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Merge pull request #47068 from nekomatata/cylinder-fix-margins-3.2

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[3.3] Fix Cylinder shape collision with margins when using GJK-EPA
This commit is contained in:
Rémi Verschelde
2021-03-17 11:05:46 +01:00
committed by GitHub
parent be64551922 abb5660925
commit dae319355f
3 changed files with 69 additions and 34 deletions
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6
servers/physics/collision_solver_sat.cpp
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@@ -1680,7 +1680,7 @@ static void _collision_capsule_cylinder(const ShapeSW *p_a, const Transform &p_t
CollisionSolverSW::CallbackResult callback = SeparatorAxisTest<CapsuleShapeSW, CylinderShapeSW, withMargin>::test_contact_points;
// Fallback to generic algorithm to find the best separating axis.
if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator)) {
if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) {
return;
}
@@ -1854,7 +1854,7 @@ static void _collision_cylinder_cylinder(const ShapeSW *p_a, const Transform &p_
CollisionSolverSW::CallbackResult callback = SeparatorAxisTest<CylinderShapeSW, CylinderShapeSW, withMargin>::test_contact_points;
// Fallback to generic algorithm to find the best separating axis.
if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator)) {
if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) {
return;
}
@@ -1871,7 +1871,7 @@ static void _collision_cylinder_convex_polygon(const ShapeSW *p_a, const Transfo
CollisionSolverSW::CallbackResult callback = SeparatorAxisTest<CylinderShapeSW, ConvexPolygonShapeSW, withMargin>::test_contact_points;
// Fallback to generic algorithm to find the best separating axis.
if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator)) {
if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) {
return;
}