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);
Rect3 aabb = p_xform.xform(shape->get_aabb());
aabb=aabb.merge(Rect3(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;
}
