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| author | PouleyKetchoupp <pouleyketchoup@gmail.com> | 2021-03-16 10:10:24 -0700 |
|---|---|---|
| committer | PouleyKetchoupp <pouleyketchoup@gmail.com> | 2021-03-16 10:19:26 -0700 |
| commit | 93076ef1178fa09710a155cbfb444a9669b87963 (patch) | |
| tree | e536e9baded5bbe0b2d177620b607231294160eb /servers/physics_3d/collision_solver_3d_sat.cpp | |
| parent | 8e293bac4e4c75179c0691f358fd8ef57a2bcf93 (diff) | |
| download | redot-engine-93076ef1178fa09710a155cbfb444a9669b87963.tar.gz | |
Fix Cylinder shape collision with margins when using GJK-EPA
In the case of falling back to GJK-EPA algorithm to generate cylinder
contact points, margins were never taken into account.
This fixes the depenetration phase for kinematic bodies and allows
consistent floor detection for cylinder shapes.
Diffstat (limited to 'servers/physics_3d/collision_solver_3d_sat.cpp')
| -rw-r--r-- | servers/physics_3d/collision_solver_3d_sat.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/servers/physics_3d/collision_solver_3d_sat.cpp b/servers/physics_3d/collision_solver_3d_sat.cpp index 651961433c..5c77fa2847 100644 --- a/servers/physics_3d/collision_solver_3d_sat.cpp +++ b/servers/physics_3d/collision_solver_3d_sat.cpp @@ -1630,7 +1630,7 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform &p CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CapsuleShape3DSW, CylinderShape3DSW, withMargin>::test_contact_points; // Fallback to generic algorithm to find the best separating axis. - if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator)) { + if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) { return; } @@ -1805,7 +1805,7 @@ static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform & CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CylinderShape3DSW, CylinderShape3DSW, withMargin>::test_contact_points; // Fallback to generic algorithm to find the best separating axis. - if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator)) { + if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) { return; } @@ -1822,7 +1822,7 @@ static void _collision_cylinder_convex_polygon(const Shape3DSW *p_a, const Trans CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CylinderShape3DSW, ConvexPolygonShape3DSW, withMargin>::test_contact_points; // Fallback to generic algorithm to find the best separating axis. - if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator)) { + if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) { return; } |