Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fix regression 70154 caused by my prior CCD fix. #70160

Merged
merged 1 commit into from
Dec 17, 2022
Merged

Fix regression 70154 caused by my prior CCD fix. #70160

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions servers/physics_2d/godot_body_pair_2d.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -198,13 +198,13 @@ bool GodotBodyPair2D::_test_ccd(real_t p_step, GodotBody2D *p_A, int p_shape_A,
Vector2 from = p_xform_A.xform(s[0]);
// Back up 10% of the per-frame motion behind the support point and use that as the beginning of our cast.
// This should ensure the calculated new velocity will really cause a bit of overlap instead of just getting us very close.
from -= motion * 0.1;
Vector2 to = from + motion;

Transform2D from_inv = p_xform_B.affine_inverse();

// Start from a little inside the bounding box.
Vector2 local_from = from_inv.xform(from);
// Back up 10% of the per-frame motion behind the support point and use that as the beginning of our cast.
// At high speeds, this may mean we're actually casting from well behind the body instead of inside it, which is odd. But it still works out.
Vector2 local_from = from_inv.xform(from - motion * 0.1);
Vector2 local_to = from_inv.xform(to);

Vector2 rpos, rnorm;
Expand All @@ -228,7 +228,7 @@ bool GodotBodyPair2D::_test_ccd(real_t p_step, GodotBody2D *p_A, int p_shape_A,
// next frame will hit softly or soft enough.
Vector2 hitpos = p_xform_B.xform(rpos);

real_t newlen = hitpos.distance_to(from);
real_t newlen = hitpos.distance_to(from) + (max - min) * 0.01; // adding 1% of body length to the distance between collision and support point should cause body A's support point to arrive just within B's collider next frame.
p_A->set_linear_velocity(mnormal * (newlen / p_step));

return true;
Expand Down
10 changes: 5 additions & 5 deletions servers/physics_3d/godot_body_pair_3d.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -194,14 +194,13 @@ bool GodotBodyPair3D::_test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A,
// convert mnormal into body A's local xform because get_support requires (and returns) local coordinates.
Vector3 s = p_A->get_shape(p_shape_A)->get_support(p_xform_A.basis.xform_inv(mnormal).normalized());
Vector3 from = p_xform_A.xform(s);
// Back up 10% of the per-frame motion behind the support point and use that as the beginning of our cast.
// This should ensure the calculated new velocity will really cause a bit of overlap instead of just getting us very close.
from -= motion * 0.1;
Vector3 to = from + motion;

Transform3D from_inv = p_xform_B.affine_inverse();

Vector3 local_from = from_inv.xform(from);
// Back up 10% of the per-frame motion behind the support point and use that as the beginning of our cast.
// At high speeds, this may mean we're actually casting from well behind the body instead of inside it, which is odd. But it still works out.
Vector3 local_from = from_inv.xform(from - motion * 0.1);
Vector3 local_to = from_inv.xform(to);

Vector3 rpos, rnorm;
Expand All @@ -214,7 +213,8 @@ bool GodotBodyPair3D::_test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A,
// Shorten the linear velocity so it will collide next frame.
Vector3 hitpos = p_xform_B.xform(rpos);

real_t newlen = hitpos.distance_to(from); // this length (speed) should cause the point we chose slightly behind A's support point to arrive right at B's collider next frame.
real_t newlen = hitpos.distance_to(from) + (max - min) * 0.01; // adding 1% of body length to the distance between collision and support point should cause body A's support point to arrive just within B's collider next frame.

p_A->set_linear_velocity((mnormal * newlen) / p_step);

return true;
Expand Down