summaryrefslogtreecommitdiff
path: root/servers/physics_3d
diff options
context:
space:
mode:
Diffstat (limited to 'servers/physics_3d')
-rw-r--r--servers/physics_3d/godot_collision_solver_3d_sat.cpp2
-rw-r--r--servers/physics_3d/godot_shape_3d.cpp12
-rw-r--r--servers/physics_3d/godot_step_3d.cpp6
-rw-r--r--servers/physics_3d/godot_step_3d.h2
4 files changed, 10 insertions, 12 deletions
diff --git a/servers/physics_3d/godot_collision_solver_3d_sat.cpp b/servers/physics_3d/godot_collision_solver_3d_sat.cpp
index 96253cb452..8c78957789 100644
--- a/servers/physics_3d/godot_collision_solver_3d_sat.cpp
+++ b/servers/physics_3d/godot_collision_solver_3d_sat.cpp
@@ -1908,7 +1908,7 @@ static void _collision_cylinder_cylinder(const GodotShape3D *p_a, const Transfor
}
// Cylinder B end caps.
- if (!separator.test_axis(cylinder_A_axis.normalized())) {
+ if (!separator.test_axis(cylinder_B_axis.normalized())) {
return;
}
diff --git a/servers/physics_3d/godot_shape_3d.cpp b/servers/physics_3d/godot_shape_3d.cpp
index 1443cd166b..1a016fbc72 100644
--- a/servers/physics_3d/godot_shape_3d.cpp
+++ b/servers/physics_3d/godot_shape_3d.cpp
@@ -521,8 +521,9 @@ void GodotCapsuleShape3D::get_supports(const Vector3 &p_normal, int p_max, Vecto
Vector3 n = p_normal;
real_t d = n.y;
+ real_t h = height * 0.5 - radius; // half-height of the cylinder part
- if (Math::abs(d) < edge_support_threshold) {
+ if (h > 0 && Math::abs(d) < edge_support_threshold) {
// make it flat
n.y = 0.0;
n.normalize();
@@ -531,13 +532,10 @@ void GodotCapsuleShape3D::get_supports(const Vector3 &p_normal, int p_max, Vecto
r_amount = 2;
r_type = FEATURE_EDGE;
r_supports[0] = n;
- r_supports[0].y += height * 0.5 - radius;
+ r_supports[0].y += h;
r_supports[1] = n;
- r_supports[1].y -= height * 0.5 - radius;
-
+ r_supports[1].y -= h;
} else {
- real_t h = height * 0.5 - radius;
-
n *= radius;
n.y += (d > 0) ? h : -h;
r_amount = 1;
@@ -1998,7 +1996,7 @@ void GodotHeightMapShape3D::_get_cell(const Vector3 &p_point, int &r_x, int &r_y
Vector3 clamped_point(p_point);
clamped_point.x = CLAMP(p_point.x, pos_local.x, pos_local.x + shape_aabb.size.x);
clamped_point.y = CLAMP(p_point.y, pos_local.y, pos_local.y + shape_aabb.size.y);
- clamped_point.z = CLAMP(p_point.z, pos_local.z, pos_local.x + shape_aabb.size.z);
+ clamped_point.z = CLAMP(p_point.z, pos_local.z, pos_local.z + shape_aabb.size.z);
r_x = (clamped_point.x < 0.0) ? (clamped_point.x - 0.5) : (clamped_point.x + 0.5);
r_y = (clamped_point.y < 0.0) ? (clamped_point.y - 0.5) : (clamped_point.y + 0.5);
diff --git a/servers/physics_3d/godot_step_3d.cpp b/servers/physics_3d/godot_step_3d.cpp
index bfedcd29c0..634523d0b9 100644
--- a/servers/physics_3d/godot_step_3d.cpp
+++ b/servers/physics_3d/godot_step_3d.cpp
@@ -111,7 +111,7 @@ void GodotStep3D::_populate_island_soft_body(GodotSoftBody3D *p_soft_body, Local
}
}
-void GodotStep3D::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
+void GodotStep3D::_setup_constraint(uint32_t p_constraint_index, void *p_userdata) {
GodotConstraint3D *constraint = all_constraints[p_constraint_index];
constraint->setup(delta);
}
@@ -342,8 +342,8 @@ void GodotStep3D::step(GodotSpace3D *p_space, real_t p_delta) {
/* SETUP CONSTRAINTS / PROCESS COLLISIONS */
- uint32_t total_contraint_count = all_constraints.size();
- WorkerThreadPool::GroupID group_task = WorkerThreadPool::get_singleton()->add_template_group_task(this, &GodotStep3D::_setup_contraint, nullptr, total_contraint_count, -1, true, SNAME("Physics3DConstraintSetup"));
+ uint32_t total_constraint_count = all_constraints.size();
+ WorkerThreadPool::GroupID group_task = WorkerThreadPool::get_singleton()->add_template_group_task(this, &GodotStep3D::_setup_constraint, nullptr, total_constraint_count, -1, true, SNAME("Physics3DConstraintSetup"));
WorkerThreadPool::get_singleton()->wait_for_group_task_completion(group_task);
{ //profile
diff --git a/servers/physics_3d/godot_step_3d.h b/servers/physics_3d/godot_step_3d.h
index 189487757f..a0854a720c 100644
--- a/servers/physics_3d/godot_step_3d.h
+++ b/servers/physics_3d/godot_step_3d.h
@@ -48,7 +48,7 @@ class GodotStep3D {
void _populate_island(GodotBody3D *p_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island);
void _populate_island_soft_body(GodotSoftBody3D *p_soft_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island);
- void _setup_contraint(uint32_t p_constraint_index, void *p_userdata = nullptr);
+ void _setup_constraint(uint32_t p_constraint_index, void *p_userdata = nullptr);
void _pre_solve_island(LocalVector<GodotConstraint3D *> &p_constraint_island) const;
void _solve_island(uint32_t p_island_index, void *p_userdata = nullptr);
void _check_suspend(const LocalVector<GodotBody3D *> &p_body_island) const;