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More accurate calculation for recover motion in test_body_motion #45643

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More accurate calculation for recover motion in test_body_motion #45643

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33 changes: 23 additions & 10 deletions servers/physics_2d/space_2d_sw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -560,7 +560,8 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
CollisionSolver2DSW::CallbackResult cbkres = PhysicsServer2DSW::_shape_col_cbk;

do {
Vector2 recover_motion;
Vector2 recover_min;
Vector2 recover_max;

bool collided = false;

Expand Down Expand Up @@ -639,16 +640,20 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
PhysicsServer2D::SeparationResult &result = r_results[ray_index];

for (int k = 0; k < cbk.amount; k++) {
Vector2 a = sr[k * 2 + 0];
Vector2 b = sr[k * 2 + 1];
const Vector2 &a = sr[k * 2 + 0];
const Vector2 &b = sr[k * 2 + 1];
Vector2 recover = b - a;

recover_motion += (b - a) / cbk.amount;
recover_min.x = MIN(recover_min.x, recover.x);
recover_min.y = MIN(recover_min.y, recover.y);
recover_max.x = MAX(recover_max.x, recover.x);
recover_max.y = MAX(recover_max.y, recover.y);

real_t depth = a.distance_to(b);
real_t depth = recover.length();
if (depth > result.collision_depth) {
result.collision_depth = depth;
result.collision_point = b;
result.collision_normal = (b - a).normalized();
result.collision_normal = recover / depth;
result.collision_local_shape = j;
result.collider_shape = shape_idx;
result.collider = col_obj->get_self();
Expand All @@ -667,6 +672,7 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
}
}

Vector2 recover_motion = recover_min + recover_max;
if (!collided || recover_motion == Vector2()) {
break;
}
Expand Down Expand Up @@ -844,14 +850,21 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
break;
}

Vector2 recover_motion;
Vector2 recover_min;
Vector2 recover_max;

for (int i = 0; i < cbk.amount; i++) {
Vector2 a = sr[i * 2 + 0];
Vector2 b = sr[i * 2 + 1];
recover_motion += (b - a) / cbk.amount;
const Vector2 &a = sr[i * 2 + 0];
const Vector2 &b = sr[i * 2 + 1];
Vector2 recover = b - a;

recover_min.x = MIN(recover_min.x, recover.x);
recover_min.y = MIN(recover_min.y, recover.y);
recover_max.x = MAX(recover_max.x, recover.x);
recover_max.y = MAX(recover_max.y, recover.y);
}

Vector2 recover_motion = recover_min + recover_max;
if (recover_motion == Vector2()) {
collided = false;
break;
Expand Down
41 changes: 29 additions & 12 deletions servers/physics_3d/space_3d_sw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -591,7 +591,8 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_tra
CollisionSolver3DSW::CallbackResult cbkres = PhysicsServer3DSW::_shape_col_cbk;

do {
Vector3 recover_motion;
Vector3 recover_min;
Vector3 recover_max;

bool collided = false;

Expand Down Expand Up @@ -646,16 +647,22 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_tra
PhysicsServer3D::SeparationResult &result = r_results[ray_index];

for (int k = 0; k < cbk.amount; k++) {
Vector3 a = sr[k * 2 + 0];
Vector3 b = sr[k * 2 + 1];

recover_motion += (b - a) / cbk.amount;

real_t depth = a.distance_to(b);
const Vector3 &a = sr[k * 2 + 0];
const Vector3 &b = sr[k * 2 + 1];
Vector3 recover = b - a;

recover_min.x = MIN(recover_min.x, recover.x);
recover_min.y = MIN(recover_min.y, recover.y);
recover_min.z = MIN(recover_min.z, recover.z);
recover_max.x = MAX(recover_max.x, recover.x);
recover_max.y = MAX(recover_max.y, recover.y);
recover_max.z = MAX(recover_max.z, recover.z);

real_t depth = recover.length();
if (depth > result.collision_depth) {
result.collision_depth = depth;
result.collision_point = b;
result.collision_normal = (b - a).normalized();
result.collision_normal = recover / depth;
result.collision_local_shape = j;
result.collider = col_obj->get_self();
result.collider_id = col_obj->get_instance_id();
Expand All @@ -675,6 +682,7 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_tra
}
}

Vector3 recover_motion = recover_min + recover_max;
if (!collided || recover_motion == Vector3()) {
break;
}
Expand Down Expand Up @@ -786,14 +794,23 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
break;
}

Vector3 recover_motion;
Vector3 recover_min;
Vector3 recover_max;

for (int i = 0; i < cbk.amount; i++) {
Vector3 a = sr[i * 2 + 0];
Vector3 b = sr[i * 2 + 1];
recover_motion += (b - a) / cbk.amount;
const Vector3 &a = sr[i * 2 + 0];
const Vector3 &b = sr[i * 2 + 1];
Vector3 recover = b - a;

recover_min.x = MIN(recover_min.x, recover.x);
recover_min.y = MIN(recover_min.y, recover.y);
recover_min.z = MIN(recover_min.z, recover.z);
recover_max.x = MAX(recover_max.x, recover.x);
recover_max.y = MAX(recover_max.y, recover.y);
recover_max.z = MAX(recover_max.z, recover.z);
}

Vector3 recover_motion = recover_min + recover_max;
if (recover_motion == Vector3()) {
collided = false;
break;
Expand Down