mirror of
https://github.com/godotengine/godot
synced 2024-09-19 14:58:24 +00:00
5cbc7149a1
Changed the algorithm for solving contacts to keep previous contacts as long as they are under the max separation threshold to keep contact impulses more consistent and contacts more stable. Also made 2D consistent with 3D and changed some default parameters: -Contact bias is now 0.8 instead of 0.3 to avoid springy contacts -Solver iterations are 16 instead of 8 by default for better stability Performance considerations: Tested with stress tests that include lots of contacts from overlapping bodies. 3D: There's no measurable difference in performance. 2D: Performance is a bit lower (close to 10% slower in extreme cases) The benefit for 2D physics to be much more stable outweighs the slight decrease in performance, and this could be alleviated by changing the algorithm to use jacobians for contact solving to help with cache efficiency and memory allocations.
100 lines
4.1 KiB
C++
100 lines
4.1 KiB
C++
/*************************************************************************/
|
|
/* godot_body_pair_2d.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/*************************************************************************/
|
|
|
|
#ifndef GODOT_BODY_PAIR_2D_H
|
|
#define GODOT_BODY_PAIR_2D_H
|
|
|
|
#include "godot_body_2d.h"
|
|
#include "godot_constraint_2d.h"
|
|
|
|
class GodotBodyPair2D : public GodotConstraint2D {
|
|
enum {
|
|
MAX_CONTACTS = 2
|
|
};
|
|
union {
|
|
struct {
|
|
GodotBody2D *A;
|
|
GodotBody2D *B;
|
|
};
|
|
|
|
GodotBody2D *_arr[2] = { nullptr, nullptr };
|
|
};
|
|
|
|
int shape_A = 0;
|
|
int shape_B = 0;
|
|
|
|
bool collide_A = false;
|
|
bool collide_B = false;
|
|
|
|
GodotSpace2D *space = nullptr;
|
|
|
|
struct Contact {
|
|
Vector2 position;
|
|
Vector2 normal;
|
|
Vector2 local_A, local_B;
|
|
real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn)
|
|
real_t acc_tangent_impulse = 0.0; // accumulated tangent impulse (Pt)
|
|
real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb)
|
|
real_t acc_bias_impulse_center_of_mass = 0.0; // accumulated normal impulse for position bias applied to com
|
|
real_t mass_normal, mass_tangent = 0.0;
|
|
real_t bias = 0.0;
|
|
|
|
real_t depth = 0.0;
|
|
bool active = false;
|
|
bool used = false;
|
|
Vector2 rA, rB;
|
|
real_t bounce = 0.0;
|
|
};
|
|
|
|
Vector2 offset_B; //use local A coordinates to avoid numerical issues on collision detection
|
|
|
|
Vector2 sep_axis;
|
|
Contact contacts[MAX_CONTACTS];
|
|
int contact_count = 0;
|
|
bool collided = false;
|
|
bool oneway_disabled = false;
|
|
bool report_contacts_only = false;
|
|
|
|
bool _test_ccd(real_t p_step, GodotBody2D *p_A, int p_shape_A, const Transform2D &p_xform_A, GodotBody2D *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result = false);
|
|
void _validate_contacts();
|
|
static void _add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self);
|
|
_FORCE_INLINE_ void _contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B);
|
|
|
|
public:
|
|
virtual bool setup(real_t p_step) override;
|
|
virtual bool pre_solve(real_t p_step) override;
|
|
virtual void solve(real_t p_step) override;
|
|
|
|
GodotBodyPair2D(GodotBody2D *p_A, int p_shape_A, GodotBody2D *p_B, int p_shape_B);
|
|
~GodotBodyPair2D();
|
|
};
|
|
|
|
#endif // GODOT_BODY_PAIR_2D_H
|