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-rw-r--r--modules/bullet/rigid_body_bullet.h2
-rw-r--r--modules/bullet/space_bullet.cpp12
-rw-r--r--modules/bullet/space_bullet.h2
3 files changed, 11 insertions, 5 deletions
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 2c9bdb8b0b..f63148092f 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -305,7 +305,7 @@ public:
void reload_axis_lock();
/// Doc:
- /// http://www.bulletphysics.org/mediawiki-1.5.8/index.php?title=Anti_tunneling_by_Motion_Clamping
+ /// https://web.archive.org/web/20180404091446/http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Anti_tunneling_by_Motion_Clamping
void set_continuous_collision_detection(bool p_enable);
bool is_continuous_collision_detection_enabled() const;
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 738b415d16..f475ba23f6 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -581,6 +581,10 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) {
} else {
world_mem = malloc(sizeof(btDiscreteDynamicsWorld));
}
+ if (!world_mem) {
+ ERR_EXPLAIN("Out of memory");
+ ERR_FAIL();
+ }
if (p_create_soft_world) {
collisionConfiguration = bulletnew(GodotSoftCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem)));
@@ -1230,7 +1234,7 @@ 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 +1245,7 @@ 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 +1261,7 @@ 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 +1279,7 @@ 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 +1315,7 @@ 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;
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index eb4a065e54..ecf8a2db9d 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -208,7 +208,7 @@ private:
bool 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 = NULL);
/// This is an API that recover a kinematic object from penetration
/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
- bool 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 = NULL);
+ bool 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 = NULL);
/// This is an API that recover a kinematic object from penetration
/// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm
bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, 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 = NULL);
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-19 10:01:19 +0000