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Merge pull request #118155 from mihe/jolt/motion-contact-filtering

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Move the Jolt `body_test_motion` contact filtering to collector
This commit is contained in:
Thaddeus Crews
2026-05-11 17:11:31 -05:00
parent 7775792057 cad048c368
commit 70dcb2aa84
3 changed files with 55 additions and 24 deletions
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modules/jolt_physics/spaces/jolt_physics_direct_space_state_3d.cpp
+5 -18
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@@ -190,7 +190,7 @@ bool JoltPhysicsDirectSpaceState3D::_body_motion_recover(const JoltBody3D &p_bod
for (int i = 0; i < JoltProjectSettings::motion_query_recovery_iterations; ++i) {
collector.reset();
_collide_shape_kinematics(jolt_shape, JPH::Vec3::sOne(), to_jolt_r(transform_com), settings, to_jolt_r(base_offset), collector, motion_filter, motion_filter, motion_filter, motion_filter);
_collide_shape_motion(jolt_shape, JPH::Vec3::sOne(), to_jolt_r(transform_com), settings, to_jolt_r(base_offset), collector, motion_filter, motion_filter, motion_filter, motion_filter);
if (!collector.had_hit()) {
break;
@@ -316,8 +316,8 @@ bool JoltPhysicsDirectSpaceState3D::_body_motion_collide(const JoltBody3D &p_bod
const Vector3 &base_offset = transform_com.origin;
const JoltMotionFilter3D motion_filter(p_body, p_excluded_bodies, p_excluded_objects);
JoltQueryCollectorClosestMulti<JPH::CollideShapeCollector, 32> collector(p_max_collisions);
_collide_shape_kinematics(jolt_shape, JPH::Vec3::sOne(), to_jolt_r(transform_com), settings, to_jolt_r(base_offset), collector, motion_filter, motion_filter, motion_filter, motion_filter);
JoltQueryCollectorMotion<JPH::CollideShapeCollector, 32> collector(p_motion, p_margin, p_max_collisions);
_collide_shape_motion(jolt_shape, JPH::Vec3::sOne(), to_jolt_r(transform_com), settings, to_jolt_r(base_offset), collector, motion_filter, motion_filter, motion_filter, motion_filter);
if (!collector.had_hit() || p_result == nullptr) {
return collector.had_hit();
@@ -328,21 +328,8 @@ bool JoltPhysicsDirectSpaceState3D::_body_motion_collide(const JoltBody3D &p_bod
for (int i = 0; i < collector.get_hit_count(); ++i) {
const JPH::CollideShapeResult &hit = collector.get_hit(i);
const float penetration_depth = hit.mPenetrationDepth + p_margin;
if (penetration_depth <= 0.0f) {
continue;
}
const Vector3 normal = to_godot(-hit.mPenetrationAxis.Normalized());
if (p_motion.length_squared() > 0) {
const Vector3 direction = p_motion.normalized();
if (direction.dot(normal) >= -CMP_EPSILON) {
continue;
}
}
const float penetration_depth = hit.mPenetrationDepth + p_margin;
JPH::ContactPoints contact_points1;
JPH::ContactPoints contact_points2;
@@ -439,7 +426,7 @@ void JoltPhysicsDirectSpaceState3D::_collide_shape_queries(
}
}
void JoltPhysicsDirectSpaceState3D::_collide_shape_kinematics(
void JoltPhysicsDirectSpaceState3D::_collide_shape_motion(
const JPH::Shape *p_shape,
JPH::Vec3Arg p_scale,
JPH::RMat44Arg p_transform_com,
modules/jolt_physics/spaces/jolt_physics_direct_space_state_3d.h
+1 -1
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@@ -64,7 +64,7 @@ class JoltPhysicsDirectSpaceState3D final : public PhysicsDirectSpaceState3D {
void _generate_manifold(const JPH::CollideShapeResult &p_hit, JPH::ContactPoints &r_contact_points1, JPH::ContactPoints &r_contact_points2 JPH_IF_DEBUG_RENDERER(, JPH::RVec3Arg p_center_of_mass)) const;
void _collide_shape_queries(const JPH::Shape *p_shape, JPH::Vec3Arg p_scale, JPH::RMat44Arg p_transform_com, const JPH::CollideShapeSettings &p_settings, JPH::RVec3Arg p_base_offset, JPH::CollideShapeCollector &p_collector, const JPH::BroadPhaseLayerFilter &p_broad_phase_layer_filter = JPH::BroadPhaseLayerFilter(), const JPH::ObjectLayerFilter &p_object_layer_filter = JPH::ObjectLayerFilter(), const JPH::BodyFilter &p_body_filter = JPH::BodyFilter(), const JPH::ShapeFilter &p_shape_filter = JPH::ShapeFilter()) const;
void _collide_shape_kinematics(const JPH::Shape *p_shape, JPH::Vec3Arg p_scale, JPH::RMat44Arg p_transform_com, const JPH::CollideShapeSettings &p_settings, JPH::RVec3Arg p_base_offset, JPH::CollideShapeCollector &p_collector, const JPH::BroadPhaseLayerFilter &p_broad_phase_layer_filter = JPH::BroadPhaseLayerFilter(), const JPH::ObjectLayerFilter &p_object_layer_filter = JPH::ObjectLayerFilter(), const JPH::BodyFilter &p_body_filter = JPH::BodyFilter(), const JPH::ShapeFilter &p_shape_filter = JPH::ShapeFilter()) const;
void _collide_shape_motion(const JPH::Shape *p_shape, JPH::Vec3Arg p_scale, JPH::RMat44Arg p_transform_com, const JPH::CollideShapeSettings &p_settings, JPH::RVec3Arg p_base_offset, JPH::CollideShapeCollector &p_collector, const JPH::BroadPhaseLayerFilter &p_broad_phase_layer_filter = JPH::BroadPhaseLayerFilter(), const JPH::ObjectLayerFilter &p_object_layer_filter = JPH::ObjectLayerFilter(), const JPH::BodyFilter &p_body_filter = JPH::BodyFilter(), const JPH::ShapeFilter &p_shape_filter = JPH::ShapeFilter()) const;
public:
JoltPhysicsDirectSpaceState3D() = default;
modules/jolt_physics/spaces/jolt_query_collectors.h
+49 -5
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@@ -30,6 +30,8 @@
#pragma once
#include "core/math/vector3.h"
#include <Jolt/Jolt.h>
#include <Jolt/Core/STLLocalAllocator.h>
@@ -37,7 +39,7 @@
#include <Jolt/Physics/Collision/Shape/Shape.h>
template <typename TBase, int TDefaultCapacity>
class JoltQueryCollectorAll final : public TBase {
class JoltQueryCollectorAll : public TBase {
public:
typedef typename TBase::ResultType Hit;
typedef JPH::Array<Hit, JPH::STLLocalAllocator<Hit, TDefaultCapacity>> HitArray;
@@ -75,7 +77,7 @@ public:
};
template <typename TBase>
class JoltQueryCollectorAny final : public TBase {
class JoltQueryCollectorAny : public TBase {
public:
typedef typename TBase::ResultType Hit;
@@ -106,7 +108,7 @@ public:
};
template <typename TBase, int TDefaultCapacity>
class JoltQueryCollectorAnyMulti final : public TBase {
class JoltQueryCollectorAnyMulti : public TBase {
public:
typedef typename TBase::ResultType Hit;
typedef JPH::Array<Hit, JPH::STLLocalAllocator<Hit, TDefaultCapacity>> HitArray;
@@ -154,7 +156,7 @@ public:
};
template <typename TBase>
class JoltQueryCollectorClosest final : public TBase {
class JoltQueryCollectorClosest : public TBase {
public:
typedef typename TBase::ResultType Hit;
@@ -189,7 +191,7 @@ public:
};
template <typename TBase, int TDefaultCapacity>
class JoltQueryCollectorClosestMulti final : public TBase {
class JoltQueryCollectorClosestMulti : public TBase {
public:
typedef typename TBase::ResultType Hit;
typedef JPH::Array<Hit, JPH::STLLocalAllocator<Hit, TDefaultCapacity + 1>> HitArray;
@@ -240,3 +242,45 @@ public:
}
}
};
template <typename TCollector, int TDefaultCapacity>
class JoltQueryCollectorMotion : public JoltQueryCollectorClosestMulti<TCollector, TDefaultCapacity> {
public:
typedef JoltQueryCollectorClosestMulti<TCollector, TDefaultCapacity> Base;
typedef typename Base::Hit Hit;
private:
Vector3 direction;
float distance_sq = 0.0f;
float margin = 0.0f;
public:
JoltQueryCollectorMotion(const Vector3 &p_motion, float p_margin, int p_max_hits = TDefaultCapacity) :
Base(p_max_hits),
direction(p_motion.normalized()),
distance_sq(p_motion.length_squared()),
margin(p_margin) {}
virtual void AddHit(const Hit &p_hit) override {
// Ignore hits that are outside of the margin.
const float penetration_depth = p_hit.mPenetrationDepth + margin;
if (penetration_depth <= 0.0f) {
return;
}
// Ignore hits that don't oppose the motion direction.
//
// This is a deliberate divergence from the Godot Physics reference implementation (which
// does not do this type of filtering) and is known to cause issues. However, not having
// this results in a problematic amount of ghost collisions with `move_and_slide`, for
// reasons that are still unclear as of writing this.
if (distance_sq > 0) {
const Vector3 normal = to_godot(-p_hit.mPenetrationAxis.Normalized());
if (direction.dot(normal) >= -CMP_EPSILON) {
return;
}
}
Base::AddHit(p_hit);
}
};