From 60ae264db1d2c22586d887510b41b791575f259f Mon Sep 17 00:00:00 2001 From: PouleyKetchoupp Date: Thu, 15 Apr 2021 17:37:45 -0700 Subject: Fix errors related to joints setup with two non-dynamic bodies --- servers/physics_2d/joints_2d_sw.cpp | 13 +++++++++++++ servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp | 4 ++++ servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp | 4 ++++ servers/physics_3d/joints/hinge_joint_3d_sw.cpp | 4 ++++ servers/physics_3d/joints/pin_joint_3d_sw.cpp | 4 ++++ servers/physics_3d/joints/slider_joint_3d_sw.cpp | 4 ++++ 6 files changed, 33 insertions(+) diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp index c7b556deba..20d4b9aa1a 100644 --- a/servers/physics_2d/joints_2d_sw.cpp +++ b/servers/physics_2d/joints_2d_sw.cpp @@ -97,8 +97,13 @@ normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vecto } bool PinJoint2DSW::setup(real_t p_step) { + if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) { + return false; + } + Space2DSW *space = A->get_space(); ERR_FAIL_COND_V(!space, false); + rA = A->get_transform().basis_xform(anchor_A); rB = B ? B->get_transform().basis_xform(anchor_B) : anchor_B; @@ -257,6 +262,10 @@ mult_k(const Vector2 &vr, const Vector2 &k1, const Vector2 &k2) { } bool GrooveJoint2DSW::setup(real_t p_step) { + if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) { + return false; + } + // calculate endpoints in worldspace Vector2 ta = A->get_transform().xform(A_groove_1); Vector2 tb = A->get_transform().xform(A_groove_2); @@ -342,6 +351,10 @@ GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_ ////////////////////////////////////////////// bool DampedSpringJoint2DSW::setup(real_t p_step) { + if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) { + return false; + } + rA = A->get_transform().basis_xform(anchor_A); rB = B->get_transform().basis_xform(anchor_B); diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp index 9c4493f4a2..167f797bfe 100644 --- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp @@ -109,6 +109,10 @@ ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Trans } bool ConeTwistJoint3DSW::setup(real_t p_timestep) { + if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) { + return false; + } + m_appliedImpulse = real_t(0.); //set bias, sign, clear accumulator diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp index 13b389251f..a86e8b4e76 100644 --- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp @@ -303,6 +303,10 @@ bool Generic6DOFJoint3DSW::testAngularLimitMotor(int axis_index) { } bool Generic6DOFJoint3DSW::setup(real_t p_timestep) { + if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) { + return false; + } + // Clear accumulated impulses for the next simulation step m_linearLimits.m_accumulatedImpulse = Vector3(real_t(0.), real_t(0.), real_t(0.)); int i; diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp index 2b9f0038b4..90b82f4680 100644 --- a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp @@ -155,6 +155,10 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivo } bool HingeJoint3DSW::setup(real_t p_step) { + if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) { + return false; + } + m_appliedImpulse = real_t(0.); if (!m_angularOnly) { diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.cpp b/servers/physics_3d/joints/pin_joint_3d_sw.cpp index 9f708ce151..75d87992d1 100644 --- a/servers/physics_3d/joints/pin_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/pin_joint_3d_sw.cpp @@ -50,6 +50,10 @@ subject to the following restrictions: #include "pin_joint_3d_sw.h" bool PinJoint3DSW::setup(real_t p_step) { + if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) { + return false; + } + m_appliedImpulse = real_t(0.); Vector3 normal(0, 0, 0); diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.cpp b/servers/physics_3d/joints/slider_joint_3d_sw.cpp index 0adc471797..2e1ee8e770 100644 --- a/servers/physics_3d/joints/slider_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/slider_joint_3d_sw.cpp @@ -127,6 +127,10 @@ SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform & //----------------------------------------------------------------------------- bool SliderJoint3DSW::setup(real_t p_step) { + if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) { + return false; + } + //calculate transforms m_calculatedTransformA = A->get_transform() * m_frameInA; m_calculatedTransformB = B->get_transform() * m_frameInB; -- cgit v1.2.3