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Fix one-way collision for moving objects #36280

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Fix one-way collision for moving objects #36280

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5c81798
Fix one-way collision for moving objects
Feb 22, 2020
1977999
Fix fall through one-way TileMap
Feb 22, 2020
0af1cb7
Fix OWC detection at Attempt Motion step
Mar 2, 2020
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44 changes: 20 additions & 24 deletions servers/physics_2d/body_pair_2d_sw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -288,19 +288,17 @@ bool BodyPair2DSW::setup(real_t p_step) {
if (A->is_shape_set_as_one_way_collision(shape_A)) {
Vector2 direction = xform_A.get_axis(1).normalized();
bool valid = false;
if (B->get_linear_velocity().dot(direction) >= 0) {
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
if (!c.reused) {
continue;
}
if (c.normal.dot(direction) > 0) { //greater (normal inverted)
continue;
}

valid = true;
break;
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
if (!c.reused) {
continue;
}
if (c.normal.dot(direction) > 0) { //greater (normal inverted)
continue;
}

valid = true;
break;
}

if (!valid) {
Expand All @@ -313,19 +311,17 @@ bool BodyPair2DSW::setup(real_t p_step) {
if (B->is_shape_set_as_one_way_collision(shape_B)) {
Vector2 direction = xform_B.get_axis(1).normalized();
bool valid = false;
if (A->get_linear_velocity().dot(direction) >= 0) {
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
if (!c.reused) {
continue;
}
if (c.normal.dot(direction) < 0) { //less (normal ok)
continue;
}

valid = true;
break;
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
if (!c.reused) {
continue;
}
if (c.normal.dot(direction) < 0) { //less (normal ok)
continue;
}

valid = true;
break;
}
if (!valid) {
collided = false;
Expand Down
14 changes: 3 additions & 11 deletions servers/physics_2d/physics_server_2d_sw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -149,23 +149,15 @@ void PhysicsServer2DSW::_shape_col_cbk(const Vector2 &p_point_A, const Vector2 &
return;
}

if (cbk->valid_dir != Vector2()) {
Vector2 rel_dir = (p_point_A - p_point_B).normalized();
if (cbk->valid_dir != Vector2() && rel_dir != Vector2() && cbk->valid_depth < 10e20) {
if (p_point_A.distance_squared_to(p_point_B) > cbk->valid_depth * cbk->valid_depth) {
cbk->invalid_by_dir++;
return;
}
Vector2 rel_dir = (p_point_A - p_point_B).normalized();

if (cbk->valid_dir.dot(rel_dir) < Math_SQRT12) { //sqrt(2)/2.0 - 45 degrees
if (cbk->valid_dir.dot(rel_dir) <= 0) {
cbk->invalid_by_dir++;

/*
print_line("A: "+p_point_A);
print_line("B: "+p_point_B);
print_line("discard too angled "+rtos(cbk->valid_dir.dot((p_point_A-p_point_B))));
print_line("resnorm: "+(p_point_A-p_point_B).normalized());
print_line("distance: "+rtos(p_point_A.distance_to(p_point_B)));
*/
return;
}
}
Expand Down
16 changes: 9 additions & 7 deletions servers/physics_2d/space_2d_sw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -798,24 +798,26 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co

float owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
cbk.valid_depth = MAX(owc_margin, p_margin); //user specified, but never less than actual margin or it won't work
cbk.invalid_by_dir = 0;

//we need take out own movement into account
Vector2 a_motion = p_motion;
float a_depth = a_motion.dot(cbk.valid_dir);
cbk.valid_depth += a_depth;

if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_RIGID) {
//fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction
Vector2 lv = b->get_linear_velocity();
//compute displacement from linear velocity
Vector2 motion = lv * PhysicsDirectBodyState2DSW::singleton->step;
float motion_len = motion.length();
motion.normalize();
cbk.valid_depth += motion_len * MAX(motion.dot(-cbk.valid_dir), 0.0);
Vector2 b_motion = lv * PhysicsDirectBodyState2DSW::singleton->step;
float b_depth = b_motion.dot(-cbk.valid_dir);
cbk.valid_depth += b_depth;
}
}
} else {
cbk.valid_dir = Vector2();
cbk.valid_depth = 0;
cbk.invalid_by_dir = 0;
}

int current_passed = cbk.passed; //save how many points passed collision
Expand Down Expand Up @@ -852,7 +854,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
for (int i = 0; i < cbk.amount; i++) {
Vector2 a = sr[i * 2 + 0];
Vector2 b = sr[i * 2 + 1];
recover_motion += (b - a) * 0.4;
recover_motion += (b - a) / cbk.amount;
}

if (recover_motion == Vector2()) {
Expand Down