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Try to fix #2522 for a puck.

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This commit is contained in:
hiker 2016-06-21 09:32:14 +10:00
parent 0a883f3832
commit 7a95f10cc0
1 changed files with 30 additions and 0 deletions
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30
lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@ -17,6 +17,10 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
@ -441,6 +445,32 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
m_cachedSeparatingAxis = normalInB;
m_cachedSeparatingDistance = distance;
// In some cases the normalInB is incorrect with a static triangle
// mesh (i.e. it's the connection point between puck and triangle, not
// the normal from the triangle - which is fine if the triangle mesh
// is a dynamic rigid body (i.e. can be pushed away), but appears to
// be wrong in case of a static body - it causes #2522 (puck suddenly
// pushed in air). So in case of a static triangle mesh, recompute
// the normal just based on the triangle mesh:
const btManifoldResult *mani = dynamic_cast<btManifoldResult*>(&output);
if(mani)
{
// Find the triangle:
const btCollisionObject *b = mani->getBody0Internal();
const btTriangleShape *tri = dynamic_cast<const btTriangleShape*>(b->getCollisionShape());
if(!tri)
{
b = mani->getBody1Internal();
tri = dynamic_cast<const btTriangleShape*>(b->getCollisionShape());
}
// If we have a triangle and it is static (mass=0), recompute the normal
if(tri && btRigidBody::upcast(b)->getInvMass()==0)
{
normalInB = (tri->m_vertices1[1]-tri->m_vertices1[0])
.cross(tri->m_vertices1[2]-tri->m_vertices1[0]);
normalInB.normalize();;
}
}
output.addContactPoint(
normalInB,
pointOnB+positionOffset,