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[3.x] Add collision depth and safe/unsafe fraction to Bullet body_test_motion #51858

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Aug 18, 2021
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[3.x] Add collision depth and safe/unsafe fraction to Bullet body_test_motion #51858

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15 changes: 15 additions & 0 deletions modules/bullet/space_bullet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -978,6 +978,9 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f

btVector3 motion;
G_TO_B(p_motion, motion);
real_t total_length = motion.length();
real_t unsafe_fraction = 1.0;
real_t safe_fraction = 1.0;
{
// Phase two - sweep test, from a secure position without margin

Expand Down Expand Up @@ -1027,6 +1030,15 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);

if (btResult.hasHit()) {
if (total_length > CMP_EPSILON) {
real_t hit_fraction = btResult.m_closestHitFraction * motion.length() / total_length;
if (hit_fraction < unsafe_fraction) {
unsafe_fraction = hit_fraction;
real_t margin = p_body->get_kinematic_utilities()->safe_margin;
safe_fraction = MAX(hit_fraction - (1 - ((total_length - margin) / total_length)), 0);
}
}

/// Since for each sweep test I fix the motion of new shapes in base the recover result,
/// if another shape will hit something it means that has a deepest penetration respect the previous shape
motion *= btResult.m_closestHitFraction;
Expand Down Expand Up @@ -1063,6 +1075,9 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
r_result->collider_id = collisionObject->get_instance_id();
r_result->collider_shape = r_recover_result.other_compound_shape_index;
r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
r_result->collision_depth = Math::abs(r_recover_result.penetration_distance);
r_result->collision_safe_fraction = safe_fraction;
r_result->collision_unsafe_fraction = unsafe_fraction;

#if debug_test_motion
Vector3 sup_line2;
Expand Down