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Merge pull request #23897 from AndreaCatania/fix_cd

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Improved algorithm that check collision
This commit is contained in:
Rémi Verschelde 2018-11-22 11:05:01 +01:00 committed by GitHub
commit 11d7738622
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 44 additions and 2 deletions
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21
modules/bullet/rigid_body_bullet.cpp
View file

@ -268,6 +268,7 @@ RigidBodyBullet::RigidBodyBullet() :
can_integrate_forces(false),
maxCollisionsDetection(0),
collisionsCount(0),
prev_collision_count(0),
maxAreasWhereIam(10),
areaWhereIamCount(0),
countGravityPointSpaces(0),
@ -293,6 +294,9 @@ RigidBodyBullet::RigidBodyBullet() :
areasWhereIam.write[i] = NULL;
}
btBody->setSleepingThresholds(0.2, 0.2);
prev_collision_traces = &collision_traces_1;
curr_collision_traces = &collision_traces_2;
}
RigidBodyBullet::~RigidBodyBullet() {
@ -410,7 +414,14 @@ void RigidBodyBullet::on_collision_filters_change() {
}
void RigidBodyBullet::on_collision_checker_start() {
prev_collision_count = collisionsCount;
collisionsCount = 0;
// Swap array
Vector<RigidBodyBullet *> *s = prev_collision_traces;
prev_collision_traces = curr_collision_traces;
curr_collision_traces = s;
}
void RigidBodyBullet::on_collision_checker_end() {
@ -433,10 +444,20 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
cd.other_object_shape = p_other_shape_index;
cd.local_shape = p_local_shape_index;
curr_collision_traces->write[collisionsCount] = p_otherObject;
++collisionsCount;
return true;
}
bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) {
for (int i = prev_collision_count - 1; 0 <= i; --i) {
if ((*prev_collision_traces)[i] == p_other_object)
return true;
}
return false;
}
void RigidBodyBullet::assert_no_constraints() {
if (btBody->getNumConstraintRefs()) {
WARN_PRINT("A body with a joints is destroyed. Please check the implementation in order to destroy the joint before the body.");

15
modules/bullet/rigid_body_bullet.h
View file

@ -205,9 +205,15 @@ private:
bool can_integrate_forces;
Vector<CollisionData> collisions;
Vector<RigidBodyBullet *> collision_traces_1;
Vector<RigidBodyBullet *> collision_traces_2;
Vector<RigidBodyBullet *> *prev_collision_traces;
Vector<RigidBodyBullet *> *curr_collision_traces;
// these parameters are used to avoid vector resize
int maxCollisionsDetection;
int collisionsCount;
int prev_collision_count;
Vector<AreaBullet *> areasWhereIam;
// these parameters are used to avoid vector resize
@ -244,9 +250,17 @@ public:
virtual void on_collision_checker_end();
void set_max_collisions_detection(int p_maxCollisionsDetection) {
ERR_FAIL_COND(0 > p_maxCollisionsDetection);
maxCollisionsDetection = p_maxCollisionsDetection;
collisions.resize(p_maxCollisionsDetection);
collision_traces_1.resize(p_maxCollisionsDetection);
collision_traces_2.resize(p_maxCollisionsDetection);
collisionsCount = 0;
prev_collision_count = MIN(prev_collision_count, p_maxCollisionsDetection);
}
int get_max_collisions_detection() {
return maxCollisionsDetection;
@ -254,6 +268,7 @@ public:
bool can_add_collision() { return collisionsCount < maxCollisionsDetection; }
bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index);
bool was_colliding(RigidBodyBullet *p_other_object);
void assert_no_constraints();

10
modules/bullet/space_bullet.cpp
View file

@ -786,16 +786,22 @@ void SpaceBullet::check_body_collision() {
}
const int numContacts = contactManifold->getNumContacts();
/// Since I don't need report all contacts for these objects,
/// So report only the first
#define REPORT_ALL_CONTACTS 0
#if REPORT_ALL_CONTACTS
for (int j = 0; j < numContacts; j++) {
btManifoldPoint &pt = contactManifold->getContactPoint(j);
#else
// Since I don't need report all contacts for these objects, I'll report only the first
if (numContacts) {
btManifoldPoint &pt = contactManifold->getContactPoint(0);
#endif
if (pt.getDistance() <= 0.0) {
if (
pt.getDistance() <= 0.0 ||
bodyA->was_colliding(bodyB) ||
bodyB->was_colliding(bodyA)) {
Vector3 collisionWorldPosition;
Vector3 collisionLocalPosition;
Vector3 normalOnB;