diff options
author | PouleyKetchoupp <pouleyketchoup@gmail.com> | 2020-03-26 12:32:20 +0100 |
---|---|---|
committer | PouleyKetchoupp <pouleyketchoup@gmail.com> | 2020-04-27 18:24:33 +0200 |
commit | 9353a2bbd161f99de5e6de6365b288bf19f910b6 (patch) | |
tree | 433d26be12c05ecd2e8858bd5caac2f814499d2d | |
parent | f61587b158bd0eae6ea5b9d07e90983ff4988772 (diff) |
Better damping implementation for Bullet rigid bodies
Apply old method for linear & angular damping in Bullet, in order to
make it easier to tweak and consistent with Godot Physics.
-rw-r--r-- | modules/bullet/SCsub | 2 | ||||
-rw-r--r-- | modules/bullet/rigid_body_bullet.cpp | 40 | ||||
-rw-r--r-- | modules/bullet/space_bullet.cpp | 10 | ||||
-rw-r--r-- | modules/bullet/space_bullet.h | 6 |
4 files changed, 36 insertions, 22 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub index 6f64edce3d..b853ebfc63 100644 --- a/modules/bullet/SCsub +++ b/modules/bullet/SCsub @@ -204,6 +204,8 @@ if env["builtin_bullet"]: # if env['target'] == "debug" or env['target'] == "release_debug": # env_bullet.Append(CPPDEFINES=['BT_DEBUG']) + env_bullet.Append(CPPDEFINES=["BT_USE_OLD_DAMPING_METHOD"]) + env_thirdparty = env_bullet.Clone() env_thirdparty.disable_warnings() env_thirdparty.add_source_files(env.modules_sources, thirdparty_sources) diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index a4f9affa95..e393396713 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -503,15 +503,18 @@ void RigidBodyBullet::set_param(PhysicsServer3D::BodyParameter p_param, real_t p } case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP: linearDamp = p_value; - btBody->setDamping(linearDamp, angularDamp); + // Mark for updating total linear damping. + scratch_space_override_modificator(); break; case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP: angularDamp = p_value; - btBody->setDamping(linearDamp, angularDamp); + // Mark for updating total angular damping. + scratch_space_override_modificator(); break; case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE: gravity_scale = p_value; - /// The Bullet gravity will be is set by reload_space_override_modificator + // The Bullet gravity will be is set by reload_space_override_modificator. + // Mark for updating total gravity scale. scratch_space_override_modificator(); break; default: @@ -902,21 +905,20 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) { } void RigidBodyBullet::reload_space_override_modificator() { - // Make sure that kinematic bodies have their total gravity calculated if (!is_active() && PhysicsServer3D::BODY_MODE_KINEMATIC != mode) return; - Vector3 newGravity(space->get_gravity_direction() * space->get_gravity_magnitude()); - real_t newLinearDamp(linearDamp); - real_t newAngularDamp(angularDamp); + Vector3 newGravity(0.0, 0.0, 0.0); + real_t newLinearDamp = MAX(0.0, linearDamp); + real_t newAngularDamp = MAX(0.0, angularDamp); AreaBullet *currentArea; // Variable used to calculate new gravity for gravity point areas, it is pointed by currentGravity pointer Vector3 support_gravity(0, 0, 0); - int countCombined(0); - for (int i = areaWhereIamCount - 1; 0 <= i; --i) { + bool stopped = false; + for (int i = areaWhereIamCount - 1; (0 <= i) && !stopped; --i) { currentArea = areasWhereIam[i]; @@ -965,7 +967,6 @@ void RigidBodyBullet::reload_space_override_modificator() { newGravity += support_gravity; newLinearDamp += currentArea->get_spOv_linearDamp(); newAngularDamp += currentArea->get_spOv_angularDamp(); - ++countCombined; break; case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: /// This area adds its gravity/damp values to whatever has been calculated @@ -974,32 +975,31 @@ void RigidBodyBullet::reload_space_override_modificator() { newGravity += support_gravity; newLinearDamp += currentArea->get_spOv_linearDamp(); newAngularDamp += currentArea->get_spOv_angularDamp(); - ++countCombined; - goto endAreasCycle; + stopped = true; + break; case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE: /// This area replaces any gravity/damp, even the default one, and /// stops taking into account the rest of the areas. newGravity = support_gravity; newLinearDamp = currentArea->get_spOv_linearDamp(); newAngularDamp = currentArea->get_spOv_angularDamp(); - countCombined = 1; - goto endAreasCycle; + stopped = true; + break; case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: /// This area replaces any gravity/damp calculated so far, but keeps /// calculating the rest of the areas, down to the default one. newGravity = support_gravity; newLinearDamp = currentArea->get_spOv_linearDamp(); newAngularDamp = currentArea->get_spOv_angularDamp(); - countCombined = 1; break; } } -endAreasCycle: - if (1 < countCombined) { - newGravity /= countCombined; - newLinearDamp /= countCombined; - newAngularDamp /= countCombined; + // Add default gravity and damping from space. + if (!stopped) { + newGravity += space->get_gravity_direction() * space->get_gravity_magnitude(); + newLinearDamp += space->get_linear_damp(); + newAngularDamp += space->get_angular_damp(); } btVector3 newBtGravity; diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 1659664ff9..d49e635fd5 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -342,6 +342,8 @@ SpaceBullet::SpaceBullet() : godotFilterCallback(nullptr), gravityDirection(0, -1, 0), gravityMagnitude(10), + linear_damp(0.0), + angular_damp(0.0), contactDebugCount(0), delta_time(0.) { @@ -379,8 +381,11 @@ void SpaceBullet::set_param(PhysicsServer3D::AreaParameter p_param, const Varian update_gravity(); break; case PhysicsServer3D::AREA_PARAM_LINEAR_DAMP: + linear_damp = p_value; + break; case PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP: - break; // No damp + angular_damp = p_value; + break; case PhysicsServer3D::AREA_PARAM_PRIORITY: // Priority is always 0, the lower break; @@ -401,8 +406,9 @@ Variant SpaceBullet::get_param(PhysicsServer3D::AreaParameter p_param) { case PhysicsServer3D::AREA_PARAM_GRAVITY_VECTOR: return gravityDirection; case PhysicsServer3D::AREA_PARAM_LINEAR_DAMP: + return linear_damp; case PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP: - return 0; // No damp + return angular_damp; case PhysicsServer3D::AREA_PARAM_PRIORITY: return 0; // Priority is always 0, the lower case PhysicsServer3D::AREA_PARAM_GRAVITY_IS_POINT: diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index f9a8c063fd..3d4a2aeceb 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -108,6 +108,9 @@ class SpaceBullet : public RIDBullet { Vector3 gravityDirection; real_t gravityMagnitude; + real_t linear_damp; + real_t angular_damp; + Vector<AreaBullet *> areas; Vector<Vector3> contactDebug; @@ -177,6 +180,9 @@ public: void update_gravity(); + real_t get_linear_damp() const { return linear_damp; } + real_t get_angular_damp() const { return angular_damp; } + bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes); int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin); |