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-rw-r--r--modules/bullet/bullet_physics_server.cpp16
-rw-r--r--modules/bullet/bullet_physics_server.h5
-rw-r--r--modules/bullet/collision_object_bullet.cpp9
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp48
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.h3
-rw-r--r--modules/bullet/godot_result_callbacks.cpp9
-rw-r--r--modules/bullet/rigid_body_bullet.cpp26
-rw-r--r--modules/bullet/rigid_body_bullet.h15
-rw-r--r--modules/bullet/shape_bullet.cpp57
-rw-r--r--modules/bullet/space_bullet.cpp10
10 files changed, 179 insertions, 19 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 315afe3d72..7bc731e75e 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -1471,6 +1471,22 @@ bool BulletPhysicsServer::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis
return generic_6dof_joint->get_flag(p_axis, p_flag);
}
+void BulletPhysicsServer::generic_6dof_joint_set_precision(RID p_joint, int p_precision) {
+ JointBullet *joint = joint_owner.get(p_joint);
+ ERR_FAIL_COND(!joint);
+ ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
+ Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
+ generic_6dof_joint->set_precision(p_precision);
+}
+
+int BulletPhysicsServer::generic_6dof_joint_get_precision(RID p_joint) {
+ JointBullet *joint = joint_owner.get(p_joint);
+ ERR_FAIL_COND_V(!joint, 0);
+ ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0);
+ Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
+ return generic_6dof_joint->get_precision();
+}
+
void BulletPhysicsServer::free(RID p_rid) {
if (shape_owner.owns(p_rid)) {
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 6b7dcd86e6..0cea3f5ba6 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -375,6 +375,9 @@ public:
virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable);
virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag);
+ virtual void generic_6dof_joint_set_precision(RID p_joint, int precision);
+ virtual int generic_6dof_joint_get_precision(RID p_joint);
+
/* MISC */
virtual void free(RID p_rid);
@@ -397,6 +400,8 @@ public:
virtual void flush_queries();
virtual void finish();
+ virtual bool is_flushing_queries() const { return false; }
+
virtual int get_process_info(ProcessInfo p_info);
CollisionObjectBullet *get_collisin_object(RID p_object) const;
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index 402a276f95..441fa7c8af 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -304,7 +304,11 @@ bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
}
void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
- bulletdelete(shapes.write[p_shape_index].bt_shape);
+ ShapeWrapper &shp = shapes.write[p_shape_index];
+ if (shp.bt_shape == mainShape) {
+ mainShape = NULL;
+ }
+ bulletdelete(shp.bt_shape);
reload_shapes();
}
@@ -366,5 +370,8 @@ void RigidCollisionObjectBullet::body_scale_changed() {
void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {
ShapeWrapper &shp = shapes.write[p_index];
shp.shape->remove_owner(this, p_permanentlyFromThisBody);
+ if (shp.bt_shape == mainShape) {
+ mainShape = NULL;
+ }
bulletdelete(shp.bt_shape);
}
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index a36f1123bc..812dcd2d56 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -135,6 +135,15 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis] = p_value;
break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis] = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis] = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis] = p_value;
+ break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
limits_lower[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
@@ -143,6 +152,9 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
limits_upper[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
+ break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
break;
@@ -152,6 +164,15 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint = p_value;
+ break;
default:
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_DEPRECATED
@@ -170,6 +191,12 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
return sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis];
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
+ return sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis];
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
+ return sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis];
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
+ return sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
return limits_lower[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
@@ -182,6 +209,12 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
+ return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
+ return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
+ return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint;
default:
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_DEPRECATED;
@@ -215,6 +248,12 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_enableSpring[p_axis] = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableSpring = p_value;
+ break;
default:
ERR_EXPLAIN("This flag " + itos(p_flag) + " is deprecated");
WARN_DEPRECATED
@@ -224,6 +263,13 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
ERR_FAIL_INDEX_V(p_axis, 3, false);
-
return flags[p_axis][p_flag];
}
+
+void Generic6DOFJointBullet::set_precision(int p_precision) {
+ sixDOFConstraint->setOverrideNumSolverIterations(MAX(1, p_precision));
+}
+
+int Generic6DOFJointBullet::get_precision() const {
+ return sixDOFConstraint->getOverrideNumSolverIterations();
+}
diff --git a/modules/bullet/generic_6dof_joint_bullet.h b/modules/bullet/generic_6dof_joint_bullet.h
index 176127ed6c..848c3a10cd 100644
--- a/modules/bullet/generic_6dof_joint_bullet.h
+++ b/modules/bullet/generic_6dof_joint_bullet.h
@@ -68,6 +68,9 @@ public:
void set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value);
bool get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const;
+
+ void set_precision(int p_precision);
+ int get_precision() const;
};
#endif
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index 3b44ab838e..3dc9f3fce5 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -102,6 +102,9 @@ bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) con
}
btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
+ if (count >= m_resultMax)
+ return 1; // not used by bullet
+
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer());
PhysicsDirectSpaceState::ShapeResult &result = m_results[count];
@@ -172,6 +175,9 @@ btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::Loc
}
bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
+ if (m_count >= m_resultMax)
+ return false;
+
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
@@ -249,6 +255,8 @@ bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *pr
}
btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
+ if (m_count >= m_resultMax)
+ return 1; // not used by bullet
if (m_self_object == colObj0Wrap->getCollisionObject()) {
B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 0]); // Local contact
@@ -296,6 +304,7 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp
colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
m_result->shape = cp.m_index1;
B_TO_G(cp.getPositionWorldOnB(), m_result->point);
+ B_TO_G(cp.m_normalWorldOnB, m_result->normal);
m_rest_info_bt_point = cp.getPositionWorldOnB();
m_rest_info_collision_object = colObj1Wrap->getCollisionObject();
} else {
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 37e7718969..9dd04100ed 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -268,6 +268,7 @@ RigidBodyBullet::RigidBodyBullet() :
can_integrate_forces(false),
maxCollisionsDetection(0),
collisionsCount(0),
+ prev_collision_count(0),
maxAreasWhereIam(10),
areaWhereIamCount(0),
countGravityPointSpaces(0),
@@ -293,6 +294,9 @@ RigidBodyBullet::RigidBodyBullet() :
areasWhereIam.write[i] = NULL;
}
btBody->setSleepingThresholds(0.2, 0.2);
+
+ prev_collision_traces = &collision_traces_1;
+ curr_collision_traces = &collision_traces_2;
}
RigidBodyBullet::~RigidBodyBullet() {
@@ -410,7 +414,14 @@ void RigidBodyBullet::on_collision_filters_change() {
}
void RigidBodyBullet::on_collision_checker_start() {
+
+ prev_collision_count = collisionsCount;
collisionsCount = 0;
+
+ // Swap array
+ Vector<RigidBodyBullet *> *s = prev_collision_traces;
+ prev_collision_traces = curr_collision_traces;
+ curr_collision_traces = s;
}
void RigidBodyBullet::on_collision_checker_end() {
@@ -433,10 +444,20 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
cd.other_object_shape = p_other_shape_index;
cd.local_shape = p_local_shape_index;
+ curr_collision_traces->write[collisionsCount] = p_otherObject;
+
++collisionsCount;
return true;
}
+bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) {
+ for (int i = prev_collision_count - 1; 0 <= i; --i) {
+ if ((*prev_collision_traces)[i] == p_other_object)
+ return true;
+ }
+ return false;
+}
+
void RigidBodyBullet::assert_no_constraints() {
if (btBody->getNumConstraintRefs()) {
WARN_PRINT("A body with a joints is destroyed. Please check the implementation in order to destroy the joint before the body.");
@@ -797,7 +818,10 @@ void RigidBodyBullet::reload_shapes() {
const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
if (mainShape) {
- btVector3 inertia;
+ // inertia initialised zero here because some of bullet's collision
+ // shapes incorrectly do not set the vector in calculateLocalIntertia.
+ // Arbitrary zero is preferable to undefined behaviour.
+ btVector3 inertia(0, 0, 0);
mainShape->calculateLocalInertia(mass, inertia);
btBody->setMassProps(mass, inertia);
}
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 26e5018c87..0696073d21 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -205,9 +205,15 @@ private:
bool can_integrate_forces;
Vector<CollisionData> collisions;
+ Vector<RigidBodyBullet *> collision_traces_1;
+ Vector<RigidBodyBullet *> collision_traces_2;
+ Vector<RigidBodyBullet *> *prev_collision_traces;
+ Vector<RigidBodyBullet *> *curr_collision_traces;
+
// these parameters are used to avoid vector resize
int maxCollisionsDetection;
int collisionsCount;
+ int prev_collision_count;
Vector<AreaBullet *> areasWhereIam;
// these parameters are used to avoid vector resize
@@ -244,9 +250,17 @@ public:
virtual void on_collision_checker_end();
void set_max_collisions_detection(int p_maxCollisionsDetection) {
+
+ ERR_FAIL_COND(0 > p_maxCollisionsDetection);
+
maxCollisionsDetection = p_maxCollisionsDetection;
+
collisions.resize(p_maxCollisionsDetection);
+ collision_traces_1.resize(p_maxCollisionsDetection);
+ collision_traces_2.resize(p_maxCollisionsDetection);
+
collisionsCount = 0;
+ prev_collision_count = MIN(prev_collision_count, p_maxCollisionsDetection);
}
int get_max_collisions_detection() {
return maxCollisionsDetection;
@@ -254,6 +268,7 @@ public:
bool can_add_collision() { return collisionsCount < maxCollisionsDetection; }
bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index);
+ bool was_colliding(RigidBodyBullet *p_other_object);
void assert_no_constraints();
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index 8bb621a863..55dcd9c323 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -461,7 +461,47 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
int l_width = d["width"];
int l_depth = d["depth"];
- PoolVector<real_t> l_heights = d["heights"];
+
+ // TODO This code will need adjustments if real_t is set to `double`,
+ // because that precision is unnecessary for a heightmap and Bullet doesn't support it...
+
+ PoolVector<real_t> l_heights;
+ Variant l_heights_v = d["heights"];
+
+ if (l_heights_v.get_type() == Variant::POOL_REAL_ARRAY) {
+ // Ready-to-use heights can be passed
+
+ l_heights = l_heights_v;
+
+ } else if (l_heights_v.get_type() == Variant::OBJECT) {
+ // If an image is passed, we have to convert it to a format Bullet supports.
+ // this would be expensive to do with a script, so it's nice to have it here.
+
+ Ref<Image> l_image = l_heights_v;
+ ERR_FAIL_COND(l_image.is_null());
+
+ // Float is the only common format between Godot and Bullet that can be used for decent collision.
+ // (Int16 would be nice too but we still don't have it)
+ // We could convert here automatically but it's better to not be intrusive and let the caller do it if necessary.
+ ERR_FAIL_COND(l_image->get_format() != Image::FORMAT_RF);
+
+ PoolByteArray im_data = l_image->get_data();
+
+ l_heights.resize(l_image->get_width() * l_image->get_height());
+
+ PoolRealArray::Write w = l_heights.write();
+ PoolByteArray::Read r = im_data.read();
+ float *rp = (float *)r.ptr();
+ // At this point, `rp` could be used directly for Bullet, but I don't know how safe it would be.
+
+ for (int i = 0; i < l_heights.size(); ++i) {
+ w[i] = rp[i];
+ }
+
+ } else {
+ ERR_EXPLAIN("Expected PoolRealArray or float Image.");
+ ERR_FAIL();
+ }
ERR_FAIL_COND(l_width <= 0);
ERR_FAIL_COND(l_depth <= 0);
@@ -497,19 +537,8 @@ PhysicsServer::ShapeType HeightMapShapeBullet::get_type() const {
void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
// TODO cell size must be tweaked using localScaling, which is a shared property for all Bullet shapes
- { // Copy
-
- // TODO If Godot supported 16-bit integer image format, we could share the same memory block for heightfields
- // without having to copy anything, optimizing memory and loading performance (Bullet only reads and doesn't take ownership of the data).
-
- const int heights_size = p_heights.size();
- heights.resize(heights_size);
- PoolVector<real_t>::Read p_heights_r = p_heights.read();
- PoolVector<real_t>::Write heights_w = heights.write();
- for (int i = heights_size - 1; 0 <= i; --i) {
- heights_w[i] = p_heights_r[i];
- }
- }
+ // If this array is resized outside of here, it should be preserved due to CoW
+ heights = p_heights;
width = p_width;
depth = p_depth;
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index ab2d1781ad..fed12cd5ed 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -786,16 +786,22 @@ void SpaceBullet::check_body_collision() {
}
const int numContacts = contactManifold->getNumContacts();
+
+ /// Since I don't need report all contacts for these objects,
+ /// So report only the first
#define REPORT_ALL_CONTACTS 0
#if REPORT_ALL_CONTACTS
for (int j = 0; j < numContacts; j++) {
btManifoldPoint &pt = contactManifold->getContactPoint(j);
#else
- // Since I don't need report all contacts for these objects, I'll report only the first
if (numContacts) {
btManifoldPoint &pt = contactManifold->getContactPoint(0);
#endif
- if (pt.getDistance() <= 0.0) {
+ if (
+ pt.getDistance() <= 0.0 ||
+ bodyA->was_colliding(bodyB) ||
+ bodyB->was_colliding(bodyA)) {
+
Vector3 collisionWorldPosition;
Vector3 collisionLocalPosition;
Vector3 normalOnB;
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-21 03:22:22 +0000