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Ensure RigidBodies only interact with Bodies with layers in their mask
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@madmiraal
madmiraal committed Jul 21, 2021
1 parent 8cc599d commit 136ca0f
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Showing 6 changed files with 26 additions and 26 deletions.
16 changes: 8 additions & 8 deletions servers/physics_2d/body_pair_2d_sw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -398,12 +398,12 @@ bool BodyPair2DSW::pre_solve(real_t p_step) {
c.rA = global_A;
c.rB = global_B - offset_B;

if (A->can_report_contacts()) {
if (A->can_report_contacts() && B->mask_has_layer(A)) {
Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x);
A->add_contact(global_A + offset_A, -c.normal, depth, shape_A, global_B + offset_A, shape_B, B->get_instance_id(), B->get_self(), crB + B->get_linear_velocity());
}

if (B->can_report_contacts()) {
if (B->can_report_contacts() && A->mask_has_layer(B)) {
Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x);
B->add_contact(global_B + offset_A, c.normal, depth, shape_B, global_A + offset_A, shape_A, A->get_instance_id(), A->get_self(), crA + A->get_linear_velocity());
}
Expand Down Expand Up @@ -436,10 +436,10 @@ 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 (dynamic_A && A->mask_has_layer(B)) {
A->apply_impulse(-P, c.rA);
}
if (dynamic_B) {
if (dynamic_B && B->mask_has_layer(A)) {
B->apply_impulse(P, c.rB);
}
}
Expand Down Expand Up @@ -493,10 +493,10 @@ void BodyPair2DSW::solve(real_t p_step) {

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

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

Expand All @@ -513,10 +513,10 @@ 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 (dynamic_A && A->mask_has_layer(B)) {
A->apply_impulse(-j, c.rA);
}
if (dynamic_B) {
if (dynamic_B && B->mask_has_layer(A)) {
B->apply_impulse(j, c.rB);
}
}
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4 changes: 2 additions & 2 deletions servers/physics_2d/collision_object_2d_sw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -186,8 +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 mask_has_layer(CollisionObject2DSW *p_other) const {
return collision_mask & p_other->collision_layer;
}

_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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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 (!p_body->layer_in_mask(static_cast<Body2DSW *>(intersection_query_results[i]))) {
} else if (!p_body->mask_has_layer(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
24 changes: 12 additions & 12 deletions servers/physics_3d/body_pair_3d_sw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -320,12 +320,12 @@ bool BodyPair3DSW::pre_solve(real_t p_step) {

// contact query reporting...

if (A->can_report_contacts()) {
if (A->can_report_contacts() && B->mask_has_layer(A)) {
Vector3 crA = A->get_angular_velocity().cross(c.rA) + A->get_linear_velocity();
A->add_contact(global_A, -c.normal, depth, shape_A, global_B, shape_B, B->get_instance_id(), B->get_self(), crA);
}

if (B->can_report_contacts()) {
if (B->can_report_contacts() && A->mask_has_layer(B)) {
Vector3 crB = B->get_angular_velocity().cross(c.rB) + B->get_linear_velocity();
B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crB);
}
Expand All @@ -349,10 +349,10 @@ bool BodyPair3DSW::pre_solve(real_t p_step) {
c.depth = depth;

Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse;
if (dynamic_A) {
if (dynamic_A && A->mask_has_layer(B)) {
A->apply_impulse(-j_vec, c.rA + A->get_center_of_mass());
}
if (dynamic_B) {
if (dynamic_B && B->mask_has_layer(A)) {
B->apply_impulse(j_vec, c.rB + B->get_center_of_mass());
}
c.acc_bias_impulse = 0;
Expand Down Expand Up @@ -401,10 +401,10 @@ void BodyPair3DSW::solve(real_t p_step) {

Vector3 jb = c.normal * (c.acc_bias_impulse - jbnOld);

if (dynamic_A) {
if (dynamic_A && A->mask_has_layer(B)) {
A->apply_bias_impulse(-jb, c.rA + A->get_center_of_mass(), max_bias_av);
}
if (dynamic_B) {
if (dynamic_B && B->mask_has_layer(A)) {
B->apply_bias_impulse(jb, c.rB + B->get_center_of_mass(), max_bias_av);
}

Expand All @@ -421,10 +421,10 @@ void BodyPair3DSW::solve(real_t p_step) {

Vector3 jb_com = c.normal * (c.acc_bias_impulse_center_of_mass - jbnOld_com);

if (dynamic_A) {
if (dynamic_A && A->mask_has_layer(B)) {
A->apply_bias_impulse(-jb_com, A->get_center_of_mass(), 0.0f);
}
if (dynamic_B) {
if (dynamic_B && B->mask_has_layer(A)) {
B->apply_bias_impulse(jb_com, B->get_center_of_mass(), 0.0f);
}
}
Expand All @@ -446,10 +446,10 @@ void BodyPair3DSW::solve(real_t p_step) {

Vector3 j = c.normal * (c.acc_normal_impulse - jnOld);

if (dynamic_A) {
if (dynamic_A && A->mask_has_layer(B)) {
A->apply_impulse(-j, c.rA + A->get_center_of_mass());
}
if (dynamic_B) {
if (dynamic_B && B->mask_has_layer(A)) {
B->apply_impulse(j, c.rB + B->get_center_of_mass());
}

Expand Down Expand Up @@ -493,10 +493,10 @@ void BodyPair3DSW::solve(real_t p_step) {

jt = c.acc_tangent_impulse - jtOld;

if (dynamic_A) {
if (dynamic_A && A->mask_has_layer(B)) {
A->apply_impulse(-jt, c.rA + A->get_center_of_mass());
}
if (dynamic_B) {
if (dynamic_B && B->mask_has_layer(A)) {
B->apply_impulse(jt, c.rB + B->get_center_of_mass());
}

Expand Down
4 changes: 2 additions & 2 deletions servers/physics_3d/collision_object_3d_sw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -166,8 +166,8 @@ class CollisionObject3DSW : public ShapeOwner3DSW {
}
_FORCE_INLINE_ uint32_t get_collision_mask() const { return collision_mask; }

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

_FORCE_INLINE_ bool interacts_with(CollisionObject3DSW *p_other) const {
Expand Down
2 changes: 1 addition & 1 deletion servers/physics_3d/space_3d_sw.cpp
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Original file line number Diff line number Diff line change
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 (!p_body->layer_in_mask(static_cast<Body3DSW *>(intersection_query_results[i]))) {
} else if (!p_body->mask_has_layer(static_cast<Body3DSW *>(intersection_query_results[i]))) {
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

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