diff options
Diffstat (limited to 'modules/bullet/space_bullet.cpp')
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 68 |
1 files changed, 51 insertions, 17 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 6562b18b3c..8fb8eba057 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -658,6 +658,8 @@ void SpaceBullet::check_ghost_overlaps() { for (x = areas.size() - 1; 0 <= x; --x) { area = areas[x]; + btVector3 area_scale(area->get_bt_body_scale()); + if (!area->is_monitoring()) continue; @@ -681,9 +683,10 @@ void SpaceBullet::check_ghost_overlaps() { bool hasOverlap = false; btCollisionObject *overlapped_bt_co = ghostOverlaps[i]; RigidCollisionObjectBullet *otherObject = static_cast<RigidCollisionObjectBullet *>(overlapped_bt_co->getUserPointer()); + btVector3 other_body_scale(otherObject->get_bt_body_scale()); if (!area->is_transform_changed() && !otherObject->is_transform_changed()) { - hasOverlap = true; + hasOverlap = -1 != area->find_overlapping_object(otherObject); goto collision_found; } @@ -698,19 +701,38 @@ void SpaceBullet::check_ghost_overlaps() { if (!area->get_bt_shape(y)->isConvex()) continue; - gjk_input.m_transformA = area->get_transform__bullet() * area->get_bt_shape_transform(y); + btTransform area_shape_treansform(area->get_bt_shape_transform(y)); + area_shape_treansform.getOrigin() *= area_scale; + + gjk_input.m_transformA = + area->get_transform__bullet() * + area_shape_treansform; + area_shape = static_cast<btConvexShape *>(area->get_bt_shape(y)); // For each other object shape for (z = otherObject->get_shape_count() - 1; 0 <= z; --z) { other_body_shape = static_cast<btCollisionShape *>(otherObject->get_bt_shape(z)); - gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_bt_shape_transform(z); + + if (other_body_shape->isConcave()) + continue; + + btTransform other_shape_transform(otherObject->get_bt_shape_transform(z)); + other_shape_transform.getOrigin() *= other_body_scale; + + gjk_input.m_transformB = + otherObject->get_transform__bullet() * + other_shape_transform; if (other_body_shape->isConvex()) { btPointCollector result; - btGjkPairDetector gjk_pair_detector(area_shape, static_cast<btConvexShape *>(other_body_shape), gjk_simplex_solver, gjk_epa_pen_solver); + btGjkPairDetector gjk_pair_detector( + area_shape, + static_cast<btConvexShape *>(other_body_shape), + gjk_simplex_solver, + gjk_epa_pen_solver); gjk_pair_detector.getClosestPoints(gjk_input, result, 0); if (0 >= result.m_distance) { @@ -1224,6 +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()); @@ -1275,22 +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); + } } } |