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Merge pull request #76216 from belzecue/backport-PR55313

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[3.x] Fix RigidDynamicBody gaining momentum with bounce
This commit is contained in:
Rémi Verschelde 2023-04-25 16:25:03 +02:00
commit a2534cecf2
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GPG key ID: C3336907360768E1
6 changed files with 24 additions and 19 deletions
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18
servers/physics/body_pair_sw.cpp
View file

@ -34,18 +34,6 @@
#include "core/os/os.h"
#include "space_sw.h"
/*
#define NO_ACCUMULATE_IMPULSES
#define NO_SPLIT_IMPULSES
#define NO_FRICTION
*/
#define NO_TANGENTIALS
/* BODY PAIR */
//#define ALLOWED_PENETRATION 0.01
#define RELAXATION_TIMESTEPS 3
#define MIN_VELOCITY 0.0001
#define MAX_BIAS_ROTATION (Math_PI / 8)
@ -335,9 +323,9 @@ bool BodyPairSW::setup(real_t p_step) {
c.bounce = combine_bounce(A, B);
if (c.bounce) {
Vector3 crA = A->get_angular_velocity().cross(c.rA);
Vector3 crB = B->get_angular_velocity().cross(c.rB);
Vector3 dv = B->get_linear_velocity() + crB - A->get_linear_velocity() - crA;
Vector3 crA = A->get_prev_angular_velocity().cross(c.rA);
Vector3 crB = B->get_prev_angular_velocity().cross(c.rB);
Vector3 dv = B->get_prev_linear_velocity() + crB - A->get_prev_linear_velocity() - crA;
//normal impule
c.bounce = c.bounce * dv.dot(c.normal);
}

3
servers/physics/body_sw.cpp
View file

@ -509,6 +509,9 @@ void BodySW::integrate_forces(real_t p_step) {
area_linear_damp=damp_area->get_linear_damp();
*/
prev_linear_velocity = linear_velocity;
prev_angular_velocity = angular_velocity;
Vector3 motion;
bool do_motion = false;

6
servers/physics/body_sw.h
View file

@ -44,6 +44,9 @@ class BodySW : public CollisionObjectSW {
Vector3 linear_velocity;
Vector3 angular_velocity;
Vector3 prev_linear_velocity;
Vector3 prev_angular_velocity;
Vector3 biased_linear_velocity;
Vector3 biased_angular_velocity;
real_t mass;
@ -215,6 +218,9 @@ public:
_FORCE_INLINE_ void set_angular_velocity(const Vector3 &p_velocity) { angular_velocity = p_velocity; }
_FORCE_INLINE_ Vector3 get_angular_velocity() const { return angular_velocity; }
_FORCE_INLINE_ Vector3 get_prev_linear_velocity() const { return prev_linear_velocity; }
_FORCE_INLINE_ Vector3 get_prev_angular_velocity() const { return prev_angular_velocity; }
_FORCE_INLINE_ const Vector3 &get_biased_linear_velocity() const { return biased_linear_velocity; }
_FORCE_INLINE_ const Vector3 &get_biased_angular_velocity() const { return biased_angular_velocity; }

3
servers/physics_2d/body_2d_sw.cpp
View file

@ -461,6 +461,9 @@ void Body2DSW::integrate_forces(real_t p_step) {
area_linear_damp=damp_area->get_linear_damp();
*/
prev_linear_velocity = linear_velocity;
prev_angular_velocity = angular_velocity;
Vector2 motion;
bool do_motion = false;

6
servers/physics_2d/body_2d_sw.h
View file

@ -47,6 +47,9 @@ class Body2DSW : public CollisionObject2DSW {
Vector2 linear_velocity;
real_t angular_velocity;
Vector2 prev_linear_velocity;
real_t prev_angular_velocity = 0.0;
real_t linear_damp;
real_t angular_damp;
real_t gravity_scale;
@ -195,6 +198,9 @@ public:
_FORCE_INLINE_ void set_angular_velocity(real_t p_velocity) { angular_velocity = p_velocity; }
_FORCE_INLINE_ real_t get_angular_velocity() const { return angular_velocity; }
_FORCE_INLINE_ Vector2 get_prev_linear_velocity() const { return prev_linear_velocity; }
_FORCE_INLINE_ real_t get_prev_angular_velocity() const { return prev_angular_velocity; }
_FORCE_INLINE_ void set_biased_linear_velocity(const Vector2 &p_velocity) { biased_linear_velocity = p_velocity; }
_FORCE_INLINE_ Vector2 get_biased_linear_velocity() const { return biased_linear_velocity; }

7
servers/physics_2d/body_pair_2d_sw.cpp
View file

@ -32,7 +32,6 @@
#include "collision_solver_2d_sw.h"
#include "space_2d_sw.h"
#define POSITION_CORRECTION
#define ACCUMULATE_IMPULSES
void BodyPair2DSW::_add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self) {
@ -423,9 +422,9 @@ bool BodyPair2DSW::setup(real_t p_step) {
c.bounce = combine_bounce(A, B);
if (c.bounce) {
Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x);
Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x);
Vector2 dv = B->get_linear_velocity() + crB - A->get_linear_velocity() - crA;
Vector2 crA(-A->get_prev_angular_velocity() * c.rA.y, A->get_prev_angular_velocity() * c.rA.x);
Vector2 crB(-B->get_prev_angular_velocity() * c.rB.y, B->get_prev_angular_velocity() * c.rB.x);
Vector2 dv = B->get_prev_linear_velocity() + crB - A->get_prev_linear_velocity() - crA;
c.bounce = c.bounce * dv.dot(c.normal);
}