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Jolt: Update to 5.4.0

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This commit is contained in:
Mikael Hermansson
2025-09-27 14:15:41 +02:00
parent 9052d31c68
commit cf75064c71
84 changed files with 1634 additions and 228 deletions
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6
thirdparty/jolt_physics/Jolt/Physics/Constraints/ContactConstraintManager.cpp vendored
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@@ -794,8 +794,6 @@ inline void ContactConstraintManager::CalculateFrictionAndNonPenetrationConstrai
void ContactConstraintManager::GetContactsFromCache(ContactAllocator &ioContactAllocator, Body &inBody1, Body &inBody2, bool &outPairHandled, bool &outConstraintCreated)
{
JPH_PROFILE_FUNCTION();
// Start with nothing found and not handled
outConstraintCreated = false;
outPairHandled = false;
@@ -923,7 +921,7 @@ void ContactConstraintManager::GetContactsFromCache(ContactAllocator &ioContactA
const CachedContactPoint &ccp = output_cm->mContactPoints[i];
manifold.mRelativeContactPointsOn1[i] = transform_body1.Multiply3x3(Vec3::sLoadFloat3Unsafe(ccp.mPosition1));
manifold.mRelativeContactPointsOn2[i] = local_transform_body2 * Vec3::sLoadFloat3Unsafe(ccp.mPosition2);
penetration_depth = max(penetration_depth, (manifold.mRelativeContactPointsOn1[0] - manifold.mRelativeContactPointsOn2[0]).Dot(world_space_normal));
penetration_depth = max(penetration_depth, (manifold.mRelativeContactPointsOn1[i] - manifold.mRelativeContactPointsOn2[i]).Dot(world_space_normal));
}
manifold.mPenetrationDepth = penetration_depth; // We don't have the penetration depth anymore, estimate it
@@ -996,8 +994,6 @@ void ContactConstraintManager::GetContactsFromCache(ContactAllocator &ioContactA
ContactConstraintManager::BodyPairHandle ContactConstraintManager::AddBodyPair(ContactAllocator &ioContactAllocator, const Body &inBody1, const Body &inBody2)
{
JPH_PROFILE_FUNCTION();
// Swap bodies so that body 1 id < body 2 id
const Body *body1, *body2;
if (inBody1.GetID() < inBody2.GetID())