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Ensure KinematicBodies only interact with other Bodies with matching mask. #42641

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Jul 19, 2021
Merged

Ensure KinematicBodies only interact with other Bodies with matching mask. #42641

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27 changes: 8 additions & 19 deletions modules/bullet/godot_result_callbacks.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,17 +47,12 @@ bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapp
return true;
}

bool GodotFilterCallback::test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask) {
return body0_collision_layer & body1_collision_mask || body1_collision_layer & body0_collision_mask;
}

bool GodotFilterCallback::needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const {
return GodotFilterCallback::test_collision_filters(proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask, proxy1->m_collisionFilterGroup, proxy1->m_collisionFilterMask);
return (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) || (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
}

bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
if (m_collisionFilterGroup & proxy0->m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());

Expand Down Expand Up @@ -90,8 +85,7 @@ bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) con
return false;
}

const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
if (m_collisionFilterGroup & proxy0->m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
if (m_exclude->has(gObj->get_self())) {
Expand Down Expand Up @@ -123,8 +117,7 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo
}

bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
if (m_collisionFilterGroup & proxy0->m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
if (gObj == m_self_object) {
Expand All @@ -150,8 +143,7 @@ bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *prox
}

bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
if (m_collisionFilterGroup & proxy0->m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());

Expand Down Expand Up @@ -188,8 +180,7 @@ bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) co
return false;
}

const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
if (m_collisionFilterGroup & proxy0->m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());

Expand Down Expand Up @@ -244,8 +235,7 @@ bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *pr
return false;
}

const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
if (m_collisionFilterGroup & proxy0->m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());

Expand Down Expand Up @@ -287,8 +277,7 @@ btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint
}

bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
if (m_collisionFilterGroup & proxy0->m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());

Expand Down
2 changes: 0 additions & 2 deletions modules/bullet/godot_result_callbacks.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,8 +47,6 @@ bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapp

/// This class is required to implement custom collision behaviour in the broadphase
struct GodotFilterCallback : public btOverlapFilterCallback {
static bool test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask);

// return true when pairs need collision
virtual bool needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const;
};
Expand Down
12 changes: 5 additions & 7 deletions modules/bullet/space_bullet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1093,7 +1093,6 @@ struct RecoverPenetrationBroadPhaseCallback : public btBroadphaseAabbCallback {

const btCollisionObject *self_collision_object;
uint32_t collision_layer = 0;
uint32_t collision_mask = 0;

struct CompoundLeafCallback : btDbvt::ICollide {
private:
Expand Down Expand Up @@ -1123,10 +1122,9 @@ struct RecoverPenetrationBroadPhaseCallback : public btBroadphaseAabbCallback {
Vector<BroadphaseResult> results;

public:
RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, uint32_t p_collision_mask, btVector3 p_aabb_min, btVector3 p_aabb_max) :
RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, btVector3 p_aabb_min, btVector3 p_aabb_max) :
self_collision_object(p_self_collision_object),
collision_layer(p_collision_layer),
collision_mask(p_collision_mask) {
collision_layer(p_collision_layer) {
bounds = btDbvtVolume::FromMM(p_aabb_min, p_aabb_max);
}

Expand All @@ -1135,7 +1133,7 @@ struct RecoverPenetrationBroadPhaseCallback : public btBroadphaseAabbCallback {
virtual bool process(const btBroadphaseProxy *proxy) {
btCollisionObject *co = static_cast<btCollisionObject *>(proxy->m_clientObject);
if (co->getInternalType() <= btCollisionObject::CO_RIGID_BODY) {
if (self_collision_object != proxy->m_clientObject && GodotFilterCallback::test_collision_filters(collision_layer, collision_mask, proxy->m_collisionFilterGroup, proxy->m_collisionFilterMask)) {
if (self_collision_object != proxy->m_clientObject && (collision_layer & proxy->m_collisionFilterMask)) {
if (co->getCollisionShape()->isCompound()) {
const btCompoundShape *cs = static_cast<btCompoundShape *>(co->getCollisionShape());

Expand Down Expand Up @@ -1218,7 +1216,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
}

// Perform broadphase test
RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask(), aabb_min, aabb_max);
RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), aabb_min, aabb_max);
dynamicsWorld->getBroadphase()->aabbTest(aabb_min, aabb_max, recover_broad_result);

bool penetration = false;
Expand Down Expand Up @@ -1409,7 +1407,7 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT
}

// Perform broadphase test
RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask(), aabb_min, aabb_max);
RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), aabb_min, aabb_max);
dynamicsWorld->getBroadphase()->aabbTest(aabb_min, aabb_max, recover_broad_result);

int ray_count = 0;
Expand Down
4 changes: 2 additions & 2 deletions servers/physics_2d/area_pair_2d_sw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@

bool AreaPair2DSW::setup(real_t p_step) {
bool result = false;
if (area->test_collision_mask(body) && CollisionSolver2DSW::solve(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), Vector2(), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), Vector2(), nullptr, this)) {
if (area->interacts_with(body) && CollisionSolver2DSW::solve(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), Vector2(), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), Vector2(), nullptr, this)) {
result = true;
}

Expand Down Expand Up @@ -110,7 +110,7 @@ AreaPair2DSW::~AreaPair2DSW() {

bool Area2Pair2DSW::setup(real_t p_step) {
bool result = false;
if (area_a->test_collision_mask(area_b) && CollisionSolver2DSW::solve(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), Vector2(), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), Vector2(), nullptr, this)) {
if (area_a->interacts_with(area_b) && CollisionSolver2DSW::solve(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), Vector2(), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), Vector2(), nullptr, this)) {
result = true;
}

Expand Down
2 changes: 1 addition & 1 deletion servers/physics_2d/body_pair_2d_sw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -229,7 +229,7 @@ bool BodyPair2DSW::setup(real_t p_step) {
dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);

if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
if (!A->interacts_with(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
collided = false;
return false;
}
Expand Down
6 changes: 5 additions & 1 deletion servers/physics_2d/collision_object_2d_sw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -186,7 +186,11 @@ class CollisionObject2DSW : public ShapeOwner2DSW {
void set_pickable(bool p_pickable) { pickable = p_pickable; }
_FORCE_INLINE_ bool is_pickable() const { return pickable; }

_FORCE_INLINE_ bool test_collision_mask(CollisionObject2DSW *p_other) const {
_FORCE_INLINE_ bool layer_in_mask(CollisionObject2DSW *p_other) const {
return collision_layer & p_other->collision_mask;
}

_FORCE_INLINE_ bool interacts_with(CollisionObject2DSW *p_other) const {
return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
}

Expand Down
4 changes: 2 additions & 2 deletions servers/physics_2d/space_2d_sw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -508,7 +508,7 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
keep = false;
} else if (intersection_query_results[i]->get_type() == CollisionObject2DSW::TYPE_AREA) {
keep = false;
} else if ((static_cast<Body2DSW *>(intersection_query_results[i])->test_collision_mask(p_body)) == 0) {
} else if (!p_body->layer_in_mask(static_cast<Body2DSW *>(intersection_query_results[i]))) {
keep = false;
} else if (static_cast<Body2DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
keep = false;
Expand Down Expand Up @@ -1188,7 +1188,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}

void *Space2DSW::_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self) {
if (!A->test_collision_mask(B)) {
if (!A->interacts_with(B)) {
return nullptr;
}

Expand Down
4 changes: 2 additions & 2 deletions servers/physics_3d/area_pair_3d_sw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@

bool AreaPair3DSW::setup(real_t p_step) {
bool result = false;
if (area->test_collision_mask(body) && CollisionSolver3DSW::solve_static(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), nullptr, this)) {
if (area->interacts_with(body) && CollisionSolver3DSW::solve_static(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), nullptr, this)) {
result = true;
}

Expand Down Expand Up @@ -110,7 +110,7 @@ AreaPair3DSW::~AreaPair3DSW() {

bool Area2Pair3DSW::setup(real_t p_step) {
bool result = false;
if (area_a->test_collision_mask(area_b) && CollisionSolver3DSW::solve_static(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), nullptr, this)) {
if (area_a->interacts_with(area_b) && CollisionSolver3DSW::solve_static(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), nullptr, this)) {
result = true;
}

Expand Down
4 changes: 2 additions & 2 deletions servers/physics_3d/body_pair_3d_sw.cpp
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Expand Up @@ -215,7 +215,7 @@ bool BodyPair3DSW::setup(real_t p_step) {
dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);

if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
if (!A->interacts_with(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
collided = false;
return false;
}
Expand Down Expand Up @@ -597,7 +597,7 @@ void BodySoftBodyPair3DSW::validate_contacts() {
bool BodySoftBodyPair3DSW::setup(real_t p_step) {
body_dynamic = (body->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);

if (!body->test_collision_mask(soft_body) || body->has_exception(soft_body->get_self()) || soft_body->has_exception(body->get_self())) {
if (!body->interacts_with(soft_body) || body->has_exception(soft_body->get_self()) || soft_body->has_exception(body->get_self())) {
collided = false;
return false;
}
Expand Down
6 changes: 5 additions & 1 deletion servers/physics_3d/collision_object_3d_sw.h
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Expand Up @@ -166,7 +166,11 @@ class CollisionObject3DSW : public ShapeOwner3DSW {
}
_FORCE_INLINE_ uint32_t get_collision_mask() const { return collision_mask; }

_FORCE_INLINE_ bool test_collision_mask(CollisionObject3DSW *p_other) const {
_FORCE_INLINE_ bool layer_in_mask(CollisionObject3DSW *p_other) const {
return collision_layer & p_other->collision_mask;
}

_FORCE_INLINE_ bool interacts_with(CollisionObject3DSW *p_other) const {
return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
}

Expand Down
4 changes: 2 additions & 2 deletions servers/physics_3d/space_3d_sw.cpp
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Expand Up @@ -549,7 +549,7 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
keep = false;
} else if (intersection_query_results[i]->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY) {
keep = false;
} else if ((static_cast<Body3DSW *>(intersection_query_results[i])->test_collision_mask(p_body)) == 0) {
} else if (!p_body->layer_in_mask(static_cast<Body3DSW *>(intersection_query_results[i]))) {
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Actually after doing more tests I realized this layer check is inverted, a kinematic body should collide with objects it scans in its own mask, not objects which have its own layer in their mask. I'll make a fix in another PR.

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This is the correct way around. A KinematicBody should only interact with other Bodies that have a matching mask.

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The way you implemented things, walls would define what they stop instead of moving bodies what they collide with. That would be a nightmare for users to setup.

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You're right. Its mask is the layers it sees. So it is the other way around.

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It probably makes more sense then to revert the logic (and the name) of layer_in_mask to mask_has_layer.

keep = false;
} else if (static_cast<Body3DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
keep = false;
Expand Down Expand Up @@ -1070,7 +1070,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
}

void *Space3DSW::_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_self) {
if (!A->test_collision_mask(B)) {
if (!A->interacts_with(B)) {
return nullptr;
}

Expand Down