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Fix rest_info returning no result with high margin and low motion

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Apply the same logic as in test_body_motion to make sure the minimum
allowed depth doesn't filter out all contacts in this case.
This commit is contained in:
PouleyKetchoupp 2021-11-12 13:30:54 -07:00
parent 2b24629847
commit 43ff9ad86f
2 changed files with 10 additions and 12 deletions
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8
servers/physics_3d/godot_space_3d.cpp
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@ -507,15 +507,17 @@ bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_paramete
GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid);
ERR_FAIL_COND_V(!shape, 0);
real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
AABB aabb = p_parameters.transform.xform(shape->get_aabb());
aabb = aabb.grow(p_parameters.margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
_RestCallbackData rcd;
rcd.min_allowed_depth = min_contact_depth;
// Allowed depth can't be lower than motion length, in order to handle contacts at low speed.
real_t motion_length = p_parameters.motion.length();
real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
rcd.min_allowed_depth = MIN(motion_length, min_contact_depth);
for (int i = 0; i < amount; i++) {
if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) {