When doing shape casts with a cylinder, I occasionally get a very large penetration depth when the cast cylinder starts out touching another body.
I have extracted the exact positions and shapes from one occurance into a unit test for an easy reproduction:
TEST_CASE("TestCastShapeCylinderCapsule")
{
PhysicsTestContext c;
CapsuleShapeSettings capsule_shape_settings(2.03114343f, 7.19732189f);
capsule_shape_settings.SetEmbedded();
c.CreateBody( &capsule_shape_settings, RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, EActivation::DontActivate);
ShapeCastSettings settings;
settings.mUseShrunkenShapeAndConvexRadius = true;
Ref<Shape> cylinder_shape = new CylinderShape(0.3f, 0.4975f);
RShapeCast shape_cast { cylinder_shape, Vec3::sOne(), RMat44::sTranslation(RVec3(-0.951660156f, -2.09155273f, -7.63574218)), Vec3(0.00244140625, -0.0068359375, 0.0029296875) };
AllHitCollisionCollector<CastShapeCollector> collector;
c.GetSystem()->GetNarrowPhaseQuery().CastShape(shape_cast, settings, RVec3::sZero(), collector);
CHECK(collector.mHits.size() == 1);
const ShapeCastResult &result = collector.mHits.front();
CHECK(result.mPenetrationDepth < 0.01f);
}In this case, the cylinder starts touching the capsule (within some rounding error) and is cast by less than a centimeter. The penetration depth returned is 7.25m. (I have seen penetration depths > 15m returned previously at this situation in game.)
mContactPointOn1 is located far outside the cylinder shape (near the y axis).
result.mPenetrationDepth
(float) $0 = 7.24732208
result.mContactPointOn1
(JPH::Vec3) $1 = {
= {
mValue = (0.00618377374, -2, 0.0496161357, 1)
mF32 = (0.00618377374, -2, 0.0496161357, 1)
}
}
result.mContactPointOn2
(JPH::Vec3) $2 = {
= {
mValue = (-0.890132189, -2, -7.142066, 1)
mF32 = (-0.890132189, -2, -7.142066, 1)
}
}
I tried setting settings.mReturnDeepestPoint = true, but that did not change anything in this case.
When doing shape casts with a cylinder, I occasionally get a very large penetration depth when the cast cylinder starts out touching another body.
I have extracted the exact positions and shapes from one occurance into a unit test for an easy reproduction:
In this case, the cylinder starts touching the capsule (within some rounding error) and is cast by less than a centimeter. The penetration depth returned is 7.25m. (I have seen penetration depths > 15m returned previously at this situation in game.)
mContactPointOn1is located far outside the cylinder shape (near the y axis).I tried setting
settings.mReturnDeepestPoint = true, but that did not change anything in this case.