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-rwxr-xr-xdoc/tools/makerst.py15
-rw-r--r--modules/bullet/shape_bullet.cpp8
-rw-r--r--modules/gdnative/gdnative_library_singleton_editor.cpp134
-rw-r--r--modules/gdnative/gdnative_library_singleton_editor.h12
-rw-r--r--modules/gdnative/nativescript/nativescript.cpp2
-rw-r--r--modules/gdnative/register_types.cpp122
-rw-r--r--platform/javascript/os_javascript.cpp2
-rw-r--r--platform/javascript/os_javascript.h2
-rw-r--r--platform/uwp/os_uwp.cpp2
-rw-r--r--platform/uwp/os_uwp.h2
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp19
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp420
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h21
13 files changed, 604 insertions, 157 deletions
diff --git a/doc/tools/makerst.py b/doc/tools/makerst.py
index e81b4db13e..c3e15b2f9a 100755
--- a/doc/tools/makerst.py
+++ b/doc/tools/makerst.py
@@ -683,10 +683,16 @@ def rstize_text(text, state): # type: (str, State) -> str
# Handle [tags]
inside_code = False
+ inside_url = False
+ url_has_name = False
+ url_link = ""
pos = 0
tag_depth = 0
+ previous_pos = 0
while True:
pos = text.find('[', pos)
+ if inside_url and (pos > previous_pos):
+ url_has_name = True
if pos == -1:
break
@@ -795,12 +801,16 @@ def rstize_text(text, state): # type: (str, State) -> str
elif cmd.find('image=') == 0:
tag_text = "" # '![](' + cmd[6:] + ')'
elif cmd.find('url=') == 0:
- tag_text = ':ref:`' + cmd[4:] + '<' + cmd[4:] + ">`"
+ url_link = cmd[4:]
+ tag_text = ':ref:`'
tag_depth += 1
+ url_has_name = False
+ inside_url = True
elif cmd == '/url':
- tag_text = ''
+ tag_text = ('' if url_has_name else url_link) + '<' + url_link + ">`"
tag_depth -= 1
escape_post = True
+ inside_url = False
elif cmd == 'center':
tag_depth += 1
tag_text = ''
@@ -871,6 +881,7 @@ def rstize_text(text, state): # type: (str, State) -> str
text = pre_text + tag_text + post_text
pos = len(pre_text) + len(tag_text)
+ previous_pos = pos
if tag_depth > 0:
print_error("Tag depth mismatch: too many/little open/close tags, file: {}".format(state.current_class), state)
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index b590d63167..f15bcec914 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -148,7 +148,13 @@ btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<rea
const bool flipQuadEdges = false;
const void *heightsPtr = p_heights.read().ptr();
- return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));
+ btHeightfieldTerrainShape *heightfield = bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));
+
+ // The shape can be created without params when you do PhysicsServer.shape_create(PhysicsServer.SHAPE_HEIGHTMAP)
+ if (heightsPtr)
+ heightfield->buildAccelerator(16);
+
+ return heightfield;
}
btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) {
diff --git a/modules/gdnative/gdnative_library_singleton_editor.cpp b/modules/gdnative/gdnative_library_singleton_editor.cpp
index 55bc16fccc..389b353a51 100644
--- a/modules/gdnative/gdnative_library_singleton_editor.cpp
+++ b/modules/gdnative/gdnative_library_singleton_editor.cpp
@@ -32,11 +32,16 @@
#include "gdnative_library_singleton_editor.h"
#include "gdnative.h"
-void GDNativeLibrarySingletonEditor::_find_gdnative_singletons(EditorFileSystemDirectory *p_dir, const Set<String> &enabled_list) {
+#include "editor/editor_node.h"
+
+Set<String> GDNativeLibrarySingletonEditor::_find_singletons_recursive(EditorFileSystemDirectory *p_dir) {
+
+ Set<String> file_paths;
// check children
for (int i = 0; i < p_dir->get_file_count(); i++) {
+ String file_name = p_dir->get_file(i);
String file_type = p_dir->get_file_type(i);
if (file_type != "GDNativeLibrary") {
@@ -45,23 +50,57 @@ void GDNativeLibrarySingletonEditor::_find_gdnative_singletons(EditorFileSystemD
Ref<GDNativeLibrary> lib = ResourceLoader::load(p_dir->get_file_path(i));
if (lib.is_valid() && lib->is_singleton()) {
- String path = p_dir->get_file_path(i);
- TreeItem *ti = libraries->create_item(libraries->get_root());
- ti->set_text(0, path.get_file());
- ti->set_tooltip(0, path);
- ti->set_metadata(0, path);
- ti->set_cell_mode(1, TreeItem::CELL_MODE_RANGE);
- ti->set_text(1, "Disabled,Enabled");
- bool enabled = enabled_list.has(path) ? true : false;
-
- ti->set_range(1, enabled ? 1 : 0);
- ti->set_custom_color(1, enabled ? Color(0, 1, 0) : Color(1, 0, 0));
+ file_paths.insert(p_dir->get_file_path(i));
}
}
// check subdirectories
for (int i = 0; i < p_dir->get_subdir_count(); i++) {
- _find_gdnative_singletons(p_dir->get_subdir(i), enabled_list);
+ Set<String> paths = _find_singletons_recursive(p_dir->get_subdir(i));
+
+ for (Set<String>::Element *E = paths.front(); E; E = E->next()) {
+ file_paths.insert(E->get());
+ }
+ }
+
+ return file_paths;
+}
+
+void GDNativeLibrarySingletonEditor::_discover_singletons() {
+
+ EditorFileSystemDirectory *dir = EditorFileSystem::get_singleton()->get_filesystem();
+
+ Set<String> file_paths = _find_singletons_recursive(dir);
+
+ bool changed = false;
+ Array current_files;
+ if (ProjectSettings::get_singleton()->has_setting("gdnative/singletons")) {
+ current_files = ProjectSettings::get_singleton()->get("gdnative/singletons");
+ }
+ Array files;
+ for (Set<String>::Element *E = file_paths.front(); E; E = E->next()) {
+ if (!current_files.has(E->get())) {
+ changed = true;
+ }
+ files.append(E->get());
+ }
+
+ // Check for removed files
+ if (!changed) {
+ // Removed singleton
+ for (int j = 0; j < current_files.size(); j++) {
+ if (!files.has(current_files[j])) {
+ changed = true;
+ break;
+ }
+ }
+ }
+
+ if (changed) {
+
+ ProjectSettings::get_singleton()->set("gdnative/singletons", files);
+ _update_libraries(); // So singleton options (i.e. disabled) updates too
+ ProjectSettings::get_singleton()->save();
}
}
@@ -69,22 +108,40 @@ void GDNativeLibrarySingletonEditor::_update_libraries() {
updating = true;
libraries->clear();
- libraries->create_item(); //rppt
+ libraries->create_item(); // root item
- Vector<String> enabled_paths;
+ Array singletons;
if (ProjectSettings::get_singleton()->has_setting("gdnative/singletons")) {
- enabled_paths = ProjectSettings::get_singleton()->get("gdnative/singletons");
+ singletons = ProjectSettings::get_singleton()->get("gdnative/singletons");
}
- Set<String> enabled_list;
- for (int i = 0; i < enabled_paths.size(); i++) {
- enabled_list.insert(enabled_paths[i]);
+ Array singletons_disabled;
+ if (ProjectSettings::get_singleton()->has_setting("gdnative/singletons_disabled")) {
+ singletons_disabled = ProjectSettings::get_singleton()->get("gdnative/singletons_disabled");
}
- EditorFileSystemDirectory *fs = EditorFileSystem::get_singleton()->get_filesystem();
- if (fs) {
- _find_gdnative_singletons(fs, enabled_list);
+ Array updated_disabled;
+ for (int i = 0; i < singletons.size(); i++) {
+ bool enabled = true;
+ String path = singletons[i];
+ if (singletons_disabled.has(path)) {
+ enabled = false;
+ updated_disabled.push_back(path);
+ }
+ TreeItem *ti = libraries->create_item(libraries->get_root());
+ ti->set_text(0, path.get_file());
+ ti->set_tooltip(0, path);
+ ti->set_metadata(0, path);
+ ti->set_cell_mode(1, TreeItem::CELL_MODE_RANGE);
+ ti->set_text(1, "Disabled,Enabled");
+ ti->set_range(1, enabled ? 1 : 0);
+ ti->set_custom_color(1, enabled ? Color(0, 1, 0) : Color(1, 0, 0));
+ ti->set_editable(1, true);
}
+ // The singletons list changed, we must update the settings
+ if (updated_disabled.size() != singletons_disabled.size())
+ ProjectSettings::get_singleton()->set("gdnative/singletons_disabled", updated_disabled);
+
updating = false;
}
@@ -99,24 +156,29 @@ void GDNativeLibrarySingletonEditor::_item_edited() {
bool enabled = item->get_range(1);
String path = item->get_metadata(0);
- Vector<String> enabled_paths;
- if (ProjectSettings::get_singleton()->has_setting("gdnative/singletons")) {
- enabled_paths = ProjectSettings::get_singleton()->get("gdnative/singletons");
+ Array disabled_paths;
+ Array undo_paths;
+ if (ProjectSettings::get_singleton()->has_setting("gdnative/singletons_disabled")) {
+ disabled_paths = ProjectSettings::get_singleton()->get("gdnative/singletons_disabled");
+ // Duplicate so redo works (not a reference)
+ disabled_paths = disabled_paths.duplicate();
+ // For undo, so we can reset the property.
+ undo_paths = disabled_paths.duplicate();
}
if (enabled) {
- if (enabled_paths.find(path) == -1) {
- enabled_paths.push_back(path);
- }
+ disabled_paths.erase(path);
} else {
- enabled_paths.erase(path);
+ if (disabled_paths.find(path) == -1)
+ disabled_paths.push_back(path);
}
- if (enabled_paths.size()) {
- ProjectSettings::get_singleton()->set("gdnative/singletons", enabled_paths);
- } else {
- ProjectSettings::get_singleton()->set("gdnative/singletons", Variant());
- }
+ undo_redo->create_action(enabled ? TTR("Enabled GDNative Singleton") : TTR("Disabled GDNative Singleton"));
+ undo_redo->add_do_property(ProjectSettings::get_singleton(), "gdnative/singletons_disabled", disabled_paths);
+ undo_redo->add_do_method(this, "_update_libraries");
+ undo_redo->add_undo_property(ProjectSettings::get_singleton(), "gdnative/singletons_disabled", undo_paths);
+ undo_redo->add_undo_method(this, "_update_libraries");
+ undo_redo->commit_action();
}
void GDNativeLibrarySingletonEditor::_notification(int p_what) {
@@ -131,9 +193,12 @@ void GDNativeLibrarySingletonEditor::_notification(int p_what) {
void GDNativeLibrarySingletonEditor::_bind_methods() {
ClassDB::bind_method(D_METHOD("_item_edited"), &GDNativeLibrarySingletonEditor::_item_edited);
+ ClassDB::bind_method(D_METHOD("_discover_singletons"), &GDNativeLibrarySingletonEditor::_discover_singletons);
+ ClassDB::bind_method(D_METHOD("_update_libraries"), &GDNativeLibrarySingletonEditor::_update_libraries);
}
GDNativeLibrarySingletonEditor::GDNativeLibrarySingletonEditor() {
+ undo_redo = EditorNode::get_singleton()->get_undo_redo();
libraries = memnew(Tree);
libraries->set_columns(2);
libraries->set_column_titles_visible(true);
@@ -143,6 +208,7 @@ GDNativeLibrarySingletonEditor::GDNativeLibrarySingletonEditor() {
add_margin_child(TTR("Libraries: "), libraries, true);
updating = false;
libraries->connect("item_edited", this, "_item_edited");
+ EditorFileSystem::get_singleton()->connect("filesystem_changed", this, "_discover_singletons");
}
#endif // TOOLS_ENABLED
diff --git a/modules/gdnative/gdnative_library_singleton_editor.h b/modules/gdnative/gdnative_library_singleton_editor.h
index cf5ab23501..b43080dfdb 100644
--- a/modules/gdnative/gdnative_library_singleton_editor.h
+++ b/modules/gdnative/gdnative_library_singleton_editor.h
@@ -36,18 +36,24 @@
#include "editor/project_settings_editor.h"
class GDNativeLibrarySingletonEditor : public VBoxContainer {
+ GDCLASS(GDNativeLibrarySingletonEditor, VBoxContainer);
+
+private:
Tree *libraries;
+ UndoRedo *undo_redo;
bool updating;
- void _update_libraries();
- void _find_gdnative_singletons(EditorFileSystemDirectory *p_dir, const Set<String> &enabled_list);
- void _item_edited();
+ static Set<String> _find_singletons_recursive(EditorFileSystemDirectory *p_dir);
protected:
void _notification(int p_what);
static void _bind_methods();
+ void _discover_singletons();
+ void _item_edited();
+ void _update_libraries();
+
public:
GDNativeLibrarySingletonEditor();
};
diff --git a/modules/gdnative/nativescript/nativescript.cpp b/modules/gdnative/nativescript/nativescript.cpp
index 5cf144d4fe..04ba28dc68 100644
--- a/modules/gdnative/nativescript/nativescript.cpp
+++ b/modules/gdnative/nativescript/nativescript.cpp
@@ -1309,7 +1309,7 @@ void NativeScriptLanguage::unregister_binding_functions(int p_idx) {
for (Set<Vector<void *> *>::Element *E = binding_instances.front(); E; E = E->next()) {
Vector<void *> &binding_data = *E->get();
- if (binding_data[p_idx] && binding_functions[p_idx].second.free_instance_binding_data)
+ if (p_idx < binding_data.size() && binding_data[p_idx] && binding_functions[p_idx].second.free_instance_binding_data)
binding_functions[p_idx].second.free_instance_binding_data(binding_functions[p_idx].second.data, binding_data[p_idx]);
}
diff --git a/modules/gdnative/register_types.cpp b/modules/gdnative/register_types.cpp
index 2094dca6e4..55d44ceec8 100644
--- a/modules/gdnative/register_types.cpp
+++ b/modules/gdnative/register_types.cpp
@@ -50,97 +50,6 @@
#include "editor/editor_node.h"
#include "gdnative_library_editor_plugin.h"
#include "gdnative_library_singleton_editor.h"
-// Class used to discover singleton gdnative files
-
-static void actual_discoverer_handler();
-
-class GDNativeSingletonDiscover : public Object {
- // GDCLASS(GDNativeSingletonDiscover, Object)
-
- virtual String get_class() const {
- // okay, this is a really dirty hack.
- // We're overriding get_class so we can connect it to a signal
- // This works because get_class is a virtual method, so we don't
- // need to register a new class to ClassDB just for this one
- // little signal.
-
- actual_discoverer_handler();
-
- return "Object";
- }
-};
-
-static Set<String> get_gdnative_singletons(EditorFileSystemDirectory *p_dir) {
-
- Set<String> file_paths;
-
- // check children
-
- for (int i = 0; i < p_dir->get_file_count(); i++) {
- String file_name = p_dir->get_file(i);
- String file_type = p_dir->get_file_type(i);
-
- if (file_type != "GDNativeLibrary") {
- continue;
- }
-
- Ref<GDNativeLibrary> lib = ResourceLoader::load(p_dir->get_file_path(i));
- if (lib.is_valid() && lib->is_singleton()) {
- file_paths.insert(p_dir->get_file_path(i));
- }
- }
-
- // check subdirectories
- for (int i = 0; i < p_dir->get_subdir_count(); i++) {
- Set<String> paths = get_gdnative_singletons(p_dir->get_subdir(i));
-
- for (Set<String>::Element *E = paths.front(); E; E = E->next()) {
- file_paths.insert(E->get());
- }
- }
-
- return file_paths;
-}
-
-static void actual_discoverer_handler() {
-
- EditorFileSystemDirectory *dir = EditorFileSystem::get_singleton()->get_filesystem();
-
- Set<String> file_paths = get_gdnative_singletons(dir);
-
- bool changed = false;
- Array current_files;
- if (ProjectSettings::get_singleton()->has_setting("gdnative/singletons")) {
- current_files = ProjectSettings::get_singleton()->get("gdnative/singletons");
- }
- Array files;
- files.resize(file_paths.size());
- int i = 0;
- for (Set<String>::Element *E = file_paths.front(); E; i++, E = E->next()) {
- if (!current_files.has(E->get())) {
- changed = true;
- }
- files.set(i, E->get());
- }
-
- // Check for removed files
- if (!changed) {
- for (int j = 0; j < current_files.size(); j++) {
- if (!file_paths.has(current_files[j])) {
- changed = true;
- break;
- }
- }
- }
-
- if (changed) {
-
- ProjectSettings::get_singleton()->set("gdnative/singletons", files);
- ProjectSettings::get_singleton()->save();
- }
-}
-
-static GDNativeSingletonDiscover *discoverer = NULL;
class GDNativeExportPlugin : public EditorExportPlugin {
@@ -275,9 +184,6 @@ static void editor_init_callback() {
library_editor->set_name(TTR("GDNative"));
ProjectSettingsEditor::get_singleton()->get_tabs()->add_child(library_editor);
- discoverer = memnew(GDNativeSingletonDiscover);
- EditorFileSystem::get_singleton()->connect("filesystem_changed", discoverer, "get_class");
-
Ref<GDNativeExportPlugin> export_plugin;
export_plugin.instance();
@@ -335,30 +241,36 @@ void register_gdnative_types() {
if (ProjectSettings::get_singleton()->has_setting("gdnative/singletons")) {
singletons = ProjectSettings::get_singleton()->get("gdnative/singletons");
}
-
- singleton_gdnatives.resize(singletons.size());
+ Array excluded = Array();
+ if (ProjectSettings::get_singleton()->has_setting("gdnative/singletons_disabled")) {
+ excluded = ProjectSettings::get_singleton()->get("gdnative/singletons_disabled");
+ }
for (int i = 0; i < singletons.size(); i++) {
String path = singletons[i];
- Ref<GDNativeLibrary> lib = ResourceLoader::load(path);
+ if (excluded.has(path))
+ continue;
- singleton_gdnatives.write[i].instance();
- singleton_gdnatives.write[i]->set_library(lib);
+ Ref<GDNativeLibrary> lib = ResourceLoader::load(path);
+ Ref<GDNative> singleton;
+ singleton.instance();
+ singleton->set_library(lib);
- if (!singleton_gdnatives.write[i]->initialize()) {
+ if (!singleton->initialize()) {
// Can't initialize. Don't make a native_call then
continue;
}
void *proc_ptr;
- Error err = singleton_gdnatives[i]->get_symbol(
+ Error err = singleton->get_symbol(
lib->get_symbol_prefix() + "gdnative_singleton",
proc_ptr);
if (err != OK) {
- ERR_PRINT((String("No godot_gdnative_singleton in \"" + singleton_gdnatives[i]->get_library()->get_current_library_path()) + "\" found").utf8().get_data());
+ ERR_PRINT((String("No godot_gdnative_singleton in \"" + singleton->get_library()->get_current_library_path()) + "\" found").utf8().get_data());
} else {
+ singleton_gdnatives.push_back(singleton);
((void (*)())proc_ptr)();
}
}
@@ -388,12 +300,6 @@ void unregister_gdnative_types() {
memdelete(GDNativeCallRegistry::singleton);
-#ifdef TOOLS_ENABLED
- if (Engine::get_singleton()->is_editor_hint() && discoverer != NULL) {
- memdelete(discoverer);
- }
-#endif
-
ResourceLoader::remove_resource_format_loader(resource_loader_gdnlib);
resource_loader_gdnlib.unref();
diff --git a/platform/javascript/os_javascript.cpp b/platform/javascript/os_javascript.cpp
index 34781ce365..2e3e10e222 100644
--- a/platform/javascript/os_javascript.cpp
+++ b/platform/javascript/os_javascript.cpp
@@ -1035,7 +1035,7 @@ void OS_JavaScript::finalize() {
// Miscellaneous
-Error OS_JavaScript::execute(const String &p_path, const List<String> &p_arguments, bool p_blocking, ProcessID *r_child_id, String *r_pipe, int *r_exitcode, bool read_stderr) {
+Error OS_JavaScript::execute(const String &p_path, const List<String> &p_arguments, bool p_blocking, ProcessID *r_child_id, String *r_pipe, int *r_exitcode, bool read_stderr, Mutex *p_pipe_mutex) {
ERR_EXPLAIN("OS::execute() is not available on the HTML5 platform");
ERR_FAIL_V(ERR_UNAVAILABLE);
diff --git a/platform/javascript/os_javascript.h b/platform/javascript/os_javascript.h
index a9f9e23463..f7ce28e660 100644
--- a/platform/javascript/os_javascript.h
+++ b/platform/javascript/os_javascript.h
@@ -137,7 +137,7 @@ public:
void run_async();
bool main_loop_iterate();
- virtual Error execute(const String &p_path, const List<String> &p_arguments, bool p_blocking, ProcessID *r_child_id = NULL, String *r_pipe = NULL, int *r_exitcode = NULL, bool read_stderr = false);
+ virtual Error execute(const String &p_path, const List<String> &p_arguments, bool p_blocking, ProcessID *r_child_id = NULL, String *r_pipe = NULL, int *r_exitcode = NULL, bool read_stderr = false, Mutex *p_pipe_mutex = NULL);
virtual Error kill(const ProcessID &p_pid);
virtual int get_process_id() const;
diff --git a/platform/uwp/os_uwp.cpp b/platform/uwp/os_uwp.cpp
index 82f09032f5..1678d351b3 100644
--- a/platform/uwp/os_uwp.cpp
+++ b/platform/uwp/os_uwp.cpp
@@ -713,7 +713,7 @@ void OS_UWP::set_custom_mouse_cursor(const RES &p_cursor, CursorShape p_shape, c
// TODO
}
-Error OS_UWP::execute(const String &p_path, const List<String> &p_arguments, bool p_blocking, ProcessID *r_child_id, String *r_pipe, int *r_exitcode, bool read_stderr) {
+Error OS_UWP::execute(const String &p_path, const List<String> &p_arguments, bool p_blocking, ProcessID *r_child_id, String *r_pipe, int *r_exitcode, bool read_stderr, Mutex *p_pipe_mutex) {
return FAILED;
};
diff --git a/platform/uwp/os_uwp.h b/platform/uwp/os_uwp.h
index 00f79efb04..7b00224017 100644
--- a/platform/uwp/os_uwp.h
+++ b/platform/uwp/os_uwp.h
@@ -208,7 +208,7 @@ public:
virtual void delay_usec(uint32_t p_usec) const;
virtual uint64_t get_ticks_usec() const;
- virtual Error execute(const String &p_path, const List<String> &p_arguments, bool p_blocking, ProcessID *r_child_id = NULL, String *r_pipe = NULL, int *r_exitcode = NULL, bool read_stderr = false);
+ virtual Error execute(const String &p_path, const List<String> &p_arguments, bool p_blocking, ProcessID *r_child_id = NULL, String *r_pipe = NULL, int *r_exitcode = NULL, bool read_stderr = false, Mutex *p_pipe_mutex = NULL);
virtual Error kill(const ProcessID &p_pid);
virtual bool has_environment(const String &p_var) const;
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index 782e9efaf1..b30ce03164 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -19,9 +19,10 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
-#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting
-#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" //for raycasting
+#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting
+#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" //for raycasting
+#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" //for raycasting
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
@@ -413,6 +414,18 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled);
}
+ else if (collisionShape->getShapeType()==TERRAIN_SHAPE_PROXYTYPE)
+ {
+ ///optimized version for btHeightfieldTerrainShape
+ btHeightfieldTerrainShape* heightField = (btHeightfieldTerrainShape*)collisionShape;
+ btTransform worldTocollisionObject = colObjWorldTransform.inverse();
+ btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
+ btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
+
+ BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),heightField,colObjWorldTransform);
+ rcb.m_hitFraction = resultCallback.m_closestHitFraction;
+ heightField->performRaycast(&rcb, rayFromLocal, rayToLocal);
+ }
else
{
//generic (slower) case
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
index c85ce2498e..4adf27e6bb 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -73,6 +73,10 @@ void btHeightfieldTerrainShape::initialize(
m_useZigzagSubdivision = false;
m_upAxis = upAxis;
m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
+ m_vboundsGrid = NULL;
+ m_vboundsChunkSize = 0;
+ m_vboundsGridWidth = 0;
+ m_vboundsGridLength = 0;
// determine min/max axis-aligned bounding box (aabb) values
switch (m_upAxis)
@@ -108,6 +112,7 @@ void btHeightfieldTerrainShape::initialize(
btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
{
+ clearAccelerator();
}
void btHeightfieldTerrainShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
@@ -323,6 +328,8 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
}
}
+ // TODO If m_vboundsGrid is available, use it to determine if we really need to process this area
+
for (int j = startJ; j < endJ; j++)
{
for (int x = startX; x < endX; x++)
@@ -373,3 +380,416 @@ const btVector3& btHeightfieldTerrainShape::getLocalScaling() const
{
return m_localScaling;
}
+
+
+
+struct GridRaycastState
+{
+ int x; // Next quad coords
+ int z;
+ int prev_x; // Previous quad coords
+ int prev_z;
+ btScalar param; // Exit param for previous quad
+ btScalar prevParam; // Enter param for previous quad
+ btScalar maxDistanceFlat;
+ btScalar maxDistance3d;
+};
+
+
+// TODO Does it really need to take 3D vectors?
+/// Iterates through a virtual 2D grid of unit-sized square cells,
+/// and executes an action on each cell intersecting the given segment, ordered from begin to end.
+/// Initially inspired by http://www.cse.yorku.ca/~amana/research/grid.pdf
+template <typename Action_T>
+void gridRaycast(Action_T &quadAction, const btVector3 &beginPos, const btVector3 &endPos)
+{
+ GridRaycastState rs;
+ rs.maxDistance3d = beginPos.distance(endPos);
+ if (rs.maxDistance3d < 0.0001)
+ // Consider the ray is too small to hit anything
+ return;
+
+ btScalar rayDirectionFlatX = endPos[0] - beginPos[0];
+ btScalar rayDirectionFlatZ = endPos[2] - beginPos[2];
+ rs.maxDistanceFlat = btSqrt(rayDirectionFlatX * rayDirectionFlatX + rayDirectionFlatZ * rayDirectionFlatZ);
+
+ if(rs.maxDistanceFlat < 0.0001)
+ {
+ // Consider the ray vertical
+ rayDirectionFlatX = 0;
+ rayDirectionFlatZ = 0;
+ }
+ else
+ {
+ rayDirectionFlatX /= rs.maxDistanceFlat;
+ rayDirectionFlatZ /= rs.maxDistanceFlat;
+ }
+
+ const int xiStep = rayDirectionFlatX > 0 ? 1 : rayDirectionFlatX < 0 ? -1 : 0;
+ const int ziStep = rayDirectionFlatZ > 0 ? 1 : rayDirectionFlatZ < 0 ? -1 : 0;
+
+ const float infinite = 9999999;
+ const btScalar paramDeltaX = xiStep != 0 ? 1.f / btFabs(rayDirectionFlatX) : infinite;
+ const btScalar paramDeltaZ = ziStep != 0 ? 1.f / btFabs(rayDirectionFlatZ) : infinite;
+
+ // pos = param * dir
+ btScalar paramCrossX; // At which value of `param` we will cross a x-axis lane?
+ btScalar paramCrossZ; // At which value of `param` we will cross a z-axis lane?
+
+ // paramCrossX and paramCrossZ are initialized as being the first cross
+ // X initialization
+ if (xiStep != 0)
+ {
+ if (xiStep == 1)
+ paramCrossX = (ceil(beginPos[0]) - beginPos[0]) * paramDeltaX;
+ else
+ paramCrossX = (beginPos[0] - floor(beginPos[0])) * paramDeltaX;
+ }
+ else
+ paramCrossX = infinite; // Will never cross on X
+
+ // Z initialization
+ if (ziStep != 0)
+ {
+ if (ziStep == 1)
+ paramCrossZ = (ceil(beginPos[2]) - beginPos[2]) * paramDeltaZ;
+ else
+ paramCrossZ = (beginPos[2] - floor(beginPos[2])) * paramDeltaZ;
+ }
+ else
+ paramCrossZ = infinite; // Will never cross on Z
+
+ rs.x = static_cast<int>(floor(beginPos[0]));
+ rs.z = static_cast<int>(floor(beginPos[2]));
+
+ // Workaround cases where the ray starts at an integer position
+ if (paramCrossX == 0.0)
+ {
+ paramCrossX += paramDeltaX;
+ // If going backwards, we should ignore the position we would get by the above flooring,
+ // because the ray is not heading in that direction
+ if (xiStep == -1)
+ rs.x -= 1;
+ }
+
+ if (paramCrossZ == 0.0)
+ {
+ paramCrossZ += paramDeltaZ;
+ if (ziStep == -1)
+ rs.z -= 1;
+ }
+
+ rs.prev_x = rs.x;
+ rs.prev_z = rs.z;
+ rs.param = 0;
+
+ while (true)
+ {
+ rs.prev_x = rs.x;
+ rs.prev_z = rs.z;
+ rs.prevParam = rs.param;
+
+ if (paramCrossX < paramCrossZ)
+ {
+ // X lane
+ rs.x += xiStep;
+ // Assign before advancing the param,
+ // to be in sync with the initialization step
+ rs.param = paramCrossX;
+ paramCrossX += paramDeltaX;
+ }
+ else
+ {
+ // Z lane
+ rs.z += ziStep;
+ rs.param = paramCrossZ;
+ paramCrossZ += paramDeltaZ;
+ }
+
+ if (rs.param > rs.maxDistanceFlat)
+ {
+ rs.param = rs.maxDistanceFlat;
+ quadAction(rs);
+ break;
+ }
+ else
+ quadAction(rs);
+ }
+}
+
+
+struct ProcessTrianglesAction
+{
+ const btHeightfieldTerrainShape *shape;
+ bool flipQuadEdges;
+ bool useDiamondSubdivision;
+ int width;
+ int length;
+ btTriangleCallback* callback;
+
+ void exec(int x, int z) const
+ {
+ if(x < 0 || z < 0 || x >= width || z >= length)
+ return;
+
+ btVector3 vertices[3];
+
+ // Check quad
+ if (flipQuadEdges || (useDiamondSubdivision && (((z + x) & 1) > 0)))
+ {
+ // First triangle
+ shape->getVertex(x, z, vertices[0]);
+ shape->getVertex(x + 1, z, vertices[1]);
+ shape->getVertex(x + 1, z + 1, vertices[2]);
+ callback->processTriangle(vertices, x, z);
+
+ // Second triangle
+ shape->getVertex(x, z, vertices[0]);
+ shape->getVertex(x + 1, z + 1, vertices[1]);
+ shape->getVertex(x, z + 1, vertices[2]);
+ callback->processTriangle(vertices, x, z);
+ }
+ else
+ {
+ // First triangle
+ shape->getVertex(x, z, vertices[0]);
+ shape->getVertex(x, z + 1, vertices[1]);
+ shape->getVertex(x + 1, z, vertices[2]);
+ callback->processTriangle(vertices, x, z);
+
+ // Second triangle
+ shape->getVertex(x + 1, z, vertices[0]);
+ shape->getVertex(x, z + 1, vertices[1]);
+ shape->getVertex(x + 1, z + 1, vertices[2]);
+ callback->processTriangle(vertices, x, z);
+ }
+ }
+
+ void operator ()(const GridRaycastState &bs) const
+ {
+ exec(bs.prev_x, bs.prev_z);
+ }
+};
+
+
+struct ProcessVBoundsAction
+{
+ const btHeightfieldTerrainShape::Range *vbounds;
+ int width;
+ int length;
+ int chunkSize;
+
+ btVector3 rayBegin;
+ btVector3 rayEnd;
+ btVector3 rayDir;
+
+ ProcessTrianglesAction processTriangles;
+
+ void operator ()(const GridRaycastState &rs) const
+ {
+ int x = rs.prev_x;
+ int z = rs.prev_z;
+
+ if(x < 0 || z < 0 || x >= width || z >= length)
+ return;
+
+ const btHeightfieldTerrainShape::Range chunk = vbounds[x + z * width];
+
+ btVector3 enterPos;
+ btVector3 exitPos;
+
+ if (rs.maxDistanceFlat > 0.0001)
+ {
+ btScalar flatTo3d = chunkSize * rs.maxDistance3d / rs.maxDistanceFlat;
+ btScalar enterParam3d = rs.prevParam * flatTo3d;
+ btScalar exitParam3d = rs.param * flatTo3d;
+ enterPos = rayBegin + rayDir * enterParam3d;
+ exitPos = rayBegin + rayDir * exitParam3d;
+
+ // We did enter the flat projection of the AABB,
+ // but we have to check if we intersect it on the vertical axis
+ if (enterPos[1] > chunk.max && exitPos[1] > chunk.max)
+ return;
+ if (enterPos[1] < chunk.min && exitPos[1] < chunk.min)
+ return;
+ }
+ else
+ {
+ // Consider the ray vertical
+ // (though we shouldn't reach this often because there is an early check up-front)
+ enterPos = rayBegin;
+ exitPos = rayEnd;
+ }
+
+ gridRaycast(processTriangles, enterPos, exitPos);
+ // Note: it could be possible to have more than one grid at different levels,
+ // to do this there would be a branch using a pointer to another ProcessVBoundsAction
+ }
+};
+
+
+// TODO How do I interrupt the ray when there is a hit? `callback` does not return any result
+/// Performs a raycast using a hierarchical Bresenham algorithm.
+/// Does not allocate any memory by itself.
+void btHeightfieldTerrainShape::performRaycast(btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget) const
+{
+ // Transform to cell-local
+ btVector3 beginPos = raySource / m_localScaling;
+ btVector3 endPos = rayTarget / m_localScaling;
+ beginPos += m_localOrigin;
+ endPos += m_localOrigin;
+
+ ProcessTrianglesAction processTriangles;
+ processTriangles.shape = this;
+ processTriangles.flipQuadEdges = m_flipQuadEdges;
+ processTriangles.useDiamondSubdivision = m_useDiamondSubdivision;
+ processTriangles.callback = callback;
+ processTriangles.width = m_heightStickWidth - 1;
+ processTriangles.length = m_heightStickLength - 1;
+
+ // TODO Transform vectors to account for m_upAxis
+ int iBeginX = static_cast<int>(floor(beginPos[0]));
+ int iBeginZ = static_cast<int>(floor(beginPos[2]));
+ int iEndX = static_cast<int>(floor(endPos[0]));
+ int iEndZ = static_cast<int>(floor(endPos[2]));
+
+ if (iBeginX == iEndX && iBeginZ == iEndZ)
+ {
+ // The ray will never cross quads within the plane,
+ // so directly process triangles within one quad
+ // (typically, vertical rays should end up here)
+ processTriangles.exec(iBeginX, iEndZ);
+ return;
+ }
+
+ if (m_vboundsGrid == NULL)
+ {
+ // Process all quads intersecting the flat projection of the ray
+ gridRaycast(processTriangles, beginPos, endPos);
+ }
+ else
+ {
+ btVector3 rayDiff = endPos - beginPos;
+ btScalar flatDistance2 = rayDiff[0] * rayDiff[0] + rayDiff[2] * rayDiff[2];
+ if (flatDistance2 < m_vboundsChunkSize * m_vboundsChunkSize)
+ {
+ // Don't use chunks, the ray is too short in the plane
+ gridRaycast(processTriangles, beginPos, endPos);
+ }
+
+ ProcessVBoundsAction processVBounds;
+ processVBounds.width = m_vboundsGridWidth;
+ processVBounds.length = m_vboundsGridLength;
+ processVBounds.vbounds = m_vboundsGrid;
+ processVBounds.rayBegin = beginPos;
+ processVBounds.rayEnd = endPos;
+ processVBounds.rayDir = rayDiff.normalized();
+ processVBounds.processTriangles = processTriangles;
+ processVBounds.chunkSize = m_vboundsChunkSize;
+ // The ray is long, run raycast on a higher-level grid
+ gridRaycast(processVBounds, beginPos / m_vboundsChunkSize, endPos / m_vboundsChunkSize);
+ }
+}
+
+
+/// Builds a grid data structure storing the min and max heights of the terrain in chunks.
+/// if chunkSize is zero, that accelerator is removed.
+/// If you modify the heights, you need to rebuild this accelerator.
+void btHeightfieldTerrainShape::buildAccelerator(int chunkSize)
+{
+ if (chunkSize <= 0)
+ {
+ clearAccelerator();
+ return;
+ }
+
+ m_vboundsChunkSize = chunkSize;
+ int nChunksX = m_heightStickWidth / chunkSize;
+ int nChunksZ = m_heightStickLength / chunkSize;
+
+ if (m_heightStickWidth % chunkSize > 0)
+ ++nChunksX; // In case terrain size isn't dividable by chunk size
+ if (m_heightStickLength % chunkSize > 0)
+ ++nChunksZ;
+
+ if(m_vboundsGridWidth != nChunksX || m_vboundsGridLength != nChunksZ)
+ {
+ clearAccelerator();
+ m_vboundsGridWidth = nChunksX;
+ m_vboundsGridLength = nChunksZ;
+ }
+
+ if (nChunksX == 0 || nChunksZ == 0)
+ return;
+
+ // TODO What is the recommended way to allocate this?
+ // This data structure is only reallocated if the required size changed
+ if (m_vboundsGrid == NULL)
+ m_vboundsGrid = new Range[nChunksX * nChunksZ];
+
+ // Compute min and max height for all chunks
+ for (int cz = 0; cz < nChunksZ; ++cz)
+ {
+ int z0 = cz * chunkSize;
+
+ for (int cx = 0; cx < nChunksX; ++cx)
+ {
+ int x0 = cx * chunkSize;
+
+ Range r;
+
+ r.min = getRawHeightFieldValue(x0, z0);
+ r.max = r.min;
+
+ // Compute min and max height for this chunk.
+ // We have to include one extra cell to account for neighbors.
+ // Here is why:
+ // Say we have a flat terrain, and a plateau that fits a chunk perfectly.
+ //
+ // Left Right
+ // 0---0---0---1---1---1
+ // | | | | | |
+ // 0---0---0---1---1---1
+ // | | | | | |
+ // 0---0---0---1---1---1
+ // x
+ //
+ // If the AABB for the Left chunk did not share vertices with the Right,
+ // then we would fail collision tests at x due to a gap.
+ //
+ for (int z = z0; z < z0 + chunkSize + 1; ++z)
+ {
+ if (z >= m_heightStickLength)
+ continue;
+
+ for (int x = x0; x < x0 + chunkSize + 1; ++x)
+ {
+ if (x >= m_heightStickWidth)
+ continue;
+
+ btScalar height = getRawHeightFieldValue(x, z);
+
+ if (height < r.min)
+ r.min = height;
+ else if (height > r.max)
+ r.max = height;
+ }
+ }
+
+ m_vboundsGrid[cx + cz * nChunksX] = r;
+ }
+ }
+}
+
+
+void btHeightfieldTerrainShape::clearAccelerator()
+{
+ if (m_vboundsGrid)
+ {
+ // TODO What is the recommended way to deallocate this?
+ delete[] m_vboundsGrid;
+ m_vboundsGrid = 0;
+ }
+}
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
index 8a50a57e31..e23b548cb2 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
@@ -18,6 +18,7 @@ subject to the following restrictions:
#include "btConcaveShape.h"
+
///btHeightfieldTerrainShape simulates a 2D heightfield terrain
/**
The caller is responsible for maintaining the heightfield array; this
@@ -71,6 +72,12 @@ subject to the following restrictions:
ATTRIBUTE_ALIGNED16(class)
btHeightfieldTerrainShape : public btConcaveShape
{
+public:
+ struct Range {
+ btScalar min;
+ btScalar max;
+ };
+
protected:
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
@@ -100,9 +107,14 @@ protected:
btVector3 m_localScaling;
+ // Accelerator
+ Range *m_vboundsGrid;
+ int m_vboundsGridWidth;
+ int m_vboundsGridLength;
+ int m_vboundsChunkSize;
+
virtual btScalar getRawHeightFieldValue(int x, int y) const;
void quantizeWithClamp(int* out, const btVector3& point, int isMax) const;
- void getVertex(int x, int y, btVector3& vertex) const;
/// protected initialization
/**
@@ -154,6 +166,13 @@ public:
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const;
+
+ void getVertex(int x,int y,btVector3& vertex) const;
+
+ void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget) const;
+
+ void buildAccelerator(int chunkSize=16);
+ void clearAccelerator();
//debugging
virtual const char* getName() const { return "HEIGHTFIELD"; }
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-28 22:14:37 +0000