From b7d00a364e26f30a6f9e010475d99cc57d109809 Mon Sep 17 00:00:00 2001 From: Marcel Admiraal Date: Sat, 17 Oct 2020 18:09:10 +0100 Subject: [PATCH] Set Bullet collision shape index to zero when using a single shape or ConcavePolygonShape. --- doc/classes/RigidBody.xml | 2 ++ modules/bullet/space_bullet.cpp | 16 ++++++++++++++-- 2 files changed, 16 insertions(+), 2 deletions(-) diff --git a/doc/classes/RigidBody.xml b/doc/classes/RigidBody.xml index 973d33a396f2..c60db3522449 100644 --- a/doc/classes/RigidBody.xml +++ b/doc/classes/RigidBody.xml @@ -233,6 +233,7 @@ Emitted when a body enters into contact with this one. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. This signal not only receives the body that collided with this one, but also its [RID] ([code]body_id[/code]), the shape index from the colliding body ([code]body_shape[/code]), and the shape index from this body ([code]local_shape[/code]) the other body collided with. + [b]Note:[/b] Bullet physics cannot identify the shape index when using a [ConcavePolygonShape]. Don't use multiple [CollisionShape]s when using a [ConcavePolygonShape] with Bullet physics if you need shape indices. @@ -247,6 +248,7 @@ Emitted when a body shape exits contact with this one. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. This signal not only receives the body that stopped colliding with this one, but also its [RID] ([code]body_id[/code]), the shape index from the colliding body ([code]body_shape[/code]), and the shape index from this body ([code]local_shape[/code]) the other body stopped colliding with. + [b]Note:[/b] Bullet physics cannot identify the shape index when using a [ConcavePolygonShape]. Don't use multiple [CollisionShape]s when using a [ConcavePolygonShape] with Bullet physics if you need shape indices. diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 6444c6e3c22f..b8c832cfd7cd 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -858,17 +858,29 @@ void SpaceBullet::check_body_collision() { float appliedImpulse = pt.m_appliedImpulse; B_TO_G(pt.m_normalWorldOnB, normalOnB); + // The pt.m_index only contains the shape index when more than one collision shape is used + // and only if the collision shape is not a concave collision shape. + // A value of -1 in pt.m_partId indicates the pt.m_index is a shape index. + int shape_index_a = 0; + if (bodyA->get_shape_count() > 1 && pt.m_partId0 == -1) { + shape_index_a = pt.m_index0; + } + int shape_index_b = 0; + if (bodyB->get_shape_count() > 1 && pt.m_partId1 == -1) { + shape_index_b = pt.m_index1; + } + if (bodyA->can_add_collision()) { B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition); /// pt.m_localPointB Doesn't report the exact point in local space B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition); - bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, pt.m_index1, pt.m_index0); + bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, shape_index_b, shape_index_a); } if (bodyB->can_add_collision()) { B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition); /// pt.m_localPointA Doesn't report the exact point in local space B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition); - bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1); + bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, shape_index_a, shape_index_b); } #ifdef DEBUG_ENABLED