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-rw-r--r--modules/bullet/godot_result_callbacks.cpp22
-rw-r--r--modules/bullet/godot_result_callbacks.h29
-rw-r--r--modules/bullet/space_bullet.cpp151
-rw-r--r--modules/bullet/space_bullet.h8
4 files changed, 146 insertions, 64 deletions
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index bc60c9cb6b..cbf30c8a2e 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -77,7 +77,7 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo
PhysicsDirectSpaceState::ShapeResult &result = m_results[count];
- result.shape = convexResult.m_localShapeInfo->m_shapePart;
+ result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
result.rid = gObj->get_self();
result.collider_id = gObj->get_instance_id();
result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);
@@ -122,7 +122,7 @@ bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0)
btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
btScalar res = btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
- m_shapePart = convexResult.m_localShapeInfo->m_shapePart;
+ m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
return res;
}
@@ -242,3 +242,21 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp
return cp.getDistance();
}
+
+void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {
+
+ if (depth < 0) {
+ // Has penetration
+ if (m_most_penetrated_distance > depth) {
+
+ bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
+
+ m_most_penetrated_distance = depth;
+ m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject();
+ m_other_compound_shape_index = isSwapped ? m_index1 : m_index0;
+ m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
+ m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB;
+ m_penetration_distance = depth;
+ }
+ }
+}
diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h
index 68dff5b12a..ba5142676b 100644
--- a/modules/bullet/godot_result_callbacks.h
+++ b/modules/bullet/godot_result_callbacks.h
@@ -88,7 +88,7 @@ public:
struct GodotClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
public:
const Set<RID> *m_exclude;
- int m_shapePart;
+ int m_shapeId;
GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude)
: btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_exclude(p_exclude) {}
@@ -149,4 +149,31 @@ public:
virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
};
+struct GodotDeepPenetrationContactResultCallback : public btManifoldResult {
+ btVector3 m_pointNormalWorld;
+ btVector3 m_pointWorld;
+ btScalar m_penetration_distance;
+ int m_other_compound_shape_index;
+ const btCollisionObject *m_pointCollisionObject;
+
+ btScalar m_most_penetrated_distance;
+
+ GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
+ : btManifoldResult(body0Wrap, body1Wrap),
+ m_pointCollisionObject(NULL),
+ m_penetration_distance(0),
+ m_other_compound_shape_index(0),
+ m_most_penetrated_distance(1e20) {}
+
+ void reset() {
+ m_pointCollisionObject = NULL;
+ m_most_penetrated_distance = 1e20;
+ }
+
+ bool hasHit() {
+ return m_pointCollisionObject;
+ }
+
+ virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth);
+};
#endif // GODOT_RESULT_CALLBACKS_H
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 9df01aee3e..6c1073d84e 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -183,7 +183,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
B_TO_G(btResult.m_hitNormalWorld, r_info->normal);
r_info->rid = collision_object->get_self();
r_info->collider_id = collision_object->get_instance_id();
- r_info->shape = btResult.m_shapePart;
+ r_info->shape = btResult.m_shapeId;
}
bulletdelete(bt_convex_shape);
@@ -910,26 +910,26 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
{ /// Phase three - Recover + contact test with margin
- RecoverResult recover_result;
+ RecoverResult r_recover_result;
- hasPenetration = recover_from_penetration(p_body, body_safe_position, recovered_motion, &recover_result);
+ hasPenetration = recover_from_penetration(p_body, body_safe_position, recovered_motion, &r_recover_result);
if (r_result) {
B_TO_G(recovered_motion + recover_initial_position, r_result->motion);
if (hasPenetration) {
- const btRigidBody *btRigid = static_cast<const btRigidBody *>(recover_result.other_collision_object);
+ const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
r_result->remainder = p_motion - r_result->motion; // is the remaining movements
- B_TO_G(recover_result.pointWorld, r_result->collision_point);
- B_TO_G(recover_result.pointNormalWorld, r_result->collision_normal);
- B_TO_G(btRigid->getVelocityInLocalPoint(recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
+ B_TO_G(r_recover_result.pointWorld, r_result->collision_point);
+ B_TO_G(r_recover_result.pointNormalWorld, 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 = recover_result.other_compound_shape_index;
- r_result->collision_local_shape = recover_result.local_shape_most_recovered;
+ r_result->collider_shape = r_recover_result.other_compound_shape_index;
+ r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
//{ /// Add manifold point to manage collisions
// btPersistentManifold* manifold = dynamicsWorld->getDispatcher()->getNewManifold(p_body->getBtBody(), btRigid);
@@ -995,7 +995,7 @@ public:
}
};
-bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btVector3 &out_recover_position, RecoverResult *recover_result) {
+bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
@@ -1005,9 +1005,6 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
// Broad phase support
btVector3 minAabb, maxAabb;
- // GJK support
- btGjkPairDetector::ClosestPointInput gjk_input;
-
bool penetration = false;
// For each shape
@@ -1022,7 +1019,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
body_shape_position = p_body_position * kin_shape.transform;
body_shape_position_recovered = body_shape_position;
- body_shape_position_recovered.getOrigin() += out_recover_position;
+ body_shape_position_recovered.getOrigin() += r_recover_position;
kin_shape.shape->getAabb(body_shape_position_recovered, minAabb, maxAabb);
dynamicsWorld->getBroadphase()->aabbTest(minAabb, maxAabb, recover_broad_result);
@@ -1032,66 +1029,33 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()))
continue;
- if (otherObject->getCollisionShape()->isCompound()) { /// Execute GJK test against all shapes
+ if (otherObject->getCollisionShape()->isCompound()) {
// Each convex shape
btCompoundShape *cs = static_cast<btCompoundShape *>(otherObject->getCollisionShape());
for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) {
- if (!cs->getChildShape(x)->isConvex())
- continue;
+ if (cs->getChildShape(x)->isConvex()) {
+ if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(x)), otherObject, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), r_recover_position, r_recover_result)) {
- // Initialize GJK input
- gjk_input.m_transformA = body_shape_position;
- gjk_input.m_transformA.getOrigin() += out_recover_position;
- gjk_input.m_transformB = otherObject->getWorldTransform() * cs->getChildTransform(x);
+ penetration = true;
+ }
+ } else {
+ if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), r_recover_position, r_recover_result)) {
- // Perform GJK test
- btPointCollector result;
- btGjkPairDetector gjk_pair_detector(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(x)), gjk_simplex_solver, gjk_epa_pen_solver);
- gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
- if (0 > result.m_distance) {
- // Has penetration
- out_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1);
- penetration = true;
-
- if (recover_result) {
-
- recover_result->hasPenetration = true;
- recover_result->other_collision_object = otherObject;
- recover_result->other_compound_shape_index = x;
- recover_result->penetration_distance = result.m_distance;
- recover_result->pointNormalWorld = result.m_normalOnBInWorld;
- recover_result->pointWorld = result.m_pointInWorld;
+ penetration = true;
}
}
}
-
} else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape
+ if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, 0, body_shape_position, otherObject->getWorldTransform(), r_recover_position, r_recover_result)) {
- // Initialize GJK input
- gjk_input.m_transformA = body_shape_position;
- gjk_input.m_transformA.getOrigin() += out_recover_position;
- gjk_input.m_transformB = otherObject->getWorldTransform();
-
- // Perform GJK test
- btPointCollector result;
- btGjkPairDetector gjk_pair_detector(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), gjk_simplex_solver, gjk_epa_pen_solver);
- gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
- if (0 > result.m_distance) {
- // Has penetration
- out_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1);
penetration = true;
+ }
+ } else {
+ if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, body_shape_position, otherObject->getWorldTransform(), r_recover_position, r_recover_result)) {
- if (recover_result) {
-
- recover_result->hasPenetration = true;
- recover_result->other_collision_object = otherObject;
- recover_result->other_compound_shape_index = 0;
- recover_result->penetration_distance = result.m_distance;
- recover_result->pointNormalWorld = result.m_normalOnBInWorld;
- recover_result->pointWorld = result.m_pointInWorld;
- }
+ penetration = true;
}
}
}
@@ -1099,3 +1063,70 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
return penetration;
}
+
+bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
+
+ // Initialize GJK input
+ btGjkPairDetector::ClosestPointInput gjk_input;
+ gjk_input.m_transformA = p_transformA;
+ gjk_input.m_transformA.getOrigin() += r_recover_position;
+ gjk_input.m_transformB = p_transformB;
+
+ // Perform GJK test
+ btPointCollector result;
+ btGjkPairDetector gjk_pair_detector(p_shapeA, p_shapeB, gjk_simplex_solver, gjk_epa_pen_solver);
+ gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
+ if (0 > result.m_distance) {
+ // Has penetration
+ r_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1);
+
+ if (r_recover_result) {
+
+ r_recover_result->hasPenetration = true;
+ r_recover_result->other_collision_object = p_objectB;
+ r_recover_result->other_compound_shape_index = p_shapeId_B;
+ r_recover_result->penetration_distance = result.m_distance;
+ r_recover_result->pointNormalWorld = result.m_normalOnBInWorld;
+ r_recover_result->pointWorld = result.m_pointInWorld;
+ }
+ return true;
+ }
+ return false;
+}
+
+bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
+
+ /// Contact test
+
+ btTransform p_recovered_transformA(p_transformA);
+ p_recovered_transformA.getOrigin() += r_recover_position;
+
+ btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, p_recovered_transformA, -1, p_shapeId_A);
+ btCollisionObjectWrapper obB(NULL, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);
+
+ btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CLOSEST_POINT_ALGORITHMS);
+ if (algorithm) {
+ GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB);
+ //discrete collision detection query
+ algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult);
+
+ algorithm->~btCollisionAlgorithm();
+ dispatcher->freeCollisionAlgorithm(algorithm);
+
+ if (contactPointResult.hasHit()) {
+ r_recover_position += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1);
+
+ if (r_recover_result) {
+
+ r_recover_result->hasPenetration = true;
+ r_recover_result->other_collision_object = p_objectB;
+ r_recover_result->other_compound_shape_index = p_shapeId_B;
+ r_recover_result->penetration_distance = contactPointResult.m_penetration_distance;
+ r_recover_result->pointNormalWorld = contactPointResult.m_pointNormalWorld;
+ r_recover_result->pointWorld = contactPointResult.m_pointWorld;
+ }
+ return true;
+ }
+ }
+ return false;
+}
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index d9206f8046..9acac9a7d6 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -189,6 +189,12 @@ private:
: hasPenetration(false) {}
};
- bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btVector3 &out_recover_position, RecoverResult *recover_result = NULL);
+ bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btVector3 &r_recover_position, RecoverResult *r_recover_result = NULL);
+ /// This is an API that recover a kinematic object from penetration
+ /// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
+ bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result);
+ /// This is an API that recover a kinematic object from penetration
+ /// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm
+ bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result);
};
#endif
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-14 23:39:14 +0000