diff options
Diffstat (limited to 'modules/bullet/space_bullet.cpp')
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 738b415d16..d2b16b0fd1 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -582,6 +582,8 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) { world_mem = malloc(sizeof(btDiscreteDynamicsWorld)); } + ERR_FAIL_COND_MSG(!world_mem, "Out of memory."); + if (p_create_soft_world) { collisionConfiguration = bulletnew(GodotSoftCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem))); } else { @@ -1230,7 +1232,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran ERR_FAIL_COND_V(shape_idx < 0 || shape_idx >= cs->getNumChildShapes(), false); if (cs->getChildShape(shape_idx)->isConvex()) { - if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { + if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { penetration = true; } @@ -1241,7 +1243,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran } } } else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape - if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { + if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { penetration = true; } @@ -1257,7 +1259,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran return penetration; } -bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) { +bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) { // Initialize GJK input btGjkPairDetector::ClosestPointInput gjk_input; @@ -1275,6 +1277,7 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt if (r_recover_result) { if (result.m_distance < r_recover_result->penetration_distance) { r_recover_result->hasPenetration = true; + r_recover_result->local_shape_most_recovered = p_shapeId_A; r_recover_result->other_collision_object = p_objectB; r_recover_result->other_compound_shape_index = p_shapeId_B; r_recover_result->penetration_distance = result.m_distance; @@ -1310,6 +1313,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC if (r_recover_result) { if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) { r_recover_result->hasPenetration = true; + r_recover_result->local_shape_most_recovered = p_shapeId_A; r_recover_result->other_collision_object = p_objectB; r_recover_result->other_compound_shape_index = p_shapeId_B; r_recover_result->penetration_distance = contactPointResult.m_penetration_distance; |