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Merge pull request #28595 from godotengine/AndreaCatania-patch-1

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Improved CCD calculation algorithm
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Max Hilbrunner 2019-05-16 23:11:12 +02:00 committed by GitHub
commit c67bb5f145
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 4 additions and 6 deletions
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10
modules/bullet/rigid_body_bullet.cpp
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@ -741,22 +741,20 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {
if (p_enable) { if (p_enable) {
// This threshold enable CCD if the object moves more than // This threshold enable CCD if the object moves more than
// 1 meter in one simulation frame // 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 /// Calculate using the rule writte below the CCD swept sphere radius
/// CCD works on an embedded sphere of radius, make sure this radius /// CCD works on an embedded sphere of radius, make sure this radius
/// is embedded inside the convex objects, preferably smaller: /// is embedded inside the convex objects, preferably smaller:
/// for an object of dimensions 1 meter, try 0.2 /// for an object of dimensions 1 meter, try 0.2
btScalar radius; btScalar radius(1.0);
if (btBody->getCollisionShape()) { if (btBody->getCollisionShape()) {
btVector3 center; btVector3 center;
btBody->getCollisionShape()->getBoundingSphere(center, radius); btBody->getCollisionShape()->getBoundingSphere(center, radius);
} else {
radius = 0;
} }
btBody->setCcdSweptSphereRadius(radius * 0.2); btBody->setCcdSweptSphereRadius(radius * 0.2);
} else { } else {
btBody->setCcdMotionThreshold(0.); btBody->setCcdMotionThreshold(10000.0);
btBody->setCcdSweptSphereRadius(0.); btBody->setCcdSweptSphereRadius(0.);
} }
} }
@ -834,7 +832,7 @@ void RigidBodyBullet::reload_shapes() {
btBody->updateInertiaTensor(); btBody->updateInertiaTensor();
reload_kinematic_shapes(); reload_kinematic_shapes();
set_continuous_collision_detection(btBody->getCcdMotionThreshold() < 9998.0);
reload_body(); reload_body();
} }