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Merge pull request #118393 from jrouwe/118281

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Jolt Physics: Fix contact callbacks for body with motion quality LinearCast vs a soft body
This commit is contained in:
Thaddeus Crews
2026-04-13 15:52:08 -05:00
parent 6cdadfc061 d03c9b2f6f
commit 35e62dad5c
7 changed files with 391 additions and 28 deletions
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thirdparty/README.md
Vendored
+1
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@@ -526,6 +526,7 @@ Patches:
- `0003-backport-upstream-commit-365a15367.patch` (GH-115305)
- `0004-backport-upstream-commit-e0a6a9a16.patch` (GH-115327)
- `0005-backport-upstream-commit-449b645.patch` (GH-117194)
- `0006-backport-upstream-commit-63765d1.patch` (GH-118393)
## libbacktrace
thirdparty/jolt_physics/Jolt/Physics/PhysicsSystem.cpp
Vendored
+70 -19
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@@ -26,6 +26,7 @@
#include <Jolt/Physics/DeterminismLog.h>
#include <Jolt/Physics/SoftBody/SoftBodyMotionProperties.h>
#include <Jolt/Physics/SoftBody/SoftBodyShape.h>
#include <Jolt/Physics/SoftBody/SoftBodyContactListener.h>
#include <Jolt/Geometry/RayAABox.h>
#include <Jolt/Geometry/ClosestPoint.h>
#include <Jolt/Core/JobSystem.h>
@@ -1846,9 +1847,10 @@ void PhysicsSystem::JobFindCCDContacts(const PhysicsUpdateContext *ioContext, Ph
class CCDNarrowPhaseCollector : public CastShapeCollector
{
public:
CCDNarrowPhaseCollector(const BodyManager &inBodyManager, ContactConstraintManager &inContactConstraintManager, CCDBody &inCCDBody, ShapeCastResult &inResult, float inDeltaTime) :
CCDNarrowPhaseCollector(const BodyManager &inBodyManager, ContactConstraintManager &inContactConstraintManager, SoftBodyContactListener *inSoftBodyContactListener, CCDBody &inCCDBody, ShapeCastResult &inResult, float inDeltaTime) :
mBodyManager(inBodyManager),
mContactConstraintManager(inContactConstraintManager),
mSoftBodyContactListener(inSoftBodyContactListener),
mCCDBody(inCCDBody),
mResult(inResult),
mDeltaTime(inDeltaTime)
@@ -1884,26 +1886,53 @@ void PhysicsSystem::JobFindCCDContacts(const PhysicsUpdateContext *ioContext, Ph
{
// Validate the contact result
const Body &body1 = mBodyManager.GetBody(mCCDBody.mBodyID1);
ValidateResult validate_result = mContactConstraintManager.ValidateContactPoint(body1, body2, body1.GetCenterOfMassPosition(), inResult); // Note that the center of mass of body 1 is the start of the sweep and is used as base offset below
switch (validate_result)
if (body2.IsRigidBody())
{
case ValidateResult::AcceptContact:
// Just continue
break;
ValidateResult validate_result = mContactConstraintManager.ValidateContactPoint(body1, body2, body1.GetCenterOfMassPosition(), inResult); // Note that the center of mass of body 1 is the start of the sweep and is used as base offset below
switch (validate_result)
{
case ValidateResult::AcceptContact:
// Just continue
break;
case ValidateResult::AcceptAllContactsForThisBodyPair:
// Accept this and all following contacts from this body
mValidateBodyPair = false;
break;
case ValidateResult::AcceptAllContactsForThisBodyPair:
// Accept this and all following contacts from this body
mValidateBodyPair = false;
break;
case ValidateResult::RejectContact:
return;
case ValidateResult::RejectContact:
return;
case ValidateResult::RejectAllContactsForThisBodyPair:
// Reject this and all following contacts from this body
mRejectAll = true;
ForceEarlyOut();
return;
case ValidateResult::RejectAllContactsForThisBodyPair:
// Reject this and all following contacts from this body
mRejectAll = true;
ForceEarlyOut();
return;
}
}
else
{
SoftBodyContactSettings sb_settings;
sb_settings.mIsSensor = false;
if ((mSoftBodyContactListener == nullptr
|| mSoftBodyContactListener->OnSoftBodyContactValidate(body2, body1, sb_settings) == SoftBodyValidateResult::AcceptContact) // Note reversal, soft body needs to be first parameter
&& !sb_settings.mIsSensor) // If the contact listener turned this into a sensor, we want to ignore it
{
// Convert the soft body contact settings (note bodies are swapped)
mCCDBody.mContactSettings.mInvMassScale1 = sb_settings.mInvMassScale2;
mCCDBody.mContactSettings.mInvMassScale2 = sb_settings.mInvMassScale1;
mCCDBody.mContactSettings.mInvInertiaScale1 = sb_settings.mInvInertiaScale2;
// Accept this and all following contacts from this body
mValidateBodyPair = false;
}
else
{
// Reject this and all following contacts from this body
mRejectAll = true;
ForceEarlyOut();
return;
}
}
}
@@ -1940,6 +1969,7 @@ void PhysicsSystem::JobFindCCDContacts(const PhysicsUpdateContext *ioContext, Ph
private:
const BodyManager & mBodyManager;
ContactConstraintManager & mContactConstraintManager;
SoftBodyContactListener * mSoftBodyContactListener;
CCDBody & mCCDBody;
ShapeCastResult & mResult;
float mDeltaTime;
@@ -1948,7 +1978,7 @@ void PhysicsSystem::JobFindCCDContacts(const PhysicsUpdateContext *ioContext, Ph
// Narrowphase collector
ShapeCastResult cast_shape_result;
CCDNarrowPhaseCollector np_collector(mBodyManager, mContactManager, ccd_body, cast_shape_result, ioContext->mStepDeltaTime);
CCDNarrowPhaseCollector np_collector(mBodyManager, mContactManager, mSoftBodyContactListener, ccd_body, cast_shape_result, ioContext->mStepDeltaTime);
// This collector wraps the narrowphase collector and collects the closest hit
class CCDBroadPhaseCollector : public CastShapeBodyCollector
@@ -2071,7 +2101,15 @@ void PhysicsSystem::JobFindCCDContacts(const PhysicsUpdateContext *ioContext, Ph
manifold.mWorldSpaceNormal = ccd_body.mContactNormal;
// Call contact point callbacks
mContactManager.OnCCDContactAdded(contact_allocator, body, body2, manifold, ccd_body.mContactSettings);
if (body2.IsRigidBody())
mContactManager.OnCCDContactAdded(contact_allocator, body, body2, manifold, ccd_body.mContactSettings);
else
{
// We already have mass and inertia scale from the OnSoftBodyContactValidate callback, but we need to fill in the rest of the contact settings
ccd_body.mContactSettings.mCombinedFriction = 0.0f; // Soft bodies CCD contacts don't apply friction
ccd_body.mContactSettings.mCombinedRestitution = mContactManager.GetCombineRestitution()(body, SubShapeID(), body2, SubShapeID()); // Soft bodies don't pass sub shape IDs because the restitution is uniform across the entire body
ccd_body.mContactSettings.mIsSensor = false; // We've filtered out sensors already
}
if (ccd_body.mContactSettings.mIsSensor)
{
@@ -2296,6 +2334,19 @@ void PhysicsSystem::JobResolveCCDContacts(PhysicsUpdateContext *ioContext, Physi
vtx0.mVelocity += delta_v2 * vtx0.mInvMass;
vtx1.mVelocity += delta_v2 * vtx1.mInvMass;
vtx2.mVelocity += delta_v2 * vtx2.mInvMass;
// If there's a contact listener, we need to flag this vertex as having had collision and force a contact callback.
// Note that during the soft body update that follows this, it is likely that a new collision will be found and that this will be overwritten.
if (mSoftBodyContactListener != nullptr)
{
BodyID body_id = ccd_body->mBodyID1;
Vec3 local_normal = inv_body2_transform.Multiply3x3(ccd_body->mContactNormal);
Plane contact_plane = Plane::sFromPointAndNormal(local_contact, local_normal);
vtx0.MarkCCDContact(body_id, contact_plane);
vtx1.MarkCCDContact(body_id, contact_plane);
vtx2.MarkCCDContact(body_id, contact_plane);
soft_mp->RequestContactCallback();
}
}
// Clamp velocity of body 1
thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyManifold.h
Vendored
+9 -1
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@@ -36,7 +36,15 @@ public:
/// Get the body with which the vertex has collided in this update
JPH_INLINE BodyID GetContactBodyID(const SoftBodyVertex &inVertex) const
{
return inVertex.mHasContact? mCollidingShapes[inVertex.mCollidingShapeIndex].mBodyID : BodyID();
if (!inVertex.mHasContact)
return BodyID();
// If this is a CCD contact, the BodyID is encoded in mCollidingShapeIndex
if (inVertex.mCollidingShapeIndex & int(BodyID::cBroadPhaseBit))
return BodyID(uint32(inVertex.mCollidingShapeIndex) ^ BodyID::cBroadPhaseBit);
// Otherwise we can get it from mCollidingShapes
return mCollidingShapes[inVertex.mCollidingShapeIndex].mBodyID;
}
/// Get the number of sensors that are in contact with the soft body
thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyMotionProperties.cpp
Vendored
+11 -8
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@@ -121,15 +121,13 @@ void SoftBodyMotionProperties::DetermineCollidingShapes(const SoftBodyUpdateCont
{
JPH_PROFILE_FUNCTION();
// Reset flag prior to collision detection
mNeedContactCallback.store(false, memory_order_relaxed);
struct Collector : public CollideShapeBodyCollector
{
Collector(const SoftBodyUpdateContext &inContext, const PhysicsSystem &inSystem, const BodyLockInterface &inBodyLockInterface, const AABox &inLocalBounds, SimShapeFilterWrapper &inShapeFilter, Array<CollidingShape> &ioHits, Array<CollidingSensor> &ioSensors) :
Collector(const SoftBodyUpdateContext &inContext, const PhysicsSystem &inSystem, const BodyLockInterface &inBodyLockInterface, const AABox &inLocalBounds, const AABox &inWorldBounds, SimShapeFilterWrapper &inShapeFilter, Array<CollidingShape> &ioHits, Array<CollidingSensor> &ioSensors) :
mContext(inContext),
mInverseTransform(inContext.mCenterOfMassTransform.InversedRotationTranslation()),
mLocalBounds(inLocalBounds),
mWorldBounds(inWorldBounds),
mBodyLockInterface(inBodyLockInterface),
mCombineFriction(inSystem.GetCombineFriction()),
mCombineRestitution(inSystem.GetCombineRestitution()),
@@ -147,7 +145,8 @@ void SoftBodyMotionProperties::DetermineCollidingShapes(const SoftBodyUpdateCont
const Body &soft_body = *mContext.mBody;
const Body &body = lock.GetBody();
if (body.IsRigidBody() // TODO: We should support soft body vs soft body
&& soft_body.GetCollisionGroup().CanCollide(body.GetCollisionGroup()))
&& soft_body.GetCollisionGroup().CanCollide(body.GetCollisionGroup())
&& mWorldBounds.Overlaps(body.GetWorldSpaceBounds())) // In the broadphase we widen the bounding box when a body moves, do a final check to see if the bounding boxes actually overlap
{
SoftBodyContactSettings settings;
settings.mIsSensor = body.IsSensor();
@@ -227,6 +226,7 @@ void SoftBodyMotionProperties::DetermineCollidingShapes(const SoftBodyUpdateCont
const SoftBodyUpdateContext &mContext;
RMat44 mInverseTransform;
AABox mLocalBounds;
AABox mWorldBounds;
const BodyLockInterface & mBodyLockInterface;
ContactConstraintManager::CombineFunction mCombineFriction;
ContactConstraintManager::CombineFunction mCombineRestitution;
@@ -246,7 +246,7 @@ void SoftBodyMotionProperties::DetermineCollidingShapes(const SoftBodyUpdateCont
// Create shape filter
SimShapeFilterWrapper shape_filter(inContext.mSimShapeFilter, inContext.mBody);
Collector collector(inContext, inSystem, inBodyLockInterface, local_bounds, shape_filter, mCollidingShapes, mCollidingSensors);
Collector collector(inContext, inSystem, inBodyLockInterface, local_bounds, world_bounds, shape_filter, mCollidingShapes, mCollidingSensors);
ObjectLayer layer = inContext.mBody->GetObjectLayer();
DefaultBroadPhaseLayerFilter broadphase_layer_filter = inSystem.GetDefaultBroadPhaseLayerFilter(layer);
DefaultObjectLayerFilter object_layer_filter = inSystem.GetDefaultLayerFilter(layer);
@@ -285,7 +285,7 @@ void SoftBodyMotionProperties::DetermineSensorCollisions(CollidingSensor &ioSens
// We need a contact callback if one of the sensors collided
if (ioSensor.mHasContact)
mNeedContactCallback.store(true, memory_order_relaxed);
RequestContactCallback();
}
void SoftBodyMotionProperties::ApplyPressure(const SoftBodyUpdateContext &inContext)
@@ -714,6 +714,7 @@ void SoftBodyMotionProperties::ApplyCollisionConstraintsAndUpdateVelocities(cons
v.mVelocity = (v.mPosition - v.mPreviousPosition) / dt;
// Satisfy collision constraint
static_assert(int(BodyID::cBroadPhaseBit) < 0); // CCD contacts should be negative too (see: SoftBodyVertex::MarkCCDContact)
if (v.mCollidingShapeIndex >= 0)
{
// Check if there is a collision
@@ -724,7 +725,7 @@ void SoftBodyMotionProperties::ApplyCollisionConstraintsAndUpdateVelocities(cons
v.mHasContact = true;
// We need a contact callback if one of the vertices collided
mNeedContactCallback.store(true, memory_order_relaxed);
RequestContactCallback();
// Note that we already calculated the velocity, so this does not affect the velocity (next iteration starts by setting previous position to current position)
CollidingShape &cs = mCollidingShapes[v.mCollidingShapeIndex];
@@ -839,6 +840,8 @@ void SoftBodyMotionProperties::UpdateSoftBodyState(SoftBodyUpdateContext &ioCont
}
ioContext.mContactListener->OnSoftBodyContactAdded(*ioContext.mBody, SoftBodyManifold(this));
mNeedContactCallback.store(false, memory_order_relaxed);
}
// Loop through vertices once more to update the global state
thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyMotionProperties.h
Vendored
+3
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@@ -176,6 +176,9 @@ public:
/// Update the velocities of all rigid bodies that we collided with. Not part of the public API.
void UpdateRigidBodyVelocities(const SoftBodyUpdateContext &inContext, BodyInterface &inBodyInterface);
/// Set a flag to indicate that the ContactListener::OnSoftBodyContactAdded should be called
inline void RequestContactCallback() { mNeedContactCallback.store(true, memory_order_relaxed); }
private:
// SoftBodyManifold needs to have access to CollidingShape
friend class SoftBodyManifold;
thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyVertex.h
Vendored
+8
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@@ -23,6 +23,14 @@ public:
mHasContact = false;
}
/// Mark this vertex as being in contact with inBodyID
inline void MarkCCDContact(const BodyID &inBodyID, const Plane &inContactPlane)
{
mCollisionPlane = inContactPlane;
mCollidingShapeIndex = int(inBodyID.GetIndexAndSequenceNumber() | BodyID::cBroadPhaseBit); // We reuse the broad phase bit to indicate this is a CCD contact
mHasContact = true;
}
Vec3 mPreviousPosition; ///< Internal use only. Position at the previous time step
Vec3 mPosition; ///< Position, relative to the center of mass of the soft body
Vec3 mVelocity; ///< Velocity, relative to the center of mass of the soft body
thirdparty/jolt_physics/patches/0006-backport-upstream-commit-63765d1.patch
Vendored
+289
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@@ -0,0 +1,289 @@
diff --git a/thirdparty/jolt_physics/Jolt/Physics/PhysicsSystem.cpp b/thirdparty/jolt_physics/Jolt/Physics/PhysicsSystem.cpp
index d972dd2c..0a3f21b8 100644
--- a/thirdparty/jolt_physics/Jolt/Physics/PhysicsSystem.cpp
+++ b/thirdparty/jolt_physics/Jolt/Physics/PhysicsSystem.cpp
@@ -26,6 +26,7 @@
#include <Jolt/Physics/DeterminismLog.h>
#include <Jolt/Physics/SoftBody/SoftBodyMotionProperties.h>
#include <Jolt/Physics/SoftBody/SoftBodyShape.h>
+#include <Jolt/Physics/SoftBody/SoftBodyContactListener.h>
#include <Jolt/Geometry/RayAABox.h>
#include <Jolt/Geometry/ClosestPoint.h>
#include <Jolt/Core/JobSystem.h>
@@ -1833,9 +1834,10 @@ void PhysicsSystem::JobFindCCDContacts(const PhysicsUpdateContext *ioContext, Ph
class CCDNarrowPhaseCollector : public CastShapeCollector
{
public:
- CCDNarrowPhaseCollector(const BodyManager &inBodyManager, ContactConstraintManager &inContactConstraintManager, CCDBody &inCCDBody, ShapeCastResult &inResult, float inDeltaTime) :
+ CCDNarrowPhaseCollector(const BodyManager &inBodyManager, ContactConstraintManager &inContactConstraintManager, SoftBodyContactListener *inSoftBodyContactListener, CCDBody &inCCDBody, ShapeCastResult &inResult, float inDeltaTime) :
mBodyManager(inBodyManager),
mContactConstraintManager(inContactConstraintManager),
+ mSoftBodyContactListener(inSoftBodyContactListener),
mCCDBody(inCCDBody),
mResult(inResult),
mDeltaTime(inDeltaTime)
@@ -1871,26 +1873,53 @@ void PhysicsSystem::JobFindCCDContacts(const PhysicsUpdateContext *ioContext, Ph
{
// Validate the contact result
const Body &body1 = mBodyManager.GetBody(mCCDBody.mBodyID1);
- ValidateResult validate_result = mContactConstraintManager.ValidateContactPoint(body1, body2, body1.GetCenterOfMassPosition(), inResult); // Note that the center of mass of body 1 is the start of the sweep and is used as base offset below
- switch (validate_result)
+ if (body2.IsRigidBody())
{
- case ValidateResult::AcceptContact:
- // Just continue
- break;
-
- case ValidateResult::AcceptAllContactsForThisBodyPair:
- // Accept this and all following contacts from this body
- mValidateBodyPair = false;
- break;
-
- case ValidateResult::RejectContact:
- return;
-
- case ValidateResult::RejectAllContactsForThisBodyPair:
- // Reject this and all following contacts from this body
- mRejectAll = true;
- ForceEarlyOut();
- return;
+ ValidateResult validate_result = mContactConstraintManager.ValidateContactPoint(body1, body2, body1.GetCenterOfMassPosition(), inResult); // Note that the center of mass of body 1 is the start of the sweep and is used as base offset below
+ switch (validate_result)
+ {
+ case ValidateResult::AcceptContact:
+ // Just continue
+ break;
+
+ case ValidateResult::AcceptAllContactsForThisBodyPair:
+ // Accept this and all following contacts from this body
+ mValidateBodyPair = false;
+ break;
+
+ case ValidateResult::RejectContact:
+ return;
+
+ case ValidateResult::RejectAllContactsForThisBodyPair:
+ // Reject this and all following contacts from this body
+ mRejectAll = true;
+ ForceEarlyOut();
+ return;
+ }
+ }
+ else
+ {
+ SoftBodyContactSettings sb_settings;
+ sb_settings.mIsSensor = false;
+ if ((mSoftBodyContactListener == nullptr
+ || mSoftBodyContactListener->OnSoftBodyContactValidate(body2, body1, sb_settings) == SoftBodyValidateResult::AcceptContact) // Note reversal, soft body needs to be first parameter
+ && !sb_settings.mIsSensor) // If the contact listener turned this into a sensor, we want to ignore it
+ {
+ // Convert the soft body contact settings (note bodies are swapped)
+ mCCDBody.mContactSettings.mInvMassScale1 = sb_settings.mInvMassScale2;
+ mCCDBody.mContactSettings.mInvMassScale2 = sb_settings.mInvMassScale1;
+ mCCDBody.mContactSettings.mInvInertiaScale1 = sb_settings.mInvInertiaScale2;
+
+ // Accept this and all following contacts from this body
+ mValidateBodyPair = false;
+ }
+ else
+ {
+ // Reject this and all following contacts from this body
+ mRejectAll = true;
+ ForceEarlyOut();
+ return;
+ }
}
}
@@ -1927,6 +1956,7 @@ void PhysicsSystem::JobFindCCDContacts(const PhysicsUpdateContext *ioContext, Ph
private:
const BodyManager & mBodyManager;
ContactConstraintManager & mContactConstraintManager;
+ SoftBodyContactListener * mSoftBodyContactListener;
CCDBody & mCCDBody;
ShapeCastResult & mResult;
float mDeltaTime;
@@ -1935,7 +1965,7 @@ void PhysicsSystem::JobFindCCDContacts(const PhysicsUpdateContext *ioContext, Ph
// Narrowphase collector
ShapeCastResult cast_shape_result;
- CCDNarrowPhaseCollector np_collector(mBodyManager, mContactManager, ccd_body, cast_shape_result, ioContext->mStepDeltaTime);
+ CCDNarrowPhaseCollector np_collector(mBodyManager, mContactManager, mSoftBodyContactListener, ccd_body, cast_shape_result, ioContext->mStepDeltaTime);
// This collector wraps the narrowphase collector and collects the closest hit
class CCDBroadPhaseCollector : public CastShapeBodyCollector
@@ -2058,7 +2088,15 @@ void PhysicsSystem::JobFindCCDContacts(const PhysicsUpdateContext *ioContext, Ph
manifold.mWorldSpaceNormal = ccd_body.mContactNormal;
// Call contact point callbacks
- mContactManager.OnCCDContactAdded(contact_allocator, body, body2, manifold, ccd_body.mContactSettings);
+ if (body2.IsRigidBody())
+ mContactManager.OnCCDContactAdded(contact_allocator, body, body2, manifold, ccd_body.mContactSettings);
+ else
+ {
+ // We already have mass and inertia scale from the OnSoftBodyContactValidate callback, but we need to fill in the rest of the contact settings
+ ccd_body.mContactSettings.mCombinedFriction = 0.0f; // Soft bodies CCD contacts don't apply friction
+ ccd_body.mContactSettings.mCombinedRestitution = mContactManager.GetCombineRestitution()(body, SubShapeID(), body2, SubShapeID()); // Soft bodies don't pass sub shape IDs because the restitution is uniform across the entire body
+ ccd_body.mContactSettings.mIsSensor = false; // We've filtered out sensors already
+ }
if (ccd_body.mContactSettings.mIsSensor)
{
@@ -2281,6 +2319,19 @@ void PhysicsSystem::JobResolveCCDContacts(PhysicsUpdateContext *ioContext, Physi
vtx0.mVelocity += delta_v2 * vtx0.mInvMass;
vtx1.mVelocity += delta_v2 * vtx1.mInvMass;
vtx2.mVelocity += delta_v2 * vtx2.mInvMass;
+
+ // If there's a contact listener, we need to flag this vertex as having had collision and force a contact callback.
+ // Note that during the soft body update that follows this, it is likely that a new collision will be found and that this will be overwritten.
+ if (mSoftBodyContactListener != nullptr)
+ {
+ BodyID body_id = ccd_body->mBodyID1;
+ Vec3 local_normal = inv_body2_transform.Multiply3x3(ccd_body->mContactNormal);
+ Plane contact_plane = Plane::sFromPointAndNormal(local_contact, local_normal);
+ vtx0.MarkCCDContact(body_id, contact_plane);
+ vtx1.MarkCCDContact(body_id, contact_plane);
+ vtx2.MarkCCDContact(body_id, contact_plane);
+ soft_mp->RequestContactCallback();
+ }
}
// Clamp velocity of body 1
diff --git a/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyManifold.h b/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyManifold.h
index de21ec50..57a244ad 100644
--- a/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyManifold.h
+++ b/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyManifold.h
@@ -36,7 +36,15 @@ public:
/// Get the body with which the vertex has collided in this update
JPH_INLINE BodyID GetContactBodyID(const SoftBodyVertex &inVertex) const
{
- return inVertex.mHasContact? mCollidingShapes[inVertex.mCollidingShapeIndex].mBodyID : BodyID();
+ if (!inVertex.mHasContact)
+ return BodyID();
+
+ // If this is a CCD contact, the BodyID is encoded in mCollidingShapeIndex
+ if (inVertex.mCollidingShapeIndex & int(BodyID::cBroadPhaseBit))
+ return BodyID(uint32(inVertex.mCollidingShapeIndex) ^ BodyID::cBroadPhaseBit);
+
+ // Otherwise we can get it from mCollidingShapes
+ return mCollidingShapes[inVertex.mCollidingShapeIndex].mBodyID;
}
/// Get the number of sensors that are in contact with the soft body
diff --git a/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyMotionProperties.cpp b/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyMotionProperties.cpp
index 4aa88d20..327145ed 100644
--- a/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyMotionProperties.cpp
+++ b/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyMotionProperties.cpp
@@ -121,15 +121,13 @@ void SoftBodyMotionProperties::DetermineCollidingShapes(const SoftBodyUpdateCont
{
JPH_PROFILE_FUNCTION();
- // Reset flag prior to collision detection
- mNeedContactCallback.store(false, memory_order_relaxed);
-
struct Collector : public CollideShapeBodyCollector
{
- Collector(const SoftBodyUpdateContext &inContext, const PhysicsSystem &inSystem, const BodyLockInterface &inBodyLockInterface, const AABox &inLocalBounds, SimShapeFilterWrapper &inShapeFilter, Array<CollidingShape> &ioHits, Array<CollidingSensor> &ioSensors) :
+ Collector(const SoftBodyUpdateContext &inContext, const PhysicsSystem &inSystem, const BodyLockInterface &inBodyLockInterface, const AABox &inLocalBounds, const AABox &inWorldBounds, SimShapeFilterWrapper &inShapeFilter, Array<CollidingShape> &ioHits, Array<CollidingSensor> &ioSensors) :
mContext(inContext),
mInverseTransform(inContext.mCenterOfMassTransform.InversedRotationTranslation()),
mLocalBounds(inLocalBounds),
+ mWorldBounds(inWorldBounds),
mBodyLockInterface(inBodyLockInterface),
mCombineFriction(inSystem.GetCombineFriction()),
mCombineRestitution(inSystem.GetCombineRestitution()),
@@ -147,7 +145,8 @@ void SoftBodyMotionProperties::DetermineCollidingShapes(const SoftBodyUpdateCont
const Body &soft_body = *mContext.mBody;
const Body &body = lock.GetBody();
if (body.IsRigidBody() // TODO: We should support soft body vs soft body
- && soft_body.GetCollisionGroup().CanCollide(body.GetCollisionGroup()))
+ && soft_body.GetCollisionGroup().CanCollide(body.GetCollisionGroup())
+ && mWorldBounds.Overlaps(body.GetWorldSpaceBounds())) // In the broadphase we widen the bounding box when a body moves, do a final check to see if the bounding boxes actually overlap
{
SoftBodyContactSettings settings;
settings.mIsSensor = body.IsSensor();
@@ -227,6 +226,7 @@ void SoftBodyMotionProperties::DetermineCollidingShapes(const SoftBodyUpdateCont
const SoftBodyUpdateContext &mContext;
RMat44 mInverseTransform;
AABox mLocalBounds;
+ AABox mWorldBounds;
const BodyLockInterface & mBodyLockInterface;
ContactConstraintManager::CombineFunction mCombineFriction;
ContactConstraintManager::CombineFunction mCombineRestitution;
@@ -246,7 +246,7 @@ void SoftBodyMotionProperties::DetermineCollidingShapes(const SoftBodyUpdateCont
// Create shape filter
SimShapeFilterWrapper shape_filter(inContext.mSimShapeFilter, inContext.mBody);
- Collector collector(inContext, inSystem, inBodyLockInterface, local_bounds, shape_filter, mCollidingShapes, mCollidingSensors);
+ Collector collector(inContext, inSystem, inBodyLockInterface, local_bounds, world_bounds, shape_filter, mCollidingShapes, mCollidingSensors);
ObjectLayer layer = inContext.mBody->GetObjectLayer();
DefaultBroadPhaseLayerFilter broadphase_layer_filter = inSystem.GetDefaultBroadPhaseLayerFilter(layer);
DefaultObjectLayerFilter object_layer_filter = inSystem.GetDefaultLayerFilter(layer);
@@ -285,7 +285,7 @@ void SoftBodyMotionProperties::DetermineSensorCollisions(CollidingSensor &ioSens
// We need a contact callback if one of the sensors collided
if (ioSensor.mHasContact)
- mNeedContactCallback.store(true, memory_order_relaxed);
+ RequestContactCallback();
}
void SoftBodyMotionProperties::ApplyPressure(const SoftBodyUpdateContext &inContext)
@@ -714,6 +714,7 @@ void SoftBodyMotionProperties::ApplyCollisionConstraintsAndUpdateVelocities(cons
v.mVelocity = (v.mPosition - v.mPreviousPosition) / dt;
// Satisfy collision constraint
+ static_assert(int(BodyID::cBroadPhaseBit) < 0); // CCD contacts should be negative too (see: SoftBodyVertex::MarkCCDContact)
if (v.mCollidingShapeIndex >= 0)
{
// Check if there is a collision
@@ -724,7 +725,7 @@ void SoftBodyMotionProperties::ApplyCollisionConstraintsAndUpdateVelocities(cons
v.mHasContact = true;
// We need a contact callback if one of the vertices collided
- mNeedContactCallback.store(true, memory_order_relaxed);
+ RequestContactCallback();
// Note that we already calculated the velocity, so this does not affect the velocity (next iteration starts by setting previous position to current position)
CollidingShape &cs = mCollidingShapes[v.mCollidingShapeIndex];
@@ -839,6 +840,8 @@ void SoftBodyMotionProperties::UpdateSoftBodyState(SoftBodyUpdateContext &ioCont
}
ioContext.mContactListener->OnSoftBodyContactAdded(*ioContext.mBody, SoftBodyManifold(this));
+
+ mNeedContactCallback.store(false, memory_order_relaxed);
}
// Loop through vertices once more to update the global state
diff --git a/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyMotionProperties.h b/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyMotionProperties.h
index 8768efd6..918ce366 100644
--- a/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyMotionProperties.h
+++ b/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyMotionProperties.h
@@ -176,6 +176,9 @@ public:
/// Update the velocities of all rigid bodies that we collided with. Not part of the public API.
void UpdateRigidBodyVelocities(const SoftBodyUpdateContext &inContext, BodyInterface &inBodyInterface);
+ /// Set a flag to indicate that the ContactListener::OnSoftBodyContactAdded should be called
+ inline void RequestContactCallback() { mNeedContactCallback.store(true, memory_order_relaxed); }
+
private:
// SoftBodyManifold needs to have access to CollidingShape
friend class SoftBodyManifold;
diff --git a/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyVertex.h b/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyVertex.h
index 72d4291e..261362ef 100644
--- a/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyVertex.h
+++ b/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyVertex.h
@@ -23,6 +23,14 @@ public:
mHasContact = false;
}
+ /// Mark this vertex as being in contact with inBodyID
+ inline void MarkCCDContact(const BodyID &inBodyID, const Plane &inContactPlane)
+ {
+ mCollisionPlane = inContactPlane;
+ mCollidingShapeIndex = int(inBodyID.GetIndexAndSequenceNumber() | BodyID::cBroadPhaseBit); // We reuse the broad phase bit to indicate this is a CCD contact
+ mHasContact = true;
+ }
+
Vec3 mPreviousPosition; ///< Internal use only. Position at the previous time step
Vec3 mPosition; ///< Position, relative to the center of mass of the soft body
Vec3 mVelocity; ///< Velocity, relative to the center of mass of the soft body