godotengine · mihe · Feb 4, 2026
@@ -501,6 +501,16 @@ Files extracted from upstream source:
 - All files in `Jolt/`, except `Jolt/Jolt.cmake` and any files dependent on `ENABLE_OBJECT_STREAM`, as seen in `Jolt/Jolt.cmake`
 - `LICENSE`
 
+Patches:
+
+- `0001-backport-upstream-commit-b385bc3d7.patch` ([GH-111087](https://github.com/godotengine/godot/pull/111087))
+- `0002-backport-upstream-commit-ccfe0a0df.patch` ([GH-111408](https://github.com/godotengine/godot/pull/111408))
+- `0003-backport-upstream-commit-9e48d59be.patch` ([GH-111767](https://github.com/godotengine/godot/pull/111767))
+- `0004-backport-upstream-commit-ee3725250.patch` ([GH-115089](https://github.com/godotengine/godot/pull/115089))
+- `0005-backport-upstream-commit-bc7f1fb8c.patch` ([GH-115305](https://github.com/godotengine/godot/pull/115305))
+- `0006-backport-upstream-commit-365a15367.patch` ([GH-115305](https://github.com/godotengine/godot/pull/115305))
+- `0007-backport-upstream-commit-e0a6a9a16.patch` ([GH-115327](https://github.com/godotengine/godot/pull/115327))
+
 
 ## libbacktrace
 

@@ -0,0 +1,28 @@
+diff --git a/thirdparty/jolt_physics/Jolt/Physics/Constraints/ConstraintPart/RotationEulerConstraintPart.h b/thirdparty/jolt_physics/Jolt/Physics/Constraints/ConstraintPart/RotationEulerConstraintPart.h
+index ec84776a46..387c0d9737 100644
+--- a/thirdparty/jolt_physics/Jolt/Physics/Constraints/ConstraintPart/RotationEulerConstraintPart.h
++++ b/thirdparty/jolt_physics/Jolt/Physics/Constraints/ConstraintPart/RotationEulerConstraintPart.h
+@@ -143,8 +143,21 @@ public:
+ 		mInvI2 = inBody2.IsDynamic()? inBody2.GetMotionProperties()->GetInverseInertiaForRotation(inRotation2) : Mat44::sZero();
+
+ 		// Calculate effective mass: K^-1 = (J M^-1 J^T)^-1
+-		if (!mEffectiveMass.SetInversed3x3(mInvI1 + mInvI2))
+-			Deactivate();
++		Mat44 inertia_sum = mInvI1 + mInvI2;
++		if (!mEffectiveMass.SetInversed3x3(inertia_sum))
++		{
++			// If a column is zero, the axis is locked and we set the column to identity.
++			// This does not matter because any impulse will always be multiplied with mInvI1 or mInvI2 which will result in zero for the locked coordinate.
++			Vec4 zero = Vec4::sZero();
++			if (inertia_sum.GetColumn4(0) == zero)
++				inertia_sum.SetColumn4(0, Vec4(1, 0, 0, 0));
++			if (inertia_sum.GetColumn4(1) == zero)
++				inertia_sum.SetColumn4(1, Vec4(0, 1, 0, 0));
++			if (inertia_sum.GetColumn4(2) == zero)
++				inertia_sum.SetColumn4(2, Vec4(0, 0, 1, 0));
++			if (!mEffectiveMass.SetInversed3x3(inertia_sum))
++				Deactivate();
++		}
+ 	}
+
+ 	/// Deactivate this constraint
@@ -0,0 +1,12 @@
+diff --git a/thirdparty/jolt_physics/Jolt/Core/Core.h b/thirdparty/jolt_physics/Jolt/Core/Core.h
+index b306f5a686..b433a77946 100644
+--- a/thirdparty/jolt_physics/Jolt/Core/Core.h
++++ b/thirdparty/jolt_physics/Jolt/Core/Core.h
+@@ -453,6 +453,7 @@ JPH_SUPPRESS_WARNINGS_STD_BEGIN
+ #include <functional>
+ #include <algorithm>
+ #include <cstdint>
++#include <type_traits>
+ #if defined(JPH_COMPILER_MSVC) || (defined(JPH_COMPILER_CLANG) && defined(_MSC_VER)) // MSVC or clang-cl
+ 	#include <malloc.h> // for alloca
+ #endif
@@ -0,0 +1,15 @@
+diff --git a/thirdparty/jolt_physics/Jolt/RegisterTypes.cpp b/thirdparty/jolt_physics/Jolt/RegisterTypes.cpp
+index ccfcc1bbe0..e343dd2fa7 100644
+--- a/thirdparty/jolt_physics/Jolt/RegisterTypes.cpp
++++ b/thirdparty/jolt_physics/Jolt/RegisterTypes.cpp
+@@ -74,6 +74,10 @@ void RegisterTypesInternal(uint64 inVersionID)
+ 	{
+ 		Trace("Version mismatch, make sure you compile the client code with the same Jolt version and compiler definitions!");
+ 		uint64 mismatch = JPH_VERSION_ID ^ inVersionID;
++		if (mismatch & 0xffffff)
++			Trace("Client reported version %d.%d.%d, library version is %d.%d.%d.",
++				(inVersionID >> 16) & 0xff, (inVersionID >> 8) & 0xff, inVersionID & 0xff,
++				JPH_VERSION_MAJOR, JPH_VERSION_MINOR, JPH_VERSION_PATCH);
+ 		auto check_bit = [mismatch](int inBit, const char *inLabel) { if (mismatch & (uint64(1) << (inBit + 23))) Trace("Mismatching define %s.", inLabel); };
+ 		check_bit(1, "JPH_DOUBLE_PRECISION");
+ 		check_bit(2, "JPH_CROSS_PLATFORM_DETERMINISTIC");
@@ -0,0 +1,53 @@
+diff --git a/thirdparty/jolt_physics/Jolt/Physics/Collision/CastConvexVsTriangles.cpp b/thirdparty/jolt_physics/Jolt/Physics/Collision/CastConvexVsTriangles.cpp
+index e8a8c21459..4fb6c58c18 100644
+--- a/thirdparty/jolt_physics/Jolt/Physics/Collision/CastConvexVsTriangles.cpp
++++ b/thirdparty/jolt_physics/Jolt/Physics/Collision/CastConvexVsTriangles.cpp
+@@ -92,11 +92,14 @@ void CastConvexVsTriangles::Cast(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2, uint8
+ 			static_cast<const ConvexShape *>(mShapeCast.mShape)->GetSupportingFace(SubShapeID(), transform_1_to_2.Multiply3x3Transposed(-contact_normal), mShapeCast.mScale, mCenterOfMassTransform2 * transform_1_to_2, result.mShape1Face);
+
+ 			// Get face of the triangle
+-			triangle.GetSupportingFace(contact_normal, result.mShape2Face);
++			result.mShape2Face.resize(3);
++			result.mShape2Face[0] = mCenterOfMassTransform2 * v0;
++			result.mShape2Face[1] = mCenterOfMassTransform2 * v1;
++			result.mShape2Face[2] = mCenterOfMassTransform2 * v2;
+
+-			// Convert to world space
+-			for (Vec3 &p : result.mShape2Face)
+-				p = mCenterOfMassTransform2 * p;
++			// When inside out, we need to swap the triangle winding
++			if (mScaleSign < 0.0f)
++				std::swap(result.mShape2Face[1], result.mShape2Face[2]);
+ 		}
+
+ 		JPH_IF_TRACK_NARROWPHASE_STATS(TrackNarrowPhaseCollector track;)
+diff --git a/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideConvexVsTriangles.cpp b/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideConvexVsTriangles.cpp
+index e03659454d..05c21eebfa 100644
+--- a/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideConvexVsTriangles.cpp
++++ b/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideConvexVsTriangles.cpp
+@@ -145,6 +145,10 @@ void CollideConvexVsTriangles::Collide(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2,
+ 		result.mShape2Face[0] = mTransform1 * v0;
+ 		result.mShape2Face[1] = mTransform1 * v1;
+ 		result.mShape2Face[2] = mTransform1 * v2;
++
++		// When inside out, we need to swap the triangle winding
++		if (mScaleSign2 < 0.0f)
++			std::swap(result.mShape2Face[1], result.mShape2Face[2]);
+ 	}
+
+ 	// Notify the collector
+diff --git a/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideSphereVsTriangles.cpp b/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideSphereVsTriangles.cpp
+index 18441ea73b..566efb38ae 100644
+--- a/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideSphereVsTriangles.cpp
++++ b/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideSphereVsTriangles.cpp
+@@ -111,6 +111,10 @@ void CollideSphereVsTriangles::Collide(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2,
+ 		result.mShape2Face[0] = mTransform2 * (mSphereCenterIn2 + v0);
+ 		result.mShape2Face[1] = mTransform2 * (mSphereCenterIn2 + v1);
+ 		result.mShape2Face[2] = mTransform2 * (mSphereCenterIn2 + v2);
++
++		// When inside out, we need to swap the triangle winding
++		if (mScaleSign2 < 0.0f)
++			std::swap(result.mShape2Face[1], result.mShape2Face[2]);
+ 	}
+
+ 	// Notify the collector