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fix(physics): increase contact point safety margin

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Rewind to t-0.02 instead of exact contact time, plus 2cm normal
push-back. The previous 0.5cm was too small — at high speed the
sub-step could overshoot past the surface.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Erik 2026-04-14 13:35:06 +02:00
parent 76cf7a85ec
commit 1f30fbd2f5
1 changed files with 6 additions and 3 deletions
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9
src/AcDream.Core/Physics/TransitionTypes.cs
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@ -774,11 +774,14 @@ public sealed class Transition
return TransitionState.Adjusted; return TransitionState.Adjusted;
} }
// Rewind the sphere to the contact point (before penetration). // Rewind the sphere to just BEFORE the contact point.
// Use t slightly before bestT to ensure no penetration.
if (bestT < 1f) if (bestT < 1f)
{ {
Vector3 contactPos = currPos + movement * bestT; float safeT = MathF.Max(0f, bestT - 0.02f);
contactPos += bestNormal * 0.005f; Vector3 contactPos = currPos + movement * safeT;
// Additional push along normal to clear the surface.
contactPos += bestNormal * 0.02f;
sp.SetCheckPos(contactPos, sp.CheckCellId); sp.SetCheckPos(contactPos, sp.CheckCellId);
} }