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-rw-r--r--servers/physics_2d/godot_body_2d.h10
-rw-r--r--servers/physics_2d/godot_body_pair_2d.cpp125
-rw-r--r--servers/physics_2d/godot_body_pair_2d.h3
-rw-r--r--servers/physics_2d/godot_physics_server_2d.cpp2
-rw-r--r--servers/physics_3d/godot_body_pair_3d.cpp130
-rw-r--r--servers/physics_3d/godot_body_pair_3d.h1
-rw-r--r--servers/physics_3d/godot_physics_server_3d.cpp2
7 files changed, 157 insertions, 116 deletions
diff --git a/servers/physics_2d/godot_body_2d.h b/servers/physics_2d/godot_body_2d.h
index ba4c39737a..f00512fe92 100644
--- a/servers/physics_2d/godot_body_2d.h
+++ b/servers/physics_2d/godot_body_2d.h
@@ -234,9 +234,15 @@ public:
angular_velocity += _inv_inertia * p_torque;
}
- _FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) {
+ _FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2(), real_t p_max_delta_av = -1.0) {
biased_linear_velocity += p_impulse * _inv_mass;
- biased_angular_velocity += _inv_inertia * (p_position - center_of_mass).cross(p_impulse);
+ if (p_max_delta_av != 0.0) {
+ real_t delta_av = _inv_inertia * (p_position - center_of_mass).cross(p_impulse);
+ if (p_max_delta_av > 0 && delta_av > p_max_delta_av) {
+ delta_av = p_max_delta_av;
+ }
+ biased_angular_velocity += delta_av;
+ }
}
void set_active(bool p_active);
diff --git a/servers/physics_2d/godot_body_pair_2d.cpp b/servers/physics_2d/godot_body_pair_2d.cpp
index 67b0f21456..a4658a289c 100644
--- a/servers/physics_2d/godot_body_pair_2d.cpp
+++ b/servers/physics_2d/godot_body_pair_2d.cpp
@@ -34,6 +34,9 @@
#define ACCUMULATE_IMPULSES
+#define MIN_VELOCITY 0.001
+#define MAX_BIAS_ROTATION (Math_PI / 8)
+
void GodotBodyPair2D::_add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self) {
GodotBodyPair2D *self = (GodotBodyPair2D *)p_self;
@@ -41,8 +44,6 @@ void GodotBodyPair2D::_add_contact(const Vector2 &p_point_A, const Vector2 &p_po
}
void GodotBodyPair2D::_contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B) {
- // check if we already have the contact
-
Vector2 local_A = A->get_inv_transform().basis_xform(p_point_A);
Vector2 local_B = B->get_inv_transform().basis_xform(p_point_B - offset_B);
@@ -51,46 +52,48 @@ void GodotBodyPair2D::_contact_added_callback(const Vector2 &p_point_A, const Ve
ERR_FAIL_COND(new_index >= (MAX_CONTACTS + 1));
Contact contact;
-
- contact.acc_normal_impulse = 0;
- contact.acc_bias_impulse = 0;
- contact.acc_tangent_impulse = 0;
contact.local_A = local_A;
contact.local_B = local_B;
- contact.reused = true;
contact.normal = (p_point_A - p_point_B).normalized();
- contact.mass_normal = 0; // will be computed in setup()
-
- // attempt to determine if the contact will be reused
+ contact.used = true;
+ // Attempt to determine if the contact will be reused.
real_t recycle_radius_2 = space->get_contact_recycle_radius() * space->get_contact_recycle_radius();
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
- if (
- c.local_A.distance_squared_to(local_A) < (recycle_radius_2) &&
+ if (c.local_A.distance_squared_to(local_A) < (recycle_radius_2) &&
c.local_B.distance_squared_to(local_B) < (recycle_radius_2)) {
contact.acc_normal_impulse = c.acc_normal_impulse;
contact.acc_tangent_impulse = c.acc_tangent_impulse;
contact.acc_bias_impulse = c.acc_bias_impulse;
- new_index = i;
- break;
+ contact.acc_bias_impulse_center_of_mass = c.acc_bias_impulse_center_of_mass;
+ c = contact;
+ return;
}
}
- // figure out if the contact amount must be reduced to fit the new contact
-
+ // Figure out if the contact amount must be reduced to fit the new contact.
if (new_index == MAX_CONTACTS) {
- // remove the contact with the minimum depth
-
- int least_deep = -1;
- real_t min_depth = 1e10;
+ // Remove the contact with the minimum depth.
const Transform2D &transform_A = A->get_transform();
const Transform2D &transform_B = B->get_transform();
- for (int i = 0; i <= contact_count; i++) {
- Contact &c = (i == contact_count) ? contact : contacts[i];
+ int least_deep = -1;
+ real_t min_depth;
+
+ // Start with depth for new contact.
+ {
+ Vector2 global_A = transform_A.basis_xform(contact.local_A);
+ Vector2 global_B = transform_B.basis_xform(contact.local_B) + offset_B;
+
+ Vector2 axis = global_A - global_B;
+ min_depth = axis.dot(contact.normal);
+ }
+
+ for (int i = 0; i < contact_count; i++) {
+ const Contact &c = contacts[i];
Vector2 global_A = transform_A.basis_xform(c.local_A);
Vector2 global_B = transform_B.basis_xform(c.local_B) + offset_B;
@@ -103,10 +106,8 @@ void GodotBodyPair2D::_contact_added_callback(const Vector2 &p_point_A, const Ve
}
}
- ERR_FAIL_COND(least_deep == -1);
-
- if (least_deep < contact_count) { //replace the last deep contact by the new one
-
+ if (least_deep > -1) {
+ // Replace the least deep contact by the new one.
contacts[least_deep] = contact;
}
@@ -114,15 +115,11 @@ void GodotBodyPair2D::_contact_added_callback(const Vector2 &p_point_A, const Ve
}
contacts[new_index] = contact;
-
- if (new_index == contact_count) {
- contact_count++;
- }
+ contact_count++;
}
void GodotBodyPair2D::_validate_contacts() {
- //make sure to erase contacts that are no longer valid
-
+ // Make sure to erase contacts that are no longer valid.
real_t max_separation = space->get_contact_max_separation();
real_t max_separation2 = max_separation * max_separation;
@@ -133,11 +130,11 @@ void GodotBodyPair2D::_validate_contacts() {
Contact &c = contacts[i];
bool erase = false;
- if (!c.reused) {
- //was left behind in previous frame
+ if (!c.used) {
+ // Was left behind in previous frame.
erase = true;
} else {
- c.reused = false;
+ c.used = false;
Vector2 global_A = transform_A.basis_xform(c.local_A);
Vector2 global_B = transform_B.basis_xform(c.local_B) + offset_B;
@@ -150,10 +147,10 @@ void GodotBodyPair2D::_validate_contacts() {
}
if (erase) {
- // contact no longer needed, remove
+ // Contact no longer needed, remove.
if ((i + 1) < contact_count) {
- // swap with the last one
+ // Swap with the last one.
SWAP(contacts[i], contacts[contact_count - 1]);
}
@@ -302,9 +299,6 @@ bool GodotBodyPair2D::setup(real_t p_step) {
bool valid = false;
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
- if (!c.reused) {
- continue;
- }
if (c.normal.dot(direction) > -CMP_EPSILON) { //greater (normal inverted)
continue;
}
@@ -323,9 +317,6 @@ bool GodotBodyPair2D::setup(real_t p_step) {
bool valid = false;
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
- if (!c.reused) {
- continue;
- }
if (c.normal.dot(direction) < CMP_EPSILON) { //less (normal ok)
continue;
}
@@ -350,7 +341,7 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {
real_t max_penetration = space->get_contact_max_allowed_penetration();
- real_t bias = 0.3;
+ real_t bias = 0.8;
GodotShape2D *shape_A_ptr = A->get_shape(shape_A);
GodotShape2D *shape_B_ptr = B->get_shape(shape_B);
@@ -389,7 +380,7 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {
Vector2 axis = global_A - global_B;
real_t depth = axis.dot(c.normal);
- if (depth <= 0.0 || !c.reused) {
+ if (depth <= 0.0) {
continue;
}
@@ -400,8 +391,8 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {
}
#endif
- c.rA = global_A;
- c.rB = global_B - offset_B;
+ c.rA = global_A - A->get_center_of_mass();
+ c.rB = global_B - B->get_center_of_mass() - offset_B;
if (A->can_report_contacts()) {
Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x);
@@ -434,7 +425,6 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {
c.bias = -bias * inv_dt * MIN(0.0f, -depth + max_penetration);
c.depth = depth;
- //c.acc_bias_impulse=0;
#ifdef ACCUMULATE_IMPULSES
{
@@ -442,10 +432,10 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {
Vector2 P = c.acc_normal_impulse * c.normal + c.acc_tangent_impulse * tangent;
if (collide_A) {
- A->apply_impulse(-P, c.rA);
+ A->apply_impulse(-P, c.rA + A->get_center_of_mass());
}
if (collide_B) {
- B->apply_impulse(P, c.rB);
+ B->apply_impulse(P, c.rB + B->get_center_of_mass());
}
}
#endif
@@ -470,6 +460,11 @@ void GodotBodyPair2D::solve(real_t p_step) {
return;
}
+ const real_t max_bias_av = MAX_BIAS_ROTATION / p_step;
+
+ real_t inv_mass_A = collide_A ? A->get_inv_mass() : 0.0;
+ real_t inv_mass_B = collide_B ? B->get_inv_mass() : 0.0;
+
for (int i = 0; i < contact_count; ++i) {
Contact &c = contacts[i];
@@ -489,6 +484,7 @@ void GodotBodyPair2D::solve(real_t p_step) {
real_t vn = dv.dot(c.normal);
real_t vbn = dbv.dot(c.normal);
+
Vector2 tangent = c.normal.orthogonal();
real_t vt = dv.dot(tangent);
@@ -499,10 +495,31 @@ void GodotBodyPair2D::solve(real_t p_step) {
Vector2 jb = c.normal * (c.acc_bias_impulse - jbnOld);
if (collide_A) {
- A->apply_bias_impulse(-jb, c.rA);
+ A->apply_bias_impulse(-jb, c.rA + A->get_center_of_mass(), max_bias_av);
}
if (collide_B) {
- B->apply_bias_impulse(jb, c.rB);
+ B->apply_bias_impulse(jb, c.rB + B->get_center_of_mass(), max_bias_av);
+ }
+
+ crbA = Vector2(-A->get_biased_angular_velocity() * c.rA.y, A->get_biased_angular_velocity() * c.rA.x);
+ crbB = Vector2(-B->get_biased_angular_velocity() * c.rB.y, B->get_biased_angular_velocity() * c.rB.x);
+ 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) / (inv_mass_A + inv_mass_B);
+ 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);
+
+ Vector2 jb_com = c.normal * (c.acc_bias_impulse_center_of_mass - jbnOld_com);
+
+ if (collide_A) {
+ A->apply_bias_impulse(-jb_com, A->get_center_of_mass(), 0.0f);
+ }
+ if (collide_B) {
+ B->apply_bias_impulse(jb_com, B->get_center_of_mass(), 0.0f);
+ }
}
real_t jn = -(c.bounce + vn) * c.mass_normal;
@@ -519,10 +536,10 @@ void GodotBodyPair2D::solve(real_t p_step) {
Vector2 j = c.normal * (c.acc_normal_impulse - jnOld) + tangent * (c.acc_tangent_impulse - jtOld);
if (collide_A) {
- A->apply_impulse(-j, c.rA);
+ A->apply_impulse(-j, c.rA + A->get_center_of_mass());
}
if (collide_B) {
- B->apply_impulse(j, c.rB);
+ B->apply_impulse(j, c.rB + B->get_center_of_mass());
}
}
}
diff --git a/servers/physics_2d/godot_body_pair_2d.h b/servers/physics_2d/godot_body_pair_2d.h
index 0938ab542b..aa1b5b7886 100644
--- a/servers/physics_2d/godot_body_pair_2d.h
+++ b/servers/physics_2d/godot_body_pair_2d.h
@@ -62,13 +62,14 @@ class GodotBodyPair2D : public GodotConstraint2D {
real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn)
real_t acc_tangent_impulse = 0.0; // accumulated tangent impulse (Pt)
real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb)
+ real_t acc_bias_impulse_center_of_mass = 0.0; // accumulated normal impulse for position bias applied to com
real_t mass_normal, mass_tangent = 0.0;
real_t bias = 0.0;
real_t depth = 0.0;
bool active = false;
+ bool used = false;
Vector2 rA, rB;
- bool reused = false;
real_t bounce = 0.0;
};
diff --git a/servers/physics_2d/godot_physics_server_2d.cpp b/servers/physics_2d/godot_physics_server_2d.cpp
index 8ac27077fc..3d2880c63d 100644
--- a/servers/physics_2d/godot_physics_server_2d.cpp
+++ b/servers/physics_2d/godot_physics_server_2d.cpp
@@ -1226,7 +1226,7 @@ void GodotPhysicsServer2D::set_collision_iterations(int p_iterations) {
void GodotPhysicsServer2D::init() {
doing_sync = false;
- iterations = 8; // 8?
+ iterations = 16;
stepper = memnew(GodotStep2D);
};
diff --git a/servers/physics_3d/godot_body_pair_3d.cpp b/servers/physics_3d/godot_body_pair_3d.cpp
index 8a701466ed..28bb6fb466 100644
--- a/servers/physics_3d/godot_body_pair_3d.cpp
+++ b/servers/physics_3d/godot_body_pair_3d.cpp
@@ -44,11 +44,6 @@ void GodotBodyPair3D::_contact_added_callback(const Vector3 &p_point_A, int p_in
}
void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) {
- // check if we already have the contact
-
- //Vector3 local_A = A->get_inv_transform().xform(p_point_A);
- //Vector3 local_B = B->get_inv_transform().xform(p_point_B);
-
Vector3 local_A = A->get_inv_transform().basis.xform(p_point_A);
Vector3 local_B = B->get_inv_transform().basis.xform(p_point_B - offset_B);
@@ -57,19 +52,14 @@ void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_ind
ERR_FAIL_COND(new_index >= (MAX_CONTACTS + 1));
Contact contact;
-
- contact.acc_normal_impulse = 0;
- contact.acc_bias_impulse = 0;
- contact.acc_bias_impulse_center_of_mass = 0;
- contact.acc_tangent_impulse = Vector3();
contact.index_A = p_index_A;
contact.index_B = p_index_B;
contact.local_A = local_A;
contact.local_B = local_B;
contact.normal = (p_point_A - p_point_B).normalized();
- contact.mass_normal = 0; // will be computed in setup()
+ contact.used = true;
- // attempt to determine if the contact will be reused
+ // Attempt to determine if the contact will be reused.
real_t contact_recycle_radius = space->get_contact_recycle_radius();
for (int i = 0; i < contact_count; i++) {
@@ -80,23 +70,34 @@ void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_ind
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;
+ c = contact;
+ return;
}
}
- // figure out if the contact amount must be reduced to fit the new contact
-
+ // Figure out if the contact amount must be reduced to fit the new contact.
if (new_index == MAX_CONTACTS) {
- // remove the contact with the minimum depth
+ // Remove the contact with the minimum depth.
+
+ const Basis &basis_A = A->get_transform().basis;
+ const Basis &basis_B = B->get_transform().basis;
int least_deep = -1;
- real_t min_depth = 1e10;
+ real_t min_depth;
+
+ // Start with depth for new contact.
+ {
+ Vector3 global_A = basis_A.xform(contact.local_A);
+ Vector3 global_B = basis_B.xform(contact.local_B) + offset_B;
+
+ Vector3 axis = global_A - global_B;
+ min_depth = axis.dot(contact.normal);
+ }
- for (int i = 0; i <= contact_count; i++) {
- Contact &c = (i == contact_count) ? contact : contacts[i];
- Vector3 global_A = A->get_transform().basis.xform(c.local_A);
- Vector3 global_B = B->get_transform().basis.xform(c.local_B) + offset_B;
+ for (int i = 0; i < contact_count; i++) {
+ const Contact &c = contacts[i];
+ Vector3 global_A = basis_A.xform(c.local_A);
+ Vector3 global_B = basis_B.xform(c.local_B) + offset_B;
Vector3 axis = global_A - global_B;
real_t depth = axis.dot(c.normal);
@@ -107,10 +108,8 @@ void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_ind
}
}
- ERR_FAIL_COND(least_deep == -1);
-
- if (least_deep < contact_count) { //replace the last deep contact by the new one
-
+ if (least_deep > -1) {
+ // Replace the least deep contact by the new one.
contacts[least_deep] = contact;
}
@@ -118,29 +117,41 @@ void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_ind
}
contacts[new_index] = contact;
-
- if (new_index == contact_count) {
- contact_count++;
- }
+ contact_count++;
}
void GodotBodyPair3D::validate_contacts() {
- //make sure to erase contacts that are no longer valid
+ // Make sure to erase contacts that are no longer valid.
+ real_t max_separation = space->get_contact_max_separation();
+ real_t max_separation2 = max_separation * max_separation;
+
+ const Basis &basis_A = A->get_transform().basis;
+ const Basis &basis_B = B->get_transform().basis;
- real_t contact_max_separation = space->get_contact_max_separation();
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
- Vector3 global_A = A->get_transform().basis.xform(c.local_A);
- Vector3 global_B = B->get_transform().basis.xform(c.local_B) + offset_B;
- Vector3 axis = global_A - global_B;
- real_t depth = axis.dot(c.normal);
+ bool erase = false;
+ if (!c.used) {
+ // Was left behind in previous frame.
+ erase = true;
+ } else {
+ c.used = false;
+
+ Vector3 global_A = basis_A.xform(c.local_A);
+ Vector3 global_B = basis_B.xform(c.local_B) + offset_B;
+ Vector3 axis = global_A - global_B;
+ real_t depth = axis.dot(c.normal);
- if (depth < -contact_max_separation || (global_B + c.normal * depth - global_A).length() > contact_max_separation) {
- // contact no longer needed, remove
+ if (depth < -max_separation || (global_B + c.normal * depth - global_A).length_squared() > max_separation2) {
+ erase = true;
+ }
+ }
+ if (erase) {
+ // Contact no longer needed, remove.
if ((i + 1) < contact_count) {
- // swap with the last one
+ // Swap with the last one.
SWAP(contacts[i], contacts[contact_count - 1]);
}
@@ -260,7 +271,7 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) {
real_t max_penetration = space->get_contact_max_allowed_penetration();
- real_t bias = (real_t)0.3;
+ real_t bias = 0.8;
GodotShape3D *shape_A_ptr = A->get_shape(shape_A);
GodotShape3D *shape_B_ptr = B->get_shape(shape_B);
@@ -353,8 +364,6 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) {
if (collide_B) {
B->apply_impulse(j_vec, c.rB + B->get_center_of_mass());
}
- c.acc_bias_impulse = 0;
- c.acc_bias_impulse_center_of_mass = 0;
c.bounce = combine_bounce(A, B);
if (c.bounce) {
@@ -538,14 +547,10 @@ void GodotBodySoftBodyPair3D::contact_added_callback(const Vector3 &p_point_A, i
Contact contact;
contact.index_A = p_index_A;
contact.index_B = p_index_B;
- 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;
contact.normal = (p_point_A - p_point_B).normalized();
- contact.mass_normal = 0;
+ contact.used = true;
// Attempt to determine if the contact will be reused.
real_t contact_recycle_radius = space->get_contact_recycle_radius();
@@ -571,20 +576,33 @@ void GodotBodySoftBodyPair3D::contact_added_callback(const Vector3 &p_point_A, i
void GodotBodySoftBodyPair3D::validate_contacts() {
// Make sure to erase contacts that are no longer valid.
- const Transform3D &transform_A = body->get_transform();
+ real_t max_separation = space->get_contact_max_separation();
+ real_t max_separation2 = max_separation * max_separation;
- real_t contact_max_separation = space->get_contact_max_separation();
+ const Transform3D &transform_A = body->get_transform();
uint32_t contact_count = contacts.size();
for (uint32_t contact_index = 0; contact_index < contact_count; ++contact_index) {
Contact &c = contacts[contact_index];
- Vector3 global_A = transform_A.xform(c.local_A);
- Vector3 global_B = soft_body->get_node_position(c.index_B) + c.local_B;
- Vector3 axis = global_A - global_B;
- real_t depth = axis.dot(c.normal);
+ bool erase = false;
+ if (!c.used) {
+ // Was left behind in previous frame.
+ erase = true;
+ } else {
+ c.used = false;
+
+ Vector3 global_A = transform_A.xform(c.local_A);
+ Vector3 global_B = soft_body->get_node_position(c.index_B) + c.local_B;
+ Vector3 axis = global_A - global_B;
+ real_t depth = axis.dot(c.normal);
+
+ if (depth < -max_separation || (global_B + c.normal * depth - global_A).length_squared() > max_separation2) {
+ erase = true;
+ }
+ }
- if (depth < -contact_max_separation || (global_B + c.normal * depth - global_A).length() > contact_max_separation) {
+ if (erase) {
// Contact no longer needed, remove.
if ((contact_index + 1) < contact_count) {
// Swap with the last one.
@@ -640,7 +658,7 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) {
real_t max_penetration = space->get_contact_max_allowed_penetration();
- real_t bias = (real_t)0.3;
+ real_t bias = 0.8;
GodotShape3D *shape_A_ptr = body->get_shape(body_shape);
@@ -723,8 +741,6 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) {
if (soft_body_collides) {
soft_body->apply_node_impulse(c.index_B, j_vec);
}
- c.acc_bias_impulse = 0;
- c.acc_bias_impulse_center_of_mass = 0;
c.bounce = body->get_bounce();
diff --git a/servers/physics_3d/godot_body_pair_3d.h b/servers/physics_3d/godot_body_pair_3d.h
index c0a2424e05..7c2c31704b 100644
--- a/servers/physics_3d/godot_body_pair_3d.h
+++ b/servers/physics_3d/godot_body_pair_3d.h
@@ -54,6 +54,7 @@ protected:
real_t depth = 0.0;
bool active = false;
+ bool used = false;
Vector3 rA, rB; // Offset in world orientation with respect to center of mass
};
diff --git a/servers/physics_3d/godot_physics_server_3d.cpp b/servers/physics_3d/godot_physics_server_3d.cpp
index 9acae62382..49f9164a7c 100644
--- a/servers/physics_3d/godot_physics_server_3d.cpp
+++ b/servers/physics_3d/godot_physics_server_3d.cpp
@@ -1585,7 +1585,7 @@ void GodotPhysicsServer3D::set_collision_iterations(int p_iterations) {
};
void GodotPhysicsServer3D::init() {
- iterations = 8; // 8?
+ iterations = 16;
stepper = memnew(GodotStep3D);
};
generated by cgit v1.2.3 (git 2.25.1) at 2025-06-02 03:08:01 +0000