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6587024207
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.
117 lines
5.0 KiB
C++
117 lines
5.0 KiB
C++
/*************************************************************************/
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/* godot_ray_world_algorithm.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "godot_ray_world_algorithm.h"
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#include "btRayShape.h"
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#include "collision_object_bullet.h"
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#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h>
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/**
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@author AndreaCatania
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*/
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GodotRayWorldAlgorithm::CreateFunc::CreateFunc(const btDiscreteDynamicsWorld *world) :
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m_world(world) {}
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GodotRayWorldAlgorithm::SwappedCreateFunc::SwappedCreateFunc(const btDiscreteDynamicsWorld *world) :
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m_world(world) {}
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GodotRayWorldAlgorithm::GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped) :
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btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
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m_world(world),
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m_manifoldPtr(mf),
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m_ownManifold(false),
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m_isSwapped(isSwapped) {}
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GodotRayWorldAlgorithm::~GodotRayWorldAlgorithm() {
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if (m_ownManifold && m_manifoldPtr) {
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m_dispatcher->releaseManifold(m_manifoldPtr);
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}
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}
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void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) {
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if (!m_manifoldPtr) {
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if (m_isSwapped) {
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m_manifoldPtr = m_dispatcher->getNewManifold(body1Wrap->getCollisionObject(), body0Wrap->getCollisionObject());
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} else {
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m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
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}
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m_ownManifold = true;
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}
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m_manifoldPtr->clearManifold();
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resultOut->setPersistentManifold(m_manifoldPtr);
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const btRayShape *ray_shape;
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btTransform ray_transform;
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const btCollisionObjectWrapper *other_co_wrapper;
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if (m_isSwapped) {
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ray_shape = static_cast<const btRayShape *>(body1Wrap->getCollisionShape());
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ray_transform = body1Wrap->getWorldTransform();
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other_co_wrapper = body0Wrap;
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} else {
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ray_shape = static_cast<const btRayShape *>(body0Wrap->getCollisionShape());
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ray_transform = body0Wrap->getWorldTransform();
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other_co_wrapper = body1Wrap;
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}
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btTransform to(ray_transform * ray_shape->getSupportPoint());
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btCollisionWorld::ClosestRayResultCallback btResult(ray_transform.getOrigin(), to.getOrigin());
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m_world->rayTestSingleInternal(ray_transform, to, other_co_wrapper, btResult);
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if (btResult.hasHit()) {
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btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
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if (depth >= -ray_shape->getMargin() * 0.5)
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depth = 0;
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if (ray_shape->getSlipsOnSlope())
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resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth);
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else {
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resultOut->addContactPoint((ray_transform.getOrigin() - to.getOrigin()).normalize(), btResult.m_hitPointWorld, depth);
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}
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}
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}
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btScalar GodotRayWorldAlgorithm::calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) {
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return 1;
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}
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