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Fix kinematic bodies not synchronizing state when using Jolt Physics

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This commit is contained in:
Mikael Hermansson 2025-01-19 16:18:14 +01:00
parent 7b1ed520bd
commit f4288fb349
2 changed files with 8 additions and 19 deletions
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23
modules/jolt_physics/objects/jolt_body_3d.cpp
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@ -210,20 +210,6 @@ void JoltBody3D::_move_kinematic(float p_step, JPH::Body &p_jolt_body) {
p_jolt_body.MoveKinematic(new_position, new_rotation, p_step);
}
void JoltBody3D::_pre_step_rigid(float p_step, JPH::Body &p_jolt_body) {
_integrate_forces(p_step, p_jolt_body);
_enqueue_call_queries();
}
void JoltBody3D::_pre_step_kinematic(float p_step, JPH::Body &p_jolt_body) {
_update_gravity(p_jolt_body);
_move_kinematic(p_step, p_jolt_body);
if (reports_contacts()) {
_enqueue_call_queries();
}
}
JPH::EAllowedDOFs JoltBody3D::_calculate_allowed_dofs() const {
if (is_static()) {
return JPH::EAllowedDOFs::All;
@ -1237,13 +1223,18 @@ void JoltBody3D::pre_step(float p_step, JPH::Body &p_jolt_body) {
} break;
case PhysicsServer3D::BODY_MODE_RIGID:
case PhysicsServer3D::BODY_MODE_RIGID_LINEAR: {
_pre_step_rigid(p_step, p_jolt_body);
_integrate_forces(p_step, p_jolt_body);
} break;
case PhysicsServer3D::BODY_MODE_KINEMATIC: {
_pre_step_kinematic(p_step, p_jolt_body);
_update_gravity(p_jolt_body);
_move_kinematic(p_step, p_jolt_body);
} break;
}
if (_should_call_queries()) {
_enqueue_call_queries();
}
contact_count = 0;
}

4
modules/jolt_physics/objects/jolt_body_3d.h
View file

@ -110,6 +110,7 @@ private:
virtual void _add_to_space() override;
bool _should_call_queries() const { return state_sync_callback.is_valid() || custom_integration_callback.is_valid(); }
void _enqueue_call_queries();
void _dequeue_call_queries();
@ -117,9 +118,6 @@ private:
void _move_kinematic(float p_step, JPH::Body &p_jolt_body);
void _pre_step_rigid(float p_step, JPH::Body &p_jolt_body);
void _pre_step_kinematic(float p_step, JPH::Body &p_jolt_body);
JPH::EAllowedDOFs _calculate_allowed_dofs() const;
JPH::MassProperties _calculate_mass_properties(const JPH::Shape &p_shape) const;