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Apply infinite inertia checks to Godot physics 3D #42636

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Jun 11, 2021
Merged

Apply infinite inertia checks to Godot physics 3D #42636

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21 changes: 21 additions & 0 deletions servers/physics_3d/space_3d_sw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -802,6 +802,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
const CollisionObject3DSW *col_obj = intersection_query_results[i];
int shape_idx = intersection_query_subindex_results[i];

if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
const Body3DSW *b = static_cast<const Body3DSW *>(col_obj);
if (p_infinite_inertia && PhysicsServer3D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer3D::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}

if (CollisionSolver3DSW::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_margin)) {
collided = cbk.amount > 0;
}
Expand Down Expand Up @@ -884,6 +891,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
const CollisionObject3DSW *col_obj = intersection_query_results[i];
int shape_idx = intersection_query_subindex_results[i];

if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
const Body3DSW *b = static_cast<const Body3DSW *>(col_obj);
if (p_infinite_inertia && PhysicsServer3D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer3D::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}

//test initial overlap, does it collide if going all the way?
Vector3 point_A, point_B;
Vector3 sep_axis = motion_normal;
Expand Down Expand Up @@ -989,6 +1003,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
const CollisionObject3DSW *col_obj = intersection_query_results[i];
int shape_idx = intersection_query_subindex_results[i];

if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
const Body3DSW *b = static_cast<const Body3DSW *>(col_obj);
if (p_infinite_inertia && PhysicsServer3D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer3D::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}

rcd.object = col_obj;
rcd.shape = shape_idx;
bool sc = CollisionSolver3DSW::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_margin);
Expand Down