diff --git a/doc/classes/Physics2DServer.xml b/doc/classes/Physics2DServer.xml
index 6a3b29183529..4e2bd6774bb2 100644
--- a/doc/classes/Physics2DServer.xml
+++ b/doc/classes/Physics2DServer.xml
@@ -832,8 +832,6 @@
Constant to set/get the default solver bias for all physics constraints. A solver bias is a factor controlling how much two objects "rebound", after violating a constraint, to avoid leaving them in that state because of numerical imprecision.
-
-
This is the constant for creating line shapes. A line shape is an infinite line with an origin point, and a normal. Thus, it can be used for front/behind checks.
diff --git a/doc/classes/PhysicsServer.xml b/doc/classes/PhysicsServer.xml
index d017acf2f926..fdcd90a8359d 100644
--- a/doc/classes/PhysicsServer.xml
+++ b/doc/classes/PhysicsServer.xml
@@ -1297,8 +1297,6 @@
Constant to set/get the default solver bias for all physics constraints. A solver bias is a factor controlling how much two objects "rebound", after violating a constraint, to avoid leaving them in that state because of numerical imprecision.
-
-
diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp
index 7ecc153a94a6..cde11f7fec1a 100644
--- a/servers/physics/space_sw.cpp
+++ b/servers/physics/space_sw.cpp
@@ -34,6 +34,8 @@
#include "core/project_settings.h"
#include "physics_server_sw.h"
+#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05
+
_FORCE_INLINE_ static bool _can_collide_with(CollisionObjectSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (!(p_object->get_collision_layer() & p_collision_mask)) {
return false;
@@ -432,6 +434,8 @@ bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_
ShapeSW *shape = static_cast(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape, 0);
+ real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+
AABB aabb = p_shape_xform.xform(shape->get_aabb());
aabb = aabb.grow(p_margin);
@@ -441,7 +445,7 @@ bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_
rcd.best_len = 0;
rcd.best_object = nullptr;
rcd.best_shape = 0;
- rcd.min_allowed_depth = space->test_motion_min_contact_depth;
+ rcd.min_allowed_depth = min_contact_depth;
for (int i = 0; i < amount; i++) {
if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) {
@@ -753,6 +757,8 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
body_aabb = p_from.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb = body_aabb.grow(p_margin);
+ real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+
float motion_length = p_motion.length();
Vector3 motion_normal = p_motion / motion_length;
@@ -815,8 +821,9 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
break;
}
- Vector3 recover_motion;
+ recovered = true;
+ Vector3 recover_motion;
for (int i = 0; i < cbk.amount; i++) {
Vector3 a = sr[i * 2 + 0];
Vector3 b = sr[i * 2 + 1];
@@ -827,9 +834,9 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
// Compute depth on recovered motion.
float depth = n.dot(a + recover_motion) - d;
- if (depth > 0.0) {
+ if (depth > min_contact_depth + CMP_EPSILON) {
// Only recover if there is penetration.
- recover_motion -= n * depth * 0.4;
+ recover_motion -= n * (depth - min_contact_depth) * 0.4;
}
}
@@ -838,8 +845,6 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
break;
}
- recovered = true;
-
body_transform.origin += recover_motion;
body_aabb.position += recover_motion;
@@ -991,7 +996,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
rcd.best_shape = 0;
// Allowed depth can't be lower than motion length, in order to handle contacts at low speed.
- rcd.min_allowed_depth = MIN(motion_length, test_motion_min_contact_depth);
+ rcd.min_allowed_depth = MIN(motion_length, min_contact_depth);
int from_shape = best_shape != -1 ? best_shape : 0;
int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count();
@@ -1233,9 +1238,6 @@ void SpaceSW::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) {
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
constraint_bias = p_value;
break;
- case PhysicsServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH:
- test_motion_min_contact_depth = p_value;
- break;
}
}
@@ -1257,8 +1259,6 @@ real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const {
return body_angular_velocity_damp_ratio;
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
return constraint_bias;
- case PhysicsServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH:
- return test_motion_min_contact_depth;
}
return 0;
}
@@ -1289,7 +1289,6 @@ SpaceSW::SpaceSW() {
contact_recycle_radius = 0.01;
contact_max_separation = 0.05;
contact_max_allowed_penetration = 0.01;
- test_motion_min_contact_depth = 0.00001;
constraint_bias = 0.01;
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1);
diff --git a/servers/physics/space_sw.h b/servers/physics/space_sw.h
index 6bbd3b9dd29d..6a0f7ed55234 100644
--- a/servers/physics/space_sw.h
+++ b/servers/physics/space_sw.h
@@ -94,7 +94,6 @@ class SpaceSW : public RID_Data {
real_t contact_max_separation;
real_t contact_max_allowed_penetration;
real_t constraint_bias;
- real_t test_motion_min_contact_depth;
enum {
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 8756477350c2..85045d707aa3 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -34,6 +34,9 @@
#include "core/os/os.h"
#include "core/pair.h"
#include "physics_2d_server_sw.h"
+
+#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05
+
_FORCE_INLINE_ static bool _can_collide_with(CollisionObject2DSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (!(p_object->get_collision_layer() & p_collision_mask)) {
return false;
@@ -434,6 +437,8 @@ bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Transform2D &p_sh
Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape, 0);
+ real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+
Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion
aabb = aabb.grow(p_margin);
@@ -444,7 +449,7 @@ bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Transform2D &p_sh
rcd.best_len = 0;
rcd.best_object = nullptr;
rcd.best_shape = 0;
- rcd.min_allowed_depth = space->test_motion_min_contact_depth;
+ rcd.min_allowed_depth = min_contact_depth;
for (int i = 0; i < amount; i++) {
if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) {
@@ -757,6 +762,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
ExcludedShapeSW excluded_shape_pairs[max_excluded_shape_pairs];
int excluded_shape_pair_count = 0;
+ real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+
float motion_length = p_motion.length();
Vector2 motion_normal = p_motion / motion_length;
@@ -868,6 +875,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
break;
}
+ recovered = true;
+
Vector2 recover_motion;
for (int i = 0; i < cbk.amount; i++) {
Vector2 a = sr[i * 2 + 0];
@@ -879,9 +888,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
// Compute depth on recovered motion.
float depth = n.dot(a + recover_motion) - d;
- if (depth > 0.0) {
+ if (depth > min_contact_depth + CMP_EPSILON) {
// Only recover if there is penetration.
- recover_motion -= n * depth * 0.4;
+ recover_motion -= n * (depth - min_contact_depth) * 0.4;
}
}
@@ -890,8 +899,6 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
break;
}
- recovered = true;
-
body_transform.elements[2] += recover_motion;
body_aabb.position += recover_motion;
@@ -1068,7 +1075,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
rcd.best_shape = 0;
// Allowed depth can't be lower than motion length, in order to handle contacts at low speed.
- rcd.min_allowed_depth = MIN(motion_length, test_motion_min_contact_depth);
+ rcd.min_allowed_depth = MIN(motion_length, min_contact_depth);
int from_shape = best_shape != -1 ? best_shape : 0;
int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count();
@@ -1345,9 +1352,6 @@ void Space2DSW::set_param(Physics2DServer::SpaceParameter p_param, real_t p_valu
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
constraint_bias = p_value;
break;
- case Physics2DServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH:
- test_motion_min_contact_depth = p_value;
- break;
}
}
@@ -1367,8 +1371,6 @@ real_t Space2DSW::get_param(Physics2DServer::SpaceParameter p_param) const {
return body_time_to_sleep;
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
return constraint_bias;
- case Physics2DServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH:
- return test_motion_min_contact_depth;
}
return 0;
}
@@ -1400,7 +1402,6 @@ Space2DSW::Space2DSW() {
contact_recycle_radius = 1.0;
contact_max_separation = 1.5;
contact_max_allowed_penetration = 0.3;
- test_motion_min_contact_depth = 0.005;
constraint_bias = 0.2;
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0);
diff --git a/servers/physics_2d/space_2d_sw.h b/servers/physics_2d/space_2d_sw.h
index c8a5ea7d7d76..d8f845575097 100644
--- a/servers/physics_2d/space_2d_sw.h
+++ b/servers/physics_2d/space_2d_sw.h
@@ -102,7 +102,6 @@ class Space2DSW : public RID_Data {
real_t contact_max_separation;
real_t contact_max_allowed_penetration;
real_t constraint_bias;
- real_t test_motion_min_contact_depth;
enum {
diff --git a/servers/physics_2d_server.cpp b/servers/physics_2d_server.cpp
index f1a4d346a216..f34cb4c4ca9d 100644
--- a/servers/physics_2d_server.cpp
+++ b/servers/physics_2d_server.cpp
@@ -657,7 +657,6 @@ void Physics2DServer::_bind_methods() {
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS);
- BIND_ENUM_CONSTANT(SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH);
BIND_ENUM_CONSTANT(SHAPE_LINE);
BIND_ENUM_CONSTANT(SHAPE_RAY);
diff --git a/servers/physics_2d_server.h b/servers/physics_2d_server.h
index 9a17521597b6..bd34a3a02f81 100644
--- a/servers/physics_2d_server.h
+++ b/servers/physics_2d_server.h
@@ -261,7 +261,6 @@ class Physics2DServer : public Object {
SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD,
SPACE_PARAM_BODY_TIME_TO_SLEEP,
SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
- SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH,
};
virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0;
diff --git a/servers/physics_server.cpp b/servers/physics_server.cpp
index 15e94d45be61..3d158bc3d0b9 100644
--- a/servers/physics_server.cpp
+++ b/servers/physics_server.cpp
@@ -759,7 +759,6 @@ void PhysicsServer::_bind_methods() {
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS);
- BIND_ENUM_CONSTANT(SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_X);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Y);
diff --git a/servers/physics_server.h b/servers/physics_server.h
index ea7a342b0664..ae9b88bbd387 100644
--- a/servers/physics_server.h
+++ b/servers/physics_server.h
@@ -250,7 +250,6 @@ class PhysicsServer : public Object {
SPACE_PARAM_BODY_TIME_TO_SLEEP,
SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO,
SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
- SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH
};
virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0;