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Some Bullet bug fix #13046

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Merged
akien-mga merged 4 commits into from
Nov 19, 2017
Merged

Some Bullet bug fix #13046

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e6ba163
Fixed kinematic movement on concave shape
AndreaCatania Nov 19, 2017
aa3e740
Removed dynamic_cast from Bullet Server
AndreaCatania Nov 19, 2017
d250ade
Fixed gravity scale
AndreaCatania Nov 19, 2017
0327a51
Added null check in Bullet cast_motion API
AndreaCatania Nov 19, 2017
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22 changes: 20 additions & 2 deletions modules/bullet/godot_result_callbacks.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,7 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo

PhysicsDirectSpaceState::ShapeResult &result = m_results[count];

result.shape = convexResult.m_localShapeInfo->m_shapePart;
result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
result.rid = gObj->get_self();
result.collider_id = gObj->get_instance_id();
result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);
Expand Down Expand Up @@ -122,7 +122,7 @@ bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0)

btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
btScalar res = btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
m_shapePart = convexResult.m_localShapeInfo->m_shapePart;
m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
return res;
}

Expand Down Expand Up @@ -242,3 +242,21 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp

return cp.getDistance();
}

void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {

if (depth < 0) {
// Has penetration
if (m_most_penetrated_distance > depth) {

bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();

m_most_penetrated_distance = depth;
m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject();
m_other_compound_shape_index = isSwapped ? m_index1 : m_index0;
m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB;
m_penetration_distance = depth;
}
}
}
29 changes: 28 additions & 1 deletion modules/bullet/godot_result_callbacks.h
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Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,7 @@ struct GodotKinClosestConvexResultCallback : public btCollisionWorld::ClosestCon
struct GodotClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
public:
const Set<RID> *m_exclude;
int m_shapePart;
int m_shapeId;

GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude)
: btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_exclude(p_exclude) {}
Expand Down Expand Up @@ -149,4 +149,31 @@ struct GodotRestInfoContactResultCallback : public btCollisionWorld::ContactResu
virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
};

struct GodotDeepPenetrationContactResultCallback : public btManifoldResult {
btVector3 m_pointNormalWorld;
btVector3 m_pointWorld;
btScalar m_penetration_distance;
int m_other_compound_shape_index;
const btCollisionObject *m_pointCollisionObject;

btScalar m_most_penetrated_distance;

GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
: btManifoldResult(body0Wrap, body1Wrap),
m_pointCollisionObject(NULL),
m_penetration_distance(0),
m_other_compound_shape_index(0),
m_most_penetrated_distance(1e20) {}

void reset() {
m_pointCollisionObject = NULL;
m_most_penetrated_distance = 1e20;
}

bool hasHit() {
return m_pointCollisionObject;
}

virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth);
};
#endif // GODOT_RESULT_CALLBACKS_H
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