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-rw-r--r--modules/bullet/space_bullet.cpp79
1 files changed, 57 insertions, 22 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index fed12cd5ed..8fb8eba057 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */
+/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
@@ -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;
@@ -678,11 +680,15 @@ void SpaceBullet::check_ghost_overlaps() {
// For each overlapping
for (i = ghostOverlaps.size() - 1; 0 <= i; --i) {
+ 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())
- continue;
+ if (!area->is_transform_changed() && !otherObject->is_transform_changed()) {
+ hasOverlap = -1 != area->find_overlapping_object(otherObject);
+ goto collision_found;
+ }
if (overlapped_bt_co->getUserIndex() == CollisionObjectBullet::TYPE_AREA) {
if (!static_cast<AreaBullet *>(overlapped_bt_co->getUserPointer())->is_monitorable())
@@ -690,26 +696,43 @@ void SpaceBullet::check_ghost_overlaps() {
} else if (overlapped_bt_co->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY)
continue;
- bool hasOverlap = false;
-
// For each area shape
for (y = area->get_shape_count() - 1; 0 <= y; --y) {
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) {
@@ -1223,6 +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());
@@ -1274,22 +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);
+ }
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-16 10:05:07 +0000