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Set Bullet collision shape index to zero when using a single shape

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or ConcavePolygonShape.
This commit is contained in:
Marcel Admiraal 2020-10-17 18:09:10 +01:00
parent 4a92d2111b
commit b7d00a364e
2 changed files with 16 additions and 2 deletions
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2
doc/classes/RigidBody.xml
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@ -233,6 +233,7 @@
<description>
Emitted when a body enters into contact with this one. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions.
This signal not only receives the body that collided with this one, but also its [RID] ([code]body_id[/code]), the shape index from the colliding body ([code]body_shape[/code]), and the shape index from this body ([code]local_shape[/code]) the other body collided with.
[b]Note:[/b] Bullet physics cannot identify the shape index when using a [ConcavePolygonShape]. Don't use multiple [CollisionShape]s when using a [ConcavePolygonShape] with Bullet physics if you need shape indices.
</description>
</signal>
<signal name="body_shape_exited">
@ -247,6 +248,7 @@
<description>
Emitted when a body shape exits contact with this one. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions.
This signal not only receives the body that stopped colliding with this one, but also its [RID] ([code]body_id[/code]), the shape index from the colliding body ([code]body_shape[/code]), and the shape index from this body ([code]local_shape[/code]) the other body stopped colliding with.
[b]Note:[/b] Bullet physics cannot identify the shape index when using a [ConcavePolygonShape]. Don't use multiple [CollisionShape]s when using a [ConcavePolygonShape] with Bullet physics if you need shape indices.
</description>
</signal>
<signal name="sleeping_state_changed">

16
modules/bullet/space_bullet.cpp
View file

@ -858,17 +858,29 @@ void SpaceBullet::check_body_collision() {
float appliedImpulse = pt.m_appliedImpulse;
B_TO_G(pt.m_normalWorldOnB, normalOnB);
// The pt.m_index only contains the shape index when more than one collision shape is used
// and only if the collision shape is not a concave collision shape.
// A value of -1 in pt.m_partId indicates the pt.m_index is a shape index.
int shape_index_a = 0;
if (bodyA->get_shape_count() > 1 && pt.m_partId0 == -1) {
shape_index_a = pt.m_index0;
}
int shape_index_b = 0;
if (bodyB->get_shape_count() > 1 && pt.m_partId1 == -1) {
shape_index_b = pt.m_index1;
}
if (bodyA->can_add_collision()) {
B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition);
/// pt.m_localPointB Doesn't report the exact point in local space
B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition);
bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, pt.m_index1, pt.m_index0);
bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, shape_index_b, shape_index_a);
}
if (bodyB->can_add_collision()) {
B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition);
/// pt.m_localPointA Doesn't report the exact point in local space
B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition);
bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1);
bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, shape_index_a, shape_index_b);
}
#ifdef DEBUG_ENABLED