Fixed kinematic movement on concave shape

modules/bullet/godot_result_callbacks.cpp

@@ -77,7 +77,7 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo
 
 	PhysicsDirectSpaceState::ShapeResult &result = m_results[count];
 
-	result.shape = convexResult.m_localShapeInfo->m_shapePart;
+	result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
 	result.rid = gObj->get_self();
 	result.collider_id = gObj->get_instance_id();
 	result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);
@@ -122,7 +122,7 @@ bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0)
 
 btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
 	btScalar res = btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
-	m_shapePart = convexResult.m_localShapeInfo->m_shapePart;
+	m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
 	return res;
 }
 
@@ -242,3 +242,21 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp
 
 	return cp.getDistance();
 }
+
+void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {
+
+	if (depth < 0) {
+		// Has penetration
+		if (m_most_penetrated_distance > depth) {
+
+			bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
+
+			m_most_penetrated_distance = depth;
+			m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject();
+			m_other_compound_shape_index = isSwapped ? m_index1 : m_index0;
+			m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
+			m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB;
+			m_penetration_distance = depth;
+		}
+	}
+}

modules/bullet/godot_result_callbacks.h

@@ -88,7 +88,7 @@ public:
 struct GodotClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
 public:
 	const Set<RID> *m_exclude;
-	int m_shapePart;
+	int m_shapeId;
 
 	GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude)
 		: btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_exclude(p_exclude) {}
@@ -149,4 +149,31 @@ public:
 	virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
 };
 
+struct GodotDeepPenetrationContactResultCallback : public btManifoldResult {
+	btVector3 m_pointNormalWorld;
+	btVector3 m_pointWorld;
+	btScalar m_penetration_distance;
+	int m_other_compound_shape_index;
+	const btCollisionObject *m_pointCollisionObject;
+
+	btScalar m_most_penetrated_distance;
+
+	GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
+		: btManifoldResult(body0Wrap, body1Wrap),
+		  m_pointCollisionObject(NULL),
+		  m_penetration_distance(0),
+		  m_other_compound_shape_index(0),
+		  m_most_penetrated_distance(1e20) {}
+
+	void reset() {
+		m_pointCollisionObject = NULL;
+		m_most_penetrated_distance = 1e20;
+	}
+
+	bool hasHit() {
+		return m_pointCollisionObject;
+	}
+
+	virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth);
+};
 #endif // GODOT_RESULT_CALLBACKS_H

modules/bullet/space_bullet.cpp

@@ -183,7 +183,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
 		B_TO_G(btResult.m_hitNormalWorld, r_info->normal);
 		r_info->rid = collision_object->get_self();
 		r_info->collider_id = collision_object->get_instance_id();
-		r_info->shape = btResult.m_shapePart;
+		r_info->shape = btResult.m_shapeId;
 	}
 
 	bulletdelete(bt_convex_shape);
@@ -910,26 +910,26 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
 
 	{ /// Phase three - Recover + contact test with margin
 
-		RecoverResult recover_result;
+		RecoverResult r_recover_result;
 
-		hasPenetration = recover_from_penetration(p_body, body_safe_position, recovered_motion, &recover_result);
+		hasPenetration = recover_from_penetration(p_body, body_safe_position, recovered_motion, &r_recover_result);
 
 		if (r_result) {
 
 			B_TO_G(recovered_motion + recover_initial_position, r_result->motion);
 
 			if (hasPenetration) {
-				const btRigidBody *btRigid = static_cast<const btRigidBody *>(recover_result.other_collision_object);
+				const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
 				CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
 
 				r_result->remainder = p_motion - r_result->motion; // is the remaining movements
-				B_TO_G(recover_result.pointWorld, r_result->collision_point);
-				B_TO_G(recover_result.pointNormalWorld, r_result->collision_normal);
-				B_TO_G(btRigid->getVelocityInLocalPoint(recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
+				B_TO_G(r_recover_result.pointWorld, r_result->collision_point);
+				B_TO_G(r_recover_result.pointNormalWorld, r_result->collision_normal);
+				B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
 				r_result->collider = collisionObject->get_self();
 				r_result->collider_id = collisionObject->get_instance_id();
-				r_result->collider_shape = recover_result.other_compound_shape_index;
-				r_result->collision_local_shape = recover_result.local_shape_most_recovered;
+				r_result->collider_shape = r_recover_result.other_compound_shape_index;
+				r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
 
 //{ /// Add manifold point to manage collisions
 //    btPersistentManifold* manifold = dynamicsWorld->getDispatcher()->getNewManifold(p_body->getBtBody(), btRigid);
@@ -995,7 +995,7 @@ public:
 	}
 };
 
-bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btVector3 &out_recover_position, RecoverResult *recover_result) {
+bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
 
 	RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
 
@@ -1005,9 +1005,6 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
 	// Broad phase support
 	btVector3 minAabb, maxAabb;
 
-	// GJK support
-	btGjkPairDetector::ClosestPointInput gjk_input;
-
 	bool penetration = false;
 
 	// For each shape
@@ -1022,7 +1019,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
 
 		body_shape_position = p_body_position * kin_shape.transform;
 		body_shape_position_recovered = body_shape_position;
-		body_shape_position_recovered.getOrigin() += out_recover_position;
+		body_shape_position_recovered.getOrigin() += r_recover_position;
 
 		kin_shape.shape->getAabb(body_shape_position_recovered, minAabb, maxAabb);
 		dynamicsWorld->getBroadphase()->aabbTest(minAabb, maxAabb, recover_broad_result);
@@ -1032,66 +1029,33 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
 			if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()))
 				continue;
 
-			if (otherObject->getCollisionShape()->isCompound()) { /// Execute GJK test against all shapes
+			if (otherObject->getCollisionShape()->isCompound()) {
 
 				// Each convex shape
 				btCompoundShape *cs = static_cast<btCompoundShape *>(otherObject->getCollisionShape());
 				for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) {
 
-					if (!cs->getChildShape(x)->isConvex())
-						continue;
+					if (cs->getChildShape(x)->isConvex()) {
+						if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(x)), otherObject, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), r_recover_position, r_recover_result)) {
 
-					// Initialize GJK input
-					gjk_input.m_transformA = body_shape_position;
-					gjk_input.m_transformA.getOrigin() += out_recover_position;
-					gjk_input.m_transformB = otherObject->getWorldTransform() * cs->getChildTransform(x);
+							penetration = true;
+						}
+					} else {
+						if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), r_recover_position, r_recover_result)) {
 
-					// Perform GJK test
-					btPointCollector result;
-					btGjkPairDetector gjk_pair_detector(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(x)), gjk_simplex_solver, gjk_epa_pen_solver);
-					gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
-					if (0 > result.m_distance) {
-						// Has penetration
-						out_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1);
-						penetration = true;
-
-						if (recover_result) {
-
-							recover_result->hasPenetration = true;
-							recover_result->other_collision_object = otherObject;
-							recover_result->other_compound_shape_index = x;
-							recover_result->penetration_distance = result.m_distance;
-							recover_result->pointNormalWorld = result.m_normalOnBInWorld;
-							recover_result->pointWorld = result.m_pointInWorld;
+							penetration = true;
 						}
 					}
 				}
-
 			} else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape
+				if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, 0, body_shape_position, otherObject->getWorldTransform(), r_recover_position, r_recover_result)) {
 
-				// Initialize GJK input
-				gjk_input.m_transformA = body_shape_position;
-				gjk_input.m_transformA.getOrigin() += out_recover_position;
-				gjk_input.m_transformB = otherObject->getWorldTransform();
-
-				// Perform GJK test
-				btPointCollector result;
-				btGjkPairDetector gjk_pair_detector(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), gjk_simplex_solver, gjk_epa_pen_solver);
-				gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
-				if (0 > result.m_distance) {
-					// Has penetration
-					out_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1);
 					penetration = true;
+				}
+			} else {
+				if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, body_shape_position, otherObject->getWorldTransform(), r_recover_position, r_recover_result)) {
 
-					if (recover_result) {
-
-						recover_result->hasPenetration = true;
-						recover_result->other_collision_object = otherObject;
-						recover_result->other_compound_shape_index = 0;
-						recover_result->penetration_distance = result.m_distance;
-						recover_result->pointNormalWorld = result.m_normalOnBInWorld;
-						recover_result->pointWorld = result.m_pointInWorld;
-					}
+					penetration = true;
 				}
 			}
 		}
@@ -1099,3 +1063,70 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
 
 	return penetration;
 }
+
+bool SpaceBullet::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) {
+
+	// Initialize GJK input
+	btGjkPairDetector::ClosestPointInput gjk_input;
+	gjk_input.m_transformA = p_transformA;
+	gjk_input.m_transformA.getOrigin() += r_recover_position;
+	gjk_input.m_transformB = p_transformB;
+
+	// Perform GJK test
+	btPointCollector result;
+	btGjkPairDetector gjk_pair_detector(p_shapeA, p_shapeB, gjk_simplex_solver, gjk_epa_pen_solver);
+	gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
+	if (0 > result.m_distance) {
+		// Has penetration
+		r_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1);
+
+		if (r_recover_result) {
+
+			r_recover_result->hasPenetration = true;
+			r_recover_result->other_collision_object = p_objectB;
+			r_recover_result->other_compound_shape_index = p_shapeId_B;
+			r_recover_result->penetration_distance = result.m_distance;
+			r_recover_result->pointNormalWorld = result.m_normalOnBInWorld;
+			r_recover_result->pointWorld = result.m_pointInWorld;
+		}
+		return true;
+	}
+	return false;
+}
+
+bool SpaceBullet::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) {
+
+	/// Contact test
+
+	btTransform p_recovered_transformA(p_transformA);
+	p_recovered_transformA.getOrigin() += r_recover_position;
+
+	btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, p_recovered_transformA, -1, p_shapeId_A);
+	btCollisionObjectWrapper obB(NULL, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);
+
+	btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CLOSEST_POINT_ALGORITHMS);
+	if (algorithm) {
+		GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB);
+		//discrete collision detection query
+		algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult);
+
+		algorithm->~btCollisionAlgorithm();
+		dispatcher->freeCollisionAlgorithm(algorithm);
+
+		if (contactPointResult.hasHit()) {
+			r_recover_position += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1);
+
+			if (r_recover_result) {
+
+				r_recover_result->hasPenetration = true;
+				r_recover_result->other_collision_object = p_objectB;
+				r_recover_result->other_compound_shape_index = p_shapeId_B;
+				r_recover_result->penetration_distance = contactPointResult.m_penetration_distance;
+				r_recover_result->pointNormalWorld = contactPointResult.m_pointNormalWorld;
+				r_recover_result->pointWorld = contactPointResult.m_pointWorld;
+			}
+			return true;
+		}
+	}
+	return false;
+}

modules/bullet/space_bullet.h

@@ -189,6 +189,12 @@ private:
 			: hasPenetration(false) {}
 	};
 
-	bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btVector3 &out_recover_position, RecoverResult *recover_result = NULL);
+	bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, 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);
+	/// 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);
 };
 #endif