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properly removing unprocessed objects from physics islands fixes one way platforms for rigidbodies, closes #2345

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This commit is contained in:
Juan Linietsky 2016-01-01 12:11:46 -03:00
parent 199a29b353
commit 0ed864d876
3 changed files with 55 additions and 5 deletions
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6
servers/physics_2d/body_pair_2d_sw.cpp
View file

@ -364,6 +364,9 @@ bool BodyPair2DSW::setup(float p_step) {
real_t inv_dt = 1.0/p_step;
bool do_process=false;
for (int i = 0; i < contact_count; i++) {
Contact& c = contacts[i];
@ -459,10 +462,11 @@ bool BodyPair2DSW::setup(float p_step) {
c.bounce = c.bounce * dv.dot(c.normal);
}
do_process=true;
}
return true;
return do_process;
}
void BodyPair2DSW::solve(float p_step) {

52
servers/physics_2d/step_2d_sw.cpp
View file

@ -56,14 +56,29 @@ void Step2DSW::_populate_island(Body2DSW* p_body,Body2DSW** p_island,Constraint2
}
}
void Step2DSW::_setup_island(Constraint2DSW *p_island,float p_delta) {
bool Step2DSW::_setup_island(Constraint2DSW *p_island,float p_delta) {
Constraint2DSW *ci=p_island;
Constraint2DSW *prev_ci=NULL;
bool removed_root=false;
while(ci) {
bool process = ci->setup(p_delta);
//todo remove from island if process fails
if (!process) {
//remove from island if process fails
if (prev_ci) {
prev_ci->set_island_next(ci->get_island_next());
} else {
removed_root=true;
prev_ci=ci;
}
} else {
prev_ci=ci;
}
ci=ci->get_island_next();
}
return removed_root;
}
void Step2DSW::_solve_island(Constraint2DSW *p_island,int p_iterations,float p_delta){
@ -195,9 +210,40 @@ void Step2DSW::step(Space2DSW* p_space,float p_delta,int p_iterations) {
{
Constraint2DSW *ci=constraint_island_list;
Constraint2DSW *prev_ci=NULL;
while(ci) {
_setup_island(ci,p_delta);
if (_setup_island(ci,p_delta)==true) {
//removed the root from the island graph because it is not to be processed
Constraint2DSW *next = ci->get_island_next();
if (next) {
//root from list being deleted no longer exists, replace by next
next->set_island_list_next(ci->get_island_list_next());
if (prev_ci) {
prev_ci->set_island_list_next(next);
} else {
constraint_island_list=next;
}
prev_ci=next;
} else {
//list is empty, just skip
if (prev_ci) {
prev_ci->set_island_list_next(ci->get_island_list_next());
} else {
constraint_island_list=ci->get_island_list_next();
}
}
} else {
prev_ci=ci;
}
ci=ci->get_island_list_next();
}
}

2
servers/physics_2d/step_2d_sw.h
View file

@ -36,7 +36,7 @@ class Step2DSW {
uint64_t _step;
void _populate_island(Body2DSW* p_body,Body2DSW** p_island,Constraint2DSW **p_constraint_island);
void _setup_island(Constraint2DSW *p_island,float p_delta);
bool _setup_island(Constraint2DSW *p_island,float p_delta);
void _solve_island(Constraint2DSW *p_island,int p_iterations,float p_delta);
void _check_suspend(Body2DSW *p_island,float p_delta);
public: