1047 lines
32 KiB
C++
1047 lines
32 KiB
C++
/*************************************************************************/
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/* space_2d_sw.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "space_2d_sw.h"
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#include "collision_solver_2d_sw.h"
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#include "physics_2d_server_sw.h"
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_FORCE_INLINE_ static bool _match_object_type_query(CollisionObject2DSW *p_object, uint32_t p_collision_layer, uint32_t p_type_mask) {
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if ((p_object->get_collision_layer() & p_collision_layer) == 0)
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return false;
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if (p_object->get_type() == CollisionObject2DSW::TYPE_AREA)
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return p_type_mask & Physics2DDirectSpaceState::TYPE_MASK_AREA;
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Body2DSW *body = static_cast<Body2DSW *>(p_object);
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return (1 << body->get_mode()) & p_type_mask;
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}
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int Physics2DDirectSpaceStateSW::intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask, bool p_pick_point) {
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if (p_result_max <= 0)
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return 0;
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Rect2 aabb;
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aabb.position = p_point - Vector2(0.00001, 0.00001);
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aabb.size = Vector2(0.00002, 0.00002);
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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int cc = 0;
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for (int i = 0; i < amount; i++) {
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if (!_match_object_type_query(space->intersection_query_results[i], p_collision_layer, p_object_type_mask))
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continue;
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if (p_exclude.has(space->intersection_query_results[i]->get_self()))
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continue;
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const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
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if (p_pick_point && !col_obj->is_pickable())
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continue;
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int shape_idx = space->intersection_query_subindex_results[i];
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Shape2DSW *shape = col_obj->get_shape(shape_idx);
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Vector2 local_point = (col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).affine_inverse().xform(p_point);
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if (!shape->contains_point(local_point))
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continue;
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if (cc >= p_result_max)
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continue;
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r_results[cc].collider_id = col_obj->get_instance_id();
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if (r_results[cc].collider_id != 0)
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r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id);
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r_results[cc].rid = col_obj->get_self();
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r_results[cc].shape = shape_idx;
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r_results[cc].metadata = col_obj->get_shape_metadata(shape_idx);
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cc++;
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}
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return cc;
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}
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bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask) {
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ERR_FAIL_COND_V(space->locked, false);
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Vector2 begin, end;
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Vector2 normal;
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begin = p_from;
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end = p_to;
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normal = (end - begin).normalized();
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int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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//todo, create another array tha references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision
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bool collided = false;
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Vector2 res_point, res_normal;
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int res_shape;
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const CollisionObject2DSW *res_obj;
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real_t min_d = 1e10;
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for (int i = 0; i < amount; i++) {
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if (!_match_object_type_query(space->intersection_query_results[i], p_collision_layer, p_object_type_mask))
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continue;
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if (p_exclude.has(space->intersection_query_results[i]->get_self()))
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continue;
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const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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Transform2D inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
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Vector2 local_from = inv_xform.xform(begin);
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Vector2 local_to = inv_xform.xform(end);
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/*local_from = col_obj->get_inv_transform().xform(begin);
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local_from = col_obj->get_shape_inv_transform(shape_idx).xform(local_from);
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local_to = col_obj->get_inv_transform().xform(end);
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local_to = col_obj->get_shape_inv_transform(shape_idx).xform(local_to);*/
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const Shape2DSW *shape = col_obj->get_shape(shape_idx);
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Vector2 shape_point, shape_normal;
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if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal)) {
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Transform2D xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
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shape_point = xform.xform(shape_point);
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real_t ld = normal.dot(shape_point);
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if (ld < min_d) {
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min_d = ld;
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res_point = shape_point;
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res_normal = inv_xform.basis_xform_inv(shape_normal).normalized();
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res_shape = shape_idx;
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res_obj = col_obj;
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collided = true;
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}
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}
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}
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if (!collided)
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return false;
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r_result.collider_id = res_obj->get_instance_id();
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if (r_result.collider_id != 0)
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r_result.collider = ObjectDB::get_instance(r_result.collider_id);
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r_result.normal = res_normal;
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r_result.metadata = res_obj->get_shape_metadata(res_shape);
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r_result.position = res_point;
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r_result.rid = res_obj->get_self();
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r_result.shape = res_shape;
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return true;
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}
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int Physics2DDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask) {
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if (p_result_max <= 0)
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return 0;
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Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, 0);
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Rect2 aabb = p_xform.xform(shape->get_aabb());
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aabb = aabb.grow(p_margin);
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, p_result_max, space->intersection_query_subindex_results);
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int cc = 0;
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for (int i = 0; i < amount; i++) {
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if (!_match_object_type_query(space->intersection_query_results[i], p_collision_layer, p_object_type_mask))
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continue;
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if (p_exclude.has(space->intersection_query_results[i]->get_self()))
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continue;
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const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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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))
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continue;
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r_results[cc].collider_id = col_obj->get_instance_id();
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if (r_results[cc].collider_id != 0)
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r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id);
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r_results[cc].rid = col_obj->get_self();
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r_results[cc].shape = shape_idx;
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r_results[cc].metadata = col_obj->get_shape_metadata(shape_idx);
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cc++;
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}
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return cc;
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}
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bool Physics2DDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask) {
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Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, false);
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Rect2 aabb = p_xform.xform(shape->get_aabb());
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aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion
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aabb = aabb.grow(p_margin);
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/*
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if (p_motion!=Vector2())
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print_line(p_motion);
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*/
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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real_t best_safe = 1;
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real_t best_unsafe = 1;
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for (int i = 0; i < amount; i++) {
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if (!_match_object_type_query(space->intersection_query_results[i], p_collision_layer, p_object_type_mask))
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continue;
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if (p_exclude.has(space->intersection_query_results[i]->get_self()))
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continue; //ignore excluded
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const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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/*if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
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const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
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if (body->get_one_way_collision_direction()!=Vector2() && p_motion.dot(body->get_one_way_collision_direction())<=CMP_EPSILON) {
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print_line("failed in motion dir");
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continue;
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}
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}*/
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Transform2D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
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//test initial overlap, does it collide if going all the way?
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if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, p_margin)) {
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continue;
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}
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//test initial overlap
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if (CollisionSolver2DSW::solve(shape, p_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, p_margin)) {
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return false;
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}
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//just do kinematic solving
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real_t low = 0;
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real_t hi = 1;
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Vector2 mnormal = p_motion.normalized();
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for (int i = 0; i < 8; i++) { //steps should be customizable..
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real_t ofs = (low + hi) * 0.5;
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Vector2 sep = mnormal; //important optimization for this to work fast enough
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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);
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if (collided) {
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hi = ofs;
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} else {
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low = ofs;
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}
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}
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if (low < best_safe) {
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best_safe = low;
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best_unsafe = hi;
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}
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}
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p_closest_safe = best_safe;
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p_closest_unsafe = best_unsafe;
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return true;
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}
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bool Physics2DDirectSpaceStateSW::collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask) {
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if (p_result_max <= 0)
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return 0;
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Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, 0);
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Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
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aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion
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aabb = aabb.grow(p_margin);
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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bool collided = false;
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r_result_count = 0;
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Physics2DServerSW::CollCbkData cbk;
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cbk.max = p_result_max;
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cbk.amount = 0;
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cbk.ptr = r_results;
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CollisionSolver2DSW::CallbackResult cbkres = NULL;
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Physics2DServerSW::CollCbkData *cbkptr = NULL;
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if (p_result_max > 0) {
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cbkptr = &cbk;
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cbkres = Physics2DServerSW::_shape_col_cbk;
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}
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for (int i = 0; i < amount; i++) {
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if (!_match_object_type_query(space->intersection_query_results[i], p_collision_layer, p_object_type_mask))
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continue;
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const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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if (p_exclude.has(col_obj->get_self()))
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continue;
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cbk.valid_dir = Vector2();
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cbk.valid_depth = 0;
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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)) {
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collided = p_result_max == 0 || cbk.amount > 0;
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}
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}
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r_result_count = cbk.amount;
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return collided;
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}
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struct _RestCallbackData2D {
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const CollisionObject2DSW *object;
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const CollisionObject2DSW *best_object;
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int shape;
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int best_shape;
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Vector2 best_contact;
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Vector2 best_normal;
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real_t best_len;
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Vector2 valid_dir;
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real_t valid_depth;
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};
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static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) {
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_RestCallbackData2D *rd = (_RestCallbackData2D *)p_userdata;
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if (rd->valid_dir != Vector2()) {
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if (p_point_A.distance_squared_to(p_point_B) > rd->valid_depth * rd->valid_depth)
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return;
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if (rd->valid_dir.dot((p_point_A - p_point_B).normalized()) < Math_PI * 0.25)
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return;
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}
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Vector2 contact_rel = p_point_B - p_point_A;
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real_t len = contact_rel.length();
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if (len <= rd->best_len)
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return;
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rd->best_len = len;
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rd->best_contact = p_point_B;
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rd->best_normal = contact_rel / len;
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rd->best_object = rd->object;
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rd->best_shape = rd->shape;
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}
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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<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask) {
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Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, 0);
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Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
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aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion
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aabb = aabb.grow(p_margin);
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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_RestCallbackData2D rcd;
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rcd.best_len = 0;
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rcd.best_object = NULL;
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rcd.best_shape = 0;
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for (int i = 0; i < amount; i++) {
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if (!_match_object_type_query(space->intersection_query_results[i], p_collision_layer, p_object_type_mask))
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continue;
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const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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if (p_exclude.has(col_obj->get_self()))
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continue;
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rcd.valid_dir = Vector2();
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rcd.valid_depth = 0;
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rcd.object = col_obj;
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rcd.shape = shape_idx;
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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);
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if (!sc)
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continue;
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}
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if (rcd.best_len == 0)
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return false;
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r_info->collider_id = rcd.best_object->get_instance_id();
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r_info->shape = rcd.best_shape;
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r_info->normal = rcd.best_normal;
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r_info->point = rcd.best_contact;
|
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r_info->rid = rcd.best_object->get_self();
|
|
r_info->metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
|
|
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;
|
|
}
|
|
|
|
Physics2DDirectSpaceStateSW::Physics2DDirectSpaceStateSW() {
|
|
|
|
space = NULL;
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
|
|
|
|
int amount = broadphase->cull_aabb(p_aabb, intersection_query_results, INTERSECTION_QUERY_MAX, intersection_query_subindex_results);
|
|
|
|
for (int i = 0; i < amount; i++) {
|
|
|
|
bool keep = true;
|
|
|
|
if (intersection_query_results[i] == p_body)
|
|
keep = false;
|
|
else if (intersection_query_results[i]->get_type() == CollisionObject2DSW::TYPE_AREA)
|
|
keep = false;
|
|
else if ((static_cast<Body2DSW *>(intersection_query_results[i])->test_collision_mask(p_body)) == 0)
|
|
keep = false;
|
|
else if (static_cast<Body2DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self()))
|
|
keep = false;
|
|
else if (static_cast<Body2DSW *>(intersection_query_results[i])->is_shape_set_as_disabled(intersection_query_subindex_results[i]))
|
|
keep = false;
|
|
|
|
if (!keep) {
|
|
|
|
if (i < amount - 1) {
|
|
SWAP(intersection_query_results[i], intersection_query_results[amount - 1]);
|
|
SWAP(intersection_query_subindex_results[i], intersection_query_subindex_results[amount - 1]);
|
|
}
|
|
|
|
amount--;
|
|
i--;
|
|
}
|
|
}
|
|
|
|
return amount;
|
|
}
|
|
|
|
bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, Physics2DServer::MotionResult *r_result) {
|
|
|
|
//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..
|
|
|
|
if (r_result) {
|
|
r_result->collider_id = 0;
|
|
r_result->collider_shape = 0;
|
|
}
|
|
Rect2 body_aabb;
|
|
|
|
for (int i = 0; i < p_body->get_shape_count(); i++) {
|
|
|
|
if (i == 0)
|
|
body_aabb = p_body->get_shape_aabb(i);
|
|
else
|
|
body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
|
|
}
|
|
|
|
// Undo the currently transform the physics server is aware of and apply the provided one
|
|
body_aabb = p_from.xform(p_body->get_inv_transform().xform(body_aabb));
|
|
body_aabb = body_aabb.grow(p_margin);
|
|
|
|
Transform2D body_transform = p_from;
|
|
|
|
{
|
|
//STEP 1, FREE BODY IF STUCK
|
|
|
|
const int max_results = 32;
|
|
int recover_attempts = 4;
|
|
Vector2 sr[max_results * 2];
|
|
|
|
do {
|
|
|
|
Physics2DServerSW::CollCbkData cbk;
|
|
cbk.max = max_results;
|
|
cbk.amount = 0;
|
|
cbk.ptr = sr;
|
|
|
|
Physics2DServerSW::CollCbkData *cbkptr = &cbk;
|
|
CollisionSolver2DSW::CallbackResult cbkres = Physics2DServerSW::_shape_col_cbk;
|
|
|
|
bool collided = false;
|
|
|
|
int amount = _cull_aabb_for_body(p_body, body_aabb);
|
|
|
|
for (int j = 0; j < p_body->get_shape_count(); j++) {
|
|
if (p_body->is_shape_set_as_disabled(j))
|
|
continue;
|
|
|
|
Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
|
|
Shape2DSW *body_shape = p_body->get_shape(j);
|
|
for (int i = 0; i < amount; i++) {
|
|
|
|
const CollisionObject2DSW *col_obj = intersection_query_results[i];
|
|
int shape_idx = intersection_query_subindex_results[i];
|
|
|
|
if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
|
|
|
|
cbk.valid_dir = body_shape_xform.get_axis(1).normalized();
|
|
cbk.valid_depth = p_margin; //only valid depth is the collision margin
|
|
} else {
|
|
cbk.valid_dir = Vector2();
|
|
cbk.valid_depth = 0;
|
|
}
|
|
|
|
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, NULL, p_margin)) {
|
|
collided = cbk.amount > 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (!collided) {
|
|
break;
|
|
}
|
|
|
|
Vector2 recover_motion;
|
|
|
|
for (int i = 0; i < cbk.amount; i++) {
|
|
|
|
Vector2 a = sr[i * 2 + 0];
|
|
Vector2 b = sr[i * 2 + 1];
|
|
|
|
#if 0
|
|
Vector2 rel = b-a;
|
|
real_t d = rel.length();
|
|
if (d==0)
|
|
continue;
|
|
|
|
Vector2 n = rel/d;
|
|
real_t traveled = n.dot(recover_motion);
|
|
a+=n*traveled;
|
|
|
|
real_t d = a.distance_to(b);
|
|
if (d<margin)
|
|
continue;
|
|
#endif
|
|
recover_motion += (b - a) * 0.4;
|
|
}
|
|
|
|
if (recover_motion == Vector2()) {
|
|
collided = false;
|
|
break;
|
|
}
|
|
|
|
body_transform.elements[2] += recover_motion;
|
|
body_aabb.position += recover_motion;
|
|
|
|
recover_attempts--;
|
|
|
|
} while (recover_attempts);
|
|
}
|
|
|
|
real_t safe = 1.0;
|
|
real_t unsafe = 1.0;
|
|
int best_shape = -1;
|
|
|
|
{
|
|
// STEP 2 ATTEMPT MOTION
|
|
|
|
Rect2 motion_aabb = body_aabb;
|
|
motion_aabb.position += p_motion;
|
|
motion_aabb = motion_aabb.merge(body_aabb);
|
|
|
|
int amount = _cull_aabb_for_body(p_body, motion_aabb);
|
|
|
|
for (int j = 0; j < p_body->get_shape_count(); j++) {
|
|
|
|
if (p_body->is_shape_set_as_disabled(j))
|
|
continue;
|
|
|
|
Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
|
|
Shape2DSW *body_shape = p_body->get_shape(j);
|
|
|
|
bool stuck = false;
|
|
|
|
real_t best_safe = 1;
|
|
real_t best_unsafe = 1;
|
|
|
|
for (int i = 0; i < amount; i++) {
|
|
|
|
const CollisionObject2DSW *col_obj = intersection_query_results[i];
|
|
int shape_idx = intersection_query_subindex_results[i];
|
|
|
|
Transform2D 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(body_shape, body_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, 0)) {
|
|
continue;
|
|
}
|
|
|
|
//test initial overlap
|
|
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, 0)) {
|
|
|
|
if (col_obj->is_shape_set_as_one_way_collision(j)) {
|
|
continue;
|
|
}
|
|
|
|
stuck = true;
|
|
break;
|
|
}
|
|
|
|
//just do kinematic solving
|
|
real_t low = 0;
|
|
real_t hi = 1;
|
|
Vector2 mnormal = p_motion.normalized();
|
|
|
|
for (int k = 0; k < 8; k++) { //steps should be customizable..
|
|
|
|
real_t ofs = (low + hi) * 0.5;
|
|
|
|
Vector2 sep = mnormal; //important optimization for this to work fast enough
|
|
bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * ofs, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, &sep, 0);
|
|
|
|
if (collided) {
|
|
|
|
hi = ofs;
|
|
} else {
|
|
|
|
low = ofs;
|
|
}
|
|
}
|
|
|
|
if (col_obj->is_shape_set_as_one_way_collision(j)) {
|
|
|
|
Vector2 cd[2];
|
|
Physics2DServerSW::CollCbkData cbk;
|
|
cbk.max = 1;
|
|
cbk.amount = 0;
|
|
cbk.ptr = cd;
|
|
cbk.valid_dir = body_shape_xform.get_axis(1).normalized();
|
|
;
|
|
cbk.valid_depth = 10e20;
|
|
|
|
Vector2 sep = mnormal; //important optimization for this to work fast enough
|
|
bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), Physics2DServerSW::_shape_col_cbk, &cbk, &sep, 0);
|
|
if (!collided || cbk.amount == 0) {
|
|
continue;
|
|
}
|
|
}
|
|
|
|
if (low < best_safe) {
|
|
best_safe = low;
|
|
best_unsafe = hi;
|
|
}
|
|
}
|
|
|
|
if (stuck) {
|
|
|
|
safe = 0;
|
|
unsafe = 0;
|
|
best_shape = j; //sadly it's the best
|
|
break;
|
|
}
|
|
if (best_safe == 1.0) {
|
|
continue;
|
|
}
|
|
if (best_safe < safe) {
|
|
|
|
safe = best_safe;
|
|
unsafe = best_unsafe;
|
|
best_shape = j;
|
|
}
|
|
}
|
|
}
|
|
|
|
bool collided = false;
|
|
if (safe >= 1) {
|
|
//not collided
|
|
collided = false;
|
|
if (r_result) {
|
|
|
|
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;
|
|
ugt.elements[2] += p_motion * unsafe;
|
|
|
|
_RestCallbackData2D rcd;
|
|
rcd.best_len = 0;
|
|
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);
|
|
|
|
body_aabb.position += p_motion * unsafe;
|
|
|
|
int amount = _cull_aabb_for_body(p_body, body_aabb);
|
|
|
|
for (int i = 0; i < amount; i++) {
|
|
|
|
const CollisionObject2DSW *col_obj = intersection_query_results[i];
|
|
int shape_idx = intersection_query_subindex_results[i];
|
|
|
|
if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
|
|
|
|
rcd.valid_dir = body_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(), 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) {
|
|
|
|
if (r_result) {
|
|
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_normal = rcd.best_normal;
|
|
r_result->collision_point = rcd.best_contact;
|
|
r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
|
|
|
|
const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);
|
|
Vector2 rel_vec = r_result->collision_point - body->get_transform().get_origin();
|
|
r_result->collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
|
|
|
|
r_result->motion = safe * p_motion;
|
|
r_result->remainder = p_motion - safe * p_motion;
|
|
r_result->motion += (body_transform.get_origin() - p_from.get_origin());
|
|
}
|
|
|
|
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;
|
|
}
|
|
}
|
|
|
|
return collided;
|
|
}
|
|
|
|
void *Space2DSW::_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self) {
|
|
|
|
CollisionObject2DSW::Type type_A = A->get_type();
|
|
CollisionObject2DSW::Type type_B = B->get_type();
|
|
if (type_A > type_B) {
|
|
|
|
SWAP(A, B);
|
|
SWAP(p_subindex_A, p_subindex_B);
|
|
SWAP(type_A, type_B);
|
|
}
|
|
|
|
Space2DSW *self = (Space2DSW *)p_self;
|
|
self->collision_pairs++;
|
|
|
|
if (type_A == CollisionObject2DSW::TYPE_AREA) {
|
|
|
|
Area2DSW *area = static_cast<Area2DSW *>(A);
|
|
if (type_B == CollisionObject2DSW::TYPE_AREA) {
|
|
|
|
Area2DSW *area_b = static_cast<Area2DSW *>(B);
|
|
Area2Pair2DSW *area2_pair = memnew(Area2Pair2DSW(area_b, p_subindex_B, area, p_subindex_A));
|
|
return area2_pair;
|
|
} else {
|
|
|
|
Body2DSW *body = static_cast<Body2DSW *>(B);
|
|
AreaPair2DSW *area_pair = memnew(AreaPair2DSW(body, p_subindex_B, area, p_subindex_A));
|
|
return area_pair;
|
|
}
|
|
|
|
} else {
|
|
|
|
BodyPair2DSW *b = memnew(BodyPair2DSW((Body2DSW *)A, p_subindex_A, (Body2DSW *)B, p_subindex_B));
|
|
return b;
|
|
}
|
|
|
|
return NULL;
|
|
}
|
|
|
|
void Space2DSW::_broadphase_unpair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_self) {
|
|
|
|
Space2DSW *self = (Space2DSW *)p_self;
|
|
self->collision_pairs--;
|
|
Constraint2DSW *c = (Constraint2DSW *)p_data;
|
|
memdelete(c);
|
|
}
|
|
|
|
const SelfList<Body2DSW>::List &Space2DSW::get_active_body_list() const {
|
|
|
|
return active_list;
|
|
}
|
|
void Space2DSW::body_add_to_active_list(SelfList<Body2DSW> *p_body) {
|
|
|
|
active_list.add(p_body);
|
|
}
|
|
void Space2DSW::body_remove_from_active_list(SelfList<Body2DSW> *p_body) {
|
|
|
|
active_list.remove(p_body);
|
|
}
|
|
|
|
void Space2DSW::body_add_to_inertia_update_list(SelfList<Body2DSW> *p_body) {
|
|
|
|
inertia_update_list.add(p_body);
|
|
}
|
|
|
|
void Space2DSW::body_remove_from_inertia_update_list(SelfList<Body2DSW> *p_body) {
|
|
|
|
inertia_update_list.remove(p_body);
|
|
}
|
|
|
|
BroadPhase2DSW *Space2DSW::get_broadphase() {
|
|
|
|
return broadphase;
|
|
}
|
|
|
|
void Space2DSW::add_object(CollisionObject2DSW *p_object) {
|
|
|
|
ERR_FAIL_COND(objects.has(p_object));
|
|
objects.insert(p_object);
|
|
}
|
|
|
|
void Space2DSW::remove_object(CollisionObject2DSW *p_object) {
|
|
|
|
ERR_FAIL_COND(!objects.has(p_object));
|
|
objects.erase(p_object);
|
|
}
|
|
|
|
const Set<CollisionObject2DSW *> &Space2DSW::get_objects() const {
|
|
|
|
return objects;
|
|
}
|
|
|
|
void Space2DSW::body_add_to_state_query_list(SelfList<Body2DSW> *p_body) {
|
|
|
|
state_query_list.add(p_body);
|
|
}
|
|
void Space2DSW::body_remove_from_state_query_list(SelfList<Body2DSW> *p_body) {
|
|
|
|
state_query_list.remove(p_body);
|
|
}
|
|
|
|
void Space2DSW::area_add_to_monitor_query_list(SelfList<Area2DSW> *p_area) {
|
|
|
|
monitor_query_list.add(p_area);
|
|
}
|
|
void Space2DSW::area_remove_from_monitor_query_list(SelfList<Area2DSW> *p_area) {
|
|
|
|
monitor_query_list.remove(p_area);
|
|
}
|
|
|
|
void Space2DSW::area_add_to_moved_list(SelfList<Area2DSW> *p_area) {
|
|
|
|
area_moved_list.add(p_area);
|
|
}
|
|
|
|
void Space2DSW::area_remove_from_moved_list(SelfList<Area2DSW> *p_area) {
|
|
|
|
area_moved_list.remove(p_area);
|
|
}
|
|
|
|
const SelfList<Area2DSW>::List &Space2DSW::get_moved_area_list() const {
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return area_moved_list;
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}
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void Space2DSW::call_queries() {
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while (state_query_list.first()) {
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Body2DSW *b = state_query_list.first()->self();
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b->call_queries();
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state_query_list.remove(state_query_list.first());
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}
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while (monitor_query_list.first()) {
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Area2DSW *a = monitor_query_list.first()->self();
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a->call_queries();
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monitor_query_list.remove(monitor_query_list.first());
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}
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}
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void Space2DSW::setup() {
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contact_debug_count = 0;
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while (inertia_update_list.first()) {
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inertia_update_list.first()->self()->update_inertias();
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inertia_update_list.remove(inertia_update_list.first());
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}
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}
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void Space2DSW::update() {
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broadphase->update();
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}
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void Space2DSW::set_param(Physics2DServer::SpaceParameter p_param, real_t p_value) {
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switch (p_param) {
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case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius = p_value; break;
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case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation = p_value; break;
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case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration = p_value; break;
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case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: body_linear_velocity_sleep_threshold = p_value; break;
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case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: body_angular_velocity_sleep_threshold = p_value; break;
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case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break;
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case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break;
|
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}
|
|
}
|
|
|
|
real_t Space2DSW::get_param(Physics2DServer::SpaceParameter p_param) const {
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|
|
|
switch (p_param) {
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|
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case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius;
|
|
case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation;
|
|
case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration;
|
|
case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: return body_linear_velocity_sleep_threshold;
|
|
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: return body_angular_velocity_sleep_threshold;
|
|
case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
|
|
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
void Space2DSW::lock() {
|
|
|
|
locked = true;
|
|
}
|
|
|
|
void Space2DSW::unlock() {
|
|
|
|
locked = false;
|
|
}
|
|
|
|
bool Space2DSW::is_locked() const {
|
|
|
|
return locked;
|
|
}
|
|
|
|
Physics2DDirectSpaceStateSW *Space2DSW::get_direct_state() {
|
|
|
|
return direct_access;
|
|
}
|
|
|
|
Space2DSW::Space2DSW() {
|
|
|
|
collision_pairs = 0;
|
|
active_objects = 0;
|
|
island_count = 0;
|
|
|
|
contact_debug_count = 0;
|
|
|
|
locked = false;
|
|
contact_recycle_radius = 1.0;
|
|
contact_max_separation = 1.5;
|
|
contact_max_allowed_penetration = 0.3;
|
|
|
|
constraint_bias = 0.2;
|
|
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0);
|
|
body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_angular", (8.0 / 180.0 * Math_PI));
|
|
body_time_to_sleep = GLOBAL_DEF("physics/2d/time_before_sleep", 0.5);
|
|
|
|
broadphase = BroadPhase2DSW::create_func();
|
|
broadphase->set_pair_callback(_broadphase_pair, this);
|
|
broadphase->set_unpair_callback(_broadphase_unpair, this);
|
|
area = NULL;
|
|
|
|
direct_access = memnew(Physics2DDirectSpaceStateSW);
|
|
direct_access->space = this;
|
|
|
|
for (int i = 0; i < ELAPSED_TIME_MAX; i++)
|
|
elapsed_time[i] = 0;
|
|
}
|
|
|
|
Space2DSW::~Space2DSW() {
|
|
|
|
memdelete(broadphase);
|
|
memdelete(direct_access);
|
|
}
|