diff options
Diffstat (limited to 'modules/bullet/godot_ray_world_algorithm.cpp')
| -rw-r--r-- | modules/bullet/godot_ray_world_algorithm.cpp | 28 |
1 files changed, 21 insertions, 7 deletions
diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp index 3dd10b9ab..53d0ab7e3 100644 --- a/modules/bullet/godot_ray_world_algorithm.cpp +++ b/modules/bullet/godot_ray_world_algorithm.cpp @@ -1,10 +1,9 @@ /*************************************************************************/ /* godot_ray_world_algorithm.cpp */ -/* Author: AndreaCatania */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ -/* http://www.godotengine.org */ +/* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ @@ -30,10 +29,18 @@ /*************************************************************************/ #include "godot_ray_world_algorithm.h" -#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" + #include "btRayShape.h" #include "collision_object_bullet.h" +#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h> + +#define RAY_STABILITY_MARGIN 0.1 + +/** + @author AndreaCatania +*/ + GodotRayWorldAlgorithm::CreateFunc::CreateFunc(const btDiscreteDynamicsWorld *world) : m_world(world) {} @@ -92,10 +99,17 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo m_world->rayTestSingleInternal(ray_transform, to, other_co_wrapper, btResult); if (btResult.hasHit()) { - btVector3 ray_normal(to.getOrigin() - ray_transform.getOrigin()); - ray_normal.normalize(); - ray_normal *= -1; - resultOut->addContactPoint(ray_normal, btResult.m_hitPointWorld, ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1)); + + btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1)); + + if (depth >= -RAY_STABILITY_MARGIN) + depth = 0; + + if (ray_shape->getSlipsOnSlope()) + resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth); + else { + resultOut->addContactPoint((ray_transform.getOrigin() - to.getOrigin()).normalize(), btResult.m_hitPointWorld, depth); + } } } |