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Merge pull request #37500 from madmiraal/check-motion-before-bullet-sweep-3.2 

[3.2] Check for motion in cast_motion() before doing Bullet convexSweepTest().
This commit is contained in:
Rémi Verschelde 2020-06-21 18:31:52 +02:00 committed by GitHub
parent 6cf8709808 b006f5402d
commit 804b53bdbb
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 17 additions and 10 deletions
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19
modules/bullet/space_bullet.cpp
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@ -152,6 +152,16 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
} }
bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
r_closest_safe = 0.0f;
r_closest_unsafe = 0.0f;
btVector3 bt_motion;
G_TO_B(p_motion, bt_motion);
if (bt_motion.fuzzyZero())
return false;
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape); ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin); btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
@ -162,9 +172,6 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
} }
btConvexShape *bt_convex_shape = static_cast<btConvexShape *>(btShape); btConvexShape *bt_convex_shape = static_cast<btConvexShape *>(btShape);
btVector3 bt_motion;
G_TO_B(p_motion, bt_motion);
btTransform bt_xform_from; btTransform bt_xform_from;
G_TO_B(p_xform, bt_xform_from); G_TO_B(p_xform, bt_xform_from);
UNSCALE_BT_BASIS(bt_xform_from); UNSCALE_BT_BASIS(bt_xform_from);
@ -178,9 +185,6 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, space->dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration); space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, space->dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
r_closest_unsafe = 1.0;
r_closest_safe = 1.0;
if (btResult.hasHit()) { if (btResult.hasHit()) {
const btScalar l = bt_motion.length(); const btScalar l = bt_motion.length();
r_closest_unsafe = btResult.m_closestHitFraction; r_closest_unsafe = btResult.m_closestHitFraction;
@ -196,6 +200,9 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
r_info->collider_id = collision_object->get_instance_id(); r_info->collider_id = collision_object->get_instance_id();
r_info->shape = btResult.m_shapeId; r_info->shape = btResult.m_shapeId;
} }
} else {
r_closest_safe = 1.0f;
r_closest_unsafe = 1.0f;
} }
bulletdelete(bt_convex_shape); bulletdelete(bt_convex_shape);

6
scene/3d/camera.cpp
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@ -782,9 +782,9 @@ void ClippedCamera::_notification(int p_what) {
xf.origin = ray_from; xf.origin = ray_from;
xf.orthonormalize(); xf.orthonormalize();
float csafe, cunsafe; float closest_safe = 1.0f, closest_unsafe = 1.0f;
if (dspace->cast_motion(pyramid_shape, xf, cam_pos - ray_from, margin, csafe, cunsafe, exclude, collision_mask, clip_to_bodies, clip_to_areas)) { if (dspace->cast_motion(pyramid_shape, xf, cam_pos - ray_from, margin, closest_safe, closest_unsafe, exclude, collision_mask, clip_to_bodies, clip_to_areas)) {
clip_offset = cam_pos.distance_to(ray_from + (cam_pos - ray_from) * csafe); clip_offset = cam_pos.distance_to(ray_from + (cam_pos - ray_from) * closest_safe);
} }
_update_camera(); _update_camera();

2
servers/physics_server.cpp
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@ -309,7 +309,7 @@ Array PhysicsDirectSpaceState::_cast_motion(const Ref<PhysicsShapeQueryParameter
ERR_FAIL_COND_V(!p_shape_query.is_valid(), Array()); ERR_FAIL_COND_V(!p_shape_query.is_valid(), Array());
float closest_safe, closest_unsafe; float closest_safe = 1.0f, closest_unsafe = 1.0f;
bool res = cast_motion(p_shape_query->shape, p_shape_query->transform, p_motion, p_shape_query->margin, closest_safe, closest_unsafe, p_shape_query->exclude, p_shape_query->collision_mask, p_shape_query->collide_with_bodies, p_shape_query->collide_with_areas); bool res = cast_motion(p_shape_query->shape, p_shape_query->transform, p_motion, p_shape_query->margin, closest_safe, closest_unsafe, p_shape_query->exclude, p_shape_query->collision_mask, p_shape_query->collide_with_bodies, p_shape_query->collide_with_areas);
if (!res) if (!res)
return Array(); return Array();