@series-inc/rundot-syncplay 6.0.0-rc.7 → 6.0.0-rc.8

package/core/native/physics/physics.cpp

@@ -2861,9 +2861,10 @@ public:
   }
 
   template <typename Callback>
-  void forEachPair(const Body*, Callback&& callback) {
+  void forEachPair(const Body* bodies, Callback&& callback) {
     if (root == -1) return;
     for (std::uint32_t bodyIndex = 0; bodyIndex < bodyCount; bodyIndex += 1) {
+      const bool bodyStatic = bodies && !bodies[bodyIndex].dynamic && !bodies[bodyIndex].kinematic;
       const BroadphaseBounds actualLeafBounds = actualBounds[bodyIndex];
       std::uint32_t matchCount = 0;
       queryStackCount = 1;
@@ -2874,6 +2875,7 @@ public:
         if (!boundsOverlap(actualLeafBounds, node.bounds)) continue;
         if (node.leaf) {
           if (node.bodyIndex > bodyIndex
+            && !(bodyStatic && bodies && !bodies[node.bodyIndex].dynamic && !bodies[node.bodyIndex].kinematic)
             && boundsOverlap(actualLeafBounds, actualBounds[node.bodyIndex])) {
             queryMatches[matchCount++] = node.bodyIndex;
           }
@@ -2887,12 +2889,13 @@ public:
     }
   }
 
-  void collectPairs() {
+  void collectPairs(const Body* bodies = nullptr) {
     pairCount = 0;
     pairOverflow = false;
     pairsReady = true;
     if (root == -1) return;
     for (std::uint32_t bodyIndex = 0; bodyIndex < bodyCount; bodyIndex += 1) {
+      const bool bodyStatic = bodies && !bodies[bodyIndex].dynamic && !bodies[bodyIndex].kinematic;
       const BroadphaseBounds actualLeafBounds = nodes[leafNodes[bodyIndex]].bounds;
       const std::uint32_t pairStart = pairCount;
       queryStackCount = 1;
@@ -2903,6 +2906,7 @@ public:
         if (!boundsOverlap(actualLeafBounds, node.bounds)) continue;
         if (node.leaf) {
           if (node.bodyIndex > bodyIndex
+            && !(bodyStatic && bodies && !bodies[node.bodyIndex].dynamic && !bodies[node.bodyIndex].kinematic)
             && boundsOverlap(actualLeafBounds, nodes[leafNodes[node.bodyIndex]].bounds)) {
             if (pairCount >= pairCapacity) {
               pairOverflow = true;
@@ -3342,9 +3346,11 @@ void forEachSweepPair(SolverOperation& operation, const Body* bodies, std::uint3
   prepareBroadphase(operation, bodies, bodyCount);
   for (std::uint32_t leftOrder = 0; leftOrder < bodyCount; leftOrder += 1) {
     const std::uint32_t left = operation.storage.broadphaseOrder[leftOrder];
+    const bool leftStatic = !bodies[left].dynamic && !bodies[left].kinematic;
     for (std::uint32_t rightOrder = leftOrder + 1; rightOrder < bodyCount; rightOrder += 1) {
       const std::uint32_t right = operation.storage.broadphaseOrder[rightOrder];
       if (operation.storage.broadphaseBounds[right].minX > operation.storage.broadphaseBounds[left].maxX) break;
+      if (leftStatic && !bodies[right].dynamic && !bodies[right].kinematic) continue;
       if (boundsOverlap(operation.storage.broadphaseBounds[left], operation.storage.broadphaseBounds[right])) {
         callback(std::min(left, right), std::max(left, right));
       }
@@ -3358,9 +3364,11 @@ void collectSweepPairs(SolverOperation& operation, const Body* bodies, std::uint
   operation.storage.broadphasePairOverflow = false;
   for (std::uint32_t leftOrder = 0; leftOrder < bodyCount; leftOrder += 1) {
     const std::uint32_t left = operation.storage.broadphaseOrder[leftOrder];
+    const bool leftStatic = !bodies[left].dynamic && !bodies[left].kinematic;
     for (std::uint32_t rightOrder = leftOrder + 1; rightOrder < bodyCount; rightOrder += 1) {
       const std::uint32_t right = operation.storage.broadphaseOrder[rightOrder];
       if (operation.storage.broadphaseBounds[right].minX > operation.storage.broadphaseBounds[left].maxX) break;
+      if (leftStatic && !bodies[right].dynamic && !bodies[right].kinematic) continue;
       if (!boundsOverlap(operation.storage.broadphaseBounds[left], operation.storage.broadphaseBounds[right])) continue;
       if (operation.storage.broadphasePairCount >= operation.storage.broadphasePairFirst.size()) {
         operation.storage.broadphasePairOverflow = true;
@@ -7435,6 +7443,7 @@ void resolveSoAContacts(SolverOperation& operation, Body* bodies, std::uint32_t
                              std::uint32_t preparedBegin,
                              std::uint32_t preparedEnd) {
     if (initialize && collisionDisabled(operation, first, second)) return;
+    if (initialize && !bodies[first].dynamic && !bodies[first].kinematic && !bodies[second].dynamic && !bodies[second].kinematic) return;
     if (!solveVelocity) {
       if (resolveContactPair(operation, bodies[first], bodies[second], options,
         nullptr, nullptr, nullptr, nullptr, nullptr, true,
@@ -7683,7 +7692,7 @@ void resolveSoAContacts(SolverOperation& operation, Body* bodies, std::uint32_t
   if (beginSubstep) {
     operation.storage.broadphaseTree->ensure(operation, bodies, bodyCount);
     if (!operation.storage.broadphaseTree->pairsAreReady()) {
-      operation.storage.broadphaseTree->collectPairs();
+      operation.storage.broadphaseTree->collectPairs(bodies);
     }
   }
   for (std::uint32_t iteration = 0; iteration < velocityIterations; iteration += 1) {