Added support to scale areas
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35bb52011a
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90d05cbe30
1 changed files with 22 additions and 3 deletions
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@ -658,6 +658,8 @@ void SpaceBullet::check_ghost_overlaps() {
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for (x = areas.size() - 1; 0 <= x; --x) {
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area = areas[x];
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btVector3 area_scale(area->get_bt_body_scale());
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if (!area->is_monitoring())
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continue;
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@ -681,6 +683,7 @@ void SpaceBullet::check_ghost_overlaps() {
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bool hasOverlap = false;
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btCollisionObject *overlapped_bt_co = ghostOverlaps[i];
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RigidCollisionObjectBullet *otherObject = static_cast<RigidCollisionObjectBullet *>(overlapped_bt_co->getUserPointer());
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btVector3 other_body_scale(otherObject->get_bt_body_scale());
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if (!area->is_transform_changed() && !otherObject->is_transform_changed()) {
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hasOverlap = true;
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@ -698,19 +701,35 @@ void SpaceBullet::check_ghost_overlaps() {
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if (!area->get_bt_shape(y)->isConvex())
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continue;
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gjk_input.m_transformA = area->get_transform__bullet() * area->get_bt_shape_transform(y);
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btTransform area_shape_treansform(area->get_bt_shape_transform(y));
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area_shape_treansform.getOrigin() *= area_scale;
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gjk_input.m_transformA =
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area->get_transform__bullet() *
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area_shape_treansform;
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area_shape = static_cast<btConvexShape *>(area->get_bt_shape(y));
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// For each other object shape
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for (z = otherObject->get_shape_count() - 1; 0 <= z; --z) {
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other_body_shape = static_cast<btCollisionShape *>(otherObject->get_bt_shape(z));
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gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_bt_shape_transform(z);
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btTransform other_shape_transform(otherObject->get_bt_shape_transform(z));
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other_shape_transform.getOrigin() *= other_body_scale;
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gjk_input.m_transformB =
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otherObject->get_transform__bullet() *
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other_shape_transform;
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if (other_body_shape->isConvex()) {
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btPointCollector result;
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btGjkPairDetector gjk_pair_detector(area_shape, static_cast<btConvexShape *>(other_body_shape), gjk_simplex_solver, gjk_epa_pen_solver);
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btGjkPairDetector gjk_pair_detector(
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area_shape,
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static_cast<btConvexShape *>(other_body_shape),
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gjk_simplex_solver,
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gjk_epa_pen_solver);
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gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
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if (0 >= result.m_distance) {
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