|
|
@@ -541,7 +541,144 @@ int SpaceSW::_cull_aabb_for_body(BodySW *p_body, const AABB &p_aabb) {
|
|
|
return amount;
|
|
|
}
|
|
|
|
|
|
-bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer::MotionResult *r_result) {
|
|
|
+int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer::SeparationResult *r_results, int p_result_max, real_t p_margin) {
|
|
|
+
|
|
|
+ AABB 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_transform.xform(p_body->get_inv_transform().xform(body_aabb));
|
|
|
+ body_aabb = body_aabb.grow(p_margin);
|
|
|
+
|
|
|
+ Transform body_transform = p_transform;
|
|
|
+
|
|
|
+ for (int i = 0; i < p_result_max; i++) {
|
|
|
+ //reset results
|
|
|
+ r_results[i].collision_depth = 0;
|
|
|
+ }
|
|
|
+
|
|
|
+ int rays_found = 0;
|
|
|
+
|
|
|
+ {
|
|
|
+ // raycast AND separate
|
|
|
+
|
|
|
+ const int max_results = 32;
|
|
|
+ int recover_attempts = 4;
|
|
|
+ Vector3 sr[max_results * 2];
|
|
|
+ PhysicsServerSW::CollCbkData cbk;
|
|
|
+ cbk.max = max_results;
|
|
|
+ PhysicsServerSW::CollCbkData *cbkptr = &cbk;
|
|
|
+ CollisionSolverSW::CallbackResult cbkres = PhysicsServerSW::_shape_col_cbk;
|
|
|
+
|
|
|
+ do {
|
|
|
+
|
|
|
+ Vector3 recover_motion;
|
|
|
+
|
|
|
+ bool collided = false;
|
|
|
+
|
|
|
+ int amount = _cull_aabb_for_body(p_body, body_aabb);
|
|
|
+ int ray_index = 0;
|
|
|
+
|
|
|
+ for (int j = 0; j < p_body->get_shape_count(); j++) {
|
|
|
+ if (p_body->is_shape_set_as_disabled(j))
|
|
|
+ continue;
|
|
|
+
|
|
|
+ ShapeSW *body_shape = p_body->get_shape(j);
|
|
|
+
|
|
|
+ if (body_shape->get_type() != PhysicsServer::SHAPE_RAY)
|
|
|
+ continue;
|
|
|
+
|
|
|
+ Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
|
|
|
+
|
|
|
+ for (int i = 0; i < amount; i++) {
|
|
|
+
|
|
|
+ const CollisionObjectSW *col_obj = intersection_query_results[i];
|
|
|
+ int shape_idx = intersection_query_subindex_results[i];
|
|
|
+
|
|
|
+ cbk.amount = 0;
|
|
|
+ cbk.ptr = sr;
|
|
|
+
|
|
|
+ if (CollisionObjectSW::TYPE_BODY == col_obj->get_type()) {
|
|
|
+ const BodySW *b = static_cast<const BodySW *>(col_obj);
|
|
|
+ if (p_infinite_inertia && PhysicsServer::BODY_MODE_STATIC != b->get_mode() && PhysicsServer::BODY_MODE_KINEMATIC != b->get_mode()) {
|
|
|
+ continue;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ ShapeSW *against_shape = col_obj->get_shape(shape_idx);
|
|
|
+ if (CollisionSolverSW::solve_static(body_shape, body_shape_xform, against_shape, col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, NULL, p_margin)) {
|
|
|
+ if (cbk.amount > 0) {
|
|
|
+ collided = true;
|
|
|
+ }
|
|
|
+
|
|
|
+ if (ray_index < p_result_max) {
|
|
|
+ PhysicsServer::SeparationResult &result = r_results[ray_index];
|
|
|
+
|
|
|
+ for (int k = 0; k < cbk.amount; k++) {
|
|
|
+ Vector3 a = sr[k * 2 + 0];
|
|
|
+ Vector3 b = sr[k * 2 + 1];
|
|
|
+
|
|
|
+ recover_motion += (b - a) * 0.4;
|
|
|
+
|
|
|
+ float depth = a.distance_to(b);
|
|
|
+ if (depth > result.collision_depth) {
|
|
|
+
|
|
|
+ result.collision_depth = depth;
|
|
|
+ result.collision_point = b;
|
|
|
+ result.collision_normal = (b - a).normalized();
|
|
|
+ result.collision_local_shape = shape_idx;
|
|
|
+ result.collider = col_obj->get_self();
|
|
|
+ result.collider_id = col_obj->get_instance_id();
|
|
|
+ //result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
|
|
|
+ if (col_obj->get_type() == CollisionObjectSW::TYPE_BODY) {
|
|
|
+ BodySW *body = (BodySW *)col_obj;
|
|
|
+
|
|
|
+ Vector3 rel_vec = b - body->get_transform().get_origin();
|
|
|
+ //result.collider_velocity = Vector3(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
|
|
|
+ result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - rel_vec); // * mPos);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ ray_index++;
|
|
|
+ }
|
|
|
+
|
|
|
+ rays_found = MAX(ray_index, rays_found);
|
|
|
+
|
|
|
+ if (!collided || recover_motion == Vector3()) {
|
|
|
+ break;
|
|
|
+ }
|
|
|
+
|
|
|
+ body_transform.origin += recover_motion;
|
|
|
+ body_aabb.position += recover_motion;
|
|
|
+
|
|
|
+ recover_attempts--;
|
|
|
+ } while (recover_attempts);
|
|
|
+ }
|
|
|
+
|
|
|
+ //optimize results (remove non colliding)
|
|
|
+ for (int i = 0; i < rays_found; i++) {
|
|
|
+ if (r_results[i].collision_depth == 0) {
|
|
|
+ rays_found--;
|
|
|
+ SWAP(r_results[i], r_results[rays_found]);
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ r_recover_motion = body_transform.origin - p_transform.origin;
|
|
|
+ return rays_found;
|
|
|
+}
|
|
|
+
|
|
|
+bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes) {
|
|
|
|
|
|
//give me back regular physics engine logic
|
|
|
//this is madness
|
|
|
@@ -597,6 +734,10 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
|
|
|
|
|
|
Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
|
|
|
ShapeSW *body_shape = p_body->get_shape(j);
|
|
|
+ if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer::SHAPE_RAY) {
|
|
|
+ continue;
|
|
|
+ }
|
|
|
+
|
|
|
for (int i = 0; i < amount; i++) {
|
|
|
|
|
|
const CollisionObjectSW *col_obj = intersection_query_results[i];
|
|
|
@@ -655,6 +796,10 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
|
|
|
Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
|
|
|
ShapeSW *body_shape = p_body->get_shape(j);
|
|
|
|
|
|
+ if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer::SHAPE_RAY) {
|
|
|
+ continue;
|
|
|
+ }
|
|
|
+
|
|
|
Transform body_shape_xform_inv = body_shape_xform.affine_inverse();
|
|
|
MotionShapeSW mshape;
|
|
|
mshape.shape = body_shape;
|
Juan Linietsky