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Fix contact stability for non-convex colliders #156

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merged 6 commits into from
Sep 23, 2023
Merged

Fix contact stability for non-convex colliders #156

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8bf0bec
Fix collisions for compound colliders and trimeshes
Jondolf Sep 17, 2023
54bafda
Expose `normal2` in contact data and rotate normals by subshape iso
Jondolf Sep 17, 2023
ae1066a
Fix basic_kinematic_character example
Jondolf Sep 17, 2023
e3822bf
Update snapshot
Jondolf Sep 21, 2023
bc54b8c
Clean up contact data code
Jondolf Sep 22, 2023
e0d2806
Make sure normals are valid in narrow phase
Jondolf Sep 23, 2023
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8 changes: 4 additions & 4 deletions crates/bevy_xpbd_3d/examples/basic_kinematic_character.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -129,15 +129,15 @@ fn movement(

fn kinematic_collision(
collisions: Res<Collisions>,
mut bodies: Query<(&RigidBody, &mut Position)>,
mut bodies: Query<(&RigidBody, &mut Position, &Rotation)>,
) {
// Iterate through collisions and move the kinematic body to resolve penetration
for contacts in collisions.iter() {
// If the collision didn't happen during this substep, skip the collision
if !contacts.during_current_substep {
continue;
}
if let Ok([(rb1, mut position1), (rb2, mut position2)]) =
if let Ok([(rb1, mut position1, rotation1), (rb2, mut position2, _)]) =
bodies.get_many_mut([contacts.entity1, contacts.entity2])
{
for manifold in contacts.manifolds.iter() {
Expand All @@ -146,9 +146,9 @@ fn kinematic_collision(
continue;
}
if rb1.is_kinematic() && !rb2.is_kinematic() {
position1.0 -= contact.normal * contact.penetration;
position1.0 -= contact.global_normal1(rotation1) * contact.penetration;
} else if rb2.is_kinematic() && !rb1.is_kinematic() {
position2.0 += contact.normal * contact.penetration;
position2.0 += contact.global_normal1(rotation1) * contact.penetration;
}
}
}
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