diff options
Diffstat (limited to 'modules/bullet/godot_result_callbacks.cpp')
| -rw-r--r-- | modules/bullet/godot_result_callbacks.cpp | 22 |
1 files changed, 20 insertions, 2 deletions
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp index bc60c9cb6b..cbf30c8a2e 100644 --- a/modules/bullet/godot_result_callbacks.cpp +++ b/modules/bullet/godot_result_callbacks.cpp @@ -77,7 +77,7 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo PhysicsDirectSpaceState::ShapeResult &result = m_results[count]; - result.shape = convexResult.m_localShapeInfo->m_shapePart; + result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID result.rid = gObj->get_self(); result.collider_id = gObj->get_instance_id(); result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id); @@ -122,7 +122,7 @@ bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) { btScalar res = btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace); - m_shapePart = convexResult.m_localShapeInfo->m_shapePart; + m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID return res; } @@ -242,3 +242,21 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp return cp.getDistance(); } + +void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) { + + if (depth < 0) { + // Has penetration + if (m_most_penetrated_distance > depth) { + + 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; + } + } +} |