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Merge pull request #17021 from AndreaCatania/kinfix 

Fixed bullet kinematic char sliding
This commit is contained in:
Rémi Verschelde 2018-02-27 11:40:11 +01:00 committed by GitHub
parent 6093660bfb 0e446f8aff
commit 4b9ab27dea
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 15 additions and 26 deletions
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19
modules/bullet/godot_result_callbacks.cpp
View File

@ -257,18 +257,15 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp
void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {
if (depth < 0) {
// Has penetration
if (m_most_penetrated_distance > depth) {
// Has penetration
if (m_penetration_distance < ABS(depth)) {
bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
m_most_penetrated_distance = depth;
m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject();
m_other_compound_shape_index = isSwapped ? m_index1 : m_index0;
m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB;
m_penetration_distance = depth;
}
m_penetration_distance = depth;
m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject();
m_other_compound_shape_index = isSwapped ? m_index1 : m_index0;
m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB;
}
}

7
modules/bullet/godot_result_callbacks.h
View File

@ -187,18 +187,15 @@ struct GodotDeepPenetrationContactResultCallback : public btManifoldResult {
int m_other_compound_shape_index;
const btCollisionObject *m_pointCollisionObject;
btScalar m_most_penetrated_distance;
GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) :
btManifoldResult(body0Wrap, body1Wrap),
m_pointCollisionObject(NULL),
m_penetration_distance(0),
m_other_compound_shape_index(0),
m_most_penetrated_distance(1e20) {}
m_other_compound_shape_index(0) {}
void reset() {
m_pointCollisionObject = NULL;
m_most_penetrated_distance = 1e20;
m_penetration_distance = 0;
}
bool hasHit() {

15
modules/bullet/space_bullet.cpp
View File

@ -790,7 +790,7 @@ void SpaceBullet::update_gravity() {
/// I'm leaving this here just for future tests.
/// Debug motion and normal vector drawing
#define debug_test_motion 0
#define PERFORM_INITIAL_UNSTACK 0
#define RECOVERING_MOVEMENT_SCALE 0.4
#define RECOVERING_MOVEMENT_CYCLES 4
@ -842,7 +842,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
G_TO_B(p_from, body_safe_position);
UNSCALE_BT_BASIS(body_safe_position);
#if PERFORM_INITIAL_UNSTACK
btVector3 recover_initial_position(0, 0, 0);
{ /// Phase one - multi shapes depenetration using margin
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
@ -854,7 +853,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
// Add recover movement in order to make it safe
body_safe_position.getOrigin() += recover_initial_position;
}
#endif
btVector3 motion;
G_TO_B(p_motion, motion);
@ -893,7 +891,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
btResult.m_collisionFilterGroup = p_body->get_collision_layer();
btResult.m_collisionFilterMask = p_body->get_collision_mask();
dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, 0.002);
dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
if (btResult.hasHit()) {
/// Since for each sweep test I fix the motion of new shapes in base the recover result,
@ -918,11 +916,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, delta_recover_movement, &r_recover_result);
if (r_result) {
#if PERFORM_INITIAL_UNSTACK
B_TO_G(motion + delta_recover_movement + recover_initial_position, r_result->motion);
#else
B_TO_G(motion + delta_recover_movement, r_result->motion);
#endif
if (l_has_penetration) {
has_penetration = true;
if (l_penetration_distance <= r_recover_result.penetration_distance) {
@ -1112,7 +1107,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, tA, -1, p_shapeId_A);
btCollisionObjectWrapper obB(NULL, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);
btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CLOSEST_POINT_ALGORITHMS);
btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS);
if (algorithm) {
GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB);
//discrete collision detection query
@ -1122,7 +1117,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
dispatcher->freeCollisionAlgorithm(algorithm);
if (contactPointResult.hasHit()) {
r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1 * p_recover_movement_scale);
r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * p_recover_movement_scale);
if (r_recover_result) {
if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {