diff options
Diffstat (limited to 'modules/bullet')
| -rw-r--r-- | modules/bullet/rigid_body_bullet.cpp | 10 | ||||
| -rw-r--r-- | modules/bullet/shape_bullet.cpp | 8 | ||||
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 4 |
3 files changed, 13 insertions, 9 deletions
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index e5f70a0b34..733a900396 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -741,22 +741,20 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) { if (p_enable) { // This threshold enable CCD if the object moves more than // 1 meter in one simulation frame - btBody->setCcdMotionThreshold(0.1); + btBody->setCcdMotionThreshold(1e-7); /// Calculate using the rule writte below the CCD swept sphere radius /// CCD works on an embedded sphere of radius, make sure this radius /// is embedded inside the convex objects, preferably smaller: /// for an object of dimensions 1 meter, try 0.2 - btScalar radius; + btScalar radius(1.0); if (btBody->getCollisionShape()) { btVector3 center; btBody->getCollisionShape()->getBoundingSphere(center, radius); - } else { - radius = 0; } btBody->setCcdSweptSphereRadius(radius * 0.2); } else { - btBody->setCcdMotionThreshold(0.); + btBody->setCcdMotionThreshold(10000.0); btBody->setCcdSweptSphereRadius(0.); } } @@ -834,7 +832,7 @@ void RigidBodyBullet::reload_shapes() { btBody->updateInertiaTensor(); reload_kinematic_shapes(); - + set_continuous_collision_detection(btBody->getCcdMotionThreshold() < 9998.0); reload_body(); } diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp index b590d63167..f15bcec914 100644 --- a/modules/bullet/shape_bullet.cpp +++ b/modules/bullet/shape_bullet.cpp @@ -148,7 +148,13 @@ btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<rea const bool flipQuadEdges = false; const void *heightsPtr = p_heights.read().ptr(); - return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges)); + btHeightfieldTerrainShape *heightfield = bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges)); + + // The shape can be created without params when you do PhysicsServer.shape_create(PhysicsServer.SHAPE_HEIGHTMAP) + if (heightsPtr) + heightfield->buildAccelerator(16); + + return heightfield; } btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) { diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 6bfd98873e..738b415d16 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -1152,7 +1152,7 @@ public: bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) { - // Calculate the cummulative AABB of all shapes of the kinematic body + // Calculate the cumulative AABB of all shapes of the kinematic body btVector3 aabb_min, aabb_max; bool shapes_found = false; @@ -1347,7 +1347,7 @@ int SpaceBullet::add_separation_result(PhysicsServer::SeparationResult *r_result 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) { - // Calculate the cummulative AABB of all shapes of the kinematic body + // Calculate the cumulative AABB of all shapes of the kinematic body btVector3 aabb_min, aabb_max; bool shapes_found = false; |