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Fix contacts not being reported properly when using Jolt Physics

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This commit is contained in:
Mikael Hermansson
2025-07-12 13:18:28 +02:00
parent c6d130abd9
commit 5a16e2fc78
6 changed files with 111 additions and 1 deletions
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10
modules/jolt_physics/objects/jolt_body_3d.cpp
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@ -161,6 +161,8 @@ void JoltBody3D::_add_to_space() {
}
void JoltBody3D::_enqueue_call_queries() {
// This method will be called from the body activation listener on multiple threads during the simulation step.
if (space != nullptr) {
space->enqueue_call_queries(&call_queries_element);
}
@ -299,6 +301,14 @@ JPH::MassProperties JoltBody3D::_calculate_mass_properties() const {
return _calculate_mass_properties(*jolt_shape);
}
void JoltBody3D::_on_wake_up() {
// This method will be called from the body activation listener on multiple threads during the simulation step.
if (_should_call_queries()) {
_enqueue_call_queries();
}
}
void JoltBody3D::_update_mass_properties() {
if (in_space()) {
jolt_body->GetMotionPropertiesUnchecked()->SetMassProperties(_calculate_allowed_dofs(), _calculate_mass_properties());

5
modules/jolt_physics/objects/jolt_body_3d.h
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@ -56,6 +56,8 @@ public:
};
private:
friend class JoltBodyActivationListener3D;
SelfList<JoltBody3D> call_queries_element;
LocalVector<RID> exceptions;
@ -114,7 +116,6 @@ private:
void _dequeue_call_queries();
void _integrate_forces(float p_step, JPH::Body &p_jolt_body);
void _move_kinematic(float p_step, JPH::Body &p_jolt_body);
JPH::EAllowedDOFs _calculate_allowed_dofs() const;
@ -122,6 +123,8 @@ private:
JPH::MassProperties _calculate_mass_properties(const JPH::Shape &p_shape) const;
JPH::MassProperties _calculate_mass_properties() const;
void _on_wake_up();
void _update_mass_properties();
void _update_gravity(JPH::Body &p_jolt_body);
void _update_damp();

41
modules/jolt_physics/spaces/jolt_body_activation_listener_3d.cpp Normal file
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@ -0,0 +1,41 @@
/**************************************************************************/
/* jolt_body_activation_listener_3d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
#include "jolt_body_activation_listener_3d.h"
#include "../objects/jolt_body_3d.h"
void JoltBodyActivationListener3D::OnBodyActivated(const JPH::BodyID &p_body_id, JPH::uint64 p_body_user_data) {
// This method will be called on multiple threads during the simulation step.
if (JoltBody3D *body = reinterpret_cast<JoltObject3D *>(p_body_user_data)->as_body()) {
body->_on_wake_up();
}
}

42
modules/jolt_physics/spaces/jolt_body_activation_listener_3d.h Normal file
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@ -0,0 +1,42 @@
/**************************************************************************/
/* jolt_body_activation_listener_3d.h */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
#pragma once
#include "Jolt/Jolt.h"
#include "Jolt/Physics/Body/BodyActivationListener.h"
class JoltBodyActivationListener3D final
: public JPH::BodyActivationListener {
public:
virtual void OnBodyActivated(const JPH::BodyID &p_body_id, JPH::uint64 p_body_user_data) override;
virtual void OnBodyDeactivated(const JPH::BodyID &p_body_id, JPH::uint64 p_body_user_data) override {}
};

11
modules/jolt_physics/spaces/jolt_space_3d.cpp
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@ -38,6 +38,7 @@
#include "../objects/jolt_body_3d.h"
#include "../shapes/jolt_custom_shape_type.h"
#include "../shapes/jolt_shape_3d.h"
#include "jolt_body_activation_listener_3d.h"
#include "jolt_contact_listener_3d.h"
#include "jolt_layers.h"
#include "jolt_physics_direct_space_state_3d.h"
@ -101,6 +102,7 @@ JoltSpace3D::JoltSpace3D(JPH::JobSystem *p_job_system) :
temp_allocator(new JoltTempAllocator()),
layers(new JoltLayers()),
contact_listener(new JoltContactListener3D(this)),
body_activation_listener(new JoltBodyActivationListener3D()),
physics_system(new JPH::PhysicsSystem()) {
physics_system->Init((JPH::uint)JoltProjectSettings::max_bodies, 0, (JPH::uint)JoltProjectSettings::max_body_pairs, (JPH::uint)JoltProjectSettings::max_contact_constraints, *layers, *layers, *layers);
@ -124,6 +126,7 @@ JoltSpace3D::JoltSpace3D(JPH::JobSystem *p_job_system) :
physics_system->SetGravity(JPH::Vec3::sZero());
physics_system->SetContactListener(contact_listener);
physics_system->SetSoftBodyContactListener(contact_listener);
physics_system->SetBodyActivationListener(body_activation_listener);
physics_system->SetSimCollideBodyVsBody([](const JPH::Body &p_body1, const JPH::Body &p_body2, JPH::Mat44Arg p_transform_com1, JPH::Mat44Arg p_transform_com2, JPH::CollideShapeSettings &p_collide_shape_settings, JPH::CollideShapeCollector &p_collector, const JPH::ShapeFilter &p_shape_filter) {
if (p_body1.IsSensor() || p_body2.IsSensor()) {
@ -157,6 +160,11 @@ JoltSpace3D::~JoltSpace3D() {
physics_system = nullptr;
}
if (body_activation_listener != nullptr) {
delete body_activation_listener;
body_activation_listener = nullptr;
}
if (contact_listener != nullptr) {
delete contact_listener;
contact_listener = nullptr;
@ -488,6 +496,9 @@ void JoltSpace3D::set_is_object_sleeping(const JPH::BodyID &p_jolt_id, bool p_en
}
void JoltSpace3D::enqueue_call_queries(SelfList<JoltBody3D> *p_body) {
// This method will be called from the body activation listener on multiple threads during the simulation step.
MutexLock body_call_queries_lock(body_call_queries_mutex);
if (!p_body->in_list()) {
body_call_queries_list.add(p_body);
}

3
modules/jolt_physics/spaces/jolt_space_3d.h
View File

@ -44,6 +44,7 @@
class JoltArea3D;
class JoltBody3D;
class JoltBodyActivationListener3D;
class JoltContactListener3D;
class JoltJoint3D;
class JoltLayers;
@ -54,6 +55,7 @@ class JoltSoftBody3D;
class JoltSpace3D {
Mutex pending_objects_mutex;
Mutex body_call_queries_mutex;
SelfList<JoltBody3D>::List body_call_queries_list;
SelfList<JoltArea3D>::List area_call_queries_list;
@ -69,6 +71,7 @@ class JoltSpace3D {
JPH::TempAllocator *temp_allocator = nullptr;
JoltLayers *layers = nullptr;
JoltContactListener3D *contact_listener = nullptr;
JoltBodyActivationListener3D *body_activation_listener = nullptr;
JPH::PhysicsSystem *physics_system = nullptr;
JoltPhysicsDirectSpaceState3D *direct_state = nullptr;
JoltArea3D *default_area = nullptr;