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Merge pull request #13707 from AndrewMeadows/fix-ccd

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more correct continuous collision detection for thin objects
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John Conklin II 2018-07-27 14:32:41 -07:00 committed by GitHub
commit df917688b6
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1 changed files with 21 additions and 20 deletions
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39
libraries/physics/src/ObjectMotionState.cpp
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@ -155,26 +155,25 @@ void ObjectMotionState::setMotionType(PhysicsMotionType motionType) {
// Update the Continuous Collision Detection (CCD) configuration settings of our RigidBody so that // Update the Continuous Collision Detection (CCD) configuration settings of our RigidBody so that
// CCD will be enabled automatically when its speed surpasses a certain threshold. // CCD will be enabled automatically when its speed surpasses a certain threshold.
void ObjectMotionState::updateCCDConfiguration() { void ObjectMotionState::updateCCDConfiguration() {
if (_body) { assert(_body);
if (_shape) { if (_shape && _shape->getShapeType() != TRIANGLE_MESH_SHAPE_PROXYTYPE) {
// If this object moves faster than its bounding radius * RADIUS_MOTION_THRESHOLD_MULTIPLIER, // find minumum dimension of shape
// CCD will be enabled for this object. btVector3 aabbMin, aabbMax;
const auto RADIUS_MOTION_THRESHOLD_MULTIPLIER = 0.5f; btTransform transform;
transform.setIdentity();
btVector3 center; _shape->getAabb(transform, aabbMin, aabbMax);
btScalar radius; aabbMin = aabbMax - aabbMin;
_shape->getBoundingSphere(center, radius); btScalar radius = *((btScalar*)(aabbMin) + aabbMin.minAxis());
_body->setCcdMotionThreshold(radius * RADIUS_MOTION_THRESHOLD_MULTIPLIER);
// TODO: Ideally the swept sphere radius would be contained by the object. Using the bounding sphere
// radius works well for spherical objects, but may cause issues with other shapes. For arbitrary
// objects we may want to consider a different approach, such as grouping rigid bodies together.
// use the minimum dimension as the radius of the CCD proxy sphere
_body->setCcdSweptSphereRadius(radius); _body->setCcdSweptSphereRadius(radius);
// also use the radius as the motion threshold for enabling CCD
_body->setCcdMotionThreshold(radius);
} else { } else {
// Disable CCD // disable CCD
_body->setCcdMotionThreshold(0); _body->setCcdSweptSphereRadius(0.0f);
} _body->setCcdMotionThreshold(0.0f);
} }
} }
@ -188,9 +187,9 @@ void ObjectMotionState::setRigidBody(btRigidBody* body) {
if (_body) { if (_body) {
_body->setUserPointer(this); _body->setUserPointer(this);
assert(_body->getCollisionShape() == _shape); assert(_body->getCollisionShape() == _shape);
}
updateCCDConfiguration(); updateCCDConfiguration();
} }
}
} }
void ObjectMotionState::setShape(const btCollisionShape* shape) { void ObjectMotionState::setShape(const btCollisionShape* shape) {
@ -199,6 +198,9 @@ void ObjectMotionState::setShape(const btCollisionShape* shape) {
getShapeManager()->releaseShape(_shape); getShapeManager()->releaseShape(_shape);
} }
_shape = shape; _shape = shape;
if (_body) {
updateCCDConfiguration();
}
} }
} }
@ -312,7 +314,6 @@ bool ObjectMotionState::handleHardAndEasyChanges(uint32_t& flags, PhysicsEngine*
} else { } else {
_body->setCollisionShape(const_cast<btCollisionShape*>(newShape)); _body->setCollisionShape(const_cast<btCollisionShape*>(newShape));
setShape(newShape); setShape(newShape);
updateCCDConfiguration();
} }
} }
if (flags & EASY_DIRTY_PHYSICS_FLAGS) { if (flags & EASY_DIRTY_PHYSICS_FLAGS) {