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Merge pull request #49844 from nekomatata/physics-disabled-shapes

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Fix and clean disabled shapes handling in godot physics servers
This commit is contained in:
Rémi Verschelde 2021-06-30 10:08:52 +02:00 • committed by GitHub
commit 24c6ee9f56
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GPG key ID: 4AEE18F83AFDEB23
12 changed files with 76 additions and 125 deletions
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9
servers/physics_2d/area_pair_2d_sw.cpp
View file

@ -33,10 +33,7 @@
bool AreaPair2DSW::setup(real_t p_step) {
bool result = false;
if (area->is_shape_set_as_disabled(area_shape) || body->is_shape_set_as_disabled(body_shape)) {
result = false;
} else 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->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)) {
result = true;
}
@ -113,9 +110,7 @@ AreaPair2DSW::~AreaPair2DSW() {
bool Area2Pair2DSW::setup(real_t p_step) {
bool result = false;
if (area_a->is_shape_set_as_disabled(shape_a) || area_b->is_shape_set_as_disabled(shape_b)) {
result = false;
} else 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->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)) {
result = true;
}

5
servers/physics_2d/body_pair_2d_sw.cpp
View file

@ -244,11 +244,6 @@ bool BodyPair2DSW::setup(real_t p_step) {
}
}
if (A->is_shape_set_as_disabled(shape_A) || B->is_shape_set_as_disabled(shape_B)) {
collided = false;
return false;
}
//use local A coordinates to avoid numerical issues on collision detection
offset_B = B->get_transform().get_origin() - A->get_transform().get_origin();

11
servers/physics_2d/collision_object_2d_sw.cpp
View file

@ -47,8 +47,6 @@ void CollisionObject2DSW::add_shape(Shape2DSW *p_shape, const Transform2D &p_tra
if (!pending_shape_update_list.in_list()) {
PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
// _update_shapes();
// _shapes_changed();
}
void CollisionObject2DSW::set_shape(int p_index, Shape2DSW *p_shape) {
@ -61,8 +59,6 @@ void CollisionObject2DSW::set_shape(int p_index, Shape2DSW *p_shape) {
if (!pending_shape_update_list.in_list()) {
PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
// _update_shapes();
// _shapes_changed();
}
void CollisionObject2DSW::set_shape_metadata(int p_index, const Variant &p_metadata) {
@ -79,11 +75,9 @@ void CollisionObject2DSW::set_shape_transform(int p_index, const Transform2D &p_
if (!pending_shape_update_list.in_list()) {
PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
// _update_shapes();
// _shapes_changed();
}
void CollisionObject2DSW::set_shape_as_disabled(int p_idx, bool p_disabled) {
void CollisionObject2DSW::set_shape_disabled(int p_idx, bool p_disabled) {
ERR_FAIL_INDEX(p_idx, shapes.size());
CollisionObject2DSW::Shape &shape = shapes.write[p_idx];
@ -103,12 +97,10 @@ void CollisionObject2DSW::set_shape_as_disabled(int p_idx, bool p_disabled) {
if (!pending_shape_update_list.in_list()) {
PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
//_update_shapes();
} else if (!p_disabled && shape.bpid == 0) {
if (!pending_shape_update_list.in_list()) {
PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
//_update_shapes(); // automatically adds shape with bpid == 0
}
}
@ -177,7 +169,6 @@ void CollisionObject2DSW::_update_shapes() {
for (int i = 0; i < shapes.size(); i++) {
Shape &s = shapes.write[i];
if (s.disabled) {
continue;
}

10
servers/physics_2d/collision_object_2d_sw.h
View file

@ -118,10 +118,6 @@ public:
void set_shape_metadata(int p_index, const Variant &p_metadata);
_FORCE_INLINE_ int get_shape_count() const { return shapes.size(); }
_FORCE_INLINE_ bool is_shape_disabled(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].disabled;
}
_FORCE_INLINE_ Shape2DSW *get_shape(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].shape;
@ -147,9 +143,9 @@ public:
_FORCE_INLINE_ const Transform2D &get_inv_transform() const { return inv_transform; }
_FORCE_INLINE_ Space2DSW *get_space() const { return space; }
void set_shape_as_disabled(int p_idx, bool p_disabled);
_FORCE_INLINE_ bool is_shape_set_as_disabled(int p_idx) const {
CRASH_BAD_INDEX(p_idx, shapes.size());
void set_shape_disabled(int p_idx, bool p_disabled);
_FORCE_INLINE_ bool is_shape_disabled(int p_idx) const {
ERR_FAIL_INDEX_V(p_idx, shapes.size(), false);
return shapes[p_idx].disabled;
}

4
servers/physics_2d/physics_server_2d_sw.cpp
View file

@ -366,7 +366,7 @@ void PhysicsServer2DSW::area_set_shape_disabled(RID p_area, int p_shape, bool p_
ERR_FAIL_INDEX(p_shape, area->get_shape_count());
FLUSH_QUERY_CHECK(area);
area->set_shape_as_disabled(p_shape, p_disabled);
area->set_shape_disabled(p_shape, p_disabled);
}
int PhysicsServer2DSW::area_get_shape_count(RID p_area) const {
@ -663,7 +663,7 @@ void PhysicsServer2DSW::body_set_shape_disabled(RID p_body, int p_shape_idx, boo
ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
FLUSH_QUERY_CHECK(body);
body->set_shape_as_disabled(p_shape_idx, p_disabled);
body->set_shape_disabled(p_shape_idx, p_disabled);
}
void PhysicsServer2DSW::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, real_t p_margin) {

34
servers/physics_2d/space_2d_sw.cpp
View file

@ -84,10 +84,6 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S
int shape_idx = space->intersection_query_subindex_results[i];
if (col_obj->is_shape_set_as_disabled(shape_idx)) {
continue;
}
Shape2DSW *shape = col_obj->get_shape(shape_idx);
Vector2 local_point = (col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).affine_inverse().xform(p_point);
@ -233,10 +229,6 @@ int PhysicsDirectSpaceState2DSW::intersect_shape(const RID &p_shape, const Trans
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
if (col_obj->is_shape_set_as_disabled(shape_idx)) {
continue;
}
if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), nullptr, nullptr, nullptr, p_margin)) {
continue;
}
@ -280,10 +272,6 @@ bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transfor
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
if (col_obj->is_shape_set_as_disabled(shape_idx)) {
continue;
}
Transform2D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
//test initial overlap, does it collide if going all the way?
if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) {
@ -365,10 +353,6 @@ bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D &
int shape_idx = space->intersection_query_subindex_results[i];
if (col_obj->is_shape_set_as_disabled(shape_idx)) {
continue;
}
cbk.valid_dir = Vector2();
cbk.valid_depth = 0;
@ -460,10 +444,6 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
int shape_idx = space->intersection_query_subindex_results[i];
if (col_obj->is_shape_set_as_disabled(shape_idx)) {
continue;
}
rcd.valid_dir = Vector2();
rcd.object = col_obj;
rcd.shape = shape_idx;
@ -516,8 +496,6 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
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;
} else if (static_cast<Body2DSW *>(intersection_query_results[i])->is_shape_set_as_disabled(intersection_query_subindex_results[i])) {
keep = false;
}
if (!keep) {
@ -540,7 +518,7 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
if (p_body->is_shape_set_as_disabled(i)) {
if (p_body->is_shape_disabled(i)) {
continue;
}
@ -592,7 +570,7 @@ int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_t
int amount = _cull_aabb_for_body(p_body, body_aabb);
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j)) {
if (p_body->is_shape_disabled(j)) {
continue;
}
@ -732,7 +710,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
if (p_body->is_shape_set_as_disabled(i)) {
if (p_body->is_shape_disabled(i)) {
continue;
}
@ -795,7 +773,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
int amount = _cull_aabb_for_body(p_body, body_aabb);
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j)) {
if (p_body->is_shape_disabled(j)) {
continue;
}
@ -918,7 +896,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
int amount = _cull_aabb_for_body(p_body, motion_aabb);
for (int body_shape_idx = 0; body_shape_idx < p_body->get_shape_count(); body_shape_idx++) {
if (p_body->is_shape_set_as_disabled(body_shape_idx)) {
if (p_body->is_shape_disabled(body_shape_idx)) {
continue;
}
@ -1060,7 +1038,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count();
for (int j = from_shape; j < to_shape; j++) {
if (p_body->is_shape_set_as_disabled(j)) {
if (p_body->is_shape_disabled(j)) {
continue;
}

9
servers/physics_3d/area_pair_3d_sw.cpp
View file

@ -33,10 +33,7 @@
bool AreaPair3DSW::setup(real_t p_step) {
bool result = false;
if (area->is_shape_set_as_disabled(area_shape) || body->is_shape_set_as_disabled(body_shape)) {
result = false;
} else 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->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)) {
result = true;
}
@ -113,9 +110,7 @@ AreaPair3DSW::~AreaPair3DSW() {
bool Area2Pair3DSW::setup(real_t p_step) {
bool result = false;
if (area_a->is_shape_set_as_disabled(shape_a) || area_b->is_shape_set_as_disabled(shape_b)) {
result = false;
} else 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->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)) {
result = true;
}

10
servers/physics_3d/body_pair_3d_sw.cpp
View file

@ -230,11 +230,6 @@ bool BodyPair3DSW::setup(real_t p_step) {
}
}
if (A->is_shape_set_as_disabled(shape_A) || B->is_shape_set_as_disabled(shape_B)) {
collided = false;
return false;
}
offset_B = B->get_transform().get_origin() - A->get_transform().get_origin();
validate_contacts();
@ -607,11 +602,6 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) {
return false;
}
if (body->is_shape_set_as_disabled(body_shape)) {
collided = false;
return false;
}
const Transform3D &xform_Au = body->get_transform();
Transform3D xform_A = xform_Au * body->get_shape_transform(body_shape);

42
servers/physics_3d/collision_object_3d_sw.cpp
View file

@ -45,8 +45,6 @@ void CollisionObject3DSW::add_shape(Shape3DSW *p_shape, const Transform3D &p_tra
if (!pending_shape_update_list.in_list()) {
PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
//_update_shapes();
//_shapes_changed();
}
void CollisionObject3DSW::set_shape(int p_index, Shape3DSW *p_shape) {
@ -58,8 +56,6 @@ void CollisionObject3DSW::set_shape(int p_index, Shape3DSW *p_shape) {
if (!pending_shape_update_list.in_list()) {
PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
//_update_shapes();
//_shapes_changed();
}
void CollisionObject3DSW::set_shape_transform(int p_index, const Transform3D &p_transform) {
@ -70,14 +66,32 @@ void CollisionObject3DSW::set_shape_transform(int p_index, const Transform3D &p_
if (!pending_shape_update_list.in_list()) {
PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
//_update_shapes();
//_shapes_changed();
}
void CollisionObject3DSW::set_shape_as_disabled(int p_idx, bool p_enable) {
shapes.write[p_idx].disabled = p_enable;
if (!pending_shape_update_list.in_list()) {
PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
void CollisionObject3DSW::set_shape_disabled(int p_idx, bool p_disabled) {
ERR_FAIL_INDEX(p_idx, shapes.size());
CollisionObject3DSW::Shape &shape = shapes.write[p_idx];
if (shape.disabled == p_disabled) {
return;
}
shape.disabled = p_disabled;
if (!space) {
return;
}
if (p_disabled && shape.bpid != 0) {
space->get_broadphase()->remove(shape.bpid);
shape.bpid = 0;
if (!pending_shape_update_list.in_list()) {
PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
} else if (!p_disabled && shape.bpid == 0) {
if (!pending_shape_update_list.in_list()) {
PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
}
}
@ -108,8 +122,6 @@ void CollisionObject3DSW::remove_shape(int p_index) {
if (!pending_shape_update_list.in_list()) {
PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
}
//_update_shapes();
//_shapes_changed();
}
void CollisionObject3DSW::_set_static(bool p_static) {
@ -146,6 +158,9 @@ void CollisionObject3DSW::_update_shapes() {
for (int i = 0; i < shapes.size(); i++) {
Shape &s = shapes.write[i];
if (s.disabled) {
continue;
}
//not quite correct, should compute the next matrix..
AABB shape_aabb = s.shape->get_aabb();
@ -173,6 +188,9 @@ void CollisionObject3DSW::_update_shapes_with_motion(const Vector3 &p_motion) {
for (int i = 0; i < shapes.size(); i++) {
Shape &s = shapes.write[i];
if (s.disabled) {
continue;
}
//not quite correct, should compute the next matrix..
AABB shape_aabb = s.shape->get_aabb();

31
servers/physics_3d/collision_object_3d_sw.h
View file

@ -120,15 +120,26 @@ public:
void set_shape(int p_index, Shape3DSW *p_shape);
void set_shape_transform(int p_index, const Transform3D &p_transform);
_FORCE_INLINE_ int get_shape_count() const { return shapes.size(); }
_FORCE_INLINE_ bool is_shape_disabled(int p_index) const {
_FORCE_INLINE_ Shape3DSW *get_shape(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].disabled;
return shapes[p_index].shape;
}
_FORCE_INLINE_ const Transform3D &get_shape_transform(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].xform;
}
_FORCE_INLINE_ const Transform3D &get_shape_inv_transform(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].xform_inv;
}
_FORCE_INLINE_ const AABB &get_shape_aabb(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].aabb_cache;
}
_FORCE_INLINE_ real_t get_shape_area(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].area_cache;
}
_FORCE_INLINE_ Shape3DSW *get_shape(int p_index) const { return shapes[p_index].shape; }
_FORCE_INLINE_ const Transform3D &get_shape_transform(int p_index) const { return shapes[p_index].xform; }
_FORCE_INLINE_ const Transform3D &get_shape_inv_transform(int p_index) const { return shapes[p_index].xform_inv; }
_FORCE_INLINE_ const AABB &get_shape_aabb(int p_index) const { return shapes[p_index].aabb_cache; }
_FORCE_INLINE_ real_t get_shape_area(int p_index) const { return shapes[p_index].area_cache; }
_FORCE_INLINE_ const Transform3D &get_transform() const { return transform; }
_FORCE_INLINE_ const Transform3D &get_inv_transform() const { return inv_transform; }
@ -137,9 +148,9 @@ public:
_FORCE_INLINE_ void set_ray_pickable(bool p_enable) { ray_pickable = p_enable; }
_FORCE_INLINE_ bool is_ray_pickable() const { return ray_pickable; }
void set_shape_as_disabled(int p_idx, bool p_enable);
_FORCE_INLINE_ bool is_shape_set_as_disabled(int p_idx) const {
CRASH_BAD_INDEX(p_idx, shapes.size());
void set_shape_disabled(int p_idx, bool p_disabled);
_FORCE_INLINE_ bool is_shape_disabled(int p_idx) const {
ERR_FAIL_INDEX_V(p_idx, shapes.size(), false);
return shapes[p_idx].disabled;
}

4
servers/physics_3d/physics_server_3d_sw.cpp
View file

@ -335,7 +335,7 @@ void PhysicsServer3DSW::area_set_shape_disabled(RID p_area, int p_shape_idx, boo
ERR_FAIL_COND(!area);
ERR_FAIL_INDEX(p_shape_idx, area->get_shape_count());
FLUSH_QUERY_CHECK(area);
area->set_shape_as_disabled(p_shape_idx, p_disabled);
area->set_shape_disabled(p_shape_idx, p_disabled);
}
void PhysicsServer3DSW::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
@ -537,7 +537,7 @@ void PhysicsServer3DSW::body_set_shape_disabled(RID p_body, int p_shape_idx, boo
ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
FLUSH_QUERY_CHECK(body);
body->set_shape_as_disabled(p_shape_idx, p_disabled);
body->set_shape_disabled(p_shape_idx, p_disabled);
}
Transform3D PhysicsServer3DSW::body_get_shape_transform(RID p_body, int p_shape_idx) const {

32
servers/physics_3d/space_3d_sw.cpp
View file

@ -214,10 +214,6 @@ int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Trans
const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
if (col_obj->is_shape_set_as_disabled(shape_idx)) {
continue;
}
if (!CollisionSolver3DSW::solve_static(shape, p_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), nullptr, nullptr, nullptr, p_margin, 0)) {
continue;
}
@ -273,10 +269,6 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
if (col_obj->is_shape_set_as_disabled(shape_idx)) {
continue;
}
Vector3 point_A, point_B;
Vector3 sep_axis = p_motion.normalized();
@ -385,10 +377,6 @@ bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform3D &
int shape_idx = space->intersection_query_subindex_results[i];
if (col_obj->is_shape_set_as_disabled(shape_idx)) {
continue;
}
if (CollisionSolver3DSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_margin)) {
collided = true;
}
@ -460,10 +448,6 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh
int shape_idx = space->intersection_query_subindex_results[i];
if (col_obj->is_shape_set_as_disabled(shape_idx)) {
continue;
}
rcd.object = col_obj;
rcd.shape = shape_idx;
bool sc = CollisionSolver3DSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_margin);
@ -508,7 +492,7 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob
bool shapes_found = false;
for (int i = 0; i < obj->get_shape_count(); i++) {
if (obj->is_shape_set_as_disabled(i)) {
if (obj->is_shape_disabled(i)) {
continue;
}
@ -555,8 +539,6 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
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;
} else if (static_cast<Body3DSW *>(intersection_query_results[i])->is_shape_set_as_disabled(intersection_query_subindex_results[i])) {
keep = false;
}
if (!keep) {
@ -579,7 +561,7 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform3D &p_t
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
if (p_body->is_shape_set_as_disabled(i)) {
if (p_body->is_shape_disabled(i)) {
continue;
}
@ -626,7 +608,7 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform3D &p_t
int amount = _cull_aabb_for_body(p_body, body_aabb);
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j)) {
if (p_body->is_shape_disabled(j)) {
continue;
}
@ -740,7 +722,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
if (p_body->is_shape_set_as_disabled(i)) {
if (p_body->is_shape_disabled(i)) {
continue;
}
@ -793,7 +775,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
int amount = _cull_aabb_for_body(p_body, body_aabb);
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j)) {
if (p_body->is_shape_disabled(j)) {
continue;
}
@ -871,7 +853,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
int amount = _cull_aabb_for_body(p_body, motion_aabb);
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j)) {
if (p_body->is_shape_disabled(j)) {
continue;
}
@ -989,7 +971,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count();
for (int j = from_shape; j < to_shape; j++) {
if (p_body->is_shape_set_as_disabled(j)) {
if (p_body->is_shape_disabled(j)) {
continue;
}