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-improved physics ccd

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-html5 exporter works again
-disable repeat on image loader by default
-can change shape offset en tileset, texture offset was broken
This commit is contained in:
Juan Linietsky
2014-02-19 11:57:14 -03:00
parent 8c1731b679
commit d7d65fa2f2
65 changed files with 69974 additions and 68330 deletions
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93
servers/physics_2d/body_pair_2d_sw.cpp
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@@ -46,7 +46,6 @@ void BodyPair2DSW::_contact_added_callback(const Vector2& p_point_A,const Vector
// check if we already have the contact
Vector2 local_A = A->get_inv_transform().basis_xform(p_point_A);
Vector2 local_B = B->get_inv_transform().basis_xform(p_point_B-offset_B);
@@ -61,6 +60,7 @@ void BodyPair2DSW::_contact_added_callback(const Vector2& p_point_A,const Vector
contact.acc_tangent_impulse=0;
contact.local_A=local_A;
contact.local_B=local_B;
contact.reused=true;
contact.normal=(p_point_A-p_point_B).normalized();
// attempt to determine if the contact will be reused
@@ -77,7 +77,7 @@ void BodyPair2DSW::_contact_added_callback(const Vector2& p_point_A,const Vector
contact.acc_normal_impulse=c.acc_normal_impulse;
contact.acc_tangent_impulse=c.acc_tangent_impulse;
contact.acc_bias_impulse=c.acc_bias_impulse;
new_index=i;
new_index=i;
break;
}
}
@@ -139,12 +139,26 @@ void BodyPair2DSW::_validate_contacts() {
Contact& c = contacts[i];
Vector2 global_A = A->get_transform().basis_xform(c.local_A);
Vector2 global_B = B->get_transform().basis_xform(c.local_B)+offset_B;
Vector2 axis = global_A - global_B;
float depth = axis.dot( c.normal );
bool erase=false;
if (c.reused==false) {
//was left behind in previous frame
erase=true;
} else {
c.reused=false;
if (depth < -max_separation || (global_B + c.normal * depth - global_A).length_squared() > max_separation2) {
Vector2 global_A = A->get_transform().basis_xform(c.local_A);
Vector2 global_B = B->get_transform().basis_xform(c.local_B)+offset_B;
Vector2 axis = global_A - global_B;
float depth = axis.dot( c.normal );
if (depth < -max_separation || (global_B + c.normal * depth - global_A).length_squared() > max_separation2) {
erase=true;
}
}
if (erase) {
// contact no longer needed, remove
@@ -161,7 +175,9 @@ void BodyPair2DSW::_validate_contacts() {
}
bool BodyPair2DSW::_test_ccd(float p_step,Body2DSW *p_A, int p_shape_A,const Matrix32& p_xform_A,const Matrix32& p_xform_inv_A,Body2DSW *p_B, int p_shape_B,const Matrix32& p_xform_B,const Matrix32& p_xform_inv_B,bool p_swap_result) {
bool BodyPair2DSW::_test_ccd(float p_step,Body2DSW *p_A, int p_shape_A,const Matrix32& p_xform_A,Body2DSW *p_B, int p_shape_B,const Matrix32& p_xform_B,bool p_swap_result) {
Vector2 motion = p_A->get_linear_velocity()*p_step;
real_t mlen = motion.length();
@@ -172,18 +188,24 @@ bool BodyPair2DSW::_test_ccd(float p_step,Body2DSW *p_A, int p_shape_A,const Mat
real_t min,max;
p_A->get_shape(p_shape_A)->project_rangev(mnormal,p_xform_A,min,max);
if (mlen < (max-min)*0.3) //did it move enough in this direction to even attempt raycast? let's say it should move more than 1/3 the size of the object in that axis
bool fast_object = mlen > (max-min)*0.3; //going too fast in that direction
if (fast_object) { //did it move enough in this direction to even attempt raycast? let's say it should move more than 1/3 the size of the object in that axis
return false;
}
//cast a segment from support in motion normal, in the same direction of motion by motion length
//support is the worst case collision point, so real collision happened before
int a;
Vector2 s[2];
p_A->get_shape(p_shape_A)->get_supports(p_xform_A.basis_xform(mnormal).normalized(),s,a);
Vector2 from = p_xform_A.xform(s[0]);
Vector2 to = from + motion;
Vector2 local_from = p_xform_inv_B.xform(from);
Vector2 local_to = p_xform_inv_B.xform(to);
Matrix32 from_inv = p_xform_B.affine_inverse();
Vector2 local_from = from_inv.xform(from-mnormal*mlen*0.1); //start from a little inside the bounding box
Vector2 local_to = from_inv.xform(to);
Vector2 rpos,rnorm;
if (!p_B->get_shape(p_shape_B)->intersect_segment(local_from,local_to,rpos,rnorm))
@@ -191,8 +213,11 @@ bool BodyPair2DSW::_test_ccd(float p_step,Body2DSW *p_A, int p_shape_A,const Mat
//ray hit something
Vector2 hitpos = p_xform_B.xform(rpos);
Vector2 contact_A = to;
Vector2 contact_B = p_xform_B.xform(rpos);
Vector2 contact_B = hitpos;
//create a contact
@@ -208,41 +233,50 @@ bool BodyPair2DSW::_test_ccd(float p_step,Body2DSW *p_A, int p_shape_A,const Mat
bool BodyPair2DSW::setup(float p_step) {
//cannot collide
if (A->is_shape_set_as_trigger(shape_A) || B->is_shape_set_as_trigger(shape_B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode()<=Physics2DServer::BODY_MODE_KINEMATIC && B->get_mode()<=Physics2DServer::BODY_MODE_KINEMATIC)) {
collided=false;
return false;
}
//use local A coordinates to avoid numerical issues on collision detection
offset_B = B->get_transform().get_origin() - A->get_transform().get_origin();
_validate_contacts();
//cannot collide
if (A->is_shape_set_as_trigger(shape_A) || B->is_shape_set_as_trigger(shape_B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode()<=Physics2DServer::BODY_MODE_STATIC_ACTIVE && B->get_mode()<=Physics2DServer::BODY_MODE_STATIC_ACTIVE)) {
collided=false;
return false;
}
Vector2 offset_A = A->get_transform().get_origin();
Matrix32 xform_Au = A->get_transform().untranslated();
Matrix32 xform_A = xform_Au * A->get_shape_transform(shape_A);
Matrix32 xform_inv_A = xform_A.affine_inverse();
Matrix32 xform_Bu = B->get_transform();
xform_Bu.elements[2]-=A->get_transform().get_origin();
Matrix32 xform_B = xform_Bu * B->get_shape_transform(shape_B);
Matrix32 xform_inv_B = xform_B.affine_inverse();
Shape2DSW *shape_A_ptr=A->get_shape(shape_A);
Shape2DSW *shape_B_ptr=B->get_shape(shape_B);
collided = CollisionSolver2DSW::solve_static(shape_A_ptr,xform_A,xform_inv_A,shape_B_ptr,xform_B,xform_inv_B,_add_contact,this,&sep_axis);
Vector2 motion_A,motion_B;
if (A->get_continuous_collision_detection_mode()==Physics2DServer::CCD_MODE_CAST_SHAPE) {
motion_A=A->get_motion();
}
if (B->get_continuous_collision_detection_mode()==Physics2DServer::CCD_MODE_CAST_SHAPE) {
motion_B=B->get_motion();
}
//faster to set than to check..
collided = CollisionSolver2DSW::solve(shape_A_ptr,xform_A,motion_A,shape_B_ptr,xform_B,motion_B,_add_contact,this,&sep_axis);
if (!collided) {
//test ccd (currently just a raycast)
if (A->is_continuous_collision_detection_enabled() && A->get_type()>Physics2DServer::BODY_MODE_STATIC_ACTIVE) {
if (_test_ccd(p_step,A,shape_A,xform_A,xform_inv_A,B,shape_B,xform_B,xform_inv_B))
if (A->get_continuous_collision_detection_mode()==Physics2DServer::CCD_MODE_CAST_RAY && A->get_mode()>Physics2DServer::BODY_MODE_KINEMATIC) {
if (_test_ccd(p_step,A,shape_A,xform_A,B,shape_B,xform_B))
collided=true;
}
if (B->is_continuous_collision_detection_enabled() && B->get_type()>Physics2DServer::BODY_MODE_STATIC_ACTIVE) {
if (_test_ccd(p_step,B,shape_B,xform_B,xform_inv_B,A,shape_A,xform_A,xform_inv_A,true))
if (B->get_continuous_collision_detection_mode()==Physics2DServer::CCD_MODE_CAST_RAY && B->get_mode()>Physics2DServer::BODY_MODE_KINEMATIC) {
if (_test_ccd(p_step,B,shape_B,xform_B,A,shape_A,xform_A,true))
collided=true;
}
@@ -251,8 +285,6 @@ bool BodyPair2DSW::setup(float p_step) {
}
real_t max_penetration = space->get_contact_max_allowed_penetration();
float bias = 0.3f;
@@ -280,7 +312,7 @@ bool BodyPair2DSW::setup(float p_step) {
real_t depth = c.normal.dot(global_A - global_B);
if (depth<=0) {
if (depth<=0 || !c.reused) {
c.active=false;
continue;
}
@@ -311,7 +343,6 @@ bool BodyPair2DSW::setup(float p_step) {
}
}
// Precompute normal mass, tangent mass, and bias.
real_t rnA = c.rA.dot(c.normal);
real_t rnB = c.rB.dot(c.normal);
@@ -373,6 +404,7 @@ void BodyPair2DSW::solve(float p_step) {
Vector2 crbB( -B->get_biased_angular_velocity() * c.rB.y, B->get_biased_angular_velocity() * c.rB.x );
Vector2 dbv = B->get_biased_linear_velocity() + crbB - A->get_biased_linear_velocity() - crbA;
real_t vn = dv.dot(c.normal);
real_t vbn = dbv.dot(c.normal);
Vector2 tangent = c.normal.tangent();
@@ -388,7 +420,7 @@ void BodyPair2DSW::solve(float p_step) {
A->apply_bias_impulse(c.rA,-jb);
B->apply_bias_impulse(c.rB, jb);
real_t bounce=0;
real_t bounce=MAX(A->get_bounce(),B->get_bounce());
real_t jn = -(bounce + vn)*c.mass_normal;
real_t jnOld = c.acc_normal_impulse;
c.acc_normal_impulse = MAX(jnOld + jn, 0.0f);
@@ -403,7 +435,6 @@ void BodyPair2DSW::solve(float p_step) {
Vector2 j =c.normal * (c.acc_normal_impulse - jnOld) + tangent * ( c.acc_tangent_impulse - jtOld );
A->apply_impulse(c.rA,-j);
B->apply_impulse(c.rB, j);