Merge pull request #11 from diarmidmackenzie/kinematic-ccd

Speculative CCD for high-precision kinematic bodies
c-frame · Mar 19, 2023 · 60771f3 · 60771f3
2 parents 8e72a51 + b56b6df
commit 60771f3
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Showing 3 changed files with 11 additions and 5 deletions.
diff --git a/dist/physx.js b/dist/physx.js
diff --git a/dist/physx.min.js b/dist/physx.min.js
diff --git a/src/physics.js b/src/physics.js
@@ -1044,11 +1044,17 @@ AFRAME.registerComponent('physx-body', {
       this.rigidBody.setAngularDamping(this.data.angularDamping)
       this.rigidBody.setLinearDamping(this.data.linearDamping)
       this.rigidBody.setRigidBodyFlag(PhysX.PxRigidBodyFlag.eKINEMATIC, false)
-      if (this.data.highPrecision)
-      {
-        this.rigidBody.setSolverIterationCounts(4, 2);
+    }
+
+    if (this.data.highPrecision)
+    {
+      this.rigidBody.setSolverIterationCounts(4, 2);
+      if (this.data.type === 'dynamic') {
         this.rigidBody.setRigidBodyFlag(PhysX.PxRigidBodyFlag.eENABLE_CCD, true)
       }
+      else if (this.data.type === 'kinematic') {
+        this.rigidBody.setRigidBodyFlag(PhysX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, true);
+      }
     }
 
     if (!oldData || this.data.mass !== oldData.mass) this.el.emit('object3dset', {})