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Fix GodotPhysics solver with kinematic body set to report contacts

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In 3D, collision is disabled between kinematic/static bodies when
contacts are generated only to report them.

In 2D, this case was already fixed but the code is cleaned to make
it easier to follow.
This commit is contained in:
PouleyKetchoupp 2021-03-22 10:50:27 -07:00
parent 2269c2ebe2
commit 6fdffacb4e
2 changed files with 39 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
servers/physics/body_pair_sw.cpp
View File

@ -211,11 +211,21 @@ real_t combine_friction(BodySW *A, BodySW *B) {
bool BodyPairSW::setup(real_t p_step) {
//cannot collide
if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer::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;
return false;
}
bool report_contacts_only = false;
if ((A->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer::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;
}
}
offset_B = B->get_transform().get_origin() - A->get_transform().get_origin();
validate_contacts();
@ -274,12 +284,9 @@ bool BodyPairSW::setup(real_t p_step) {
real_t depth = c.normal.dot(global_A - global_B);
if (depth <= 0) {
c.active = false;
continue;
}
c.active = true;
#ifdef DEBUG_ENABLED
if (space->is_debugging_contacts()) {
@ -303,6 +310,11 @@ bool BodyPairSW::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);
}
if (report_contacts_only) {
collided = false;
continue;
}
c.active = true;
// Precompute normal mass, tangent mass, and bias.

44
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) {
//cannot collide
if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC && B->get_mode() <= Physics2DServer::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;
return false;
}
bool report_contacts_only = false;
if ((A->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= Physics2DServer::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;
}
}
//use local A coordinates to avoid numerical issues on collision detection
offset_B = B->get_transform().get_origin() - A->get_transform().get_origin();
@ -344,6 +354,7 @@ bool BodyPair2DSW::setup(real_t p_step) {
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
c.active = false;
Vector2 global_A = xform_Au.xform(c.local_A);
Vector2 global_B = xform_Bu.xform(c.local_B);
@ -351,45 +362,36 @@ bool BodyPair2DSW::setup(real_t p_step) {
real_t depth = c.normal.dot(global_A - global_B);
if (depth <= 0 || !c.reused) {
c.active = false;
continue;
}
c.active = true;
#ifdef DEBUG_ENABLED
if (space->is_debugging_contacts()) {
space->add_debug_contact(global_A + offset_A);
space->add_debug_contact(global_B + offset_A);
}
#endif
int gather_A = A->can_report_contacts();
int gather_B = B->can_report_contacts();
c.rA = global_A;
c.rB = global_B - offset_B;
if (gather_A | gather_B) {
//Vector2 crB( -B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x );
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->can_report_contacts()) {
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());
}
if ((A->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC && B->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC)) {
c.active = false;
if (B->can_report_contacts()) {
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;
continue;
}
c.active = true;
// Precompute normal mass, tangent mass, and bias.
real_t rnA = c.rA.dot(c.normal);
real_t rnB = c.rB.dot(c.normal);