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Merge pull request #76138 from rburing/ccd_against_moving

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Improve rigid body CCD against moving bodies
This commit is contained in:
Rémi Verschelde
2023-06-19 22:34:16 +02:00
parent cce100a840 47c5b8bafc
commit 7ff0a3086d
2 changed files with 11 additions and 5 deletions
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7
servers/physics_3d/godot_body_pair_3d.cpp
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@@ -190,6 +190,9 @@ bool GodotBodyPair3D::_test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A,
// A is moving fast enough that tunneling might occur. See if it's really about to collide.
// Roughly predict body B's position in the next frame (ignoring collisions).
Transform3D predicted_xform_B = p_xform_B.translated(p_B->get_linear_velocity() * p_step);
// Support points are the farthest forward points on A in the direction of the motion vector.
// i.e. the candidate points of which one should hit B first if any collision does occur.
static const int max_supports = 16;
@@ -209,7 +212,7 @@ bool GodotBodyPair3D::_test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A,
Vector3 from = supports_A[i];
Vector3 to = from + motion;
Transform3D from_inv = p_xform_B.affine_inverse();
Transform3D from_inv = predicted_xform_B.affine_inverse();
// Back up 10% of the per-frame motion behind the support point and use that as the beginning of our cast.
// At high speeds, this may mean we're actually casting from well behind the body instead of inside it, which is odd.
@@ -234,7 +237,7 @@ bool GodotBodyPair3D::_test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A,
return false;
}
Vector3 hitpos = p_xform_B.xform(segment_hit_local);
Vector3 hitpos = predicted_xform_B.xform(segment_hit_local);
real_t newlen = hitpos.distance_to(supports_A[segment_support_idx]);
// Adding 1% of body length to the distance between collision and support point