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Bullet: Compound Shape Collision Fix #56801

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merged 1 commit into from
May 19, 2022
Merged

Bullet: Compound Shape Collision Fix #56801

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4 changes: 4 additions & 0 deletions modules/bullet/space_bullet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1290,6 +1290,8 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt
// Initialize GJK input
btGjkPairDetector::ClosestPointInput gjk_input;
gjk_input.m_transformA = p_transformA;
// Avoid repeat penetrations
gjk_input.m_transformA.getOrigin() += r_delta_recover_movement;
gjk_input.m_transformB = p_transformB;

// Perform GJK test
Expand Down Expand Up @@ -1320,6 +1322,8 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
/// Contact test

btTransform tA(p_transformA);
// Avoid repeat penetrations
tA.getOrigin() += r_delta_recover_movement;

btCollisionObjectWrapper obA(nullptr, p_shapeA, p_objectA, tA, -1, p_shapeId_A);
btCollisionObjectWrapper obB(nullptr, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);
Expand Down