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Handle test body motion with 0 margin #55762

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Dec 10, 2021
Merged

Handle test body motion with 0 margin #55762

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24 changes: 15 additions & 9 deletions servers/physics_2d/godot_space_2d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@
#include "core/os/os.h"
#include "core/templates/pair.h"

#define TEST_MOTION_MARGIN_MIN_VALUE 0.0001
#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05

_FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject2D *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
Expand Down Expand Up @@ -439,17 +440,19 @@ bool GodotPhysicsDirectSpaceState2D::rest_info(const ShapeParameters &p_paramete
GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid);
ERR_FAIL_COND_V(!shape, 0);

real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE);

Rect2 aabb = p_parameters.transform.xform(shape->get_aabb());
aabb = aabb.merge(Rect2(aabb.position + p_parameters.motion, aabb.size)); //motion
aabb = aabb.grow(p_parameters.margin);
aabb = aabb.grow(margin);

int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);

_RestCallbackData2D rcd;

// Allowed depth can't be lower than motion length, in order to handle contacts at low speed.
real_t motion_length = p_parameters.motion.length();
real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
rcd.min_allowed_depth = MIN(motion_length, min_contact_depth);

for (int i = 0; i < amount; i++) {
Expand All @@ -469,7 +472,7 @@ bool GodotPhysicsDirectSpaceState2D::rest_info(const ShapeParameters &p_paramete
rcd.object = col_obj;
rcd.shape = shape_idx;
rcd.local_shape = 0;
bool sc = GodotCollisionSolver2D::solve(shape, p_parameters.transform, p_parameters.motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
bool sc = GodotCollisionSolver2D::solve(shape, p_parameters.transform, p_parameters.motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, nullptr, margin);
if (!sc) {
continue;
}
Expand Down Expand Up @@ -540,6 +543,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
r_result->collider_id = ObjectID();
r_result->collider_shape = 0;
}

Rect2 body_aabb;

bool shapes_found = false;
Expand All @@ -565,15 +569,17 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
return false;
}

real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE);

// Undo the currently transform the physics server is aware of and apply the provided one
body_aabb = p_parameters.from.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb = body_aabb.grow(p_parameters.margin);
body_aabb = body_aabb.grow(margin);

static const int max_excluded_shape_pairs = 32;
ExcludedShapeSW excluded_shape_pairs[max_excluded_shape_pairs];
int excluded_shape_pair_count = 0;

real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;

real_t motion_length = p_parameters.motion.length();
Vector2 motion_normal = p_parameters.motion / motion_length;
Expand Down Expand Up @@ -630,7 +636,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();

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

if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) {
Expand All @@ -655,7 +661,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
bool did_collide = false;

GodotShape2D *against_shape = col_obj->get_shape(shape_idx);
if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_parameters.margin)) {
if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, margin)) {
did_collide = cbk.passed > current_passed; //more passed, so collision actually existed
}

Expand Down Expand Up @@ -927,7 +933,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
rcd.valid_dir = col_obj_shape_xform.get_axis(1).normalized();

real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
rcd.valid_depth = MAX(owc_margin, p_parameters.margin); //user specified, but never less than actual margin or it won't work
rcd.valid_depth = MAX(owc_margin, margin); //user specified, but never less than actual margin or it won't work

if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) {
const GodotBody2D *b = static_cast<const GodotBody2D *>(col_obj);
Expand All @@ -949,7 +955,7 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
rcd.object = col_obj;
rcd.shape = shape_idx;
rcd.local_shape = j;
bool sc = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
bool sc = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, margin);
if (!sc) {
continue;
}
Expand Down
19 changes: 12 additions & 7 deletions servers/physics_3d/godot_space_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@

#include "core/config/project_settings.h"

#define TEST_MOTION_MARGIN_MIN_VALUE 0.0001
#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05

_FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject3D *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
Expand Down Expand Up @@ -507,16 +508,18 @@ bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_paramete
GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid);
ERR_FAIL_COND_V(!shape, 0);

real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE);

AABB aabb = p_parameters.transform.xform(shape->get_aabb());
aabb = aabb.grow(p_parameters.margin);
aabb = aabb.grow(margin);

int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);

_RestCallbackData rcd;

// Allowed depth can't be lower than motion length, in order to handle contacts at low speed.
real_t motion_length = p_parameters.motion.length();
real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
rcd.min_allowed_depth = MIN(motion_length, min_contact_depth);

for (int i = 0; i < amount; i++) {
Expand All @@ -534,7 +537,7 @@ bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_paramete

rcd.object = col_obj;
rcd.shape = shape_idx;
bool sc = GodotCollisionSolver3D::solve_static(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
bool sc = GodotCollisionSolver3D::solve_static(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, margin);
if (!sc) {
continue;
}
Expand Down Expand Up @@ -677,11 +680,13 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
return false;
}

real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE);

// Undo the currently transform the physics server is aware of and apply the provided one
body_aabb = p_parameters.from.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb = body_aabb.grow(p_parameters.margin);
body_aabb = body_aabb.grow(margin);

real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;

real_t motion_length = p_parameters.motion.length();
Vector3 motion_normal = p_parameters.motion / motion_length;
Expand Down Expand Up @@ -729,7 +734,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::

int shape_idx = intersection_query_subindex_results[i];

if (GodotCollisionSolver3D::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_parameters.margin)) {
if (GodotCollisionSolver3D::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, margin)) {
collided = cbk.amount > 0;
}
}
Expand Down Expand Up @@ -949,7 +954,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::

rcd.object = col_obj;
rcd.shape = shape_idx;
bool sc = GodotCollisionSolver3D::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_parameters.margin);
bool sc = GodotCollisionSolver3D::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, margin);
if (!sc) {
continue;
}
Expand Down