diff options
Diffstat (limited to 'modules/bullet/space_bullet.cpp')
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 38 |
1 files changed, 25 insertions, 13 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index c93220fc17..8fb8eba057 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -1246,6 +1246,21 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC return false; } +void SpaceBullet::convert_to_separation_result(PhysicsServer::SeparationResult *r_result, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const { + + const btRigidBody *btRigid = static_cast<const btRigidBody *>(p_other_object); + CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(p_other_object->getUserPointer()); + + r_result->collision_depth = p_recover_result.penetration_distance; + B_TO_G(p_recover_result.pointWorld, r_result->collision_point); + B_TO_G(p_recover_result.normal, r_result->collision_normal); + B_TO_G(btRigid->getVelocityInLocalPoint(p_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); + r_result->collision_local_shape = p_shape_id; + r_result->collider_id = collisionObject->get_instance_id(); + r_result->collider = collisionObject->get_self(); + r_result->collider_shape = p_recover_result.other_compound_shape_index; +} + int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer::SeparationResult *r_results) { RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask()); @@ -1297,22 +1312,19 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT btCompoundShape *cs = static_cast<btCompoundShape *>(otherObject->getCollisionShape()); for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) { - RecoverResult r_recover_result; - if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_delta_recover_movement, &r_recover_result)) { + RecoverResult recover_result; + if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) { - const btRigidBody *btRigid = static_cast<const btRigidBody *>(otherObject); - CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(otherObject->getUserPointer()); - - r_results[ray_index].collision_depth = r_recover_result.penetration_distance; - B_TO_G(r_recover_result.pointWorld, r_results[ray_index].collision_point); - B_TO_G(r_recover_result.normal, r_results[ray_index].collision_normal); - B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_results[ray_index].collider_velocity); - r_results[ray_index].collision_local_shape = kinIndex; - r_results[ray_index].collider_id = collisionObject->get_instance_id(); - r_results[ray_index].collider = collisionObject->get_self(); - r_results[ray_index].collider_shape = r_recover_result.other_compound_shape_index; + convert_to_separation_result(&r_results[ray_index], recover_result, kinIndex, otherObject); } } + } else { + + RecoverResult recover_result; + if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, body_shape_position, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) { + + convert_to_separation_result(&r_results[ray_index], recover_result, kinIndex, otherObject); + } } } |