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Fixed crash during raycast and CCD radius calculation

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This commit is contained in:
Andrea Catania 2018-09-07 20:38:30 +02:00
parent fc50728d45
commit 3eaaf712db
2 changed files with 13 additions and 5 deletions
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5
modules/bullet/godot_result_callbacks.h
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@ -74,7 +74,10 @@ public:
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace) {
m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
if (rayResult.m_localShapeInfo)
m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
else
m_shapeId = 0;
return btCollisionWorld::ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
}
};

13
modules/bullet/rigid_body_bullet.cpp
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@ -316,6 +316,7 @@ void RigidBodyBullet::destroy_kinematic_utilities() {
void RigidBodyBullet::main_shape_resetted() {
btBody->setCollisionShape(get_main_shape());
set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset
}
void RigidBodyBullet::reload_body() {
@ -716,15 +717,19 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {
if (p_enable) {
// This threshold enable CCD if the object moves more than
// 1 meter in one simulation frame
btBody->setCcdMotionThreshold(1);
btBody->setCcdMotionThreshold(0.1);
/// Calculate using the rule writte below the CCD swept sphere radius
/// CCD works on an embedded sphere of radius, make sure this radius
/// is embedded inside the convex objects, preferably smaller:
/// for an object of dimensions 1 meter, try 0.2
btVector3 center;
btScalar radius;
btBody->getCollisionShape()->getBoundingSphere(center, radius);
if (btBody->getCollisionShape()) {
btVector3 center;
btBody->getCollisionShape()->getBoundingSphere(center, radius);
} else {
radius = 0;
}
btBody->setCcdSweptSphereRadius(radius * 0.2);
} else {
btBody->setCcdMotionThreshold(0.);
@ -733,7 +738,7 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {
}
bool RigidBodyBullet::is_continuous_collision_detection_enabled() const {
return 0. != btBody->getCcdMotionThreshold();
return 0. < btBody->getCcdMotionThreshold();
}
void RigidBodyBullet::set_linear_velocity(const Vector3 &p_velocity) {