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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 2021-03-11 18:06:00 -07:00
parent 01851defb5
commit c5d2404a13
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) {
//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;
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)) {
collided = false;
return false;
@ -350,51 +360,44 @@ 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);
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() <= PhysicsServer2D::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer2D::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);

20
servers/physics_3d/body_pair_3d_sw.cpp
View File

@ -211,11 +211,21 @@ real_t combine_friction(Body3DSW *A, Body3DSW *B) {
bool BodyPair3DSW::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() <= 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;
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)) {
collided = false;
return false;
@ -279,12 +289,9 @@ bool BodyPair3DSW::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()) {
@ -308,6 +315,11 @@ 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);
}
if (report_contacts_only) {
collided = false;
continue;
}
c.active = true;
// Precompute normal mass, tangent mass, and bias.