Added physics API in order to enable/disable collisions between rigidbody attached to a joint with bullet physics bullet

Fixes #16424

4 files changed, 40 insertions, 9 deletions

diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 51de4998fa..b646fc164d 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -70,8 +70,8 @@
 		return RID();                                                                             \
 	}
 
-#define AddJointToSpace(body, joint, disableCollisionsBetweenLinkedBodies) \
-	body->get_space()->add_constraint(joint, disableCollisionsBetweenLinkedBodies);
+#define AddJointToSpace(body, joint) \
+	body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies());
 // <--------------- Joint creation asserts
 
 btEmptyShape *BulletPhysicsServer::emptyShape(ShapeBullet::create_shape_empty());
@@ -987,6 +987,20 @@ int BulletPhysicsServer::joint_get_solver_priority(RID p_joint) const {
 	return 0;
 }
 
+void BulletPhysicsServer::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
+	JointBullet *joint = joint_owner.get(p_joint);
+	ERR_FAIL_COND(!joint);
+
+	joint->disable_collisions_between_bodies(p_disable);
+}
+
+bool BulletPhysicsServer::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
+	JointBullet *joint(joint_owner.get(p_joint));
+	ERR_FAIL_COND_V(!joint, false);
+
+	return joint->is_disabled_collisions_between_bodies();
+}
+
 RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) {
 	RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A);
 	ERR_FAIL_COND_V(!body_A, RID());
@@ -1003,7 +1017,7 @@ RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A
 	ERR_FAIL_COND_V(body_A == body_B, RID());
 
 	JointBullet *joint = bulletnew(PinJointBullet(body_A, p_local_A, body_B, p_local_B));
-	AddJointToSpace(body_A, joint, true);
+	AddJointToSpace(body_A, joint);
 
 	CreateThenReturnRID(joint_owner, joint);
 }
@@ -1071,7 +1085,7 @@ RID BulletPhysicsServer::joint_create_hinge(RID p_body_A, const Transform &p_hin
 	ERR_FAIL_COND_V(body_A == body_B, RID());
 
 	JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_hinge_A, p_hinge_B));
-	AddJointToSpace(body_A, joint, true);
+	AddJointToSpace(body_A, joint);
 
 	CreateThenReturnRID(joint_owner, joint);
 }
@@ -1091,7 +1105,7 @@ RID BulletPhysicsServer::joint_create_hinge_simple(RID p_body_A, const Vector3 &
 	ERR_FAIL_COND_V(body_A == body_B, RID());
 
 	JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B));
-	AddJointToSpace(body_A, joint, true);
+	AddJointToSpace(body_A, joint);
 
 	CreateThenReturnRID(joint_owner, joint);
 }
@@ -1143,7 +1157,7 @@ RID BulletPhysicsServer::joint_create_slider(RID p_body_A, const Transform &p_lo
 	ERR_FAIL_COND_V(body_A == body_B, RID());
 
 	JointBullet *joint = bulletnew(SliderJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
-	AddJointToSpace(body_A, joint, true);
+	AddJointToSpace(body_A, joint);
 
 	CreateThenReturnRID(joint_owner, joint);
 }
@@ -1177,7 +1191,7 @@ RID BulletPhysicsServer::joint_create_cone_twist(RID p_body_A, const Transform &
 	}
 
 	JointBullet *joint = bulletnew(ConeTwistJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
-	AddJointToSpace(body_A, joint, true);
+	AddJointToSpace(body_A, joint);
 
 	CreateThenReturnRID(joint_owner, joint);
 }
@@ -1213,7 +1227,7 @@ RID BulletPhysicsServer::joint_create_generic_6dof(RID p_body_A, const Transform
 	ERR_FAIL_COND_V(body_A == body_B, RID());
 
 	JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B, true));
-	AddJointToSpace(body_A, joint, true);
+	AddJointToSpace(body_A, joint);
 
 	CreateThenReturnRID(joint_owner, joint);
 }
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index e0e46cd369..764ec2387c 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -290,6 +290,9 @@ public:
 	virtual void joint_set_solver_priority(RID p_joint, int p_priority);
 	virtual int joint_get_solver_priority(RID p_joint) const;
 
+	virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable);
+	virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const;
+
 	virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B);
 
 	virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value);
diff --git a/modules/bullet/constraint_bullet.cpp b/modules/bullet/constraint_bullet.cpp
index b60e89b6fd..d15fb8de01 100644
--- a/modules/bullet/constraint_bullet.cpp
+++ b/modules/bullet/constraint_bullet.cpp
@@ -39,7 +39,8 @@
 
 ConstraintBullet::ConstraintBullet() :
 		space(NULL),
-		constraint(NULL) {}
+		constraint(NULL),
+		disabled_collisions_between_bodies(true) {}
 
 void ConstraintBullet::setup(btTypedConstraint *p_constraint) {
 	constraint = p_constraint;
@@ -53,3 +54,12 @@ void ConstraintBullet::set_space(SpaceBullet *p_space) {
 void ConstraintBullet::destroy_internal_constraint() {
 	space->remove_constraint(this);
 }
+
+void ConstraintBullet::disable_collisions_between_bodies(const bool p_disabled) {
+	disabled_collisions_between_bodies = p_disabled;
+
+	if (space) {
+		space->remove_constraint(this);
+		space->add_constraint(this, disabled_collisions_between_bodies);
+	}
+}
diff --git a/modules/bullet/constraint_bullet.h b/modules/bullet/constraint_bullet.h
index 23be5a5063..ed3a318cbc 100644
--- a/modules/bullet/constraint_bullet.h
+++ b/modules/bullet/constraint_bullet.h
@@ -49,6 +49,7 @@ class ConstraintBullet : public RIDBullet {
 protected:
 	SpaceBullet *space;
 	btTypedConstraint *constraint;
+	bool disabled_collisions_between_bodies;
 
 public:
 	ConstraintBullet();
@@ -57,6 +58,9 @@ public:
 	virtual void set_space(SpaceBullet *p_space);
 	virtual void destroy_internal_constraint();
 
+	void disable_collisions_between_bodies(const bool p_disabled);
+	_FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; }
+
 public:
 	virtual ~ConstraintBullet() {
 		bulletdelete(constraint);