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Fixed bug in ManifoldBetweenTwoFaces

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Fixed bug in ManifoldBetweenTwoFaces which would not find the correct manifold in case face 1 had 3 or more vertices and face 2 only 2. E.g. for a box resting the long edge of a cylinder this would mean that only a single contact point was found instead of 2 (the other way around would work fine).

Fixes godotengine/godot#110479

(cherry picked from commit 1daf9893ec)
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Jorrit Rouwe 2025-09-14 11:01:00 +02:00 • committed by Thaddeus Crews
parent 4e62b91749
commit 11e6e4afef
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GPG key ID: 8C6E5FEB5FC03CCC
1 changed files with 46 additions and 23 deletions
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69
thirdparty/jolt_physics/Jolt/Physics/Collision/ManifoldBetweenTwoFaces.cpp vendored
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@ -156,37 +156,60 @@ void ManifoldBetweenTwoFaces(Vec3Arg inContactPoint1, Vec3Arg inContactPoint2, V
// Remember size before adding new points, to check at the end if we added some // Remember size before adding new points, to check at the end if we added some
ContactPoints::size_type old_size = outContactPoints1.size(); ContactPoints::size_type old_size = outContactPoints1.size();
// Check if both shapes have polygon faces // Both faces need to have at least 2 points or else there can never be more than 1 contact point
if (inShape1Face.size() >= 2 // The dynamic shape needs to have at least 2 points or else there can never be more than 1 contact point // At least one face needs to have at least 3 points (in the case that it has 2 points only if the edges match exactly you can have 2 contact points, but this situation is unstable anyhow)
&& inShape2Face.size() >= 3) // The dynamic/static shape needs to have at least 3 points (in the case that it has 2 points only if the edges match exactly you can have 2 contact points, but this situation is unstable anyhow) if (min(inShape1Face.size(), inShape2Face.size()) >= 2
&& max(inShape1Face.size(), inShape2Face.size()) >= 3)
{ {
// Clip the polygon of face 2 against that of 1 // Swap the shapes if the 2nd face doesn't have enough vertices
ConvexShape::SupportingFace clipped_face; const ConvexShape::SupportingFace *shape1_face, *shape2_face;
if (inShape1Face.size() >= 3) ContactPoints *contact_points1, *contact_points2;
ClipPolyVsPoly(inShape2Face, inShape1Face, inPenetrationAxis, clipped_face); Vec3 penetration_axis;
else if (inShape1Face.size() == 2) if (inShape2Face.size() >= 3)
ClipPolyVsEdge(inShape2Face, inShape1Face[0], inShape1Face[1], inPenetrationAxis, clipped_face);
// Determine plane origin and normal for shape 1
Vec3 plane_origin = inShape1Face[0];
Vec3 plane_normal;
Vec3 first_edge = inShape1Face[1] - plane_origin;
if (inShape1Face.size() >= 3)
{ {
// Three vertices, can just calculate the normal shape1_face = &inShape1Face;
plane_normal = first_edge.Cross(inShape1Face[2] - plane_origin); shape2_face = &inShape2Face;
contact_points1 = &outContactPoints1;
contact_points2 = &outContactPoints2;
penetration_axis = inPenetrationAxis;
} }
else else
{ {
shape1_face = &inShape2Face;
shape2_face = &inShape1Face;
contact_points1 = &outContactPoints2;
contact_points2 = &outContactPoints1;
penetration_axis = -inPenetrationAxis;
}
// Determine plane origin and first edge direction
Vec3 plane_origin = shape1_face->at(0);
Vec3 first_edge = shape1_face->at(1) - plane_origin;
Vec3 plane_normal;
ConvexShape::SupportingFace clipped_face;
if (shape1_face->size() >= 3)
{
// Clip the polygon of face 2 against that of 1
ClipPolyVsPoly(*shape2_face, *shape1_face, penetration_axis, clipped_face);
// Three vertices, can just calculate the normal
plane_normal = first_edge.Cross(shape1_face->at(2) - plane_origin);
}
else
{
// Clip the polygon of face 2 against edge of 1
ClipPolyVsEdge(*shape2_face, shape1_face->at(0), shape1_face->at(1), penetration_axis, clipped_face);
// Two vertices, first find a perpendicular to the edge and penetration axis and then use the perpendicular together with the edge to form a normal // Two vertices, first find a perpendicular to the edge and penetration axis and then use the perpendicular together with the edge to form a normal
plane_normal = first_edge.Cross(inPenetrationAxis).Cross(first_edge); plane_normal = first_edge.Cross(penetration_axis).Cross(first_edge);
} }
// If penetration axis and plane normal are perpendicular, fall back to the contact points // If penetration axis and plane normal are perpendicular, fall back to the contact points
float penetration_axis_dot_plane_normal = inPenetrationAxis.Dot(plane_normal); float penetration_axis_dot_plane_normal = penetration_axis.Dot(plane_normal);
if (penetration_axis_dot_plane_normal != 0.0f) if (penetration_axis_dot_plane_normal != 0.0f)
{ {
float penetration_axis_len = inPenetrationAxis.Length(); float penetration_axis_len = penetration_axis.Length();
for (Vec3 p2 : clipped_face) for (Vec3 p2 : clipped_face)
{ {
@ -200,9 +223,9 @@ void ManifoldBetweenTwoFaces(Vec3Arg inContactPoint1, Vec3Arg inContactPoint2, V
// If the point is less than inMaxContactDistance in front of the plane of face 2, add it as a contact point // If the point is less than inMaxContactDistance in front of the plane of face 2, add it as a contact point
if (distance * penetration_axis_len < inMaxContactDistance) if (distance * penetration_axis_len < inMaxContactDistance)
{ {
Vec3 p1 = p2 - distance * inPenetrationAxis; Vec3 p1 = p2 - distance * penetration_axis;
outContactPoints1.push_back(p1); contact_points1->push_back(p1);
outContactPoints2.push_back(p2); contact_points2->push_back(p2);
} }
} }
} }