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Fix errors related to joints setup with two non-dynamic bodies

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This commit is contained in:
PouleyKetchoupp 2021-04-15 17:37:45 -07:00
parent b8bd648ad9
commit 60ae264db1
6 changed files with 33 additions and 0 deletions
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13
servers/physics_2d/joints_2d_sw.cpp
View file

@ -97,8 +97,13 @@ normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vecto
}
bool PinJoint2DSW::setup(real_t p_step) {
if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) {
return false;
}
Space2DSW *space = A->get_space();
ERR_FAIL_COND_V(!space, false);
rA = A->get_transform().basis_xform(anchor_A);
rB = B ? B->get_transform().basis_xform(anchor_B) : anchor_B;
@ -257,6 +262,10 @@ mult_k(const Vector2 &vr, const Vector2 &k1, const Vector2 &k2) {
}
bool GrooveJoint2DSW::setup(real_t p_step) {
if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) {
return false;
}
// calculate endpoints in worldspace
Vector2 ta = A->get_transform().xform(A_groove_1);
Vector2 tb = A->get_transform().xform(A_groove_2);
@ -342,6 +351,10 @@ GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_
//////////////////////////////////////////////
bool DampedSpringJoint2DSW::setup(real_t p_step) {
if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) {
return false;
}
rA = A->get_transform().basis_xform(anchor_A);
rB = B->get_transform().basis_xform(anchor_B);

4
servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
View file

@ -109,6 +109,10 @@ ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Trans
}
bool ConeTwistJoint3DSW::setup(real_t p_timestep) {
if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) {
return false;
}
m_appliedImpulse = real_t(0.);
//set bias, sign, clear accumulator

4
servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
View file

@ -303,6 +303,10 @@ bool Generic6DOFJoint3DSW::testAngularLimitMotor(int axis_index) {
}
bool Generic6DOFJoint3DSW::setup(real_t p_timestep) {
if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) {
return false;
}
// Clear accumulated impulses for the next simulation step
m_linearLimits.m_accumulatedImpulse = Vector3(real_t(0.), real_t(0.), real_t(0.));
int i;

4
servers/physics_3d/joints/hinge_joint_3d_sw.cpp
View file

@ -155,6 +155,10 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivo
}
bool HingeJoint3DSW::setup(real_t p_step) {
if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) {
return false;
}
m_appliedImpulse = real_t(0.);
if (!m_angularOnly) {

4
servers/physics_3d/joints/pin_joint_3d_sw.cpp
View file

@ -50,6 +50,10 @@ subject to the following restrictions:
#include "pin_joint_3d_sw.h"
bool PinJoint3DSW::setup(real_t p_step) {
if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) {
return false;
}
m_appliedImpulse = real_t(0.);
Vector3 normal(0, 0, 0);

4
servers/physics_3d/joints/slider_joint_3d_sw.cpp
View file

@ -127,6 +127,10 @@ SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform &
//-----------------------------------------------------------------------------
bool SliderJoint3DSW::setup(real_t p_step) {
if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) {
return false;
}
//calculate transforms
m_calculatedTransformA = A->get_transform() * m_frameInA;
m_calculatedTransformB = B->get_transform() * m_frameInB;