Merge pull request #47085 from nekomatata/cylinder-capsule-collision-fix-3.2
[3.3] Fix capsule-cylinder collision in godot physics
This commit is contained in:
commit
be64551922
|
@ -1632,6 +1632,51 @@ static void _collision_capsule_cylinder(const ShapeSW *p_a, const Transform &p_t
|
|||
|
||||
SeparatorAxisTest<CapsuleShapeSW, CylinderShapeSW, withMargin> separator(capsule_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
|
||||
|
||||
if (!separator.test_previous_axis()) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Cylinder B end caps.
|
||||
Vector3 cylinder_B_axis = p_transform_b.basis.get_axis(1).normalized();
|
||||
if (!separator.test_axis(cylinder_B_axis)) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Cylinder edge against capsule balls.
|
||||
|
||||
Vector3 capsule_A_axis = p_transform_a.basis.get_axis(2);
|
||||
|
||||
Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis * (capsule_A->get_height() * 0.5);
|
||||
Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis * (capsule_A->get_height() * 0.5);
|
||||
|
||||
if (!separator.test_axis((p_transform_b.origin - capsule_A_ball_1).cross(cylinder_B_axis).cross(cylinder_B_axis).normalized())) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (!separator.test_axis((p_transform_b.origin - capsule_A_ball_2).cross(cylinder_B_axis).cross(cylinder_B_axis).normalized())) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Cylinder edge against capsule edge.
|
||||
|
||||
Vector3 center_diff = p_transform_b.origin - p_transform_a.origin;
|
||||
|
||||
if (!separator.test_axis(capsule_A_axis.cross(center_diff).cross(capsule_A_axis).normalized())) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (!separator.test_axis(cylinder_B_axis.cross(center_diff).cross(cylinder_B_axis).normalized())) {
|
||||
return;
|
||||
}
|
||||
|
||||
real_t proj = capsule_A_axis.cross(cylinder_B_axis).cross(cylinder_B_axis).dot(capsule_A_axis);
|
||||
if (Math::is_zero_approx(proj)) {
|
||||
// Parallel capsule and cylinder axes, handle with specific axes only.
|
||||
// Note: GJKEPA with no margin can lead to degenerate cases in this situation.
|
||||
separator.generate_contacts();
|
||||
return;
|
||||
}
|
||||
|
||||
CollisionSolverSW::CallbackResult callback = SeparatorAxisTest<CapsuleShapeSW, CylinderShapeSW, withMargin>::test_contact_points;
|
||||
|
||||
// Fallback to generic algorithm to find the best separating axis.
|
||||
|
|
Loading…
Reference in a new issue