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Fix RigidDynamicBody gaining momentum with bounce #55313

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Nov 25, 2021
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Fix RigidDynamicBody gaining momentum with bounce #55313

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3 changes: 3 additions & 0 deletions servers/physics_2d/godot_body_2d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -549,6 +549,9 @@ void GodotBody2D::integrate_forces(real_t p_step) {

gravity *= gravity_scale;

prev_linear_velocity = linear_velocity;
prev_angular_velocity = angular_velocity;

Vector2 motion;
bool do_motion = false;

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6 changes: 6 additions & 0 deletions servers/physics_2d/godot_body_2d.h
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Expand Up @@ -50,6 +50,9 @@ class GodotBody2D : public GodotCollisionObject2D {
Vector2 linear_velocity;
real_t angular_velocity = 0.0;

Vector2 prev_linear_velocity;
real_t prev_angular_velocity = 0.0;

Vector2 constant_linear_velocity;
real_t constant_angular_velocity = 0.0;

Expand Down Expand Up @@ -209,6 +212,9 @@ class GodotBody2D : public GodotCollisionObject2D {
_FORCE_INLINE_ void set_angular_velocity(real_t p_velocity) { angular_velocity = p_velocity; }
_FORCE_INLINE_ real_t get_angular_velocity() const { return angular_velocity; }

_FORCE_INLINE_ Vector2 get_prev_linear_velocity() const { return prev_linear_velocity; }
_FORCE_INLINE_ real_t get_prev_angular_velocity() const { return prev_angular_velocity; }

_FORCE_INLINE_ void set_biased_linear_velocity(const Vector2 &p_velocity) { biased_linear_velocity = p_velocity; }
_FORCE_INLINE_ Vector2 get_biased_linear_velocity() const { return biased_linear_velocity; }

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7 changes: 3 additions & 4 deletions servers/physics_2d/godot_body_pair_2d.cpp
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Expand Up @@ -32,7 +32,6 @@
#include "godot_collision_solver_2d.h"
#include "godot_space_2d.h"

#define POSITION_CORRECTION
#define ACCUMULATE_IMPULSES

void GodotBodyPair2D::_add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self) {
Expand Down Expand Up @@ -453,9 +452,9 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {

c.bounce = combine_bounce(A, B);
if (c.bounce) {
Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x);
Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x);
Vector2 dv = B->get_linear_velocity() + crB - A->get_linear_velocity() - crA;
Vector2 crA(-A->get_prev_angular_velocity() * c.rA.y, A->get_prev_angular_velocity() * c.rA.x);
Vector2 crB(-B->get_prev_angular_velocity() * c.rB.y, B->get_prev_angular_velocity() * c.rB.x);
Vector2 dv = B->get_prev_linear_velocity() + crB - A->get_prev_linear_velocity() - crA;
c.bounce = c.bounce * dv.dot(c.normal);
}

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3 changes: 3 additions & 0 deletions servers/physics_3d/godot_body_3d.cpp
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Expand Up @@ -604,6 +604,9 @@ void GodotBody3D::integrate_forces(real_t p_step) {

gravity *= gravity_scale;

prev_linear_velocity = linear_velocity;
prev_angular_velocity = angular_velocity;

Vector3 motion;
bool do_motion = false;

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6 changes: 6 additions & 0 deletions servers/physics_3d/godot_body_3d.h
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Expand Up @@ -45,6 +45,9 @@ class GodotBody3D : public GodotCollisionObject3D {
Vector3 linear_velocity;
Vector3 angular_velocity;

Vector3 prev_linear_velocity;
Vector3 prev_angular_velocity;

Vector3 constant_linear_velocity;
Vector3 constant_angular_velocity;

Expand Down Expand Up @@ -207,6 +210,9 @@ class GodotBody3D : public GodotCollisionObject3D {
_FORCE_INLINE_ void set_angular_velocity(const Vector3 &p_velocity) { angular_velocity = p_velocity; }
_FORCE_INLINE_ Vector3 get_angular_velocity() const { return angular_velocity; }

_FORCE_INLINE_ Vector3 get_prev_linear_velocity() const { return prev_linear_velocity; }
_FORCE_INLINE_ Vector3 get_prev_angular_velocity() const { return prev_angular_velocity; }

_FORCE_INLINE_ const Vector3 &get_biased_linear_velocity() const { return biased_linear_velocity; }
_FORCE_INLINE_ const Vector3 &get_biased_angular_velocity() const { return biased_angular_velocity; }

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19 changes: 3 additions & 16 deletions servers/physics_3d/godot_body_pair_3d.cpp
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Expand Up @@ -35,18 +35,6 @@

#include "core/os/os.h"

/*
#define NO_ACCUMULATE_IMPULSES
#define NO_SPLIT_IMPULSES

#define NO_FRICTION
*/

#define NO_TANGENTIALS
/* BODY PAIR */

//#define ALLOWED_PENETRATION 0.01
#define RELAXATION_TIMESTEPS 3
#define MIN_VELOCITY 0.0001
#define MAX_BIAS_ROTATION (Math_PI / 8)

Expand Down Expand Up @@ -370,10 +358,9 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) {

c.bounce = combine_bounce(A, B);
if (c.bounce) {
Vector3 crA = A->get_angular_velocity().cross(c.rA);
Vector3 crB = B->get_angular_velocity().cross(c.rB);
Vector3 dv = B->get_linear_velocity() + crB - A->get_linear_velocity() - crA;
//normal impule
Vector3 crA = A->get_prev_angular_velocity().cross(c.rA);
Vector3 crB = B->get_prev_angular_velocity().cross(c.rB);
Vector3 dv = B->get_prev_linear_velocity() + crB - A->get_prev_linear_velocity() - crA;
c.bounce = c.bounce * dv.dot(c.normal);
}
}
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