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Merge pull request #64936 from rburing/solve_distance_world_boundary_motion_shape

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Fix collision solving between world boundary and motion shape (3D)
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Rémi Verschelde 2022-08-28 12:21:57 +02:00 committed by GitHub
commit f38ea254f3
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2 changed files with 15 additions and 5 deletions
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18
servers/physics_3d/godot_collision_solver_3d.cpp
View File

@ -38,7 +38,7 @@
#define collision_solver sat_calculate_penetration
//#define collision_solver gjk_epa_calculate_penetration
bool GodotCollisionSolver3D::solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
bool GodotCollisionSolver3D::solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) {
const GodotWorldBoundaryShape3D *world_boundary = static_cast<const GodotWorldBoundaryShape3D *>(p_shape_A);
if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) {
return false;
@ -70,6 +70,7 @@ bool GodotCollisionSolver3D::solve_static_world_boundary(const GodotShape3D *p_s
bool found = false;
for (int i = 0; i < support_count; i++) {
supports[i] += p_margin * supports[i].normalized();
supports[i] = p_transform_B.xform(supports[i]);
if (p.distance_to(supports[i]) >= 0) {
continue;
@ -379,9 +380,9 @@ bool GodotCollisionSolver3D::solve_static(const GodotShape3D *p_shape_A, const T
}
if (swap) {
return solve_static_world_boundary(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
return solve_static_world_boundary(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, p_margin_A);
} else {
return solve_static_world_boundary(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
return solve_static_world_boundary(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, p_margin_B);
}
} else if (type_A == PhysicsServer3D::SHAPE_SEPARATION_RAY) {
@ -456,8 +457,17 @@ bool GodotCollisionSolver3D::solve_distance_world_boundary(const GodotShape3D *p
Vector3 supports[max_supports];
int support_count;
GodotShape3D::FeatureType support_type;
Vector3 support_direction = p_transform_B.basis.xform_inv(-p.normal).normalized();
p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type);
p_shape_B->get_supports(support_direction, max_supports, supports, support_count, support_type);
if (support_count == 0) { // This is a poor man's way to detect shapes that don't implement get_supports, such as GodotMotionShape3D.
Vector3 support_B = p_transform_B.xform(p_shape_B->get_support(support_direction));
r_point_A = p.project(support_B);
r_point_B = support_B;
bool collided = p.distance_to(support_B) <= 0;
return collided;
}
if (support_type == GodotShape3D::FEATURE_CIRCLE) {
ERR_FAIL_COND_V(support_count != 3, false);

2
servers/physics_3d/godot_collision_solver_3d.h
View File

@ -42,7 +42,7 @@ private:
static void soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata);
static bool soft_body_concave_callback(void *p_userdata, GodotShape3D *p_convex);
static bool concave_callback(void *p_userdata, GodotShape3D *p_convex);
static bool solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static bool solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0);
static bool solve_separation_ray(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0);
static bool solve_soft_body(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static bool solve_concave(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A = 0, real_t p_margin_B = 0);