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Fix 3D moving platform logic

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Same thing that was already done in 2D, applies moving platform motion
by using a call to move_and_collide that excludes the platform itself,
instead of making it part of the body motion.

Helps with handling walls and slopes correctly when the character walks
on the moving platform.

Also made some minor adjustments to the 2D version and documentation.

Co-authored-by: fabriceci <fabricecipolla@gmail.com>
This commit is contained in:
PouleyKetchoupp
2021-08-09 18:16:45 -07:00
parent f3ddc14d38
commit ec9fed69f4
20 changed files with 118 additions and 61 deletions
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16
modules/bullet/space_bullet.cpp
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@@ -908,7 +908,7 @@ static Ref<StandardMaterial3D> red_mat;
static Ref<StandardMaterial3D> blue_mat;
#endif
bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes) {
bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
#if debug_test_motion
/// Yes I know this is not good, but I've used it as fast debugging hack.
/// I'm leaving it here just for speedup the other eventual debugs
@@ -948,7 +948,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
btVector3 initial_recover_motion(0, 0, 0);
{ /// Phase one - multi shapes depenetration using margin
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
if (!recover_from_penetration(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, initial_recover_motion)) {
if (!recover_from_penetration(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, initial_recover_motion, nullptr, p_exclude)) {
break;
}
}
@@ -1000,7 +1000,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
break;
}
GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, p_infinite_inertia);
GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, p_infinite_inertia, &p_exclude);
btResult.m_collisionFilterGroup = p_body->get_collision_layer();
btResult.m_collisionFilterMask = p_body->get_collision_mask();
@@ -1023,7 +1023,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
btVector3 __rec(0, 0, 0);
RecoverResult r_recover_result;
has_penetration = recover_from_penetration(p_body, body_transform, 1, p_infinite_inertia, __rec, &r_recover_result);
has_penetration = recover_from_penetration(p_body, body_transform, 1, p_infinite_inertia, __rec, &r_recover_result, p_exclude);
// Parse results
if (r_result) {
@@ -1173,7 +1173,7 @@ public:
}
};
bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result, const Set<RID> &p_exclude) {
// Calculate the cumulative AABB of all shapes of the kinematic body
btVector3 aabb_min, aabb_max;
bool shapes_found = false;
@@ -1242,6 +1242,12 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
for (int i = recover_broad_result.results.size() - 1; 0 <= i; --i) {
btCollisionObject *otherObject = recover_broad_result.results[i].collision_object;
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(otherObject->getUserPointer());
if (p_exclude.has(gObj->get_self())) {
continue;
}
if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) {
otherObject->activate(); // Force activation of hitten rigid, soft body
continue;