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godot/modules/bullet/godot_ray_world_algorithm.cpp
Daniel Rakos 6587024207 Fix RayShape collision jitter when used with a RigidBody
Scaling the depth was the wrong solution for the KinematicBody jitter
because it causes jitter with RigidBody. Instead scale the margin that
is ignored to allow KinematicBody to still pick up the ray shape in the
kinematic test when the shape is just at margin distance from another
one. This solution does not cause jitter with either KinematicBody or
RigidBody.
2019-02-20 15:06:08 +01:00

117 lines
5.0 KiB
C++

/*************************************************************************/
/* godot_ray_world_algorithm.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
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/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
/* */
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#include "godot_ray_world_algorithm.h"
#include "btRayShape.h"
#include "collision_object_bullet.h"
#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h>
/**
@author AndreaCatania
*/
GodotRayWorldAlgorithm::CreateFunc::CreateFunc(const btDiscreteDynamicsWorld *world) :
m_world(world) {}
GodotRayWorldAlgorithm::SwappedCreateFunc::SwappedCreateFunc(const btDiscreteDynamicsWorld *world) :
m_world(world) {}
GodotRayWorldAlgorithm::GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped) :
btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
m_world(world),
m_manifoldPtr(mf),
m_ownManifold(false),
m_isSwapped(isSwapped) {}
GodotRayWorldAlgorithm::~GodotRayWorldAlgorithm() {
if (m_ownManifold && m_manifoldPtr) {
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) {
if (!m_manifoldPtr) {
if (m_isSwapped) {
m_manifoldPtr = m_dispatcher->getNewManifold(body1Wrap->getCollisionObject(), body0Wrap->getCollisionObject());
} else {
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
}
m_ownManifold = true;
}
m_manifoldPtr->clearManifold();
resultOut->setPersistentManifold(m_manifoldPtr);
const btRayShape *ray_shape;
btTransform ray_transform;
const btCollisionObjectWrapper *other_co_wrapper;
if (m_isSwapped) {
ray_shape = static_cast<const btRayShape *>(body1Wrap->getCollisionShape());
ray_transform = body1Wrap->getWorldTransform();
other_co_wrapper = body0Wrap;
} else {
ray_shape = static_cast<const btRayShape *>(body0Wrap->getCollisionShape());
ray_transform = body0Wrap->getWorldTransform();
other_co_wrapper = body1Wrap;
}
btTransform to(ray_transform * ray_shape->getSupportPoint());
btCollisionWorld::ClosestRayResultCallback btResult(ray_transform.getOrigin(), to.getOrigin());
m_world->rayTestSingleInternal(ray_transform, to, other_co_wrapper, btResult);
if (btResult.hasHit()) {
btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
if (depth >= -ray_shape->getMargin() * 0.5)
depth = 0;
if (ray_shape->getSlipsOnSlope())
resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth);
else {
resultOut->addContactPoint((ray_transform.getOrigin() - to.getOrigin()).normalize(), btResult.m_hitPointWorld, depth);
}
}
}
btScalar GodotRayWorldAlgorithm::calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) {
return 1;
}