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Analytic collision normals

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This commit is contained in:
Peter Eastman
2023-01-14 18:39:23 -08:00
parent a51ca2beaf
commit 31c2a24893
9 changed files with 67 additions and 52 deletions
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18
servers/physics_3d/godot_collision_solver_3d.cpp
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@@ -81,9 +81,11 @@ bool GodotCollisionSolver3D::solve_static_world_boundary(const GodotShape3D *p_s
if (p_result_callback) {
if (p_swap_result) {
p_result_callback(supports[i], 0, support_A, 0, p_userdata);
Vector3 normal = (support_A - supports[i]).normalized();
p_result_callback(supports[i], 0, support_A, 0, normal, p_userdata);
} else {
p_result_callback(support_A, 0, supports[i], 0, p_userdata);
Vector3 normal = (supports[i] - support_A).normalized();
p_result_callback(support_A, 0, supports[i], 0, normal, p_userdata);
}
}
}
@@ -126,9 +128,11 @@ bool GodotCollisionSolver3D::solve_separation_ray(const GodotShape3D *p_shape_A,
if (p_result_callback) {
if (p_swap_result) {
p_result_callback(support_B, 0, support_A, 0, p_userdata);
Vector3 normal = (support_B - support_A).normalized();
p_result_callback(support_B, 0, support_A, 0, normal, p_userdata);
} else {
p_result_callback(support_A, 0, support_B, 0, p_userdata);
Vector3 normal = (support_A - support_B).normalized();
p_result_callback(support_A, 0, support_B, 0, normal, p_userdata);
}
}
return true;
@@ -142,7 +146,7 @@ struct _SoftBodyContactCollisionInfo {
int contact_count = 0;
};
void GodotCollisionSolver3D::soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
void GodotCollisionSolver3D::soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, const Vector3 &normal, void *p_userdata) {
_SoftBodyContactCollisionInfo &cinfo = *(static_cast<_SoftBodyContactCollisionInfo *>(p_userdata));
++cinfo.contact_count;
@@ -152,9 +156,9 @@ void GodotCollisionSolver3D::soft_body_contact_callback(const Vector3 &p_point_A
}
if (cinfo.swap_result) {
cinfo.result_callback(p_point_B, cinfo.node_index, p_point_A, p_index_A, cinfo.userdata);
cinfo.result_callback(p_point_B, cinfo.node_index, p_point_A, p_index_A, -normal, cinfo.userdata);
} else {
cinfo.result_callback(p_point_A, p_index_A, p_point_B, cinfo.node_index, cinfo.userdata);
cinfo.result_callback(p_point_A, p_index_A, p_point_B, cinfo.node_index, normal, cinfo.userdata);
}
}