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Merge pull request #112483 from jrouwe/issue_112348

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Fix `SoftBody3D`'s position influences its physics in Jolt
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Thaddeus Crews 2025-11-11 10:37:34 -06:00
commit a9b8f92501
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1 changed files with 10 additions and 3 deletions
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13
modules/jolt_physics/objects/jolt_soft_body_3d.cpp
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@ -77,6 +77,7 @@ void JoltSoftBody3D::_space_changing() {
// Note that we should not use `in_space()` as the condition here, since we could have cleared the mesh at this point.
if (jolt_body != nullptr) {
jolt_settings = new JPH::SoftBodyCreationSettings(jolt_body->GetSoftBodyCreationSettings());
jolt_settings->mPosition = JPH::RVec3::sZero(); // We'll be getting the vertices in world space when we re-insert the body so we need to reset the position here.
jolt_settings->mSettings = nullptr;
jolt_settings->mVertexRadius = JoltProjectSettings::soft_body_point_radius;
}
@ -341,7 +342,7 @@ JoltSoftBody3D::JoltSoftBody3D() :
JoltObject3D(OBJECT_TYPE_SOFT_BODY) {
jolt_settings->mRestitution = 0.0f;
jolt_settings->mFriction = 1.0f;
jolt_settings->mUpdatePosition = false;
jolt_settings->mUpdatePosition = true;
jolt_settings->mMakeRotationIdentity = false;
}
@ -606,11 +607,16 @@ void JoltSoftBody3D::set_transform(const Transform3D &p_transform) {
// We also discard any scaling, since we have no way of scaling the actual edge lengths.
const JPH::Mat44 relative_transform = to_jolt(p_transform.orthonormalized());
// The translation delta goes to the body's position to avoid vertices getting too far away from it.
JPH::BodyInterface &body_iface = space->get_body_iface();
body_iface.SetPosition(jolt_body->GetID(), jolt_body->GetPosition() + relative_transform.GetTranslation(), JPH::EActivation::DontActivate);
// The rotation difference goes to the vertices. We also reset the velocity of these vertices.
JPH::SoftBodyMotionProperties &motion_properties = static_cast<JPH::SoftBodyMotionProperties &>(*jolt_body->GetMotionPropertiesUnchecked());
JPH::Array<JPH::SoftBodyVertex> &physics_vertices = motion_properties.GetVertices();
for (JPH::SoftBodyVertex &vertex : physics_vertices) {
vertex.mPosition = vertex.mPreviousPosition = relative_transform * vertex.mPosition;
vertex.mPosition = vertex.mPreviousPosition = relative_transform.Multiply3x3(vertex.mPosition);
vertex.mVelocity = JPH::Vec3::sZero();
}
wake_up();
@ -672,11 +678,12 @@ void JoltSoftBody3D::update_rendering_server(PhysicsServer3DRenderingServerHandl
}
const int mesh_vertex_count = shared->mesh_to_physics.size();
const JPH::RVec3 body_position = jolt_body->GetCenterOfMassPosition();
for (int i = 0; i < mesh_vertex_count; ++i) {
const int physics_index = shared->mesh_to_physics[i];
if (physics_index >= 0) {
const Vector3 vertex = to_godot(physics_vertices[(size_t)physics_index].mPosition);
const Vector3 vertex = to_godot(body_position + physics_vertices[(size_t)physics_index].mPosition);
const Vector3 normal = normals[(uint32_t)physics_index];
p_rendering_server_handler->set_vertex(i, vertex);