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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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139
Engine/source/T3D/physics/jolt/joltPlayer.cpp
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@ -37,9 +37,18 @@ JoltPlayer::JoltPlayer()
JoltPlayer::~JoltPlayer()
{
mCharacter->SetUserData(NULL);
mCharacter = NULL;
setSimulationEnabled(false);
if (mCharacter)
{
// Remove the inner body from the physics world before the character is released.
// Setting mCharacter=nullptr first would make disableCollision() a no-op.
if (mCollisionEnabled)
disableCollision();
mCharacter->SetUserData(0);
mCharacter = nullptr;
}
mIsEnabled = false;
}
void JoltPlayer::setTransform(const MatrixF& xfm)
@ -99,7 +108,6 @@ void JoltPlayer::init(const char* type, const Point3F& size, F32 runSurfaceCos,
JPH::Ref<JPH::Shape> shape = JPH::RotatedTranslatedShapeSettings(JPH::Vec3(0, 0, mOriginOffset), rotFix, new JPH::CapsuleShape(0.5f * height, radius)).Create().Get();
JPH::Ref<JPH::Shape> inner_shape = JPH::RotatedTranslatedShapeSettings(JPH::Vec3(0, 0, mOriginOffset), rotFix, new JPH::CapsuleShape(0.5f * 0.9f * height, 0.9f * radius)).Create().Get();
JPH::Ref<JPH::CharacterVirtualSettings> settings = new JPH::CharacterVirtualSettings();
Con::printf("JoltPlayer::init - maxSlopeAngle: %f degrees", mRadToDeg(mAcos(runSurfaceCos)));
settings->mMaxSlopeAngle = mAcos(runSurfaceCos);
@ -139,20 +147,12 @@ void JoltPlayer::init(const char* type, const Point3F& size, F32 runSurfaceCos,
setSimulationEnabled(true);
}
class CharacterBodyFilter : public JPH::BodyFilter
void JoltPlayer::preUpdate(F32 dt)
{
public:
JPH::BodyID mCharacterBodyID;
CharacterBodyFilter(JPH::BodyID id)
: mCharacterBodyID(id) {
}
virtual bool ShouldCollide(const JPH::BodyID& inBodyID) const override
{
return inBodyID != mCharacterBodyID;
}
};
// Intentionally empty. Ground velocity is refreshed inside move() on every
// call. If the calling code ever starts calling preUpdate() before move(),
// the refresh in move() will simply be a no-op on the same-frame data.
}
Point3F JoltPlayer::move(const VectorF& displacement, CollisionList& outCol)
{
@ -166,30 +166,31 @@ Point3F JoltPlayer::move(const VectorF& displacement, CollisionList& outCol)
JPH::Vec3 velocity = joltCast(displacement) / dt;
const auto& system = mWorld->getPhysicsSystem();
const JPH::Vec3 up = mCharacter->GetUp();
mCharacter->UpdateGroundVelocity();
const JPH::CharacterVirtual::EGroundState groundState = mCharacter->GetGroundState();
const bool isOnGround = groundState == JPH::CharacterVirtual::EGroundState::OnGround;
// Temporary - log what displacement.z actually is each frame
/*Con::printf("groundState=%d disp.z=%.4f vel.z=%.4f",
(int)groundState,
displacement.z,
displacement.z / TickSec);*/
if (isOnGround && !mCharacter->IsSlopeTooSteep(mCharacter->GetGroundNormal()))
{
JPH::Vec3 horizontalVel(velocity.GetX(), velocity.GetY(), 0.0f);
mAllowSliding = horizontalVel.Length() > 0.01f;
if (velocity.GetZ() < 0.05f)
velocity.SetZ(0.00f);
velocity.SetZ(0.0f);
JPH::Vec3 groundVel = mCharacter->GetGroundVelocity();
if (groundVel.LengthSq() > 0.001f)
velocity += groundVel;
// Threshold raised to filter static-surface floating-point residuals.
if (groundVel.LengthSq() > 0.01f)
{
// Always carry horizontal platform motion (conveyor belts, sliding floors).
velocity.SetX(velocity.GetX() + groundVel.GetX());
velocity.SetY(velocity.GetY() + groundVel.GetY());
// Only carry Z from platforms that are meaningfully moving upward (elevators).
// Static surfaces can produce tiny Z residuals that fight gravity resolution.
if (groundVel.GetZ() > 0.05f)
velocity.SetZ(velocity.GetZ() + groundVel.GetZ());
}
}
else
{
@ -199,28 +200,25 @@ Point3F JoltPlayer::move(const VectorF& displacement, CollisionList& outCol)
mCharacter->SetLinearVelocity(velocity);
//----------------------------------------
// Substep (bullet was doing a max of 10 iterations)
// Substep
//----------------------------------------
const U32 iterations = 3;
const F32 subDt = dt / iterations;
JPH::CharacterVirtual::ExtendedUpdateSettings settings;
// Build settings once outside the loop — they don't change per-substep.
JPH::CharacterVirtual::ExtendedUpdateSettings extSettings;
extSettings.mWalkStairsStepUp = JPH::Vec3(0, 0, mStepHeight);
extSettings.mStickToFloorStepDown = JPH::Vec3(0, 0, -mStepHeight);
extSettings.mWalkStairsCosAngleForwardContact = mMaxSlopeCos;
for (int i = 0; i < iterations; ++i)
for (U32 i = 0; i < iterations; ++i)
{
bool isLast = (i == iterations - 1);
settings.mWalkStairsStepUp = JPH::Vec3(0, 0, mStepHeight);
settings.mStickToFloorStepDown = JPH::Vec3(0, 0, -mStepHeight);
settings.mWalkStairsCosAngleForwardContact = mAcos(mMaxSlopeCos);
mCharacter->ExtendedUpdate(
subDt,
system->GetGravity(),
settings,
system->GetDefaultBroadPhaseLayerFilter(Layers::MOVING),
system->GetDefaultLayerFilter(Layers::MOVING),
extSettings,
system->GetDefaultBroadPhaseLayerFilter(Layers::CHARACTER),
system->GetDefaultLayerFilter(Layers::CHARACTER),
{},
{},
*mWorld->getTempAllocator()
@ -411,8 +409,8 @@ void JoltPlayer::setSpacials(const Point3F& nPos, const Point3F& nSize)
if (mCharacter->SetShape(
shape,
maxPenetration,
system->GetDefaultBroadPhaseLayerFilter(Layers::MOVING),
system->GetDefaultLayerFilter(Layers::MOVING),
system->GetDefaultBroadPhaseLayerFilter(Layers::CHARACTER),
system->GetDefaultLayerFilter(Layers::CHARACTER),
body_filter,
shape_filter,
*mWorld->getTempAllocator())
@ -420,8 +418,6 @@ void JoltPlayer::setSpacials(const Point3F& nPos, const Point3F& nSize)
{
mCharacter->SetInnerBodyShape(inner_shape);
}
//mCharacter->SetPosition(joltCast(nPos));
}
void JoltPlayer::enableCollision()
@ -480,26 +476,51 @@ void JoltPlayer::OnAdjustBodyVelocity(const JPH::CharacterVirtual* inCharacter,
{
}
bool JoltPlayer::OnContactValidate(const JPH::CharacterVirtual* inCharacter, const JPH::BodyID& inBodyID2, const JPH::SubShapeID& inSubShapeID2)
{
if (inCharacter != mCharacter)
return true;
JPH::BodyLockRead lock(mWorld->getPhysicsSystem()->GetBodyLockInterface(), inBodyID2);
if (lock.Succeeded() && lock.GetBody().IsSensor())
return false;
return true;
}
void JoltPlayer::OnContactAdded(const JPH::CharacterVirtual* inCharacter, const JPH::BodyID& inBodyID2, const JPH::SubShapeID& inSubShapeID2, JPH::RVec3Arg inContactPosition, JPH::Vec3Arg inContactNormal, JPH::CharacterContactSettings& ioSettings)
{
if (inCharacter == mCharacter)
{
JPH::CharacterVirtual::ContactKey c(inBodyID2, inSubShapeID2);
if (std::find(mActiveContacts.begin(), mActiveContacts.end(), c) != mActiveContacts.end())
AssertFatal(false, "JoltPlayer::OnContactAdded - Received a contact that should have been persisted");
if (inCharacter != mCharacter)
return;
mActiveContacts.push_back(c);
// Sensors are already rejected by OnContactValidate so this callback will
// never fire for them. No sensor check needed here.
JPH::CharacterVirtual::ContactKey c(inBodyID2, inSubShapeID2);
if (std::find(mActiveContacts.begin(), mActiveContacts.end(), c) != mActiveContacts.end())
{
Con::warnf("JoltPlayer::OnContactAdded - contact already present, skipping duplicate");
return;
}
mActiveContacts.push_back(c);
OnContactCommon(inCharacter, inBodyID2, inSubShapeID2, inContactPosition, inContactNormal, ioSettings);
}
void JoltPlayer::OnContactPersisted(const JPH::CharacterVirtual* inCharacter, const JPH::BodyID& inBodyID2, const JPH::SubShapeID& inSubShapeID2, JPH::RVec3Arg inContactPosition, JPH::Vec3Arg inContactNormal, JPH::CharacterContactSettings& ioSettings)
{
if (inCharacter == mCharacter)
if (inCharacter != mCharacter)
return;
// Sensors are already rejected by OnContactValidate — this callback will
// not fire for them.
JPH::CharacterVirtual::ContactKey c(inBodyID2, inSubShapeID2);
if (std::find(mActiveContacts.begin(), mActiveContacts.end(), c) == mActiveContacts.end())
{
JPH::CharacterVirtual::ContactKey c(inBodyID2, inSubShapeID2);
if (std::find(mActiveContacts.begin(), mActiveContacts.end(), c) == mActiveContacts.end())
AssertFatal(false, "JoltPlayer::OnContactPersisted - Received a contact that should have been added instead");
Con::warnf("JoltPlayer::OnContactPersisted - contact not in set, inserting as new");
mActiveContacts.push_back(c);
}
OnContactCommon(inCharacter, inBodyID2, inSubShapeID2, inContactPosition, inContactNormal, ioSettings);
}
void JoltPlayer::OnContactRemoved(const JPH::CharacterVirtual* inCharacter, const JPH::BodyID& inBodyID2, const JPH::SubShapeID& inSubShapeID2)
@ -509,8 +530,11 @@ void JoltPlayer::OnContactRemoved(const JPH::CharacterVirtual* inCharacter, cons
JPH::CharacterVirtual::ContactKey c(inBodyID2, inSubShapeID2);
ContactSet::iterator it = std::find(mActiveContacts.begin(), mActiveContacts.end(), c);
if (it == mActiveContacts.end())
AssertFatal(false, "JoltPlayer::OnContactRemoved - Attempted to remove a contact that was not added");
{
// Can occur when the contact was never added due to an earlier ordering anomaly.
Con::warnf("JoltPlayer::OnContactRemoved - contact not found, ignoring");
return;
}
mActiveContacts.erase(it);
}
}
@ -537,4 +561,3 @@ void JoltPlayer::OnContactSolve(const JPH::CharacterVirtual* inCharacter, const
if (!mAllowSliding && inContactVelocity.IsNearZero() && !inCharacter->IsSlopeTooSteep(inContactNormal))
ioNewCharacterVelocity = JPH::Vec3::sZero();
}