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_layer_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_layer_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;
}
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_layer_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_layer_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;
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;
}
}
r_result_count=cbk.amount;
return collided;
}
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) {
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_xform.xform(shape->get_aabb());
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;
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 (p_exclude.has( space->intersection_query_results[i]->get_self()))
continue;
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))
continue;
r_results[cc].collider_id=col_obj->get_instance_id();
if (r_results[cc].collider_id!=0)
r_results[cc].collider=ObjectDB::get_instance(r_results[cc].collider_id);
r_results[cc].rid=col_obj->get_self();
r_results[cc].shape=shape_idx;
cc++;
}
return cc;
}
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_layer_mask,uint32_t p_object_type_mask) {
if (p_result_max<=0)
return 0;
Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
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);
bool collided=false;
int cc=0;
for(int i=0;i<amount;i++) {
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
continue;
if (p_exclude.has( space->intersection_query_results[i]->get_self()))
continue;
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,p_margin))
continue;
r_results[cc].collider_id=col_obj->get_instance_id();
if (r_results[cc].collider_id!=0)
r_results[cc].collider=ObjectDB::get_instance(r_results[cc].collider_id);
r_results[cc].rid=col_obj->get_self();
r_results[cc].shape=shape_idx;
r_results[cc].metadata=col_obj->get_shape_metadata(shape_idx);
cc++;
}
return cc;
}
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_layer_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,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);
float best_safe=1;
float best_unsafe=1;
for(int i=0; i<amount; i++) {
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
continue;
if (p_exclude.has( space->intersection_query_results[i]->get_self()))
continue; //ignore excluded
const CollisionObject2DSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
/*if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
if (body->get_one_way_collision_direction()!=Vector2() && p_motion.dot(body->get_one_way_collision_direction())<=CMP_EPSILON) {
print_line("failed in motion dir");
continue;
}
}*/
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,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,p_margin)) {
if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
//if one way collision direction ignore initial overlap
const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
if (body->get_one_way_collision_direction()!=Vector2()) {
continue;
}
}
return false;
}
//just do kinematic solving
float low=0;
float hi=1;
Vector2 mnormal=p_motion.normalized();
for(int i=0; i<8; i++) { //steps should be customizable..
Matrix32 xfa = p_xform;
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,p_margin);
if (collided) {
hi=ofs;
} else {
low=ofs;
}
}
if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
if (body->get_one_way_collision_direction()!=Vector2()) {
Vector2 cd[2];
Physics2DServerSW::CollCbkData cbk;
cbk.max=1;
cbk.amount=0;
cbk.ptr=cd;
cbk.valid_dir=body->get_one_way_collision_direction();
cbk.valid_depth=body->get_one_way_collision_max_depth();
Vector2 sep=mnormal; //important optimization for this to work fast enough
bool collided = CollisionSolver2DSW::solve(shape,p_xform,p_motion*(hi+space->contact_max_allowed_penetration),col_obj->get_shape(shape_idx),col_obj_xform,Vector2(),Physics2DServerSW::_shape_col_cbk,&cbk,&sep,p_margin);
if (!collided || cbk.amount==0) {
continue;
}
}
}
if (low<best_safe) {
best_safe=low;
best_unsafe=hi;
}
}
p_closest_safe=best_safe;
p_closest_unsafe=best_unsafe;
return true;
}
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) {
Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape, false);
Rect2 aabb = p_xform.xform(shape->get_aabb());
aabb = aabb.merge(Rect2(aabb.position + 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);
real_t best_safe = 1;
real_t best_unsafe = 1;
for (int i = 0; i < amount; i++) {
if (!_match_object_type_query(space->intersection_query_results[i], p_collision_layer, p_object_type_mask))
continue;
if (p_exclude.has(space->intersection_query_results[i]->get_self()))
continue; //ignore excluded
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
/*if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
if (body->get_one_way_collision_direction()!=Vector2() && p_motion.dot(body->get_one_way_collision_direction())<=CMP_EPSILON) {
print_line("failed in motion dir");
continue;
}
}*/
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(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, p_margin)) {
return false;
}
//just do kinematic solving
real_t low = 0;
real_t hi = 1;
Vector2 mnormal = p_motion.normalized();
for (int i = 0; i < 8; i++) { //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(shape, p_xform, p_motion * ofs, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, &sep, p_margin);
if (collided) {
hi = ofs;
} else {
low = ofs;
}
}
if (low < best_safe) {
best_safe = low;
best_unsafe = hi;
}
}
p_closest_safe = best_safe;
p_closest_unsafe = best_unsafe;
return true;
}
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);
Rect2 aabb = p_xform.xform(shape->get_aabb());
aabb=aabb.merge(Rect2(aabb.pos+p_motion,aabb.size)); //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;
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 (p_exclude.has( space->intersection_query_results[i]->get_self()))
continue; //ignore excluded
const CollisionObject2DSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
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)) {
continue;
}
//test initial overlap
if (CollisionSolver2DSW::solve(shape,p_xform,Vector2(),col_obj->get_shape(shape_idx),col_obj_xform,Vector2() ,NULL,NULL,NULL)) {
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;
}
#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;
float hi=1;
Vector2 mnormal=p_motion.normalized();
for(int i=0;i<8;i++) { //steps should be customizable..
Matrix32 xfa = p_xform;
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);
if (collided) {
hi=ofs;
} else {
low=ofs;
}
}
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));
if (collided && low>=r_result.travel)
continue;
collided=true;
r_result.travel=low;
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 (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;
}
return collided;
}
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_layer_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,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);
float best_safe=1;
float best_unsafe=1;
for(int i=0;i<amount;i++) {
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
continue;
if (p_exclude.has( space->intersection_query_results[i]->get_self()))
continue; //ignore excluded
const CollisionObject2DSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
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,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,p_margin)) {
return false;
}
//just do kinematic solving
float low=0;
float hi=1;
Vector2 mnormal=p_motion.normalized();
for(int i=0;i<8;i++) { //steps should be customizable..
Matrix32 xfa = p_xform;
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,p_margin);
if (collided) {
hi=ofs;
} else {
low=ofs;
}
}
if (low<best_safe) {
best_safe=low;
best_unsafe=hi;
}
}
p_closest_safe=best_safe;
p_closest_unsafe=best_unsafe;
return true;
}