Add raycast options to hit when starting inside / hit back faces

doc/classes/PhysicsDirectSpaceState2D.xml

@@ -64,7 +64,7 @@
 				Intersects a ray in a given space. Ray position and other parameters are defined through [PhysicsRayQueryParameters2D]. The returned object is a dictionary with the following fields:
 				[code]collider[/code]: The colliding object.
 				[code]collider_id[/code]: The colliding object's ID.
-				[code]normal[/code]: The object's surface normal at the intersection point.
+				[code]normal[/code]: The object's surface normal at the intersection point, or [code]Vector2(0, 0)[/code] if the ray starts inside the shape and [member PhysicsRayQueryParameters2D.hit_from_inside] is [code]true[/code].
 				[code]position[/code]: The intersection point.
 				[code]rid[/code]: The intersecting object's [RID].
 				[code]shape[/code]: The shape index of the colliding shape.

doc/classes/PhysicsDirectSpaceState3D.xml

@@ -65,7 +65,7 @@
 				Intersects a ray in a given space. Ray position and other parameters are defined through [PhysicsRayQueryParameters3D]. The returned object is a dictionary with the following fields:
 				[code]collider[/code]: The colliding object.
 				[code]collider_id[/code]: The colliding object's ID.
-				[code]normal[/code]: The object's surface normal at the intersection point.
+				[code]normal[/code]: The object's surface normal at the intersection point, or [code]Vector3(0, 0, 0)[/code] if the ray starts inside the shape and [member PhysicsRayQueryParameters3D.hit_from_inside] is [code]true[/code].
 				[code]position[/code]: The intersection point.
 				[code]rid[/code]: The intersecting object's [RID].
 				[code]shape[/code]: The shape index of the colliding shape.

doc/classes/PhysicsRayQueryParameters2D.xml

@@ -24,6 +24,9 @@
 		<member name="from" type="Vector2" setter="set_from" getter="get_from" default="Vector2(0, 0)">
 			The starting point of the ray being queried for, in global coordinates.
 		</member>
+		<member name="hit_from_inside" type="bool" setter="set_hit_from_inside" getter="is_hit_from_inside_enabled" default="false">
+			If [code]true[/code], the query will detect a hit when starting inside shapes. In this case the collision normal will be [code]Vector2(0, 0)[/code]. Does not affect concave polygon shapes.
+		</member>
 		<member name="to" type="Vector2" setter="set_to" getter="get_to" default="Vector2(0, 0)">
 			The ending point of the ray being queried for, in global coordinates.
 		</member>

doc/classes/PhysicsRayQueryParameters3D.xml

@@ -24,6 +24,12 @@
 		<member name="from" type="Vector3" setter="set_from" getter="get_from" default="Vector3(0, 0, 0)">
 			The starting point of the ray being queried for, in global coordinates.
 		</member>
+		<member name="hit_back_faces" type="bool" setter="set_hit_back_faces" getter="is_hit_back_faces_enabled" default="true">
+			If [code]true[/code], the query will hit back faces with concave polygon shapes with back face enabled or heightmap shapes.
+		</member>
+		<member name="hit_from_inside" type="bool" setter="set_hit_from_inside" getter="is_hit_from_inside_enabled" default="false">
+			If [code]true[/code], the query will detect a hit when starting inside shapes. In this case the collision normal will be [code]Vector3(0, 0, 0)[/code]. Does not affect concave polygon shapes or heightmap shapes.
+		</member>
 		<member name="to" type="Vector3" setter="set_to" getter="get_to" default="Vector3(0, 0, 0)">
 			The ending point of the ray being queried for, in global coordinates.
 		</member>

doc/classes/RayCast2D.xml

@@ -63,7 +63,7 @@
 		<method name="get_collision_normal" qualifiers="const">
 			<return type="Vector2" />
 			<description>
-				Returns the normal of the intersecting object's shape at the collision point.
+				Returns the normal of the intersecting object's shape at the collision point, or [code]Vector2(0, 0)[/code] if the ray starts inside the shape and [member hit_from_inside] is [code]true[/code].
 			</description>
 		</method>
 		<method name="get_collision_point" qualifiers="const">
@@ -118,6 +118,9 @@
 		<member name="exclude_parent" type="bool" setter="set_exclude_parent_body" getter="get_exclude_parent_body" default="true">
 			If [code]true[/code], the parent node will be excluded from collision detection.
 		</member>
+		<member name="hit_from_inside" type="bool" setter="set_hit_from_inside" getter="is_hit_from_inside_enabled" default="false">
+			If [code]true[/code], the ray will detect a hit when starting inside shapes. In this case the collision normal will be [code]Vector2(0, 0)[/code]. Does not affect concave polygon shapes.
+		</member>
 		<member name="target_position" type="Vector2" setter="set_target_position" getter="get_target_position" default="Vector2(0, 50)">
 			The ray's destination point, relative to the RayCast's [code]position[/code].
 		</member>

doc/classes/RayCast3D.xml

@@ -65,7 +65,7 @@
 		<method name="get_collision_normal" qualifiers="const">
 			<return type="Vector3" />
 			<description>
-				Returns the normal of the intersecting object's shape at the collision point.
+				Returns the normal of the intersecting object's shape at the collision point, or [code]Vector3(0, 0, 0)[/code] if the ray starts inside the shape and [member hit_from_inside] is [code]true[/code].
 			</description>
 		</method>
 		<method name="get_collision_point" qualifiers="const">
@@ -127,6 +127,9 @@
 		<member name="exclude_parent" type="bool" setter="set_exclude_parent_body" getter="get_exclude_parent_body" default="true">
 			If [code]true[/code], collisions will be ignored for this RayCast3D's immediate parent.
 		</member>
+		<member name="hit_from_inside" type="bool" setter="set_hit_from_inside" getter="is_hit_from_inside_enabled" default="false">
+			If [code]true[/code], the ray will detect a hit when starting inside shapes. In this case the collision normal will be [code]Vector3(0, 0, 0)[/code]. Does not affect shapes with no volume like concave polygon or heightmap.
+		</member>
 		<member name="target_position" type="Vector3" setter="set_target_position" getter="get_target_position" default="Vector3(0, -1, 0)">
 			The ray's destination point, relative to the RayCast's [code]position[/code].
 		</member>

scene/2d/ray_cast_2d.cpp

@@ -200,6 +200,7 @@ void RayCast2D::_update_raycast_state() {
 	ray_params.collision_mask = collision_mask;
 	ray_params.collide_with_bodies = collide_with_bodies;
 	ray_params.collide_with_areas = collide_with_areas;
+	ray_params.hit_from_inside = hit_from_inside;
 
 	if (dss->intersect_ray(ray_params, rr)) {
 		collided = true;
@@ -290,22 +291,30 @@ void RayCast2D::clear_exceptions() {
 	exclude.clear();
 }
 
-void RayCast2D::set_collide_with_areas(bool p_clip) {
-	collide_with_areas = p_clip;
+void RayCast2D::set_collide_with_areas(bool p_enabled) {
+	collide_with_areas = p_enabled;
 }
 
 bool RayCast2D::is_collide_with_areas_enabled() const {
 	return collide_with_areas;
 }
 
-void RayCast2D::set_collide_with_bodies(bool p_clip) {
-	collide_with_bodies = p_clip;
+void RayCast2D::set_collide_with_bodies(bool p_enabled) {
+	collide_with_bodies = p_enabled;
 }
 
 bool RayCast2D::is_collide_with_bodies_enabled() const {
 	return collide_with_bodies;
 }
 
+void RayCast2D::set_hit_from_inside(bool p_enabled) {
+	hit_from_inside = p_enabled;
+}
+
+bool RayCast2D::is_hit_from_inside_enabled() const {
+	return hit_from_inside;
+}
+
 void RayCast2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &RayCast2D::set_enabled);
 	ClassDB::bind_method(D_METHOD("is_enabled"), &RayCast2D::is_enabled);
@@ -344,10 +353,14 @@ void RayCast2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_collide_with_bodies", "enable"), &RayCast2D::set_collide_with_bodies);
 	ClassDB::bind_method(D_METHOD("is_collide_with_bodies_enabled"), &RayCast2D::is_collide_with_bodies_enabled);
 
+	ClassDB::bind_method(D_METHOD("set_hit_from_inside", "enable"), &RayCast2D::set_hit_from_inside);
+	ClassDB::bind_method(D_METHOD("is_hit_from_inside_enabled"), &RayCast2D::is_hit_from_inside_enabled);
+
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "exclude_parent"), "set_exclude_parent_body", "get_exclude_parent_body");
 	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "target_position"), "set_target_position", "get_target_position");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_2D_PHYSICS), "set_collision_mask", "get_collision_mask");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "hit_from_inside"), "set_hit_from_inside", "is_hit_from_inside_enabled");
 
 	ADD_GROUP("Collide With", "collide_with");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_areas", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collide_with_areas", "is_collide_with_areas_enabled");

scene/2d/ray_cast_2d.h

@@ -51,6 +51,8 @@ class RayCast2D : public Node2D {
 	bool collide_with_areas = false;
 	bool collide_with_bodies = true;
 
+	bool hit_from_inside = false;
+
 	void _draw_debug_shape();
 
 protected:
@@ -65,6 +67,9 @@ class RayCast2D : public Node2D {
 	void set_collide_with_bodies(bool p_clip);
 	bool is_collide_with_bodies_enabled() const;
 
+	void set_hit_from_inside(bool p_enable);
+	bool is_hit_from_inside_enabled() const;
+
 	void set_enabled(bool p_enabled);
 	bool is_enabled() const;
 

scene/3d/ray_cast_3d.cpp

@@ -219,6 +219,7 @@ void RayCast3D::_update_raycast_state() {
 	ray_params.collision_mask = collision_mask;
 	ray_params.collide_with_bodies = collide_with_bodies;
 	ray_params.collide_with_areas = collide_with_areas;
+	ray_params.hit_from_inside = hit_from_inside;
 
 	PhysicsDirectSpaceState3D::RayResult rr;
 	if (dss->intersect_ray(ray_params, rr)) {
@@ -268,22 +269,30 @@ void RayCast3D::clear_exceptions() {
 	exclude.clear();
 }
 
-void RayCast3D::set_collide_with_areas(bool p_clip) {
-	collide_with_areas = p_clip;
+void RayCast3D::set_collide_with_areas(bool p_enabled) {
+	collide_with_areas = p_enabled;
 }
 
 bool RayCast3D::is_collide_with_areas_enabled() const {
 	return collide_with_areas;
 }
 
-void RayCast3D::set_collide_with_bodies(bool p_clip) {
-	collide_with_bodies = p_clip;
+void RayCast3D::set_collide_with_bodies(bool p_enabled) {
+	collide_with_bodies = p_enabled;
 }
 
 bool RayCast3D::is_collide_with_bodies_enabled() const {
 	return collide_with_bodies;
 }
 
+void RayCast3D::set_hit_from_inside(bool p_enabled) {
+	hit_from_inside = p_enabled;
+}
+
+bool RayCast3D::is_hit_from_inside_enabled() const {
+	return hit_from_inside;
+}
+
 void RayCast3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &RayCast3D::set_enabled);
 	ClassDB::bind_method(D_METHOD("is_enabled"), &RayCast3D::is_enabled);
@@ -322,6 +331,9 @@ void RayCast3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_collide_with_bodies", "enable"), &RayCast3D::set_collide_with_bodies);
 	ClassDB::bind_method(D_METHOD("is_collide_with_bodies_enabled"), &RayCast3D::is_collide_with_bodies_enabled);
 
+	ClassDB::bind_method(D_METHOD("set_hit_from_inside", "enable"), &RayCast3D::set_hit_from_inside);
+	ClassDB::bind_method(D_METHOD("is_hit_from_inside_enabled"), &RayCast3D::is_hit_from_inside_enabled);
+
 	ClassDB::bind_method(D_METHOD("set_debug_shape_custom_color", "debug_shape_custom_color"), &RayCast3D::set_debug_shape_custom_color);
 	ClassDB::bind_method(D_METHOD("get_debug_shape_custom_color"), &RayCast3D::get_debug_shape_custom_color);
 
@@ -332,6 +344,7 @@ void RayCast3D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "exclude_parent"), "set_exclude_parent_body", "get_exclude_parent_body");
 	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_position"), "set_target_position", "get_target_position");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "hit_from_inside"), "set_hit_from_inside", "is_hit_from_inside_enabled");
 
 	ADD_GROUP("Collide With", "collide_with");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_areas", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collide_with_areas", "is_collide_with_areas_enabled");

scene/3d/ray_cast_3d.h

@@ -65,18 +65,23 @@ class RayCast3D : public Node3D {
 	bool collide_with_areas = false;
 	bool collide_with_bodies = true;
 
+	bool hit_from_inside = false;
+
 protected:
 	void _notification(int p_what);
 	void _update_raycast_state();
 	static void _bind_methods();
 
 public:
-	void set_collide_with_areas(bool p_clip);
+	void set_collide_with_areas(bool p_enabled);
 	bool is_collide_with_areas_enabled() const;
 
-	void set_collide_with_bodies(bool p_clip);
+	void set_collide_with_bodies(bool p_enabled);
 	bool is_collide_with_bodies_enabled() const;
 
+	void set_hit_from_inside(bool p_enabled);
+	bool is_hit_from_inside_enabled() const;
+
 	void set_enabled(bool p_enabled);
 	bool is_enabled() const;
 

servers/physics_2d/godot_space_2d.cpp

@@ -153,6 +153,22 @@ bool GodotPhysicsDirectSpaceState2D::intersect_ray(const RayParameters &p_parame
 
 		Vector2 shape_point, shape_normal;
 
+		if (shape->contains_point(local_from)) {
+			if (p_parameters.hit_from_inside) {
+				// Hit shape at starting point.
+				min_d = 0;
+				res_point = local_from;
+				res_normal = Vector2();
+				res_shape = shape_idx;
+				res_obj = col_obj;
+				collided = true;
+				break;
+			} else {
+				// Ignore shape when starting inside.
+				continue;
+			}
+		}
+
 		if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal)) {
 			Transform2D xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
 			shape_point = xform.xform(shape_point);

servers/physics_3d/godot_body_pair_3d.cpp

@@ -191,7 +191,7 @@ bool GodotBodyPair3D::_test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A,
 	Vector3 local_to = from_inv.xform(to);
 
 	Vector3 rpos, rnorm;
-	if (!p_B->get_shape(p_shape_B)->intersect_segment(local_from, local_to, rpos, rnorm)) {
+	if (!p_B->get_shape(p_shape_B)->intersect_segment(local_from, local_to, rpos, rnorm, true)) {
 		return false;
 	}
 

servers/physics_3d/godot_collision_solver_3d.cpp

@@ -102,7 +102,7 @@ bool GodotCollisionSolver3D::solve_separation_ray(const GodotShape3D *p_shape_A,
 	to = ai.xform(to);
 
 	Vector3 p, n;
-	if (!p_shape_B->intersect_segment(from, to, p, n)) {
+	if (!p_shape_B->intersect_segment(from, to, p, n, true)) {
 		return false;
 	}