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multi-linked constraint self intersection fix

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Turánszki János
2025-11-29 11:45:36 +01:00
parent ef1267127b
commit c481812ebf
2 changed files with 55 additions and 12 deletions
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WickedEngine/wiPhysics_Jolt.cpp
+54 -11
View File
@@ -1238,23 +1238,66 @@ namespace wi::physics
return;
}
CollisionGroup& group1 = body1->GetCollisionGroup();
CollisionGroup& group2 = body2->GetCollisionGroup();
if (physicscomponent.IsDisableSelfCollision())
{
uint32_t groupID = collisionGroupID.fetch_add(1);
body1->GetCollisionGroup().SetGroupID(groupID);
body1->GetCollisionGroup().SetSubGroupID(0);
body2->GetCollisionGroup().SetGroupID(groupID);
body2->GetCollisionGroup().SetSubGroupID(1);
// The many cheks here ensure that if either body was already part of a group, then it will be handled (chain links with more than 2 parts)
if (group1.GetGroupID() == CollisionGroup::cInvalidGroup && group2.GetGroupID() == CollisionGroup::cInvalidGroup)
{
uint32_t groupID = collisionGroupID.fetch_add(1);
group1.SetGroupID(groupID);
group2.SetGroupID(groupID);
}
else if(group1.GetGroupID() == CollisionGroup::cInvalidGroup)
{
group1.SetGroupID(group2.GetGroupID());
}
else if (group2.GetGroupID() == CollisionGroup::cInvalidGroup)
{
group2.SetGroupID(group1.GetGroupID());
}
if (group1.GetSubGroupID() == CollisionGroup::cInvalidSubGroup && group2.GetSubGroupID() == CollisionGroup::cInvalidSubGroup)
{
group1.SetSubGroupID(0);
group2.SetSubGroupID(1);
}
else if (group1.GetSubGroupID() == CollisionGroup::cInvalidSubGroup)
{
group1.SetSubGroupID(group2.GetSubGroupID() + 1);
}
else if (group2.GetSubGroupID() == CollisionGroup::cInvalidSubGroup)
{
group2.SetSubGroupID(group1.GetSubGroupID() + 1);
}
if (group1.GetGroupFilter() == nullptr && group2.GetGroupFilter() == nullptr)
{
Ref<GroupFilterTable> group_filter = new GroupFilterTable(32); // 32 subgroups supported at max for now
group_filter->DisableCollision(group1.GetSubGroupID(), group2.GetSubGroupID());
group1.SetGroupFilter(group_filter);
group2.SetGroupFilter(group_filter);
}
else if (group1.GetGroupFilter() == nullptr)
{
GroupFilterTable* table = (GroupFilterTable*)group2.GetGroupFilter();
group1.SetGroupFilter(table);
table->DisableCollision(group1.GetSubGroupID(), group2.GetSubGroupID());
}
else if (group2.GetGroupFilter() == nullptr)
{
GroupFilterTable* table = (GroupFilterTable*)group1.GetGroupFilter();
group2.SetGroupFilter(table);
table->DisableCollision(group1.GetSubGroupID(), group2.GetSubGroupID());
}
Ref<GroupFilterTable> group_filter = new GroupFilterTable(2);
group_filter->DisableCollision(0, 1);
body1->GetCollisionGroup().SetGroupFilter(group_filter);
body2->GetCollisionGroup().SetGroupFilter(group_filter);
}
else
{
body1->GetCollisionGroup().SetGroupFilter(nullptr);
body2->GetCollisionGroup().SetGroupFilter(nullptr);
group1.SetGroupFilter(nullptr);
group2.SetGroupFilter(nullptr);
}
physicsobject.bind_distance = (body1->GetCenterOfMassPosition() - body2->GetCenterOfMassPosition()).Length();
WickedEngine/wiVersion.cpp
+1 -1
View File
@@ -9,7 +9,7 @@ namespace wi::version
// minor features, major updates, breaking compatibility changes
const int minor = 71;
// minor bug fixes, alterations, refactors, updates
const int revision = 859;
const int revision = 860;
const std::string version_string = std::to_string(major) + "." + std::to_string(minor) + "." + std::to_string(revision);