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Improved CCD calculation algorithm #28595

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May 16, 2019
Merged

Improved CCD calculation algorithm #28595

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10 changes: 4 additions & 6 deletions modules/bullet/rigid_body_bullet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -741,22 +741,20 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {
if (p_enable) {
// This threshold enable CCD if the object moves more than
// 1 meter in one simulation frame
btBody->setCcdMotionThreshold(0.1);
btBody->setCcdMotionThreshold(1e-7);

/// Calculate using the rule writte below the CCD swept sphere radius
/// CCD works on an embedded sphere of radius, make sure this radius
/// is embedded inside the convex objects, preferably smaller:
/// for an object of dimensions 1 meter, try 0.2
btScalar radius;
btScalar radius(1.0);
if (btBody->getCollisionShape()) {
btVector3 center;
btBody->getCollisionShape()->getBoundingSphere(center, radius);
} else {
radius = 0;
}
btBody->setCcdSweptSphereRadius(radius * 0.2);
} else {
btBody->setCcdMotionThreshold(0.);
btBody->setCcdMotionThreshold(10000.0);
btBody->setCcdSweptSphereRadius(0.);
}
}
Expand Down Expand Up @@ -834,7 +832,7 @@ void RigidBodyBullet::reload_shapes() {
btBody->updateInertiaTensor();

reload_kinematic_shapes();

set_continuous_collision_detection(btBody->getCcdMotionThreshold() < 9998.0);
reload_body();
}

Expand Down