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Merge pull request #22257 from AndreaCatania/fixes

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Daily physics Fixes
This commit is contained in:
Rémi Verschelde 2018-09-19 20:41:37 +02:00 committed by GitHub
parent 0de6514806 0a2c154c8e
commit 2306ec211c
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 26 additions and 21 deletions
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5
modules/bullet/rigid_body_bullet.cpp
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@ -351,7 +351,7 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
void RigidBodyBullet::dispatch_callbacks() {
/// The check isTransformChanged is necessary in order to call integrated forces only when the first transform is sent
if ((btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && isTransformChanged) {
if ((btBody->isKinematicObject() || btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && isTransformChanged) {
if (omit_forces_integration)
btBody->clearForces();
@ -774,10 +774,13 @@ Vector3 RigidBodyBullet::get_angular_velocity() const {
void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transform) {
if (mode == PhysicsServer::BODY_MODE_KINEMATIC) {
if (space)
btBody->setLinearVelocity((p_global_transform.getOrigin() - btBody->getWorldTransform().getOrigin()) / space->get_delta_time());
// The kinematic use MotionState class
godotMotionState->moveBody(p_global_transform);
}
btBody->setWorldTransform(p_global_transform);
scratch();
}
const btTransform &RigidBodyBullet::get_transform__bullet() const {

42
modules/bullet/space_bullet.cpp
View file

@ -786,30 +786,32 @@ void SpaceBullet::check_body_collision() {
if (numContacts) {
btManifoldPoint &pt = contactManifold->getContactPoint(0);
#endif
Vector3 collisionWorldPosition;
Vector3 collisionLocalPosition;
Vector3 normalOnB;
float appliedImpulse = pt.m_appliedImpulse;
B_TO_G(pt.m_normalWorldOnB, normalOnB);
if (pt.getDistance() <= 0.0) {
Vector3 collisionWorldPosition;
Vector3 collisionLocalPosition;
Vector3 normalOnB;
float appliedImpulse = pt.m_appliedImpulse;
B_TO_G(pt.m_normalWorldOnB, normalOnB);
if (bodyA->can_add_collision()) {
B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition);
/// pt.m_localPointB Doesn't report the exact point in local space
B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition);
bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, pt.m_index1, pt.m_index0);
}
if (bodyB->can_add_collision()) {
B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition);
/// pt.m_localPointA Doesn't report the exact point in local space
B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition);
bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1);
}
if (bodyA->can_add_collision()) {
B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition);
/// pt.m_localPointB Doesn't report the exact point in local space
B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition);
bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, pt.m_index1, pt.m_index0);
}
if (bodyB->can_add_collision()) {
B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition);
/// pt.m_localPointA Doesn't report the exact point in local space
B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition);
bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1);
}
#ifdef DEBUG_ENABLED
if (is_debugging_contacts()) {
add_debug_contact(collisionWorldPosition);
}
if (is_debugging_contacts()) {
add_debug_contact(collisionWorldPosition);
}
#endif
}
}
}
}