CCD doesn't work

[AndreaCatania]

I've integrated the rigidbody CCD in godot engine and the function that calculate the threshold is this one:

void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {
	if (p_enable) {

		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(1.0);
		if (btBody->getCollisionShape()) {
			btVector3 center;
			btBody->getCollisionShape()->getBoundingSphere(center, radius);
		}
		btBody->setCcdSweptSphereRadius(radius * 0.2);
	} else {
		btBody->setCcdMotionThreshold(10000.0);
		btBody->setCcdSweptSphereRadius(0.);
	}
}

The scene has a rigibody with a capsule has shape, and in front of it there's a wall with a box shape.
The distance from each other is about 10 unit, and the physics FPS are 60.
When I press space I apply an inpulse of 500 and even with ccd enabled it pass the wall.

Now the question is if I'm doing something wrong to calculate the thresholds, or if I have to do something more to activate the CCD test.

Here the related issue in Godot: godotengine/godot#16113

[Steven89Liu]

i write a simple test with similar parameters as yours, but i can't reproduce this issue. Could you help to check if there is some difference between us.

1. create the rigidbody
   testBody = createRigidBody(mass,startTransform,colShape); testBody->setCcdMotionThreshold(1e-7); testBody->setCcdSweptSphereRadius(radius*0.2);

2. change the velocity by the key
   `bool BasicExample::keyboardCallback(int key, int state) {
   //key 1, key 2, key 3
   printf("key = %d, state=%d\n", key, state);
   if (state == 0) return false;
   testBody->setActivationState(1);
   switch (key) {
   case '1' /ASCII for 1/: {
   printf("key 1\n");
   testBody->setLinearVelocity(btVector3(200, 0, 0));
   return true;
   }
   case '2' /ASCII for 2/: {
   printf("key 2\n");
   testBody->setLinearVelocity(btVector3(500, 0, 0));
   return true;
   }
   case '3' /ASCII for 3/: {
   printf("key 3\n");
   testBody->setLinearVelocity(btVector3(10000, 0, 0));
   return true;
   }
   }

    return false;
   

}`

the test file is attached.
BasicExample.cpp.txt

[AndreaCatania]

Thanks for the answer I'll do a merge of bullet physics inside Godot soon, after this we can start to see why it doesn't work so we can work on a synchronized version of Bullet. I let you know.