godotengine/godot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #47084 from nekomatata/cylinder-capsule-collision-fix

Browse Source 
Fix capsule-cylinder collision in godot physics
This commit is contained in:
Rémi Verschelde 2021-03-17 11:01:04 +01:00 committed by GitHub
commit 3651406258
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 45 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

45
servers/physics_3d/collision_solver_3d_sat.cpp
View File

@ -1627,6 +1627,51 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform &p
SeparatorAxisTest<CapsuleShape3DSW, CylinderShape3DSW, withMargin> separator(capsule_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
if (!separator.test_previous_axis()) {
return;
}
// Cylinder B end caps.
Vector3 cylinder_B_axis = p_transform_b.basis.get_axis(1).normalized();
if (!separator.test_axis(cylinder_B_axis)) {
return;
}
// Cylinder edge against capsule balls.
Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1);
Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis * (capsule_A->get_height() * 0.5);
Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis * (capsule_A->get_height() * 0.5);
if (!separator.test_axis((p_transform_b.origin - capsule_A_ball_1).cross(cylinder_B_axis).cross(cylinder_B_axis).normalized())) {
return;
}
if (!separator.test_axis((p_transform_b.origin - capsule_A_ball_2).cross(cylinder_B_axis).cross(cylinder_B_axis).normalized())) {
return;
}
// Cylinder edge against capsule edge.
Vector3 center_diff = p_transform_b.origin - p_transform_a.origin;
if (!separator.test_axis(capsule_A_axis.cross(center_diff).cross(capsule_A_axis).normalized())) {
return;
}
if (!separator.test_axis(cylinder_B_axis.cross(center_diff).cross(cylinder_B_axis).normalized())) {
return;
}
real_t proj = capsule_A_axis.cross(cylinder_B_axis).cross(cylinder_B_axis).dot(capsule_A_axis);
if (Math::is_zero_approx(proj)) {
// Parallel capsule and cylinder axes, handle with specific axes only.
// Note: GJKEPA with no margin can lead to degenerate cases in this situation.
separator.generate_contacts();
return;
}
CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CapsuleShape3DSW, CylinderShape3DSW, withMargin>::test_contact_points;
// Fallback to generic algorithm to find the best separating axis.