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Fix move_and_collide causing sliding on slopes

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Make sure the direction of the motion is preserved, unless the depth is
higher than the margin, which means the body needs depenetration in any
direction.

Also changed move_and_slide to avoid sliding on the first motion, in
order to avoid issues with unstable position on ground when jumping.

Co-authored-by: fabriceci <fabricecipolla@gmail.com>
This commit is contained in:
PouleyKetchoupp 2021-06-30 18:59:40 -07:00
parent 4d3c11e85e
commit 2fbb6fff4e
12 changed files with 166 additions and 24 deletions
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6
doc/classes/Physics2DTestMotionResult.xml
View File

@ -19,10 +19,16 @@
</member>
<member name="collider_velocity" type="Vector2" setter="" getter="get_collider_velocity" default="Vector2( 0, 0 )">
</member>
<member name="collision_depth" type="float" setter="" getter="get_collision_depth" default="0.0">
</member>
<member name="collision_normal" type="Vector2" setter="" getter="get_collision_normal" default="Vector2( 0, 0 )">
</member>
<member name="collision_point" type="Vector2" setter="" getter="get_collision_point" default="Vector2( 0, 0 )">
</member>
<member name="collision_safe_fraction" type="float" setter="" getter="get_collision_safe_fraction" default="0.0">
</member>
<member name="collision_unsafe_fraction" type="float" setter="" getter="get_collision_unsafe_fraction" default="0.0">
</member>
<member name="motion" type="Vector2" setter="" getter="get_motion" default="Vector2( 0, 0 )">
</member>
<member name="motion_remainder" type="Vector2" setter="" getter="get_motion_remainder" default="Vector2( 0, 0 )">

6
doc/classes/PhysicsTestMotionResult.xml
View File

@ -19,10 +19,16 @@
</member>
<member name="collider_velocity" type="Vector3" setter="" getter="get_collider_velocity" default="Vector3( 0, 0, 0 )">
</member>
<member name="collision_depth" type="float" setter="" getter="get_collision_depth" default="0.0">
</member>
<member name="collision_normal" type="Vector3" setter="" getter="get_collision_normal" default="Vector3( 0, 0, 0 )">
</member>
<member name="collision_point" type="Vector3" setter="" getter="get_collision_point" default="Vector3( 0, 0, 0 )">
</member>
<member name="collision_safe_fraction" type="float" setter="" getter="get_collision_safe_fraction" default="0.0">
</member>
<member name="collision_unsafe_fraction" type="float" setter="" getter="get_collision_unsafe_fraction" default="0.0">
</member>
<member name="motion" type="Vector3" setter="" getter="get_motion" default="Vector3( 0, 0, 0 )">
</member>
<member name="motion_remainder" type="Vector3" setter="" getter="get_motion_remainder" default="Vector3( 0, 0, 0 )">

56
scene/2d/physics_body_2d.cpp
View File

@ -1030,7 +1030,7 @@ bool KinematicBody2D::separate_raycast_shapes(bool p_infinite_inertia, Collision
}
}
bool KinematicBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only, const Set<RID> &p_exclude) {
bool KinematicBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only, bool p_cancel_sliding, const Set<RID> &p_exclude) {
if (sync_to_physics) {
ERR_PRINT("Functions move_and_slide and move_and_collide do not work together with 'sync to physics' option. Please read the documentation.");
}
@ -1039,6 +1039,39 @@ bool KinematicBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_
bool colliding = Physics2DServer::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, margin, &result, p_exclude_raycast_shapes, p_exclude);
// Restore direction of motion to be along original motion,
// in order to avoid sliding due to recovery,
// but only if collision depth is low enough to avoid tunneling.
real_t motion_length = p_motion.length();
if (motion_length > CMP_EPSILON) {
real_t precision = 0.001;
if (colliding && p_cancel_sliding) {
// Can't just use margin as a threshold because collision depth is calculated on unsafe motion,
// so even in normal resting cases the depth can be a bit more than the margin.
precision += motion_length * (result.collision_unsafe_fraction - result.collision_safe_fraction);
if (result.collision_depth > (real_t)margin + precision) {
p_cancel_sliding = false;
}
}
if (p_cancel_sliding) {
// Check depth of recovery.
Vector2 motion_normal = p_motion / motion_length;
real_t dot = result.motion.dot(motion_normal);
Vector2 recovery = result.motion - motion_normal * dot;
real_t recovery_length = recovery.length();
// Fixes cases where canceling slide causes the motion to go too deep into the ground,
// Becauses we're only taking rest information into account and not general recovery.
if (recovery_length < (real_t)margin + precision) {
// Apply adjustment to motion.
result.motion = motion_normal * dot;
result.remainder = p_motion - result.motion;
}
}
}
if (colliding) {
r_collision.collider_metadata = result.collider_metadata;
r_collision.collider_shape = result.collider_shape;
@ -1092,7 +1125,7 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
Collision floor_collision;
Set<RID> exclude;
exclude.insert(on_floor_body);
if (move_and_collide(current_floor_velocity * delta, p_infinite_inertia, floor_collision, true, false, exclude)) {
if (move_and_collide(current_floor_velocity * delta, p_infinite_inertia, floor_collision, true, false, false, exclude)) {
colliders.push_back(floor_collision);
_set_collision_direction(floor_collision, up_direction, p_floor_max_angle);
}
@ -1101,14 +1134,16 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
on_floor_body = RID();
Vector2 motion = body_velocity * delta;
while (p_max_slides) {
// No sliding on first attempt to keep floor motion stable when possible.
bool sliding_enabled = false;
for (int iteration = 0; iteration < p_max_slides; ++iteration) {
Collision collision;
bool found_collision = false;
for (int i = 0; i < 2; ++i) {
bool collided;
if (i == 0) { //collide
collided = move_and_collide(motion, p_infinite_inertia, collision);
collided = move_and_collide(motion, p_infinite_inertia, collision, true, false, !sliding_enabled);
if (!collided) {
motion = Vector2(); //clear because no collision happened and motion completed
}
@ -1124,12 +1159,11 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
found_collision = true;
colliders.push_back(collision);
motion = collision.remainder;
_set_collision_direction(collision, up_direction, p_floor_max_angle);
if (on_floor && p_stop_on_slope) {
if ((body_velocity_normal + up_direction).length() < 0.01 && collision.travel.length() < 1) {
if ((body_velocity_normal + up_direction).length() < 0.01) {
Transform2D gt = get_global_transform();
gt.elements[2] -= collision.travel.slide(up_direction);
set_global_transform(gt);
@ -1137,16 +1171,20 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
}
}
motion = motion.slide(collision.normal);
if (sliding_enabled || !on_floor) {
motion = collision.remainder.slide(collision.normal);
body_velocity = body_velocity.slide(collision.normal);
} else {
motion = collision.remainder;
}
}
sliding_enabled = true;
}
if (!found_collision || motion == Vector2()) {
break;
}
--p_max_slides;
}
if (!on_floor && !on_wall) {

2
scene/2d/physics_body_2d.h
View File

@ -311,7 +311,7 @@ protected:
static void _bind_methods();
public:
bool move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false, const Set<RID> &p_exclude = Set<RID>());
bool move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false, bool p_cancel_sliding = true, const Set<RID> &p_exclude = Set<RID>());
bool test_move(const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia = true);

54
scene/3d/physics_body.cpp
View File

@ -973,7 +973,7 @@ Ref<KinematicCollision> KinematicBody::_move(const Vector3 &p_motion, bool p_inf
return Ref<KinematicCollision>();
}
bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only) {
bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only, bool p_cancel_sliding) {
if (sync_to_physics) {
ERR_PRINT("Functions move_and_slide and move_and_collide do not work together with 'sync to physics' option. Please read the documentation.");
}
@ -982,6 +982,39 @@ bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_in
PhysicsServer::MotionResult result;
bool colliding = PhysicsServer::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, &result, p_exclude_raycast_shapes);
// Restore direction of motion to be along original motion,
// in order to avoid sliding due to recovery,
// but only if collision depth is low enough to avoid tunneling.
real_t motion_length = p_motion.length();
if (motion_length > CMP_EPSILON) {
real_t precision = CMP_EPSILON;
if (colliding && p_cancel_sliding) {
// Can't just use margin as a threshold because collision depth is calculated on unsafe motion,
// so even in normal resting cases the depth can be a bit more than the margin.
precision += motion_length * (result.collision_unsafe_fraction - result.collision_safe_fraction);
if (result.collision_depth > (real_t)margin + precision) {
p_cancel_sliding = false;
}
}
if (p_cancel_sliding) {
// Check depth of recovery.
Vector3 motion_normal = p_motion / motion_length;
real_t dot = result.motion.dot(motion_normal);
Vector3 recovery = result.motion - motion_normal * dot;
real_t recovery_length = recovery.length();
// Fixes cases where canceling slide causes the motion to go too deep into the ground,
// Becauses we're only taking rest information into account and not general recovery.
if (recovery_length < (real_t)margin + precision) {
// Apply adjustment to motion.
result.motion = motion_normal * dot;
result.remainder = p_motion - result.motion;
}
}
}
if (colliding) {
r_collision.collider_metadata = result.collider_metadata;
r_collision.collider_shape = result.collider_shape;
@ -1043,14 +1076,16 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
floor_normal = Vector3();
floor_velocity = Vector3();
while (p_max_slides) {
// No sliding on first attempt to keep motion stable when possible.
bool sliding_enabled = false;
for (int iteration = 0; iteration < p_max_slides; ++iteration) {
Collision collision;
bool found_collision = false;
for (int i = 0; i < 2; ++i) {
bool collided;
if (i == 0) { //collide
collided = move_and_collide(motion, p_infinite_inertia, collision);
collided = move_and_collide(motion, p_infinite_inertia, collision, true, false, !sliding_enabled);
if (!collided) {
motion = Vector3(); //clear because no collision happened and motion completed
}
@ -1066,7 +1101,6 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
found_collision = true;
colliders.push_back(collision);
motion = collision.remainder;
if (up_direction == Vector3()) {
//all is a wall
@ -1080,7 +1114,7 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
floor_velocity = collision.collider_vel;
if (p_stop_on_slope) {
if ((body_velocity_normal + up_direction).length() < 0.01 && collision.travel.length() < 1) {
if ((body_velocity_normal + up_direction).length() < 0.01) {
Transform gt = get_global_transform();
gt.origin -= collision.travel.slide(up_direction);
set_global_transform(gt);
@ -1094,7 +1128,8 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
}
}
motion = motion.slide(collision.normal);
if (sliding_enabled || !on_floor) {
motion = collision.remainder.slide(collision.normal);
body_velocity = body_velocity.slide(collision.normal);
for (int j = 0; j < 3; j++) {
@ -1102,14 +1137,17 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
body_velocity[j] = 0;
}
}
} else {
motion = collision.remainder;
}
}
sliding_enabled = true;
}
if (!found_collision || motion == Vector3()) {
break;
}
--p_max_slides;
}
return body_velocity;

2
scene/3d/physics_body.h
View File

@ -306,7 +306,7 @@ protected:
static void _bind_methods();
public:
bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false, bool p_cancel_sliding = true);
bool test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia);
bool separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision);

3
servers/physics/space_sw.cpp
View File

@ -1008,6 +1008,9 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
r_result->collision_local_shape = rcd.best_local_shape;
r_result->collision_normal = rcd.best_normal;
r_result->collision_point = rcd.best_contact;
r_result->collision_depth = rcd.best_len;
r_result->collision_safe_fraction = safe;
r_result->collision_unsafe_fraction = unsafe;
//r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
const BodySW *body = static_cast<const BodySW *>(rcd.best_object);

3
servers/physics_2d/space_2d_sw.cpp
View File

@ -1128,6 +1128,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
r_result->collision_local_shape = rcd.best_local_shape;
r_result->collision_normal = rcd.best_normal;
r_result->collision_point = rcd.best_contact;
r_result->collision_depth = rcd.best_len;
r_result->collision_safe_fraction = safe;
r_result->collision_unsafe_fraction = unsafe;
r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);

18
servers/physics_2d_server.cpp
View File

@ -444,6 +444,18 @@ int Physics2DTestMotionResult::get_collider_shape() const {
return result.collider_shape;
}
real_t Physics2DTestMotionResult::get_collision_depth() const {
return result.collision_depth;
}
real_t Physics2DTestMotionResult::get_collision_safe_fraction() const {
return result.collision_safe_fraction;
}
real_t Physics2DTestMotionResult::get_collision_unsafe_fraction() const {
return result.collision_unsafe_fraction;
}
void Physics2DTestMotionResult::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_motion"), &Physics2DTestMotionResult::get_motion);
ClassDB::bind_method(D_METHOD("get_motion_remainder"), &Physics2DTestMotionResult::get_motion_remainder);
@ -454,6 +466,9 @@ void Physics2DTestMotionResult::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_collider_rid"), &Physics2DTestMotionResult::get_collider_rid);
ClassDB::bind_method(D_METHOD("get_collider"), &Physics2DTestMotionResult::get_collider);
ClassDB::bind_method(D_METHOD("get_collider_shape"), &Physics2DTestMotionResult::get_collider_shape);
ClassDB::bind_method(D_METHOD("get_collision_depth"), &Physics2DTestMotionResult::get_collision_depth);
ClassDB::bind_method(D_METHOD("get_collision_safe_fraction"), &Physics2DTestMotionResult::get_collision_safe_fraction);
ClassDB::bind_method(D_METHOD("get_collision_unsafe_fraction"), &Physics2DTestMotionResult::get_collision_unsafe_fraction);
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "motion"), "", "get_motion");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "motion_remainder"), "", "get_motion_remainder");
@ -464,6 +479,9 @@ void Physics2DTestMotionResult::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::_RID, "collider_rid"), "", "get_collider_rid");
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_collider");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape"), "", "get_collider_shape");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_depth"), "", "get_collision_depth");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_safe_fraction"), "", "get_collision_safe_fraction");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_unsafe_fraction"), "", "get_collision_unsafe_fraction");
}
///////////////////////////////////////

6
servers/physics_2d_server.h
View File

@ -469,6 +469,9 @@ public:
Vector2 collision_point;
Vector2 collision_normal;
Vector2 collider_velocity;
real_t collision_depth = 0.0;
real_t collision_safe_fraction = 0.0;
real_t collision_unsafe_fraction = 0.0;
int collision_local_shape = 0;
ObjectID collider_id = 0;
RID collider;
@ -594,6 +597,9 @@ public:
RID get_collider_rid() const;
Object *get_collider() const;
int get_collider_shape() const;
real_t get_collision_depth() const;
real_t get_collision_safe_fraction() const;
real_t get_collision_unsafe_fraction() const;
};
typedef Physics2DServer *(*CreatePhysics2DServerCallback)();

18
servers/physics_server.cpp
View File

@ -392,6 +392,18 @@ int PhysicsTestMotionResult::get_collider_shape() const {
return result.collider_shape;
}
real_t PhysicsTestMotionResult::get_collision_depth() const {
return result.collision_depth;
}
real_t PhysicsTestMotionResult::get_collision_safe_fraction() const {
return result.collision_safe_fraction;
}
real_t PhysicsTestMotionResult::get_collision_unsafe_fraction() const {
return result.collision_unsafe_fraction;
}
void PhysicsTestMotionResult::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_motion"), &PhysicsTestMotionResult::get_motion);
ClassDB::bind_method(D_METHOD("get_motion_remainder"), &PhysicsTestMotionResult::get_motion_remainder);
@ -402,6 +414,9 @@ void PhysicsTestMotionResult::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_collider_rid"), &PhysicsTestMotionResult::get_collider_rid);
ClassDB::bind_method(D_METHOD("get_collider"), &PhysicsTestMotionResult::get_collider);
ClassDB::bind_method(D_METHOD("get_collider_shape"), &PhysicsTestMotionResult::get_collider_shape);
ClassDB::bind_method(D_METHOD("get_collision_depth"), &PhysicsTestMotionResult::get_collision_depth);
ClassDB::bind_method(D_METHOD("get_collision_safe_fraction"), &PhysicsTestMotionResult::get_collision_safe_fraction);
ClassDB::bind_method(D_METHOD("get_collision_unsafe_fraction"), &PhysicsTestMotionResult::get_collision_unsafe_fraction);
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "motion"), "", "get_motion");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "motion_remainder"), "", "get_motion_remainder");
@ -412,6 +427,9 @@ void PhysicsTestMotionResult::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::_RID, "collider_rid"), "", "get_collider_rid");
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_collider");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape"), "", "get_collider_shape");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_depth"), "", "get_collision_depth");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_safe_fraction"), "", "get_collision_safe_fraction");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_unsafe_fraction"), "", "get_collision_unsafe_fraction");
}
///////////////////////////////////////

6
servers/physics_server.h
View File

@ -461,6 +461,9 @@ public:
Vector3 collision_point;
Vector3 collision_normal;
Vector3 collider_velocity;
real_t collision_depth = 0.0;
real_t collision_safe_fraction = 0.0;
real_t collision_unsafe_fraction = 0.0;
int collision_local_shape = 0;
ObjectID collider_id = 0;
RID collider;
@ -765,6 +768,9 @@ public:
RID get_collider_rid() const;
Object *get_collider() const;
int get_collider_shape() const;
real_t get_collision_depth() const;
real_t get_collision_safe_fraction() const;
real_t get_collision_unsafe_fraction() const;
};
typedef PhysicsServer *(*CreatePhysicsServerCallback)();