2ca67bb28b
Playable table (hinge-motor flippers, plunger, bumper, drain) plus a headless probe harness that measured, per engine: tunneling of a fast ball through a 1 cm wall with CCD off/on, and hinge-motor drive. Findings in godot/README.md: Box3D never tunnels even with CCD off, but its hinge motor sign is inverted vs Jolt/GodotPhysics, and Jolt blows through angular limits that Box3D holds. Ships a from-source macOS arm64 libgodot-box3d.dylib (upstream has no releases). Also gitignore the remaining Microsoft media at repo root. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
113 lines
3.8 KiB
GDScript
113 lines
3.8 KiB
GDScript
extends Node3D
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## Headless physics probe. Run via run_probe.sh, which switches the physics
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## engine through override.cfg and launches this scene under each backend.
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##
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## Test 1 — tunneling: fire a ball at a 1 cm static wall at increasing speeds,
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## with CCD off and on, and report whether the wall contains it.
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## Test 2 — hinge motor: drive a hinged arm with a joint motor and report
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## whether it actually rotates (a flipper is a motorised hinge).
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const WALL_THICKNESS := 0.01
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const BALL_RADIUS := 0.0135
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const START_Z := 2.0
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const SPEEDS := [5.0, 10.0, 20.0, 40.0, 80.0, 160.0]
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func _ready() -> void:
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var engine := str(ProjectSettings.get_setting("physics/3d/physics_engine"))
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print("PROBE_START engine=%s tick=%d" % [engine, Engine.physics_ticks_per_second])
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_run(engine)
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func _run(engine: String) -> void:
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var wall := StaticBody3D.new()
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var cs := CollisionShape3D.new()
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var box := BoxShape3D.new()
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box.size = Vector3(1.0, 1.0, WALL_THICKNESS)
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cs.shape = box
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wall.add_child(cs)
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add_child(wall)
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for ccd in [false, true]:
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for speed in SPEEDS:
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var r := await _fire(float(speed), ccd)
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print("PROBE engine=\"%s\" speed=%d ccd=%s result=%s final_z=%.3f drift_y=%.4f" % [
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engine, int(speed), "on" if ccd else "off",
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"tunneled" if r.tunneled else "contained", r.final_z, r.drift_y])
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var m := await _motor_test()
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print("PROBE_MOTOR engine=\"%s\" moved_deg=%.1f works=%s" % [
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engine, m.moved_deg, "yes" if m.moved_deg > 20.0 else "NO"])
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get_tree().quit(0)
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func _fire(speed: float, ccd: bool) -> Dictionary:
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var ball := RigidBody3D.new()
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var cs := CollisionShape3D.new()
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var sph := SphereShape3D.new()
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sph.radius = BALL_RADIUS
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cs.shape = sph
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ball.add_child(cs)
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ball.mass = 0.08
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ball.continuous_cd = ccd
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ball.gravity_scale = 0.0
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ball.can_sleep = false
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ball.position = Vector3(0, 0, START_Z)
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add_child(ball)
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ball.linear_velocity = Vector3(0, 0, -speed)
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# Enough ticks to cover the distance plus settle time.
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var ticks := maxi(90, int(ceil((START_Z + 1.0) / speed * 60.0)) + 30)
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for i in ticks:
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await get_tree().physics_frame
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var result := {
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"tunneled": ball.position.z < -(WALL_THICKNESS / 2.0 + BALL_RADIUS + 0.05),
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"final_z": ball.position.z,
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"drift_y": absf(ball.position.y), # nonzero = gravity_scale unsupported
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}
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ball.queue_free()
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await get_tree().physics_frame
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return result
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func _motor_test() -> Dictionary:
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var anchor := StaticBody3D.new()
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var acs := CollisionShape3D.new()
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var abox := BoxShape3D.new()
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abox.size = Vector3(0.05, 0.05, 0.05)
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acs.shape = abox
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anchor.add_child(acs)
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anchor.position = Vector3(3, 0, 0) # far from the wall test
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add_child(anchor)
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var arm := RigidBody3D.new()
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var ccs := CollisionShape3D.new()
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var bbox := BoxShape3D.new()
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bbox.size = Vector3(0.1, 0.03, 0.022)
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ccs.shape = bbox
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ccs.position = Vector3(0.05, 0, 0)
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arm.add_child(ccs)
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arm.mass = 0.15
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arm.gravity_scale = 0.0
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arm.can_sleep = false
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arm.position = Vector3(3.1, 0, 0)
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add_child(arm)
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var joint := HingeJoint3D.new()
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# Local Z (the hinge axis) pointed along world +Y.
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joint.transform = Transform3D(Basis(Vector3(1, 0, 0), -PI / 2.0), Vector3(3.1, 0, 0))
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joint.set_flag(HingeJoint3D.FLAG_ENABLE_MOTOR, true)
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joint.set_param(HingeJoint3D.PARAM_MOTOR_TARGET_VELOCITY, 5.0)
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joint.set_param(HingeJoint3D.PARAM_MOTOR_MAX_IMPULSE, 5.0)
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add_child(joint)
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# Paths only resolve once the joint is inside the tree.
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joint.node_a = joint.get_path_to(anchor)
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joint.node_b = joint.get_path_to(arm)
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var start_q := arm.global_transform.basis.get_rotation_quaternion()
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for i in 60:
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await get_tree().physics_frame
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var end_q := arm.global_transform.basis.get_rotation_quaternion()
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var moved := start_q.angle_to(end_q)
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print("PROBE_MOTOR_DEBUG rotation=%s ang_vel=%s pos=%s" % [
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arm.rotation, arm.angular_velocity, arm.position])
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return {"moved_deg": rad_to_deg(moved)}
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