diff options
| -rw-r--r-- | servers/physics_3d/collision_solver_3d_sat.cpp | 45 |
1 files changed, 45 insertions, 0 deletions
diff --git a/servers/physics_3d/collision_solver_3d_sat.cpp b/servers/physics_3d/collision_solver_3d_sat.cpp index 651961433c..9c10c2a70b 100644 --- a/servers/physics_3d/collision_solver_3d_sat.cpp +++ b/servers/physics_3d/collision_solver_3d_sat.cpp @@ -1627,6 +1627,51 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform &p SeparatorAxisTest<CapsuleShape3DSW, CylinderShape3DSW, withMargin> separator(capsule_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + if (!separator.test_previous_axis()) { + return; + } + + // Cylinder B end caps. + Vector3 cylinder_B_axis = p_transform_b.basis.get_axis(1).normalized(); + if (!separator.test_axis(cylinder_B_axis)) { + return; + } + + // Cylinder edge against capsule balls. + + Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1); + + Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis * (capsule_A->get_height() * 0.5); + Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis * (capsule_A->get_height() * 0.5); + + if (!separator.test_axis((p_transform_b.origin - capsule_A_ball_1).cross(cylinder_B_axis).cross(cylinder_B_axis).normalized())) { + return; + } + + if (!separator.test_axis((p_transform_b.origin - capsule_A_ball_2).cross(cylinder_B_axis).cross(cylinder_B_axis).normalized())) { + return; + } + + // Cylinder edge against capsule edge. + + Vector3 center_diff = p_transform_b.origin - p_transform_a.origin; + + if (!separator.test_axis(capsule_A_axis.cross(center_diff).cross(capsule_A_axis).normalized())) { + return; + } + + if (!separator.test_axis(cylinder_B_axis.cross(center_diff).cross(cylinder_B_axis).normalized())) { + return; + } + + real_t proj = capsule_A_axis.cross(cylinder_B_axis).cross(cylinder_B_axis).dot(capsule_A_axis); + if (Math::is_zero_approx(proj)) { + // Parallel capsule and cylinder axes, handle with specific axes only. + // Note: GJKEPA with no margin can lead to degenerate cases in this situation. + separator.generate_contacts(); + return; + } + CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CapsuleShape3DSW, CylinderShape3DSW, withMargin>::test_contact_points; // Fallback to generic algorithm to find the best separating axis. |