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Jolt physics: Setting position instead of velocity in JoltSoftBody3D::set_vertex_position

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This fixes a discrepancy between godot physics and Jolt physics where in Jolt a vertex pinned to a body only gets its velocity updated while in godot it gets its position updated. This causes it to lag one frame behind.

Fixes #106301
This commit is contained in:
Jorrit Rouwe
2025-05-13 22:21:46 +02:00
parent 209a446e36
commit c529f36532
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();
}