diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp | 22 |
1 files changed, 18 insertions, 4 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp index 5fd4ee28511..9db909a5469 100644 --- a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp +++ b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp @@ -79,7 +79,7 @@ public: if (!convexResult.m_hitCollisionObject->hasContactResponse()) return btScalar(1.0); - + btVector3 hitNormalWorld; if (normalInWorldSpace) { @@ -163,7 +163,21 @@ btPairCachingGhostObject* btKinematicCharacterController::getGhostObject() bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* collisionWorld) { - + // Here we must refresh the overlapping paircache as the penetrating movement itself or the + // previous recovery iteration might have used setWorldTransform and pushed us into an object + // that is not in the previous cache contents from the last timestep, as will happen if we + // are pushed into a new AABB overlap. Unhandled this means the next convex sweep gets stuck. + // + // Do this by calling the broadphase's setAabb with the moved AABB, this will update the broadphase + // paircache and the ghostobject's internal paircache at the same time. /BW + + btVector3 minAabb, maxAabb; + m_convexShape->getAabb(m_ghostObject->getWorldTransform(), minAabb,maxAabb); + collisionWorld->getBroadphase()->setAabb(m_ghostObject->getBroadphaseHandle(), + minAabb, + maxAabb, + collisionWorld->getDispatcher()); + bool penetration = false; collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher()); @@ -178,10 +192,10 @@ bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i]; btCollisionObject* obj0 = static_cast<btCollisionObject*>(collisionPair->m_pProxy0->m_clientObject); btCollisionObject* obj1 = static_cast<btCollisionObject*>(collisionPair->m_pProxy1->m_clientObject); - + if ((obj0 && !obj0->hasContactResponse()) || (obj1 && !obj1->hasContactResponse())) continue; - + if (collisionPair->m_algorithm) collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray); |