Merge pull request #65048 from rburing/solve_static_world_boundary_motion_2d

servers/physics_2d/godot_collision_solver_2d.cpp

@@ -34,7 +34,7 @@
 #define collision_solver sat_2d_calculate_penetration
 //#define collision_solver gjk_epa_calculate_penetration
 
-bool GodotCollisionSolver2D::solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
+bool GodotCollisionSolver2D::solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) {
 	const GodotWorldBoundaryShape2D *world_boundary = static_cast<const GodotWorldBoundaryShape2D *>(p_shape_A);
 	if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_WORLD_BOUNDARY) {
 		return false;
@@ -52,7 +52,9 @@ bool GodotCollisionSolver2D::solve_static_world_boundary(const GodotShape2D *p_s
 	bool found = false;
 
 	for (int i = 0; i < support_count; i++) {
+		supports[i] += p_margin * supports[i].normalized();
 		supports[i] = p_transform_B.xform(supports[i]);
+		supports[i] += p_motion_B;
 		real_t pd = n.dot(supports[i]);
 		if (pd >= d) {
 			continue;
@@ -231,9 +233,9 @@ bool GodotCollisionSolver2D::solve(const GodotShape2D *p_shape_A, const Transfor
 		}
 
 		if (swap) {
-			return solve_static_world_boundary(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
+			return solve_static_world_boundary(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_motion_A, p_result_callback, p_userdata, true, p_margin_A);
 		} else {
-			return solve_static_world_boundary(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
+			return solve_static_world_boundary(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, p_margin_B);
 		}
 
 	} else if (type_A == PhysicsServer2D::SHAPE_SEPARATION_RAY) {

servers/physics_2d/godot_collision_solver_2d.h

@@ -38,7 +38,7 @@ public:
 	typedef void (*CallbackResult)(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata);
 
 private:
-	static bool solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
+	static bool solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0);
 	static bool concave_callback(void *p_userdata, GodotShape2D *p_convex);
 	static bool solve_concave(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
 	static bool solve_separation_ray(const GodotShape2D *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin = 0);