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Add a minimum treshold for acquiring rest contacts to avoid numerical precision issues. Fixes #25074

This commit is contained in:
Juan Linietsky 2019-02-16 13:45:01 -03:00
parent c54330c6b0
commit ee464f56c4
9 changed files with 26 additions and 0 deletions
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1
scene/3d/physics_body.cpp
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@ -1243,6 +1243,7 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
motion = motion.slide(p_floor_direction);
lv = lv.slide(p_floor_direction);
} else {
Vector3 n = collision.normal;
motion = motion.slide(n);
lv = lv.slide(n);

8
servers/physics/space_sw.cpp
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@ -387,6 +387,7 @@ struct _RestCallbackData {
Vector3 best_contact;
Vector3 best_normal;
real_t best_len;
real_t min_allowed_depth;
};
static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) {
@ -395,6 +396,8 @@ static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B,
Vector3 contact_rel = p_point_B - p_point_A;
real_t len = contact_rel.length();
if (len < rd->min_allowed_depth)
return;
if (len <= rd->best_len)
return;
@ -418,6 +421,7 @@ bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
rcd.min_allowed_depth = space->test_motion_min_contact_depth;
for (int i = 0; i < amount; i++) {
@ -929,6 +933,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
rcd.min_allowed_depth = test_motion_min_contact_depth;
Transform body_shape_xform = ugt * p_body->get_shape_transform(best_shape);
ShapeSW *body_shape = p_body->get_shape(best_shape);
@ -1153,6 +1158,7 @@ void SpaceSW::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) {
case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break;
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio = p_value; break;
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break;
case PhysicsServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: test_motion_min_contact_depth = p_value; break;
}
}
@ -1168,6 +1174,7 @@ real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const {
case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio;
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
case PhysicsServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: return test_motion_min_contact_depth;
}
return 0;
}
@ -1203,6 +1210,7 @@ SpaceSW::SpaceSW() {
contact_recycle_radius = 0.01;
contact_max_separation = 0.05;
contact_max_allowed_penetration = 0.01;
test_motion_min_contact_depth = 0.00001;
constraint_bias = 0.01;
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1);

1
servers/physics/space_sw.h
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@ -96,6 +96,7 @@ private:
real_t contact_max_separation;
real_t contact_max_allowed_penetration;
real_t constraint_bias;
real_t test_motion_min_contact_depth;
enum {

10
servers/physics_2d/space_2d_sw.cpp
View File

@ -375,6 +375,7 @@ struct _RestCallbackData2D {
real_t best_len;
Vector2 valid_dir;
real_t valid_depth;
real_t min_allowed_depth;
};
static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) {
@ -390,6 +391,10 @@ static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B,
Vector2 contact_rel = p_point_B - p_point_A;
real_t len = contact_rel.length();
if (len < rd->min_allowed_depth)
return;
if (len <= rd->best_len)
return;
@ -416,6 +421,7 @@ bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Transform2D &p_sh
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
rcd.min_allowed_depth = space->test_motion_min_contact_depth;
for (int i = 0; i < amount; i++) {
@ -1003,6 +1009,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
rcd.min_allowed_depth = test_motion_min_contact_depth;
//optimization
int from_shape = best_shape != -1 ? best_shape : 0;
@ -1262,6 +1269,7 @@ void Space2DSW::set_param(Physics2DServer::SpaceParameter p_param, real_t p_valu
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: body_angular_velocity_sleep_threshold = p_value; break;
case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break;
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break;
case Physics2DServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: test_motion_min_contact_depth = p_value; break;
}
}
@ -1276,6 +1284,7 @@ real_t Space2DSW::get_param(Physics2DServer::SpaceParameter p_param) const {
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: return body_angular_velocity_sleep_threshold;
case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
case Physics2DServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: return test_motion_min_contact_depth;
}
return 0;
}
@ -1312,6 +1321,7 @@ Space2DSW::Space2DSW() {
contact_recycle_radius = 1.0;
contact_max_separation = 1.5;
contact_max_allowed_penetration = 0.3;
test_motion_min_contact_depth = 0.005;
constraint_bias = 0.2;
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0);

1
servers/physics_2d/space_2d_sw.h
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@ -104,6 +104,7 @@ private:
real_t contact_max_separation;
real_t contact_max_allowed_penetration;
real_t constraint_bias;
real_t test_motion_min_contact_depth;
enum {

1
servers/physics_2d_server.cpp
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@ -693,6 +693,7 @@ void Physics2DServer::_bind_methods() {
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS);
BIND_ENUM_CONSTANT(SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH);
BIND_ENUM_CONSTANT(SHAPE_LINE);
BIND_ENUM_CONSTANT(SHAPE_RAY);

1
servers/physics_2d_server.h
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@ -289,6 +289,7 @@ public:
SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD,
SPACE_PARAM_BODY_TIME_TO_SLEEP,
SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH,
};
virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0;

2
servers/physics_server.cpp
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@ -709,6 +709,8 @@ void PhysicsServer::_bind_methods() {
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS);
BIND_ENUM_CONSTANT(SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_X);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Y);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Z);

1
servers/physics_server.h
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@ -274,6 +274,7 @@ public:
SPACE_PARAM_BODY_TIME_TO_SLEEP,
SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO,
SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH
};
virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0;