diff options
| -rw-r--r-- | modules/bullet/rigid_body_bullet.cpp | 21 | ||||
| -rw-r--r-- | modules/bullet/rigid_body_bullet.h | 15 | ||||
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 10 |
3 files changed, 44 insertions, 2 deletions
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 85659e1523..9dd04100ed 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -268,6 +268,7 @@ RigidBodyBullet::RigidBodyBullet() : can_integrate_forces(false), maxCollisionsDetection(0), collisionsCount(0), + prev_collision_count(0), maxAreasWhereIam(10), areaWhereIamCount(0), countGravityPointSpaces(0), @@ -293,6 +294,9 @@ RigidBodyBullet::RigidBodyBullet() : areasWhereIam.write[i] = NULL; } btBody->setSleepingThresholds(0.2, 0.2); + + prev_collision_traces = &collision_traces_1; + curr_collision_traces = &collision_traces_2; } RigidBodyBullet::~RigidBodyBullet() { @@ -410,7 +414,14 @@ void RigidBodyBullet::on_collision_filters_change() { } void RigidBodyBullet::on_collision_checker_start() { + + prev_collision_count = collisionsCount; collisionsCount = 0; + + // Swap array + Vector<RigidBodyBullet *> *s = prev_collision_traces; + prev_collision_traces = curr_collision_traces; + curr_collision_traces = s; } void RigidBodyBullet::on_collision_checker_end() { @@ -433,10 +444,20 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const cd.other_object_shape = p_other_shape_index; cd.local_shape = p_local_shape_index; + curr_collision_traces->write[collisionsCount] = p_otherObject; + ++collisionsCount; return true; } +bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) { + for (int i = prev_collision_count - 1; 0 <= i; --i) { + if ((*prev_collision_traces)[i] == p_other_object) + return true; + } + return false; +} + void RigidBodyBullet::assert_no_constraints() { if (btBody->getNumConstraintRefs()) { WARN_PRINT("A body with a joints is destroyed. Please check the implementation in order to destroy the joint before the body."); diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index 26e5018c87..0696073d21 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -205,9 +205,15 @@ private: bool can_integrate_forces; Vector<CollisionData> collisions; + Vector<RigidBodyBullet *> collision_traces_1; + Vector<RigidBodyBullet *> collision_traces_2; + Vector<RigidBodyBullet *> *prev_collision_traces; + Vector<RigidBodyBullet *> *curr_collision_traces; + // these parameters are used to avoid vector resize int maxCollisionsDetection; int collisionsCount; + int prev_collision_count; Vector<AreaBullet *> areasWhereIam; // these parameters are used to avoid vector resize @@ -244,9 +250,17 @@ public: virtual void on_collision_checker_end(); void set_max_collisions_detection(int p_maxCollisionsDetection) { + + ERR_FAIL_COND(0 > p_maxCollisionsDetection); + maxCollisionsDetection = p_maxCollisionsDetection; + collisions.resize(p_maxCollisionsDetection); + collision_traces_1.resize(p_maxCollisionsDetection); + collision_traces_2.resize(p_maxCollisionsDetection); + collisionsCount = 0; + prev_collision_count = MIN(prev_collision_count, p_maxCollisionsDetection); } int get_max_collisions_detection() { return maxCollisionsDetection; @@ -254,6 +268,7 @@ public: bool can_add_collision() { return collisionsCount < maxCollisionsDetection; } bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index); + bool was_colliding(RigidBodyBullet *p_other_object); void assert_no_constraints(); diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index ab2d1781ad..fed12cd5ed 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -786,16 +786,22 @@ void SpaceBullet::check_body_collision() { } const int numContacts = contactManifold->getNumContacts(); + + /// Since I don't need report all contacts for these objects, + /// So report only the first #define REPORT_ALL_CONTACTS 0 #if REPORT_ALL_CONTACTS for (int j = 0; j < numContacts; j++) { btManifoldPoint &pt = contactManifold->getContactPoint(j); #else - // Since I don't need report all contacts for these objects, I'll report only the first if (numContacts) { btManifoldPoint &pt = contactManifold->getContactPoint(0); #endif - if (pt.getDistance() <= 0.0) { + if ( + pt.getDistance() <= 0.0 || + bodyA->was_colliding(bodyB) || + bodyB->was_colliding(bodyA)) { + Vector3 collisionWorldPosition; Vector3 collisionLocalPosition; Vector3 normalOnB; |