diff options
Diffstat (limited to 'modules/bullet/space_bullet.cpp')
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 29 |
1 files changed, 17 insertions, 12 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index ba4c72f4c7..ab2d1781ad 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -175,7 +175,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf btResult.m_collisionFilterGroup = 0; btResult.m_collisionFilterMask = p_collision_mask; - space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, 0.002); + space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, space->dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration); r_closest_unsafe = 1.0; r_closest_safe = 1.0; @@ -540,17 +540,20 @@ void onBulletPreTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep void onBulletTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) { - // Notify all Collision objects the collision checker is started const btCollisionObjectArray &colObjArray = p_dynamicsWorld->getCollisionObjectArray(); + + // Notify all Collision objects the collision checker is started for (int i = colObjArray.size() - 1; 0 <= i; --i) { - CollisionObjectBullet *colObj = static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer()); - assert(NULL != colObj); - colObj->on_collision_checker_start(); + static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->on_collision_checker_start(); } SpaceBullet *sb = static_cast<SpaceBullet *>(p_dynamicsWorld->getWorldUserInfo()); sb->check_ghost_overlaps(); sb->check_body_collision(); + + for (int i = colObjArray.size() - 1; 0 <= i; --i) { + static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->on_collision_checker_end(); + } } BulletPhysicsDirectSpaceState *SpaceBullet::get_direct_state() { @@ -571,7 +574,6 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) { gjk_epa_pen_solver = bulletnew(btGjkEpaPenetrationDepthSolver); gjk_simplex_solver = bulletnew(btVoronoiSimplexSolver); - gjk_simplex_solver->setEqualVertexThreshold(0.f); void *world_mem; if (p_create_soft_world) { @@ -650,7 +652,6 @@ void SpaceBullet::check_ghost_overlaps() { btConvexShape *area_shape; btGjkPairDetector::ClosestPointInput gjk_input; AreaBullet *area; - RigidCollisionObjectBullet *otherObject; int x(-1), i(-1), y(-1), z(-1), indexOverlap(-1); /// For each areas @@ -677,13 +678,17 @@ void SpaceBullet::check_ghost_overlaps() { // For each overlapping for (i = ghostOverlaps.size() - 1; 0 <= i; --i) { - if (ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_AREA) { - if (!static_cast<AreaBullet *>(ghostOverlaps[i]->getUserPointer())->is_monitorable()) - continue; - } else if (ghostOverlaps[i]->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY) + btCollisionObject *overlapped_bt_co = ghostOverlaps[i]; + RigidCollisionObjectBullet *otherObject = static_cast<RigidCollisionObjectBullet *>(overlapped_bt_co->getUserPointer()); + + if (!area->is_transform_changed() && !otherObject->is_transform_changed()) continue; - otherObject = static_cast<RigidCollisionObjectBullet *>(ghostOverlaps[i]->getUserPointer()); + if (overlapped_bt_co->getUserIndex() == CollisionObjectBullet::TYPE_AREA) { + if (!static_cast<AreaBullet *>(overlapped_bt_co->getUserPointer())->is_monitorable()) + continue; + } else if (overlapped_bt_co->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY) + continue; bool hasOverlap = false; |