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One-directional collision layer check for rigid bodies and soft bodies #50625

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Jul 31, 2021
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One-directional collision layer check for rigid bodies and soft bodies #50625

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4 changes: 2 additions & 2 deletions doc/classes/CollisionObject2D.xml
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Expand Up @@ -260,11 +260,11 @@
<members>
<member name="collision_layer" type="int" setter="set_collision_layer" getter="get_collision_layer" default="1">
The physics layers this CollisionObject2D is in. Collision objects can exist in one or more of 32 different layers. See also [member collision_mask].
[b]Note:[/b] A contact is detected if object A is in any of the layers that object B scans, or object B is in any layers that object A scans. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
[b]Note:[/b] Object A can detect a contact with object B only if object B is in any of the layers that object A scans. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
</member>
<member name="collision_mask" type="int" setter="set_collision_mask" getter="get_collision_mask" default="1">
The physics layers this CollisionObject2D scans. Collision objects can scan one or more of 32 different layers. See also [member collision_layer].
[b]Note:[/b] A contact is detected if object A is in any of the layers that object B scans, or object B is in any layers that object A scans. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
[b]Note:[/b] Object A can detect a contact with object B only if object B is in any of the layers that object A scans. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
</member>
<member name="disable_mode" type="int" setter="set_disable_mode" getter="get_disable_mode" enum="CollisionObject2D.DisableMode" default="0">
Defines the behavior in physics when [member Node.process_mode] is set to [constant Node.PROCESS_MODE_DISABLED]. See [enum DisableMode] for more details about the different modes.
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8 changes: 4 additions & 4 deletions doc/classes/CollisionObject3D.xml
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Expand Up @@ -223,12 +223,12 @@
</methods>
<members>
<member name="collision_layer" type="int" setter="set_collision_layer" getter="get_collision_layer" default="1">
The physics layers this CollisionObject3D is in. Collision objects can exist in one or more of 32 different layers. See also [member collision_mask].
[b]Note:[/b] A contact is detected if object A is in any of the layers that object B scans, or object B is in any layers that object A scans. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
The physics layers this CollisionObject3D [b]is in[/b]. Collision objects can exist in one or more of 32 different layers. See also [member collision_mask].
[b]Note:[/b] Object A can detect a contact with object B only if object B is in any of the layers that object A scans. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
</member>
<member name="collision_mask" type="int" setter="set_collision_mask" getter="get_collision_mask" default="1">
The physics layers this CollisionObject3D scans. Collision objects can scan one or more of 32 different layers. See also [member collision_layer].
[b]Note:[/b] A contact is detected if object A is in any of the layers that object B scans, or object B is in any layers that object A scans. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
The physics layers this CollisionObject3D [b]scans[/b]. Collision objects can scan one or more of 32 different layers. See also [member collision_layer].
[b]Note:[/b] Object A can detect a contact with object B only if object B is in any of the layers that object A scans. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
</member>
<member name="disable_mode" type="int" setter="set_disable_mode" getter="get_disable_mode" enum="CollisionObject3D.DisableMode" default="0">
Defines the behavior in physics when [member Node.process_mode] is set to [constant Node.PROCESS_MODE_DISABLED]. See [enum DisableMode] for more details about the different modes.
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8 changes: 4 additions & 4 deletions doc/classes/SoftBody3D.xml
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Expand Up @@ -84,12 +84,12 @@
</methods>
<members>
<member name="collision_layer" type="int" setter="set_collision_layer" getter="get_collision_layer" default="1">
The physics layers this SoftBody3D is in.
Collidable objects can exist in any of 32 different layers. These layers work like a tagging system, and are not visual. A collidable can use these layers to select with which objects it can collide, using the collision_mask property.
A contact is detected if object A is in any of the layers that object B scans, or object B is in any layer scanned by object A. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
The physics layers this SoftBody3D [b]is in[/b]. Collision objects can exist in one or more of 32 different layers. See also [member collision_mask].
[b]Note:[/b] Object A can detect a contact with object B only if object B is in any of the layers that object A scans. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
</member>
<member name="collision_mask" type="int" setter="set_collision_mask" getter="get_collision_mask" default="1">
The physics layers this SoftBody3D scans for collisions. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
The physics layers this SoftBody3D [b]scans[/b]. Collision objects can scan one or more of 32 different layers. See also [member collision_layer].
[b]Note:[/b] Object A can detect a contact with object B only if object B is in any of the layers that object A scans. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
</member>
<member name="damping_coefficient" type="float" setter="set_damping_coefficient" getter="get_damping_coefficient" default="0.01">
</member>
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14 changes: 7 additions & 7 deletions modules/bullet/godot_result_callbacks.cpp
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Expand Up @@ -52,7 +52,7 @@ bool GodotFilterCallback::needBroadphaseCollision(btBroadphaseProxy *proxy0, btB
}

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

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

if (m_collisionFilterGroup & proxy0->m_collisionFilterMask) {
if (proxy0->m_collisionFilterGroup & 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 @@ -117,7 +117,7 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo
}

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

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

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

if (m_collisionFilterGroup & proxy0->m_collisionFilterMask) {
if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());

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

if (m_collisionFilterGroup & proxy0->m_collisionFilterMask) {
if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());

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

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

Expand Down
2 changes: 1 addition & 1 deletion modules/bullet/space_bullet.cpp
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Expand Up @@ -1133,7 +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 && (collision_layer & proxy->m_collisionFilterMask)) {
if (self_collision_object != proxy->m_clientObject && (proxy->collision_layer & m_collisionFilterMask)) {
if (co->getCollisionShape()->isCompound()) {
const btCompoundShape *cs = static_cast<btCompoundShape *>(co->getCollisionShape());

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40 changes: 23 additions & 17 deletions servers/physics_2d/body_pair_2d_sw.cpp
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Expand Up @@ -226,16 +226,16 @@ real_t combine_friction(Body2DSW *A, Body2DSW *B) {
}

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->interacts_with(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
collided = false;
return false;
}

collide_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) && A->collides_with(B);
collide_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) && B->collides_with(A);

report_contacts_only = false;
if (!dynamic_A && !dynamic_B) {
if (!collide_A && !collide_B) {
if ((A->get_max_contacts_reported() > 0) || (B->get_max_contacts_reported() > 0)) {
report_contacts_only = true;
} else {
Expand Down Expand Up @@ -275,13 +275,13 @@ bool BodyPair2DSW::setup(real_t p_step) {
if (!collided) {
//test ccd (currently just a raycast)

if (A->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && dynamic_A) {
if (A->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && collide_A) {
if (_test_ccd(p_step, A, shape_A, xform_A, B, shape_B, xform_B)) {
collided = true;
}
}

if (B->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && dynamic_B) {
if (B->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && collide_B) {
if (_test_ccd(p_step, B, shape_B, xform_B, A, shape_A, xform_A, true)) {
collided = true;
}
Expand Down Expand Up @@ -374,6 +374,12 @@ bool BodyPair2DSW::pre_solve(real_t p_step) {
const Transform2D &transform_A = A->get_transform();
const Transform2D &transform_B = B->get_transform();

real_t inv_inertia_A = collide_A ? A->get_inv_inertia() : 0.0;
real_t inv_inertia_B = collide_B ? B->get_inv_inertia() : 0.0;

real_t inv_mass_A = collide_A ? A->get_inv_mass() : 0.0;
real_t inv_mass_B = collide_B ? B->get_inv_mass() : 0.0;

for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
c.active = false;
Expand All @@ -384,7 +390,7 @@ bool BodyPair2DSW::pre_solve(real_t p_step) {
Vector2 axis = global_A - global_B;
real_t depth = axis.dot(c.normal);

if (depth <= 0 || !c.reused) {
if (depth <= 0.0 || !c.reused) {
continue;
}

Expand Down Expand Up @@ -416,15 +422,15 @@ bool BodyPair2DSW::pre_solve(real_t 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);
real_t kNormal = A->get_inv_mass() + B->get_inv_mass();
kNormal += A->get_inv_inertia() * (c.rA.dot(c.rA) - rnA * rnA) + B->get_inv_inertia() * (c.rB.dot(c.rB) - rnB * rnB);
real_t kNormal = inv_mass_A + inv_mass_B;
kNormal += inv_inertia_A * (c.rA.dot(c.rA) - rnA * rnA) + inv_inertia_B * (c.rB.dot(c.rB) - rnB * rnB);
c.mass_normal = 1.0f / kNormal;

Vector2 tangent = c.normal.orthogonal();
real_t rtA = c.rA.dot(tangent);
real_t rtB = c.rB.dot(tangent);
real_t kTangent = A->get_inv_mass() + B->get_inv_mass();
kTangent += A->get_inv_inertia() * (c.rA.dot(c.rA) - rtA * rtA) + B->get_inv_inertia() * (c.rB.dot(c.rB) - rtB * rtB);
real_t kTangent = inv_mass_A + inv_mass_B;
kTangent += inv_inertia_A * (c.rA.dot(c.rA) - rtA * rtA) + inv_inertia_B * (c.rB.dot(c.rB) - rtB * rtB);
c.mass_tangent = 1.0f / kTangent;

c.bias = -bias * inv_dt * MIN(0.0f, -depth + max_penetration);
Expand All @@ -436,10 +442,10 @@ bool BodyPair2DSW::pre_solve(real_t p_step) {
// Apply normal + friction impulse
Vector2 P = c.acc_normal_impulse * c.normal + c.acc_tangent_impulse * tangent;

if (dynamic_A) {
if (collide_A) {
A->apply_impulse(-P, c.rA);
}
if (dynamic_B) {
if (collide_B) {
B->apply_impulse(P, c.rB);
}
}
Expand Down Expand Up @@ -493,10 +499,10 @@ void BodyPair2DSW::solve(real_t p_step) {

Vector2 jb = c.normal * (c.acc_bias_impulse - jbnOld);

if (dynamic_A) {
if (collide_A) {
A->apply_bias_impulse(-jb, c.rA);
}
if (dynamic_B) {
if (collide_B) {
B->apply_bias_impulse(jb, c.rB);
}

Expand All @@ -513,10 +519,10 @@ void BodyPair2DSW::solve(real_t p_step) {

Vector2 j = c.normal * (c.acc_normal_impulse - jnOld) + tangent * (c.acc_tangent_impulse - jtOld);

if (dynamic_A) {
if (collide_A) {
A->apply_impulse(-j, c.rA);
}
if (dynamic_B) {
if (collide_B) {
B->apply_impulse(j, c.rB);
}
}
Expand Down
4 changes: 2 additions & 2 deletions servers/physics_2d/body_pair_2d_sw.h
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Expand Up @@ -50,8 +50,8 @@ class BodyPair2DSW : public Constraint2DSW {
int shape_A = 0;
int shape_B = 0;

bool dynamic_A = false;
bool dynamic_B = false;
bool collide_A = false;
bool collide_B = false;

Space2DSW *space = nullptr;

Expand Down
4 changes: 2 additions & 2 deletions servers/physics_2d/collision_object_2d_sw.h
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Expand Up @@ -186,8 +186,8 @@ class CollisionObject2DSW : public ShapeOwner2DSW {
void set_pickable(bool p_pickable) { pickable = p_pickable; }
_FORCE_INLINE_ bool is_pickable() const { return pickable; }

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

_FORCE_INLINE_ bool interacts_with(CollisionObject2DSW *p_other) const {
Expand Down
2 changes: 1 addition & 1 deletion servers/physics_2d/space_2d_sw.cpp
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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 (!p_body->layer_in_mask(static_cast<Body2DSW *>(intersection_query_results[i]))) {
} else if (!p_body->collides_with(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
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