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Fix special case where KinematicBody fails one way collisions by adding exclusion lists, closes #9729

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This commit is contained in:
Juan Linietsky 2017-08-31 22:55:01 -03:00
parent d39e79e7ec
commit 77ec304966
3 changed files with 57 additions and 7 deletions
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3
servers/physics_2d/physics_2d_server_sw.cpp
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@ -130,9 +130,12 @@ void Physics2DServerSW::_shape_col_cbk(const Vector2 &p_point_A, const Vector2 &
if (cbk->valid_dir != Vector2()) {
if (p_point_A.distance_squared_to(p_point_B) > cbk->valid_depth * cbk->valid_depth) {
cbk->invalid_by_dir++;
return;
}
if (cbk->valid_dir.dot((p_point_A - p_point_B).normalized()) < 0.7071) {
cbk->invalid_by_dir++;
;
/* print_line("A: "+p_point_A);
print_line("B: "+p_point_B);
print_line("discard too angled "+rtos(cbk->valid_dir.dot((p_point_A-p_point_B))));

1
servers/physics_2d/physics_2d_server_sw.h
View file

@ -74,6 +74,7 @@ public:
real_t valid_depth;
int max;
int amount;
int invalid_by_dir;
Vector2 *ptr;
};

60
servers/physics_2d/space_2d_sw.cpp
View file

@ -30,8 +30,8 @@
#include "space_2d_sw.h"
#include "collision_solver_2d_sw.h"
#include "pair.h"
#include "physics_2d_server_sw.h"
_FORCE_INLINE_ static bool _match_object_type_query(CollisionObject2DSW *p_object, uint32_t p_collision_layer, uint32_t p_type_mask) {
if ((p_object->get_collision_layer() & p_collision_layer) == 0)
@ -517,6 +517,10 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
body_aabb = p_from.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb = body_aabb.grow(p_margin);
static const int max_excluded_shape_pairs = 32;
Pair<Shape2DSW *, Shape2DSW *> excluded_shape_pairs[max_excluded_shape_pairs];
int excluded_shape_pair_count = 0;
Transform2D body_transform = p_from;
{
@ -532,6 +536,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
cbk.max = max_results;
cbk.amount = 0;
cbk.ptr = sr;
cbk.invalid_by_dir = 0;
excluded_shape_pair_count = 0; //last step is the one valid
Physics2DServerSW::CollCbkData *cbkptr = &cbk;
CollisionSolver2DSW::CallbackResult cbkres = Physics2DServerSW::_shape_col_cbk;
@ -555,14 +561,25 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
cbk.valid_dir = body_shape_xform.get_axis(1).normalized();
cbk.valid_depth = p_margin; //only valid depth is the collision margin
cbk.invalid_by_dir = 0;
} else {
cbk.valid_dir = Vector2();
cbk.valid_depth = 0;
cbk.invalid_by_dir = 0;
}
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, NULL, p_margin)) {
Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, NULL, p_margin)) {
collided = cbk.amount > 0;
}
if (!collided && cbk.invalid_by_dir > 0) {
//this shape must be excluded
if (excluded_shape_pair_count < max_excluded_shape_pairs) {
excluded_shape_pairs[excluded_shape_pair_count++] = Pair<Shape2DSW *, Shape2DSW *>(body_shape, against_shape);
}
}
}
}
@ -622,15 +639,31 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
const CollisionObject2DSW *col_obj = intersection_query_results[i];
int shape_idx = intersection_query_subindex_results[i];
Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
bool excluded = false;
for (int k = 0; k < excluded_shape_pair_count; k++) {
if (excluded_shape_pairs[k].first == body_shape && excluded_shape_pairs[k].second == against_shape) {
excluded = true;
break;
}
}
if (excluded) {
continue;
}
Transform2D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
//test initial overlap, does it collide if going all the way?
if (!CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, 0)) {
if (!CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion, against_shape, col_obj_xform, Vector2(), NULL, NULL, NULL, 0)) {
continue;
}
//test initial overlap
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, 0)) {
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_xform, Vector2(), NULL, NULL, NULL, 0)) {
if (col_obj->is_shape_set_as_one_way_collision(j)) {
continue;
@ -650,7 +683,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
real_t ofs = (low + hi) * 0.5;
Vector2 sep = mnormal; //important optimization for this to work fast enough
bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * ofs, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, &sep, 0);
bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * ofs, against_shape, col_obj_xform, Vector2(), NULL, NULL, &sep, 0);
if (collided) {
@ -669,7 +702,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
cbk.amount = 0;
cbk.ptr = cd;
cbk.valid_dir = body_shape_xform.get_axis(1).normalized();
;
cbk.valid_depth = 10e20;
Vector2 sep = mnormal; //important optimization for this to work fast enough
@ -738,6 +771,19 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
const CollisionObject2DSW *col_obj = intersection_query_results[i];
int shape_idx = intersection_query_subindex_results[i];
Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
bool excluded = false;
for (int k = 0; k < excluded_shape_pair_count; k++) {
if (excluded_shape_pairs[k].first == body_shape && excluded_shape_pairs[k].second == against_shape) {
excluded = true;
break;
}
}
if (excluded)
continue;
if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
rcd.valid_dir = body_shape_xform.get_axis(1).normalized();
@ -749,7 +795,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
rcd.object = col_obj;
rcd.shape = shape_idx;
bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, NULL, p_margin);
bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, NULL, p_margin);
if (!sc)
continue;
}