asgardius/virtualx-engine
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Improved CCD calculation algorithm

Browse source
This commit is contained in:
Andrea Catania 2019-05-16 18:56:37 +02:00
parent 46b6fb83ef
commit c1c8555565
1 changed files with 4 additions and 6 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

10
modules/bullet/rigid_body_bullet.cpp
View file

@ -741,22 +741,20 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {
if (p_enable) {
// This threshold enable CCD if the object moves more than
// 1 meter in one simulation frame
btBody->setCcdMotionThreshold(0.1);
btBody->setCcdMotionThreshold(1e-7);
/// Calculate using the rule writte below the CCD swept sphere radius
/// CCD works on an embedded sphere of radius, make sure this radius
/// is embedded inside the convex objects, preferably smaller:
/// for an object of dimensions 1 meter, try 0.2
btScalar radius;
btScalar radius(1.0);
if (btBody->getCollisionShape()) {
btVector3 center;
btBody->getCollisionShape()->getBoundingSphere(center, radius);
} else {
radius = 0;
}
btBody->setCcdSweptSphereRadius(radius * 0.2);
} else {
btBody->setCcdMotionThreshold(0.);
btBody->setCcdMotionThreshold(10000.0);
btBody->setCcdSweptSphereRadius(0.);
}
}
@ -834,7 +832,7 @@ void RigidBodyBullet::reload_shapes() {
btBody->updateInertiaTensor();
reload_kinematic_shapes();
set_continuous_collision_detection(btBody->getCcdMotionThreshold() < 9998.0);
reload_body();
}