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Merge pull request #106366 from jrouwe/fix_106301

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Jolt physics: Setting position instead of velocity in `JoltSoftBody3D::set_vertex_position`
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Thaddeus Crews
2025-05-15 10:22:29 -05:00
parent 7d46f0f733 c529f36532
commit 5e27318b6c
1 changed files with 1 additions and 10 deletions
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11
modules/jolt_physics/objects/jolt_soft_body_3d.cpp
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@@ -630,21 +630,12 @@ void JoltSoftBody3D::set_vertex_position(int p_index, const Vector3 &p_position)
ERR_FAIL_INDEX(p_index, (int)shared->mesh_to_physics.size());
const size_t physics_index = (size_t)shared->mesh_to_physics[p_index];
const float last_step = space->get_last_step();
if (unlikely(last_step == 0.0f)) {
return;
}
JPH::SoftBodyMotionProperties &motion_properties = static_cast<JPH::SoftBodyMotionProperties &>(*jolt_body->GetMotionPropertiesUnchecked());
JPH::Array<JPH::SoftBodyVertex> &physics_vertices = motion_properties.GetVertices();
JPH::SoftBodyVertex &physics_vertex = physics_vertices[physics_index];
const JPH::RVec3 center_of_mass = jolt_body->GetCenterOfMassPosition();
const JPH::Vec3 local_position = JPH::Vec3(to_jolt_r(p_position) - center_of_mass);
const JPH::Vec3 displacement = local_position - physics_vertex.mPosition;
const JPH::Vec3 velocity = displacement / last_step;
physics_vertex.mVelocity = velocity;
physics_vertex.mPosition = JPH::Vec3(to_jolt_r(p_position) - center_of_mass);
_vertices_changed();
}