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Fixed KinematicCollision.get_local_shape() - the local shape id was never set during move_and_collide()

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Fixes #31144
This commit is contained in:
PouleyKetchoupp
2019-08-07 12:32:32 +02:00
parent 765839b2ad
commit 189e4e59ad
2 changed files with 6 additions and 4 deletions
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8
modules/bullet/space_bullet.cpp
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@@ -1234,7 +1234,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
ERR_FAIL_COND_V(shape_idx < 0 || shape_idx >= cs->getNumChildShapes(), false);
if (cs->getChildShape(shape_idx)->isConvex()) {
if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
penetration = true;
}
@@ -1245,7 +1245,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
}
}
} else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape
if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
penetration = true;
}
@@ -1261,7 +1261,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
return penetration;
}
bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
// Initialize GJK input
btGjkPairDetector::ClosestPointInput gjk_input;
@@ -1279,6 +1279,7 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt
if (r_recover_result) {
if (result.m_distance < r_recover_result->penetration_distance) {
r_recover_result->hasPenetration = true;
r_recover_result->local_shape_most_recovered = p_shapeId_A;
r_recover_result->other_collision_object = p_objectB;
r_recover_result->other_compound_shape_index = p_shapeId_B;
r_recover_result->penetration_distance = result.m_distance;
@@ -1314,6 +1315,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
if (r_recover_result) {
if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {
r_recover_result->hasPenetration = true;
r_recover_result->local_shape_most_recovered = p_shapeId_A;
r_recover_result->other_collision_object = p_objectB;
r_recover_result->other_compound_shape_index = p_shapeId_B;
r_recover_result->penetration_distance = contactPointResult.m_penetration_distance;