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Fix capsule-cylinder collision in godot physics #47084

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Mar 17, 2021
Merged

Fix capsule-cylinder collision in godot physics #47084

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45 changes: 45 additions & 0 deletions servers/physics_3d/collision_solver_3d_sat.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1627,6 +1627,51 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform &p

SeparatorAxisTest<CapsuleShape3DSW, CylinderShape3DSW, withMargin> separator(capsule_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);

if (!separator.test_previous_axis()) {
return;
}

// Cylinder B end caps.
Vector3 cylinder_B_axis = p_transform_b.basis.get_axis(1).normalized();
if (!separator.test_axis(cylinder_B_axis)) {
return;
}

// Cylinder edge against capsule balls.

Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1);

Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis * (capsule_A->get_height() * 0.5);
Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis * (capsule_A->get_height() * 0.5);

if (!separator.test_axis((p_transform_b.origin - capsule_A_ball_1).cross(cylinder_B_axis).cross(cylinder_B_axis).normalized())) {
return;
}

if (!separator.test_axis((p_transform_b.origin - capsule_A_ball_2).cross(cylinder_B_axis).cross(cylinder_B_axis).normalized())) {
return;
}

// Cylinder edge against capsule edge.

Vector3 center_diff = p_transform_b.origin - p_transform_a.origin;

if (!separator.test_axis(capsule_A_axis.cross(center_diff).cross(capsule_A_axis).normalized())) {
return;
}

if (!separator.test_axis(cylinder_B_axis.cross(center_diff).cross(cylinder_B_axis).normalized())) {
return;
}

real_t proj = capsule_A_axis.cross(cylinder_B_axis).cross(cylinder_B_axis).dot(capsule_A_axis);
if (Math::is_zero_approx(proj)) {
// Parallel capsule and cylinder axes, handle with specific axes only.
// Note: GJKEPA with no margin can lead to degenerate cases in this situation.
separator.generate_contacts();
return;
}

CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CapsuleShape3DSW, CylinderShape3DSW, withMargin>::test_contact_points;

// Fallback to generic algorithm to find the best separating axis.
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