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Merge pull request #26011 from AndreaCatania/bugfix

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Added support to scale areas, fixes #23448
This commit is contained in:
Rémi Verschelde 2019-02-18 13:21:02 +01:00 committed by GitHub
commit f023e40f6e
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1 changed files with 22 additions and 3 deletions
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25
modules/bullet/space_bullet.cpp
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@ -658,6 +658,8 @@ void SpaceBullet::check_ghost_overlaps() {
for (x = areas.size() - 1; 0 <= x; --x) {
area = areas[x];
btVector3 area_scale(area->get_bt_body_scale());
if (!area->is_monitoring())
continue;
@ -681,6 +683,7 @@ void SpaceBullet::check_ghost_overlaps() {
bool hasOverlap = false;
btCollisionObject *overlapped_bt_co = ghostOverlaps[i];
RigidCollisionObjectBullet *otherObject = static_cast<RigidCollisionObjectBullet *>(overlapped_bt_co->getUserPointer());
btVector3 other_body_scale(otherObject->get_bt_body_scale());
if (!area->is_transform_changed() && !otherObject->is_transform_changed()) {
hasOverlap = true;
@ -698,19 +701,35 @@ void SpaceBullet::check_ghost_overlaps() {
if (!area->get_bt_shape(y)->isConvex())
continue;
gjk_input.m_transformA = area->get_transform__bullet() * area->get_bt_shape_transform(y);
btTransform area_shape_treansform(area->get_bt_shape_transform(y));
area_shape_treansform.getOrigin() *= area_scale;
gjk_input.m_transformA =
area->get_transform__bullet() *
area_shape_treansform;
area_shape = static_cast<btConvexShape *>(area->get_bt_shape(y));
// For each other object shape
for (z = otherObject->get_shape_count() - 1; 0 <= z; --z) {
other_body_shape = static_cast<btCollisionShape *>(otherObject->get_bt_shape(z));
gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_bt_shape_transform(z);
btTransform other_shape_transform(otherObject->get_bt_shape_transform(z));
other_shape_transform.getOrigin() *= other_body_scale;
gjk_input.m_transformB =
otherObject->get_transform__bullet() *
other_shape_transform;
if (other_body_shape->isConvex()) {
btPointCollector result;
btGjkPairDetector gjk_pair_detector(area_shape, static_cast<btConvexShape *>(other_body_shape), gjk_simplex_solver, gjk_epa_pen_solver);
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) {