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Fix shape index in multiple physics queries with Bullet

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Two main changes:

- Better handling of concave shapes to make sure the queries don't
return a triangle index instead of shape index.
Note: A concave shape within a compound shape will always return a shape
index of 0 because of Bullet limitations.

- Extra check for compound shapes in some queries to avoid undefined
behavior, because the shape index can have an uninitialized value with
convex shapes in some cases.

(cherry picked from commit 02d40de30d)
This commit is contained in:
PouleyKetchoupp 2021-12-01 11:02:10 -07:00 committed by Rémi Verschelde
parent c2470f5298
commit f29f996199
No known key found for this signature in database
GPG key ID: C3336907360768E1
2 changed files with 45 additions and 9 deletions
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48
modules/bullet/godot_result_callbacks.cpp
View file

@ -113,7 +113,14 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo
PhysicsDirectSpaceState::ShapeResult &result = m_results[count];
result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
// Triangle index is an odd name but contains the compound shape ID.
// A shape part of -1 indicates the index is a shape index and not a triangle index.
if (convexResult.m_localShapeInfo && convexResult.m_localShapeInfo->m_shapePart == -1) {
result.shape = convexResult.m_localShapeInfo->m_triangleIndex;
} else {
result.shape = 0;
}
result.rid = gObj->get_self();
result.collider_id = gObj->get_instance_id();
result.collider = 0 == result.collider_id ? nullptr : ObjectDB::get_instance(result.collider_id);
@ -179,11 +186,14 @@ bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0)
}
btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
if (convexResult.m_localShapeInfo) {
m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
// Triangle index is an odd name but contains the compound shape ID.
// A shape part of -1 indicates the index is a shape index and not a triangle index.
if (convexResult.m_localShapeInfo && convexResult.m_localShapeInfo->m_shapePart == -1) {
m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex;
} else {
m_shapeId = 0;
}
return btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
}
@ -228,10 +238,22 @@ btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, con
CollisionObjectBullet *colObj;
if (m_self_object == colObj0Wrap->getCollisionObject()) {
colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
result.shape = cp.m_index1;
// Checking for compound shape because the index might be uninitialized otherwise.
// A partId of -1 indicates the index is a shape index and not a triangle index.
if (colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound() && cp.m_partId1 == -1) {
result.shape = cp.m_index1;
} else {
result.shape = 0;
}
} else {
colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer());
result.shape = cp.m_index0;
// Checking for compound shape because the index might be uninitialized otherwise.
// A partId of -1 indicates the index is a shape index and not a triangle index.
if (colObj0Wrap->getCollisionObject()->getCollisionShape()->isCompound() && cp.m_partId0 == -1) {
result.shape = cp.m_index0;
} else {
result.shape = 0;
}
}
result.collider_id = colObj->get_instance_id();
@ -322,14 +344,26 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp
CollisionObjectBullet *colObj;
if (m_self_object == colObj0Wrap->getCollisionObject()) {
colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
m_result->shape = cp.m_index1;
// Checking for compound shape because the index might be uninitialized otherwise.
// A partId of -1 indicates the index is a shape index and not a triangle index.
if (colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound() && cp.m_partId1 == -1) {
m_result->shape = cp.m_index1;
} else {
m_result->shape = 0;
}
B_TO_G(cp.getPositionWorldOnB(), m_result->point);
B_TO_G(cp.m_normalWorldOnB, m_result->normal);
m_rest_info_bt_point = cp.getPositionWorldOnB();
m_rest_info_collision_object = colObj1Wrap->getCollisionObject();
} else {
colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer());
m_result->shape = cp.m_index0;
// Checking for compound shape because the index might be uninitialized otherwise.
// A partId of -1 indicates the index is a shape index and not a triangle index.
if (colObj0Wrap->getCollisionObject()->getCollisionShape()->isCompound() && cp.m_partId0 == -1) {
m_result->shape = cp.m_index0;
} else {
m_result->shape = 0;
}
B_TO_G(cp.m_normalWorldOnB * -1, m_result->normal);
m_rest_info_bt_point = cp.getPositionWorldOnA();
m_rest_info_collision_object = colObj0Wrap->getCollisionObject();

6
modules/bullet/godot_result_callbacks.h
View file

@ -74,8 +74,10 @@ public:
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace) {
if (rayResult.m_localShapeInfo) {
m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
// Triangle index is an odd name but contains the compound shape ID.
// A shape part of -1 indicates the index is a shape index and not a triangle index.
if (rayResult.m_localShapeInfo && rayResult.m_localShapeInfo->m_shapePart == -1) {
m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex;
} else {
m_shapeId = 0;
}