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-rw-r--r--doc/classes/PhysicsDirectBodyState3D.xml4
-rw-r--r--doc/classes/PhysicsDirectBodyState3DExtension.xml2
-rw-r--r--servers/extensions/physics_server_3d_extension.h2
-rw-r--r--servers/physics_3d/godot_body_3d.h6
-rw-r--r--servers/physics_3d/godot_body_direct_state_3d.cpp5
-rw-r--r--servers/physics_3d/godot_body_direct_state_3d.h2
-rw-r--r--servers/physics_3d/godot_body_pair_3d.cpp68
-rw-r--r--servers/physics_3d/godot_body_pair_3d.h1
-rw-r--r--servers/physics_server_3d.h2
9 files changed, 52 insertions, 40 deletions
diff --git a/doc/classes/PhysicsDirectBodyState3D.xml b/doc/classes/PhysicsDirectBodyState3D.xml
index a809384642..edd219e66e 100644
--- a/doc/classes/PhysicsDirectBodyState3D.xml
+++ b/doc/classes/PhysicsDirectBodyState3D.xml
@@ -152,10 +152,10 @@
</description>
</method>
<method name="get_contact_impulse" qualifiers="const">
- <return type="float" />
+ <return type="Vector3" />
<param index="0" name="contact_idx" type="int" />
<description>
- Impulse created by the contact. Only implemented for Bullet physics.
+ Impulse created by the contact.
</description>
</method>
<method name="get_contact_local_normal" qualifiers="const">
diff --git a/doc/classes/PhysicsDirectBodyState3DExtension.xml b/doc/classes/PhysicsDirectBodyState3DExtension.xml
index 4432f89b9d..35cf4d4dd5 100644
--- a/doc/classes/PhysicsDirectBodyState3DExtension.xml
+++ b/doc/classes/PhysicsDirectBodyState3DExtension.xml
@@ -131,7 +131,7 @@
</description>
</method>
<method name="_get_contact_impulse" qualifiers="virtual const">
- <return type="float" />
+ <return type="Vector3" />
<param index="0" name="contact_idx" type="int" />
<description>
</description>
diff --git a/servers/extensions/physics_server_3d_extension.h b/servers/extensions/physics_server_3d_extension.h
index 9394ff3949..bec403c0ec 100644
--- a/servers/extensions/physics_server_3d_extension.h
+++ b/servers/extensions/physics_server_3d_extension.h
@@ -94,7 +94,7 @@ public:
EXBIND1RC(Vector3, get_contact_local_position, int)
EXBIND1RC(Vector3, get_contact_local_normal, int)
- EXBIND1RC(real_t, get_contact_impulse, int)
+ EXBIND1RC(Vector3, get_contact_impulse, int)
EXBIND1RC(int, get_contact_local_shape, int)
EXBIND1RC(RID, get_contact_collider, int)
EXBIND1RC(Vector3, get_contact_collider_position, int)
diff --git a/servers/physics_3d/godot_body_3d.h b/servers/physics_3d/godot_body_3d.h
index fbab27a176..51b360d705 100644
--- a/servers/physics_3d/godot_body_3d.h
+++ b/servers/physics_3d/godot_body_3d.h
@@ -126,6 +126,7 @@ class GodotBody3D : public GodotCollisionObject3D {
ObjectID collider_instance_id;
RID collider;
Vector3 collider_velocity_at_pos;
+ Vector3 impulse;
};
Vector<Contact> contacts; //no contacts by default
@@ -183,7 +184,7 @@ 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);
+ _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_exception(const RID &p_exception) { exceptions.insert(p_exception); }
_FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); }
@@ -347,7 +348,7 @@ 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) {
+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) {
int c_max = contacts.size();
if (c_max == 0) {
@@ -387,6 +388,7 @@ void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local
c[idx].collider_instance_id = p_collider_instance_id;
c[idx].collider = p_collider;
c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos;
+ c[idx].impulse = p_impulse;
}
#endif // GODOT_BODY_3D_H
diff --git a/servers/physics_3d/godot_body_direct_state_3d.cpp b/servers/physics_3d/godot_body_direct_state_3d.cpp
index 7d13fb0615..9f28f3809a 100644
--- a/servers/physics_3d/godot_body_direct_state_3d.cpp
+++ b/servers/physics_3d/godot_body_direct_state_3d.cpp
@@ -188,8 +188,9 @@ Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_normal(int p_contact_id
return body->contacts[p_contact_idx].local_normal;
}
-real_t GodotPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const {
- return 0.0f; // Only implemented for bullet
+Vector3 GodotPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const {
+ ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
+ return body->contacts[p_contact_idx].impulse;
}
int GodotPhysicsDirectBodyState3D::get_contact_local_shape(int p_contact_idx) const {
diff --git a/servers/physics_3d/godot_body_direct_state_3d.h b/servers/physics_3d/godot_body_direct_state_3d.h
index 1ce535953d..be2e851b4d 100644
--- a/servers/physics_3d/godot_body_direct_state_3d.h
+++ b/servers/physics_3d/godot_body_direct_state_3d.h
@@ -89,7 +89,7 @@ public:
virtual Vector3 get_contact_local_position(int p_contact_idx) const override;
virtual Vector3 get_contact_local_normal(int p_contact_idx) const override;
- virtual real_t get_contact_impulse(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 RID get_contact_collider(int p_contact_idx) const override;
diff --git a/servers/physics_3d/godot_body_pair_3d.cpp b/servers/physics_3d/godot_body_pair_3d.cpp
index 78e3bed007..ce3da390cb 100644
--- a/servers/physics_3d/godot_body_pair_3d.cpp
+++ b/servers/physics_3d/godot_body_pair_3d.cpp
@@ -364,16 +364,30 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) {
c.rA = global_A - A->get_center_of_mass();
c.rB = global_B - B->get_center_of_mass() - offset_B;
+ // Precompute normal mass, tangent mass, and bias.
+ Vector3 inertia_A = inv_inertia_tensor_A.xform(c.rA.cross(c.normal));
+ Vector3 inertia_B = inv_inertia_tensor_B.xform(c.rB.cross(c.normal));
+ real_t kNormal = inv_mass_A + inv_mass_B;
+ kNormal += c.normal.dot(inertia_A.cross(c.rA)) + c.normal.dot(inertia_B.cross(c.rB));
+ c.mass_normal = 1.0f / kNormal;
+
+ c.bias = -bias * inv_dt * MIN(0.0f, -depth + max_penetration);
+ c.depth = depth;
+
+ Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse;
+
+ c.acc_impulse -= j_vec;
+
// 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);
+ 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()) {
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);
+ 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);
}
if (report_contacts_only) {
@@ -384,17 +398,6 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) {
c.active = true;
do_process = true;
- // Precompute normal mass, tangent mass, and bias.
- Vector3 inertia_A = inv_inertia_tensor_A.xform(c.rA.cross(c.normal));
- Vector3 inertia_B = inv_inertia_tensor_B.xform(c.rB.cross(c.normal));
- real_t kNormal = inv_mass_A + inv_mass_B;
- kNormal += c.normal.dot(inertia_A.cross(c.rA)) + c.normal.dot(inertia_B.cross(c.rB));
- c.mass_normal = 1.0f / kNormal;
-
- c.bias = -bias * inv_dt * MIN(0.0f, -depth + max_penetration);
- c.depth = depth;
-
- Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse;
if (collide_A) {
A->apply_impulse(-j_vec, c.rA + A->get_center_of_mass());
}
@@ -504,6 +507,7 @@ void GodotBodyPair3D::solve(real_t p_step) {
if (collide_B) {
B->apply_impulse(j, c.rB + B->get_center_of_mass());
}
+ c.acc_impulse -= j;
c.active = true;
}
@@ -550,6 +554,7 @@ void GodotBodyPair3D::solve(real_t p_step) {
if (collide_B) {
B->apply_impulse(jt, c.rB + B->get_center_of_mass());
}
+ c.acc_impulse -= jt;
c.active = true;
}
@@ -745,23 +750,6 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) {
c.rA = global_A - transform_A.origin - body->get_center_of_mass();
c.rB = global_B;
- 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);
- }
-
- if (report_contacts_only) {
- collided = false;
- continue;
- }
-
- c.active = true;
- do_process = true;
-
- if (body_collides) {
- body->set_active(true);
- }
-
// Precompute normal mass, tangent mass, and bias.
Vector3 inertia_A = body_inv_inertia_tensor.xform(c.rA.cross(c.normal));
real_t kNormal = body_inv_mass + node_inv_mass;
@@ -778,6 +766,24 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) {
if (soft_body_collides) {
soft_body->apply_node_impulse(c.index_B, j_vec);
}
+ c.acc_impulse -= j_vec;
+
+ 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);
+ }
+
+ if (report_contacts_only) {
+ collided = false;
+ continue;
+ }
+
+ c.active = true;
+ do_process = true;
+
+ if (body_collides) {
+ body->set_active(true);
+ }
c.bounce = body->get_bounce();
@@ -880,6 +886,7 @@ void GodotBodySoftBodyPair3D::solve(real_t p_step) {
if (soft_body_collides) {
soft_body->apply_node_impulse(c.index_B, j);
}
+ c.acc_impulse -= j;
c.active = true;
}
@@ -924,6 +931,7 @@ void GodotBodySoftBodyPair3D::solve(real_t p_step) {
if (soft_body_collides) {
soft_body->apply_node_impulse(c.index_B, jt);
}
+ c.acc_impulse -= jt;
c.active = true;
}
diff --git a/servers/physics_3d/godot_body_pair_3d.h b/servers/physics_3d/godot_body_pair_3d.h
index d69215f145..c3165c7fcf 100644
--- a/servers/physics_3d/godot_body_pair_3d.h
+++ b/servers/physics_3d/godot_body_pair_3d.h
@@ -44,6 +44,7 @@ protected:
Vector3 normal;
int index_A = 0, index_B = 0;
Vector3 local_A, local_B;
+ Vector3 acc_impulse; // accumulated impulse - only one of the object's impulse is needed as impulse_a == -impulse_b
real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn)
Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt)
real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb)
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index f77ec06ccf..d1c644d51a 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -95,7 +95,7 @@ public:
virtual Vector3 get_contact_local_position(int p_contact_idx) const = 0;
virtual Vector3 get_contact_local_normal(int p_contact_idx) const = 0;
- virtual real_t get_contact_impulse(int p_contact_idx) const = 0;
+ virtual Vector3 get_contact_impulse(int p_contact_idx) const = 0;
virtual int get_contact_local_shape(int p_contact_idx) const = 0;
virtual RID get_contact_collider(int p_contact_idx) const = 0;
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 06:25:55 +0000