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Fixed kinematic sliding on trimesh

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This commit is contained in:
Andrea Catania 2018-04-04 10:49:10 +02:00
parent d2eb731878
commit b050525072
3 changed files with 5 additions and 11 deletions
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9
modules/bullet/godot_result_callbacks.cpp
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@ -257,15 +257,12 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp
void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) { void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {
// Has penetration if (m_penetration_distance > depth) { // Has penetration?
if (m_penetration_distance < ABS(depth)) {
bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
m_penetration_distance = depth; m_penetration_distance = depth;
m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject(); m_other_compound_shape_index = isSwapped ? m_index0 : m_index1;
m_other_compound_shape_index = isSwapped ? m_index1 : m_index0;
m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld; m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB; m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB;
} }
} }

5
modules/bullet/godot_result_callbacks.h
View file

@ -185,21 +185,18 @@ struct GodotDeepPenetrationContactResultCallback : public btManifoldResult {
btVector3 m_pointWorld; btVector3 m_pointWorld;
btScalar m_penetration_distance; btScalar m_penetration_distance;
int m_other_compound_shape_index; int m_other_compound_shape_index;
const btCollisionObject *m_pointCollisionObject;
GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) : GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) :
btManifoldResult(body0Wrap, body1Wrap), btManifoldResult(body0Wrap, body1Wrap),
m_pointCollisionObject(NULL),
m_penetration_distance(0), m_penetration_distance(0),
m_other_compound_shape_index(0) {} m_other_compound_shape_index(0) {}
void reset() { void reset() {
m_pointCollisionObject = NULL;
m_penetration_distance = 0; m_penetration_distance = 0;
} }
bool hasHit() { bool hasHit() {
return m_pointCollisionObject; return m_penetration_distance < 0;
} }
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth); virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth);

2
modules/bullet/space_bullet.cpp
View file

@ -1117,7 +1117,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
dispatcher->freeCollisionAlgorithm(algorithm); dispatcher->freeCollisionAlgorithm(algorithm);
if (contactPointResult.hasHit()) { if (contactPointResult.hasHit()) {
r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * p_recover_movement_scale); r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1 * p_recover_movement_scale);
if (r_recover_result) { if (r_recover_result) {
if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) { if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {