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Merge pull request #56801 from Riordan-DC/compound-collision-fix

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Rémi Verschelde 2022-05-19 12:28:36 +02:00 committed by GitHub
commit 5d9c7eaef9
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1 changed files with 4 additions and 0 deletions
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modules/bullet/space_bullet.cpp
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@ -1290,6 +1290,8 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt
// Initialize GJK input
btGjkPairDetector::ClosestPointInput gjk_input;
gjk_input.m_transformA = p_transformA;
// Avoid repeat penetrations
gjk_input.m_transformA.getOrigin() += r_delta_recover_movement;
gjk_input.m_transformB = p_transformB;
// Perform GJK test
@ -1320,6 +1322,8 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
/// Contact test
btTransform tA(p_transformA);
// Avoid repeat penetrations
tA.getOrigin() += r_delta_recover_movement;
btCollisionObjectWrapper obA(nullptr, p_shapeA, p_objectA, tA, -1, p_shapeId_A);
btCollisionObjectWrapper obB(nullptr, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);