diff options
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 44 |
1 files changed, 33 insertions, 11 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index b12925b073..e8e6fc4d07 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -642,7 +642,7 @@ void SpaceBullet::destroy_world() { void SpaceBullet::check_ghost_overlaps() { /// Algorithm support variables - btConvexShape *other_body_shape; + btCollisionShape *other_body_shape; btConvexShape *area_shape; btGjkPairDetector::ClosestPointInput gjk_input; AreaBullet *area; @@ -694,20 +694,42 @@ void SpaceBullet::check_ghost_overlaps() { // For each other object shape for (z = otherObject->get_compound_shape()->getNumChildShapes() - 1; 0 <= z; --z) { - if (!otherObject->get_compound_shape()->getChildShape(z)->isConvex()) - continue; - - other_body_shape = static_cast<btConvexShape *>(otherObject->get_compound_shape()->getChildShape(z)); + other_body_shape = static_cast<btCollisionShape *>(otherObject->get_compound_shape()->getChildShape(z)); gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_compound_shape()->getChildTransform(z); - btPointCollector result; - btGjkPairDetector gjk_pair_detector(area_shape, other_body_shape, gjk_simplex_solver, gjk_epa_pen_solver); - gjk_pair_detector.getClosestPoints(gjk_input, result, 0); + if (other_body_shape->isConvex()) { + + btPointCollector result; + btGjkPairDetector gjk_pair_detector(area_shape, static_cast<btConvexShape *>(other_body_shape), gjk_simplex_solver, gjk_epa_pen_solver); + gjk_pair_detector.getClosestPoints(gjk_input, result, 0); + + if (0 >= result.m_distance) { + hasOverlap = true; + goto collision_found; + } + + } else { + + btCollisionObjectWrapper obA(NULL, area_shape, area->get_bt_ghost(), gjk_input.m_transformA, -1, y); + btCollisionObjectWrapper obB(NULL, other_body_shape, otherObject->get_bt_collision_object(), gjk_input.m_transformB, -1, z); - if (0 >= result.m_distance) { - hasOverlap = true; - goto collision_found; + btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS); + + if (!algorithm) + continue; + + GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB); + algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult); + + algorithm->~btCollisionAlgorithm(); + dispatcher->freeCollisionAlgorithm(algorithm); + + if (contactPointResult.hasHit()) { + hasOverlap = true; + goto collision_found; + } } + } // ~For each other object shape } // ~For each area shape |