f7511511b1
- Added code handling non-compound collision to recover_from_penetration_ray() which is now needed due to the optimization avoiding the use of compound collisions when only a single collision shape is used. - Removed arbitrary margin applied in the collision algorithm of RayShapes which causes jittered movement. For lack of a better replacement and for lack of any explanation on why it has been introduced, it's now using the shape's margin property instead which is small enough to not show visible jitter. - Tried to get rid of inconsistent uses of the collision margin. - Removed hack from GodotDeepPenetrationContactResultCallback::addContactPoint for RayShape collision as it's no longer needed as the collision algorithm of RayShapes correctly calculates the contact normal for a while now. Fixes #25227.
104 lines
4.1 KiB
C++
104 lines
4.1 KiB
C++
/*************************************************************************/
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/* btRayShape.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "btRayShape.h"
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#include "core/math/math_funcs.h"
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#include <LinearMath/btAabbUtil2.h>
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/**
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@author AndreaCatania
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*/
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btRayShape::btRayShape(btScalar length) :
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btConvexInternalShape(),
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m_shapeAxis(0, 0, 1) {
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m_shapeType = CUSTOM_CONVEX_SHAPE_TYPE;
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setLength(length);
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}
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btRayShape::~btRayShape() {
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}
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void btRayShape::setLength(btScalar p_length) {
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m_length = p_length;
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reload_cache();
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}
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void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) {
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slipsOnSlope = p_slipsOnSlope;
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}
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btVector3 btRayShape::localGetSupportingVertex(const btVector3 &vec) const {
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return localGetSupportingVertexWithoutMargin(vec) + (m_shapeAxis * m_collisionMargin);
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}
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btVector3 btRayShape::localGetSupportingVertexWithoutMargin(const btVector3 &vec) const {
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if (vec.z() > 0)
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return m_shapeAxis * m_cacheScaledLength;
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else
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return btVector3(0, 0, 0);
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}
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void btRayShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const {
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for (int i = 0; i < numVectors; ++i) {
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supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
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}
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}
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void btRayShape::getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const {
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#define MARGIN_BROADPHASE 0.1
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btVector3 localAabbMin(0, 0, 0);
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btVector3 localAabbMax(m_shapeAxis * (m_cacheScaledLength + m_collisionMargin));
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btTransformAabb(localAabbMin, localAabbMax, MARGIN_BROADPHASE, t, aabbMin, aabbMax);
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}
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void btRayShape::calculateLocalInertia(btScalar mass, btVector3 &inertia) const {
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inertia.setZero();
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}
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int btRayShape::getNumPreferredPenetrationDirections() const {
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return 0;
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}
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void btRayShape::getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const {
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penetrationVector.setZero();
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}
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void btRayShape::reload_cache() {
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m_cacheScaledLength = m_length * m_localScaling[2];
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m_cacheSupportPoint.setIdentity();
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m_cacheSupportPoint.setOrigin(m_shapeAxis * (m_cacheScaledLength + m_collisionMargin));
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}
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