Sara/behaviour-tree-test
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Check for motion in cast_motion() before doing Bullet convexSweepTest().

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Also ensure that default closest_safe and closest_unsafe values are
defined in cast_motion() and before cast_motion() is called.
This commit is contained in:
Marcel Admiraal 2019-12-09 11:11:06 +01:00
parent 277d2f1f50
commit 8ffe905c45
3 changed files with 16 additions and 10 deletions
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18
modules/bullet/space_bullet.cpp
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@ -152,6 +152,15 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
}
bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
r_closest_safe = 0.0f;
r_closest_unsafe = 0.0f;
btVector3 bt_motion;
G_TO_B(p_motion, bt_motion);
if (bt_motion.fuzzyZero()) {
return false;
}
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape);
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
@ -162,9 +171,6 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
}
btConvexShape *bt_convex_shape = static_cast<btConvexShape *>(btShape);
btVector3 bt_motion;
G_TO_B(p_motion, bt_motion);
btTransform bt_xform_from;
G_TO_B(p_xform, bt_xform_from);
UNSCALE_BT_BASIS(bt_xform_from);
@ -178,9 +184,6 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, space->dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
r_closest_unsafe = 1.0;
r_closest_safe = 1.0;
if (btResult.hasHit()) {
const btScalar l = bt_motion.length();
r_closest_unsafe = btResult.m_closestHitFraction;
@ -196,6 +199,9 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
r_info->collider_id = collision_object->get_instance_id();
r_info->shape = btResult.m_shapeId;
}
} else {
r_closest_safe = 1.0f;
r_closest_unsafe = 1.0f;
}
bulletdelete(bt_convex_shape);