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Fix CCD bodies adding multiple contact manifolds when using Jolt

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This commit is contained in:
Mikael Hermansson
2025-09-26 01:17:11 +02:00
parent 1f7630f1bf
commit 0590c974c1
1 changed files with 6 additions and 0 deletions
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6
modules/jolt_physics/spaces/jolt_contact_listener_3d.cpp
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@@ -193,6 +193,12 @@ bool JoltContactListener3D::_try_add_contacts(const JPH::Body &p_jolt_body1, con
return manifolds_by_shape_pair[shape_pair]; return manifolds_by_shape_pair[shape_pair];
}(); }();
if (unlikely(!manifold.contacts1.is_empty())) {
// CCD collisions can result in two contact callbacks for the same shape pair, one in the earlier discrete stage and one in the later CCD stage.
// We want the manifolds from the discrete stage, as the bodies still have their original velocities at that point, so we early-out if we've already stored something.
return false;
}
const JPH::uint contact_count = p_manifold.mRelativeContactPointsOn1.size(); const JPH::uint contact_count = p_manifold.mRelativeContactPointsOn1.size();
manifold.contacts1.reserve((uint32_t)contact_count); manifold.contacts1.reserve((uint32_t)contact_count);