diff options
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 82 |
1 files changed, 34 insertions, 48 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 3a1f5d78dd..971fd39509 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -841,20 +841,19 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f } #endif - btTransform body_safe_position; - G_TO_B(p_from, body_safe_position); - UNSCALE_BT_BASIS(body_safe_position); + btTransform body_transform; + G_TO_B(p_from, body_transform); + UNSCALE_BT_BASIS(body_transform); - btVector3 recover_initial_position(0, 0, 0); + btVector3 initial_recover_motion(0, 0, 0); { /// Phase one - multi shapes depenetration using margin for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) { - if (!recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, recover_initial_position)) { + if (!recover_from_penetration(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, initial_recover_motion)) { break; } } - // Add recover movement in order to make it safe - body_safe_position.getOrigin() += recover_initial_position; + body_transform.getOrigin() += initial_recover_motion; } btVector3 motion; @@ -885,7 +884,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f } btConvexShape *convex_shape_test(static_cast<btConvexShape *>(p_body->get_bt_shape(shIndex))); - btTransform shape_world_from = body_safe_position * p_body->get_kinematic_utilities()->shapes[shIndex].transform; + btTransform shape_world_from = body_transform * p_body->get_kinematic_utilities()->shapes[shIndex].transform; btTransform shape_world_to(shape_world_from); shape_world_to.getOrigin() += motion; @@ -903,62 +902,49 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f } } - body_safe_position.getOrigin() += motion; + body_transform.getOrigin() += motion; } bool has_penetration = false; - { /// Phase three - Recover + contact test with margin + { /// Phase three - contact test with margin - btVector3 delta_recover_movement(0, 0, 0); + btVector3 __rec(0, 0, 0); RecoverResult r_recover_result; - bool l_has_penetration; - real_t l_penetration_distance = 1e20; - for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) { - l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, delta_recover_movement, &r_recover_result); + has_penetration = recover_from_penetration(p_body, body_transform, 0, p_infinite_inertia, __rec, &r_recover_result); - if (r_result) { - B_TO_G(motion + delta_recover_movement + recover_initial_position, r_result->motion); + // Parse results + if (r_result) { + B_TO_G(motion + initial_recover_motion, r_result->motion); - if (l_has_penetration) { - has_penetration = true; - if (l_penetration_distance <= r_recover_result.penetration_distance) { - continue; - } + if (has_penetration) { - l_penetration_distance = r_recover_result.penetration_distance; + const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object); + CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer()); - const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object); - CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer()); + B_TO_G(motion, r_result->remainder); // is the remaining movements + r_result->remainder = p_motion - r_result->remainder; - B_TO_G(motion, r_result->remainder); // is the remaining movements - r_result->remainder = p_motion - r_result->remainder; - B_TO_G(r_recover_result.pointWorld, r_result->collision_point); - B_TO_G(r_recover_result.normal, r_result->collision_normal); - B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot - r_result->collider = collisionObject->get_self(); - r_result->collider_id = collisionObject->get_instance_id(); - r_result->collider_shape = r_recover_result.other_compound_shape_index; - r_result->collision_local_shape = r_recover_result.local_shape_most_recovered; + B_TO_G(r_recover_result.pointWorld, r_result->collision_point); + B_TO_G(r_recover_result.normal, r_result->collision_normal); + B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot + r_result->collider = collisionObject->get_self(); + r_result->collider_id = collisionObject->get_instance_id(); + r_result->collider_shape = r_recover_result.other_compound_shape_index; + r_result->collision_local_shape = r_recover_result.local_shape_most_recovered; #if debug_test_motion - Vector3 sup_line2; - B_TO_G(motion, sup_line2); - normalLine->clear(); - normalLine->begin(Mesh::PRIMITIVE_LINES, NULL); - normalLine->add_vertex(r_result->collision_point); - normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10); - normalLine->end(); + Vector3 sup_line2; + B_TO_G(motion, sup_line2); + normalLine->clear(); + normalLine->begin(Mesh::PRIMITIVE_LINES, NULL); + normalLine->add_vertex(r_result->collision_point); + normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10); + normalLine->end(); #endif - } else { - r_result->remainder = Vector3(); - } } else { - if (!l_has_penetration) - break; - else - has_penetration = true; + r_result->remainder = Vector3(); } } } |