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-rw-r--r--modules/bullet/collision_object_bullet.cpp4
-rw-r--r--modules/bullet/space_bullet.h1
-rw-r--r--modules/mobile_vr/mobile_interface.cpp10
-rw-r--r--servers/physics/body_pair_sw.cpp38
-rw-r--r--servers/physics/body_pair_sw.h1
-rw-r--r--servers/physics/body_sw.h10
6 files changed, 49 insertions, 15 deletions
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index 5739568d91..769e2c943e 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -93,11 +93,15 @@ void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_coll
void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
exceptions.insert(p_ignoreCollisionObject->get_self());
bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, true);
+ if (space)
+ space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
}
void CollisionObjectBullet::remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
exceptions.erase(p_ignoreCollisionObject->get_self());
bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, false);
+ if (space)
+ space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
}
bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const {
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index cbbfdac1d7..b36896650b 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -109,6 +109,7 @@ public:
void flush_queries();
void step(real_t p_delta_time);
+ _FORCE_INLINE_ btBroadphaseInterface *get_broadphase() { return broadphase; }
_FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() { return dispatcher; }
_FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() { return soft_body_world_info; }
_FORCE_INLINE_ bool is_using_soft_world() { return soft_body_world_info; }
diff --git a/modules/mobile_vr/mobile_interface.cpp b/modules/mobile_vr/mobile_interface.cpp
index eb87bb2cf0..93d5c22ef8 100644
--- a/modules/mobile_vr/mobile_interface.cpp
+++ b/modules/mobile_vr/mobile_interface.cpp
@@ -122,6 +122,7 @@ void MobileVRInterface::set_position_from_sensors() {
Vector3 north(0.0, 0.0, 1.0); // North is Z positive
// make copies of our inputs
+ bool has_grav = false;
Vector3 acc = input->get_accelerometer();
Vector3 gyro = input->get_gyroscope();
Vector3 grav = input->get_gravity();
@@ -143,14 +144,17 @@ void MobileVRInterface::set_position_from_sensors() {
// what a stable gravity vector is
grav = acc;
if (grav.length() > 0.1) {
- has_gyro = true;
+ has_grav = true;
};
} else {
- has_gyro = true;
+ has_grav = true;
};
bool has_magneto = magneto.length() > 0.1;
- bool has_grav = grav.length() > 0.1;
+ if (gyro.length() > 0.1) {
+ /* this can return to 0.0 if the user doesn't move the phone, so once on, it's on */
+ has_gyro = true;
+ };
#ifdef ANDROID_ENABLED
///@TODO needs testing, i don't have a gyro, potentially can be removed depending on what comes out of issue #8101
diff --git a/servers/physics/body_pair_sw.cpp b/servers/physics/body_pair_sw.cpp
index a289b4b0ca..ef54eb58cf 100644
--- a/servers/physics/body_pair_sw.cpp
+++ b/servers/physics/body_pair_sw.cpp
@@ -46,6 +46,7 @@
//#define ALLOWED_PENETRATION 0.01
#define RELAXATION_TIMESTEPS 3
#define MIN_VELOCITY 0.0001
+#define MAX_BIAS_ROTATION (Math_PI / 8)
void BodyPairSW::_contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) {
@@ -71,6 +72,7 @@ void BodyPairSW::contact_added_callback(const Vector3 &p_point_A, const Vector3
contact.acc_normal_impulse = 0;
contact.acc_bias_impulse = 0;
+ contact.acc_bias_impulse_center_of_mass = 0;
contact.acc_tangent_impulse = Vector3();
contact.local_A = local_A;
contact.local_B = local_B;
@@ -82,12 +84,12 @@ void BodyPairSW::contact_added_callback(const Vector3 &p_point_A, const Vector3
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
- if (
- c.local_A.distance_squared_to(local_A) < (contact_recycle_radius * contact_recycle_radius) &&
+ if (c.local_A.distance_squared_to(local_A) < (contact_recycle_radius * contact_recycle_radius) &&
c.local_B.distance_squared_to(local_B) < (contact_recycle_radius * contact_recycle_radius)) {
contact.acc_normal_impulse = c.acc_normal_impulse;
contact.acc_bias_impulse = c.acc_bias_impulse;
+ contact.acc_bias_impulse_center_of_mass = c.acc_bias_impulse_center_of_mass;
contact.acc_tangent_impulse = c.acc_tangent_impulse;
new_index = i;
break;
@@ -325,9 +327,7 @@ bool BodyPairSW::setup(real_t p_step) {
A->apply_impulse(c.rA + A->get_center_of_mass(), -j_vec);
B->apply_impulse(c.rB + B->get_center_of_mass(), j_vec);
c.acc_bias_impulse = 0;
- Vector3 jb_vec = c.normal * c.acc_bias_impulse;
- A->apply_bias_impulse(c.rA + A->get_center_of_mass(), -jb_vec);
- B->apply_bias_impulse(c.rB + B->get_center_of_mass(), jb_vec);
+ c.acc_bias_impulse_center_of_mass = 0;
c.bounce = MAX(A->get_bounce(), B->get_bounce());
if (c.bounce) {
@@ -356,7 +356,7 @@ void BodyPairSW::solve(real_t p_step) {
c.active = false; //try to deactivate, will activate itself if still needed
- //bias impule
+ //bias impulse
Vector3 crbA = A->get_biased_angular_velocity().cross(c.rA);
Vector3 crbB = B->get_biased_angular_velocity().cross(c.rB);
@@ -372,8 +372,26 @@ void BodyPairSW::solve(real_t p_step) {
Vector3 jb = c.normal * (c.acc_bias_impulse - jbnOld);
- A->apply_bias_impulse(c.rA + A->get_center_of_mass(), -jb);
- B->apply_bias_impulse(c.rB + B->get_center_of_mass(), jb);
+ A->apply_bias_impulse(c.rA + A->get_center_of_mass(), -jb, MAX_BIAS_ROTATION / p_step);
+ B->apply_bias_impulse(c.rB + B->get_center_of_mass(), jb, MAX_BIAS_ROTATION / p_step);
+
+ crbA = A->get_biased_angular_velocity().cross(c.rA);
+ crbB = B->get_biased_angular_velocity().cross(c.rB);
+ dbv = B->get_biased_linear_velocity() + crbB - A->get_biased_linear_velocity() - crbA;
+
+ vbn = dbv.dot(c.normal);
+
+ if (Math::abs(-vbn + c.bias) > MIN_VELOCITY) {
+
+ real_t jbn_com = (-vbn + c.bias) / (A->get_inv_mass() + B->get_inv_mass());
+ real_t jbnOld_com = c.acc_bias_impulse_center_of_mass;
+ c.acc_bias_impulse_center_of_mass = MAX(jbnOld_com + jbn_com, 0.0f);
+
+ Vector3 jb_com = c.normal * (c.acc_bias_impulse_center_of_mass - jbnOld_com);
+
+ A->apply_bias_impulse(A->get_center_of_mass(), -jb_com, 0.0f);
+ B->apply_bias_impulse(B->get_center_of_mass(), jb_com, 0.0f);
+ }
c.active = true;
}
@@ -382,7 +400,7 @@ void BodyPairSW::solve(real_t p_step) {
Vector3 crB = B->get_angular_velocity().cross(c.rB);
Vector3 dv = B->get_linear_velocity() + crB - A->get_linear_velocity() - crA;
- //normal impule
+ //normal impulse
real_t vn = dv.dot(c.normal);
if (Math::abs(vn) > MIN_VELOCITY) {
@@ -399,7 +417,7 @@ void BodyPairSW::solve(real_t p_step) {
c.active = true;
}
- //friction impule
+ //friction impulse
real_t friction = A->get_friction() * B->get_friction();
diff --git a/servers/physics/body_pair_sw.h b/servers/physics/body_pair_sw.h
index f09c977950..74fda60998 100644
--- a/servers/physics/body_pair_sw.h
+++ b/servers/physics/body_pair_sw.h
@@ -59,6 +59,7 @@ class BodyPairSW : public ConstraintSW {
real_t acc_normal_impulse; // accumulated normal impulse (Pn)
Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt)
real_t acc_bias_impulse; // accumulated normal impulse for position bias (Pnb)
+ real_t acc_bias_impulse_center_of_mass; // accumulated normal impulse for position bias applied to com
real_t mass_normal;
real_t bias;
real_t bounce;
diff --git a/servers/physics/body_sw.h b/servers/physics/body_sw.h
index 782bf14a4b..98095fd3c6 100644
--- a/servers/physics/body_sw.h
+++ b/servers/physics/body_sw.h
@@ -223,10 +223,16 @@ public:
angular_velocity += _inv_inertia_tensor.xform(p_j);
}
- _FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
+ _FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_pos, const Vector3 &p_j, real_t p_max_delta_av = -1.0) {
biased_linear_velocity += p_j * _inv_mass;
- biased_angular_velocity += _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j));
+ if (p_max_delta_av != 0.0) {
+ Vector3 delta_av = _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j));
+ if (p_max_delta_av > 0 && delta_av.length() > p_max_delta_av) {
+ delta_av = delta_av.normalized() * p_max_delta_av;
+ }
+ biased_angular_velocity += delta_av;
+ }
}
_FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_j) {
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-25 01:59:47 +0000