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-rw-r--r--modules/bullet/area_bullet.cpp6
-rw-r--r--modules/bullet/area_bullet.h2
-rw-r--r--modules/bullet/bullet_physics_server.cpp27
-rw-r--r--modules/bullet/bullet_physics_server.h10
-rw-r--r--modules/bullet/collision_object_bullet.cpp58
-rw-r--r--modules/bullet/collision_object_bullet.h26
-rw-r--r--modules/bullet/rigid_body_bullet.cpp12
-rw-r--r--modules/bullet/rigid_body_bullet.h4
-rw-r--r--modules/bullet/shape_bullet.cpp55
-rw-r--r--modules/bullet/shape_bullet.h28
-rw-r--r--modules/bullet/soft_body_bullet.cpp6
-rw-r--r--modules/bullet/soft_body_bullet.h2
-rw-r--r--modules/bullet/space_bullet.cpp74
-rw-r--r--modules/bullet/space_bullet.h13
14 files changed, 237 insertions, 86 deletions
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp
index e5e5f81d2a..01f068780d 100644
--- a/modules/bullet/area_bullet.cpp
+++ b/modules/bullet/area_bullet.cpp
@@ -164,7 +164,7 @@ void AreaBullet::main_shape_changed() {
btGhost->setCollisionShape(get_main_shape());
}
-void AreaBullet::reload_body() {
+void AreaBullet::do_reload_body() {
if (space) {
space->remove_area(this);
space->add_area(this);
@@ -178,13 +178,15 @@ void AreaBullet::set_space(SpaceBullet *p_space) {
isScratched = false;
// Remove this object form the physics world
+ space->unregister_collision_object(this);
space->remove_area(this);
}
space = p_space;
if (space) {
- space->add_area(this);
+ space->register_collision_object(this);
+ reload_body();
}
}
diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h
index c0bcc858fe..12272092f7 100644
--- a/modules/bullet/area_bullet.h
+++ b/modules/bullet/area_bullet.h
@@ -140,7 +140,7 @@ public:
_FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; }
virtual void main_shape_changed();
- virtual void reload_body();
+ virtual void do_reload_body();
virtual void set_space(SpaceBullet *p_space);
virtual void dispatch_callbacks();
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index f397c53344..bb1678a994 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -561,14 +561,14 @@ void BulletPhysicsServer3D::body_clear_shapes(RID p_body) {
}
void BulletPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) {
- CollisionObjectBullet *body = get_collisin_object(p_body);
+ CollisionObjectBullet *body = get_collision_object(p_body);
ERR_FAIL_COND(!body);
body->set_instance_id(p_id);
}
ObjectID BulletPhysicsServer3D::body_get_object_instance_id(RID p_body) const {
- CollisionObjectBullet *body = get_collisin_object(p_body);
+ CollisionObjectBullet *body = get_collision_object(p_body);
ERR_FAIL_COND_V(!body, ObjectID());
return body->get_instance_id();
@@ -1567,7 +1567,17 @@ int BulletPhysicsServer3D::get_process_info(ProcessInfo p_info) {
return 0;
}
-CollisionObjectBullet *BulletPhysicsServer3D::get_collisin_object(RID p_object) const {
+SpaceBullet *BulletPhysicsServer3D::get_space(RID p_rid) const {
+ ERR_FAIL_COND_V_MSG(space_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
+ return space_owner.getornull(p_rid);
+}
+
+ShapeBullet *BulletPhysicsServer3D::get_shape(RID p_rid) const {
+ ERR_FAIL_COND_V_MSG(shape_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
+ return shape_owner.getornull(p_rid);
+}
+
+CollisionObjectBullet *BulletPhysicsServer3D::get_collision_object(RID p_object) const {
if (rigid_body_owner.owns(p_object)) {
return rigid_body_owner.getornull(p_object);
}
@@ -1577,15 +1587,20 @@ CollisionObjectBullet *BulletPhysicsServer3D::get_collisin_object(RID p_object)
if (soft_body_owner.owns(p_object)) {
return soft_body_owner.getornull(p_object);
}
- return nullptr;
+ ERR_FAIL_V_MSG(nullptr, "The RID is no valid.");
}
-RigidCollisionObjectBullet *BulletPhysicsServer3D::get_rigid_collisin_object(RID p_object) const {
+RigidCollisionObjectBullet *BulletPhysicsServer3D::get_rigid_collision_object(RID p_object) const {
if (rigid_body_owner.owns(p_object)) {
return rigid_body_owner.getornull(p_object);
}
if (area_owner.owns(p_object)) {
return area_owner.getornull(p_object);
}
- return nullptr;
+ ERR_FAIL_V_MSG(nullptr, "The RID is no valid.");
+}
+
+JointBullet *BulletPhysicsServer3D::get_joint(RID p_rid) const {
+ ERR_FAIL_COND_V_MSG(joint_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
+ return joint_owner.getornull(p_rid);
}
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 8e8b33a4b8..a8c4f6d0b2 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -405,11 +405,11 @@ public:
virtual int get_process_info(ProcessInfo p_info);
- CollisionObjectBullet *get_collisin_object(RID p_object) const;
- RigidCollisionObjectBullet *get_rigid_collisin_object(RID p_object) const;
-
- /// Internal APIs
-public:
+ SpaceBullet *get_space(RID p_rid) const;
+ ShapeBullet *get_shape(RID p_rid) const;
+ CollisionObjectBullet *get_collision_object(RID p_object) const;
+ RigidCollisionObjectBullet *get_rigid_collision_object(RID p_object) const;
+ JointBullet *get_joint(RID p_rid) const;
};
#endif
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index a3158a15e5..dd208965bd 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -79,7 +79,7 @@ btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const
}
void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
- if (!bt_shape) {
+ if (bt_shape == nullptr) {
if (active) {
bt_shape = shape->create_bt_shape(scale * body_scale);
} else {
@@ -88,6 +88,13 @@ void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_s
}
}
+void CollisionObjectBullet::ShapeWrapper::release_bt_shape() {
+ if (bt_shape != nullptr) {
+ shape->destroy_bt_shape(bt_shape);
+ bt_shape = nullptr;
+ }
+}
+
CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
RIDBullet(),
type(p_type) {}
@@ -158,6 +165,13 @@ 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) {
+ do_reload_body();
+ need_body_reload = false;
+ }
+}
+
void CollisionObjectBullet::set_collision_enabled(bool p_enabled) {
collisionsEnabled = p_enabled;
if (collisionsEnabled) {
@@ -319,16 +333,28 @@ bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
return !shapes[p_index].active;
}
+void RigidCollisionObjectBullet::prepare_object_for_dispatch() {
+ if (need_shape_reload) {
+ do_reload_shapes();
+ need_shape_reload = false;
+ }
+ CollisionObjectBullet::prepare_object_for_dispatch();
+}
+
void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
ShapeWrapper &shp = shapes.write[p_shape_index];
if (shp.bt_shape == mainShape) {
mainShape = nullptr;
}
- bulletdelete(shp.bt_shape);
+ shp.release_bt_shape();
reload_shapes();
}
void RigidCollisionObjectBullet::reload_shapes() {
+ need_shape_reload = true;
+}
+
+void RigidCollisionObjectBullet::do_reload_shapes() {
if (mainShape && mainShape->isCompound()) {
// Destroy compound
bulletdelete(mainShape);
@@ -336,41 +362,39 @@ void RigidCollisionObjectBullet::reload_shapes() {
mainShape = nullptr;
- ShapeWrapper *shpWrapper;
const int shape_count = shapes.size();
+ ShapeWrapper *shapes_ptr = shapes.ptrw();
- // Reset shape if required
+ // Reset all shapes if required
if (force_shape_reset) {
for (int i(0); i < shape_count; ++i) {
- shpWrapper = &shapes.write[i];
- bulletdelete(shpWrapper->bt_shape);
+ shapes_ptr[i].release_bt_shape();
}
force_shape_reset = false;
}
const btVector3 body_scale(get_bt_body_scale());
- // Try to optimize by not using compound
if (1 == shape_count) {
- shpWrapper = &shapes.write[0];
- btTransform transform = shpWrapper->get_adjusted_transform();
+ // Is it possible to optimize by not using compound?
+ btTransform transform = shapes_ptr[0].get_adjusted_transform();
if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
- shpWrapper->claim_bt_shape(body_scale);
- mainShape = shpWrapper->bt_shape;
+ shapes_ptr[0].claim_bt_shape(body_scale);
+ mainShape = shapes_ptr[0].bt_shape;
main_shape_changed();
+ // Nothing more to do
return;
}
}
- // Optimization not possible use a compound shape
+ // Optimization not possible use a compound shape.
btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
for (int i(0); i < shape_count; ++i) {
- shpWrapper = &shapes.write[i];
- shpWrapper->claim_bt_shape(body_scale);
- btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform());
+ shapes_ptr[i].claim_bt_shape(body_scale);
+ btTransform scaled_shape_transform(shapes_ptr[i].get_adjusted_transform());
scaled_shape_transform.getOrigin() *= body_scale;
- compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
+ compoundShape->addChildShape(scaled_shape_transform, shapes_ptr[i].bt_shape);
}
compoundShape->recalculateLocalAabb();
@@ -389,5 +413,5 @@ void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_perm
if (shp.bt_shape == mainShape) {
mainShape = nullptr;
}
- bulletdelete(shp.bt_shape);
+ shp.release_bt_shape();
}
diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h
index f1423a69e4..ac74661f24 100644
--- a/modules/bullet/collision_object_bullet.h
+++ b/modules/bullet/collision_object_bullet.h
@@ -70,11 +70,12 @@ public:
struct ShapeWrapper {
ShapeBullet *shape = nullptr;
- btCollisionShape *bt_shape = nullptr;
btTransform transform;
btVector3 scale;
bool active = true;
+ btCollisionShape *bt_shape = nullptr;
+ public:
ShapeWrapper() {}
ShapeWrapper(ShapeBullet *p_shape, const btTransform &p_transform, bool p_active) :
@@ -107,6 +108,7 @@ public:
btTransform get_adjusted_transform() const;
void claim_bt_shape(const btVector3 &body_scale);
+ void release_bt_shape();
};
protected:
@@ -124,6 +126,8 @@ protected:
VSet<RID> exceptions;
+ bool need_body_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
@@ -131,6 +135,9 @@ protected:
bool isTransformChanged = false;
public:
+ bool is_in_world = false;
+
+public:
CollisionObjectBullet(Type p_type);
virtual ~CollisionObjectBullet();
@@ -183,13 +190,21 @@ public:
return collisionLayer & p_other->collisionMask || p_other->collisionLayer & collisionMask;
}
- virtual void reload_body() = 0;
+ bool need_reload_body() const {
+ return need_body_reload;
+ }
+
+ void reload_body() {
+ need_body_reload = true;
+ }
+ virtual void do_reload_body() = 0;
virtual void set_space(SpaceBullet *p_space) = 0;
_FORCE_INLINE_ SpaceBullet *get_space() const { return space; }
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;
void set_collision_enabled(bool p_enabled);
@@ -215,6 +230,7 @@ class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwn
protected:
btCollisionShape *mainShape = nullptr;
Vector<ShapeWrapper> shapes;
+ bool need_shape_reload = true;
public:
RigidCollisionObjectBullet(Type p_type) :
@@ -246,8 +262,12 @@ 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 shape_changed(int p_shape_index);
- virtual void reload_shapes();
+ void reload_shapes();
+ 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();
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 6cfbe18a64..8ff27cda30 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -237,7 +237,7 @@ 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->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
+ shapes.write[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.");
@@ -307,7 +307,7 @@ void RigidBodyBullet::main_shape_changed() {
set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset
}
-void RigidBodyBullet::reload_body() {
+void RigidBodyBullet::do_reload_body() {
if (space) {
space->remove_rigid_body(this);
if (get_main_shape()) {
@@ -325,13 +325,15 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
assert_no_constraints();
// Remove this object form the physics world
+ space->unregister_collision_object(this);
space->remove_rigid_body(this);
}
space = p_space;
if (space) {
- space->add_rigid_body(this);
+ space->register_collision_object(this);
+ reload_body();
}
}
@@ -803,8 +805,8 @@ const btTransform &RigidBodyBullet::get_transform__bullet() const {
}
}
-void RigidBodyBullet::reload_shapes() {
- RigidCollisionObjectBullet::reload_shapes();
+void RigidBodyBullet::do_reload_shapes() {
+ RigidCollisionObjectBullet::do_reload_shapes();
const btScalar invMass = btBody->getInvMass();
const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index ddc9d2916a..135497b897 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -236,7 +236,7 @@ public:
_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
virtual void main_shape_changed();
- virtual void reload_body();
+ virtual void do_reload_body();
virtual void set_space(SpaceBullet *p_space);
virtual void dispatch_callbacks();
@@ -315,7 +315,7 @@ public:
virtual void set_transform__bullet(const btTransform &p_global_transform);
virtual const btTransform &get_transform__bullet() const;
- virtual void reload_shapes();
+ virtual void do_reload_shapes();
virtual void on_enter_area(AreaBullet *p_area);
virtual void on_exit_area(AreaBullet *p_area);
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index d53f1e7d17..f4550c2024 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -46,9 +46,15 @@
@author AndreaCatania
*/
-ShapeBullet::ShapeBullet() {}
+ShapeBullet::ShapeBullet() {
+}
-ShapeBullet::~ShapeBullet() {}
+ShapeBullet::~ShapeBullet() {
+ if (default_shape != nullptr) {
+ bulletdelete(default_shape);
+ default_shape = nullptr;
+ }
+}
btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge) {
btVector3 s;
@@ -56,6 +62,22 @@ btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale,
return create_bt_shape(s, p_extra_edge);
}
+btCollisionShape *ShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+ if (p_extra_edge == 0.0 && (p_implicit_scale - btVector3(1, 1, 1)).length2() <= CMP_EPSILON) {
+ return default_shape;
+ }
+
+ return internal_create_bt_shape(p_implicit_scale, p_extra_edge);
+}
+
+void ShapeBullet::destroy_bt_shape(btCollisionShape *p_shape) const {
+ if (p_shape != default_shape && p_shape != old_default_shape) {
+ if (likely(p_shape != nullptr)) {
+ bulletdelete(p_shape);
+ }
+ }
+}
+
btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
p_btShape->setUserPointer(const_cast<ShapeBullet *>(this));
p_btShape->setMargin(margin);
@@ -63,10 +85,21 @@ btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
}
void ShapeBullet::notifyShapeChanged() {
+ // Store the old shape ptr so to not lose the reference pointer.
+ old_default_shape = default_shape;
+ // Create the new default shape with the new data.
+ default_shape = internal_create_bt_shape(btVector3(1, 1, 1));
+
for (Map<ShapeOwnerBullet *, int>::Element *E = owners.front(); E; E = E->next()) {
ShapeOwnerBullet *owner = static_cast<ShapeOwnerBullet *>(E->key());
owner->shape_changed(owner->find_shape(this));
}
+
+ if (old_default_shape) {
+ // At this point now one has the old default shape; just delete it.
+ bulletdelete(old_default_shape);
+ old_default_shape = nullptr;
+ }
}
void ShapeBullet::add_owner(ShapeOwnerBullet *p_owner) {
@@ -186,7 +219,7 @@ void PlaneShapeBullet::setup(const Plane &p_plane) {
notifyShapeChanged();
}
-btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *PlaneShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btVector3 btPlaneNormal;
G_TO_B(plane.normal, btPlaneNormal);
return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d));
@@ -214,7 +247,7 @@ void SphereShapeBullet::setup(real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *SphereShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_extra_edge));
}
@@ -241,7 +274,7 @@ void BoxShapeBullet::setup(const Vector3 &p_half_extents) {
notifyShapeChanged();
}
-btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *BoxShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_extra_edge, p_extra_edge, p_extra_edge)));
}
@@ -274,7 +307,7 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *CapsuleShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1] + p_extra_edge));
}
@@ -307,7 +340,7 @@ void CylinderShapeBullet::setup(real_t p_height, real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *CylinderShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *CylinderShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
return prepare(ShapeBullet::create_shape_cylinder(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin));
}
@@ -349,7 +382,7 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
notifyShapeChanged();
}
-btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *ConvexPolygonShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
if (!vertices.size()) {
// This is necessary since 0 vertices
return prepare(ShapeBullet::create_shape_empty());
@@ -431,7 +464,7 @@ void ConcavePolygonShapeBullet::setup(Vector<Vector3> p_faces) {
notifyShapeChanged();
}
-btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *ConcavePolygonShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape);
if (!cs) {
// This is necessary since if 0 faces the creation of concave return null
@@ -555,7 +588,7 @@ void HeightMapShapeBullet::setup(Vector<real_t> &p_heights, int p_width, int p_d
notifyShapeChanged();
}
-btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *HeightMapShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height));
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
@@ -588,6 +621,6 @@ void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) {
notifyShapeChanged();
}
-btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *RayShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_extra_edge, slips_on_slope));
}
diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h
index a35a1d8a18..6ca4d36a23 100644
--- a/modules/bullet/shape_bullet.h
+++ b/modules/bullet/shape_bullet.h
@@ -53,6 +53,10 @@ class ShapeBullet : public RIDBullet {
Map<ShapeOwnerBullet *, int> owners;
real_t margin = 0.04;
+ // Contains the default shape.
+ btCollisionShape *default_shape = nullptr;
+ btCollisionShape *old_default_shape = nullptr;
+
protected:
/// return self
btCollisionShape *prepare(btCollisionShape *p_btShape) const;
@@ -63,7 +67,11 @@ public:
virtual ~ShapeBullet();
btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge = 0);
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0;
+ btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+
+ void destroy_bt_shape(btCollisionShape *p_shape) const;
+
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0;
void add_owner(ShapeOwnerBullet *p_owner);
void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false);
@@ -102,7 +110,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Plane &p_plane);
@@ -118,7 +126,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(real_t p_radius);
@@ -134,7 +142,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Vector3 &p_half_extents);
@@ -152,7 +160,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(real_t p_height, real_t p_radius);
@@ -170,7 +178,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
void setup(real_t p_height, real_t p_radius);
@@ -186,7 +194,7 @@ public:
void get_vertices(Vector<Vector3> &out_vertices);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Vector<Vector3> &p_vertices);
@@ -204,7 +212,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(Vector<Vector3> p_faces);
@@ -223,7 +231,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
@@ -239,7 +247,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(real_t p_length, bool p_slips_on_slope);
diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp
index 6794d6c313..3fccd3d8a2 100644
--- a/modules/bullet/soft_body_bullet.cpp
+++ b/modules/bullet/soft_body_bullet.cpp
@@ -41,7 +41,7 @@ SoftBodyBullet::SoftBodyBullet() :
SoftBodyBullet::~SoftBodyBullet() {
}
-void SoftBodyBullet::reload_body() {
+void SoftBodyBullet::do_reload_body() {
if (space) {
space->remove_soft_body(this);
space->add_soft_body(this);
@@ -51,13 +51,15 @@ void SoftBodyBullet::reload_body() {
void SoftBodyBullet::set_space(SpaceBullet *p_space) {
if (space) {
isScratched = false;
+ space->unregister_collision_object(this);
space->remove_soft_body(this);
}
space = p_space;
if (space) {
- space->add_soft_body(this);
+ space->register_collision_object(this);
+ reload_body();
}
}
diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h
index da8a2412ed..ba968f4271 100644
--- a/modules/bullet/soft_body_bullet.h
+++ b/modules/bullet/soft_body_bullet.h
@@ -87,7 +87,7 @@ public:
SoftBodyBullet();
~SoftBodyBullet();
- virtual void reload_body();
+ virtual void do_reload_body();
virtual void set_space(SpaceBullet *p_space);
virtual void dispatch_callbacks() {}
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index cfe8cd5322..8204d7ed20 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -127,7 +127,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
- bulletdelete(btShape);
+ shape->destroy_bt_shape(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return 0;
}
@@ -147,7 +147,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
btQuery.m_closestDistanceThreshold = 0;
space->dynamicsWorld->contactTest(&collision_object, btQuery);
- bulletdelete(btConvex);
+ shape->destroy_bt_shape(btShape);
return btQuery.m_count;
}
@@ -167,7 +167,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
if (!btShape->isConvex()) {
- bulletdelete(btShape);
+ shape->destroy_bt_shape(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return false;
}
@@ -206,7 +206,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
r_closest_unsafe = 1.0f;
}
- bulletdelete(bt_convex_shape);
+ shape->destroy_bt_shape(btShape);
return true; // Mean success
}
@@ -221,7 +221,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
- bulletdelete(btShape);
+ shape->destroy_bt_shape(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return false;
}
@@ -242,7 +242,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
space->dynamicsWorld->contactTest(&collision_object, btQuery);
r_result_count = btQuery.m_count;
- bulletdelete(btConvex);
+ shape->destroy_bt_shape(btShape);
return btQuery.m_count;
}
@@ -253,7 +253,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
- bulletdelete(btShape);
+ shape->destroy_bt_shape(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return false;
}
@@ -273,7 +273,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
btQuery.m_closestDistanceThreshold = 0;
space->dynamicsWorld->contactTest(&collision_object, btQuery);
- bulletdelete(btConvex);
+ shape->destroy_bt_shape(btShape);
if (btQuery.m_collided) {
if (btCollisionObject::CO_RIGID_BODY == btQuery.m_rest_info_collision_object->getInternalType()) {
@@ -286,7 +286,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
}
Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const {
- RigidCollisionObjectBullet *rigid_object = space->get_physics_server()->get_rigid_collisin_object(p_object);
+ RigidCollisionObjectBullet *rigid_object = space->get_physics_server()->get_rigid_collision_object(p_object);
ERR_FAIL_COND_V(!rigid_object, Vector3());
btVector3 out_closest_point(0, 0, 0);
@@ -349,9 +349,11 @@ SpaceBullet::~SpaceBullet() {
}
void SpaceBullet::flush_queries() {
- const btCollisionObjectArray &colObjArray = dynamicsWorld->getCollisionObjectArray();
- for (int i = colObjArray.size() - 1; 0 <= i; --i) {
- static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->dispatch_callbacks();
+ 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();
}
}
@@ -448,16 +450,30 @@ real_t SpaceBullet::get_param(PhysicsServer3D::SpaceParameter p_param) {
}
void SpaceBullet::add_area(AreaBullet *p_area) {
+#ifdef TOOLS_ENABLED
+ // This never happen, and there is no way for the user to trigger it.
+ // If in future a bug is introduced into this bullet integration and this
+ // function is called twice, the crash will notify the developer that will
+ // fix it even before do the eventual PR.
+ CRASH_COND(p_area->is_in_world);
+#endif
areas.push_back(p_area);
dynamicsWorld->addCollisionObject(p_area->get_bt_ghost(), p_area->get_collision_layer(), p_area->get_collision_mask());
+ p_area->is_in_world = true;
}
void SpaceBullet::remove_area(AreaBullet *p_area) {
- areas.erase(p_area);
- dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost());
+ if (p_area->is_in_world) {
+ areas.erase(p_area);
+ dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost());
+ p_area->is_in_world = false;
+ }
}
void SpaceBullet::reload_collision_filters(AreaBullet *p_area) {
+ if (p_area->is_in_world == false) {
+ return;
+ }
btGhostObject *ghost_object = p_area->get_bt_ghost();
btBroadphaseProxy *ghost_proxy = ghost_object->getBroadphaseHandle();
@@ -467,24 +483,46 @@ void SpaceBullet::reload_collision_filters(AreaBullet *p_area) {
dynamicsWorld->refreshBroadphaseProxy(ghost_object);
}
+void SpaceBullet::register_collision_object(CollisionObjectBullet *p_object) {
+ collision_objects.push_back(p_object);
+}
+
+void SpaceBullet::unregister_collision_object(CollisionObjectBullet *p_object) {
+ collision_objects.erase(p_object);
+}
+
void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) {
+#ifdef TOOLS_ENABLED
+ // This never happen, and there is no way for the user to trigger it.
+ // If in future a bug is introduced into this bullet integration and this
+ // function is called twice, the crash will notify the developer that will
+ // fix it even before do the eventual PR.
+ CRASH_COND(p_body->is_in_world);
+#endif
if (p_body->is_static()) {
dynamicsWorld->addCollisionObject(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask());
} else {
dynamicsWorld->addRigidBody(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask());
p_body->scratch_space_override_modificator();
}
+ p_body->is_in_world = true;
}
void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) {
- if (p_body->is_static()) {
- dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body());
- } else {
- dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body());
+ if (p_body->is_in_world) {
+ if (p_body->is_static()) {
+ dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body());
+ } else {
+ dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body());
+ }
+ p_body->is_in_world = false;
}
}
void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) {
+ if (p_body->is_in_world == false) {
+ return;
+ }
btRigidBody *rigid_body = p_body->get_bt_rigid_body();
btBroadphaseProxy *body_proxy = rigid_body->getBroadphaseProxy();
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 5ff421ef52..ae4dc30274 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -110,6 +110,7 @@ class SpaceBullet : public RIDBullet {
real_t linear_damp = 0.0;
real_t angular_damp = 0.0;
+ Vector<CollisionObjectBullet *> collision_objects;
Vector<AreaBullet *> areas;
Vector<Vector3> contactDebug;
@@ -124,9 +125,12 @@ public:
real_t get_delta_time() { return delta_time; }
void step(real_t p_delta_time);
- _FORCE_INLINE_ btBroadphaseInterface *get_broadphase() { return broadphase; }
- _FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() { return dispatcher; }
- _FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() { return soft_body_world_info; }
+ _FORCE_INLINE_ btBroadphaseInterface *get_broadphase() const { return broadphase; }
+ _FORCE_INLINE_ btDefaultCollisionConfiguration *get_collision_configuration() const { return collisionConfiguration; }
+ _FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() const { return dispatcher; }
+ _FORCE_INLINE_ btConstraintSolver *get_solver() const { return solver; }
+ _FORCE_INLINE_ btDiscreteDynamicsWorld *get_dynamic_world() const { return dynamicsWorld; }
+ _FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() const { return soft_body_world_info; }
_FORCE_INLINE_ bool is_using_soft_world() { return soft_body_world_info; }
/// Used to set some parameters to Bullet world
@@ -147,6 +151,9 @@ public:
void remove_area(AreaBullet *p_area);
void reload_collision_filters(AreaBullet *p_area);
+ void register_collision_object(CollisionObjectBullet *p_object);
+ void unregister_collision_object(CollisionObjectBullet *p_object);
+
void add_rigid_body(RigidBodyBullet *p_body);
void remove_rigid_body(RigidBodyBullet *p_body);
void reload_collision_filters(RigidBodyBullet *p_body);
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-24 12:09:36 +0000