From f29f9961995bc7040454fa4b9365eeef2bc2c1d9 Mon Sep 17 00:00:00 2001 From: PouleyKetchoupp Date: Wed, 1 Dec 2021 11:02:10 -0700 Subject: [PATCH] Fix shape index in multiple physics queries with Bullet 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 02d40de30d727bb23ae7ed9dc003a36e6d5f4764) --- modules/bullet/godot_result_callbacks.cpp | 48 +++++++++++++++++++---- modules/bullet/godot_result_callbacks.h | 6 ++- 2 files changed, 45 insertions(+), 9 deletions(-) diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp index fe54ba05f8d..2c0ffec8d8c 100644 --- a/modules/bullet/godot_result_callbacks.cpp +++ b/modules/bullet/godot_result_callbacks.cpp @@ -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(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(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(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(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(); diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h index 3da7e63e6e1..0926e21dc13 100644 --- a/modules/bullet/godot_result_callbacks.h +++ b/modules/bullet/godot_result_callbacks.h @@ -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; }