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Improved stabilization of ray shape in Bullet

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This commit is contained in:
Andrea Catania 2018-01-24 16:00:52 +01:00
parent 0ecf2fdd51
commit b1d35f62dd
1 changed files with 10 additions and 3 deletions
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13
modules/bullet/godot_ray_world_algorithm.cpp
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@ -35,6 +35,8 @@
#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h>
#define RAY_STABILITY_MARGIN 0.1
/**
@author AndreaCatania
*/
@ -97,10 +99,15 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo
m_world->rayTestSingleInternal(ray_transform, to, other_co_wrapper, btResult);
if (btResult.hasHit()) {
btVector3 ray_normal(to.getOrigin() - ray_transform.getOrigin());
btVector3 ray_normal(ray_transform.getOrigin() - to.getOrigin());
ray_normal.normalize();
ray_normal *= -1;
resultOut->addContactPoint(ray_normal, btResult.m_hitPointWorld, ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
if (depth >= -RAY_STABILITY_MARGIN)
depth = 0;
resultOut->addContactPoint(ray_normal, btResult.m_hitPointWorld, depth);
}
}