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-rw-r--r--compat.py4
-rw-r--r--methods.py8
-rw-r--r--modules/bullet/space_bullet.cpp82
3 files changed, 42 insertions, 52 deletions
diff --git a/compat.py b/compat.py
index 32c685f5b8..de99eef9c2 100644
--- a/compat.py
+++ b/compat.py
@@ -16,6 +16,8 @@ if sys.version_info < (3,):
return x
def iteritems(d):
return d.iteritems()
+ def itervalues(d):
+ return d.itervalues()
def escape_string(s):
if isinstance(s, unicode):
s = s.encode('ascii')
@@ -44,6 +46,8 @@ else:
return codecs.utf_8_decode(x)[0]
def iteritems(d):
return iter(d.items())
+ def itervalues(d):
+ return iter(d.values())
def charcode_to_c_escapes(c):
rev_result = []
while c >= 256:
diff --git a/methods.py b/methods.py
index b5aee9c22d..6dca826b2b 100644
--- a/methods.py
+++ b/methods.py
@@ -1,5 +1,5 @@
import os
-from compat import iteritems, open_utf8, escape_string
+from compat import iteritems, itervalues, open_utf8, escape_string
def add_source_files(self, sources, filetype, lib_env=None, shared=False):
@@ -661,7 +661,7 @@ def make_license_header(target, source, env):
reader.next_line()
data_list = []
- for project in projects.itervalues():
+ for project in itervalues(projects):
for part in project:
part["file_index"] = len(data_list)
data_list += part["Files"]
@@ -703,7 +703,7 @@ def make_license_header(target, source, env):
f.write("const ComponentCopyrightPart COPYRIGHT_PROJECT_PARTS[] = {\n")
part_index = 0
part_indexes = {}
- for project_name, project in projects.iteritems():
+ for project_name, project in iteritems(projects):
part_indexes[project_name] = part_index
for part in project:
f.write("\t{ \"" + escape_string(part["License"][0]) + "\", "
@@ -717,7 +717,7 @@ def make_license_header(target, source, env):
f.write("const int COPYRIGHT_INFO_COUNT = " + str(len(projects)) + ";\n")
f.write("const ComponentCopyright COPYRIGHT_INFO[] = {\n")
- for project_name, project in projects.iteritems():
+ for project_name, project in iteritems(projects):
f.write("\t{ \"" + escape_string(project_name) + "\", "
+ "&COPYRIGHT_PROJECT_PARTS[" + str(part_indexes[project_name]) + "], "
+ str(len(project)) + " },\n")
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 3a1f5d78dd..971fd39509 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -841,20 +841,19 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
#endif
- btTransform body_safe_position;
- G_TO_B(p_from, body_safe_position);
- UNSCALE_BT_BASIS(body_safe_position);
+ btTransform body_transform;
+ G_TO_B(p_from, body_transform);
+ UNSCALE_BT_BASIS(body_transform);
- btVector3 recover_initial_position(0, 0, 0);
+ btVector3 initial_recover_motion(0, 0, 0);
{ /// Phase one - multi shapes depenetration using margin
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
- if (!recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, recover_initial_position)) {
+ if (!recover_from_penetration(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, initial_recover_motion)) {
break;
}
}
-
// Add recover movement in order to make it safe
- body_safe_position.getOrigin() += recover_initial_position;
+ body_transform.getOrigin() += initial_recover_motion;
}
btVector3 motion;
@@ -885,7 +884,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
btConvexShape *convex_shape_test(static_cast<btConvexShape *>(p_body->get_bt_shape(shIndex)));
- btTransform shape_world_from = body_safe_position * p_body->get_kinematic_utilities()->shapes[shIndex].transform;
+ btTransform shape_world_from = body_transform * p_body->get_kinematic_utilities()->shapes[shIndex].transform;
btTransform shape_world_to(shape_world_from);
shape_world_to.getOrigin() += motion;
@@ -903,62 +902,49 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
}
- body_safe_position.getOrigin() += motion;
+ body_transform.getOrigin() += motion;
}
bool has_penetration = false;
- { /// Phase three - Recover + contact test with margin
+ { /// Phase three - contact test with margin
- btVector3 delta_recover_movement(0, 0, 0);
+ btVector3 __rec(0, 0, 0);
RecoverResult r_recover_result;
- bool l_has_penetration;
- real_t l_penetration_distance = 1e20;
- for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
- l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, delta_recover_movement, &r_recover_result);
+ has_penetration = recover_from_penetration(p_body, body_transform, 0, p_infinite_inertia, __rec, &r_recover_result);
- if (r_result) {
- B_TO_G(motion + delta_recover_movement + recover_initial_position, r_result->motion);
+ // Parse results
+ if (r_result) {
+ B_TO_G(motion + initial_recover_motion, r_result->motion);
- if (l_has_penetration) {
- has_penetration = true;
- if (l_penetration_distance <= r_recover_result.penetration_distance) {
- continue;
- }
+ if (has_penetration) {
- l_penetration_distance = r_recover_result.penetration_distance;
+ const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
+ CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
- const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
- CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
+ B_TO_G(motion, r_result->remainder); // is the remaining movements
+ r_result->remainder = p_motion - r_result->remainder;
- B_TO_G(motion, r_result->remainder); // is the remaining movements
- r_result->remainder = p_motion - r_result->remainder;
- B_TO_G(r_recover_result.pointWorld, r_result->collision_point);
- B_TO_G(r_recover_result.normal, r_result->collision_normal);
- B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
- r_result->collider = collisionObject->get_self();
- r_result->collider_id = collisionObject->get_instance_id();
- r_result->collider_shape = r_recover_result.other_compound_shape_index;
- r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
+ B_TO_G(r_recover_result.pointWorld, r_result->collision_point);
+ B_TO_G(r_recover_result.normal, r_result->collision_normal);
+ B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
+ r_result->collider = collisionObject->get_self();
+ r_result->collider_id = collisionObject->get_instance_id();
+ r_result->collider_shape = r_recover_result.other_compound_shape_index;
+ r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
#if debug_test_motion
- Vector3 sup_line2;
- B_TO_G(motion, sup_line2);
- normalLine->clear();
- normalLine->begin(Mesh::PRIMITIVE_LINES, NULL);
- normalLine->add_vertex(r_result->collision_point);
- normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10);
- normalLine->end();
+ Vector3 sup_line2;
+ B_TO_G(motion, sup_line2);
+ normalLine->clear();
+ normalLine->begin(Mesh::PRIMITIVE_LINES, NULL);
+ normalLine->add_vertex(r_result->collision_point);
+ normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10);
+ normalLine->end();
#endif
- } else {
- r_result->remainder = Vector3();
- }
} else {
- if (!l_has_penetration)
- break;
- else
- has_penetration = true;
+ r_result->remainder = Vector3();
}
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-13 23:56:03 +0000