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Fixed bullet physics body shape scaling

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This commit is contained in:
AndreaCatania 2018-01-16 12:53:01 +01:00
parent 05b1843818
commit ecfe932eb8
1 changed files with 12 additions and 13 deletions
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25
modules/bullet/collision_object_bullet.cpp
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@ -160,16 +160,13 @@ int CollisionObjectBullet::get_godot_object_flags() const {
void CollisionObjectBullet::set_transform(const Transform &p_global_transform) { void CollisionObjectBullet::set_transform(const Transform &p_global_transform) {
btTransform btTrans; set_body_scale(p_global_transform.basis.get_scale());
Basis decomposed_basis;
Vector3 decomposed_scale = p_global_transform.get_basis().rotref_posscale_decomposition(decomposed_basis); btTransform bt_transform;
G_TO_B(p_global_transform, bt_transform);
UNSCALE_BT_BASIS(bt_transform);
G_TO_B(p_global_transform.get_origin(), btTrans.getOrigin()); set_transform__bullet(bt_transform);
G_TO_B(decomposed_basis, btTrans.getBasis());
set_body_scale(decomposed_scale);
set_transform__bullet(btTrans);
} }
Transform CollisionObjectBullet::get_transform() const { Transform CollisionObjectBullet::get_transform() const {
@ -317,20 +314,22 @@ void RigidCollisionObjectBullet::on_shapes_changed() {
} }
// Insert all shapes // Insert all shapes
btVector3 body_scale(get_bt_body_scale());
for (i = 0; i < shapes_size; ++i) { for (i = 0; i < shapes_size; ++i) {
shpWrapper = &shapes[i]; shpWrapper = &shapes[i];
if (shpWrapper->active) { if (shpWrapper->active) {
if (!shpWrapper->bt_shape) { if (!shpWrapper->bt_shape) {
shpWrapper->bt_shape = shpWrapper->shape->create_bt_shape(shpWrapper->scale); shpWrapper->bt_shape = shpWrapper->shape->create_bt_shape(shpWrapper->scale * body_scale);
} }
compoundShape->addChildShape(shpWrapper->transform, shpWrapper->bt_shape);
btTransform scaled_shape_transform(shpWrapper->transform);
scaled_shape_transform.getOrigin() *= body_scale;
compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
} else { } else {
compoundShape->addChildShape(shpWrapper->transform, BulletPhysicsServer::get_empty_shape()); compoundShape->addChildShape(btTransform(), BulletPhysicsServer::get_empty_shape());
} }
} }
compoundShape->setLocalScaling(get_bt_body_scale());
compoundShape->recalculateLocalAabb(); compoundShape->recalculateLocalAabb();
} }