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-rw-r--r--editor/spatial_editor_gizmos.cpp8
-rw-r--r--modules/bullet/cone_twist_joint_bullet.cpp10
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp18
-rw-r--r--modules/bullet/hinge_joint_bullet.cpp15
-rw-r--r--modules/bullet/pin_joint_bullet.cpp6
-rw-r--r--modules/bullet/space_bullet.cpp4
-rw-r--r--scene/animation/skeleton_ik.cpp20
-rw-r--r--scene/animation/skeleton_ik.h2
8 files changed, 58 insertions, 25 deletions
diff --git a/editor/spatial_editor_gizmos.cpp b/editor/spatial_editor_gizmos.cpp
index 64638cdb1e..07b3c44807 100644
--- a/editor/spatial_editor_gizmos.cpp
+++ b/editor/spatial_editor_gizmos.cpp
@@ -1722,8 +1722,16 @@ void PhysicalBoneSpatialGizmoPlugin::redraw(EditorSpatialGizmo *p_gizmo) {
return;
Skeleton *sk(physical_bone->find_skeleton_parent());
+ if (!sk)
+ return;
+
PhysicalBone *pb(sk->get_physical_bone(physical_bone->get_bone_id()));
+ if (!pb)
+ return;
+
PhysicalBone *pbp(sk->get_physical_bone_parent(physical_bone->get_bone_id()));
+ if (!pbp)
+ return;
Vector<Vector3> points;
diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp
index 6b5438c60f..9346f2d336 100644
--- a/modules/bullet/cone_twist_joint_bullet.cpp
+++ b/modules/bullet/cone_twist_joint_bullet.cpp
@@ -82,8 +82,11 @@ void ConeTwistJointBullet::set_param(PhysicsServer::ConeTwistJointParam p_param,
case PhysicsServer::CONE_TWIST_JOINT_RELAXATION:
coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), coneConstraint->getBiasFactor(), p_value);
break;
+#ifndef DISABLE_DEPRECATED
default:
- WARN_PRINT("This parameter is not supported by Bullet engine");
+ ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
+ WARN_DEPRECATED
+#endif // DISABLE_DEPRECATED
}
}
@@ -99,8 +102,11 @@ real_t ConeTwistJointBullet::get_param(PhysicsServer::ConeTwistJointParam p_para
return coneConstraint->getLimitSoftness();
case PhysicsServer::CONE_TWIST_JOINT_RELAXATION:
return coneConstraint->getRelaxationFactor();
+#ifndef DISABLE_DEPRECATED
default:
- WARN_PRINT("This parameter is not supported by Bullet engine");
+ ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
+ WARN_DEPRECATED;
return 0;
+#endif // DISABLE_DEPRECATED
}
}
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index 6275a0d2ed..123b5d717e 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -152,8 +152,11 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
break;
+#ifndef DISABLE_DEPRECATED
default:
- WARN_PRINT("This parameter is not supported");
+ ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
+ WARN_DEPRECATED
+#endif // DISABLE_DEPRECATED
}
}
@@ -180,9 +183,12 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
+#ifndef DISABLE_DEPRECATED
default:
- WARN_PRINT("This parameter is not supported");
- return 0.;
+ ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
+ WARN_DEPRECATED;
+ return 0;
+#endif // DISABLE_DEPRECATED
}
}
@@ -212,9 +218,11 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
break;
+#ifndef DISABLE_DEPRECATED
default:
- WARN_PRINT("This flag is not supported by Bullet engine");
- return;
+ ERR_EXPLAIN("This flag " + itos(p_flag) + " is deprecated");
+ WARN_DEPRECATED
+#endif // DISABLE_DEPRECATED
}
}
diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp
index 07fde6efb9..bfdc5aafc1 100644
--- a/modules/bullet/hinge_joint_bullet.cpp
+++ b/modules/bullet/hinge_joint_bullet.cpp
@@ -95,11 +95,6 @@ real_t HingeJointBullet::get_hinge_angle() {
void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t p_value) {
switch (p_param) {
- case PhysicsServer::HINGE_JOINT_BIAS:
- if (0 < p_value) {
- WARN_PRINTS("HingeJoint doesn't support bias in the Bullet backend, so it's always 0.");
- }
- break;
case PhysicsServer::HINGE_JOINT_LIMIT_UPPER:
hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), p_value, hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
break;
@@ -121,8 +116,11 @@ void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t
case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE:
hingeConstraint->setMaxMotorImpulse(p_value);
break;
+#ifndef DISABLE_DEPRECATED
default:
- WARN_PRINTS("HingeJoint doesn't support this parameter in the Bullet backend: " + itos(p_param) + ", value: " + itos(p_value));
+ ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
+ WARN_DEPRECATED
+#endif // DISABLE_DEPRECATED
}
}
@@ -145,9 +143,12 @@ real_t HingeJointBullet::get_param(PhysicsServer::HingeJointParam p_param) const
return hingeConstraint->getMotorTargetVelocity();
case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE:
return hingeConstraint->getMaxMotorImpulse();
+#ifndef DISABLE_DEPRECATED
default:
- WARN_PRINTS("HingeJoint doesn't support this parameter in the Bullet backend: " + itos(p_param));
+ ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
+ WARN_DEPRECATED;
return 0;
+#endif // DISABLE_DEPRECATED
}
}
diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp
index c4e5b8cdbe..63e22d7dab 100644
--- a/modules/bullet/pin_joint_bullet.cpp
+++ b/modules/bullet/pin_joint_bullet.cpp
@@ -84,9 +84,11 @@ real_t PinJointBullet::get_param(PhysicsServer::PinJointParam p_param) const {
return p2pConstraint->m_setting.m_damping;
case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP:
return p2pConstraint->m_setting.m_impulseClamp;
+#ifndef DISABLE_DEPRECATED
default:
- WARN_PRINTS("This get parameter is not supported");
- return 0;
+ ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
+ WARN_DEPRECATED
+#endif // DISABLE_DEPRECATED
}
}
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index b5329bc347..4a11bec5af 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -178,7 +178,9 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, 0.002);
if (btResult.hasHit()) {
- p_closest_safe = p_closest_unsafe = btResult.m_closestHitFraction;
+ const btScalar l = bt_motion.length();
+ p_closest_unsafe = btResult.m_closestHitFraction;
+ p_closest_safe = MAX(p_closest_unsafe - (1 - ((l - 0.01) / l)), 0);
if (r_info) {
if (btCollisionObject::CO_RIGID_BODY == btResult.m_hitCollisionObject->getInternalType()) {
B_TO_G(static_cast<const btRigidBody *>(btResult.m_hitCollisionObject)->getVelocityInLocalPoint(btResult.m_hitPointWorld), r_info->linear_velocity);
diff --git a/scene/animation/skeleton_ik.cpp b/scene/animation/skeleton_ik.cpp
index 9b1cb1369a..69975e6195 100644
--- a/scene/animation/skeleton_ik.cpp
+++ b/scene/animation/skeleton_ik.cpp
@@ -54,9 +54,9 @@ FabrikInverseKinematic::ChainItem *FabrikInverseKinematic::ChainItem::add_child(
}
/// Build a chain that starts from the root to tip
-void FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain) {
+bool FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain) {
- ERR_FAIL_COND(-1 == p_task->root_bone);
+ ERR_FAIL_COND_V(-1 == p_task->root_bone, false);
Chain &chain(p_task->chain);
@@ -77,8 +77,8 @@ void FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain
for (int x = p_task->end_effectors.size() - 1; 0 <= x; --x) {
const EndEffector *ee(&p_task->end_effectors[x]);
- ERR_FAIL_COND(p_task->root_bone >= ee->tip_bone);
- ERR_FAIL_INDEX(ee->tip_bone, p_task->skeleton->get_bone_count());
+ ERR_FAIL_COND_V(p_task->root_bone >= ee->tip_bone, false);
+ ERR_FAIL_INDEX_V(ee->tip_bone, p_task->skeleton->get_bone_count(), false);
sub_chain_size = 0;
// Picks all IDs that composing a single chain in reverse order (except the root)
@@ -133,6 +133,7 @@ void FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain
break;
}
}
+ return true;
}
void FabrikInverseKinematic::update_chain(const Skeleton *p_sk, ChainItem *p_chain_item) {
@@ -247,7 +248,10 @@ FabrikInverseKinematic::Task *FabrikInverseKinematic::create_simple_task(Skeleto
task->end_effectors.push_back(ee);
task->goal_global_transform = goal_transform;
- build_chain(task);
+ if (!build_chain(task)) {
+ free_task(task);
+ return NULL;
+ }
return task;
}
@@ -535,8 +539,10 @@ void SkeletonIK::reload_chain() {
return;
task = FabrikInverseKinematic::create_simple_task(skeleton, skeleton->find_bone(root_bone), skeleton->find_bone(tip_bone), _get_target_transform());
- task->max_iterations = max_iterations;
- task->min_distance = min_distance;
+ if (task) {
+ task->max_iterations = max_iterations;
+ task->min_distance = min_distance;
+ }
}
void SkeletonIK::reload_goal() {
diff --git a/scene/animation/skeleton_ik.h b/scene/animation/skeleton_ik.h
index 08fb00e798..202d6959bb 100644
--- a/scene/animation/skeleton_ik.h
+++ b/scene/animation/skeleton_ik.h
@@ -123,7 +123,7 @@ public:
private:
/// Init a chain that starts from the root to tip
- static void build_chain(Task *p_task, bool p_force_simple_chain = true);
+ static bool build_chain(Task *p_task, bool p_force_simple_chain = true);
static void update_chain(const Skeleton *p_sk, ChainItem *p_chain_item);
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-23 21:24:46 +0000