From 42f2ff2f8d4123c35832b1d5bad85b827220aded Mon Sep 17 00:00:00 2001 From: Andrea Catania Date: Wed, 19 Sep 2018 19:01:59 +0200 Subject: Added check to prevent contact signal to happen too early --- modules/bullet/space_bullet.cpp | 44 +++++++++++++++++++++-------------------- 1 file changed, 23 insertions(+), 21 deletions(-) diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 5b220e1039..404cb8e37b 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -786,30 +786,32 @@ void SpaceBullet::check_body_collision() { if (numContacts) { btManifoldPoint &pt = contactManifold->getContactPoint(0); #endif - Vector3 collisionWorldPosition; - Vector3 collisionLocalPosition; - Vector3 normalOnB; - float appliedImpulse = pt.m_appliedImpulse; - B_TO_G(pt.m_normalWorldOnB, normalOnB); - - if (bodyA->can_add_collision()) { - B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition); - /// pt.m_localPointB Doesn't report the exact point in local space - B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition); - bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, pt.m_index1, pt.m_index0); - } - if (bodyB->can_add_collision()) { - B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition); - /// pt.m_localPointA Doesn't report the exact point in local space - B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition); - bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1); - } + if (pt.getDistance() <= 0.0) { + Vector3 collisionWorldPosition; + Vector3 collisionLocalPosition; + Vector3 normalOnB; + float appliedImpulse = pt.m_appliedImpulse; + B_TO_G(pt.m_normalWorldOnB, normalOnB); + + if (bodyA->can_add_collision()) { + B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition); + /// pt.m_localPointB Doesn't report the exact point in local space + B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition); + bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, pt.m_index1, pt.m_index0); + } + if (bodyB->can_add_collision()) { + B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition); + /// pt.m_localPointA Doesn't report the exact point in local space + B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition); + bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1); + } #ifdef DEBUG_ENABLED - if (is_debugging_contacts()) { - add_debug_contact(collisionWorldPosition); - } + if (is_debugging_contacts()) { + add_debug_contact(collisionWorldPosition); + } #endif + } } } } -- cgit v1.2.3 From 0a2c154c8e5b8f3db24253c49e2309bec2d109f7 Mon Sep 17 00:00:00 2001 From: Andrea Catania Date: Wed, 19 Sep 2018 19:46:07 +0200 Subject: Added automatically set velocity when rigid is kinematic --- modules/bullet/rigid_body_bullet.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index f81cfe84fb..f24c8670a3 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -351,7 +351,7 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) { void RigidBodyBullet::dispatch_callbacks() { /// The check isTransformChanged is necessary in order to call integrated forces only when the first transform is sent - if ((btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && isTransformChanged) { + if ((btBody->isKinematicObject() || btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && isTransformChanged) { if (omit_forces_integration) btBody->clearForces(); @@ -774,10 +774,13 @@ Vector3 RigidBodyBullet::get_angular_velocity() const { void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transform) { if (mode == PhysicsServer::BODY_MODE_KINEMATIC) { + if (space) + btBody->setLinearVelocity((p_global_transform.getOrigin() - btBody->getWorldTransform().getOrigin()) / space->get_delta_time()); // The kinematic use MotionState class godotMotionState->moveBody(p_global_transform); } btBody->setWorldTransform(p_global_transform); + scratch(); } const btTransform &RigidBodyBullet::get_transform__bullet() const { -- cgit v1.2.3