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fix(physics): push keeps the old collider contract exactly - a thing wholly under the feet or over the head is not in the way, anything else pushes out sideways (Jolt's axis when side-on, else radially by the overlap across)

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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
Orkun ÇAKILKAYA 2026-09-27 00:08:36 +03:00
parent 28c54e4b39
commit d4fc9bbb91
6 changed files with 36 additions and 15 deletions
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33
packages/ludic.physics/native/shim/jph_queries.inl
View file

@ -66,18 +66,37 @@ JPH_SHIM int jph_push(void *w, float x, float z, float r, float y0, float y1, in
ww->sys.GetNarrowPhaseQuery().CollideShape(&body, Vec3::sOne(), RMat44::sTranslation(RVec3(x, y0 + half, z)),
cs, RVec3::sZero(), hits, {}, f);
hits.Sort();
// a contact more up than across is what the feet stand on (a rock's top, a dome under them),
// not a wall, and a touch with nothing in it is no contact
// a thing wholly below the feet (stood on) or above the head is not in the way; anything else
// pushes out sideways - along Jolt's own axis when the contact is side-on, else straight away
// from the thing's middle, by as much as the two overlap across (exact for an upright post)
float px = 0.0f, pz = 0.0f;
int n = 0;
for (const CollideShapeResult &h : hits.mHits) {
if (h.mPenetrationDepth <= 1.0e-4f) continue;
BodyLockRead lock(ww->sys.GetBodyLockInterface(), h.mBodyID2);
if (!lock.Succeeded()) continue;
AABox bb = lock.GetBody().GetWorldSpaceBounds();
if (float(bb.mMax.GetY()) <= y0 + 1.0e-3f || float(bb.mMin.GetY()) >= y1 - 1.0e-3f) continue;
Vec3 a = h.mPenetrationAxis.NormalizedOr(Vec3::sAxisY());
Vec3 flat(a.GetX(), 0.0f, a.GetZ());
if (flat.Length() < 0.5f) continue;
flat = flat.Normalized() * h.mPenetrationDepth;
px -= flat.GetX();
pz -= flat.GetZ();
float dx, dz;
if (flat.Length() >= 0.5f && h.mPenetrationDepth > 1.0e-4f) {
flat = flat.Normalized() * h.mPenetrationDepth;
dx = -flat.GetX();
dz = -flat.GetZ();
} else {
Vec3 c = bb.GetCenter();
float ex = x - float(c.GetX()), ez = z - float(c.GetZ());
float d = std::sqrt(ex * ex + ez * ez);
float half = std::max(float(bb.GetExtent().GetX()), float(bb.GetExtent().GetZ()));
float push = half + r - d;
if (push <= 1.0e-4f) continue;
float ux = 1.0f, uz = 0.0f;
if (d > 1.0e-6f) { ux = ex / d; uz = ez / d; }
dx = ux * push;
dz = uz * push;
}
px += dx;
pz += dz;
n++;
}
out[0] = px;

2
packages/ludic.physics/native/shim/jph_shim.cpp
View file

@ -25,6 +25,8 @@
#include <mutex>
#include <thread>
#include <cfloat>
#include <cmath>
#include <algorithm>
#if defined(_WIN32)
#define JPH_SHIM extern "C" __declspec(dllexport)