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 (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) { const Body2DSW *body=static_cast<const Body2DSW*>(col_obj); cbk.valid_dir=body->get_one_way_collision_direction(); cbk.valid_depth=body->get_one_way_collision_max_depth(); } else { cbk.valid_dir=Vector2(); cbk.valid_depth=0; } 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=p_result_max==0 || cbk.amount>0; } } r_result_count=cbk.amount; 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]; /*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 PhysicsDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& 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,ShapeRestInfo *r_info) { ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape); ERR_FAIL_COND_V(!shape,false); AABB aabb = p_xform.xform(shape->get_aabb()); aabb=aabb.merge(AABB(aabb.pos+p_motion,aabb.size)); //motion aabb=aabb.grow(p_margin); //if (p_motion!=Vector3()) // print_line(p_motion); int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results); float best_safe=1; float best_unsafe=1; Transform xform_inv = p_xform.affine_inverse(); MotionShapeSW mshape; mshape.shape=shape; mshape.motion=xform_inv.basis.xform(p_motion); bool best_first=true; Vector3 closest_A,closest_B; 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 CollisionObjectSW *col_obj=space->intersection_query_results[i]; int shape_idx=space->intersection_query_subindex_results[i]; Vector3 point_A,point_B; Vector3 sep_axis=p_motion.normalized(); Transform 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 (CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) { //print_line("failed motion cast (no collision)"); continue; } //test initial overlap #if 0 if (CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,NULL,NULL,&sep_axis)) { print_line("failed initial cast (collision at begining)"); return false; } #else sep_axis=p_motion.normalized(); if (!CollisionSolverSW::solve_distance(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) { //print_line("failed motion cast (no collision)"); return false; } #endif //just do kinematic solving float low=0; float hi=1; Vector3 mnormal=p_motion.normalized(); for(int i=0;i<8;i++) { //steps should be customizable.. float ofs = (low+hi)*0.5; Vector3 sep=mnormal; //important optimization for this to work fast enough mshape.motion=xform_inv.basis.xform(p_motion*ofs); Vector3 lA,lB; bool collided = !CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,lA,lB,aabb,&sep); if (collided) { //print_line(itos(i)+": "+rtos(ofs)); hi=ofs; } else { point_A=lA; point_B=lB; low=ofs; } } if (low<best_safe) { best_first=true; //force reset best_safe=low; best_unsafe=hi; } if (r_info && (best_first || (point_A.distance_squared_to(point_B) < closest_A.distance_squared_to(closest_B) && low<=best_safe))) { closest_A=point_A; closest_B=point_B; r_info->collider_id=col_obj->get_instance_id(); r_info->rid=col_obj->get_self(); r_info->shape=shape_idx; r_info->point=closest_B; r_info->normal=(closest_A-closest_B).normalized(); best_first=false; if (col_obj->get_type()==CollisionObjectSW::TYPE_BODY) { const BodySW *body=static_cast<const BodySW*>(col_obj); r_info->linear_velocity= body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B); } } } p_closest_safe=best_safe; p_closest_unsafe=best_unsafe; return true; }
bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vector3& p_to, RayResult &r_result, const Set<RID>& p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask, bool p_pick_ray) { ERR_FAIL_COND_V(space->locked,false); Vector3 begin,end; Vector3 normal; begin=p_from; end=p_to; normal=(end-begin).normalized(); int amount = space->broadphase->cull_segment(begin,end,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results); //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 bool collided=false; Vector3 res_point,res_normal; int res_shape; const CollisionObjectSW *res_obj; real_t min_d=1e10; 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_pick_ray && !(static_cast<CollisionObjectSW*>(space->intersection_query_results[i])->is_ray_pickable())) continue; if (p_exclude.has( space->intersection_query_results[i]->get_self())) continue; const CollisionObjectSW *col_obj=space->intersection_query_results[i]; int shape_idx=space->intersection_query_subindex_results[i]; Transform inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform(); Vector3 local_from = inv_xform.xform(begin); Vector3 local_to = inv_xform.xform(end); const ShapeSW *shape = col_obj->get_shape(shape_idx); Vector3 shape_point,shape_normal; if (shape->intersect_segment(local_from,local_to,shape_point,shape_normal)) { Transform xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); shape_point=xform.xform(shape_point); real_t ld = normal.dot(shape_point); if (ld<min_d) { min_d=ld; res_point=shape_point; res_normal=inv_xform.basis.xform_inv(shape_normal).normalized(); res_shape=shape_idx; res_obj=col_obj; collided=true; } } } if (!collided) return false; r_result.collider_id=res_obj->get_instance_id(); if (r_result.collider_id!=0) r_result.collider=ObjectDB::get_instance(r_result.collider_id); else r_result.collider=NULL; r_result.normal=res_normal; r_result.position=res_point; r_result.rid=res_obj->get_self(); r_result.shape=res_shape; return true; }
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); _RestCallbackData2D 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; if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) { const Body2DSW *body=static_cast<const Body2DSW*>(col_obj); rcd.valid_dir=body->get_one_way_collision_direction(); rcd.valid_depth=body->get_one_way_collision_max_depth(); } else { rcd.valid_dir=Vector2(); rcd.valid_depth=0; } 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(); 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; }