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Merge pull request #51859 from nekomatata/bullet-body-motion-fixes

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Fixes in Bullet body_test_motion
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Rémi Verschelde 2021-08-18 22:46:10 +02:00 committed by GitHub
parent 8376af3c31 45bc97b8b8
commit c0bdea6a67
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1 changed files with 25 additions and 0 deletions
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25
modules/bullet/space_bullet.cpp
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@ -945,6 +945,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
G_TO_B(p_from, body_transform);
UNSCALE_BT_BASIS(body_transform);
if (!p_body->get_kinematic_utilities()) {
p_body->init_kinematic_utilities();
p_body->reload_kinematic_shapes();
}
btVector3 initial_recover_motion(0, 0, 0);
{ /// Phase one - multi shapes depenetration using margin
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
@ -958,6 +963,9 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
btVector3 motion;
G_TO_B(p_motion, motion);
real_t total_length = motion.length();
real_t unsafe_fraction = 1.0;
real_t safe_fraction = 1.0;
{
// Phase two - sweep test, from a secure position without margin
@ -1007,6 +1015,15 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
if (btResult.hasHit()) {
if (total_length > CMP_EPSILON) {
real_t hit_fraction = btResult.m_closestHitFraction * motion.length() / total_length;
if (hit_fraction < unsafe_fraction) {
unsafe_fraction = hit_fraction;
real_t margin = p_body->get_kinematic_utilities()->safe_margin;
safe_fraction = MAX(hit_fraction - (1 - ((total_length - margin) / total_length)), 0);
}
}
/// Since for each sweep test I fix the motion of new shapes in base the recover result,
/// if another shape will hit something it means that has a deepest penetration respect the previous shape
motion *= btResult.m_closestHitFraction;
@ -1043,6 +1060,9 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
r_result->collider_id = collisionObject->get_instance_id();
r_result->collider_shape = r_recover_result.other_compound_shape_index;
r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
r_result->collision_depth = Math::abs(r_recover_result.penetration_distance);
r_result->collision_safe_fraction = safe_fraction;
r_result->collision_unsafe_fraction = unsafe_fraction;
#if debug_test_motion
Vector3 sup_line2;
@ -1067,6 +1087,11 @@ int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform3D
G_TO_B(p_transform, body_transform);
UNSCALE_BT_BASIS(body_transform);
if (!p_body->get_kinematic_utilities()) {
p_body->init_kinematic_utilities();
p_body->reload_kinematic_shapes();
}
btVector3 recover_motion(0, 0, 0);
int rays_found = 0;