TorqueGameEngines/Torque3D
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multiple fixes,

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JoltPlayer was getting physics from triggers
JoltWorld ray was colliding with triggers which made triggers collidable
few other fixes around making joltCollision shapes
This commit is contained in:
marauder2k7 2026-06-06 20:24:34 +01:00
parent f3b9c65411
commit 51f5d507ed
5 changed files with 261 additions and 187 deletions
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62
Engine/source/T3D/physics/jolt/joltBody.cpp
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@ -1,6 +1,6 @@
#include "platform/platform.h"
#include "T3D/physics/jolt/joltBody.h"
#include "math/mBox.h"
#include "console/console.h"
#include "scene/sceneObject.h"
@ -22,13 +22,21 @@ JoltBody::~JoltBody()
SAFE_DELETE(mCenterOfMass);
SAFE_DELETE(mInvCenterOfMass);
mColShape = NULL;
setSimulationEnabled(false);
mColShape = nullptr;
if (!isValid())
return;
// User data must be cleared BEFORE the body is removed or destroyed.
// DestroyBody returns the body to Jolt's internal pool; touching it
// afterwards is use-after-free undefined behaviour.
mBody->SetUserData(0);
setSimulationEnabled(false); // removes body from the simulation
JPH::BodyInterface& bi = mWorld->getPhysicsSystem()->GetBodyInterface();
bi.DestroyBody(mBody->GetID());
mBody->SetUserData(NULL);
mBody = NULL;
mBody = nullptr;
}
PhysicsWorld* JoltBody::getWorld()
@ -93,6 +101,7 @@ bool JoltBody::init(PhysicsCollision* shape, F32 mass, U32 bodyFlags, SceneObjec
settings.mOverrideMassProperties = JPH::EOverrideMassProperties::CalculateInertia;
settings.mMassPropertiesOverride.mMass = mass;
settings.mMaxLinearVelocity = 1000.0f; // stops an assert, this is torques upper limit, jolts is 500.0f by default.
mMass = mass; // FIX: was never stored, getMass() always returned 0
mIsDynamic = true;
}
@ -142,9 +151,15 @@ void JoltBody::setTransform(const MatrixF& xfm)
if (isDynamic())
{
mBody->ResetMotion();// resets accumulated torque and forces, also velocity but do this explicitly
mBody->SetLinearVelocity(JPH::Vec3::sZero());
mBody->SetAngularVelocity(JPH::Vec3::sZero());
// ResetMotion (clears accumulated forces/torques) is a Body method only,
// so acquire a write lock. Velocity is cleared through the thread-safe interface.
{
JPH::BodyLockWrite lock(mWorld->getPhysicsSystem()->GetBodyLockInterface(), mBody->GetID());
if (lock.Succeeded())
lock.GetBody().ResetMotion();
}
bi.SetLinearVelocity(mBody->GetID(), JPH::Vec3::sZero());
bi.SetAngularVelocity(mBody->GetID(), JPH::Vec3::sZero());
}
}
@ -163,17 +178,26 @@ MatrixF& JoltBody::getTransform(MatrixF* outMatrix)
void JoltBody::applyImpulse(const Point3F& origin, const Point3F& force)
{
mBody->AddImpulse(joltCast(force), joltCast(origin));
if (!isValid())
return;
JPH::BodyInterface& bi = mWorld->getPhysicsSystem()->GetBodyInterface();
bi.AddImpulse(mBody->GetID(), joltCast(force), joltCast(origin));
}
void JoltBody::applyTorque(const Point3F& torque)
{
mBody->AddTorque(joltCast(torque));
if (!isValid())
return;
JPH::BodyInterface& bi = mWorld->getPhysicsSystem()->GetBodyInterface();
bi.AddTorque(mBody->GetID(), joltCast(torque));
}
void JoltBody::applyForce(const Point3F& force)
{
mBody->AddForce(joltCast(force));
if (!isValid())
return;
JPH::BodyInterface& bi = mWorld->getPhysicsSystem()->GetBodyInterface();
bi.AddForce(mBody->GetID(), joltCast(force));
}
void JoltBody::moveKinematicTo(const MatrixF& xfm)
@ -237,8 +261,8 @@ void JoltBody::setSleepThreshold(F32 linear, F32 angular)
JPH::MotionProperties* mp = mBody->GetMotionProperties();
/* mp->SetLinearSleepThreshold(linear);
mp->SetAngularSleepThreshold(angular);*/
/* mp->SetLinearSleepThreshold(linear);
mp->SetAngularSleepThreshold(angular);*/
}
void JoltBody::setDamping(F32 linear, F32 angular)
@ -293,11 +317,7 @@ void JoltBody::getState(PhysicsState* outState)
// Linear momentum = m * v
F32 mass = mp->GetInverseMass() > 0.0f ? 1.0f / mp->GetInverseMass() : 0.0f;
outState->momentum = outState->linVelocity * mass;
// Angular momentum
JPH::Mat44 I_world = mBody->GetInverseInertia(); // 3x3 part
JPH::Vec3 angMomentum = I_world.Multiply3x3(mBody->GetAngularVelocity());
outState->angularMomentum = joltCast(angMomentum);
outState->angularMomentum = outState->angVelocity;
}
else
{
@ -335,7 +355,7 @@ void JoltBody::setLinVelocity(const Point3F& vel)
if (!bi.IsAdded(mBody->GetID()))
return;
mBody->SetLinearVelocity(joltCast(vel));
bi.SetLinearVelocity(mBody->GetID(), joltCast(vel));
}
void JoltBody::setAngVelocity(const Point3F& vel)
@ -348,7 +368,7 @@ void JoltBody::setAngVelocity(const Point3F& vel)
if (!bi.IsAdded(mBody->GetID()))
return;
mBody->SetAngularVelocity(joltCast(vel));
bi.SetAngularVelocity(mBody->GetID(), joltCast(vel));
}
void JoltBody::findContact(SceneObject** contactObject,