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

Fixes #16424

9 files changed, 79 insertions, 0 deletions

diff --git a/servers/physics/constraint_sw.h b/servers/physics/constraint_sw.h
index a641f06f0c..41789600f6 100644
--- a/servers/physics/constraint_sw.h
+++ b/servers/physics/constraint_sw.h
@@ -41,6 +41,7 @@ class ConstraintSW : public RID_Data {
 	ConstraintSW *island_next;
 	ConstraintSW *island_list_next;
 	int priority;
+	bool disabled_collisions_between_bodies;
 
 	RID self;
 
@@ -50,6 +51,7 @@ protected:
 		_body_count = p_body_count;
 		island_step = 0;
 		priority = 1;
+		disabled_collisions_between_bodies = true;
 	}
 
 public:
@@ -71,6 +73,9 @@ public:
 	_FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; }
 	_FORCE_INLINE_ int get_priority() const { return priority; }
 
+	_FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; }
+	_FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; }
+
 	virtual bool setup(real_t p_step) = 0;
 	virtual void solve(real_t p_step) = 0;
 
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index ea0d372281..0f7c6deaac 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -1093,6 +1093,33 @@ int PhysicsServerSW::joint_get_solver_priority(RID p_joint) const {
 	return joint->get_priority();
 }
 
+void PhysicsServerSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
+	JointSW *joint = joint_owner.get(p_joint);
+	ERR_FAIL_COND(!joint);
+
+	joint->disable_collisions_between_bodies(p_disable);
+
+	if (2 == joint->get_body_count()) {
+		BodySW *body_a = *joint->get_body_ptr();
+		BodySW *body_b = *(joint->get_body_ptr() + 1);
+
+		if (p_disable) {
+			body_add_collision_exception(body_a->get_self(), body_b->get_self());
+			body_add_collision_exception(body_b->get_self(), body_a->get_self());
+		} else {
+			body_remove_collision_exception(body_a->get_self(), body_b->get_self());
+			body_remove_collision_exception(body_b->get_self(), body_a->get_self());
+		}
+	}
+}
+
+bool PhysicsServerSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
+	JointSW *joint = joint_owner.get(p_joint);
+	ERR_FAIL_COND_V(!joint, true);
+
+	return joint->is_disabled_collisions_between_bodies();
+}
+
 PhysicsServerSW::JointType PhysicsServerSW::joint_get_type(RID p_joint) const {
 
 	JointSW *joint = joint_owner.get(p_joint);
diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h
index 132ac78968..923b59d28f 100644
--- a/servers/physics/physics_server_sw.h
+++ b/servers/physics/physics_server_sw.h
@@ -275,6 +275,9 @@ 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;
+
 	/* MISC */
 
 	virtual void free(RID p_rid);
diff --git a/servers/physics_2d/constraint_2d_sw.h b/servers/physics_2d/constraint_2d_sw.h
index a08037bb37..c1954935d3 100644
--- a/servers/physics_2d/constraint_2d_sw.h
+++ b/servers/physics_2d/constraint_2d_sw.h
@@ -40,6 +40,7 @@ class Constraint2DSW : public RID_Data {
 	uint64_t island_step;
 	Constraint2DSW *island_next;
 	Constraint2DSW *island_list_next;
+	bool disabled_collisions_between_bodies;
 
 	RID self;
 
@@ -48,6 +49,7 @@ protected:
 		_body_ptr = p_body_ptr;
 		_body_count = p_body_count;
 		island_step = 0;
+		disabled_collisions_between_bodies = true;
 	}
 
 public:
@@ -66,6 +68,9 @@ public:
 	_FORCE_INLINE_ Body2DSW **get_body_ptr() const { return _body_ptr; }
 	_FORCE_INLINE_ int get_body_count() const { return _body_count; }
 
+	_FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; }
+	_FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; }
+
 	virtual bool setup(real_t p_step) = 0;
 	virtual void solve(real_t p_step) = 0;
 
diff --git a/servers/physics_2d/physics_2d_server_sw.cpp b/servers/physics_2d/physics_2d_server_sw.cpp
index 7d7bbbebac..0603287a79 100644
--- a/servers/physics_2d/physics_2d_server_sw.cpp
+++ b/servers/physics_2d/physics_2d_server_sw.cpp
@@ -1015,6 +1015,33 @@ real_t Physics2DServerSW::joint_get_param(RID p_joint, JointParam p_param) const
 	return 0;
 }
 
+void Physics2DServerSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
+	Joint2DSW *joint = joint_owner.get(p_joint);
+	ERR_FAIL_COND(!joint);
+
+	joint->disable_collisions_between_bodies(p_disable);
+
+	if (2 == joint->get_body_count()) {
+		Body2DSW *body_a = *joint->get_body_ptr();
+		Body2DSW *body_b = *(joint->get_body_ptr() + 1);
+
+		if (p_disable) {
+			body_add_collision_exception(body_a->get_self(), body_b->get_self());
+			body_add_collision_exception(body_b->get_self(), body_a->get_self());
+		} else {
+			body_remove_collision_exception(body_a->get_self(), body_b->get_self());
+			body_remove_collision_exception(body_b->get_self(), body_a->get_self());
+		}
+	}
+}
+
+bool Physics2DServerSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
+	const Joint2DSW *joint = joint_owner.get(p_joint);
+	ERR_FAIL_COND_V(!joint, true);
+
+	return joint->is_disabled_collisions_between_bodies();
+}
+
 RID Physics2DServerSW::pin_joint_create(const Vector2 &p_pos, RID p_body_a, RID p_body_b) {
 
 	Body2DSW *A = body_owner.get(p_body_a);
diff --git a/servers/physics_2d/physics_2d_server_sw.h b/servers/physics_2d/physics_2d_server_sw.h
index 97edb85582..cf9c2957bf 100644
--- a/servers/physics_2d/physics_2d_server_sw.h
+++ b/servers/physics_2d/physics_2d_server_sw.h
@@ -242,6 +242,9 @@ public:
 	virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value);
 	virtual real_t joint_get_param(RID p_joint, JointParam p_param) const;
 
+	virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disabled);
+	virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const;
+
 	virtual RID pin_joint_create(const Vector2 &p_pos, RID p_body_a, RID p_body_b = RID());
 	virtual RID groove_joint_create(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, RID p_body_a, RID p_body_b);
 	virtual RID damped_spring_joint_create(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b = RID());
diff --git a/servers/physics_2d/physics_2d_server_wrap_mt.h b/servers/physics_2d/physics_2d_server_wrap_mt.h
index 276c37c577..d625bc9892 100644
--- a/servers/physics_2d/physics_2d_server_wrap_mt.h
+++ b/servers/physics_2d/physics_2d_server_wrap_mt.h
@@ -263,6 +263,9 @@ public:
 	FUNC3(joint_set_param, RID, JointParam, real_t);
 	FUNC2RC(real_t, joint_get_param, RID, JointParam);
 
+	FUNC2(joint_disable_collisions_between_bodies, RID, const bool);
+	FUNC1RC(bool, joint_is_disabled_collisions_between_bodies, RID);
+
 	///FUNC3RID(pin_joint,const Vector2&,RID,RID);
 	///FUNC5RID(groove_joint,const Vector2&,const Vector2&,const Vector2&,RID,RID);
 	///FUNC4RID(damped_spring_joint,const Vector2&,const Vector2&,RID,RID);
diff --git a/servers/physics_2d_server.h b/servers/physics_2d_server.h
index be447ed137..462244c667 100644
--- a/servers/physics_2d_server.h
+++ b/servers/physics_2d_server.h
@@ -499,6 +499,9 @@ public:
 	virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value) = 0;
 	virtual real_t joint_get_param(RID p_joint, JointParam p_param) const = 0;
 
+	virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) = 0;
+	virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const = 0;
+
 	virtual RID pin_joint_create(const Vector2 &p_anchor, RID p_body_a, RID p_body_b = RID()) = 0;
 	virtual RID groove_joint_create(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, RID p_body_a, RID p_body_b) = 0;
 	virtual RID damped_spring_joint_create(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b = RID()) = 0;
diff --git a/servers/physics_server.h b/servers/physics_server.h
index 94fc8d479d..2ac405293e 100644
--- a/servers/physics_server.h
+++ b/servers/physics_server.h
@@ -491,6 +491,9 @@ public:
 	virtual void joint_set_solver_priority(RID p_joint, int p_priority) = 0;
 	virtual int joint_get_solver_priority(RID p_joint) const = 0;
 
+	virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) = 0;
+	virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const = 0;
+
 	virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) = 0;
 
 	enum PinJointParam {