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Fix crash in body_test_motion when used with RigidBody3D in Bullet

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Kinematic utilities are now initialized for a rigid body if needed for a
call to body_test_motion.
This commit is contained in:
PouleyKetchoupp 2021-08-18 13:07:21 -07:00
parent a67eaa67b0
commit db47b670f6
1 changed files with 10 additions and 0 deletions
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10
modules/bullet/space_bullet.cpp
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@ -965,6 +965,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
G_TO_B(p_from, body_transform); G_TO_B(p_from, body_transform);
UNSCALE_BT_BASIS(body_transform); UNSCALE_BT_BASIS(body_transform);
if (!p_body->get_kinematic_utilities()) {
p_body->init_kinematic_utilities();
p_body->reload_kinematic_shapes();
}
btVector3 initial_recover_motion(0, 0, 0); btVector3 initial_recover_motion(0, 0, 0);
{ /// Phase one - multi shapes depenetration using margin { /// Phase one - multi shapes depenetration using margin
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) { for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
@ -1087,6 +1092,11 @@ int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p
G_TO_B(p_transform, body_transform); G_TO_B(p_transform, body_transform);
UNSCALE_BT_BASIS(body_transform); UNSCALE_BT_BASIS(body_transform);
if (!p_body->get_kinematic_utilities()) {
p_body->init_kinematic_utilities();
p_body->reload_kinematic_shapes();
}
btVector3 recover_motion(0, 0, 0); btVector3 recover_motion(0, 0, 0);
int rays_found = 0; int rays_found = 0;