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Resolved issues with script PhysicsDirectBodyState3d contacts

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Resolved a problem with PhysicsDirectBodyState3D sometimes returning incorrect contact positions and added a new get_contact_local_velocity_at_position method to compliment the existing one for the collider.
This commit is contained in:
Tim Gift
2022-03-07 10:07:46 -08:00
parent c3ed7af123
commit fffc6aba58
10 changed files with 40 additions and 11 deletions
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6
servers/physics_3d/godot_body_3d.h
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@@ -119,6 +119,7 @@ class GodotBody3D : public GodotCollisionObject3D {
struct Contact {
Vector3 local_pos;
Vector3 local_normal;
Vector3 local_velocity_at_pos;
real_t depth = 0.0;
int local_shape = 0;
Vector3 collider_pos;
@@ -184,7 +185,7 @@ public:
_FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); }
_FORCE_INLINE_ bool can_report_contacts() const { return !contacts.is_empty(); }
_FORCE_INLINE_ void add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos, const Vector3 &p_impulse);
_FORCE_INLINE_ void add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_local_velocity_at_pos, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos, const Vector3 &p_impulse);
_FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); }
_FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); }
@@ -348,7 +349,7 @@ public:
//add contact inline
void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos, const Vector3 &p_impulse) {
void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_local_velocity_at_pos, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos, const Vector3 &p_impulse) {
int c_max = contacts.size();
if (c_max == 0) {
@@ -381,6 +382,7 @@ void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local
c[idx].local_pos = p_local_pos;
c[idx].local_normal = p_local_normal;
c[idx].local_velocity_at_pos = p_local_velocity_at_pos;
c[idx].depth = p_depth;
c[idx].local_shape = p_local_shape;
c[idx].collider_pos = p_collider_pos;

5
servers/physics_3d/godot_body_direct_state_3d.cpp
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@@ -193,6 +193,11 @@ Vector3 GodotPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) co
return body->contacts[p_contact_idx].impulse;
}
Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_velocity_at_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].local_velocity_at_pos;
}
int GodotPhysicsDirectBodyState3D::get_contact_local_shape(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1);
return body->contacts[p_contact_idx].local_shape;

1
servers/physics_3d/godot_body_direct_state_3d.h
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@@ -91,6 +91,7 @@ public:
virtual Vector3 get_contact_local_normal(int p_contact_idx) const override;
virtual Vector3 get_contact_impulse(int p_contact_idx) const override;
virtual int get_contact_local_shape(int p_contact_idx) const override;
virtual Vector3 get_contact_local_velocity_at_position(int p_contact_idx) const override;
virtual RID get_contact_collider(int p_contact_idx) const override;
virtual Vector3 get_contact_collider_position(int p_contact_idx) const override;

22
servers/physics_3d/godot_body_pair_3d.cpp
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@@ -407,14 +407,18 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) {
// contact query reporting...
if (A->can_report_contacts()) {
Vector3 crA = A->get_angular_velocity().cross(c.rA) + A->get_linear_velocity();
A->add_contact(global_A, -c.normal, depth, shape_A, global_B, shape_B, B->get_instance_id(), B->get_self(), crA, c.acc_impulse);
}
if (B->can_report_contacts()) {
if (A->can_report_contacts() || B->can_report_contacts()) {
Vector3 crB = B->get_angular_velocity().cross(c.rB) + B->get_linear_velocity();
B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crB, -c.acc_impulse);
Vector3 crA = A->get_angular_velocity().cross(c.rA) + A->get_linear_velocity();
Vector3 wlB = global_B - offset_B;
if (A->can_report_contacts()) {
A->add_contact(global_A, -c.normal, depth, shape_A, crA, wlB, shape_B, B->get_instance_id(), B->get_self(), crB, c.acc_impulse);
}
if (B->can_report_contacts()) {
B->add_contact(wlB, c.normal, depth, shape_B, crB, global_A, shape_A, A->get_instance_id(), A->get_self(), crA, -c.acc_impulse);
}
}
if (report_contacts_only) {
@@ -797,9 +801,9 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) {
if (body->can_report_contacts()) {
Vector3 crA = body->get_angular_velocity().cross(c.rA) + body->get_linear_velocity();
body->add_contact(global_A, -c.normal, depth, body_shape, global_B, 0, soft_body->get_instance_id(), soft_body->get_self(), crA, c.acc_impulse);
Vector3 crB = soft_body->get_node_velocity(c.index_B);
body->add_contact(global_A, -c.normal, depth, body_shape, crA, global_B, 0, soft_body->get_instance_id(), soft_body->get_self(), crB, c.acc_impulse);
}
if (report_contacts_only) {
collided = false;
continue;