diff options
Diffstat (limited to 'modules/bullet/godot_result_callbacks.cpp')
| -rw-r--r-- | modules/bullet/godot_result_callbacks.cpp | 30 |
1 files changed, 16 insertions, 14 deletions
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp index 8d4ca6d6a7..72c982bb0b 100644 --- a/modules/bullet/godot_result_callbacks.cpp +++ b/modules/bullet/godot_result_callbacks.cpp @@ -98,11 +98,16 @@ bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *prox if (gObj == m_self_object) { return false; } else { - if (m_ignore_areas && gObj->getType() == CollisionObjectBullet::TYPE_AREA) { + + // A kinematic body can't be stopped by a rigid body since the mass of kinematic body is infinite + if (m_infinite_inertia && !btObj->isStaticOrKinematicObject()) return false; - } else if (m_self_object->has_collision_exception(gObj)) { + + if (gObj->getType() == CollisionObjectBullet::TYPE_AREA) + return false; + + if (m_self_object->has_collision_exception(gObj)) return false; - } } return true; } else { @@ -252,18 +257,15 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) { - if (depth < 0) { - // Has penetration - if (m_most_penetrated_distance > depth) { + // Has penetration + if (m_penetration_distance < ABS(depth)) { - bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); + bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); - m_most_penetrated_distance = depth; - m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject(); - m_other_compound_shape_index = isSwapped ? m_index1 : m_index0; - m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld; - m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB; - m_penetration_distance = depth; - } + m_penetration_distance = depth; + m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject(); + m_other_compound_shape_index = isSwapped ? m_index1 : m_index0; + m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld; + m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB; } } |