diff options
| author | Rémi Verschelde <rverschelde@gmail.com> | 2018-04-04 11:21:49 +0200 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2018-04-04 11:21:49 +0200 |
| commit | e1fef9bd76ab2fbf7361754165728b9dcb69099b (patch) | |
| tree | d7f193a56a77691c030bf320bc8a2b3e0d8f65d3 /modules | |
| parent | 950d4922a5ace3d0fe910ea702f8db8e39b1c78f (diff) | |
| parent | b050525072af1d6fa94eeaf98e13669e9ebc872d (diff) | |
Merge pull request #17959 from AndreaCatania/kinfix2
Fixed kinematic sliding on trimesh
Diffstat (limited to 'modules')
| -rw-r--r-- | modules/bullet/godot_result_callbacks.cpp | 9 | ||||
| -rw-r--r-- | modules/bullet/godot_result_callbacks.h | 5 | ||||
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 2 |
3 files changed, 5 insertions, 11 deletions
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp index 72c982bb0b..0aa4c142a6 100644 --- a/modules/bullet/godot_result_callbacks.cpp +++ b/modules/bullet/godot_result_callbacks.cpp @@ -257,15 +257,12 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) { - // Has penetration - if (m_penetration_distance < ABS(depth)) { + if (m_penetration_distance > depth) { // Has penetration? bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); - m_penetration_distance = depth; - m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject(); - m_other_compound_shape_index = isSwapped ? m_index1 : m_index0; + m_other_compound_shape_index = isSwapped ? m_index0 : m_index1; m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld; - m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB; + m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB; } } diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h index 60493d4788..363051f24c 100644 --- a/modules/bullet/godot_result_callbacks.h +++ b/modules/bullet/godot_result_callbacks.h @@ -185,21 +185,18 @@ struct GodotDeepPenetrationContactResultCallback : public btManifoldResult { btVector3 m_pointWorld; btScalar m_penetration_distance; int m_other_compound_shape_index; - const btCollisionObject *m_pointCollisionObject; GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) : btManifoldResult(body0Wrap, body1Wrap), - m_pointCollisionObject(NULL), m_penetration_distance(0), m_other_compound_shape_index(0) {} void reset() { - m_pointCollisionObject = NULL; m_penetration_distance = 0; } bool hasHit() { - return m_pointCollisionObject; + return m_penetration_distance < 0; } virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth); diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index ab711fa6b9..51a76ff8c5 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -1120,7 +1120,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC dispatcher->freeCollisionAlgorithm(algorithm); if (contactPointResult.hasHit()) { - r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * p_recover_movement_scale); + r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1 * p_recover_movement_scale); if (r_recover_result) { if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) { |