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Revert attempted fix of trimesh CCD #74861

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Mar 17, 2023
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Revert attempted fix of trimesh CCD #74861

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15 changes: 4 additions & 11 deletions servers/physics_3d/godot_body_pair_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -237,17 +237,10 @@ bool GodotBodyPair3D::_test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A,
Vector3 hitpos = p_xform_B.xform(segment_hit_local);

real_t newlen = hitpos.distance_to(supports_A[segment_support_idx]);
if (shape_B_ptr->is_concave()) {
// Subtracting 5% of body length from the distance between collision and support point
// should cause body A's support point to arrive just before a face of B next frame.
newlen = MAX(newlen - (max - min) * 0.05, 0.0);
// NOTE: This may stop body A completely, without a proper collision response.
// We consider this preferable to tunneling.
} else {
// Adding 1% of body length to the distance between collision and support point
// should cause body A's support point to arrive just within B's collider next frame.
newlen += (max - min) * 0.01;
}
// Adding 1% of body length to the distance between collision and support point
// should cause body A's support point to arrive just within B's collider next frame.
newlen += (max - min) * 0.01;
// FIXME: This doesn't always work well when colliding with a triangle face of a trimesh shape.

p_A->set_linear_velocity((mnormal * newlen) / p_step);

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