return collision_solver(p_shape_A, p_transform_A,p_motion_A, p_shape_B, p_transform_B, p_motion_B,p_result_callback,p_userdata,false,sep_axis);
return collision_solver(p_shape_A, p_transform_A,p_motion_A, p_shape_B, p_transform_B, p_motion_B,p_result_callback,p_userdata,false,sep_axis,margin_A,margin_B);
}

4
servers/physics_2d/collision_solver_2d_sw.h
View File

@ -37,14 +37,14 @@ public:
private:
static bool solve_static_line(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result);
static void concave_callback(void *p_userdata, Shape2DSW *p_convex);
static bool solve_concave(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Vector2& p_motion_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,const Vector2& p_motion_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result,Vector2 *sep_axis=NULL);
static bool solve_concave(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Vector2& p_motion_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,const Vector2& p_motion_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result,Vector2 *sep_axis=NULL,float p_margin_A=0,float p_margin_B=0);
static bool solve_raycast(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result,Vector2 *sep_axis=NULL);
public:
static bool solve(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Vector2& p_motion_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,const Vector2& p_motion_B,CallbackResult p_result_callback,void *p_userdata,Vector2 *sep_axis=NULL);
static bool solve(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Vector2& p_motion_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,const Vector2& p_motion_B,CallbackResult p_result_callback,void *p_userdata,Vector2 *sep_axis=NULL,float p_margin_A=0,float p_margin_B=0);
};

12
servers/physics_2d/physics_2d_server_sw.cpp
View File

@ -132,8 +132,12 @@ real_t Physics2DServerSW::shape_get_custom_solver_bias(RID p_shape) const {
void Physics2DServerSW::_shape_col_cbk(const Vector2& p_point_A,const Vector2& p_point_B,void *p_userdata) {
CollCbkData *cbk=(CollCbkData *)p_userdata;
if (cbk->max==0)
return;
if (cbk->amount == cbk->max) {
//find least deep
float min_depth=1e20;
@ -159,6 +163,7 @@ void Physics2DServerSW::_shape_col_cbk(const Vector2& p_point_A,const Vector2& p
cbk->ptr[cbk->amount*2+0]=p_point_A;
cbk->ptr[cbk->amount*2+1]=p_point_B;
cbk->amount++;
}
}
@ -648,19 +653,20 @@ uint32_t Physics2DServerSW::body_get_object_instance_ID(RID p_body) const {
};
void Physics2DServerSW::body_set_user_flags(RID p_body, uint32_t p_flags) {
void Physics2DServerSW::body_set_user_mask(RID p_body, uint32_t p_flags) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_user_mask(p_flags);
};
uint32_t Physics2DServerSW::body_get_user_flags(RID p_body, uint32_t p_flags) const {
uint32_t Physics2DServerSW::body_get_user_mask(RID p_body, uint32_t p_flags) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,0);
return 0;
return body->get_user_mask();
};
void Physics2DServerSW::body_set_param(RID p_body, BodyParameter p_param, float p_value) {

13
servers/physics_2d/physics_2d_server_sw.h
View File

@ -58,6 +58,12 @@ friend class Physics2DDirectSpaceStateSW;
mutable RID_Owner<Body2DSW> body_owner;
mutable RID_Owner<Joint2DSW> joint_owner;
// void _clear_query(Query2DSW *p_query);
public:
struct CollCbkData {
int max;
@ -68,9 +74,6 @@ friend class Physics2DDirectSpaceStateSW;
static void _shape_col_cbk(const Vector2& p_point_A,const Vector2& p_point_B,void *p_userdata);
// void _clear_query(Query2DSW *p_query);
public:
virtual RID shape_create(ShapeType p_shape);
virtual void shape_set_data(RID p_shape, const Variant& p_data);
virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias);
@ -158,8 +161,8 @@ public:
virtual void body_set_continuous_collision_detection_mode(RID p_body,CCDMode p_mode);
virtual CCDMode body_get_continuous_collision_detection_mode(RID p_body) const;
virtual void body_set_user_flags(RID p_body, uint32_t p_flags);
virtual uint32_t body_get_user_flags(RID p_body, uint32_t p_flags) const;
virtual void body_set_user_mask(RID p_body, uint32_t p_mask);
virtual uint32_t body_get_user_mask(RID p_body, uint32_t p_mask) const;
virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value);
virtual float body_get_param(RID p_body, BodyParameter p_param) const;

45
servers/physics_2d/shape_2d_sw.h
View File

@ -354,6 +354,51 @@ public:
r_max = distance + length;
}
_FORCE_INLINE_ Vector2 get_circle_axis(const Matrix32& p_xform, const Matrix32& p_xform_inv,const Vector2& p_circle) const {
Vector2 local_v = p_xform_inv.xform(p_circle);
Vector2 he(
(local_v.x<0) ? -half_extents.x : half_extents.x,
(local_v.y<0) ? -half_extents.y : half_extents.y
);
return (p_xform.xform(he)-p_circle).normalized();
}
_FORCE_INLINE_ Vector2 get_box_axis(const Matrix32& p_xform, const Matrix32& p_xform_inv,const RectangleShape2DSW *p_B,const Matrix32& p_B_xform, const Matrix32& p_B_xform_inv) const {
Vector2 a,b;
{
Vector2 local_v = p_xform_inv.xform(p_B_xform.get_origin());
Vector2 he(
(local_v.x<0) ? -half_extents.x : half_extents.x,
(local_v.y<0) ? -half_extents.y : half_extents.y
);
a=p_xform.xform(he);
}
{
Vector2 local_v = p_B_xform_inv.xform(p_xform.get_origin());
Vector2 he(
(local_v.x<0) ? -p_B->half_extents.x : p_B->half_extents.x,
(local_v.y<0) ? -p_B->half_extents.y : p_B->half_extents.y
);
b=p_B_xform.xform(he);
}
return (a-b).normalized();
}
DEFAULT_PROJECT_RANGE_CAST
};

309
servers/physics_2d/space_2d_sw.cpp
View File

@ -31,7 +31,22 @@
#include "physics_2d_server_sw.h"
bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2& p_from, const Vector2& p_to,RayResult &r_result,const Set<RID>& p_exclude,uint32_t p_user_mask) {
_FORCE_INLINE_ static bool _match_object_type_query(CollisionObject2DSW *p_object, uint32_t p_user_mask, uint32_t p_type_mask) {
if (p_user_mask && !(p_object->get_user_mask()&p_user_mask))
return false;
if (p_object->get_type()==CollisionObject2DSW::TYPE_AREA && !(p_type_mask&Physics2DDirectSpaceState::TYPE_MASK_AREA))
return false;
Body2DSW *body = static_cast<Body2DSW*>(p_object);
return (1<<body->get_mode())&p_type_mask;
}
bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2& p_from, const Vector2& p_to,RayResult &r_result,const Set<RID>& p_exclude,uint32_t p_user_mask,uint32_t p_object_type_mask) {
ERR_FAIL_COND_V(space->locked,false);
@ -55,8 +70,8 @@ bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2& p_from, const Vec
for(int i=0;i<amount;i++) {
if (space->intersection_query_results[i]->get_type()==CollisionObject2DSW::TYPE_AREA)
continue; //ignore area
if (!_match_object_type_query(space->intersection_query_results[i],p_user_mask,p_object_type_mask))
continue;
if (p_exclude.has( space->intersection_query_results[i]->get_self()))
continue;
@ -120,7 +135,7 @@ bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2& p_from, const Vec
}
int Physics2DDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_user_mask) {
int Physics2DDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_user_mask,uint32_t p_object_type_mask) {
if (p_result_max<=0)
return 0;
@ -129,6 +144,7 @@ int Physics2DDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Matri
ERR_FAIL_COND_V(!shape,0);
Rect2 aabb = p_xform.xform(shape->get_aabb());
aabb=aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
@ -137,11 +153,8 @@ int Physics2DDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Matri
for(int i=0;i<amount;i++) {
if (cc>=p_result_max)
break;
if (space->intersection_query_results[i]->get_type()==CollisionObject2DSW::TYPE_AREA)
continue; //ignore area
if (!_match_object_type_query(space->intersection_query_results[i],p_user_mask,p_object_type_mask))
continue;
if (p_exclude.has( space->intersection_query_results[i]->get_self()))
continue;
@ -150,7 +163,7 @@ int Physics2DDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Matri
const CollisionObject2DSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
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))
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))
continue;
r_results[cc].collider_id=col_obj->get_instance_id();
@ -168,79 +181,31 @@ int Physics2DDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Matri
}
struct MotionCallbackRayCastData {
Vector2 best_contact;
Vector2 best_normal;
float best_len;
Matrix32 b_xform_inv;
Matrix32 b_xform;
Vector2 motion;
Shape2DSW * shape_B;
};
static void _motion_cbk_result(const Vector2& p_point_A,const Vector2& p_point_B,void *p_userdata) {
bool Physics2DDirectSpaceStateSW::cast_motion(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude,uint32_t p_user_mask,uint32_t p_object_type_mask) {
MotionCallbackRayCastData *rd=(MotionCallbackRayCastData*)p_userdata;
Vector2 contact_normal = (p_point_B-p_point_A).normalized();
Vector2 from=p_point_A-(rd->motion*1.01);
Vector2 p,n;
if (contact_normal.dot(rd->motion.normalized())<CMP_EPSILON) {
//safe to assume it was a perpendicular collision
n=contact_normal;
p=p_point_B;
} else {
//entered in a different angle
Vector2 to = p_point_A+rd->motion; //avoid precission issues
bool res = rd->shape_B->intersect_segment(rd->b_xform_inv.xform(from),rd->b_xform_inv.xform(to),p,n);
if (!res) {
print_line("lolwut failed");
return;
}
p = rd->b_xform.xform(p);
n = rd->b_xform_inv.basis_xform_inv(n).normalized();
}
float len = p.distance_to(from);
if (len<rd->best_len) {
rd->best_contact=p;
rd->best_normal=n;
rd->best_len=len;
}
}
bool Physics2DDirectSpaceStateSW::cast_motion(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion, MotionCastCollision &r_result, const Set<RID>& p_exclude,uint32_t p_user_mask) {
Shape2DSW *shape = static_cast<Physics2DServerSW*>(Physics2DServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape,0);
ERR_FAIL_COND_V(!shape,false);
Rect2 aabb = p_xform.xform(shape->get_aabb());
aabb=aabb.merge(Rect2(aabb.pos+p_motion,aabb.size)); //motion
aabb=aabb.grow(p_margin);
//if (p_motion!=Vector2())
// print_line(p_motion);
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
bool collided=false;
r_result.travel=1;
float best_safe=1;
float best_unsafe=1;
MotionCallbackRayCastData best_normal;
best_normal.best_len=1e20;
for(int i=0;i<amount;i++) {
if (space->intersection_query_results[i]->get_type()==CollisionObject2DSW::TYPE_AREA)
continue; //ignore area
if (!_match_object_type_query(space->intersection_query_results[i],p_user_mask,p_object_type_mask))
continue;
if (p_exclude.has( space->intersection_query_results[i]->get_self()))
continue; //ignore excluded
@ -252,54 +217,17 @@ bool Physics2DDirectSpaceStateSW::cast_motion(const RID& p_shape, const Matrix32
Matrix32 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?
if (!CollisionSolver2DSW::solve(shape,p_xform,p_motion,col_obj->get_shape(shape_idx),col_obj_xform,Vector2() ,NULL,NULL,NULL)) {
if (!CollisionSolver2DSW::solve(shape,p_xform,p_motion,col_obj->get_shape(shape_idx),col_obj_xform,Vector2() ,NULL,NULL,NULL,p_margin)) {
continue;
}
//test initial overlap
if (CollisionSolver2DSW::solve(shape,p_xform,Vector2(),col_obj->get_shape(shape_idx),col_obj_xform,Vector2() ,NULL,NULL,NULL)) {
if (CollisionSolver2DSW::solve(shape,p_xform,Vector2(),col_obj->get_shape(shape_idx),col_obj_xform,Vector2() ,NULL,NULL,NULL,p_margin)) {
r_result.collider_id=col_obj->get_instance_id();
r_result.collider=r_result.collider_id!=0 ? ObjectDB::get_instance(col_obj->get_instance_id()) : NULL;
r_result.shape=shape_idx;
r_result.rid=col_obj->get_self();
r_result.travel=0;
r_result.point=Vector2();
r_result.normal=Vector2();
return true;
return false;
}
#if 0
Vector2 mnormal=p_motion.normalized();
Matrix32 col_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
ShapeSW *col_shape = col_obj->get_shape(shape_idx);
real_t min,max;
col_shape->project_rangev(mnormal,col_shape_xform,min,max);
real_t width = max-min;
int a;
Vector2 s[2];
col_shape->get_supports(col_shape_xform.basis_xform(mnormal).normalized(),s,a);
Vector2 from = col_shape_xform.xform(s[0]);
Vector2 to = from + p_motion;
Matrix32 from_inv = col_shape_xform.affine_inverse();
Vector2 local_from = from_inv.xform(from-mnormal*width*0.1); //start from a little inside the bounding box
Vector2 local_to = from_inv.xform(to);
Vector2 rpos,rnorm;
if (!col_shape->intersect_segment(local_from,local_to,rpos,rnorm))
return false;
//ray hit something
Vector2 hitpos = p_xform_B.xform(rpos);
#endif
//just do kinematic solving
float low=0;
@ -312,7 +240,7 @@ bool Physics2DDirectSpaceStateSW::cast_motion(const RID& p_shape, const Matrix32
float ofs = (low+hi)*0.5;
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(),NULL,NULL,&sep);
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);
if (collided) {
@ -323,38 +251,165 @@ bool Physics2DDirectSpaceStateSW::cast_motion(const RID& p_shape, const Matrix32
}
}
if (low<best_safe) {
best_safe=low;
best_unsafe=hi;
}
best_normal.shape_B=col_obj->get_shape(shape_idx);
best_normal.motion=p_motion*hi;
best_normal.b_xform=col_obj_xform;
best_normal.b_xform_inv=col_obj_xform.affine_inverse();
}
bool sc = CollisionSolver2DSW::solve(shape,p_xform,p_motion*hi,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),Vector2() ,_motion_cbk_result,&best_normal);
print_line("CLD: "+itos(sc));
p_closest_safe=best_safe;
p_closest_unsafe=best_unsafe;
return true;
if (collided && low>=r_result.travel)
}
bool Physics2DDirectSpaceStateSW::collide_shape(RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,float p_margin,Vector2 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude,uint32_t p_user_mask,uint32_t p_object_type_mask) {
if (p_result_max<=0)
return 0;
Shape2DSW *shape = static_cast<Physics2DServerSW*>(Physics2DServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape,0);
Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
aabb=aabb.merge(Rect2(aabb.pos+p_motion,aabb.size)); //motion
aabb=aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
bool collided=false;
int cc=0;
r_result_count=0;
Physics2DServerSW::CollCbkData cbk;
cbk.max=p_result_max;
cbk.amount=0;
cbk.ptr=r_results;
CollisionSolver2DSW::CallbackResult cbkres=NULL;
Physics2DServerSW::CollCbkData *cbkptr=NULL;
if (p_result_max>0) {
cbkptr=&cbk;
cbkres=Physics2DServerSW::_shape_col_cbk;
}
for(int i=0;i<amount;i++) {
if (!_match_object_type_query(space->intersection_query_results[i],p_user_mask,p_object_type_mask))
continue;
collided=true;
r_result.travel=low;
const CollisionObject2DSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
r_result.collider_id=col_obj->get_instance_id();
r_result.collider=r_result.collider_id!=0 ? ObjectDB::get_instance(col_obj->get_instance_id()) : NULL;
r_result.shape=shape_idx;
r_result.rid=col_obj->get_self();
if (p_exclude.has( col_obj->get_self() ))
continue;
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)) {
collided=true;
}
}
if (collided) {
ERR_FAIL_COND_V(best_normal.best_normal==Vector2(),false);
r_result.normal=best_normal.best_normal;
r_result.point=best_normal.best_contact;
}
r_result_count=cbk.amount;
return collided;
}
struct _RestCallbackData {
const CollisionObject2DSW *object;
const CollisionObject2DSW *best_object;
int shape;
int best_shape;
Vector2 best_contact;
Vector2 best_normal;
float best_len;
};
static void _rest_cbk_result(const Vector2& p_point_A,const Vector2& p_point_B,void *p_userdata) {
_RestCallbackData *rd=(_RestCallbackData*)p_userdata;
Vector2 contact_rel = p_point_B - p_point_A;
float len = contact_rel.length();
if (len <= rd->best_len)
return;
rd->best_len=len;
rd->best_contact=p_point_B;
rd->best_normal=contact_rel/len;
rd->best_object=rd->object;
rd->best_shape=rd->shape;
}
bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude,uint32_t p_user_mask,uint32_t p_object_type_mask) {
Shape2DSW *shape = static_cast<Physics2DServerSW*>(Physics2DServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape,0);
Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
aabb=aabb.merge(Rect2(aabb.pos+p_motion,aabb.size)); //motion
aabb=aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
_RestCallbackData rcd;
rcd.best_len=0;
rcd.best_object=NULL;
rcd.best_shape=0;
for(int i=0;i<amount;i++) {
if (!_match_object_type_query(space->intersection_query_results[i],p_user_mask,p_object_type_mask))
continue;
const CollisionObject2DSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
if (p_exclude.has( col_obj->get_self() ))
continue;
rcd.object=col_obj;
rcd.shape=shape_idx;
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;
}
if (rcd.best_len==0)
return false;
r_info->collider_id=rcd.best_object->get_instance_id();
r_info->shape=rcd.best_shape;
r_info->normal=rcd.best_normal;
r_info->point=rcd.best_contact;
r_info->rid=rcd.best_object->get_self();
if (rcd.best_object->get_type()==CollisionObject2DSW::TYPE_BODY) {
const Body2DSW *body = static_cast<const Body2DSW*>(rcd.best_object);
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;
}

8
servers/physics_2d/space_2d_sw.h
View File

@ -46,9 +46,11 @@ public:
Space2DSW *space;
bool intersect_ray(const Vector2& p_from, const Vector2& p_to,RayResult &r_result,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0);
int intersect_shape(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0);
bool cast_motion(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion, MotionCastCollision &r_result, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0);
virtual bool intersect_ray(const Vector2& p_from, const Vector2& p_to,RayResult &r_result,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
virtual int intersect_shape(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
virtual bool cast_motion(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
virtual bool collide_shape(RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,float p_margin,Vector2 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
virtual bool rest_info(RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
Physics2DDirectSpaceStateSW();
};

11
servers/physics_2d_server.cpp
View File

@ -145,7 +145,7 @@ Variant Physics2DDirectSpaceState::_intersect_shape(const RID& p_shape, const Ma
ShapeResult *res=(ShapeResult*)alloca(p_result_max*sizeof(ShapeResult));
int rc = intersect_shape(p_shape,p_xform,Vector2(),res,p_result_max,exclude,p_user_mask);
int rc = intersect_shape(p_shape,p_xform,Vector2(),0,res,p_result_max,exclude,p_user_mask);
if (rc==0)
return Variant();
@ -163,15 +163,13 @@ Variant Physics2DDirectSpaceState::_intersect_shape(const RID& p_shape, const Ma
Variant Physics2DDirectSpaceState::_cast_motion(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,const Vector<RID>& p_exclude,uint32_t p_user_mask) {
#if 0
Set<RID> exclude;
for(int i=0;i<p_exclude.size();i++)
exclude.insert(p_exclude[i]);
MotionCastCollision mcc;
bool result = cast_motion(p_shape,p_xform,p_motion,mcc,exclude,p_user_mask);
bool result = cast_motion(p_shape,p_xform,p_motion,0,mcc,exclude,p_user_mask);
if (!result)
return Variant();
@ -185,7 +183,8 @@ Variant Physics2DDirectSpaceState::_cast_motion(const RID& p_shape, const Matrix
d["shape"]=mcc.shape;
return d;
#endif
return Variant();
}

31
servers/physics_2d_server.h
View File

@ -98,6 +98,16 @@ protected:
public:
enum ObjectTypeMask {
TYPE_MASK_STATIC_BODY=1<<0,
TYPE_MASK_KINEMATIC_BODY=1<<1,
TYPE_MASK_RIGID_BODY=1<<2,
TYPE_MASK_CHARACTER_BODY=1<<3,
TYPE_MASK_AREA=1<<4,
TYPE_MASK_COLLISION=TYPE_MASK_STATIC_BODY|TYPE_MASK_CHARACTER_BODY|TYPE_MASK_KINEMATIC_BODY|TYPE_MASK_RIGID_BODY
};
struct RayResult {
Vector2 position;
@ -108,7 +118,7 @@ public:
int shape;
};
virtual bool intersect_ray(const Vector2& p_from, const Vector2& p_to,RayResult &r_result,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0)=0;
virtual bool intersect_ray(const Vector2& p_from, const Vector2& p_to,RayResult &r_result,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
struct ShapeResult {
@ -119,25 +129,26 @@ public:
};
virtual int intersect_shape(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0)=0;
virtual int intersect_shape(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
struct MotionCastCollision {
virtual bool cast_motion(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
virtual bool collide_shape(RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,float p_margin,Vector2 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
struct ShapeRestInfo {
float travel; //0 to 1, if 0 then it's blocked
Vector2 point;
Vector2 normal;
RID rid;
ObjectID collider_id;
Object *collider;
int shape;
Vector2 linear_velocity; //velocity at contact point
};
virtual bool cast_motion(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion, MotionCastCollision &r_result, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0)=0;
virtual bool rest_info(RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
Physics2DDirectSpaceState();
@ -327,8 +338,8 @@ public:
virtual void body_set_continuous_collision_detection_mode(RID p_body,CCDMode p_mode)=0;
virtual CCDMode body_get_continuous_collision_detection_mode(RID p_body) const=0;
virtual void body_set_user_flags(RID p_body, uint32_t p_flags)=0;
virtual uint32_t body_get_user_flags(RID p_body, uint32_t p_flags) const=0;
virtual void body_set_user_mask(RID p_body, uint32_t p_mask)=0;
virtual uint32_t body_get_user_mask(RID p_body, uint32_t p_mask) const=0;
// common body variables
enum BodyParameter {

11
tools/doc/doc_data.cpp
View File

@ -530,6 +530,17 @@ void DocData::generate(bool p_basic_types) {
}
List<Pair<String,Variant> > cinfo;
lang->get_public_constants(&cinfo);
for(List<Pair<String,Variant> >::Element *E=cinfo.front();E;E=E->next()) {
ConstantDoc cd;
cd.name=E->get().first;
cd.value=E->get().second;
c.constants.push_back(cd);
}
}
}

1
tools/editor/editor_node.cpp
View File

@ -4148,6 +4148,7 @@ EditorNode::EditorNode() {
EditorSettings::get_singleton()->enable_plugins();
Node::set_human_readable_collision_renaming(true);
// Ref<ImageTexture> it = gui_base->get_icon("logo","Icons");
// OS::get_singleton()->set_icon( it->get_data() );