Fixed kinematic movement stuck, Changed how shape scale works, Optimized

1 files changed, 7 insertions, 6 deletions

diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index e5267c01a9..5bc922f43c 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -178,23 +178,24 @@ private:
 
 	struct RecoverResult {
 		bool hasPenetration;
-		btVector3 pointNormalWorld;
+		btVector3 normal;
 		btVector3 pointWorld;
-		btScalar penetration_distance; // Negative is penetration
+		btScalar penetration_distance; // Negative mean penetration
 		int other_compound_shape_index;
 		const btCollisionObject *other_collision_object;
 		int local_shape_most_recovered;
 
 		RecoverResult() :
-				hasPenetration(false) {}
+				hasPenetration(false),
+				penetration_distance(1e20) {}
 	};
 
-	bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btVector3 &r_recover_position, RecoverResult *r_recover_result = NULL);
+	bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_recover_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result = NULL);
 	/// This is an API that recover a kinematic object from penetration
 	/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
-	bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result);
+	bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result = NULL);
 	/// This is an API that recover a kinematic object from penetration
 	/// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm
-	bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result);
+	bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result = NULL);
 };
 #endif