From 2c17490d3820249a3800fe4a3e0f723eab2d6458 Mon Sep 17 00:00:00 2001 From: PouleyKetchoupp Date: Wed, 23 Jun 2021 18:53:23 -0700 Subject: [PATCH] Fix move_and_collide causing sliding on slopes Make sure the direction of the motion is preserved, unless the depth is higher than the margin, which means the body needs depenetration in any direction. Also changed move_and_slide to avoid sliding on the first motion, in order to avoid issues with unstable position on ground when jumping. Co-authored-by: fabriceci --- doc/classes/Physics2DTestMotionResult.xml | 6 +++ scene/2d/physics_body_2d.cpp | 56 ++++++++++++++++---- scene/2d/physics_body_2d.h | 2 +- scene/3d/physics_body.cpp | 62 ++++++++++++++++++----- scene/3d/physics_body.h | 2 +- servers/physics/space_sw.cpp | 3 ++ servers/physics_2d/space_2d_sw.cpp | 3 ++ servers/physics_2d_server.cpp | 18 +++++++ servers/physics_2d_server.h | 6 +++ servers/physics_server.h | 3 ++ 10 files changed, 138 insertions(+), 23 deletions(-) diff --git a/doc/classes/Physics2DTestMotionResult.xml b/doc/classes/Physics2DTestMotionResult.xml index aca74ee77fc9..ea76a4f3e176 100644 --- a/doc/classes/Physics2DTestMotionResult.xml +++ b/doc/classes/Physics2DTestMotionResult.xml @@ -19,10 +19,16 @@ + + + + + + diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp index 5092492f5320..8ffd27bc8ca4 100644 --- a/scene/2d/physics_body_2d.cpp +++ b/scene/2d/physics_body_2d.cpp @@ -1030,7 +1030,7 @@ bool KinematicBody2D::separate_raycast_shapes(bool p_infinite_inertia, Collision } } -bool KinematicBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only) { +bool KinematicBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only, bool p_cancel_sliding) { if (sync_to_physics) { ERR_PRINT("Functions move_and_slide and move_and_collide do not work together with 'sync to physics' option. Please read the documentation."); } @@ -1038,6 +1038,39 @@ bool KinematicBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_ Physics2DServer::MotionResult result; bool colliding = Physics2DServer::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, margin, &result, p_exclude_raycast_shapes); + // Restore direction of motion to be along original motion, + // in order to avoid sliding due to recovery, + // but only if collision depth is low enough to avoid tunneling. + real_t motion_length = p_motion.length(); + if (motion_length > CMP_EPSILON) { + real_t precision = 0.001; + + if (colliding && p_cancel_sliding) { + // Can't just use margin as a threshold because collision depth is calculated on unsafe motion, + // so even in normal resting cases the depth can be a bit more than the margin. + precision += motion_length * (result.collision_unsafe_fraction - result.collision_safe_fraction); + + if (result.collision_depth > (real_t)margin + precision) { + p_cancel_sliding = false; + } + } + + if (p_cancel_sliding) { + // Check depth of recovery. + Vector2 motion_normal = p_motion / motion_length; + real_t dot = result.motion.dot(motion_normal); + Vector2 recovery = result.motion - motion_normal * dot; + real_t recovery_length = recovery.length(); + // Fixes cases where canceling slide causes the motion to go too deep into the ground, + // Becauses we're only taking rest information into account and not general recovery. + if (recovery_length < (real_t)margin + precision) { + // Apply adjustment to motion. + result.motion = motion_normal * dot; + result.remainder = p_motion - result.motion; + } + } + } + if (colliding) { r_collision.collider_metadata = result.collider_metadata; r_collision.collider_shape = result.collider_shape; @@ -1087,14 +1120,16 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const floor_normal = Vector2(); floor_velocity = Vector2(); - while (p_max_slides) { + // No sliding on first attempt to keep floor motion stable when possible. + bool sliding_enabled = false; + for (int iteration = 0; iteration < p_max_slides; ++iteration) { Collision collision; bool found_collision = false; for (int i = 0; i < 2; ++i) { bool collided; if (i == 0) { //collide - collided = move_and_collide(motion, p_infinite_inertia, collision); + collided = move_and_collide(motion, p_infinite_inertia, collision, true, false, !sliding_enabled); if (!collided) { motion = Vector2(); //clear because no collision happened and motion completed } @@ -1110,7 +1145,6 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const found_collision = true; colliders.push_back(collision); - motion = collision.remainder; if (up_direction == Vector2()) { //all is a wall @@ -1124,7 +1158,7 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const floor_velocity = collision.collider_vel; if (p_stop_on_slope) { - if ((body_velocity_normal + up_direction).length() < 0.01 && collision.travel.length() < 1) { + if ((body_velocity_normal + up_direction).length() < 0.01) { Transform2D gt = get_global_transform(); gt.elements[2] -= collision.travel.slide(up_direction); set_global_transform(gt); @@ -1138,16 +1172,20 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const } } - motion = motion.slide(collision.normal); - body_velocity = body_velocity.slide(collision.normal); + if (sliding_enabled || !on_floor) { + motion = collision.remainder.slide(collision.normal); + body_velocity = body_velocity.slide(collision.normal); + } else { + motion = collision.remainder; + } } + + sliding_enabled = true; } if (!found_collision || motion == Vector2()) { break; } - - --p_max_slides; } return body_velocity; diff --git a/scene/2d/physics_body_2d.h b/scene/2d/physics_body_2d.h index b14dd57e43eb..32077997ea2b 100644 --- a/scene/2d/physics_body_2d.h +++ b/scene/2d/physics_body_2d.h @@ -310,7 +310,7 @@ class KinematicBody2D : public PhysicsBody2D { static void _bind_methods(); public: - bool move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false); + bool move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false, bool p_cancel_sliding = true); bool test_move(const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia = true); diff --git a/scene/3d/physics_body.cpp b/scene/3d/physics_body.cpp index 70ebbe2c953a..3cd643e8c66e 100644 --- a/scene/3d/physics_body.cpp +++ b/scene/3d/physics_body.cpp @@ -973,11 +973,44 @@ Ref KinematicBody::_move(const Vector3 &p_motion, bool p_inf return Ref(); } -bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only) { +bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only, bool p_cancel_sliding) { Transform gt = get_global_transform(); PhysicsServer::MotionResult result; bool colliding = PhysicsServer::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, &result, p_exclude_raycast_shapes); + // Restore direction of motion to be along original motion, + // in order to avoid sliding due to recovery, + // but only if collision depth is low enough to avoid tunneling. + real_t motion_length = p_motion.length(); + if (motion_length > CMP_EPSILON) { + real_t precision = CMP_EPSILON; + + if (colliding && p_cancel_sliding) { + // Can't just use margin as a threshold because collision depth is calculated on unsafe motion, + // so even in normal resting cases the depth can be a bit more than the margin. + precision += motion_length * (result.collision_unsafe_fraction - result.collision_safe_fraction); + + if (result.collision_depth > (real_t)margin + precision) { + p_cancel_sliding = false; + } + } + + if (p_cancel_sliding) { + // Check depth of recovery. + Vector3 motion_normal = p_motion / motion_length; + real_t dot = result.motion.dot(motion_normal); + Vector3 recovery = result.motion - motion_normal * dot; + real_t recovery_length = recovery.length(); + // Fixes cases where canceling slide causes the motion to go too deep into the ground, + // Becauses we're only taking rest information into account and not general recovery. + if (recovery_length < (real_t)margin + precision) { + // Apply adjustment to motion. + result.motion = motion_normal * dot; + result.remainder = p_motion - result.motion; + } + } + } + if (colliding) { r_collision.collider_metadata = result.collider_metadata; r_collision.collider_shape = result.collider_shape; @@ -1030,14 +1063,16 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve floor_normal = Vector3(); floor_velocity = Vector3(); - while (p_max_slides) { + // No sliding on first attempt to keep motion stable when possible. + bool sliding_enabled = false; + for (int iteration = 0; iteration < p_max_slides; ++iteration) { Collision collision; bool found_collision = false; for (int i = 0; i < 2; ++i) { bool collided; if (i == 0) { //collide - collided = move_and_collide(motion, p_infinite_inertia, collision); + collided = move_and_collide(motion, p_infinite_inertia, collision, true, false, !sliding_enabled); if (!collided) { motion = Vector3(); //clear because no collision happened and motion completed } @@ -1053,7 +1088,6 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve found_collision = true; colliders.push_back(collision); - motion = collision.remainder; if (up_direction == Vector3()) { //all is a wall @@ -1067,7 +1101,7 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve floor_velocity = collision.collider_vel; if (p_stop_on_slope) { - if ((body_velocity_normal + up_direction).length() < 0.01 && collision.travel.length() < 1) { + if ((body_velocity_normal + up_direction).length() < 0.01) { Transform gt = get_global_transform(); gt.origin -= collision.travel.slide(up_direction); set_global_transform(gt); @@ -1081,22 +1115,26 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve } } - motion = motion.slide(collision.normal); - body_velocity = body_velocity.slide(collision.normal); + if (sliding_enabled || !on_floor) { + motion = collision.remainder.slide(collision.normal); + body_velocity = body_velocity.slide(collision.normal); - for (int j = 0; j < 3; j++) { - if (locked_axis & (1 << j)) { - body_velocity[j] = 0; + for (int j = 0; j < 3; j++) { + if (locked_axis & (1 << j)) { + body_velocity[j] = 0; + } } + } else { + motion = collision.remainder; } } + + sliding_enabled = true; } if (!found_collision || motion == Vector3()) { break; } - - --p_max_slides; } return body_velocity; diff --git a/scene/3d/physics_body.h b/scene/3d/physics_body.h index 01e6cb6370ac..1eaab029e17d 100644 --- a/scene/3d/physics_body.h +++ b/scene/3d/physics_body.h @@ -302,7 +302,7 @@ class KinematicBody : public PhysicsBody { static void _bind_methods(); public: - bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false); + bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false, bool p_cancel_sliding = true); bool test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia); bool separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision); diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp index 64f3330160f7..075a5f4d8803 100644 --- a/servers/physics/space_sw.cpp +++ b/servers/physics/space_sw.cpp @@ -1008,6 +1008,9 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve r_result->collision_local_shape = rcd.best_local_shape; r_result->collision_normal = rcd.best_normal; r_result->collision_point = rcd.best_contact; + r_result->collision_depth = rcd.best_len; + r_result->collision_safe_fraction = safe; + r_result->collision_unsafe_fraction = unsafe; //r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape); const BodySW *body = static_cast(rcd.best_object); diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp index 02b49f3e444f..36892775d316 100644 --- a/servers/physics_2d/space_2d_sw.cpp +++ b/servers/physics_2d/space_2d_sw.cpp @@ -1119,6 +1119,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co r_result->collision_local_shape = rcd.best_local_shape; r_result->collision_normal = rcd.best_normal; r_result->collision_point = rcd.best_contact; + r_result->collision_depth = rcd.best_len; + r_result->collision_safe_fraction = safe; + r_result->collision_unsafe_fraction = unsafe; r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape); const Body2DSW *body = static_cast(rcd.best_object); diff --git a/servers/physics_2d_server.cpp b/servers/physics_2d_server.cpp index bece24c0e738..c05a0922421d 100644 --- a/servers/physics_2d_server.cpp +++ b/servers/physics_2d_server.cpp @@ -466,6 +466,18 @@ int Physics2DTestMotionResult::get_collider_shape() const { return result.collider_shape; } +real_t Physics2DTestMotionResult::get_collision_depth() const { + return result.collision_depth; +} + +real_t Physics2DTestMotionResult::get_collision_safe_fraction() const { + return result.collision_safe_fraction; +} + +real_t Physics2DTestMotionResult::get_collision_unsafe_fraction() const { + return result.collision_unsafe_fraction; +} + void Physics2DTestMotionResult::_bind_methods() { ClassDB::bind_method(D_METHOD("get_motion"), &Physics2DTestMotionResult::get_motion); ClassDB::bind_method(D_METHOD("get_motion_remainder"), &Physics2DTestMotionResult::get_motion_remainder); @@ -476,6 +488,9 @@ void Physics2DTestMotionResult::_bind_methods() { ClassDB::bind_method(D_METHOD("get_collider_rid"), &Physics2DTestMotionResult::get_collider_rid); ClassDB::bind_method(D_METHOD("get_collider"), &Physics2DTestMotionResult::get_collider); ClassDB::bind_method(D_METHOD("get_collider_shape"), &Physics2DTestMotionResult::get_collider_shape); + ClassDB::bind_method(D_METHOD("get_collision_depth"), &Physics2DTestMotionResult::get_collision_depth); + ClassDB::bind_method(D_METHOD("get_collision_safe_fraction"), &Physics2DTestMotionResult::get_collision_safe_fraction); + ClassDB::bind_method(D_METHOD("get_collision_unsafe_fraction"), &Physics2DTestMotionResult::get_collision_unsafe_fraction); ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "motion"), "", "get_motion"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "motion_remainder"), "", "get_motion_remainder"); @@ -486,6 +501,9 @@ void Physics2DTestMotionResult::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::_RID, "collider_rid"), "", "get_collider_rid"); ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_collider"); ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape"), "", "get_collider_shape"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_depth"), "", "get_collision_depth"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_safe_fraction"), "", "get_collision_safe_fraction"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision_unsafe_fraction"), "", "get_collision_unsafe_fraction"); } Physics2DTestMotionResult::Physics2DTestMotionResult() { diff --git a/servers/physics_2d_server.h b/servers/physics_2d_server.h index 97c76b7c84fd..b98bf7c47e0a 100644 --- a/servers/physics_2d_server.h +++ b/servers/physics_2d_server.h @@ -491,6 +491,9 @@ class Physics2DServer : public Object { Vector2 collision_point; Vector2 collision_normal; Vector2 collider_velocity; + real_t collision_depth = 0.0; + real_t collision_safe_fraction = 0.0; + real_t collision_unsafe_fraction = 0.0; int collision_local_shape; ObjectID collider_id; RID collider; @@ -622,6 +625,9 @@ class Physics2DTestMotionResult : public Reference { RID get_collider_rid() const; Object *get_collider() const; int get_collider_shape() const; + real_t get_collision_depth() const; + real_t get_collision_safe_fraction() const; + real_t get_collision_unsafe_fraction() const; Physics2DTestMotionResult(); }; diff --git a/servers/physics_server.h b/servers/physics_server.h index 290aef35f382..3653fa077d9d 100644 --- a/servers/physics_server.h +++ b/servers/physics_server.h @@ -479,6 +479,9 @@ class PhysicsServer : public Object { Vector3 collision_point; Vector3 collision_normal; Vector3 collider_velocity; + real_t collision_depth = 0.0; + real_t collision_safe_fraction = 0.0; + real_t collision_unsafe_fraction = 0.0; int collision_local_shape; ObjectID collider_id; RID collider;