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Fix KinematicBody2D floor detection regression #45340

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Fix KinematicBody2D floor detection regression #45340

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40 changes: 30 additions & 10 deletions servers/physics_2d/space_2d_sw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -376,6 +376,7 @@ struct _RestCallbackData2D {
Vector2 best_normal;
real_t best_len;
Vector2 valid_dir;
real_t valid_depth;
real_t min_allowed_depth;
};

Expand All @@ -385,22 +386,24 @@ static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B,
Vector2 contact_rel = p_point_B - p_point_A;
real_t len = contact_rel.length();

if (len == 0) {
if (len < rd->min_allowed_depth) {
return;
}

Vector2 normal = contact_rel / len;

if (rd->valid_dir != Vector2() && rd->valid_dir.dot(normal) > -CMP_EPSILON) {
if (len <= rd->best_len) {
return;
}

if (len < rd->min_allowed_depth) {
return;
}
Vector2 normal = contact_rel / len;

if (len <= rd->best_len) {
return;
if (rd->valid_dir != Vector2()) {
if (len > rd->valid_depth) {
return;
}

if (rd->valid_dir.dot(normal) > -CMP_EPSILON) {
return;
}
}

rd->best_len = len;
Expand Down Expand Up @@ -1001,7 +1004,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
best_shape = -1; //no best shape with cast, reset to -1
}

if (safe < 1) {
{
//it collided, let's get the rest info in unsafe advance
Transform2D ugt = body_transform;
ugt.elements[2] += p_motion * unsafe;
Expand Down Expand Up @@ -1060,8 +1063,25 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co

if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
rcd.valid_dir = col_obj_shape_xform.get_axis(1).normalized();

float owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
rcd.valid_depth = MAX(owc_margin, p_margin); //user specified, but never less than actual margin or it won't work

if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_RIGID) {
//fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction
Vector2 lv = b->get_linear_velocity();
//compute displacement from linear velocity
Vector2 motion = lv * PhysicsDirectBodyState2DSW::singleton->step;
float motion_len = motion.length();
motion.normalize();
rcd.valid_depth += motion_len * MAX(motion.dot(-rcd.valid_dir), 0.0);
}
}
} else {
rcd.valid_dir = Vector2();
rcd.valid_depth = 0;
}

rcd.object = col_obj;
Expand Down