diff options
Diffstat (limited to 'modules/bullet/space_bullet.cpp')
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 20 |
1 files changed, 9 insertions, 11 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 56441f7ef2..51a76ff8c5 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -628,7 +628,7 @@ void SpaceBullet::destroy_world() { void SpaceBullet::check_ghost_overlaps() { - /// Algorith support variables + /// Algorithm support variables btConvexShape *other_body_shape; btConvexShape *area_shape; btGjkPairDetector::ClosestPointInput gjk_input; @@ -660,7 +660,10 @@ void SpaceBullet::check_ghost_overlaps() { // For each overlapping for (i = ghostOverlaps.size() - 1; 0 <= i; --i) { - if (!(ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_RIGID_BODY || ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_AREA)) + 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) continue; otherObject = static_cast<RigidCollisionObjectBullet *>(ghostOverlaps[i]->getUserPointer()); @@ -790,7 +793,7 @@ void SpaceBullet::update_gravity() { /// I'm leaving this here just for future tests. /// Debug motion and normal vector drawing #define debug_test_motion 0 -#define PERFORM_INITIAL_UNSTACK 0 + #define RECOVERING_MOVEMENT_SCALE 0.4 #define RECOVERING_MOVEMENT_CYCLES 4 @@ -842,7 +845,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f G_TO_B(p_from, body_safe_position); UNSCALE_BT_BASIS(body_safe_position); -#if PERFORM_INITIAL_UNSTACK btVector3 recover_initial_position(0, 0, 0); { /// Phase one - multi shapes depenetration using margin for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) { @@ -854,7 +856,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f // Add recover movement in order to make it safe body_safe_position.getOrigin() += recover_initial_position; } -#endif btVector3 motion; G_TO_B(p_motion, motion); @@ -893,7 +894,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f btResult.m_collisionFilterGroup = p_body->get_collision_layer(); btResult.m_collisionFilterMask = p_body->get_collision_mask(); - dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, 0.002); + dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration); if (btResult.hasHit()) { /// Since for each sweep test I fix the motion of new shapes in base the recover result, @@ -918,11 +919,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, delta_recover_movement, &r_recover_result); if (r_result) { -#if PERFORM_INITIAL_UNSTACK B_TO_G(motion + delta_recover_movement + recover_initial_position, r_result->motion); -#else - B_TO_G(motion + delta_recover_movement, r_result->motion); -#endif + if (l_has_penetration) { has_penetration = true; if (l_penetration_distance <= r_recover_result.penetration_distance) { @@ -1112,7 +1110,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, tA, -1, p_shapeId_A); btCollisionObjectWrapper obB(NULL, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B); - btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CLOSEST_POINT_ALGORITHMS); + btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS); if (algorithm) { GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB); //discrete collision detection query |