ilikecats/stk-code_catmod
1
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge branch 'fix-2522'

Browse Source
This commit is contained in:
hiker 2016-06-27 18:13:11 +10:00
commit 8b52831083
2 changed files with 61 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
lib/bullet/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
View File

@ -17,6 +17,9 @@ subject to the following restrictions:
#include "SphereTriangleDetector.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle,btScalar contactBreakingThreshold)
@ -43,6 +46,35 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact,m_contactBreakingThreshold))
{
// 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 *co = mani->getBody0Internal();
const btTriangleShape *tri = dynamic_cast<const btTriangleShape*>(co->getCollisionShape());
if(!tri)
{
co = mani->getBody1Internal();
tri = dynamic_cast<const btTriangleShape*>(co->getCollisionShape());
}
// If we have a triangle and it is static, recompute the normal
if(tri && co->isStaticOrKinematicObject())
{
normal = (tri->m_vertices1[1]-tri->m_vertices1[0])
.cross(tri->m_vertices1[2]-tri->m_vertices1[0]);
normal.normalize();;
}
}
if (swapResults)
{
btVector3 normalOnB = transformB.getBasis()*normal;

29
lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
View File

@ -17,6 +17,9 @@ 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"
@ -441,6 +444,32 @@ 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 *co = mani->getBody0Internal();
const btTriangleShape *tri = dynamic_cast<const btTriangleShape*>(co->getCollisionShape());
if(!tri)
{
co = mani->getBody1Internal();
tri = dynamic_cast<const btTriangleShape*>(co->getCollisionShape());
}
// If we have a triangle and it is static, recompute the normal
if(tri && co->isStaticOrKinematicObject())
{
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,