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Fixed bullet area vs Trimesh shape overlap

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This commit is contained in:
Andrea Catania 2018-09-05 13:43:02 +02:00
parent 93a888e81e
commit ce138d3449
1 changed files with 33 additions and 11 deletions
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44
modules/bullet/space_bullet.cpp
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@ -642,7 +642,7 @@ void SpaceBullet::destroy_world() {
void SpaceBullet::check_ghost_overlaps() {
/// Algorithm support variables
btConvexShape *other_body_shape;
btCollisionShape *other_body_shape;
btConvexShape *area_shape;
btGjkPairDetector::ClosestPointInput gjk_input;
AreaBullet *area;
@ -694,20 +694,42 @@ void SpaceBullet::check_ghost_overlaps() {
// For each other object shape
for (z = otherObject->get_compound_shape()->getNumChildShapes() - 1; 0 <= z; --z) {
if (!otherObject->get_compound_shape()->getChildShape(z)->isConvex())
continue;
other_body_shape = static_cast<btConvexShape *>(otherObject->get_compound_shape()->getChildShape(z));
other_body_shape = static_cast<btCollisionShape *>(otherObject->get_compound_shape()->getChildShape(z));
gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_compound_shape()->getChildTransform(z);
btPointCollector result;
btGjkPairDetector gjk_pair_detector(area_shape, other_body_shape, gjk_simplex_solver, gjk_epa_pen_solver);
gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
if (other_body_shape->isConvex()) {
if (0 >= result.m_distance) {
hasOverlap = true;
goto collision_found;
btPointCollector result;
btGjkPairDetector gjk_pair_detector(area_shape, static_cast<btConvexShape *>(other_body_shape), gjk_simplex_solver, gjk_epa_pen_solver);
gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
if (0 >= result.m_distance) {
hasOverlap = true;
goto collision_found;
}
} else {
btCollisionObjectWrapper obA(NULL, area_shape, area->get_bt_ghost(), gjk_input.m_transformA, -1, y);
btCollisionObjectWrapper obB(NULL, other_body_shape, otherObject->get_bt_collision_object(), gjk_input.m_transformB, -1, z);
btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS);
if (!algorithm)
continue;
GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB);
algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult);
algorithm->~btCollisionAlgorithm();
dispatcher->freeCollisionAlgorithm(algorithm);
if (contactPointResult.hasHit()) {
hasOverlap = true;
goto collision_found;
}
}
} // ~For each other object shape
} // ~For each area shape