Mirrors/overte-lubosz
3
0
Fork 0
mirror of https://github.com/lubosz/overte.git synced 2025-04-13 11:52:09 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

Merge pull request #13707 from AndrewMeadows/fix-ccd

Browse source 
more correct continuous collision detection for thin objects
This commit is contained in:
John Conklin II 2018-07-27 14:32:41 -07:00 committed by GitHub
commit df917688b6
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 21 additions and 20 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

41
libraries/physics/src/ObjectMotionState.cpp
View file

@ -155,26 +155,25 @@ void ObjectMotionState::setMotionType(PhysicsMotionType motionType) {
// 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.
void ObjectMotionState::updateCCDConfiguration() {
if (_body) {
if (_shape) {
// If this object moves faster than its bounding radius * RADIUS_MOTION_THRESHOLD_MULTIPLIER,
// CCD will be enabled for this object.
const auto RADIUS_MOTION_THRESHOLD_MULTIPLIER = 0.5f;
assert(_body);
if (_shape && _shape->getShapeType() != TRIANGLE_MESH_SHAPE_PROXYTYPE) {
// find minumum dimension of shape
btVector3 aabbMin, aabbMax;
btTransform transform;
transform.setIdentity();
_shape->getAabb(transform, aabbMin, aabbMax);
aabbMin = aabbMax - aabbMin;
btScalar radius = *((btScalar*)(aabbMin) + aabbMin.minAxis());
btVector3 center;
btScalar radius;
_shape->getBoundingSphere(center, radius);
_body->setCcdMotionThreshold(radius * RADIUS_MOTION_THRESHOLD_MULTIPLIER);
// use the minimum dimension as the radius of the CCD proxy sphere
_body->setCcdSweptSphereRadius(radius);
// 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.
_body->setCcdSweptSphereRadius(radius);
} else {
// Disable CCD
_body->setCcdMotionThreshold(0);
}
// also use the radius as the motion threshold for enabling CCD
_body->setCcdMotionThreshold(radius);
} else {
// disable CCD
_body->setCcdSweptSphereRadius(0.0f);
_body->setCcdMotionThreshold(0.0f);
}
}
@ -188,8 +187,8 @@ void ObjectMotionState::setRigidBody(btRigidBody* body) {
if (_body) {
_body->setUserPointer(this);
assert(_body->getCollisionShape() == _shape);
updateCCDConfiguration();
}
updateCCDConfiguration();
}
}
@ -199,6 +198,9 @@ void ObjectMotionState::setShape(const btCollisionShape* shape) {
getShapeManager()->releaseShape(_shape);
}
_shape = shape;
if (_body) {
updateCCDConfiguration();
}
}
}
@ -312,7 +314,6 @@ bool ObjectMotionState::handleHardAndEasyChanges(uint32_t& flags, PhysicsEngine*
} else {
_body->setCollisionShape(const_cast<btCollisionShape*>(newShape));
setShape(newShape);
updateCCDConfiguration();
}
}
if (flags & EASY_DIRTY_PHYSICS_FLAGS) {