Merge pull request #40252 from AndreaCatania/flush

Improved Bullet Physics flush algorithm, Lazy collision filter reload, Shape reload regression fix.

11 files changed, 217 insertions, 170 deletions

diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp
index edbd9565b8..b35019bea3 100644
--- a/modules/bullet/area_bullet.cpp
+++ b/modules/bullet/area_bullet.cpp
@@ -65,14 +65,11 @@ AreaBullet::~AreaBullet() {
 }
 
 void AreaBullet::dispatch_callbacks() {
-	if (!isScratched) {
-		return;
-	}
-	isScratched = false;
+	RigidCollisionObjectBullet::dispatch_callbacks();
 
 	// Reverse order because I've to remove EXIT objects
 	for (int i = overlappingObjects.size() - 1; 0 <= i; --i) {
-		OverlappingObjectData &otherObj = overlappingObjects.write[i];
+		OverlappingObjectData &otherObj = overlappingObjects[i];
 
 		switch (otherObj.state) {
 			case OVERLAP_STATE_ENTER:
@@ -112,10 +109,9 @@ void AreaBullet::call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3
 }
 
 void AreaBullet::scratch() {
-	if (isScratched) {
-		return;
+	if (space != nullptr) {
+		space->add_to_pre_flush_queue(this);
 	}
-	isScratched = true;
 }
 
 void AreaBullet::clear_overlaps(bool p_notify) {
@@ -173,9 +169,9 @@ void AreaBullet::do_reload_body() {
 
 void AreaBullet::set_space(SpaceBullet *p_space) {
 	// Clear the old space if there is one
+
 	if (space) {
 		clear_overlaps(false);
-		isScratched = false;
 
 		// Remove this object form the physics world
 		space->unregister_collision_object(this);
@@ -187,10 +183,11 @@ void AreaBullet::set_space(SpaceBullet *p_space) {
 	if (space) {
 		space->register_collision_object(this);
 		reload_body();
+		scratch();
 	}
 }
 
-void AreaBullet::on_collision_filters_change() {
+void AreaBullet::do_reload_collision_filters() {
 	if (space) {
 		space->reload_collision_filters(this);
 	}
@@ -204,13 +201,13 @@ void AreaBullet::add_overlap(CollisionObjectBullet *p_otherObject) {
 
 void AreaBullet::put_overlap_as_exit(int p_index) {
 	scratch();
-	overlappingObjects.write[p_index].state = OVERLAP_STATE_EXIT;
+	overlappingObjects[p_index].state = OVERLAP_STATE_EXIT;
 }
 
 void AreaBullet::put_overlap_as_inside(int p_index) {
 	// This check is required to be sure this body was inside
 	if (OVERLAP_STATE_DIRTY == overlappingObjects[p_index].state) {
-		overlappingObjects.write[p_index].state = OVERLAP_STATE_INSIDE;
+		overlappingObjects[p_index].state = OVERLAP_STATE_INSIDE;
 	}
 }
 
diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h
index 12272092f7..51fbc1f71d 100644
--- a/modules/bullet/area_bullet.h
+++ b/modules/bullet/area_bullet.h
@@ -32,7 +32,7 @@
 #define AREABULLET_H
 
 #include "collision_object_bullet.h"
-#include "core/vector.h"
+#include "core/local_vector.h"
 #include "servers/physics_server_3d.h"
 #include "space_bullet.h"
 
@@ -83,7 +83,7 @@ private:
 	Variant *call_event_res_ptr[5];
 
 	btGhostObject *btGhost;
-	Vector<OverlappingObjectData> overlappingObjects;
+	LocalVector<OverlappingObjectData> overlappingObjects;
 	bool monitorable = true;
 
 	PhysicsServer3D::AreaSpaceOverrideMode spOv_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED;
@@ -96,8 +96,6 @@ private:
 	real_t spOv_angularDump = 0.1;
 	int spOv_priority = 0;
 
-	bool isScratched = false;
-
 	InOutEventCallback eventsCallbacks[2];
 
 public:
@@ -139,11 +137,11 @@ public:
 	_FORCE_INLINE_ void set_spOv_priority(int p_priority) { spOv_priority = p_priority; }
 	_FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; }
 
-	virtual void main_shape_changed();
-	virtual void do_reload_body();
-	virtual void set_space(SpaceBullet *p_space);
+	virtual void main_shape_changed() override;
+	virtual void do_reload_body() override;
+	virtual void set_space(SpaceBullet *p_space) override;
 
-	virtual void dispatch_callbacks();
+	virtual void dispatch_callbacks() override;
 	void call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3D::AreaBodyStatus p_status);
 	void set_on_state_change(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
 	void scratch();
@@ -152,9 +150,9 @@ public:
 	// Dispatch the callbacks and removes from overlapping list
 	void remove_overlap(CollisionObjectBullet *p_object, bool p_notify);
 
-	virtual void on_collision_filters_change();
-	virtual void on_collision_checker_start() {}
-	virtual void on_collision_checker_end() { isTransformChanged = false; }
+	virtual void do_reload_collision_filters() override;
+	virtual void on_collision_checker_start() override {}
+	virtual void on_collision_checker_end() override { isTransformChanged = false; }
 
 	void add_overlap(CollisionObjectBullet *p_otherObject);
 	void put_overlap_as_exit(int p_index);
@@ -166,8 +164,8 @@ public:
 	void set_event_callback(Type p_callbackObjectType, ObjectID p_id, const StringName &p_method);
 	bool has_event_callback(Type p_callbackObjectType);
 
-	virtual void on_enter_area(AreaBullet *p_area);
-	virtual void on_exit_area(AreaBullet *p_area);
+	virtual void on_enter_area(AreaBullet *p_area) override;
+	virtual void on_exit_area(AreaBullet *p_area) override;
 };
 
 #endif
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 6078babaf8..eb95120f74 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -52,7 +52,7 @@ class BulletPhysicsServer3D : public PhysicsServer3D {
 
 	bool active = true;
 	char active_spaces_count = 0;
-	Vector<SpaceBullet *> active_spaces;
+	LocalVector<SpaceBullet *> active_spaces;
 
 	mutable RID_PtrOwner<SpaceBullet> space_owner;
 	mutable RID_PtrOwner<ShapeBullet> shape_owner;
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index dd208965bd..660e9afc5e 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -165,11 +165,20 @@ bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet
 	return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object);
 }
 
-void CollisionObjectBullet::prepare_object_for_dispatch() {
-	if (need_body_reload) {
+void CollisionObjectBullet::reload_body() {
+	needs_body_reload = true;
+}
+
+void CollisionObjectBullet::dispatch_callbacks() {}
+
+void CollisionObjectBullet::pre_process() {
+	if (needs_body_reload) {
 		do_reload_body();
-		need_body_reload = false;
+	} else if (needs_collision_filters_reload) {
+		do_reload_collision_filters();
 	}
+	needs_body_reload = false;
+	needs_collision_filters_reload = false;
 }
 
 void CollisionObjectBullet::set_collision_enabled(bool p_enabled) {
@@ -245,7 +254,7 @@ void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform
 }
 
 void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
-	ShapeWrapper &shp = shapes.write[p_index];
+	ShapeWrapper &shp = shapes[p_index];
 	shp.shape->remove_owner(this);
 	p_shape->add_owner(this);
 	shp.shape = p_shape;
@@ -307,7 +316,7 @@ void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBod
 void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) {
 	ERR_FAIL_INDEX(p_index, get_shape_count());
 
-	shapes.write[p_index].set_transform(p_transform);
+	shapes[p_index].set_transform(p_transform);
 	shape_changed(p_index);
 }
 
@@ -325,7 +334,7 @@ void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled
 	if (shapes[p_index].active != p_disabled) {
 		return;
 	}
-	shapes.write[p_index].active = !p_disabled;
+	shapes[p_index].active = !p_disabled;
 	shape_changed(p_index);
 }
 
@@ -333,16 +342,16 @@ bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
 	return !shapes[p_index].active;
 }
 
-void RigidCollisionObjectBullet::prepare_object_for_dispatch() {
+void RigidCollisionObjectBullet::pre_process() {
 	if (need_shape_reload) {
 		do_reload_shapes();
 		need_shape_reload = false;
 	}
-	CollisionObjectBullet::prepare_object_for_dispatch();
+	CollisionObjectBullet::pre_process();
 }
 
 void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
-	ShapeWrapper &shp = shapes.write[p_shape_index];
+	ShapeWrapper &shp = shapes[p_shape_index];
 	if (shp.bt_shape == mainShape) {
 		mainShape = nullptr;
 	}
@@ -363,12 +372,11 @@ void RigidCollisionObjectBullet::do_reload_shapes() {
 	mainShape = nullptr;
 
 	const int shape_count = shapes.size();
-	ShapeWrapper *shapes_ptr = shapes.ptrw();
 
 	// Reset all shapes if required
 	if (force_shape_reset) {
 		for (int i(0); i < shape_count; ++i) {
-			shapes_ptr[i].release_bt_shape();
+			shapes[i].release_bt_shape();
 		}
 		force_shape_reset = false;
 	}
@@ -377,10 +385,10 @@ void RigidCollisionObjectBullet::do_reload_shapes() {
 
 	if (1 == shape_count) {
 		// Is it possible to optimize by not using compound?
-		btTransform transform = shapes_ptr[0].get_adjusted_transform();
+		btTransform transform = shapes[0].get_adjusted_transform();
 		if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
-			shapes_ptr[0].claim_bt_shape(body_scale);
-			mainShape = shapes_ptr[0].bt_shape;
+			shapes[0].claim_bt_shape(body_scale);
+			mainShape = shapes[0].bt_shape;
 			main_shape_changed();
 			// Nothing more to do
 			return;
@@ -391,10 +399,10 @@ void RigidCollisionObjectBullet::do_reload_shapes() {
 	btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
 
 	for (int i(0); i < shape_count; ++i) {
-		shapes_ptr[i].claim_bt_shape(body_scale);
-		btTransform scaled_shape_transform(shapes_ptr[i].get_adjusted_transform());
+		shapes[i].claim_bt_shape(body_scale);
+		btTransform scaled_shape_transform(shapes[i].get_adjusted_transform());
 		scaled_shape_transform.getOrigin() *= body_scale;
-		compoundShape->addChildShape(scaled_shape_transform, shapes_ptr[i].bt_shape);
+		compoundShape->addChildShape(scaled_shape_transform, shapes[i].bt_shape);
 	}
 
 	compoundShape->recalculateLocalAabb();
@@ -408,7 +416,7 @@ void RigidCollisionObjectBullet::body_scale_changed() {
 }
 
 void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {
-	ShapeWrapper &shp = shapes.write[p_index];
+	ShapeWrapper &shp = shapes[p_index];
 	shp.shape->remove_owner(this, p_permanentlyFromThisBody);
 	if (shp.bt_shape == mainShape) {
 		mainShape = nullptr;
diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h
index ac74661f24..920d80af23 100644
--- a/modules/bullet/collision_object_bullet.h
+++ b/modules/bullet/collision_object_bullet.h
@@ -31,6 +31,7 @@
 #ifndef COLLISION_OBJECT_BULLET_H
 #define COLLISION_OBJECT_BULLET_H
 
+#include "core/local_vector.h"
 #include "core/math/transform.h"
 #include "core/math/vector3.h"
 #include "core/object.h"
@@ -126,16 +127,18 @@ protected:
 
 	VSet<RID> exceptions;
 
-	bool need_body_reload = true;
+	bool needs_body_reload = true;
+	bool needs_collision_filters_reload = true;
 
 	/// This array is used to know all areas where this Object is overlapped in
 	/// New area is added when overlap with new area (AreaBullet::addOverlap), then is removed when it exit (CollisionObjectBullet::onExitArea)
 	/// This array is used mainly to know which area hold the pointer of this object
-	Vector<AreaBullet *> areasOverlapped;
+	LocalVector<AreaBullet *> areasOverlapped;
 	bool isTransformChanged = false;
 
 public:
 	bool is_in_world = false;
+	bool is_in_flush_queue = false;
 
 public:
 	CollisionObjectBullet(Type p_type);
@@ -171,7 +174,7 @@ public:
 	_FORCE_INLINE_ void set_collision_layer(uint32_t p_layer) {
 		if (collisionLayer != p_layer) {
 			collisionLayer = p_layer;
-			on_collision_filters_change();
+			needs_collision_filters_reload = true;
 		}
 	}
 	_FORCE_INLINE_ uint32_t get_collision_layer() const { return collisionLayer; }
@@ -179,24 +182,23 @@ public:
 	_FORCE_INLINE_ void set_collision_mask(uint32_t p_mask) {
 		if (collisionMask != p_mask) {
 			collisionMask = p_mask;
-			on_collision_filters_change();
+			needs_collision_filters_reload = true;
 		}
 	}
 	_FORCE_INLINE_ uint32_t get_collision_mask() const { return collisionMask; }
 
-	virtual void on_collision_filters_change() = 0;
+	virtual void do_reload_collision_filters() = 0;
 
 	_FORCE_INLINE_ bool test_collision_mask(CollisionObjectBullet *p_other) const {
 		return collisionLayer & p_other->collisionMask || p_other->collisionLayer & collisionMask;
 	}
 
 	bool need_reload_body() const {
-		return need_body_reload;
+		return needs_body_reload;
 	}
 
-	void reload_body() {
-		need_body_reload = true;
-	}
+	void reload_body();
+
 	virtual void do_reload_body() = 0;
 	virtual void set_space(SpaceBullet *p_space) = 0;
 	_FORCE_INLINE_ SpaceBullet *get_space() const { return space; }
@@ -204,8 +206,8 @@ public:
 	virtual void on_collision_checker_start() = 0;
 	virtual void on_collision_checker_end() = 0;
 
-	virtual void prepare_object_for_dispatch();
-	virtual void dispatch_callbacks() = 0;
+	virtual void dispatch_callbacks();
+	virtual void pre_process();
 
 	void set_collision_enabled(bool p_enabled);
 	bool is_collisions_response_enabled();
@@ -229,7 +231,7 @@ public:
 class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet {
 protected:
 	btCollisionShape *mainShape = nullptr;
-	Vector<ShapeWrapper> shapes;
+	LocalVector<ShapeWrapper> shapes;
 	bool need_shape_reload = true;
 
 public:
@@ -237,7 +239,7 @@ public:
 			CollisionObjectBullet(p_type) {}
 	~RigidCollisionObjectBullet();
 
-	_FORCE_INLINE_ const Vector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; }
+	_FORCE_INLINE_ const LocalVector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; }
 
 	_FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; }
 
@@ -248,9 +250,9 @@ public:
 	ShapeBullet *get_shape(int p_index) const;
 	btCollisionShape *get_bt_shape(int p_index) const;
 
-	int find_shape(ShapeBullet *p_shape) const;
+	virtual int find_shape(ShapeBullet *p_shape) const override;
 
-	virtual void remove_shape_full(ShapeBullet *p_shape);
+	virtual void remove_shape_full(ShapeBullet *p_shape) override;
 	void remove_shape_full(int p_index);
 	void remove_all_shapes(bool p_permanentlyFromThisBody = false, bool p_force_not_reload = false);
 
@@ -262,15 +264,15 @@ public:
 	void set_shape_disabled(int p_index, bool p_disabled);
 	bool is_shape_disabled(int p_index);
 
-	virtual void prepare_object_for_dispatch();
+	virtual void pre_process() override;
 
-	virtual void shape_changed(int p_shape_index);
-	void reload_shapes();
+	virtual void shape_changed(int p_shape_index) override;
+	virtual void reload_shapes() override;
 	bool need_reload_shapes() const { return need_shape_reload; }
 	virtual void do_reload_shapes();
 
 	virtual void main_shape_changed() = 0;
-	virtual void body_scale_changed();
+	virtual void body_scale_changed() override;
 
 private:
 	void internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody = false);
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 717c99c738..5c1144b875 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -51,9 +51,7 @@
 BulletPhysicsDirectBodyState3D *BulletPhysicsDirectBodyState3D::singleton = nullptr;
 
 Vector3 BulletPhysicsDirectBodyState3D::get_total_gravity() const {
-	Vector3 gVec;
-	B_TO_G(body->btBody->getGravity(), gVec);
-	return gVec;
+	return body->total_gravity;
 }
 
 float BulletPhysicsDirectBodyState3D::get_total_angular_damp() const {
@@ -183,7 +181,7 @@ int BulletPhysicsDirectBodyState3D::get_contact_collider_shape(int p_contact_idx
 }
 
 Vector3 BulletPhysicsDirectBodyState3D::get_contact_collider_velocity_at_position(int p_contact_idx) const {
-	RigidBodyBullet::CollisionData &colDat = body->collisions.write[p_contact_idx];
+	RigidBodyBullet::CollisionData &colDat = body->collisions[p_contact_idx];
 
 	btVector3 hitLocation;
 	G_TO_B(colDat.hitLocalLocation, hitLocation);
@@ -213,7 +211,7 @@ void RigidBodyBullet::KinematicUtilities::setSafeMargin(btScalar p_margin) {
 }
 
 void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
-	const Vector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers());
+	const LocalVector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers());
 	const int shapes_count = shapes_wrappers.size();
 
 	just_delete_shapes(shapes_count);
@@ -228,8 +226,8 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
 			continue;
 		}
 
-		shapes.write[i].transform = shape_wrapper->transform;
-		shapes.write[i].transform.getOrigin() *= owner_scale;
+		shapes[i].transform = shape_wrapper->transform;
+		shapes[i].transform.getOrigin() *= owner_scale;
 		switch (shape_wrapper->shape->get_type()) {
 			case PhysicsServer3D::SHAPE_SPHERE:
 			case PhysicsServer3D::SHAPE_BOX:
@@ -237,11 +235,11 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
 			case PhysicsServer3D::SHAPE_CYLINDER:
 			case PhysicsServer3D::SHAPE_CONVEX_POLYGON:
 			case PhysicsServer3D::SHAPE_RAY: {
-				shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
+				shapes[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
 			} break;
 			default:
 				WARN_PRINT("This shape is not supported for kinematic collision.");
-				shapes.write[i].shape = nullptr;
+				shapes[i].shape = nullptr;
 		}
 	}
 }
@@ -249,7 +247,7 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
 void RigidBodyBullet::KinematicUtilities::just_delete_shapes(int new_size) {
 	for (int i = shapes.size() - 1; 0 <= i; --i) {
 		if (shapes[i].shape) {
-			bulletdelete(shapes.write[i].shape);
+			bulletdelete(shapes[i].shape);
 		}
 	}
 	shapes.resize(new_size);
@@ -271,8 +269,8 @@ RigidBodyBullet::RigidBodyBullet() :
 	reload_axis_lock();
 
 	areasWhereIam.resize(maxAreasWhereIam);
-	for (int i = areasWhereIam.size() - 1; 0 <= i; --i) {
-		areasWhereIam.write[i] = nullptr;
+	for (uint32_t i = 0; i < areasWhereIam.size(); i += 1) {
+		areasWhereIam[i] = nullptr;
 	}
 	btBody->setSleepingThresholds(0.2, 0.2);
 
@@ -335,16 +333,15 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
 	if (space) {
 		space->register_collision_object(this);
 		reload_body();
+		space->add_to_flush_queue(this);
 	}
 }
 
 void RigidBodyBullet::dispatch_callbacks() {
+	RigidCollisionObjectBullet::dispatch_callbacks();
+
 	/// The check isFirstTransformChanged is necessary in order to call integrated forces only when the first transform is sent
 	if ((btBody->isKinematicObject() || btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && can_integrate_forces) {
-		if (omit_forces_integration) {
-			btBody->clearForces();
-		}
-
 		BulletPhysicsDirectBodyState3D *bodyDirect = BulletPhysicsDirectBodyState3D::get_singleton(this);
 
 		Variant variantBodyDirect = bodyDirect;
@@ -362,16 +359,22 @@ void RigidBodyBullet::dispatch_callbacks() {
 		}
 	}
 
+	previousActiveState = btBody->isActive();
+}
+
+void RigidBodyBullet::pre_process() {
+	RigidCollisionObjectBullet::pre_process();
+
 	if (isScratchedSpaceOverrideModificator || 0 < countGravityPointSpaces) {
 		isScratchedSpaceOverrideModificator = false;
 		reload_space_override_modificator();
 	}
 
-	/// Lock axis
-	btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor());
-	btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor());
-
-	previousActiveState = btBody->isActive();
+	if (is_active()) {
+		/// Lock axis
+		btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor());
+		btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor());
+	}
 }
 
 void RigidBodyBullet::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) {
@@ -392,7 +395,7 @@ void RigidBodyBullet::scratch_space_override_modificator() {
 	isScratchedSpaceOverrideModificator = true;
 }
 
-void RigidBodyBullet::on_collision_filters_change() {
+void RigidBodyBullet::do_reload_collision_filters() {
 	if (space) {
 		space->reload_collision_filters(this);
 	}
@@ -405,14 +408,15 @@ void RigidBodyBullet::on_collision_checker_start() {
 	collisionsCount = 0;
 
 	// Swap array
-	Vector<RigidBodyBullet *> *s = prev_collision_traces;
-	prev_collision_traces = curr_collision_traces;
-	curr_collision_traces = s;
+	SWAP(prev_collision_traces, curr_collision_traces);
 }
 
 void RigidBodyBullet::on_collision_checker_end() {
 	// Always true if active and not a static or kinematic body
 	isTransformChanged = btBody->isActive() && !btBody->isStaticOrKinematicObject();
+	if (isTransformChanged && space != nullptr) {
+		space->add_to_flush_queue(this);
+	}
 }
 
 bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) {
@@ -420,7 +424,7 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
 		return false;
 	}
 
-	CollisionData &cd = collisions.write[collisionsCount];
+	CollisionData &cd = collisions[collisionsCount];
 	cd.hitLocalLocation = p_hitLocalLocation;
 	cd.otherObject = p_otherObject;
 	cd.hitWorldLocation = p_hitWorldLocation;
@@ -429,7 +433,7 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
 	cd.other_object_shape = p_other_shape_index;
 	cd.local_shape = p_local_shape_index;
 
-	curr_collision_traces->write[collisionsCount] = p_otherObject;
+	(*curr_collision_traces)[collisionsCount] = p_otherObject;
 
 	++collisionsCount;
 	return true;
@@ -464,6 +468,7 @@ bool RigidBodyBullet::is_active() const {
 
 void RigidBodyBullet::set_omit_forces_integration(bool p_omit) {
 	omit_forces_integration = p_omit;
+	scratch_space_override_modificator();
 }
 
 void RigidBodyBullet::set_param(PhysicsServer3D::BodyParameter p_param, real_t p_value) {
@@ -839,15 +844,15 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) {
 	for (int i = 0; i < areaWhereIamCount; ++i) {
 		if (nullptr == areasWhereIam[i]) {
 			// This area has the highest priority
-			areasWhereIam.write[i] = p_area;
+			areasWhereIam[i] = p_area;
 			break;
 		} else {
 			if (areasWhereIam[i]->get_spOv_priority() > p_area->get_spOv_priority()) {
 				// The position was found, just shift all elements
 				for (int j = i; j < areaWhereIamCount; ++j) {
-					areasWhereIam.write[j + 1] = areasWhereIam[j];
+					areasWhereIam[j + 1] = areasWhereIam[j];
 				}
-				areasWhereIam.write[i] = p_area;
+				areasWhereIam[i] = p_area;
 				break;
 			}
 		}
@@ -871,7 +876,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
 		if (p_area == areasWhereIam[i]) {
 			// The area was found, just shift down all elements
 			for (int j = i; j < areaWhereIamCount; ++j) {
-				areasWhereIam.write[j] = areasWhereIam[j + 1];
+				areasWhereIam[j] = areasWhereIam[j + 1];
 			}
 			wasTheAreaFound = true;
 			break;
@@ -884,7 +889,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
 		}
 
 		--areaWhereIamCount;
-		areasWhereIam.write[areaWhereIamCount] = nullptr; // Even if this is not required, I clear the last element to be safe
+		areasWhereIam[areaWhereIamCount] = nullptr; // Even if this is not required, I clear the last element to be safe
 		if (PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) {
 			scratch_space_override_modificator();
 		}
@@ -897,36 +902,31 @@ void RigidBodyBullet::reload_space_override_modificator() {
 		return;
 	}
 
-	Vector3 newGravity(0.0, 0.0, 0.0);
+	Vector3 newGravity;
 	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);
-
 	bool stopped = false;
-	for (int i = areaWhereIamCount - 1; (0 <= i) && !stopped; --i) {
-		currentArea = areasWhereIam[i];
+	for (int i = 0; i < areaWhereIamCount && !stopped; i += 1) {
+		AreaBullet *currentArea = areasWhereIam[i];
 
 		if (!currentArea || PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED == currentArea->get_spOv_mode()) {
 			continue;
 		}
 
+		Vector3 support_gravity;
+
 		/// Here is calculated the gravity
 		if (currentArea->is_spOv_gravityPoint()) {
 			/// It calculates the direction of new gravity
 			support_gravity = currentArea->get_transform().xform(currentArea->get_spOv_gravityVec()) - get_transform().get_origin();
-			real_t distanceMag = support_gravity.length();
+
+			const real_t distanceMag = support_gravity.length();
 			// Normalized in this way to avoid the double call of function "length()"
 			if (distanceMag == 0) {
-				support_gravity.x = 0;
-				support_gravity.y = 0;
-				support_gravity.z = 0;
+				support_gravity = Vector3();
 			} else {
-				support_gravity.x /= distanceMag;
-				support_gravity.y /= distanceMag;
-				support_gravity.z /= distanceMag;
+				support_gravity /= distanceMag;
 			}
 
 			/// Here is calculated the final gravity
@@ -988,10 +988,17 @@ void RigidBodyBullet::reload_space_override_modificator() {
 		newAngularDamp += space->get_angular_damp();
 	}
 
-	btVector3 newBtGravity;
-	G_TO_B(newGravity * gravity_scale, newBtGravity);
+	total_gravity = newGravity;
+
+	if (omit_forces_integration) {
+		// Custom behaviour.
+		btBody->setGravity(btVector3(0, 0, 0));
+	} else {
+		btVector3 newBtGravity;
+		G_TO_B(newGravity * gravity_scale, newBtGravity);
+		btBody->setGravity(newBtGravity);
+	}
 
-	btBody->setGravity(newBtGravity);
 	btBody->setDamping(newLinearDamp, newAngularDamp);
 }
 
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index eb62d0d39e..047645677b 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -171,7 +171,7 @@ public:
 	struct KinematicUtilities {
 		RigidBodyBullet *owner;
 		btScalar safe_margin;
-		Vector<KinematicShape> shapes;
+		LocalVector<KinematicShape> shapes;
 
 		KinematicUtilities(RigidBodyBullet *p_owner);
 		~KinematicUtilities();
@@ -193,6 +193,7 @@ private:
 	PhysicsServer3D::BodyMode mode;
 	GodotMotionState *godotMotionState;
 	btRigidBody *btBody;
+	Vector3 total_gravity;
 	uint16_t locked_axis = 0;
 	real_t mass = 1;
 	real_t gravity_scale = 1;
@@ -202,18 +203,18 @@ private:
 	bool omit_forces_integration = false;
 	bool can_integrate_forces = false;
 
-	Vector<CollisionData> collisions;
-	Vector<RigidBodyBullet *> collision_traces_1;
-	Vector<RigidBodyBullet *> collision_traces_2;
-	Vector<RigidBodyBullet *> *prev_collision_traces;
-	Vector<RigidBodyBullet *> *curr_collision_traces;
+	LocalVector<CollisionData> collisions;
+	LocalVector<RigidBodyBullet *> collision_traces_1;
+	LocalVector<RigidBodyBullet *> collision_traces_2;
+	LocalVector<RigidBodyBullet *> *prev_collision_traces;
+	LocalVector<RigidBodyBullet *> *curr_collision_traces;
 
 	// these parameters are used to avoid vector resize
-	int maxCollisionsDetection = 0;
-	int collisionsCount = 0;
-	int prev_collision_count = 0;
+	uint32_t maxCollisionsDetection = 0;
+	uint32_t collisionsCount = 0;
+	uint32_t prev_collision_count = 0;
 
-	Vector<AreaBullet *> areasWhereIam;
+	LocalVector<AreaBullet *> areasWhereIam;
 	// these parameters are used to avoid vector resize
 	int maxAreasWhereIam = 10;
 	int areaWhereIamCount = 0;
@@ -235,21 +236,20 @@ public:
 
 	_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
 
-	virtual void main_shape_changed();
-	virtual void do_reload_body();
-	virtual void set_space(SpaceBullet *p_space);
+	virtual void main_shape_changed() override;
+	virtual void do_reload_body() override;
+	virtual void set_space(SpaceBullet *p_space) override;
 
-	virtual void dispatch_callbacks();
+	virtual void dispatch_callbacks() override;
+	virtual void pre_process() override;
 	void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
 	void scratch_space_override_modificator();
 
-	virtual void on_collision_filters_change();
-	virtual void on_collision_checker_start();
-	virtual void on_collision_checker_end();
-
-	void set_max_collisions_detection(int p_maxCollisionsDetection) {
-		ERR_FAIL_COND(0 > p_maxCollisionsDetection);
+	virtual void do_reload_collision_filters() override;
+	virtual void on_collision_checker_start() override;
+	virtual void on_collision_checker_end() override;
 
+	void set_max_collisions_detection(uint32_t p_maxCollisionsDetection) {
 		maxCollisionsDetection = p_maxCollisionsDetection;
 
 		collisions.resize(p_maxCollisionsDetection);
@@ -312,19 +312,19 @@ public:
 	void set_angular_velocity(const Vector3 &p_velocity);
 	Vector3 get_angular_velocity() const;
 
-	virtual void set_transform__bullet(const btTransform &p_global_transform);
-	virtual const btTransform &get_transform__bullet() const;
+	virtual void set_transform__bullet(const btTransform &p_global_transform) override;
+	virtual const btTransform &get_transform__bullet() const override;
 
-	virtual void do_reload_shapes();
+	virtual void do_reload_shapes() override;
 
-	virtual void on_enter_area(AreaBullet *p_area);
-	virtual void on_exit_area(AreaBullet *p_area);
+	virtual void on_enter_area(AreaBullet *p_area) override;
+	virtual void on_exit_area(AreaBullet *p_area) override;
 	void reload_space_override_modificator();
 
 	/// Kinematic
 	void reload_kinematic_shapes();
 
-	virtual void notify_transform_changed();
+	virtual void notify_transform_changed() override;
 
 private:
 	void _internal_set_mass(real_t p_mass);
diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp
index 3fccd3d8a2..ee48b3c5f0 100644
--- a/modules/bullet/soft_body_bullet.cpp
+++ b/modules/bullet/soft_body_bullet.cpp
@@ -346,14 +346,14 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
 					indices_table.push_back(Vector<int>());
 				}
 
-				indices_table.write[vertex_id].push_back(vs_vertex_index);
+				indices_table[vertex_id].push_back(vs_vertex_index);
 				vs_indices_to_physics_table.push_back(vertex_id);
 			}
 		}
 
 		const int indices_map_size(indices_table.size());
 
-		Vector<btScalar> bt_vertices;
+		LocalVector<btScalar> bt_vertices;
 
 		{ // Parse vertices to bullet
 
@@ -361,13 +361,13 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
 			const Vector3 *p_vertices_read = p_vertices.ptr();
 
 			for (int i = 0; i < indices_map_size; ++i) {
-				bt_vertices.write[3 * i + 0] = p_vertices_read[indices_table[i][0]].x;
-				bt_vertices.write[3 * i + 1] = p_vertices_read[indices_table[i][0]].y;
-				bt_vertices.write[3 * i + 2] = p_vertices_read[indices_table[i][0]].z;
+				bt_vertices[3 * i + 0] = p_vertices_read[indices_table[i][0]].x;
+				bt_vertices[3 * i + 1] = p_vertices_read[indices_table[i][0]].y;
+				bt_vertices[3 * i + 2] = p_vertices_read[indices_table[i][0]].z;
 			}
 		}
 
-		Vector<int> bt_triangles;
+		LocalVector<int> bt_triangles;
 		const int triangles_size(p_indices.size() / 3);
 
 		{ // Parse indices
@@ -377,9 +377,9 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
 			const int *p_indices_read = p_indices.ptr();
 
 			for (int i = 0; i < triangles_size; ++i) {
-				bt_triangles.write[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]];
-				bt_triangles.write[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]];
-				bt_triangles.write[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]];
+				bt_triangles[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]];
+				bt_triangles[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]];
+				bt_triangles[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]];
 			}
 		}
 
diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h
index ba968f4271..229204b539 100644
--- a/modules/bullet/soft_body_bullet.h
+++ b/modules/bullet/soft_body_bullet.h
@@ -32,7 +32,6 @@
 #define SOFT_BODY_BULLET_H
 
 #include "collision_object_bullet.h"
-#include "scene/resources/material.h" // TODO remove this please
 
 #ifdef None
 /// This is required to remove the macro None defined by x11 compiler because this word "None" is used internally by Bullet
@@ -58,7 +57,7 @@
 class SoftBodyBullet : public CollisionObjectBullet {
 private:
 	btSoftBody *bt_soft_body = nullptr;
-	Vector<Vector<int>> indices_table;
+	LocalVector<Vector<int>> indices_table;
 	btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody
 	bool isScratched = false;
 
@@ -73,7 +72,7 @@ private:
 	real_t pose_matching_coefficient = 0.; // [0,1]
 	real_t damping_coefficient = 0.01; // [0,1]
 	real_t drag_coefficient = 0.; // [0,1]
-	Vector<int> pinned_nodes;
+	LocalVector<int> pinned_nodes;
 
 	// Other property to add
 	//btScalar				kVC;			// Volume conversation coefficient [0,+inf]
@@ -87,15 +86,14 @@ public:
 	SoftBodyBullet();
 	~SoftBodyBullet();
 
-	virtual void do_reload_body();
-	virtual void set_space(SpaceBullet *p_space);
+	virtual void do_reload_body() override;
+	virtual void set_space(SpaceBullet *p_space) override;
 
-	virtual void dispatch_callbacks() {}
-	virtual void on_collision_filters_change() {}
-	virtual void on_collision_checker_start() {}
-	virtual void on_collision_checker_end() {}
-	virtual void on_enter_area(AreaBullet *p_area);
-	virtual void on_exit_area(AreaBullet *p_area);
+	virtual void do_reload_collision_filters() override {}
+	virtual void on_collision_checker_start() override {}
+	virtual void on_collision_checker_end() override {}
+	virtual void on_enter_area(AreaBullet *p_area) override;
+	virtual void on_exit_area(AreaBullet *p_area) override;
 
 	_FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; }
 
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 9dc307c629..2b60f8df36 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -348,16 +348,46 @@ SpaceBullet::~SpaceBullet() {
 	destroy_world();
 }
 
+void SpaceBullet::add_to_pre_flush_queue(CollisionObjectBullet *p_co) {
+	if (p_co->is_in_flush_queue == false) {
+		p_co->is_in_flush_queue = true;
+		queue_pre_flush.push_back(p_co);
+	}
+}
+
+void SpaceBullet::add_to_flush_queue(CollisionObjectBullet *p_co) {
+	if (p_co->is_in_flush_queue == false) {
+		p_co->is_in_flush_queue = true;
+		queue_flush.push_back(p_co);
+	}
+}
+
+void SpaceBullet::remove_from_any_queue(CollisionObjectBullet *p_co) {
+	if (p_co->is_in_flush_queue) {
+		p_co->is_in_flush_queue = false;
+		queue_pre_flush.erase(p_co);
+		queue_flush.erase(p_co);
+	}
+}
+
 void SpaceBullet::flush_queries() {
-	const int size = collision_objects.size();
-	CollisionObjectBullet **objects = collision_objects.ptrw();
-	for (int i = 0; i < size; i += 1) {
-		objects[i]->prepare_object_for_dispatch();
-		objects[i]->dispatch_callbacks();
+	for (uint32_t i = 0; i < queue_pre_flush.size(); i += 1) {
+		queue_pre_flush[i]->dispatch_callbacks();
+		queue_pre_flush[i]->is_in_flush_queue = false;
 	}
+	for (uint32_t i = 0; i < queue_flush.size(); i += 1) {
+		queue_flush[i]->dispatch_callbacks();
+		queue_flush[i]->is_in_flush_queue = false;
+	}
+	queue_pre_flush.clear();
+	queue_flush.clear();
 }
 
 void SpaceBullet::step(real_t p_delta_time) {
+	for (uint32_t i = 0; i < collision_objects.size(); i += 1) {
+		collision_objects[i]->pre_process();
+	}
+
 	delta_time = p_delta_time;
 	dynamicsWorld->stepSimulation(p_delta_time, 0, 0);
 }
@@ -488,6 +518,7 @@ void SpaceBullet::register_collision_object(CollisionObjectBullet *p_object) {
 }
 
 void SpaceBullet::unregister_collision_object(CollisionObjectBullet *p_object) {
+	remove_from_any_queue(p_object);
 	collision_objects.erase(p_object);
 }
 
@@ -702,7 +733,7 @@ void SpaceBullet::check_ghost_overlaps() {
 
 		/// 1. Reset all states
 		for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) {
-			AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects.write[i];
+			AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects[i];
 			// This check prevent the overwrite of ENTER state
 			// if this function is called more times before dispatchCallbacks
 			if (otherObj.state != AreaBullet::OVERLAP_STATE_ENTER) {
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index aa9a70594e..897f902fe1 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -31,8 +31,8 @@
 #ifndef SPACE_BULLET_H
 #define SPACE_BULLET_H
 
+#include "core/local_vector.h"
 #include "core/variant.h"
-#include "core/vector.h"
 #include "godot_result_callbacks.h"
 #include "rid_bullet.h"
 #include "servers/physics_server_3d.h"
@@ -110,17 +110,23 @@ class SpaceBullet : public RIDBullet {
 	real_t linear_damp = 0.0;
 	real_t angular_damp = 0.0;
 
-	Vector<CollisionObjectBullet *> collision_objects;
-	Vector<AreaBullet *> areas;
+	LocalVector<CollisionObjectBullet *> queue_pre_flush;
+	LocalVector<CollisionObjectBullet *> queue_flush;
+	LocalVector<CollisionObjectBullet *> collision_objects;
+	LocalVector<AreaBullet *> areas;
 
-	Vector<Vector3> contactDebug;
-	int contactDebugCount = 0;
+	LocalVector<Vector3> contactDebug;
+	uint32_t contactDebugCount = 0;
 	real_t delta_time = 0.;
 
 public:
 	SpaceBullet();
 	virtual ~SpaceBullet();
 
+	void add_to_flush_queue(CollisionObjectBullet *p_co);
+	void add_to_pre_flush_queue(CollisionObjectBullet *p_co);
+	void remove_from_any_queue(CollisionObjectBullet *p_co);
+
 	void flush_queries();
 	real_t get_delta_time() { return delta_time; }
 	void step(real_t p_delta_time);
@@ -177,7 +183,7 @@ public:
 	}
 	_FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) {
 		if (contactDebugCount < contactDebug.size()) {
-			contactDebug.write[contactDebugCount++] = p_contact;
+			contactDebug[contactDebugCount++] = p_contact;
 		}
 	}
 	_FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; }