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Merge pull request #46917 from nekomatata/solver-kinematic-bug-fix

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Fix GodotPhysics solver with kinematic body set to report contacts
This commit is contained in:
Rémi Verschelde 2021-03-20 21:53:01 +01:00 committed by GitHub
commit 992de9c053
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 40 additions and 25 deletions
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45
servers/physics_2d/body_pair_2d_sw.cpp
View file

@ -221,11 +221,21 @@ real_t combine_friction(Body2DSW *A, Body2DSW *B) {
bool BodyPair2DSW::setup(real_t p_step) { bool BodyPair2DSW::setup(real_t p_step) {
//cannot collide //cannot collide
if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC && A->get_max_contacts_reported() == 0 && B->get_max_contacts_reported() == 0)) { if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
collided = false; collided = false;
return false; return false;
} }
bool report_contacts_only = false;
if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) {
if ((A->get_max_contacts_reported() > 0) || (B->get_max_contacts_reported() > 0)) {
report_contacts_only = true;
} else {
collided = false;
return false;
}
}
if (A->is_shape_set_as_disabled(shape_A) || B->is_shape_set_as_disabled(shape_B)) { if (A->is_shape_set_as_disabled(shape_A) || B->is_shape_set_as_disabled(shape_B)) {
collided = false; collided = false;
return false; return false;
@ -350,51 +360,44 @@ bool BodyPair2DSW::setup(real_t p_step) {
for (int i = 0; i < contact_count; i++) { for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i]; Contact &c = contacts[i];
c.active = false;
Vector2 global_A = xform_Au.xform(c.local_A); Vector2 global_A = xform_Au.xform(c.local_A);
Vector2 global_B = xform_Bu.xform(c.local_B); Vector2 global_B = xform_Bu.xform(c.local_B);
real_t depth = c.normal.dot(global_A - global_B); real_t depth = c.normal.dot(global_A - global_B);
if (depth <= 0 || !c.reused) { if (depth <= 0 || !c.reused) {
c.active = false;
continue; continue;
} }
c.active = true;
#ifdef DEBUG_ENABLED #ifdef DEBUG_ENABLED
if (space->is_debugging_contacts()) { if (space->is_debugging_contacts()) {
space->add_debug_contact(global_A + offset_A); space->add_debug_contact(global_A + offset_A);
space->add_debug_contact(global_B + offset_A); space->add_debug_contact(global_B + offset_A);
} }
#endif #endif
int gather_A = A->can_report_contacts();
int gather_B = B->can_report_contacts();
c.rA = global_A; c.rA = global_A;
c.rB = global_B - offset_B; c.rB = global_B - offset_B;
if (gather_A | gather_B) { if (A->can_report_contacts()) {
//Vector2 crB( -B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x ); Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x);
A->add_contact(global_A + offset_A, -c.normal, depth, shape_A, global_B + offset_A, shape_B, B->get_instance_id(), B->get_self(), crB + B->get_linear_velocity());
global_A += offset_A;
global_B += offset_A;
if (gather_A) {
Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x);
A->add_contact(global_A, -c.normal, depth, shape_A, global_B, shape_B, B->get_instance_id(), B->get_self(), crB + B->get_linear_velocity());
}
if (gather_B) {
Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x);
B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crA + A->get_linear_velocity());
}
} }
if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) { if (B->can_report_contacts()) {
c.active = false; Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x);
B->add_contact(global_B + offset_A, c.normal, depth, shape_B, global_A + offset_A, shape_A, A->get_instance_id(), A->get_self(), crA + A->get_linear_velocity());
}
if (report_contacts_only) {
collided = false; collided = false;
continue; continue;
} }
c.active = true;
// Precompute normal mass, tangent mass, and bias. // Precompute normal mass, tangent mass, and bias.
real_t rnA = c.rA.dot(c.normal); real_t rnA = c.rA.dot(c.normal);
real_t rnB = c.rB.dot(c.normal); real_t rnB = c.rB.dot(c.normal);

20
servers/physics_3d/body_pair_3d_sw.cpp
View file

@ -213,11 +213,21 @@ real_t combine_friction(Body3DSW *A, Body3DSW *B) {
bool BodyPair3DSW::setup(real_t p_step) { bool BodyPair3DSW::setup(real_t p_step) {
//cannot collide //cannot collide
if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC && A->get_max_contacts_reported() == 0 && B->get_max_contacts_reported() == 0)) { if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
collided = false; collided = false;
return false; return false;
} }
bool report_contacts_only = false;
if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) {
if ((A->get_max_contacts_reported() > 0) || (B->get_max_contacts_reported() > 0)) {
report_contacts_only = true;
} else {
collided = false;
return false;
}
}
if (A->is_shape_set_as_disabled(shape_A) || B->is_shape_set_as_disabled(shape_B)) { if (A->is_shape_set_as_disabled(shape_A) || B->is_shape_set_as_disabled(shape_B)) {
collided = false; collided = false;
return false; return false;
@ -281,12 +291,9 @@ bool BodyPair3DSW::setup(real_t p_step) {
real_t depth = c.normal.dot(global_A - global_B); real_t depth = c.normal.dot(global_A - global_B);
if (depth <= 0) { if (depth <= 0) {
c.active = false;
continue; continue;
} }
c.active = true;
#ifdef DEBUG_ENABLED #ifdef DEBUG_ENABLED
if (space->is_debugging_contacts()) { if (space->is_debugging_contacts()) {
@ -310,6 +317,11 @@ bool BodyPair3DSW::setup(real_t p_step) {
B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crB); B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crB);
} }
if (report_contacts_only) {
collided = false;
continue;
}
c.active = true; c.active = true;
// Precompute normal mass, tangent mass, and bias. // Precompute normal mass, tangent mass, and bias.