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Merge pull request #7957 from RandomShaper/fix-kb-2d-motion-2.1

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Fix KinematicBody2D motion issues + KinematicBody2D.test_move_from() (2.1)
This commit is contained in:
Rémi Verschelde 2017-03-13 10:59:53 +01:00 committed by GitHub
parent 50c6a6d9b1 95a5d9e617
commit 91cf3c1321
10 changed files with 107 additions and 26 deletions
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51
scene/2d/physics_body_2d.cpp
View file

@ -29,6 +29,8 @@
#include "physics_body_2d.h"
#include "scene/scene_string_names.h"
bool PhysicsBody2D::motion_fix_enabled=false;
void PhysicsBody2D::_notification(int p_what) {
/*
@ -436,7 +438,11 @@ bool RigidBody2D::_test_motion(const Vector2& p_motion,float p_margin,const Ref<
Physics2DServer::MotionResult *r=NULL;
if (p_result.is_valid())
r=p_result->get_result_ptr();
return Physics2DServer::get_singleton()->body_test_motion(get_rid(),p_motion,p_margin,r);
if (motion_fix_enabled) {
return Physics2DServer::get_singleton()->body_test_motion_from(get_rid(),get_global_transform(),p_motion,p_margin,r);
} else {
return Physics2DServer::get_singleton()->body_test_motion(get_rid(),p_motion,p_margin,r);
}
}
@ -1022,7 +1028,6 @@ RigidBody2D::~RigidBody2D() {
//////////////////////////
Variant KinematicBody2D::_get_collider() const {
ObjectID oid=get_collider();
@ -1044,9 +1049,8 @@ void KinematicBody2D::revert_motion() {
Matrix32 gt = get_global_transform();
gt.elements[2]-=travel;
travel=Vector2();
set_global_transform(gt);
travel=Vector2();
}
Vector2 KinematicBody2D::get_travel() const {
@ -1057,8 +1061,14 @@ Vector2 KinematicBody2D::get_travel() const {
Vector2 KinematicBody2D::move(const Vector2& p_motion) {
#if 1
Matrix32 gt = get_global_transform();
Physics2DServer::MotionResult result;
colliding = Physics2DServer::get_singleton()->body_test_motion(get_rid(),p_motion,margin,&result);
if (motion_fix_enabled) {
colliding = Physics2DServer::get_singleton()->body_test_motion_from(get_rid(),gt,p_motion,margin,&result);
} else {
colliding = Physics2DServer::get_singleton()->body_test_motion(get_rid(),p_motion,margin,&result);
}
collider_metadata=result.collider_metadata;
collider_shape=result.collider_shape;
@ -1067,10 +1077,12 @@ Vector2 KinematicBody2D::move(const Vector2& p_motion) {
normal=result.collision_normal;
collider=result.collider_id;
Matrix32 gt = get_global_transform();
gt.elements[2]+=result.motion;
set_global_transform(gt);
travel=result.motion;
return result.remainder;
#else
@ -1081,7 +1093,6 @@ Vector2 KinematicBody2D::move(const Vector2& p_motion) {
//this took about a week to get right..
//but is it right? who knows at this point..
colliding=false;
ERR_FAIL_COND_V(!is_inside_tree(),Vector2());
Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
@ -1099,17 +1110,15 @@ Vector2 KinematicBody2D::move(const Vector2& p_motion) {
bool collided=false;
uint32_t mask=0;
if (collide_static)
if (true)
mask|=Physics2DDirectSpaceState::TYPE_MASK_STATIC_BODY;
if (collide_kinematic)
if (true)
mask|=Physics2DDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
if (collide_rigid)
if (true)
mask|=Physics2DDirectSpaceState::TYPE_MASK_RIGID_BODY;
if (collide_character)
if (true)
mask|=Physics2DDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
// print_line("motion: "+p_motion+" margin: "+rtos(margin));
//print_line("margin: "+rtos(margin));
do {
@ -1145,6 +1154,8 @@ Vector2 KinematicBody2D::move(const Vector2& p_motion) {
break;
}
Matrix32 gt = get_global_transform();
gt.elements[2]+=recover_motion;
set_global_transform(gt);
@ -1191,6 +1202,8 @@ Vector2 KinematicBody2D::move(const Vector2& p_motion) {
if (safe>=1) {
//not collided
colliding=false;
} else {
//it collided, let's get the rest info in unsafe advance
@ -1235,9 +1248,18 @@ bool KinematicBody2D::test_move(const Vector2& p_motion) {
ERR_FAIL_COND_V(!is_inside_tree(),false);
return Physics2DServer::get_singleton()->body_test_motion(get_rid(),p_motion,margin);
if (motion_fix_enabled) {
return Physics2DServer::get_singleton()->body_test_motion_from(get_rid(),get_global_transform(),p_motion,margin);
} else {
return Physics2DServer::get_singleton()->body_test_motion(get_rid(),p_motion,margin);
}
}
bool KinematicBody2D::test_move_from(const Matrix32& p_from,const Vector2& p_motion) {
ERR_FAIL_COND_V(!is_inside_tree(),false);
return Physics2DServer::get_singleton()->body_test_motion_from(get_rid(),p_from,p_motion,margin);
}
Vector2 KinematicBody2D::get_collision_pos() const {
@ -1302,6 +1324,7 @@ void KinematicBody2D::_bind_methods() {
ObjectTypeDB::bind_method(_MD("move_to","position"),&KinematicBody2D::move_to);
ObjectTypeDB::bind_method(_MD("test_move","rel_vec"),&KinematicBody2D::test_move);
ObjectTypeDB::bind_method(_MD("test_move_from","from","rel_vec"),&KinematicBody2D::test_move_from);
ObjectTypeDB::bind_method(_MD("get_travel"),&KinematicBody2D::get_travel);
ObjectTypeDB::bind_method(_MD("revert_motion"),&KinematicBody2D::revert_motion);

6
scene/2d/physics_body_2d.h
View file

@ -33,7 +33,6 @@
#include "servers/physics_2d_server.h"
#include "vset.h"
class PhysicsBody2D : public CollisionObject2D {
OBJ_TYPE(PhysicsBody2D,CollisionObject2D);
@ -49,6 +48,10 @@ class PhysicsBody2D : public CollisionObject2D {
protected:
// So this flag can be set at startup and cached for every body
friend void register_scene_types();
static bool motion_fix_enabled;
void _notification(int p_what);
PhysicsBody2D(Physics2DServer::BodyMode p_mode);
@ -314,6 +317,7 @@ public:
Vector2 move_to(const Vector2& p_position);
bool test_move(const Vector2& p_motion);
bool test_move_from(const Matrix32 &p_from, const Vector2& p_motion);
bool is_colliding() const;
Vector2 get_travel() const;

1
scene/register_scene_types.cpp
View file

@ -497,6 +497,7 @@ void register_scene_types() {
ObjectTypeDB::register_type<StaticBody2D>();
ObjectTypeDB::register_type<RigidBody2D>();
ObjectTypeDB::register_type<KinematicBody2D>();
KinematicBody2D::motion_fix_enabled=bool(GLOBAL_DEF("physics_2d/motion_fix_enabled",false));
ObjectTypeDB::register_type<Area2D>();
ObjectTypeDB::register_type<CollisionShape2D>();
ObjectTypeDB::register_type<CollisionPolygon2D>();

17
servers/physics_2d/physics_2d_server_sw.cpp
View file

@ -1016,14 +1016,27 @@ void Physics2DServerSW::body_set_pickable(RID p_body,bool p_pickable) {
}
bool Physics2DServerSW::body_test_motion(RID p_body,const Vector2& p_motion,float p_margin,MotionResult *r_result) {
bool Physics2DServerSW::body_test_motion(RID p_body, const Vector2& p_motion, float p_margin, MotionResult *r_result) {
Body2DSW *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);
return body->get_space()->test_body_motion(body,p_motion,p_margin,r_result);
// Since this is the old-style, broken version, the transform to be used
// is that the physics server is aware of
return body->get_space()->test_body_motion(body,body->get_transform(),p_motion,p_margin,r_result);
}
bool Physics2DServerSW::body_test_motion_from(RID p_body, const Matrix32 &p_from, const Vector2& p_motion, float p_margin, MotionResult *r_result) {
Body2DSW *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);
return body->get_space()->test_body_motion(body,p_from,p_motion,p_margin,r_result);
}

1
servers/physics_2d/physics_2d_server_sw.h
View file

@ -237,6 +237,7 @@ public:
virtual void body_set_pickable(RID p_body,bool p_pickable);
virtual bool body_test_motion(RID p_body,const Vector2& p_motion,float p_margin=0.001,MotionResult *r_result=NULL);
virtual bool body_test_motion_from(RID p_body,const Matrix32& p_from,const Vector2& p_motion,float p_margin=0.001,MotionResult *r_result=NULL);
/* JOINT API */

6
servers/physics_2d/physics_2d_server_wrap_mt.h
View file

@ -272,6 +272,12 @@ public:
return physics_2d_server->body_test_motion(p_body,p_motion,p_margin,r_result);
}
bool body_test_motion_from(RID p_body,const Matrix32& p_from,const Vector2& p_motion,float p_margin=0.001,MotionResult *r_result=NULL) {
ERR_FAIL_COND_V(main_thread!=Thread::get_caller_ID(),false);
return physics_2d_server->body_test_motion_from(p_body,p_from,p_motion,p_margin,r_result);
}
/* JOINT API */

36
servers/physics_2d/space_2d_sw.cpp
View file

@ -592,7 +592,7 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body,const Rect2& p_aabb) {
return amount;
}
bool Space2DSW::test_body_motion(Body2DSW *p_body,const Vector2&p_motion,float p_margin,Physics2DServer::MotionResult *r_result) {
bool Space2DSW::test_body_motion(Body2DSW *p_body, const Matrix32 &p_from, const Vector2&p_motion, float p_margin, Physics2DServer::MotionResult *r_result) {
//give me back regular physics engine logic
//this is madness
@ -601,6 +601,11 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body,const Vector2&p_motion,float p
//this took about a week to get right..
//but is it right? who knows at this point..
if (r_result) {
r_result->collider_id=0;
r_result->collider_shape=0;
}
Rect2 body_aabb;
for(int i=0;i<p_body->get_shape_count();i++) {
@ -611,10 +616,12 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body,const Vector2&p_motion,float p
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_from.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb=body_aabb.grow(p_margin);
Matrix32 body_transform = p_body->get_transform();
Matrix32 body_transform = p_from;
{
//STEP 1, FREE BODY IF STUCK
@ -684,6 +691,17 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body,const Vector2&p_motion,float p
Vector2 a = sr[i*2+0];
Vector2 b = sr[i*2+1];
#if 0
Vector2 rel = b-a;
float d = rel.length();
if (d==0)
continue;
Vector2 n = rel/d;
float traveled = n.dot(recover_motion);
a+=n*traveled;
#endif
// float d = a.distance_to(b);
//if (d<margin)
@ -836,8 +854,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body,const Vector2&p_motion,float p
collided=false;
if (r_result) {
r_result->motion=p_motion+(body_transform.elements[2]-p_body->get_transform().elements[2]);
r_result->remainder=Vector2();
r_result->motion=p_motion;
r_result->remainder=Vector2();
r_result->motion+=(body_transform.elements[2]-p_from.elements[2]);
}
} else {
@ -898,16 +917,19 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body,const Vector2&p_motion,float p
Vector2 rel_vec = r_result->collision_point-body->get_transform().get_origin();
r_result->collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
r_result->motion=safe*p_motion+(body_transform.elements[2]-p_body->get_transform().elements[2]);
r_result->motion=safe*p_motion;
r_result->remainder=p_motion - safe * p_motion;
r_result->motion+=(body_transform.elements[2]-p_from.elements[2]);
}
collided=true;
} else {
if (r_result) {
r_result->motion=p_motion+(body_transform.elements[2]-p_body->get_transform().elements[2]);
r_result->motion=p_motion;
r_result->remainder=Vector2();
r_result->motion+=(body_transform.elements[2]-p_from.elements[2]);
}
collided=false;

2
servers/physics_2d/space_2d_sw.h
View file

@ -185,7 +185,7 @@ public:
int get_collision_pairs() const { return collision_pairs; }
bool test_body_motion(Body2DSW *p_body, const Vector2&p_motion, float p_margin, Physics2DServer::MotionResult *r_result);
bool test_body_motion(Body2DSW *p_body, const Matrix32 &p_from, const Vector2&p_motion, float p_margin, Physics2DServer::MotionResult *r_result);
void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); }

9
servers/physics_2d_server.cpp
View file

@ -501,6 +501,14 @@ bool Physics2DServer::_body_test_motion(RID p_body,const Vector2& p_motion,float
return body_test_motion(p_body,p_motion,p_margin,r);
}
bool Physics2DServer::_body_test_motion_from(RID p_body,const Matrix32& p_from,const Vector2& p_motion,float p_margin,const Ref<Physics2DTestMotionResult>& p_result) {
MotionResult *r=NULL;
if (p_result.is_valid())
r=p_result->get_result_ptr();
return body_test_motion_from(p_body,p_from,p_motion,p_margin,r);
}
void Physics2DServer::_bind_methods() {
@ -620,6 +628,7 @@ void Physics2DServer::_bind_methods() {
ObjectTypeDB::bind_method(_MD("body_set_force_integration_callback","body","receiver","method","userdata"),&Physics2DServer::body_set_force_integration_callback,DEFVAL(Variant()));
ObjectTypeDB::bind_method(_MD("body_test_motion","body","motion","margin","result:Physics2DTestMotionResult"),&Physics2DServer::_body_test_motion,DEFVAL(0.08),DEFVAL(Variant()));
ObjectTypeDB::bind_method(_MD("body_test_motion_from","body","from","motion","margin","result:Physics2DTestMotionResult"),&Physics2DServer::_body_test_motion_from,DEFVAL(0.08),DEFVAL(Variant()));
/* JOINT API */

4
servers/physics_2d_server.h
View file

@ -238,7 +238,8 @@ class Physics2DServer : public Object {
static Physics2DServer * singleton;
virtual bool _body_test_motion(RID p_body,const Vector2& p_motion,float p_margin=0.08,const Ref<Physics2DTestMotionResult>& p_result=Ref<Physics2DTestMotionResult>());
virtual bool _body_test_motion(RID p_body, const Vector2& p_motion, float p_margin=0.08, const Ref<Physics2DTestMotionResult>& p_result=Ref<Physics2DTestMotionResult>());
virtual bool _body_test_motion_from(RID p_body, const Matrix32 &p_from, const Vector2& p_motion, float p_margin=0.08, const Ref<Physics2DTestMotionResult>& p_result=Ref<Physics2DTestMotionResult>());
protected:
static void _bind_methods();
@ -498,6 +499,7 @@ public:
};
virtual bool body_test_motion(RID p_body,const Vector2& p_motion,float p_margin=0.001,MotionResult *r_result=NULL)=0;
virtual bool body_test_motion_from(RID p_body,const Matrix32& p_from,const Vector2& p_motion,float p_margin=0.001,MotionResult *r_result=NULL)=0;
/* JOINT API */