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Fixes to move and slide and ray separation, implement separation in Godot physics

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This commit is contained in:
Juan Linietsky 2018-08-20 17:31:55 -03:00
parent 031f763d4f
commit d88d0d457d
9 changed files with 171 additions and 13 deletions
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4
modules/bullet/bullet_physics_server.cpp
View file

@ -861,12 +861,12 @@ PhysicsDirectBodyState *BulletPhysicsServer::body_get_direct_state(RID p_body) {
return BulletPhysicsDirectBodyState::get_singleton(body);
}
bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result) {
bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes) {
RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result);
return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes);
}
int BulletPhysicsServer::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {

2
modules/bullet/bullet_physics_server.h
View file

@ -258,7 +258,7 @@ public:
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body);
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL);
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true);
virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001);
/* SOFT BODY API */

4
modules/bullet/space_bullet.cpp
View file

@ -819,7 +819,7 @@ static Ref<SpatialMaterial> red_mat;
static Ref<SpatialMaterial> blue_mat;
#endif
bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result) {
bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes) {
#if debug_test_motion
/// Yes I know this is not good, but I've used it as fast debugging hack.
@ -895,7 +895,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
continue;
}
if (p_body->get_bt_shape(shIndex)->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
if (p_exclude_raycast_shapes && p_body->get_bt_shape(shIndex)->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
// Skip rayshape in order to implement custom separation process
continue;
}

2
modules/bullet/space_bullet.h
View file

@ -174,7 +174,7 @@ public:
void update_gravity();
bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result);
bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes);
int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer::SeparationResult *r_results, int p_result_max, float p_margin);
private:

16
servers/physics/physics_server_sw.cpp
View file

@ -941,7 +941,7 @@ bool PhysicsServerSW::body_is_ray_pickable(RID p_body) const {
return body->is_ray_pickable();
}
bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result) {
bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
@ -950,7 +950,19 @@ bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, cons
_update_shapes();
return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, body->get_kinematic_margin(), r_result);
return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, body->get_kinematic_margin(), r_result, p_exclude_raycast_shapes);
}
int PhysicsServerSW::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
_update_shapes();
return body->get_space()->test_body_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
}
PhysicsDirectBodyState *PhysicsServerSW::body_get_direct_state(RID p_body) {

4
servers/physics/physics_server_sw.h
View file

@ -230,8 +230,8 @@ public:
virtual void body_set_ray_pickable(RID p_body, bool p_enable);
virtual bool body_is_ray_pickable(RID p_body) const;
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL);
virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) { return 0; }
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true);
virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001);
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body);

147
servers/physics/space_sw.cpp
View file

@ -541,7 +541,144 @@ int SpaceSW::_cull_aabb_for_body(BodySW *p_body, const AABB &p_aabb) {
return amount;
}
bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer::MotionResult *r_result) {
int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer::SeparationResult *r_results, int p_result_max, real_t p_margin) {
AABB body_aabb;
for (int i = 0; i < p_body->get_shape_count(); i++) {
if (i == 0)
body_aabb = p_body->get_shape_aabb(i);
else
body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
}
// Undo the currently transform the physics server is aware of and apply the provided one
body_aabb = p_transform.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb = body_aabb.grow(p_margin);
Transform body_transform = p_transform;
for (int i = 0; i < p_result_max; i++) {
//reset results
r_results[i].collision_depth = 0;
}
int rays_found = 0;
{
// raycast AND separate
const int max_results = 32;
int recover_attempts = 4;
Vector3 sr[max_results * 2];
PhysicsServerSW::CollCbkData cbk;
cbk.max = max_results;
PhysicsServerSW::CollCbkData *cbkptr = &cbk;
CollisionSolverSW::CallbackResult cbkres = PhysicsServerSW::_shape_col_cbk;
do {
Vector3 recover_motion;
bool collided = false;
int amount = _cull_aabb_for_body(p_body, body_aabb);
int ray_index = 0;
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j))
continue;
ShapeSW *body_shape = p_body->get_shape(j);
if (body_shape->get_type() != PhysicsServer::SHAPE_RAY)
continue;
Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
for (int i = 0; i < amount; i++) {
const CollisionObjectSW *col_obj = intersection_query_results[i];
int shape_idx = intersection_query_subindex_results[i];
cbk.amount = 0;
cbk.ptr = sr;
if (CollisionObjectSW::TYPE_BODY == col_obj->get_type()) {
const BodySW *b = static_cast<const BodySW *>(col_obj);
if (p_infinite_inertia && PhysicsServer::BODY_MODE_STATIC != b->get_mode() && PhysicsServer::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}
ShapeSW *against_shape = col_obj->get_shape(shape_idx);
if (CollisionSolverSW::solve_static(body_shape, body_shape_xform, against_shape, col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, NULL, p_margin)) {
if (cbk.amount > 0) {
collided = true;
}
if (ray_index < p_result_max) {
PhysicsServer::SeparationResult &result = r_results[ray_index];
for (int k = 0; k < cbk.amount; k++) {
Vector3 a = sr[k * 2 + 0];
Vector3 b = sr[k * 2 + 1];
recover_motion += (b - a) * 0.4;
float depth = a.distance_to(b);
if (depth > result.collision_depth) {
result.collision_depth = depth;
result.collision_point = b;
result.collision_normal = (b - a).normalized();
result.collision_local_shape = shape_idx;
result.collider = col_obj->get_self();
result.collider_id = col_obj->get_instance_id();
//result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
if (col_obj->get_type() == CollisionObjectSW::TYPE_BODY) {
BodySW *body = (BodySW *)col_obj;
Vector3 rel_vec = b - body->get_transform().get_origin();
//result.collider_velocity = Vector3(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - rel_vec); // * mPos);
}
}
}
}
}
}
ray_index++;
}
rays_found = MAX(ray_index, rays_found);
if (!collided || recover_motion == Vector3()) {
break;
}
body_transform.origin += recover_motion;
body_aabb.position += recover_motion;
recover_attempts--;
} while (recover_attempts);
}
//optimize results (remove non colliding)
for (int i = 0; i < rays_found; i++) {
if (r_results[i].collision_depth == 0) {
rays_found--;
SWAP(r_results[i], r_results[rays_found]);
}
}
r_recover_motion = body_transform.origin - p_transform.origin;
return rays_found;
}
bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes) {
//give me back regular physics engine logic
//this is madness
@ -597,6 +734,10 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
ShapeSW *body_shape = p_body->get_shape(j);
if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer::SHAPE_RAY) {
continue;
}
for (int i = 0; i < amount; i++) {
const CollisionObjectSW *col_obj = intersection_query_results[i];
@ -655,6 +796,10 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
ShapeSW *body_shape = p_body->get_shape(j);
if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer::SHAPE_RAY) {
continue;
}
Transform body_shape_xform_inv = body_shape_xform.affine_inverse();
MotionShapeSW mshape;
mshape.shape = body_shape;

3
servers/physics/space_sw.h
View file

@ -197,7 +197,8 @@ public:
void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; }
uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; }
bool test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer::MotionResult *r_result);
int test_body_ray_separation(BodySW *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer::SeparationResult *r_results, int p_result_max, real_t p_margin);
bool test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes);
SpaceSW();
~SpaceSW();

2
servers/physics_server.h
View file

@ -482,7 +482,7 @@ public:
Variant collider_metadata;
};
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL) = 0;
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true) = 0;
struct SeparationResult {