diff options
172 files changed, 2362 insertions, 854 deletions
diff --git a/core/color.cpp b/core/color.cpp index efd2941b47..8959fce4e3 100644 --- a/core/color.cpp +++ b/core/color.cpp @@ -525,7 +525,7 @@ Color Color::from_hsv(float p_h, float p_s, float p_v, float p_a) const { float Color::gray() const { ERR_EXPLAIN("Color.gray() is deprecated and will be removed in a future version. Use Color.get_v() for a better grayscale approximation."); - WARN_DEPRECATED + WARN_DEPRECATED; return (r + g + b) / 3.0; } diff --git a/core/hash_map.h b/core/hash_map.h index 44459a3080..31332991de 100644 --- a/core/hash_map.h +++ b/core/hash_map.h @@ -162,20 +162,21 @@ private: new_hash_table[i] = 0; } - for (int i = 0; i < (1 << hash_table_power); i++) { + if (hash_table) { + for (int i = 0; i < (1 << hash_table_power); i++) { - while (hash_table[i]) { + while (hash_table[i]) { - Element *se = hash_table[i]; - hash_table[i] = se->next; - int new_pos = se->hash & ((1 << new_hash_table_power) - 1); - se->next = new_hash_table[new_pos]; - new_hash_table[new_pos] = se; + Element *se = hash_table[i]; + hash_table[i] = se->next; + int new_pos = se->hash & ((1 << new_hash_table_power) - 1); + se->next = new_hash_table[new_pos]; + new_hash_table[new_pos] = se; + } } - } - if (hash_table) memdelete_arr(hash_table); + } hash_table = new_hash_table; hash_table_power = new_hash_table_power; } diff --git a/core/io/config_file.cpp b/core/io/config_file.cpp index 414742deeb..871e21df3e 100644 --- a/core/io/config_file.cpp +++ b/core/io/config_file.cpp @@ -198,10 +198,6 @@ Error ConfigFile::load(const String &p_path) { section = next_tag.name; } } - - memdelete(f); - - return OK; } void ConfigFile::_bind_methods() { diff --git a/core/io/http_client.cpp b/core/io/http_client.cpp index ce2054db36..891fb7b0ca 100644 --- a/core/io/http_client.cpp +++ b/core/io/http_client.cpp @@ -346,6 +346,12 @@ Error HTTPClient::poll() { } else { // We are already handshaking, which means we can use your already active SSL connection ssl = static_cast<Ref<StreamPeerSSL> >(connection); + if (ssl.is_null()) { + close(); + status = STATUS_SSL_HANDSHAKE_ERROR; + return ERR_CANT_CONNECT; + } + ssl->poll(); // Try to finish the handshake } diff --git a/core/io/xml_parser.cpp b/core/io/xml_parser.cpp index 4638ddcc09..f55af5a96a 100644 --- a/core/io/xml_parser.cpp +++ b/core/io/xml_parser.cpp @@ -348,7 +348,7 @@ uint64_t XMLParser::get_node_offset() const { Error XMLParser::seek(uint64_t p_pos) { - ERR_FAIL_COND_V(!data, ERR_FILE_EOF) + ERR_FAIL_COND_V(!data, ERR_FILE_EOF); ERR_FAIL_COND_V(p_pos >= length, ERR_FILE_EOF); P = data + p_pos; diff --git a/core/os/os.h b/core/os/os.h index 4f6a539e78..b128e6424c 100644 --- a/core/os/os.h +++ b/core/os/os.h @@ -104,7 +104,6 @@ public: bool maximized; bool always_on_top; bool use_vsync; - bool layered_splash; bool layered; float get_aspect() const { return (float)width / (float)height; } VideoMode(int p_width = 1024, int p_height = 600, bool p_fullscreen = false, bool p_resizable = true, bool p_borderless_window = false, bool p_maximized = false, bool p_always_on_top = false, bool p_use_vsync = false) { @@ -117,7 +116,6 @@ public: always_on_top = p_always_on_top; use_vsync = p_use_vsync; layered = false; - layered_splash = false; } }; diff --git a/core/project_settings.cpp b/core/project_settings.cpp index 4c37142ffd..0508806a35 100644 --- a/core/project_settings.cpp +++ b/core/project_settings.cpp @@ -489,7 +489,7 @@ Error ProjectSettings::_load_settings_binary(const String p_path) { memdelete(f); ERR_EXPLAIN("Corrupted header in binary project.binary (not ECFG)"); - ERR_FAIL_V(ERR_FILE_CORRUPT;) + ERR_FAIL_V(ERR_FILE_CORRUPT); } uint32_t count = f->get_32(); @@ -579,10 +579,6 @@ Error ProjectSettings::_load_settings_text(const String p_path) { section = next_tag.name; } } - - memdelete(f); - - return OK; } Error ProjectSettings::_load_settings_text_or_binary(const String p_text_path, const String p_bin_path) { @@ -640,7 +636,7 @@ Error ProjectSettings::_save_settings_binary(const String &p_file, const Map<Str if (err != OK) { ERR_EXPLAIN("Couldn't save project.binary at " + p_file); - ERR_FAIL_COND_V(err, err) + ERR_FAIL_COND_V(err, err); } uint8_t hdr[4] = { 'E', 'C', 'F', 'G' }; @@ -732,7 +728,7 @@ Error ProjectSettings::_save_settings_text(const String &p_file, const Map<Strin if (err) { ERR_EXPLAIN("Couldn't save project.godot - " + p_file); - ERR_FAIL_COND_V(err, err) + ERR_FAIL_COND_V(err, err); } file->store_line("; Engine configuration file."); diff --git a/core/sort_array.h b/core/sort_array.h index 0f258aec3e..8660ee3333 100644 --- a/core/sort_array.h +++ b/core/sort_array.h @@ -179,14 +179,14 @@ public: while (true) { while (compare(p_array[p_first], p_pivot)) { if (Validate) { - ERR_BAD_COMPARE(p_first == unmodified_last - 1) + ERR_BAD_COMPARE(p_first == unmodified_last - 1); } p_first++; } p_last--; while (compare(p_pivot, p_array[p_last])) { if (Validate) { - ERR_BAD_COMPARE(p_last == unmodified_first) + ERR_BAD_COMPARE(p_last == unmodified_first); } p_last--; } @@ -259,7 +259,7 @@ public: int next = p_last - 1; while (compare(p_value, p_array[next])) { if (Validate) { - ERR_BAD_COMPARE(next == 0) + ERR_BAD_COMPARE(next == 0); } p_array[p_last] = p_array[next]; p_last = next; diff --git a/core/ustring.cpp b/core/ustring.cpp index 88b758e883..741c825448 100644 --- a/core/ustring.cpp +++ b/core/ustring.cpp @@ -2956,26 +2956,12 @@ String String::replace(const char *p_key, const char *p_with) const { String String::replace_first(const String &p_key, const String &p_with) const { - String new_string; - int search_from = 0; - int result = 0; - - while ((result = find(p_key, search_from)) >= 0) { - - new_string += substr(search_from, result - search_from); - new_string += p_with; - search_from = result + p_key.length(); - break; + int pos = find(p_key); + if (pos >= 0) { + return substr(0, pos) + p_with + substr(pos + p_key.length(), length()); } - if (search_from == 0) { - - return *this; - } - - new_string += substr(search_from, length() - search_from); - - return new_string; + return *this; } String String::replacen(const String &p_key, const String &p_with) const { diff --git a/core/variant_call.cpp b/core/variant_call.cpp index 24f12df5db..b3a4a13b08 100644 --- a/core/variant_call.cpp +++ b/core/variant_call.cpp @@ -1519,9 +1519,9 @@ void register_variant_methods() { ADDFUNC2R(STRING, STRING, String, replacen, STRING, "what", STRING, "forwhat", varray()); ADDFUNC2R(STRING, STRING, String, insert, INT, "position", STRING, "what", varray()); ADDFUNC0R(STRING, STRING, String, capitalize, varray()); - ADDFUNC3R(STRING, POOL_STRING_ARRAY, String, split, STRING, "divisor", BOOL, "allow_empty", INT, "maxsplit", varray(true, 0)); - ADDFUNC3R(STRING, POOL_STRING_ARRAY, String, rsplit, STRING, "divisor", BOOL, "allow_empty", INT, "maxsplit", varray(true, 0)); - ADDFUNC2R(STRING, POOL_REAL_ARRAY, String, split_floats, STRING, "divisor", BOOL, "allow_empty", varray(true)); + ADDFUNC3R(STRING, POOL_STRING_ARRAY, String, split, STRING, "delimiter", BOOL, "allow_empty", INT, "maxsplit", varray(true, 0)); + ADDFUNC3R(STRING, POOL_STRING_ARRAY, String, rsplit, STRING, "delimiter", BOOL, "allow_empty", INT, "maxsplit", varray(true, 0)); + ADDFUNC2R(STRING, POOL_REAL_ARRAY, String, split_floats, STRING, "delimiter", BOOL, "allow_empty", varray(true)); ADDFUNC0R(STRING, STRING, String, to_upper, varray()); ADDFUNC0R(STRING, STRING, String, to_lower, varray()); diff --git a/core/vector.h b/core/vector.h index 93ee003519..e6bb4a96fc 100644 --- a/core/vector.h +++ b/core/vector.h @@ -150,7 +150,7 @@ template <class T> bool Vector<T>::push_back(const T &p_elem) { Error err = resize(size() + 1); - ERR_FAIL_COND_V(err, true) + ERR_FAIL_COND_V(err, true); set(size() - 1, p_elem); return false; diff --git a/doc/classes/Navigation.xml b/doc/classes/Navigation.xml index 3690c1d682..f0ae3fef99 100644 --- a/doc/classes/Navigation.xml +++ b/doc/classes/Navigation.xml @@ -59,7 +59,7 @@ <argument index="2" name="optimize" type="bool" default="true"> </argument> <description> - Returns the path between two given points. Points are in local coordinate space. If [code]optimize[/code] is [code]true[/code] (the default), the agent properties associated with each [NavigationMesh] (raidus, height, etc.) are considered in the path calculation, otherwise they are ignored. + Returns the path between two given points. Points are in local coordinate space. If [code]optimize[/code] is [code]true[/code] (the default), the agent properties associated with each [NavigationMesh] (radius, height, etc.) are considered in the path calculation, otherwise they are ignored. </description> </method> <method name="navmesh_add"> diff --git a/doc/classes/OS.xml b/doc/classes/OS.xml index f7cd6c3e83..2592bc6775 100644 --- a/doc/classes/OS.xml +++ b/doc/classes/OS.xml @@ -818,6 +818,7 @@ </member> <member name="window_borderless" type="bool" setter="set_borderless_window" getter="get_borderless_window"> If [code]true[/code], removes the window frame. + Note: Setting [code]window_borderless[/code] to [code]false[/code] disables per-pixel transparency. </member> <member name="window_fullscreen" type="bool" setter="set_window_fullscreen" getter="is_window_fullscreen"> If [code]true[/code], the window is fullscreen. @@ -829,6 +830,9 @@ If [code]true[/code], the window is minimized. </member> <member name="window_per_pixel_transparency_enabled" type="bool" setter="set_window_per_pixel_transparency_enabled" getter="get_window_per_pixel_transparency_enabled"> + If [code]true[/code], the window background is transparent and window frame is removed. + Use [code]get_tree().get_root().set_transparent_background(true)[/code] to disable main viewport background rendering. + Note: This property has no effect if "Project > Project Settings > Display > Window > Per-pixel transparency > Allowed" setting is disabled. </member> <member name="window_position" type="Vector2" setter="set_window_position" getter="get_window_position"> The window position relative to the screen, the origin is the top left corner, +Y axis goes to the bottom and +X axis goes to the right. diff --git a/doc/classes/ProjectSettings.xml b/doc/classes/ProjectSettings.xml index 5bcd39a8d6..196fcbfaaa 100644 --- a/doc/classes/ProjectSettings.xml +++ b/doc/classes/ProjectSettings.xml @@ -374,11 +374,10 @@ Default orientation on mobile devices. </member> <member name="display/window/per_pixel_transparency/allowed" type="bool" setter="" getter=""> - If [code]true[/code], allows per-pixel transparency in a desktop window. This affects performance if not needed, so leave it on [code]false[/code] unless you need it. + If [code]true[/code], allows per-pixel transparency in a desktop window. This affects performance, so leave it on [code]false[/code] unless you need it. </member> <member name="display/window/per_pixel_transparency/enabled" type="bool" setter="" getter=""> - </member> - <member name="display/window/per_pixel_transparency/splash" type="bool" setter="" getter=""> + Set the window background to transparent when it starts. </member> <member name="display/window/size/always_on_top" type="bool" setter="" getter=""> Force the window to be always on top. @@ -723,7 +722,7 @@ Shaders have a time variable that constantly increases. At some point, it needs to be rolled back to zero to avoid precision errors on shader animations. This setting specifies when (in seconds). </member> <member name="rendering/quality/2d/gles2_use_nvidia_rect_flicker_workaround" type="bool" setter="" getter=""> - Some NVIDIA GPU drivers have a bug which produces flickering issues for the [code]draw_rect[/code] method, especially as used in [TileMap]. Refer to [url=https://github.com/godotengine/godot/issues/9913][/url] for details. + Some NVIDIA GPU drivers have a bug which produces flickering issues for the [code]draw_rect[/code] method, especially as used in [TileMap]. Refer to [url=https://github.com/godotengine/godot/issues/9913]GitHub issue 9913[/url] for details. If [code]true[/code], this option enables a "safe" code path for such NVIDIA GPUs at the cost of performance. This option only impacts the GLES2 rendering backend (so the bug stays if you use GLES3), and only desktop platforms. </member> <member name="rendering/quality/2d/use_pixel_snap" type="bool" setter="" getter=""> diff --git a/doc/classes/String.xml b/doc/classes/String.xml index a5a8766ca0..af7e5a395a 100644 --- a/doc/classes/String.xml +++ b/doc/classes/String.xml @@ -662,16 +662,17 @@ <method name="rsplit"> <return type="PoolStringArray"> </return> - <argument index="0" name="divisor" type="String"> + <argument index="0" name="delimiter" type="String"> </argument> <argument index="1" name="allow_empty" type="bool" default="True"> </argument> <argument index="2" name="maxsplit" type="int" default="0"> </argument> <description> - Splits the string by a [code]divisor[/code] string and returns an array of the substrings, starting from right. - [b]Example:[/b] [code]"One,Two,Three"[/code] will return [code]["One","Two","Three"][/code] if split by [code]","[/code]. - If [code]maxsplit[/code] is specified, then it is number of splits to do, default is 0 which splits all the items. + Splits the string by a [code]delimiter[/code] string and returns an array of the substrings, starting from right. + The splits in the returned array are sorted in the same order as the original string, from left to right. + If [code]maxsplit[/code] is specified, it defines the number of splits to do from the right up to [code]maxsplit[/code]. The default value of 0 means that all items are split, thus giving the same result as [method split]. + [b]Example:[/b] [code]"One,Two,Three,Four"[/code] will return [code]["Three","Four"][/code] if split by [code]","[/code] with [code]maxsplit[/code] of 2. </description> </method> <method name="rstrip"> @@ -709,27 +710,27 @@ <method name="split"> <return type="PoolStringArray"> </return> - <argument index="0" name="divisor" type="String"> + <argument index="0" name="delimiter" type="String"> </argument> <argument index="1" name="allow_empty" type="bool" default="True"> </argument> <argument index="2" name="maxsplit" type="int" default="0"> </argument> <description> - Splits the string by a divisor string and returns an array of the substrings. - [b]Example:[/b] [code]"One,Two,Three"[/code] will return [code]["One","Two","Three"][/code] if split by [code]","[/code]. - If [code]maxsplit[/code] is given, at most maxsplit number of splits occur, and the remainder of the string is returned as the final element of the list (thus, the list will have at most maxsplit+1 elements) + Splits the string by a [code]delimiter[/code] string and returns an array of the substrings. + If [code]maxsplit[/code] is specified, it defines the number of splits to do from the left up to [code]maxsplit[/code]. The default value of 0 means that all items are split. + [b]Example:[/b] [code]"One,Two,Three"[/code] will return [code]["One","Two"][/code] if split by [code]","[/code] with [code]maxsplit[/code] of 2. </description> </method> <method name="split_floats"> <return type="PoolRealArray"> </return> - <argument index="0" name="divisor" type="String"> + <argument index="0" name="delimiter" type="String"> </argument> <argument index="1" name="allow_empty" type="bool" default="True"> </argument> <description> - Splits the string in floats by using a divisor string and returns an array of the substrings. + Splits the string in floats by using a delimiter string and returns an array of the substrings. [b]Example:[/b] [code]"1,2.5,3"[/code] will return [code][1,2.5,3][/code] if split by [code]","[/code]. </description> </method> diff --git a/doc/tools/makerst.py b/doc/tools/makerst.py index c3e15b2f9a..454c71d3c7 100755 --- a/doc/tools/makerst.py +++ b/doc/tools/makerst.py @@ -478,24 +478,7 @@ def make_rst_class(class_def, state, dry_run, output_dir): # type: (ClassDef, S f.write(make_heading('Tutorials', '-')) for t in class_def.tutorials: link = t.strip() - match = GODOT_DOCS_PATTERN.search(link) - if match: - groups = match.groups() - if match.lastindex == 2: - # Doc reference with fragment identifier: emit direct link to section with reference to page, for example: - # `#calling-javascript-from-script in Exporting For Web` - f.write("- `" + groups[1] + " <../" + groups[0] + ".html" + groups[1] + ">`_ in :doc:`../" + groups[0] + "`\n\n") - # Commented out alternative: Instead just emit: - # `Subsection in Exporting For Web` - # f.write("- `Subsection <../" + groups[0] + ".html" + groups[1] + ">`_ in :doc:`../" + groups[0] + "`\n\n") - elif match.lastindex == 1: - # Doc reference, for example: - # `Math` - f.write("- :doc:`../" + groups[0] + "`\n\n") - else: - # External link, for example: - # `http://enet.bespin.org/usergroup0.html` - f.write("- `" + link + " <" + link + ">`_\n\n") + f.write("- " + make_url(link) + "\n\n") # Property descriptions if len(class_def.properties) > 0: @@ -802,15 +785,16 @@ def rstize_text(text, state): # type: (str, State) -> str tag_text = "" # '' elif cmd.find('url=') == 0: url_link = cmd[4:] - tag_text = ':ref:`' + tag_text = '`' tag_depth += 1 - url_has_name = False inside_url = True + url_has_name = False elif cmd == '/url': - tag_text = ('' if url_has_name else url_link) + '<' + url_link + ">`" + tag_text = ('' if url_has_name else url_link) + " <" + url_link + ">`_" tag_depth -= 1 escape_post = True inside_url = False + url_has_name = False elif cmd == 'center': tag_depth += 1 tag_text = '' @@ -996,5 +980,26 @@ def make_heading(title, underline): # type: (str, str) -> str return title + '\n' + (underline * len(title)) + "\n\n" +def make_url(link): # type: (str) -> str + match = GODOT_DOCS_PATTERN.search(link) + if match: + groups = match.groups() + if match.lastindex == 2: + # Doc reference with fragment identifier: emit direct link to section with reference to page, for example: + # `#calling-javascript-from-script in Exporting For Web` + return "`" + groups[1] + " <../" + groups[0] + ".html" + groups[1] + ">`_ in :doc:`../" + groups[0] + "`" + # Commented out alternative: Instead just emit: + # `Subsection in Exporting For Web` + # return "`Subsection <../" + groups[0] + ".html" + groups[1] + ">`__ in :doc:`../" + groups[0] + "`" + elif match.lastindex == 1: + # Doc reference, for example: + # `Math` + return ":doc:`../" + groups[0] + "`" + else: + # External link, for example: + # `http://enet.bespin.org/usergroup0.html` + return "`" + link + " <" + link + ">`_" + + if __name__ == '__main__': main() diff --git a/drivers/gles2/rasterizer_scene_gles2.cpp b/drivers/gles2/rasterizer_scene_gles2.cpp index 50cb39b13f..0231bb5837 100644 --- a/drivers/gles2/rasterizer_scene_gles2.cpp +++ b/drivers/gles2/rasterizer_scene_gles2.cpp @@ -2261,7 +2261,7 @@ void RasterizerSceneGLES2::_render_render_list(RenderList::Element **p_elements, bool rebind_reflection = false; bool rebind_lightmap = false; - if (!p_shadow) { + if (!p_shadow && material->shader) { bool unshaded = material->shader->spatial.unshaded; @@ -2281,7 +2281,7 @@ void RasterizerSceneGLES2::_render_render_list(RenderList::Element **p_elements, bool depth_prepass = false; - if (!p_alpha_pass && material->shader && material->shader->spatial.depth_draw_mode == RasterizerStorageGLES2::Shader::Spatial::DEPTH_DRAW_ALPHA_PREPASS) { + if (!p_alpha_pass && material->shader->spatial.depth_draw_mode == RasterizerStorageGLES2::Shader::Spatial::DEPTH_DRAW_ALPHA_PREPASS) { depth_prepass = true; } @@ -2919,7 +2919,7 @@ void RasterizerSceneGLES2::render_scene(const Transform &p_cam_transform, const if (storage->frame.current_rt && state.used_screen_texture) { //copy screen texture - if (storage->frame.current_rt && storage->frame.current_rt->multisample_active) { + if (storage->frame.current_rt->multisample_active) { // Resolve framebuffer to front buffer before copying #ifdef GLES_OVER_GL @@ -2931,14 +2931,16 @@ void RasterizerSceneGLES2::render_scene(const Transform &p_cam_transform, const glBindFramebuffer(GL_READ_FRAMEBUFFER, 0); glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0); #elif IPHONE_ENABLED + glBindFramebuffer(GL_READ_FRAMEBUFFER, storage->frame.current_rt->multisample_fbo); glBindFramebuffer(GL_DRAW_FRAMEBUFFER, storage->frame.current_rt->fbo); glResolveMultisampleFramebufferAPPLE(); glBindFramebuffer(GL_READ_FRAMEBUFFER, 0); glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0); -#else - // In GLES2 Blit is not available, so just copy color texture manually +#elif ANDROID_ENABLED + + // In GLES2 AndroidBlit is not available, so just copy color texture manually _copy_texture_to_front_buffer(storage->frame.current_rt->multisample_color); #endif } @@ -2972,8 +2974,17 @@ void RasterizerSceneGLES2::render_scene(const Transform &p_cam_transform, const glBindFramebuffer(GL_READ_FRAMEBUFFER, 0); glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0); -#else - // In GLES2 Blit is not available, so just copy color texture manually +#elif IPHONE_ENABLED + + glBindFramebuffer(GL_READ_FRAMEBUFFER, storage->frame.current_rt->multisample_fbo); + glBindFramebuffer(GL_DRAW_FRAMEBUFFER, storage->frame.current_rt->fbo); + glResolveMultisampleFramebufferAPPLE(); + + glBindFramebuffer(GL_READ_FRAMEBUFFER, 0); + glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0); +#elif ANDROID_ENABLED + + // In GLES2 Android Blit is not available, so just copy color texture manually _copy_texture_to_front_buffer(storage->frame.current_rt->multisample_color); #endif } diff --git a/drivers/gles2/rasterizer_storage_gles2.cpp b/drivers/gles2/rasterizer_storage_gles2.cpp index c610f31bc1..7b5f193b2b 100644 --- a/drivers/gles2/rasterizer_storage_gles2.cpp +++ b/drivers/gles2/rasterizer_storage_gles2.cpp @@ -91,7 +91,7 @@ GLuint RasterizerStorageGLES2::system_fbo = 0; //void *glRenderbufferStorageMultisampleAPPLE; //void *glResolveMultisampleFramebufferAPPLE; #define glRenderbufferStorageMultisample glRenderbufferStorageMultisampleAPPLE -#else +#elif ANDROID_ENABLED #include <GLES2/gl2ext.h> PFNGLRENDERBUFFERSTORAGEMULTISAMPLEEXTPROC glRenderbufferStorageMultisampleEXT; @@ -4719,7 +4719,7 @@ void RasterizerStorageGLES2::_render_target_allocate(RenderTarget *rt) { glRenderbufferStorageMultisample(GL_RENDERBUFFER, msaa, color_internal_format, rt->width, rt->height); glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_RENDERBUFFER, rt->multisample_color); -#else +#elif ANDROID_ENABLED // Render to a texture in android glGenTextures(1, &rt->multisample_color); glBindTexture(GL_TEXTURE_2D, rt->multisample_color); @@ -5602,11 +5602,11 @@ void RasterizerStorageGLES2::initialize() { //Manually load extensions for android and ios #ifdef IPHONE_ENABLED - + // appears that IPhone doesn't need to dlopen TODO: test this rigorously before removing //void *gles2_lib = dlopen(NULL, RTLD_LAZY); //glRenderbufferStorageMultisampleAPPLE = dlsym(gles2_lib, "glRenderbufferStorageMultisampleAPPLE"); //glResolveMultisampleFramebufferAPPLE = dlsym(gles2_lib, "glResolveMultisampleFramebufferAPPLE"); -#else +#elif ANDROID_ENABLED void *gles2_lib = dlopen("libGLESv2.so", RTLD_LAZY); glRenderbufferStorageMultisampleEXT = (PFNGLRENDERBUFFERSTORAGEMULTISAMPLEEXTPROC)dlsym(gles2_lib, "glRenderbufferStorageMultisampleEXT"); diff --git a/drivers/gles2/shader_gles2.h b/drivers/gles2/shader_gles2.h index ebea40e10e..2456a83d35 100644 --- a/drivers/gles2/shader_gles2.h +++ b/drivers/gles2/shader_gles2.h @@ -1,4 +1,4 @@ -/*************************************************************************/ +/*************************************************************************/ /* shader_gles2.h */ /*************************************************************************/ /* This file is part of: */ diff --git a/drivers/gles3/rasterizer_scene_gles3.cpp b/drivers/gles3/rasterizer_scene_gles3.cpp index 4552fddfe8..7e02f2f3f5 100644 --- a/drivers/gles3/rasterizer_scene_gles3.cpp +++ b/drivers/gles3/rasterizer_scene_gles3.cpp @@ -3304,7 +3304,7 @@ void RasterizerSceneGLES3::_prepare_depth_texture() { void RasterizerSceneGLES3::_bind_depth_texture() { if (!state.bound_depth_texture) { - ERR_FAIL_COND(!state.prepared_depth_texture) + ERR_FAIL_COND(!state.prepared_depth_texture); //bind depth for read glActiveTexture(GL_TEXTURE0 + storage->config.max_texture_image_units - 8); glBindTexture(GL_TEXTURE_2D, storage->frame.current_rt->depth); @@ -4552,8 +4552,8 @@ void RasterizerSceneGLES3::render_scene(const Transform &p_cam_transform, const } _post_process(env, p_cam_projection); - - if (false && shadow_atlas) { + // Needed only for debugging + /* if (shadow_atlas && storage->frame.current_rt) { //_copy_texture_to_front_buffer(shadow_atlas->depth); storage->canvas->canvas_begin(); @@ -4563,7 +4563,7 @@ void RasterizerSceneGLES3::render_scene(const Transform &p_cam_transform, const storage->canvas->draw_generic_textured_rect(Rect2(0, 0, storage->frame.current_rt->width / 2, storage->frame.current_rt->height / 2), Rect2(0, 0, 1, 1)); } - if (false && storage->frame.current_rt) { + if (storage->frame.current_rt) { //_copy_texture_to_front_buffer(shadow_atlas->depth); storage->canvas->canvas_begin(); @@ -4573,7 +4573,7 @@ void RasterizerSceneGLES3::render_scene(const Transform &p_cam_transform, const storage->canvas->draw_generic_textured_rect(Rect2(0, 0, storage->frame.current_rt->width / 16, storage->frame.current_rt->height / 16), Rect2(0, 0, 1, 1)); } - if (false && reflection_atlas && storage->frame.current_rt) { + if (reflection_atlas && storage->frame.current_rt) { //_copy_texture_to_front_buffer(shadow_atlas->depth); storage->canvas->canvas_begin(); @@ -4582,7 +4582,7 @@ void RasterizerSceneGLES3::render_scene(const Transform &p_cam_transform, const storage->canvas->draw_generic_textured_rect(Rect2(0, 0, storage->frame.current_rt->width / 2, storage->frame.current_rt->height / 2), Rect2(0, 0, 1, 1)); } - if (false && directional_shadow.fbo) { + if (directional_shadow.fbo) { //_copy_texture_to_front_buffer(shadow_atlas->depth); storage->canvas->canvas_begin(); @@ -4592,7 +4592,7 @@ void RasterizerSceneGLES3::render_scene(const Transform &p_cam_transform, const storage->canvas->draw_generic_textured_rect(Rect2(0, 0, storage->frame.current_rt->width / 2, storage->frame.current_rt->height / 2), Rect2(0, 0, 1, 1)); } - if (false && env_radiance_tex) { + if ( env_radiance_tex) { //_copy_texture_to_front_buffer(shadow_atlas->depth); storage->canvas->canvas_begin(); @@ -4603,8 +4603,7 @@ void RasterizerSceneGLES3::render_scene(const Transform &p_cam_transform, const storage->canvas->draw_generic_textured_rect(Rect2(0, 0, storage->frame.current_rt->width / 2, storage->frame.current_rt->height / 2), Rect2(0, 0, 1, 1)); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); - } - + }*/ //disable all stuff } diff --git a/editor/audio_stream_preview.cpp b/editor/audio_stream_preview.cpp index 85db8b77f9..b30b94ab26 100644 --- a/editor/audio_stream_preview.cpp +++ b/editor/audio_stream_preview.cpp @@ -129,7 +129,7 @@ void AudioStreamPreviewGenerator::_preview_thread(void *p_preview) { float max = -1000; float min = 1000; int from = uint64_t(i) * to_read / to_write; - int to = uint64_t(i + 1) * to_read / to_write; + int to = (uint64_t(i) + 1) * to_read / to_write; to = MIN(to, to_read); from = MIN(from, to_read - 1); if (to == from) { diff --git a/editor/code_editor.cpp b/editor/code_editor.cpp index 33adb33c8c..01773a0bcd 100644 --- a/editor/code_editor.cpp +++ b/editor/code_editor.cpp @@ -804,6 +804,24 @@ void CodeTextEditor::trim_trailing_whitespace() { } } +void CodeTextEditor::insert_final_newline() { + int final_line = text_editor->get_line_count() - 1; + + String line = text_editor->get_line(final_line); + + //length 0 means it's already an empty line, + //no need to add a newline + if (line.length() > 0 && !line.ends_with("\n")) { + text_editor->begin_complex_operation(); + + line += "\n"; + text_editor->set_line(final_line, line); + + text_editor->end_complex_operation(); + text_editor->update(); + } +} + void CodeTextEditor::convert_indent_to_spaces() { int indent_size = EditorSettings::get_singleton()->get("text_editor/indent/size"); String indent = ""; @@ -912,7 +930,7 @@ void CodeTextEditor::convert_case(CaseStyle p_case) { for (int i = begin; i <= end; i++) { int len = text_editor->get_line(i).length(); if (i == end) - len -= len - end_col; + len = end_col; if (i == begin) len -= begin_col; String new_line = text_editor->get_line(i).substr(i == begin ? begin_col : 0, len); diff --git a/editor/code_editor.h b/editor/code_editor.h index 5c6b54ae44..cf97f30b72 100644 --- a/editor/code_editor.h +++ b/editor/code_editor.h @@ -195,6 +195,7 @@ protected: public: void trim_trailing_whitespace(); + void insert_final_newline(); void convert_indent_to_spaces(); void convert_indent_to_tabs(); diff --git a/editor/collada/collada.cpp b/editor/collada/collada.cpp index e9040b9d3e..a0d319c81b 100644 --- a/editor/collada/collada.cpp +++ b/editor/collada/collada.cpp @@ -651,7 +651,7 @@ void Collada::_parse_effect_material(XMLParser &parser, Effect &effect, String & effect.emission.texture = uri; } else if (what == "bump") { if (parser.has_attribute("bumptype") && parser.get_attribute_value("bumptype") != "NORMALMAP") { - WARN_PRINT("'bump' texture type is not NORMALMAP, only NORMALMAP is supported.") + WARN_PRINT("'bump' texture type is not NORMALMAP, only NORMALMAP is supported."); } effect.bump.texture = uri; @@ -707,7 +707,7 @@ void Collada::_parse_effect_material(XMLParser &parser, Effect &effect, String & String uri = effect.params[surface]; if (parser.has_attribute("bumptype") && parser.get_attribute_value("bumptype") != "NORMALMAP") { - WARN_PRINT("'bump' texture type is not NORMALMAP, only NORMALMAP is supported.") + WARN_PRINT("'bump' texture type is not NORMALMAP, only NORMALMAP is supported."); } effect.bump.texture = uri; diff --git a/editor/connections_dialog.cpp b/editor/connections_dialog.cpp index a9a96da7b1..82fc8e5cfa 100644 --- a/editor/connections_dialog.cpp +++ b/editor/connections_dialog.cpp @@ -307,39 +307,42 @@ void ConnectDialog::init(Connection c, bool bEdit) { bEditMode = bEdit; } -void ConnectDialog::popup_dialog(const String &p_for_signal, bool p_advanced) { +void ConnectDialog::popup_dialog(const String &p_for_signal) { - advanced->set_pressed(p_advanced); from_signal->set_text(p_for_signal); error_label->add_color_override("font_color", get_color("error_color", "Editor")); - vbc_right->set_visible(p_advanced); + if (!advanced->is_pressed()) + error_label->set_visible(!_find_first_script(get_tree()->get_edited_scene_root(), get_tree()->get_edited_scene_root())); - if (p_advanced) { + popup_centered(); +} + +void ConnectDialog::_advanced_pressed() { - popup_centered(Size2(900, 500) * EDSCALE); - connect_to_label->set_text("Connect to Node:"); + if (advanced->is_pressed()) { + set_custom_minimum_size(Size2(900, 500) * EDSCALE); + connect_to_label->set_text(TTR("Connect to Node:")); tree->set_connect_to_script_mode(false); + + vbc_right->show(); error_label->hide(); } else { - popup_centered(Size2(700, 500) * EDSCALE); - connect_to_label->set_text("Connect to Script:"); + set_custom_minimum_size(Size2(600, 500) * EDSCALE); + set_size(Size2()); + connect_to_label->set_text(TTR("Connect to Script:")); tree->set_connect_to_script_mode(true); - if (!_find_first_script(get_tree()->get_edited_scene_root(), get_tree()->get_edited_scene_root())) { - error_label->show(); - } else { - error_label->hide(); - } + vbc_right->hide(); + error_label->set_visible(!_find_first_script(get_tree()->get_edited_scene_root(), get_tree()->get_edited_scene_root())); } -} -void ConnectDialog::_advanced_pressed() { - - popup_dialog(from_signal->get_text(), advanced->is_pressed()); + set_position((get_viewport_rect().size - get_custom_minimum_size()) / 2); } ConnectDialog::ConnectDialog() { + set_custom_minimum_size(Size2(600, 500) * EDSCALE); + VBoxContainer *vbc = memnew(VBoxContainer); add_child(vbc); @@ -356,6 +359,7 @@ ConnectDialog::ConnectDialog() { vbc_left->add_margin_child(TTR("From Signal:"), from_signal); tree = memnew(SceneTreeEditor(false)); + tree->set_connecting_signal(true); tree->get_scene_tree()->connect("item_activated", this, "_ok"); tree->connect("node_selected", this, "_tree_node_selected"); tree->set_connect_to_script_mode(true); @@ -381,7 +385,7 @@ ConnectDialog::ConnectDialog() { type_list->add_item("bool", Variant::BOOL); type_list->add_item("int", Variant::INT); type_list->add_item("real", Variant::REAL); - type_list->add_item("string", Variant::STRING); + type_list->add_item("String", Variant::STRING); type_list->add_item("Vector2", Variant::VECTOR2); type_list->add_item("Rect2", Variant::RECT2); type_list->add_item("Vector3", Variant::VECTOR3); @@ -416,28 +420,26 @@ ConnectDialog::ConnectDialog() { dst_method->set_h_size_flags(SIZE_EXPAND_FILL); dstm_hb->add_child(dst_method); - advanced = memnew(CheckBox); + advanced = memnew(CheckButton); dstm_hb->add_child(advanced); - advanced->set_text(TTR("Advanced...")); + advanced->set_text(TTR("Advanced")); advanced->connect("pressed", this, "_advanced_pressed"); - /* - dst_method_list = memnew( MenuButton ); - dst_method_list->set_text("List..."); - dst_method_list->set_anchor( MARGIN_RIGHT, ANCHOR_END ); - dst_method_list->set_anchor( MARGIN_LEFT, ANCHOR_END ); - dst_method_list->set_anchor( MARGIN_TOP, ANCHOR_END ); - dst_method_list->set_anchor( MARGIN_BOTTOM, ANCHOR_END ); - dst_method_list->set_begin( Point2( 70,59) ); - dst_method_list->set_end( Point2( 15,39 ) ); - */ + // Add spacing so the tree and inspector are the same size. + Control *spacing = memnew(Control); + spacing->set_custom_minimum_size(Size2(0, 4) * EDSCALE); + vbc_right->add_child(spacing); - deferred = memnew(CheckButton); + deferred = memnew(CheckBox); + deferred->set_h_size_flags(0); deferred->set_text(TTR("Deferred")); + deferred->set_tooltip(TTR("Defers the signal, storing it in a queue and only firing it at idle time.")); vbc_right->add_child(deferred); - oneshot = memnew(CheckButton); + oneshot = memnew(CheckBox); + oneshot->set_h_size_flags(0); oneshot->set_text(TTR("Oneshot")); + oneshot->set_tooltip(TTR("Disconnects the signal after its first emission.")); vbc_right->add_child(oneshot); set_as_toplevel(true); @@ -662,9 +664,7 @@ void ConnectionsDock::_open_connection_dialog(TreeItem &item) { c.signal = StringName(signalname); c.target = dst_node; c.method = dst_method; - - //connect_dialog->set_title(TTR("Connect Signal: ") + signalname); - connect_dialog->popup_dialog(signalname, false); + connect_dialog->popup_dialog(signalname); connect_dialog->init(c); connect_dialog->set_title(TTR("Connect a Signal to a Method")); } diff --git a/editor/connections_dialog.h b/editor/connections_dialog.h index 9b35d84426..94f1510810 100644 --- a/editor/connections_dialog.h +++ b/editor/connections_dialog.h @@ -67,9 +67,9 @@ class ConnectDialog : public ConfirmationDialog { AcceptDialog *error; EditorInspector *bind_editor; OptionButton *type_list; - CheckButton *deferred; - CheckButton *oneshot; - CheckBox *advanced; + CheckBox *deferred; + CheckBox *oneshot; + CheckButton *advanced; Label *error_label; @@ -99,7 +99,7 @@ public: void init(Connection c, bool bEdit = false); - void popup_dialog(const String &p_for_signal, bool p_advanced); + void popup_dialog(const String &p_for_signal); ConnectDialog(); ~ConnectDialog(); }; diff --git a/editor/dependency_editor.cpp b/editor/dependency_editor.cpp index bde73e9268..cc9e2c12e8 100644 --- a/editor/dependency_editor.cpp +++ b/editor/dependency_editor.cpp @@ -725,7 +725,7 @@ bool OrphanResourcesDialog::_fill_owners(EditorFileSystemDirectory *efsd, HashMa int ds = efsd->get_file_deps(i).size(); ti->set_text(1, itos(ds)); if (ds) { - ti->add_button(1, get_icon("GuiVisibilityVisible", "EditorIcons")); + ti->add_button(1, get_icon("GuiVisibilityVisible", "EditorIcons"), -1, false, TTR("Show Dependencies")); } ti->set_metadata(0, path); has_children = true; diff --git a/editor/editor_atlas_packer.cpp b/editor/editor_atlas_packer.cpp index 4e1d98399a..96ddc607df 100644 --- a/editor/editor_atlas_packer.cpp +++ b/editor/editor_atlas_packer.cpp @@ -1,3 +1,33 @@ +/*************************************************************************/ +/* editor_atlas_packer.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + #include "editor_atlas_packer.h" void EditorAtlasPacker::_plot_triangle(Ref<BitMap> p_bitmap, Vector2i *vertices) { diff --git a/editor/editor_atlas_packer.h b/editor/editor_atlas_packer.h index dd9caa340e..1627f74a28 100644 --- a/editor/editor_atlas_packer.h +++ b/editor/editor_atlas_packer.h @@ -1,3 +1,33 @@ +/*************************************************************************/ +/* editor_atlas_packer.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + #ifndef EDITOR_ATLAS_PACKER_H #define EDITOR_ATLAS_PACKER_H diff --git a/editor/editor_export.cpp b/editor/editor_export.cpp index 37f148bdbb..b5325a07a5 100644 --- a/editor/editor_export.cpp +++ b/editor/editor_export.cpp @@ -907,7 +907,7 @@ Error EditorExportPlatform::save_pack(const Ref<EditorExportPreset> &p_preset, c String tmppath = EditorSettings::get_singleton()->get_cache_dir().plus_file("packtmp"); FileAccess *ftmp = FileAccess::open(tmppath, FileAccess::WRITE); - ERR_FAIL_COND_V(!ftmp, ERR_CANT_CREATE) + ERR_FAIL_COND_V(!ftmp, ERR_CANT_CREATE); PackData pd; pd.ep = &ep; @@ -924,7 +924,7 @@ Error EditorExportPlatform::save_pack(const Ref<EditorExportPreset> &p_preset, c pd.file_ofs.sort(); //do sort, so we can do binary search later FileAccess *f = FileAccess::open(p_path, FileAccess::WRITE); - ERR_FAIL_COND_V(!f, ERR_CANT_CREATE) + ERR_FAIL_COND_V(!f, ERR_CANT_CREATE); f->store_32(0x43504447); //GDPK f->store_32(1); //pack version f->store_32(VERSION_MAJOR); @@ -977,7 +977,7 @@ Error EditorExportPlatform::save_pack(const Ref<EditorExportPreset> &p_preset, c ftmp = FileAccess::open(tmppath, FileAccess::READ); if (!ftmp) { memdelete(f); - ERR_FAIL_COND_V(!ftmp, ERR_CANT_CREATE) + ERR_FAIL_COND_V(!ftmp, ERR_CANT_CREATE); } const int bufsize = 16384; diff --git a/editor/editor_feature_profile.cpp b/editor/editor_feature_profile.cpp index 714df44e25..56358f059a 100644 --- a/editor/editor_feature_profile.cpp +++ b/editor/editor_feature_profile.cpp @@ -1,3 +1,33 @@ +/*************************************************************************/ +/* editor_feature_profile.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + #include "editor_feature_profile.h" #include "core/io/json.h" #include "core/os/dir_access.h" diff --git a/editor/editor_feature_profile.h b/editor/editor_feature_profile.h index b7c2ebc1b2..d670719d7d 100644 --- a/editor/editor_feature_profile.h +++ b/editor/editor_feature_profile.h @@ -1,3 +1,33 @@ +/*************************************************************************/ +/* editor_feature_profile.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + #ifndef EDITOR_FEATURE_PROFILE_H #define EDITOR_FEATURE_PROFILE_H diff --git a/editor/editor_file_dialog.cpp b/editor/editor_file_dialog.cpp index 3d198dec67..1a293adb4b 100644 --- a/editor/editor_file_dialog.cpp +++ b/editor/editor_file_dialog.cpp @@ -1253,6 +1253,12 @@ void EditorFileDialog::_favorite_toggled(bool p_toggle) { _update_favorites(); } +void EditorFileDialog::_favorite_pressed() { + + favorite->set_pressed(!favorite->is_pressed()); + _favorite_toggled(favorite->is_pressed()); +} + void EditorFileDialog::_recent_selected(int p_idx) { Vector<String> recentd = EditorSettings::get_singleton()->get_recent_dirs(); @@ -1376,6 +1382,7 @@ void EditorFileDialog::_bind_methods() { ClassDB::bind_method(D_METHOD("_go_up"), &EditorFileDialog::_go_up); ClassDB::bind_method(D_METHOD("_favorite_toggled"), &EditorFileDialog::_favorite_toggled); + ClassDB::bind_method(D_METHOD("_favorite_pressed"), &EditorFileDialog::_favorite_pressed); ClassDB::bind_method(D_METHOD("_favorite_selected"), &EditorFileDialog::_favorite_selected); ClassDB::bind_method(D_METHOD("_favorite_move_up"), &EditorFileDialog::_favorite_move_up); ClassDB::bind_method(D_METHOD("_favorite_move_down"), &EditorFileDialog::_favorite_move_down); @@ -1519,7 +1526,7 @@ EditorFileDialog::EditorFileDialog() { favorite->set_flat(true); favorite->set_toggle_mode(true); favorite->set_tooltip(TTR("(Un)favorite current folder.")); - favorite->connect("toggled", this, "_favorite_toggled"); + favorite->connect("pressed", this, "_favorite_pressed"); pathhb->add_child(favorite); Ref<ButtonGroup> view_mode_group; diff --git a/editor/editor_file_dialog.h b/editor/editor_file_dialog.h index edaccac51d..529aaa71de 100644 --- a/editor/editor_file_dialog.h +++ b/editor/editor_file_dialog.h @@ -151,6 +151,7 @@ private: void _update_favorites(); void _favorite_toggled(bool p_toggle); + void _favorite_pressed(); void _favorite_selected(int p_idx); void _favorite_move_up(); void _favorite_move_down(); diff --git a/editor/editor_help.cpp b/editor/editor_help.cpp index 5917869988..df25b08b4c 100644 --- a/editor/editor_help.cpp +++ b/editor/editor_help.cpp @@ -203,8 +203,9 @@ String EditorHelp::_fix_constant(const String &p_constant) const { if (p_constant.strip_edges() == "2147483647") { return "0x7FFFFFFF"; } + if (p_constant.strip_edges() == "1048575") { - return "0xfffff"; + return "0xFFFFF"; } return p_constant; diff --git a/editor/editor_help_search.cpp b/editor/editor_help_search.cpp index 616a52e25b..55ab38ba6c 100644 --- a/editor/editor_help_search.cpp +++ b/editor/editor_help_search.cpp @@ -250,6 +250,25 @@ EditorHelpSearch::EditorHelpSearch() { vbox->add_child(results_tree, true); } +bool EditorHelpSearch::Runner::_is_class_disabled_by_feature_profile(const StringName &p_class) { + + Ref<EditorFeatureProfile> profile = EditorFeatureProfileManager::get_singleton()->get_current_profile(); + if (profile.is_null()) { + return false; + } + + StringName class_name = p_class; + while (class_name != StringName()) { + + if (!ClassDB::class_exists(class_name) || profile->is_class_disabled(class_name)) { + return true; + } + class_name = ClassDB::get_parent_class(class_name); + } + + return false; +} + bool EditorHelpSearch::Runner::_slice() { bool phase_done = false; @@ -299,43 +318,45 @@ bool EditorHelpSearch::Runner::_phase_match_classes_init() { bool EditorHelpSearch::Runner::_phase_match_classes() { DocData::ClassDoc &class_doc = iterator_doc->value(); - - matches[class_doc.name] = ClassMatch(); - ClassMatch &match = matches[class_doc.name]; - - match.doc = &class_doc; - - // Match class name. - if (search_flags & SEARCH_CLASSES) - match.name = term == "" || _match_string(term, class_doc.name); - - // Match members if the term is long enough. - if (term.length() > 1) { - if (search_flags & SEARCH_METHODS) - for (int i = 0; i < class_doc.methods.size(); i++) { - String method_name = search_flags & SEARCH_CASE_SENSITIVE ? class_doc.methods[i].name : class_doc.methods[i].name.to_lower(); - if (method_name.find(term) > -1 || - (term.begins_with(".") && method_name.begins_with(term.right(1))) || - (term.ends_with("(") && method_name.ends_with(term.left(term.length() - 1).strip_edges())) || - (term.begins_with(".") && term.ends_with("(") && method_name == term.substr(1, term.length() - 2).strip_edges())) - match.methods.push_back(const_cast<DocData::MethodDoc *>(&class_doc.methods[i])); - } - if (search_flags & SEARCH_SIGNALS) - for (int i = 0; i < class_doc.signals.size(); i++) - if (_match_string(term, class_doc.signals[i].name)) - match.signals.push_back(const_cast<DocData::MethodDoc *>(&class_doc.signals[i])); - if (search_flags & SEARCH_CONSTANTS) - for (int i = 0; i < class_doc.constants.size(); i++) - if (_match_string(term, class_doc.constants[i].name)) - match.constants.push_back(const_cast<DocData::ConstantDoc *>(&class_doc.constants[i])); - if (search_flags & SEARCH_PROPERTIES) - for (int i = 0; i < class_doc.properties.size(); i++) - if (_match_string(term, class_doc.properties[i].name)) - match.properties.push_back(const_cast<DocData::PropertyDoc *>(&class_doc.properties[i])); - if (search_flags & SEARCH_THEME_ITEMS) - for (int i = 0; i < class_doc.theme_properties.size(); i++) - if (_match_string(term, class_doc.theme_properties[i].name)) - match.theme_properties.push_back(const_cast<DocData::PropertyDoc *>(&class_doc.theme_properties[i])); + if (!_is_class_disabled_by_feature_profile(class_doc.name)) { + + matches[class_doc.name] = ClassMatch(); + ClassMatch &match = matches[class_doc.name]; + + match.doc = &class_doc; + + // Match class name. + if (search_flags & SEARCH_CLASSES) + match.name = term == "" || _match_string(term, class_doc.name); + + // Match members if the term is long enough. + if (term.length() > 1) { + if (search_flags & SEARCH_METHODS) + for (int i = 0; i < class_doc.methods.size(); i++) { + String method_name = search_flags & SEARCH_CASE_SENSITIVE ? class_doc.methods[i].name : class_doc.methods[i].name.to_lower(); + if (method_name.find(term) > -1 || + (term.begins_with(".") && method_name.begins_with(term.right(1))) || + (term.ends_with("(") && method_name.ends_with(term.left(term.length() - 1).strip_edges())) || + (term.begins_with(".") && term.ends_with("(") && method_name == term.substr(1, term.length() - 2).strip_edges())) + match.methods.push_back(const_cast<DocData::MethodDoc *>(&class_doc.methods[i])); + } + if (search_flags & SEARCH_SIGNALS) + for (int i = 0; i < class_doc.signals.size(); i++) + if (_match_string(term, class_doc.signals[i].name)) + match.signals.push_back(const_cast<DocData::MethodDoc *>(&class_doc.signals[i])); + if (search_flags & SEARCH_CONSTANTS) + for (int i = 0; i < class_doc.constants.size(); i++) + if (_match_string(term, class_doc.constants[i].name)) + match.constants.push_back(const_cast<DocData::ConstantDoc *>(&class_doc.constants[i])); + if (search_flags & SEARCH_PROPERTIES) + for (int i = 0; i < class_doc.properties.size(); i++) + if (_match_string(term, class_doc.properties[i].name)) + match.properties.push_back(const_cast<DocData::PropertyDoc *>(&class_doc.properties[i])); + if (search_flags & SEARCH_THEME_ITEMS) + for (int i = 0; i < class_doc.theme_properties.size(); i++) + if (_match_string(term, class_doc.theme_properties[i].name)) + match.theme_properties.push_back(const_cast<DocData::PropertyDoc *>(&class_doc.theme_properties[i])); + } } iterator_doc = iterator_doc->next(); diff --git a/editor/editor_help_search.h b/editor/editor_help_search.h index 93cf66a0dd..12ffd024a7 100644 --- a/editor/editor_help_search.h +++ b/editor/editor_help_search.h @@ -125,6 +125,8 @@ class EditorHelpSearch::Runner : public Reference { Map<String, TreeItem *> class_items; TreeItem *matched_item; + bool _is_class_disabled_by_feature_profile(const StringName &p_class); + bool _slice(); bool _phase_match_classes_init(); bool _phase_match_classes(); diff --git a/editor/editor_inspector.cpp b/editor/editor_inspector.cpp index ecb9ea5f35..e4ddf44bc4 100644 --- a/editor/editor_inspector.cpp +++ b/editor/editor_inspector.cpp @@ -66,7 +66,7 @@ Size2 EditorProperty::get_minimum_size() const { if (checkable) { Ref<Texture> check = get_icon("checked", "CheckBox"); - ms.width += check->get_width() + get_constant("hseparator", "Tree"); + ms.width += check->get_width() + get_constant("hseparation", "CheckBox") + get_constant("hseparator", "Tree"); } if (bottom_editor != NULL && bottom_editor->is_visible()) { @@ -228,8 +228,7 @@ void EditorProperty::_notification(int p_what) { } check_rect = Rect2(ofs, ((size.height - checkbox->get_height()) / 2), checkbox->get_width(), checkbox->get_height()); draw_texture(checkbox, check_rect.position, color2); - ofs += get_constant("hseparator", "Tree"); - ofs += checkbox->get_width(); + ofs += get_constant("hseparator", "Tree") + checkbox->get_width() + get_constant("hseparation", "CheckBox"); text_limit -= ofs; } else { check_rect = Rect2(); diff --git a/editor/editor_node.cpp b/editor/editor_node.cpp index 969e1affd7..79c312b7b1 100644 --- a/editor/editor_node.cpp +++ b/editor/editor_node.cpp @@ -1411,7 +1411,7 @@ void EditorNode::_dialog_action(String p_file) { case RESOURCE_SAVE: case RESOURCE_SAVE_AS: { - ERR_FAIL_COND(saving_resource.is_null()) + ERR_FAIL_COND(saving_resource.is_null()); save_resource_in_path(saving_resource, p_file); saving_resource = Ref<Resource>(); ObjectID current = editor_history.get_current(); @@ -5044,7 +5044,7 @@ void EditorNode::_feature_profile_changed() { main_editor_buttons[EDITOR_3D]->set_visible(!profile->is_feature_disabled(EditorFeatureProfile::FEATURE_3D)); main_editor_buttons[EDITOR_SCRIPT]->set_visible(!profile->is_feature_disabled(EditorFeatureProfile::FEATURE_SCRIPT)); main_editor_buttons[EDITOR_ASSETLIB]->set_visible(!profile->is_feature_disabled(EditorFeatureProfile::FEATURE_ASSET_LIB)); - if (profile->is_feature_disabled(EditorFeatureProfile::FEATURE_3D) || profile->is_feature_disabled(EditorFeatureProfile::FEATURE_ASSET_LIB) || profile->is_feature_disabled(EditorFeatureProfile::FEATURE_ASSET_LIB)) { + if (profile->is_feature_disabled(EditorFeatureProfile::FEATURE_3D) || profile->is_feature_disabled(EditorFeatureProfile::FEATURE_SCRIPT) || profile->is_feature_disabled(EditorFeatureProfile::FEATURE_ASSET_LIB)) { _editor_select(EDITOR_2D); } } else { diff --git a/editor/editor_settings.cpp b/editor/editor_settings.cpp index 9e0ebea4a7..c7fac07ba2 100644 --- a/editor/editor_settings.cpp +++ b/editor/editor_settings.cpp @@ -1123,7 +1123,7 @@ Variant _EDITOR_DEF(const String &p_setting, const Variant &p_default, bool p_re Variant _EDITOR_GET(const String &p_setting) { - ERR_FAIL_COND_V(!EditorSettings::get_singleton()->has_setting(p_setting), Variant()) + ERR_FAIL_COND_V(!EditorSettings::get_singleton()->has_setting(p_setting), Variant()); return EditorSettings::get_singleton()->get(p_setting); } diff --git a/editor/filesystem_dock.cpp b/editor/filesystem_dock.cpp index ee88b558c8..e57217bb11 100644 --- a/editor/filesystem_dock.cpp +++ b/editor/filesystem_dock.cpp @@ -2069,7 +2069,7 @@ void FileSystemDock::_get_drag_target_folder(String &target, bool &target_favori void FileSystemDock::_file_and_folders_fill_popup(PopupMenu *p_popup, Vector<String> p_paths, bool p_display_path_dependent_options) { // Add options for files and folders - ERR_FAIL_COND(p_paths.empty()) + ERR_FAIL_COND(p_paths.empty()); Vector<String> filenames; Vector<String> foldernames; diff --git a/editor/import/resource_importer_texture_atlas.cpp b/editor/import/resource_importer_texture_atlas.cpp index 35fdd32e2c..eca4e58abe 100644 --- a/editor/import/resource_importer_texture_atlas.cpp +++ b/editor/import/resource_importer_texture_atlas.cpp @@ -1,3 +1,33 @@ +/*************************************************************************/ +/* resource_importer_texture_atlas.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + #include "resource_importer_texture_atlas.h" #include "atlas_import_failed.xpm" diff --git a/editor/import/resource_importer_texture_atlas.h b/editor/import/resource_importer_texture_atlas.h index 62be570dc6..042deacfe3 100644 --- a/editor/import/resource_importer_texture_atlas.h +++ b/editor/import/resource_importer_texture_atlas.h @@ -1,3 +1,33 @@ +/*************************************************************************/ +/* resource_importer_texture_atlas.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + #ifndef RESOURCE_IMPORTER_TEXTURE_ATLAS_H #define RESOURCE_IMPORTER_TEXTURE_ATLAS_H diff --git a/editor/import/resource_importer_wav.cpp b/editor/import/resource_importer_wav.cpp index fdf1103258..e39f2dabaa 100644 --- a/editor/import/resource_importer_wav.cpp +++ b/editor/import/resource_importer_wav.cpp @@ -119,7 +119,7 @@ Error ResourceImporterWAV::import(const String &p_source_file, const String &p_s file->close(); memdelete(file); - ERR_EXPLAIN("Not a WAV file (no WAVE RIFF Header)") + ERR_EXPLAIN("Not a WAV file (no WAVE RIFF Header)"); ERR_FAIL_V(ERR_FILE_UNRECOGNIZED); } diff --git a/editor/inspector_dock.cpp b/editor/inspector_dock.cpp index 8a2393ff60..8a0812973f 100644 --- a/editor/inspector_dock.cpp +++ b/editor/inspector_dock.cpp @@ -169,7 +169,7 @@ void InspectorDock::_save_resource(bool save_as) const { uint32_t current = EditorNode::get_singleton()->get_editor_history()->get_current(); Object *current_obj = current > 0 ? ObjectDB::get_instance(current) : NULL; - ERR_FAIL_COND(!Object::cast_to<Resource>(current_obj)) + ERR_FAIL_COND(!Object::cast_to<Resource>(current_obj)); RES current_res = RES(Object::cast_to<Resource>(current_obj)); @@ -183,7 +183,7 @@ void InspectorDock::_unref_resource() const { uint32_t current = EditorNode::get_singleton()->get_editor_history()->get_current(); Object *current_obj = current > 0 ? ObjectDB::get_instance(current) : NULL; - ERR_FAIL_COND(!Object::cast_to<Resource>(current_obj)) + ERR_FAIL_COND(!Object::cast_to<Resource>(current_obj)); RES current_res = RES(Object::cast_to<Resource>(current_obj)); current_res->set_path(""); @@ -194,7 +194,7 @@ void InspectorDock::_copy_resource() const { uint32_t current = EditorNode::get_singleton()->get_editor_history()->get_current(); Object *current_obj = current > 0 ? ObjectDB::get_instance(current) : NULL; - ERR_FAIL_COND(!Object::cast_to<Resource>(current_obj)) + ERR_FAIL_COND(!Object::cast_to<Resource>(current_obj)); RES current_res = RES(Object::cast_to<Resource>(current_obj)); diff --git a/editor/plugins/animation_blend_tree_editor_plugin.cpp b/editor/plugins/animation_blend_tree_editor_plugin.cpp index bfee76492b..dff6eb5c5e 100644 --- a/editor/plugins/animation_blend_tree_editor_plugin.cpp +++ b/editor/plugins/animation_blend_tree_editor_plugin.cpp @@ -471,7 +471,7 @@ void AnimationNodeBlendTreeEditor::_node_selected(Object *p_node) { void AnimationNodeBlendTreeEditor::_open_in_editor(const String &p_which) { Ref<AnimationNode> an = blend_tree->get_node(p_which); - ERR_FAIL_COND(!an.is_valid()) + ERR_FAIL_COND(!an.is_valid()); AnimationTreeEditor::get_singleton()->enter_editor(p_which); } @@ -798,7 +798,7 @@ void AnimationNodeBlendTreeEditor::_node_renamed(const String &p_text, Ref<Anima String new_name = p_text; - ERR_FAIL_COND(new_name == "" || new_name.find(".") != -1 || new_name.find("/") != -1) + ERR_FAIL_COND(new_name == "" || new_name.find(".") != -1 || new_name.find("/") != -1); if (new_name == prev_name) { return; //nothing to do diff --git a/editor/plugins/animation_player_editor_plugin.cpp b/editor/plugins/animation_player_editor_plugin.cpp index 7d96f0b87b..5204565c06 100644 --- a/editor/plugins/animation_player_editor_plugin.cpp +++ b/editor/plugins/animation_player_editor_plugin.cpp @@ -769,7 +769,7 @@ void AnimationPlayerEditor::_dialog_action(String p_file) { if (current != "") { Ref<Animation> anim = player->get_animation(current); - ERR_FAIL_COND(!Object::cast_to<Resource>(*anim)) + ERR_FAIL_COND(!Object::cast_to<Resource>(*anim)); RES current_res = RES(Object::cast_to<Resource>(*anim)); diff --git a/editor/plugins/animation_state_machine_editor.cpp b/editor/plugins/animation_state_machine_editor.cpp index f06b4b2828..e25e7ac7ed 100644 --- a/editor/plugins/animation_state_machine_editor.cpp +++ b/editor/plugins/animation_state_machine_editor.cpp @@ -1096,7 +1096,7 @@ void AnimationNodeStateMachineEditor::_name_edited(const String &p_text) { String new_name = p_text; - ERR_FAIL_COND(new_name == "" || new_name.find(".") != -1 || new_name.find("/") != -1) + ERR_FAIL_COND(new_name == "" || new_name.find(".") != -1 || new_name.find("/") != -1); if (new_name == prev_name) { return; // Nothing to do. diff --git a/editor/plugins/asset_library_editor_plugin.cpp b/editor/plugins/asset_library_editor_plugin.cpp index 0dfb53b34a..fc5c8dbbb4 100644 --- a/editor/plugins/asset_library_editor_plugin.cpp +++ b/editor/plugins/asset_library_editor_plugin.cpp @@ -100,17 +100,19 @@ EditorAssetLibraryItem::EditorAssetLibraryItem() { Ref<StyleBoxEmpty> border; border.instance(); - border->set_default_margin(MARGIN_LEFT, 5); - border->set_default_margin(MARGIN_RIGHT, 5); - border->set_default_margin(MARGIN_BOTTOM, 5); - border->set_default_margin(MARGIN_TOP, 5); + border->set_default_margin(MARGIN_LEFT, 5 * EDSCALE); + border->set_default_margin(MARGIN_RIGHT, 5 * EDSCALE); + border->set_default_margin(MARGIN_BOTTOM, 5 * EDSCALE); + border->set_default_margin(MARGIN_TOP, 5 * EDSCALE); add_style_override("panel", border); HBoxContainer *hb = memnew(HBoxContainer); + // Add some spacing to visually separate the icon from the asset details + hb->add_constant_override("separation", 15 * EDSCALE); add_child(hb); icon = memnew(TextureButton); - icon->set_custom_minimum_size(Size2(64, 64)); + icon->set_custom_minimum_size(Size2(64, 64) * EDSCALE); icon->set_default_cursor_shape(CURSOR_POINTING_HAND); icon->connect("pressed", this, "_asset_clicked"); @@ -150,7 +152,7 @@ EditorAssetLibraryItem::EditorAssetLibraryItem() { price->set_text(TTR("Free")); vb->add_child(price); - set_custom_minimum_size(Size2(250, 100)); + set_custom_minimum_size(Size2(250, 100) * EDSCALE); set_h_size_flags(SIZE_EXPAND_FILL); set_mouse_filter(MOUSE_FILTER_PASS); @@ -194,7 +196,6 @@ void EditorAssetLibraryItemDescription::set_image(int p_type, int p_index, const break; } } - //item->call("set_image",p_type,p_index,p_image); } break; case EditorAssetLibrary::IMAGE_QUEUE_SCREENSHOT: { @@ -207,7 +208,6 @@ void EditorAssetLibraryItemDescription::set_image(int p_type, int p_index, const break; } } - //item->call("set_image",p_type,p_index,p_image); } break; } } @@ -554,7 +554,7 @@ EditorAssetLibraryItemDownload::EditorAssetLibraryItemDownload() { hb2->add_child(retry); hb2->add_child(install); - set_custom_minimum_size(Size2(310, 0)); + set_custom_minimum_size(Size2(310, 0) * EDSCALE); download = memnew(HTTPRequest); add_child(download); @@ -733,6 +733,7 @@ void EditorAssetLibrary::_image_update(bool use_cache, bool final, const PoolByt image_data = cached_data; file->close(); + memdelete(file); } } @@ -807,6 +808,7 @@ void EditorAssetLibrary::_image_request_completed(int p_status, int p_code, cons if (file) { file->store_line(new_etag); file->close(); + memdelete(file); } int len = p_data.size(); @@ -816,6 +818,7 @@ void EditorAssetLibrary::_image_request_completed(int p_status, int p_code, cons file->store_32(len); file->store_buffer(r.ptr(), len); file->close(); + memdelete(file); } break; @@ -855,6 +858,7 @@ void EditorAssetLibrary::_update_image_queue() { if (file) { headers.push_back("If-None-Match: " + file->get_line()); file->close(); + memdelete(file); } } @@ -984,7 +988,7 @@ HBoxContainer *EditorAssetLibrary::_make_pages(int p_page, int p_page_count, int to = p_page_count; hbc->add_spacer(); - hbc->add_constant_override("separation", 5); + hbc->add_constant_override("separation", 5 * EDSCALE); Button *first = memnew(Button); first->set_text(TTR("First")); @@ -1190,8 +1194,8 @@ void EditorAssetLibrary::_http_request_completed(int p_status, int p_code, const asset_items = memnew(GridContainer); asset_items->set_columns(2); - asset_items->add_constant_override("hseparation", 10); - asset_items->add_constant_override("vseparation", 10); + asset_items->add_constant_override("hseparation", 10 * EDSCALE); + asset_items->add_constant_override("vseparation", 10 * EDSCALE); library_vb->add_child(asset_items); @@ -1357,7 +1361,7 @@ EditorAssetLibrary::EditorAssetLibrary(bool p_templates_only) { HBoxContainer *search_hb = memnew(HBoxContainer); library_main->add_child(search_hb); - library_main->add_constant_override("separation", 10); + library_main->add_constant_override("separation", 10 * EDSCALE); search_hb->add_child(memnew(Label(TTR("Search:") + " "))); filter = memnew(LineEdit); @@ -1459,10 +1463,10 @@ EditorAssetLibrary::EditorAssetLibrary(bool p_templates_only) { Ref<StyleBoxEmpty> border2; border2.instance(); - border2->set_default_margin(MARGIN_LEFT, 15); - border2->set_default_margin(MARGIN_RIGHT, 35); - border2->set_default_margin(MARGIN_BOTTOM, 15); - border2->set_default_margin(MARGIN_TOP, 15); + border2->set_default_margin(MARGIN_LEFT, 15 * EDSCALE); + border2->set_default_margin(MARGIN_RIGHT, 35 * EDSCALE); + border2->set_default_margin(MARGIN_BOTTOM, 15 * EDSCALE); + border2->set_default_margin(MARGIN_TOP, 15 * EDSCALE); PanelContainer *library_vb_border = memnew(PanelContainer); library_scroll->add_child(library_vb_border); @@ -1474,15 +1478,14 @@ EditorAssetLibrary::EditorAssetLibrary(bool p_templates_only) { library_vb->set_h_size_flags(SIZE_EXPAND_FILL); library_vb_border->add_child(library_vb); - //margin_panel->set_stop_mouse(false); asset_top_page = memnew(HBoxContainer); library_vb->add_child(asset_top_page); asset_items = memnew(GridContainer); asset_items->set_columns(2); - asset_items->add_constant_override("hseparation", 10); - asset_items->add_constant_override("vseparation", 10); + asset_items->add_constant_override("hseparation", 10 * EDSCALE); + asset_items->add_constant_override("vseparation", 10 * EDSCALE); library_vb->add_child(asset_items); @@ -1496,7 +1499,7 @@ EditorAssetLibrary::EditorAssetLibrary(bool p_templates_only) { last_queue_id = 0; - library_vb->add_constant_override("separation", 20); + library_vb->add_constant_override("separation", 20 * EDSCALE); load_status = memnew(ProgressBar); load_status->set_min(0); diff --git a/editor/plugins/editor_preview_plugins.cpp b/editor/plugins/editor_preview_plugins.cpp index 28e57ac48a..285823d95a 100644 --- a/editor/plugins/editor_preview_plugins.cpp +++ b/editor/plugins/editor_preview_plugins.cpp @@ -643,7 +643,7 @@ Ref<Texture> EditorAudioStreamPreviewPlugin::generate(const RES &p_from, const S float max = -1000; float min = 1000; int from = uint64_t(i) * frame_length / w; - int to = uint64_t(i + 1) * frame_length / w; + int to = (uint64_t(i) + 1) * frame_length / w; to = MIN(to, frame_length); from = MIN(from, frame_length - 1); if (to == from) { diff --git a/editor/plugins/multimesh_editor_plugin.cpp b/editor/plugins/multimesh_editor_plugin.cpp index fc0a425bfc..cae705a697 100644 --- a/editor/plugins/multimesh_editor_plugin.cpp +++ b/editor/plugins/multimesh_editor_plugin.cpp @@ -197,7 +197,7 @@ void MultiMeshEditor::_populate() { float areapos = Math::random(0.0f, area_accum); Map<float, int>::Element *E = triangle_area_map.find_closest(areapos); - ERR_FAIL_COND(!E) + ERR_FAIL_COND(!E); int index = E->get(); ERR_FAIL_INDEX(index, facecount); diff --git a/editor/plugins/particles_editor_plugin.cpp b/editor/plugins/particles_editor_plugin.cpp index 66cecf7068..3f4f66a26d 100644 --- a/editor/plugins/particles_editor_plugin.cpp +++ b/editor/plugins/particles_editor_plugin.cpp @@ -67,7 +67,7 @@ bool ParticlesEditorBase::_generate(PoolVector<Vector3> &points, PoolVector<Vect float areapos = Math::random(0.0f, area_accum); Map<float, int>::Element *E = triangle_area_map.find_closest(areapos); - ERR_FAIL_COND_V(!E, false) + ERR_FAIL_COND_V(!E, false); int index = E->get(); ERR_FAIL_INDEX_V(index, geometry.size(), false); diff --git a/editor/plugins/script_editor_plugin.cpp b/editor/plugins/script_editor_plugin.cpp index 641c387c64..f45e6a2c9a 100644 --- a/editor/plugins/script_editor_plugin.cpp +++ b/editor/plugins/script_editor_plugin.cpp @@ -723,6 +723,8 @@ void ScriptEditor::_resave_scripts(const String &p_str) { se->trim_trailing_whitespace(); } + se->insert_final_newline(); + if (convert_indent_on_save) { if (use_space_indentation) { se->convert_indent_to_spaces(); @@ -1078,6 +1080,8 @@ void ScriptEditor::_menu_option(int p_option) { if (trim_trailing_whitespace_on_save) current->trim_trailing_whitespace(); + current->insert_final_newline(); + if (convert_indent_on_save) { if (use_space_indentation) { current->convert_indent_to_spaces(); @@ -1097,7 +1101,10 @@ void ScriptEditor::_menu_option(int p_option) { } break; case FILE_SAVE_AS: { - current->trim_trailing_whitespace(); + if (trim_trailing_whitespace_on_save) + current->trim_trailing_whitespace(); + + current->insert_final_newline(); if (convert_indent_on_save) { if (use_space_indentation) { @@ -2121,6 +2128,8 @@ void ScriptEditor::save_all_scripts() { se->trim_trailing_whitespace(); } + se->insert_final_newline(); + if (!se->is_unsaved()) continue; diff --git a/editor/plugins/script_editor_plugin.h b/editor/plugins/script_editor_plugin.h index 683fa881f8..fae98d6ec8 100644 --- a/editor/plugins/script_editor_plugin.h +++ b/editor/plugins/script_editor_plugin.h @@ -99,6 +99,7 @@ public: virtual void set_executing_line(int p_line) = 0; virtual void clear_executing_line() = 0; virtual void trim_trailing_whitespace() = 0; + virtual void insert_final_newline() = 0; virtual void convert_indent_to_spaces() = 0; virtual void convert_indent_to_tabs() = 0; virtual void ensure_focus() = 0; diff --git a/editor/plugins/script_text_editor.cpp b/editor/plugins/script_text_editor.cpp index 1fe4ac1372..1b71f6800a 100644 --- a/editor/plugins/script_text_editor.cpp +++ b/editor/plugins/script_text_editor.cpp @@ -457,6 +457,11 @@ void ScriptTextEditor::trim_trailing_whitespace() { code_editor->trim_trailing_whitespace(); } +void ScriptTextEditor::insert_final_newline() { + + code_editor->insert_final_newline(); +} + void ScriptTextEditor::convert_indent_to_spaces() { code_editor->convert_indent_to_spaces(); @@ -867,6 +872,12 @@ void ScriptTextEditor::_update_connected_methods() { continue; } + // As deleted nodes are still accessible via the undo/redo system, check if they're still on the tree. + Node *source = Object::cast_to<Node>(connection.source); + if (source && !source->is_inside_tree()) { + continue; + } + int line = script->get_language()->find_function(connection.method, text_edit->get_text()); if (line < 0) { missing_connections.push_back(connection); diff --git a/editor/plugins/script_text_editor.h b/editor/plugins/script_text_editor.h index bdfdf18d45..7f5b6c065d 100644 --- a/editor/plugins/script_text_editor.h +++ b/editor/plugins/script_text_editor.h @@ -194,6 +194,7 @@ public: virtual void set_edit_state(const Variant &p_state); virtual void ensure_focus(); virtual void trim_trailing_whitespace(); + virtual void insert_final_newline(); virtual void convert_indent_to_spaces(); virtual void convert_indent_to_tabs(); virtual void tag_saved_version(); diff --git a/editor/plugins/spatial_editor_plugin.cpp b/editor/plugins/spatial_editor_plugin.cpp index 60f1248ace..a1c0b732fa 100644 --- a/editor/plugins/spatial_editor_plugin.cpp +++ b/editor/plugins/spatial_editor_plugin.cpp @@ -4211,7 +4211,7 @@ void SpatialEditor::set_state(const Dictionary &p_state) { Array vp = d["viewports"]; uint32_t vp_size = static_cast<uint32_t>(vp.size()); if (vp_size > VIEWPORTS_COUNT) { - WARN_PRINT("Ignoring superfluous viewport settings from spatial editor state.") + WARN_PRINT("Ignoring superfluous viewport settings from spatial editor state."); vp_size = VIEWPORTS_COUNT; } diff --git a/editor/plugins/text_editor.cpp b/editor/plugins/text_editor.cpp index a0f3c253d1..d036d7e965 100644 --- a/editor/plugins/text_editor.cpp +++ b/editor/plugins/text_editor.cpp @@ -251,6 +251,11 @@ void TextEditor::trim_trailing_whitespace() { code_editor->trim_trailing_whitespace(); } +void TextEditor::insert_final_newline() { + + code_editor->insert_final_newline(); +} + void TextEditor::convert_indent_to_spaces() { code_editor->convert_indent_to_spaces(); diff --git a/editor/plugins/text_editor.h b/editor/plugins/text_editor.h index 2da7474793..e06d816177 100644 --- a/editor/plugins/text_editor.h +++ b/editor/plugins/text_editor.h @@ -130,6 +130,7 @@ public: virtual void set_executing_line(int p_line); virtual void clear_executing_line(); virtual void trim_trailing_whitespace(); + virtual void insert_final_newline(); virtual void convert_indent_to_spaces(); virtual void convert_indent_to_tabs(); virtual void ensure_focus(); diff --git a/editor/plugins/tile_map_editor_plugin.cpp b/editor/plugins/tile_map_editor_plugin.cpp index 3f513de30f..16f93b8fd3 100644 --- a/editor/plugins/tile_map_editor_plugin.cpp +++ b/editor/plugins/tile_map_editor_plugin.cpp @@ -572,23 +572,25 @@ void TileMapEditor::_pick_tile(const Point2 &p_pos) { if (id == TileMap::INVALID_CELL) return; - if (search_box->get_text().strip_edges() != "") { - + if (search_box->get_text() != "") { search_box->set_text(""); _update_palette(); } - Vector<int> selected; - - selected.push_back(id); - set_selected_tiles(selected); - flip_h = node->is_cell_x_flipped(p_pos.x, p_pos.y); flip_v = node->is_cell_y_flipped(p_pos.x, p_pos.y); transpose = node->is_cell_transposed(p_pos.x, p_pos.y); autotile_coord = node->get_cell_autotile_coord(p_pos.x, p_pos.y); + Vector<int> selected; + selected.push_back(id); + set_selected_tiles(selected); _update_palette(); + + if ((manual_autotile && node->get_tileset()->tile_get_tile_mode(id) == TileSet::AUTO_TILE) || (!priority_atlastile && node->get_tileset()->tile_get_tile_mode(id) == TileSet::ATLAS_TILE)) { + manual_palette->select(manual_palette->find_metadata((Point2)autotile_coord)); + } + CanvasItemEditor::get_singleton()->update_viewport(); } @@ -780,7 +782,8 @@ void TileMapEditor::_draw_cell(Control *p_viewport, int p_cell, const Point2i &p r.position += (r.size + Vector2(spacing, spacing)) * offset; } Size2 sc = p_xform.get_scale(); - Size2 cell_size = node->get_cell_size(); + /* For a future CheckBox to Center Texture: + Size2 cell_size = node->get_cell_size(); */ Rect2 rect = Rect2(); rect.position = node->map_to_world(p_point) + node->get_cell_draw_offset(); @@ -792,10 +795,11 @@ void TileMapEditor::_draw_cell(Control *p_viewport, int p_cell, const Point2i &p if (p_transpose) { SWAP(tile_ofs.x, tile_ofs.y); + /* For a future CheckBox to Center Texture: rect.position.x += cell_size.x / 2 - rect.size.y / 2; rect.position.y += cell_size.y / 2 - rect.size.x / 2; } else { - rect.position += cell_size / 2 - rect.size / 2; + rect.position += cell_size / 2 - rect.size / 2; */ } if (p_flip_h) { @@ -980,7 +984,7 @@ bool TileMapEditor::forward_gui_input(const Ref<InputEvent> &p_event) { return true; } else { - // Mousebutton was released + // Mousebutton was released. if (tool != TOOL_NONE) { if (tool == TOOL_PAINTING) { @@ -1044,7 +1048,7 @@ bool TileMapEditor::forward_gui_input(const Ref<InputEvent> &p_event) { CanvasItemEditor::get_singleton()->update_viewport(); - return true; // We want to keep the Pasting tool + return true; // We want to keep the Pasting tool. } else if (tool == TOOL_SELECTING) { CanvasItemEditor::get_singleton()->update_viewport(); @@ -1068,7 +1072,10 @@ bool TileMapEditor::forward_gui_input(const Ref<InputEvent> &p_event) { _finish_undo(); - // We want to keep the bucket-tool active + // So the fill preview is cleared right after the click. + CanvasItemEditor::get_singleton()->update_viewport(); + + // We want to keep the bucket-tool active. return true; } @@ -1195,7 +1202,7 @@ bool TileMapEditor::forward_gui_input(const Ref<InputEvent> &p_event) { if (tool == TOOL_PAINTING) { - // Paint using bresenham line to prevent holes in painting if the user moves fast + // Paint using bresenham line to prevent holes in painting if the user moves fast. Vector<Point2i> points = line(old_over_tile.x, over_tile.x, old_over_tile.y, over_tile.y); Vector<int> ids = get_selected_tiles(); @@ -1216,7 +1223,7 @@ bool TileMapEditor::forward_gui_input(const Ref<InputEvent> &p_event) { if (tool == TOOL_ERASING) { - // erase using bresenham line to prevent holes in painting if the user moves fast + // Erase using bresenham line to prevent holes in painting if the user moves fast. Vector<Point2i> points = line(old_over_tile.x, over_tile.x, old_over_tile.y, over_tile.y); @@ -1341,13 +1348,13 @@ bool TileMapEditor::forward_gui_input(const Ref<InputEvent> &p_event) { } if (!mouse_over) { - // Editor shortcuts should not fire if mouse not in viewport + // Editor shortcuts should not fire if mouse not in viewport. return false; } if (ED_IS_SHORTCUT("tile_map_editor/paint_tile", p_event)) { // NOTE: We do not set tool = TOOL_PAINTING as this begins painting - // immediately without pressing the left mouse button first + // immediately without pressing the left mouse button first. tool = TOOL_NONE; CanvasItemEditor::get_singleton()->update_viewport(); @@ -1429,7 +1436,7 @@ bool TileMapEditor::forward_gui_input(const Ref<InputEvent> &p_event) { CanvasItemEditor::get_singleton()->update_viewport(); return true; } - } else if (k.is_valid()) { // release event + } else if (k.is_valid()) { // Release event. if (tool == TOOL_NONE) { @@ -1445,7 +1452,7 @@ bool TileMapEditor::forward_gui_input(const Ref<InputEvent> &p_event) { #else if (k->get_scancode() == KEY_CONTROL) { #endif - // go back to that last tool if KEY_CONTROL was released + // Go back to that last tool if KEY_CONTROL was released. tool = last_tool; CanvasItemEditor::get_singleton()->update_viewport(); diff --git a/editor/scene_tree_editor.cpp b/editor/scene_tree_editor.cpp index 5ca3448693..064bf0077a 100644 --- a/editor/scene_tree_editor.cpp +++ b/editor/scene_tree_editor.cpp @@ -51,6 +51,7 @@ void SceneTreeEditor::_cell_button_pressed(Object *p_item, int p_column, int p_i if (connect_to_script_mode) { return; //don't do anything in this mode } + TreeItem *item = Object::cast_to<TreeItem>(p_item); ERR_FAIL_COND(!item); @@ -220,23 +221,27 @@ bool SceneTreeEditor::_add_nodes(Node *p_node, TreeItem *p_parent) { } if (marked.has(p_node)) { - item->set_text(0, String(p_node->get_name()) + " " + TTR("(Connecting From)")); - + String node_name = p_node->get_name(); + if (connecting_signal) { + node_name += " " + TTR("(Connecting From)"); + } + item->set_text(0, node_name); item->set_custom_color(0, accent); } } else if (part_of_subscene) { - //item->set_selectable(0,marked_selectable); if (valid_types.size() == 0) { item->set_custom_color(0, get_color("disabled_font_color", "Editor")); } - } else if (marked.has(p_node)) { - if (!connect_to_script_mode) { - item->set_selectable(0, marked_selectable); + String node_name = p_node->get_name(); + if (connecting_signal) { + node_name += " " + TTR("(Connecting From)"); } - item->set_custom_color(0, get_color("error_color", "Editor")); + item->set_text(0, node_name); + item->set_selectable(0, marked_selectable); + item->set_custom_color(0, get_color("accent_color", "Editor")); } else if (!marked_selectable && !marked_children_selectable) { Node *node = p_node; @@ -394,15 +399,17 @@ bool SceneTreeEditor::_add_nodes(Node *p_node, TreeItem *p_parent) { void SceneTreeEditor::_node_visibility_changed(Node *p_node) { - if (p_node != get_scene_node() && !p_node->get_owner()) { + if (!p_node || (p_node != get_scene_node() && !p_node->get_owner())) { return; } - TreeItem *item = p_node ? _find(tree->get_root(), p_node->get_path()) : NULL; - if (!item) { + TreeItem *item = _find(tree->get_root(), p_node->get_path()); + + if (!item) { return; } + int idx = item->get_button_by_id(0, BUTTON_VISIBILITY); ERR_FAIL_COND(idx == -1); @@ -1033,6 +1040,11 @@ void SceneTreeEditor::set_connect_to_script_mode(bool p_enable) { update_tree(); } +void SceneTreeEditor::set_connecting_signal(bool p_enable) { + connecting_signal = p_enable; + update_tree(); +} + void SceneTreeEditor::_bind_methods() { ClassDB::bind_method("_tree_changed", &SceneTreeEditor::_tree_changed); @@ -1077,6 +1089,7 @@ void SceneTreeEditor::_bind_methods() { SceneTreeEditor::SceneTreeEditor(bool p_label, bool p_can_rename, bool p_can_open_instance) { connect_to_script_mode = false; + connecting_signal = false; undo_redo = NULL; tree_dirty = true; selected = NULL; diff --git a/editor/scene_tree_editor.h b/editor/scene_tree_editor.h index 1c14da0d3a..68642910e8 100644 --- a/editor/scene_tree_editor.h +++ b/editor/scene_tree_editor.h @@ -68,6 +68,7 @@ class SceneTreeEditor : public Control { AcceptDialog *warning; bool connect_to_script_mode; + bool connecting_signal; int blocked; @@ -155,6 +156,7 @@ public: void update_tree() { _update_tree(); } void set_connect_to_script_mode(bool p_enable); + void set_connecting_signal(bool p_enable); Tree *get_scene_tree() { return tree; } diff --git a/main/main.cpp b/main/main.cpp index a01d1abe43..3f01a17ea7 100644 --- a/main/main.cpp +++ b/main/main.cpp @@ -939,7 +939,6 @@ Error Main::setup(const char *execpath, int argc, char *argv[], bool p_second_ph OS::get_singleton()->_allow_layered = GLOBAL_DEF("display/window/per_pixel_transparency/allowed", false); video_mode.layered = GLOBAL_DEF("display/window/per_pixel_transparency/enabled", false); - video_mode.layered_splash = GLOBAL_DEF("display/window/per_pixel_transparency/splash", false); GLOBAL_DEF("rendering/quality/intended_usage/framebuffer_allocation", 2); GLOBAL_DEF("rendering/quality/intended_usage/framebuffer_allocation.mobile", 3); @@ -1754,7 +1753,7 @@ bool Main::start() { scene = scenedata->instance(); ERR_EXPLAIN("Failed loading scene: " + local_game_path); - ERR_FAIL_COND_V(!scene, false) + ERR_FAIL_COND_V(!scene, false); sml->add_current_scene(scene); #ifdef OSX_ENABLED diff --git a/misc/scripts/fix_headers.py b/misc/scripts/fix_headers.py index 823c9acfde..d94db22b42 100755 --- a/misc/scripts/fix_headers.py +++ b/misc/scripts/fix_headers.py @@ -33,7 +33,7 @@ header = """\ /*************************************************************************/ """ -files = open("files", "rb") +files = open("files", "r") fname = files.readline() @@ -67,7 +67,7 @@ while (fname != ""): # In a second pass, we skip all consecutive comment lines starting with "/*", # then we can append the rest (step 2). - fileread = open(fname.strip(), "rb") + fileread = open(fname.strip(), "r") line = fileread.readline() header_done = False @@ -92,11 +92,11 @@ while (fname != ""): fileread.close() # Write - filewrite = open(fname.strip(), "wb") + filewrite = open(fname.strip(), "w") filewrite.write(text) filewrite.close() # Next file fname = files.readline() -files.close()
\ No newline at end of file +files.close() diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub index 16d694c238..2fe7a1b4c0 100644 --- a/modules/bullet/SCsub +++ b/modules/bullet/SCsub @@ -186,7 +186,11 @@ if env['builtin_bullet']: thirdparty_sources = [thirdparty_dir + file for file in bullet2_src] - env_bullet.Prepend(CPPPATH=[thirdparty_dir]) + # Treat Bullet headers as system headers to avoid raising warnings. Not supported on MSVC. + if not env.msvc: + env_bullet.Append(CPPFLAGS=['-isystem', Dir(thirdparty_dir).path]) + else: + env_bullet.Prepend(CPPPATH=[thirdparty_dir]) # if env['target'] == "debug" or env['target'] == "release_debug": # env_bullet.Append(CPPFLAGS=['-DBT_DEBUG']) diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index be4e0b88e8..038001996d 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -267,7 +267,7 @@ RID BulletPhysicsServer::area_get_space(RID p_area) const { void BulletPhysicsServer::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) { AreaBullet *area = area_owner.get(p_area); - ERR_FAIL_COND(!area) + ERR_FAIL_COND(!area); area->set_spOv_mode(p_mode); } diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp index d9a82d6179..bc7fd52cf6 100644 --- a/modules/bullet/cone_twist_joint_bullet.cpp +++ b/modules/bullet/cone_twist_joint_bullet.cpp @@ -84,7 +84,7 @@ void ConeTwistJointBullet::set_param(PhysicsServer::ConeTwistJointParam p_param, break; default: ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated"); - WARN_DEPRECATED + WARN_DEPRECATED; break; } } diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp index 8fed933854..0d2c46c579 100644 --- a/modules/bullet/generic_6dof_joint_bullet.cpp +++ b/modules/bullet/generic_6dof_joint_bullet.cpp @@ -175,7 +175,7 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO break; default: ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated"); - WARN_DEPRECATED + WARN_DEPRECATED; break; } } @@ -256,7 +256,7 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF break; default: ERR_EXPLAIN("This flag " + itos(p_flag) + " is deprecated"); - WARN_DEPRECATED + WARN_DEPRECATED; break; } } diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp index 7b99d3d89f..b7e1e1a4c2 100644 --- a/modules/bullet/hinge_joint_bullet.cpp +++ b/modules/bullet/hinge_joint_bullet.cpp @@ -118,7 +118,7 @@ void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t break; default: ERR_EXPLAIN("The HingeJoint parameter " + itos(p_param) + " is deprecated."); - WARN_DEPRECATED + WARN_DEPRECATED; break; } } diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp index 58b090006a..c9c4d1af7e 100644 --- a/modules/bullet/pin_joint_bullet.cpp +++ b/modules/bullet/pin_joint_bullet.cpp @@ -86,7 +86,7 @@ real_t PinJointBullet::get_param(PhysicsServer::PinJointParam p_param) const { return p2pConstraint->m_setting.m_impulseClamp; default: ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated"); - WARN_DEPRECATED + WARN_DEPRECATED; return 0; } } diff --git a/modules/csg/csg.cpp b/modules/csg/csg.cpp index 3a61afa023..aa4d7d7d32 100644 --- a/modules/csg/csg.cpp +++ b/modules/csg/csg.cpp @@ -45,7 +45,7 @@ void CSGBrush::build_from_faces(const PoolVector<Vector3> &p_vertices, const Poo int vc = p_vertices.size(); - ERR_FAIL_COND((vc % 3) != 0) + ERR_FAIL_COND((vc % 3) != 0); PoolVector<Vector3>::Read rv = p_vertices.read(); int uvc = p_uvs.size(); diff --git a/modules/enet/networked_multiplayer_enet.cpp b/modules/enet/networked_multiplayer_enet.cpp index 18dfe08e85..1ff0395ba9 100644 --- a/modules/enet/networked_multiplayer_enet.cpp +++ b/modules/enet/networked_multiplayer_enet.cpp @@ -346,7 +346,7 @@ void NetworkedMultiplayerENet::poll() { uint32_t *id = (uint32_t *)event.peer->data; - ERR_CONTINUE(event.packet->dataLength < 8) + ERR_CONTINUE(event.packet->dataLength < 8); uint32_t source = decode_uint32(&event.packet->data[0]); int target = decode_uint32(&event.packet->data[4]); @@ -462,7 +462,7 @@ void NetworkedMultiplayerENet::disconnect_peer(int p_peer, bool now) { ERR_FAIL_COND(!active); ERR_FAIL_COND(!is_server()); - ERR_FAIL_COND(!peer_map.has(p_peer)) + ERR_FAIL_COND(!peer_map.has(p_peer)); if (now) { enet_peer_disconnect_now(peer_map[p_peer], 0); diff --git a/modules/gdnative/pluginscript/pluginscript_script.cpp b/modules/gdnative/pluginscript/pluginscript_script.cpp index 8dbbd2e4eb..1d6f9db349 100644 --- a/modules/gdnative/pluginscript/pluginscript_script.cpp +++ b/modules/gdnative/pluginscript/pluginscript_script.cpp @@ -39,12 +39,12 @@ #define ASSERT_SCRIPT_VALID() \ { \ ERR_EXPLAIN(__ASSERT_SCRIPT_REASON); \ - ERR_FAIL_COND(!can_instance()) \ + ERR_FAIL_COND(!can_instance()); \ } -#define ASSERT_SCRIPT_VALID_V(ret) \ - { \ - ERR_EXPLAIN(__ASSERT_SCRIPT_REASON); \ - ERR_FAIL_COND_V(!can_instance(), ret) \ +#define ASSERT_SCRIPT_VALID_V(ret) \ + { \ + ERR_EXPLAIN(__ASSERT_SCRIPT_REASON); \ + ERR_FAIL_COND_V(!can_instance(), ret); \ } #else #define ASSERT_SCRIPT_VALID() @@ -77,7 +77,7 @@ PluginScriptInstance *PluginScript::_create_instance(const Variant **p_args, int // There is currently no way to get the constructor function name of the script. // instance->call("__init__", p_args, p_argcount, r_error); if (p_argcount > 0) { - WARN_PRINT("PluginScript doesn't support arguments in the constructor") + WARN_PRINT("PluginScript doesn't support arguments in the constructor"); } return instance; diff --git a/modules/gdscript/gdscript_functions.cpp b/modules/gdscript/gdscript_functions.cpp index 98263d43e5..0736f3d010 100644 --- a/modules/gdscript/gdscript_functions.cpp +++ b/modules/gdscript/gdscript_functions.cpp @@ -342,7 +342,7 @@ void GDScriptFunctions::call(Function p_func, const Variant **p_args, int p_arg_ VALIDATE_ARG_NUM(0); r_ret = Math::step_decimals((double)*p_args[0]); ERR_EXPLAIN("GDScript method 'decimals' is deprecated and has been renamed to 'step_decimals', please update your code accordingly."); - WARN_DEPRECATED + WARN_DEPRECATED; } break; case MATH_STEP_DECIMALS: { VALIDATE_ARG_COUNT(1); diff --git a/modules/gdscript/gdscript_parser.cpp b/modules/gdscript/gdscript_parser.cpp index 44a91303e9..ec3e72eef7 100644 --- a/modules/gdscript/gdscript_parser.cpp +++ b/modules/gdscript/gdscript_parser.cpp @@ -1995,7 +1995,6 @@ GDScriptParser::Node *GDScriptParser::_reduce_expression(Node *p_node, bool p_to } } - ERR_FAIL_V(op); } break; default: { return p_node; @@ -4025,7 +4024,7 @@ void GDScriptParser::_parse_class(ClassNode *p_class) { if (tokenizer->get_token() == GDScriptTokenizer::TK_PARENTHESIS_CLOSE) { ERR_EXPLAIN("Exporting bit flags hint requires string constants."); - WARN_DEPRECATED + WARN_DEPRECATED; break; } if (tokenizer->get_token() != GDScriptTokenizer::TK_COMMA) { @@ -4068,6 +4067,50 @@ void GDScriptParser::_parse_class(ClassNode *p_class) { break; } + if (tokenizer->get_token() == GDScriptTokenizer::TK_IDENTIFIER && tokenizer->get_token_identifier() == "LAYERS_2D_RENDER") { + + tokenizer->advance(); + if (tokenizer->get_token() != GDScriptTokenizer::TK_PARENTHESIS_CLOSE) { + _set_error("Expected ')' in layers 2D render hint."); + return; + } + current_export.hint = PROPERTY_HINT_LAYERS_2D_RENDER; + break; + } + + if (tokenizer->get_token() == GDScriptTokenizer::TK_IDENTIFIER && tokenizer->get_token_identifier() == "LAYERS_2D_PHYSICS") { + + tokenizer->advance(); + if (tokenizer->get_token() != GDScriptTokenizer::TK_PARENTHESIS_CLOSE) { + _set_error("Expected ')' in layers 2D physics hint."); + return; + } + current_export.hint = PROPERTY_HINT_LAYERS_2D_PHYSICS; + break; + } + + if (tokenizer->get_token() == GDScriptTokenizer::TK_IDENTIFIER && tokenizer->get_token_identifier() == "LAYERS_3D_RENDER") { + + tokenizer->advance(); + if (tokenizer->get_token() != GDScriptTokenizer::TK_PARENTHESIS_CLOSE) { + _set_error("Expected ')' in layers 3D render hint."); + return; + } + current_export.hint = PROPERTY_HINT_LAYERS_3D_RENDER; + break; + } + + if (tokenizer->get_token() == GDScriptTokenizer::TK_IDENTIFIER && tokenizer->get_token_identifier() == "LAYERS_3D_PHYSICS") { + + tokenizer->advance(); + if (tokenizer->get_token() != GDScriptTokenizer::TK_PARENTHESIS_CLOSE) { + _set_error("Expected ')' in layers 3D physics hint."); + return; + } + current_export.hint = PROPERTY_HINT_LAYERS_3D_PHYSICS; + break; + } + if (tokenizer->get_token() == GDScriptTokenizer::TK_CONSTANT && tokenizer->get_token_constant().get_type() == Variant::STRING) { //enumeration current_export.hint = PROPERTY_HINT_ENUM; diff --git a/modules/gridmap/grid_map.cpp b/modules/gridmap/grid_map.cpp index 32a014e76d..3caa7b1d12 100644 --- a/modules/gridmap/grid_map.cpp +++ b/modules/gridmap/grid_map.cpp @@ -197,7 +197,7 @@ bool GridMap::get_collision_layer_bit(int p_bit) const { void GridMap::set_theme(const Ref<MeshLibrary> &p_theme) { ERR_EXPLAIN("GridMap.theme/set_theme() is deprecated and will be removed in a future version. Use GridMap.mesh_library/set_mesh_library() instead."); - WARN_DEPRECATED + WARN_DEPRECATED; set_mesh_library(p_theme); } @@ -205,7 +205,7 @@ void GridMap::set_theme(const Ref<MeshLibrary> &p_theme) { Ref<MeshLibrary> GridMap::get_theme() const { ERR_EXPLAIN("GridMap.theme/get_theme() is deprecated and will be removed in a future version. Use GridMap.mesh_library/get_mesh_library() instead."); - WARN_DEPRECATED + WARN_DEPRECATED; return get_mesh_library(); } diff --git a/modules/mono/build_scripts/patches/fix-mono-android-pthread_mutexattr_setprotocol.diff b/modules/mono/build_scripts/patches/fix-mono-android-pthread_mutexattr_setprotocol.diff deleted file mode 100644 index 21cb1a0cf8..0000000000 --- a/modules/mono/build_scripts/patches/fix-mono-android-pthread_mutexattr_setprotocol.diff +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/mono/utils/mono-os-mutex.h b/mono/utils/mono-os-mutex.h -index e8039bf4094..ee39c0330b3 100644 ---- a/mono/utils/mono-os-mutex.h -+++ b/mono/utils/mono-os-mutex.h -@@ -57,7 +57,7 @@ mono_os_mutex_init_type (mono_mutex_t *mutex, int type) - if (G_UNLIKELY (res != 0)) - g_error ("%s: pthread_mutexattr_settype failed with \"%s\" (%d)", __func__, g_strerror (res), res); - --#ifdef PTHREAD_PRIO_INHERIT -+#if defined(PTHREAD_PRIO_INHERIT) && __ANDROID_API__ >= 28 - /* use PTHREAD_PRIO_INHERIT if possible */ - res = pthread_mutexattr_setprotocol (&attr, PTHREAD_PRIO_INHERIT); - if (G_UNLIKELY (res != 0 && res != ENOTSUP)) diff --git a/modules/opus/audio_stream_opus.cpp b/modules/opus/audio_stream_opus.cpp index fda82295de..70d0f770d8 100644 --- a/modules/opus/audio_stream_opus.cpp +++ b/modules/opus/audio_stream_opus.cpp @@ -313,7 +313,7 @@ int AudioStreamPlaybackOpus::mix(int16_t *p_buffer, int p_frames) { bool ok = op_pcm_seek(opus_file, (loop_restart_time * osrate) + pre_skip) == 0; if (!ok) { playing = false; - ERR_PRINT("loop restart time rejected") + ERR_PRINT("Loop restart time rejected"); } frames_mixed = (loop_restart_time * osrate) + pre_skip; diff --git a/modules/recast/navigation_mesh_editor_plugin.cpp b/modules/recast/navigation_mesh_editor_plugin.cpp index eadc11fcee..9f30806925 100644 --- a/modules/recast/navigation_mesh_editor_plugin.cpp +++ b/modules/recast/navigation_mesh_editor_plugin.cpp @@ -67,9 +67,7 @@ void NavigationMeshEditor::_bake_pressed() { EditorNavigationMeshGenerator::get_singleton()->clear(node->get_navigation_mesh()); EditorNavigationMeshGenerator::get_singleton()->bake(node->get_navigation_mesh(), node); - if (node) { - node->update_gizmo(); - } + node->update_gizmo(); } void NavigationMeshEditor::_clear_pressed() { diff --git a/modules/tinyexr/image_loader_tinyexr.cpp b/modules/tinyexr/image_loader_tinyexr.cpp index bd84a28c84..a9340b1498 100644 --- a/modules/tinyexr/image_loader_tinyexr.cpp +++ b/modules/tinyexr/image_loader_tinyexr.cpp @@ -122,13 +122,13 @@ Error ImageLoaderTinyEXR::load_image(Ref<Image> p_image, FileAccess *f, bool p_f } if (idxG == -1) { - ERR_PRINT("TinyEXR: G channel not found.") + ERR_PRINT("TinyEXR: G channel not found."); // @todo { free exr_image } return ERR_FILE_CORRUPT; } if (idxB == -1) { - ERR_PRINT("TinyEXR: B channel not found.") + ERR_PRINT("TinyEXR: B channel not found."); // @todo { free exr_image } return ERR_FILE_CORRUPT; } diff --git a/modules/visual_script/visual_script_editor.cpp b/modules/visual_script/visual_script_editor.cpp index aad6e95845..f84f2c90cd 100644 --- a/modules/visual_script/visual_script_editor.cpp +++ b/modules/visual_script/visual_script_editor.cpp @@ -2111,6 +2111,9 @@ void VisualScriptEditor::clear_executing_line() { void VisualScriptEditor::trim_trailing_whitespace() { } +void VisualScriptEditor::insert_final_newline() { +} + void VisualScriptEditor::convert_indent_to_spaces() { } diff --git a/modules/visual_script/visual_script_editor.h b/modules/visual_script/visual_script_editor.h index 3d3a49f672..6072e77342 100644 --- a/modules/visual_script/visual_script_editor.h +++ b/modules/visual_script/visual_script_editor.h @@ -266,6 +266,7 @@ public: virtual void set_executing_line(int p_line); virtual void clear_executing_line(); virtual void trim_trailing_whitespace(); + virtual void insert_final_newline(); virtual void convert_indent_to_spaces(); virtual void convert_indent_to_tabs(); virtual void ensure_focus(); diff --git a/modules/vorbis/audio_stream_ogg_vorbis.cpp b/modules/vorbis/audio_stream_ogg_vorbis.cpp index 692705e411..e652abbe6a 100644 --- a/modules/vorbis/audio_stream_ogg_vorbis.cpp +++ b/modules/vorbis/audio_stream_ogg_vorbis.cpp @@ -143,8 +143,7 @@ int AudioStreamPlaybackOGGVorbis::mix(int16_t *p_buffer, int p_frames) { bool ok = ov_time_seek(&vf, loop_restart_time) == 0; if (!ok) { playing = false; - //ERR_EXPLAIN("loop restart time rejected"); - ERR_PRINT("loop restart time rejected") + ERR_PRINT("Loop restart time rejected"); } frames_mixed = stream_srate * loop_restart_time; diff --git a/modules/webm/video_stream_webm.cpp b/modules/webm/video_stream_webm.cpp index 6485c95360..3670edc9ea 100644 --- a/modules/webm/video_stream_webm.cpp +++ b/modules/webm/video_stream_webm.cpp @@ -413,10 +413,11 @@ void VideoStreamPlaybackWebm::delete_pointers() { if (audio_frame) memdelete(audio_frame); - for (int i = 0; i < video_frames_capacity; ++i) - memdelete(video_frames[i]); - if (video_frames) + if (video_frames) { + for (int i = 0; i < video_frames_capacity; ++i) + memdelete(video_frames[i]); memfree(video_frames); + } if (video) memdelete(video); diff --git a/platform/android/export/export.cpp b/platform/android/export/export.cpp index b987b3aebd..30267aa968 100644 --- a/platform/android/export/export.cpp +++ b/platform/android/export/export.cpp @@ -790,7 +790,7 @@ class EditorExportPlatformAndroid : public EditorExportPlatform { if (tname == "manifest" && attrname == "versionName") { if (attr_value == 0xFFFFFFFF) { - WARN_PRINT("Version name in a resource, should be plaintext") + WARN_PRINT("Version name in a resource, should be plain text"); } else string_table.write[attr_value] = version_name; } diff --git a/platform/iphone/export/export.cpp b/platform/iphone/export/export.cpp index ba405ab7ae..7ca83320d0 100644 --- a/platform/iphone/export/export.cpp +++ b/platform/iphone/export/export.cpp @@ -914,7 +914,7 @@ Error EditorExportPlatformIOS::export_project(const Ref<EditorExportPreset> &p_p }; DirAccess *tmp_app_path = DirAccess::create_for_path(dest_dir); - ERR_FAIL_COND_V(!tmp_app_path, ERR_CANT_CREATE) + ERR_FAIL_COND_V(!tmp_app_path, ERR_CANT_CREATE); print_line("Unzipping..."); FileAccess *src_f = NULL; diff --git a/platform/iphone/icloud.mm b/platform/iphone/icloud.mm index e32618e8f6..c60db3d661 100644 --- a/platform/iphone/icloud.mm +++ b/platform/iphone/icloud.mm @@ -138,7 +138,7 @@ Variant nsobject_to_variant(NSObject *object) { //this is a type that icloud supports...but how did you submit it in the first place? //I guess this is a type that *might* show up, if you were, say, trying to make your game //compatible with existing cloud data written by another engine's version of your game - WARN_PRINT("NSDate unsupported, returning null Variant") + WARN_PRINT("NSDate unsupported, returning null Variant"); return Variant(); } else if ([object isKindOfClass:[NSNull class]] or object == nil) { return Variant(); diff --git a/platform/javascript/os_javascript.cpp b/platform/javascript/os_javascript.cpp index 502463a6f1..e7981bf576 100644 --- a/platform/javascript/os_javascript.cpp +++ b/platform/javascript/os_javascript.cpp @@ -1144,7 +1144,7 @@ void OS_JavaScript::set_icon(const Ref<Image> &p_icon) { Ref<Image> icon = p_icon; if (icon->is_compressed()) { icon = icon->duplicate(); - ERR_FAIL_COND(icon->decompress() != OK) + ERR_FAIL_COND(icon->decompress() != OK); } if (icon->get_format() != Image::FORMAT_RGBA8) { if (icon == p_icon) diff --git a/platform/osx/os_osx.mm b/platform/osx/os_osx.mm index 567d24de3e..bdc17c7124 100644 --- a/platform/osx/os_osx.mm +++ b/platform/osx/os_osx.mm @@ -1002,7 +1002,7 @@ static const _KeyCodeMap _keycodes[55] = { { '/', KEY_SLASH } }; -static int remapKey(unsigned int key) { +static int remapKey(unsigned int key, unsigned int state) { if (isNumpadKey(key)) return translateKey(key); @@ -1024,7 +1024,7 @@ static int remapKey(unsigned int key) { OSStatus err = UCKeyTranslate(keyboardLayout, key, kUCKeyActionDisplay, - 0, + (state >> 8) & 0xFF, LMGetKbdType(), kUCKeyTranslateNoDeadKeysBit, &keysDown, @@ -1051,7 +1051,7 @@ static int remapKey(unsigned int key) { NSString *characters = [event characters]; NSUInteger length = [characters length]; - if (!OS_OSX::singleton->im_active && length > 0 && keycode_has_unicode(remapKey([event keyCode]))) { + if (!OS_OSX::singleton->im_active && length > 0 && keycode_has_unicode(remapKey([event keyCode], [event modifierFlags]))) { // Fallback unicode character handler used if IME is not active for (NSUInteger i = 0; i < length; i++) { OS_OSX::KeyEvent ke; @@ -1059,7 +1059,7 @@ static int remapKey(unsigned int key) { ke.osx_state = [event modifierFlags]; ke.pressed = true; ke.echo = [event isARepeat]; - ke.scancode = remapKey([event keyCode]); + ke.scancode = remapKey([event keyCode], [event modifierFlags]); ke.raw = true; ke.unicode = [characters characterAtIndex:i]; @@ -1071,7 +1071,7 @@ static int remapKey(unsigned int key) { ke.osx_state = [event modifierFlags]; ke.pressed = true; ke.echo = [event isARepeat]; - ke.scancode = remapKey([event keyCode]); + ke.scancode = remapKey([event keyCode], [event modifierFlags]); ke.raw = false; ke.unicode = 0; @@ -1129,7 +1129,7 @@ static int remapKey(unsigned int key) { } ke.osx_state = mod; - ke.scancode = remapKey(key); + ke.scancode = remapKey(key, mod); ke.unicode = 0; push_to_key_event_buffer(ke); @@ -1144,14 +1144,14 @@ static int remapKey(unsigned int key) { NSUInteger length = [characters length]; // Fallback unicode character handler used if IME is not active - if (!OS_OSX::singleton->im_active && length > 0 && keycode_has_unicode(remapKey([event keyCode]))) { + if (!OS_OSX::singleton->im_active && length > 0 && keycode_has_unicode(remapKey([event keyCode], [event modifierFlags]))) { for (NSUInteger i = 0; i < length; i++) { OS_OSX::KeyEvent ke; ke.osx_state = [event modifierFlags]; ke.pressed = false; ke.echo = [event isARepeat]; - ke.scancode = remapKey([event keyCode]); + ke.scancode = remapKey([event keyCode], [event modifierFlags]); ke.raw = true; ke.unicode = [characters characterAtIndex:i]; @@ -1163,7 +1163,7 @@ static int remapKey(unsigned int key) { ke.osx_state = [event modifierFlags]; ke.pressed = false; ke.echo = [event isARepeat]; - ke.scancode = remapKey([event keyCode]); + ke.scancode = remapKey([event keyCode], [event modifierFlags]); ke.raw = true; ke.unicode = 0; @@ -1551,7 +1551,7 @@ Error OS_OSX::initialize(const VideoMode &p_desired, int p_video_driver, int p_a restore_rect = Rect2(get_window_position(), get_window_size()); - if (p_desired.layered_splash) { + if (p_desired.layered) { set_window_per_pixel_transparency_enabled(true); } return OK; diff --git a/platform/server/detect.py b/platform/server/detect.py index 08c2eb6aaf..a5648d8d9d 100644 --- a/platform/server/detect.py +++ b/platform/server/detect.py @@ -145,12 +145,12 @@ def configure(env): env.ParseConfig('pkg-config libpng --cflags --libs') if not env['builtin_bullet']: - # We need at least version 2.88 + # We need at least version 2.89 import subprocess bullet_version = subprocess.check_output(['pkg-config', 'bullet', '--modversion']).strip() - if str(bullet_version) < "2.88": + if str(bullet_version) < "2.89": # Abort as system bullet was requested but too old - print("Bullet: System version {0} does not match minimal requirements ({1}). Aborting.".format(bullet_version, "2.88")) + print("Bullet: System version {0} does not match minimal requirements ({1}). Aborting.".format(bullet_version, "2.89")) sys.exit(255) env.ParseConfig('pkg-config bullet --cflags --libs') diff --git a/platform/uwp/export/export.cpp b/platform/uwp/export/export.cpp index cdcad33f6d..ec43a4c26f 100644 --- a/platform/uwp/export/export.cpp +++ b/platform/uwp/export/export.cpp @@ -241,7 +241,6 @@ void AppxPackager::make_block_map() { tmp_file->close(); memdelete(tmp_file); - tmp_file = NULL; } String AppxPackager::content_type(String p_extension) { @@ -291,7 +290,6 @@ void AppxPackager::make_content_types() { tmp_file->close(); memdelete(tmp_file); - tmp_file = NULL; } Vector<uint8_t> AppxPackager::make_file_header(FileMeta p_file_meta) { @@ -606,7 +604,6 @@ void AppxPackager::finish() { blockmap_file->close(); memdelete(blockmap_file); - blockmap_file = NULL; // Add content types EditorNode::progress_task_step("export", "Setting content types...", 5); @@ -622,7 +619,6 @@ void AppxPackager::finish() { types_file->close(); memdelete(types_file); - types_file = NULL; // Pre-process central directory before signing for (int i = 0; i < file_metadata.size(); i++) { diff --git a/platform/windows/os_windows.cpp b/platform/windows/os_windows.cpp index 6df2ad4821..4cd637a4b2 100644 --- a/platform/windows/os_windows.cpp +++ b/platform/windows/os_windows.cpp @@ -1381,7 +1381,7 @@ Error OS_Windows::initialize(const VideoMode &p_desired, int p_video_driver, int SetFocus(hWnd); // Sets Keyboard Focus To } - if (p_desired.layered_splash) { + if (p_desired.layered) { set_window_per_pixel_transparency_enabled(true); } diff --git a/platform/x11/detect.py b/platform/x11/detect.py index 933ee6b72e..a502308eee 100644 --- a/platform/x11/detect.py +++ b/platform/x11/detect.py @@ -219,12 +219,12 @@ def configure(env): env.ParseConfig('pkg-config libpng --cflags --libs') if not env['builtin_bullet']: - # We need at least version 2.88 + # We need at least version 2.89 import subprocess bullet_version = subprocess.check_output(['pkg-config', 'bullet', '--modversion']).strip() - if str(bullet_version) < "2.88": + if str(bullet_version) < "2.89": # Abort as system bullet was requested but too old - print("Bullet: System version {0} does not match minimal requirements ({1}). Aborting.".format(bullet_version, "2.88")) + print("Bullet: System version {0} does not match minimal requirements ({1}). Aborting.".format(bullet_version, "2.89")) sys.exit(255) env.ParseConfig('pkg-config bullet --cflags --libs') diff --git a/platform/x11/joypad_linux.cpp b/platform/x11/joypad_linux.cpp index c4dd8fe0e0..3e9e8033e8 100644 --- a/platform/x11/joypad_linux.cpp +++ b/platform/x11/joypad_linux.cpp @@ -444,10 +444,10 @@ InputDefault::JoyAxis JoypadLinux::axis_correct(const input_absinfo *p_abs, int jx.min = -1; if (p_value < 0) { jx.value = (float)-p_value / min; + } else { + jx.value = (float)p_value / max; } - jx.value = (float)p_value / max; - } - if (min == 0) { + } else if (min == 0) { jx.min = 0; jx.value = 0.0f + (float)p_value / max; } diff --git a/platform/x11/os_x11.cpp b/platform/x11/os_x11.cpp index 311b42be22..510f3d6114 100644 --- a/platform/x11/os_x11.cpp +++ b/platform/x11/os_x11.cpp @@ -593,7 +593,7 @@ Error OS_X11::initialize(const VideoMode &p_desired, int p_video_driver, int p_a power_manager = memnew(PowerX11); - if (p_desired.layered_splash) { + if (p_desired.layered) { set_window_per_pixel_transparency_enabled(true); } @@ -1017,12 +1017,12 @@ void OS_X11::set_wm_fullscreen(bool p_enabled) { XFree(xsh); } - if (!p_enabled && !get_borderless_window()) { - // put decorations back if the window wasn't suppoesed to be borderless + if (!p_enabled) { + // put back or remove decorations according to the last set borderless state Hints hints; Atom property; hints.flags = 2; - hints.decorations = 1; + hints.decorations = current_videomode.borderless_window ? 0 : 1; property = XInternAtom(x11_display, "_MOTIF_WM_HINTS", True); XChangeProperty(x11_display, x11_window, property, property, 32, PropModeReplace, (unsigned char *)&hints, 5); } @@ -1531,7 +1531,7 @@ bool OS_X11::is_window_always_on_top() const { void OS_X11::set_borderless_window(bool p_borderless) { - if (current_videomode.borderless_window == p_borderless) + if (get_borderless_window() == p_borderless) return; if (!p_borderless && layered_window) @@ -1551,7 +1551,24 @@ void OS_X11::set_borderless_window(bool p_borderless) { } bool OS_X11::get_borderless_window() { - return current_videomode.borderless_window; + + bool borderless = current_videomode.borderless_window; + Atom prop = XInternAtom(x11_display, "_MOTIF_WM_HINTS", True); + if (prop != None) { + + Atom type; + int format; + unsigned long len; + unsigned long remaining; + unsigned char *data = NULL; + if (XGetWindowProperty(x11_display, x11_window, prop, 0, sizeof(Hints), False, AnyPropertyType, &type, &format, &len, &remaining, &data) == Success) { + if (data && (format == 32) && (len >= 5)) { + borderless = !((Hints *)data)->decorations; + } + XFree(data); + } + } + return borderless; } void OS_X11::request_attention() { diff --git a/scene/2d/animated_sprite.cpp b/scene/2d/animated_sprite.cpp index 25ad6bd5c9..5bf70e12b7 100644 --- a/scene/2d/animated_sprite.cpp +++ b/scene/2d/animated_sprite.cpp @@ -646,6 +646,7 @@ void AnimatedSprite::_reset_timeout() { void AnimatedSprite::set_animation(const StringName &p_animation) { ERR_EXPLAIN(vformat("There is no animation with name '%s'.", p_animation)); + ERR_FAIL_COND(frames == NULL); ERR_FAIL_COND(frames->get_animation_names().find(p_animation) == -1); if (animation == p_animation) diff --git a/scene/2d/camera_2d.cpp b/scene/2d/camera_2d.cpp index 11846654c5..aa14491577 100644 --- a/scene/2d/camera_2d.cpp +++ b/scene/2d/camera_2d.cpp @@ -44,15 +44,16 @@ void Camera2D::_update_scroll() { return; } + if (!viewport) + return; + if (current) { ERR_FAIL_COND(custom_viewport && !ObjectDB::get_instance(custom_viewport_id)); Transform2D xform = get_camera_transform(); - if (viewport) { - viewport->set_canvas_transform(xform); - } + viewport->set_canvas_transform(xform); Size2 screen_size = viewport->get_visible_rect().size; Point2 screen_offset = (anchor_mode == ANCHOR_MODE_DRAG_CENTER ? (screen_size * 0.5) : Point2()); diff --git a/scene/2d/cpu_particles_2d.cpp b/scene/2d/cpu_particles_2d.cpp index ff27e0a29a..2b1009a2d1 100644 --- a/scene/2d/cpu_particles_2d.cpp +++ b/scene/2d/cpu_particles_2d.cpp @@ -545,6 +545,8 @@ void CPUParticles2D::_particles_process(float p_delta) { velocity_xform[2] = Vector2(); } + float system_phase = time / lifetime; + for (int i = 0; i < pcount; i++) { Particle &p = parray[i]; @@ -552,21 +554,26 @@ void CPUParticles2D::_particles_process(float p_delta) { if (!emitting && !p.active) continue; - float restart_time = (float(i) / float(pcount)) * lifetime; float local_delta = p_delta; + // The phase is a ratio between 0 (birth) and 1 (end of life) for each particle. + // While we use time in tests later on, for randomness we use the phase as done in the + // original shader code, and we later multiply by lifetime to get the time. + float restart_phase = float(i) / float(pcount); + if (randomness_ratio > 0.0) { uint32_t seed = cycle; - if (restart_time >= time) { + if (restart_phase >= system_phase) { seed -= uint32_t(1); } seed *= uint32_t(pcount); seed += uint32_t(i); float random = float(idhash(seed) % uint32_t(65536)) / 65536.0; - restart_time += randomness_ratio * random * 1.0 / float(pcount); + restart_phase += randomness_ratio * random * 1.0 / float(pcount); } - restart_time *= (1.0 - explosiveness_ratio); + restart_phase *= (1.0 - explosiveness_ratio); + float restart_time = restart_phase * lifetime; bool restart = false; if (time > prev_time) { @@ -748,7 +755,7 @@ void CPUParticles2D::_particles_process(float p_delta) { force += diff.length() > 0.0 ? diff.normalized() * (parameters[PARAM_RADIAL_ACCEL] + tex_radial_accel) * Math::lerp(1.0f, rand_from_seed(alt_seed), randomness[PARAM_RADIAL_ACCEL]) : Vector2(); //apply tangential acceleration; Vector2 yx = Vector2(diff.y, diff.x); - force += yx.length() > 0.0 ? (yx * Vector2(-1.0, 1.0)) * ((parameters[PARAM_TANGENTIAL_ACCEL] + tex_tangential_accel) * Math::lerp(1.0f, rand_from_seed(alt_seed), randomness[PARAM_TANGENTIAL_ACCEL])) : Vector2(); + force += yx.length() > 0.0 ? (yx * Vector2(-1.0, 1.0)).normalized() * ((parameters[PARAM_TANGENTIAL_ACCEL] + tex_tangential_accel) * Math::lerp(1.0f, rand_from_seed(alt_seed), randomness[PARAM_TANGENTIAL_ACCEL])) : Vector2(); //apply attractor forces p.velocity += force * local_delta; //orbit velocity @@ -1174,15 +1181,16 @@ void CPUParticles2D::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::BOOL, "emitting"), "set_emitting", "is_emitting"); ADD_PROPERTY(PropertyInfo(Variant::INT, "amount", PROPERTY_HINT_EXP_RANGE, "1,1000000,1"), "set_amount", "get_amount"); ADD_GROUP("Time", ""); - ADD_PROPERTY(PropertyInfo(Variant::REAL, "lifetime", PROPERTY_HINT_EXP_RANGE, "0.01,600.0,0.01,or_greater"), "set_lifetime", "get_lifetime"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "lifetime", PROPERTY_HINT_RANGE, "0.01,600.0,0.01,or_greater"), "set_lifetime", "get_lifetime"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "one_shot"), "set_one_shot", "get_one_shot"); - ADD_PROPERTY(PropertyInfo(Variant::REAL, "preprocess", PROPERTY_HINT_EXP_RANGE, "0.00,600.0,0.01"), "set_pre_process_time", "get_pre_process_time"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "preprocess", PROPERTY_HINT_RANGE, "0.00,600.0,0.01"), "set_pre_process_time", "get_pre_process_time"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "speed_scale", PROPERTY_HINT_RANGE, "0,64,0.01"), "set_speed_scale", "get_speed_scale"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "explosiveness", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_explosiveness_ratio", "get_explosiveness_ratio"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "randomness", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_randomness_ratio", "get_randomness_ratio"); ADD_PROPERTY(PropertyInfo(Variant::INT, "fixed_fps", PROPERTY_HINT_RANGE, "0,1000,1"), "set_fixed_fps", "get_fixed_fps"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "fract_delta"), "set_fractional_delta", "get_fractional_delta"); ADD_GROUP("Drawing", ""); + // No visibility_rect property contrarily to Particles2D, it's updated automatically. ADD_PROPERTY(PropertyInfo(Variant::BOOL, "local_coords"), "set_use_local_coordinates", "get_use_local_coordinates"); ADD_PROPERTY(PropertyInfo(Variant::INT, "draw_order", PROPERTY_HINT_ENUM, "Index,Lifetime"), "set_draw_order", "get_draw_order"); ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "texture", PROPERTY_HINT_RESOURCE_TYPE, "Texture"), "set_texture", "get_texture"); diff --git a/scene/2d/cpu_particles_2d.h b/scene/2d/cpu_particles_2d.h index 23d2586331..81343a4604 100644 --- a/scene/2d/cpu_particles_2d.h +++ b/scene/2d/cpu_particles_2d.h @@ -116,7 +116,7 @@ private: const Particle *particles; bool operator()(int p_a, int p_b) const { - return particles[p_a].time < particles[p_b].time; + return particles[p_a].time > particles[p_b].time; } }; diff --git a/scene/2d/line_2d.cpp b/scene/2d/line_2d.cpp index ba06b3ebff..5ba184b324 100644 --- a/scene/2d/line_2d.cpp +++ b/scene/2d/line_2d.cpp @@ -105,6 +105,7 @@ void Line2D::set_point_position(int i, Vector2 pos) { } Vector2 Line2D::get_point_position(int i) const { + ERR_FAIL_INDEX_V(i, _points.size(), Vector2()); return _points.get(i); } diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp index 578c9aa5f9..2bd9e5e2a2 100644 --- a/scene/2d/physics_body_2d.cpp +++ b/scene/2d/physics_body_2d.cpp @@ -203,8 +203,8 @@ void StaticBody2D::set_friction(real_t p_friction) { return; } - ERR_EXPLAIN("The method set_friction has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method set_friction has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; ERR_FAIL_COND(p_friction < 0 || p_friction > 1); @@ -217,8 +217,8 @@ void StaticBody2D::set_friction(real_t p_friction) { real_t StaticBody2D::get_friction() const { - ERR_EXPLAIN("The method get_friction has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method get_friction has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; if (physics_material_override.is_null()) { return 1; @@ -233,8 +233,8 @@ void StaticBody2D::set_bounce(real_t p_bounce) { return; } - ERR_EXPLAIN("The method set_bounce has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method set_bounce has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1); @@ -247,8 +247,8 @@ void StaticBody2D::set_bounce(real_t p_bounce) { real_t StaticBody2D::get_bounce() const { - ERR_EXPLAIN("The method get_bounce has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method get_bounce has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; if (physics_material_override.is_null()) { return 0; @@ -630,8 +630,8 @@ void RigidBody2D::set_friction(real_t p_friction) { return; } - ERR_EXPLAIN("The method set_friction has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method set_friction has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; ERR_FAIL_COND(p_friction < 0 || p_friction > 1); @@ -643,8 +643,8 @@ void RigidBody2D::set_friction(real_t p_friction) { } real_t RigidBody2D::get_friction() const { - ERR_EXPLAIN("The method get_friction has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method get_friction has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; if (physics_material_override.is_null()) { return 1; @@ -659,8 +659,8 @@ void RigidBody2D::set_bounce(real_t p_bounce) { return; } - ERR_EXPLAIN("The method set_bounce has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method set_bounce has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1); @@ -672,8 +672,8 @@ void RigidBody2D::set_bounce(real_t p_bounce) { } real_t RigidBody2D::get_bounce() const { - ERR_EXPLAIN("The method get_bounce has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method get_bounce has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; if (physics_material_override.is_null()) { return 0; diff --git a/scene/2d/tile_map.cpp b/scene/2d/tile_map.cpp index 2b43861eea..b3b6f3175d 100644 --- a/scene/2d/tile_map.cpp +++ b/scene/2d/tile_map.cpp @@ -220,8 +220,8 @@ void TileMap::_fix_cell_transform(Transform2D &xform, const Cell &p_cell, const xform.elements[1].y = -xform.elements[1].y; offset.y = s.y - offset.y; } - - offset += cell_size / 2 - s / 2; + /* For a future CheckBox to Center Texture: + offset += cell_size / 2 - s / 2; */ xform.elements[2] += offset; } @@ -372,10 +372,11 @@ void TileMap::update_dirty_quadrants() { if (c.transpose) { SWAP(tile_ofs.x, tile_ofs.y); + /* For a future CheckBox to Center Texture: rect.position.x += cell_size.x / 2 - rect.size.y / 2; rect.position.y += cell_size.y / 2 - rect.size.x / 2; } else { - rect.position += cell_size / 2 - rect.size / 2; + rect.position += cell_size / 2 - rect.size / 2; */ } if (c.flip_h) { diff --git a/scene/3d/arvr_nodes.cpp b/scene/3d/arvr_nodes.cpp index 4e88948ce2..95eec41fb2 100644 --- a/scene/3d/arvr_nodes.cpp +++ b/scene/3d/arvr_nodes.cpp @@ -390,7 +390,7 @@ String ARVRController::get_configuration_warning() const { }; ARVRController::ARVRController() { - controller_id = 0; + controller_id = 1; is_active = true; button_states = 0; }; @@ -530,7 +530,7 @@ Ref<Mesh> ARVRAnchor::get_mesh() const { } ARVRAnchor::ARVRAnchor() { - anchor_id = 0; + anchor_id = 1; is_active = true; }; diff --git a/scene/3d/cpu_particles.cpp b/scene/3d/cpu_particles.cpp index 138c446fea..a81071492b 100644 --- a/scene/3d/cpu_particles.cpp +++ b/scene/3d/cpu_particles.cpp @@ -515,6 +515,8 @@ void CPUParticles::_particles_process(float p_delta) { velocity_xform = emission_xform.basis; } + float system_phase = time / lifetime; + for (int i = 0; i < pcount; i++) { Particle &p = parray[i]; @@ -522,21 +524,26 @@ void CPUParticles::_particles_process(float p_delta) { if (!emitting && !p.active) continue; - float restart_time = (float(i) / float(pcount)) * lifetime; float local_delta = p_delta; + // The phase is a ratio between 0 (birth) and 1 (end of life) for each particle. + // While we use time in tests later on, for randomness we use the phase as done in the + // original shader code, and we later multiply by lifetime to get the time. + float restart_phase = float(i) / float(pcount); + if (randomness_ratio > 0.0) { uint32_t seed = cycle; - if (restart_time >= time) { + if (restart_phase >= system_phase) { seed -= uint32_t(1); } seed *= uint32_t(pcount); seed += uint32_t(i); float random = float(idhash(seed) % uint32_t(65536)) / 65536.0; - restart_time += randomness_ratio * random * 1.0 / float(pcount); + restart_phase += randomness_ratio * random * 1.0 / float(pcount); } - restart_time *= (1.0 - explosiveness_ratio); + restart_phase *= (1.0 - explosiveness_ratio); + float restart_time = restart_phase * lifetime; bool restart = false; if (time > prev_time) { @@ -754,8 +761,9 @@ void CPUParticles::_particles_process(float p_delta) { //apply tangential acceleration; if (flags[FLAG_DISABLE_Z]) { - Vector3 yx = Vector3(diff.y, 0, diff.x); - force += yx.length() > 0.0 ? (yx * Vector3(-1.0, 0, 1.0)) * ((parameters[PARAM_TANGENTIAL_ACCEL] + tex_tangential_accel) * Math::lerp(1.0f, rand_from_seed(alt_seed), randomness[PARAM_TANGENTIAL_ACCEL])) : Vector3(); + Vector2 yx = Vector2(diff.y, diff.x); + Vector2 yx2 = (yx * Vector2(-1.0, 1.0)).normalized(); + force += yx.length() > 0.0 ? Vector3(yx2.x, yx2.y, 0.0) * ((parameters[PARAM_TANGENTIAL_ACCEL] + tex_tangential_accel) * Math::lerp(1.0f, rand_from_seed(alt_seed), randomness[PARAM_TANGENTIAL_ACCEL])) : Vector3(); } else { Vector3 crossDiff = diff.normalized().cross(gravity.normalized()); diff --git a/scene/3d/physics_body.cpp b/scene/3d/physics_body.cpp index 57af951110..3624e04434 100644 --- a/scene/3d/physics_body.cpp +++ b/scene/3d/physics_body.cpp @@ -192,8 +192,8 @@ void StaticBody::set_friction(real_t p_friction) { return; } - ERR_EXPLAIN("The method set_friction has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method set_friction has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; ERR_FAIL_COND(p_friction < 0 || p_friction > 1); @@ -206,8 +206,8 @@ void StaticBody::set_friction(real_t p_friction) { real_t StaticBody::get_friction() const { - ERR_EXPLAIN("The method get_friction has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method get_friction has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; if (physics_material_override.is_null()) { return 1; @@ -222,8 +222,8 @@ void StaticBody::set_bounce(real_t p_bounce) { return; } - ERR_EXPLAIN("The method set_bounce has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method set_bounce has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1); @@ -236,8 +236,8 @@ void StaticBody::set_bounce(real_t p_bounce) { real_t StaticBody::get_bounce() const { - ERR_EXPLAIN("The method get_bounce has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method get_bounce has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; if (physics_material_override.is_null()) { return 0; @@ -636,8 +636,8 @@ void RigidBody::set_friction(real_t p_friction) { return; } - ERR_EXPLAIN("The method set_friction has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method set_friction has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; ERR_FAIL_COND(p_friction < 0 || p_friction > 1); @@ -649,8 +649,8 @@ void RigidBody::set_friction(real_t p_friction) { } real_t RigidBody::get_friction() const { - ERR_EXPLAIN("The method get_friction has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method get_friction has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; if (physics_material_override.is_null()) { return 1; @@ -665,8 +665,8 @@ void RigidBody::set_bounce(real_t p_bounce) { return; } - ERR_EXPLAIN("The method set_bounce has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method set_bounce has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1); @@ -677,8 +677,8 @@ void RigidBody::set_bounce(real_t p_bounce) { physics_material_override->set_bounce(p_bounce); } real_t RigidBody::get_bounce() const { - ERR_EXPLAIN("The method get_bounce has been deprecated and will be removed in the future, use physics material instead.") - WARN_DEPRECATED + ERR_EXPLAIN("The method get_bounce has been deprecated and will be removed in the future, use physics material instead."); + WARN_DEPRECATED; if (physics_material_override.is_null()) { return 0; } diff --git a/scene/animation/animation_blend_tree.cpp b/scene/animation/animation_blend_tree.cpp index e9b38ae990..20a09696e1 100644 --- a/scene/animation/animation_blend_tree.cpp +++ b/scene/animation/animation_blend_tree.cpp @@ -1049,7 +1049,7 @@ AnimationNodeBlendTree::ConnectionError AnimationNodeBlendTree::can_connect_node return CONNECTION_ERROR_NO_INPUT; } - if (!nodes.has(p_input_node)) { + if (p_input_node == p_output_node) { return CONNECTION_ERROR_SAME_NODE; } diff --git a/scene/animation/animation_tree.cpp b/scene/animation/animation_tree.cpp index 8247728b9d..54f0fdc26a 100644 --- a/scene/animation/animation_tree.cpp +++ b/scene/animation/animation_tree.cpp @@ -316,7 +316,7 @@ String AnimationNode::get_caption() const { void AnimationNode::add_input(const String &p_name) { //root nodes can't add inputs - ERR_FAIL_COND(Object::cast_to<AnimationRootNode>(this) != NULL) + ERR_FAIL_COND(Object::cast_to<AnimationRootNode>(this) != NULL); Input input; ERR_FAIL_COND(p_name.find(".") != -1 || p_name.find("/") != -1); input.name = p_name; diff --git a/scene/animation/animation_tree_player.cpp b/scene/animation/animation_tree_player.cpp index 3cc90c2ad6..5c3e123ac3 100644 --- a/scene/animation/animation_tree_player.cpp +++ b/scene/animation/animation_tree_player.cpp @@ -404,7 +404,7 @@ void AnimationTreePlayer::_notification(int p_what) { case NOTIFICATION_ENTER_TREE: { ERR_EXPLAIN("AnimationTreePlayer has been deprecated. Use AnimationTree instead."); - WARN_DEPRECATED + WARN_DEPRECATED; if (!processing) { //make sure that a previous process state was not saved diff --git a/scene/gui/line_edit.cpp b/scene/gui/line_edit.cpp index 58bdde1ffd..da6bff8ab8 100644 --- a/scene/gui/line_edit.cpp +++ b/scene/gui/line_edit.cpp @@ -539,7 +539,7 @@ void LineEdit::_gui_input(Ref<InputEvent> p_event) { if (handled) { accept_event(); - } else if (!k->get_alt() && !k->get_command()) { + } else if (!k->get_command()) { if (k->get_unicode() >= 32 && k->get_scancode() != KEY_DELETE) { if (editable) { diff --git a/scene/gui/rich_text_label.cpp b/scene/gui/rich_text_label.cpp index da452e3f10..c6b6d29384 100644 --- a/scene/gui/rich_text_label.cpp +++ b/scene/gui/rich_text_label.cpp @@ -592,7 +592,7 @@ int RichTextLabel::_process_line(ItemFrame *p_frame, const Vector2 &p_ofs, int & //assign actual widths for (int i = 0; i < table->columns.size(); i++) { table->columns.write[i].width = table->columns[i].min_width; - if (table->columns[i].expand) + if (table->columns[i].expand && total_ratio > 0) table->columns.write[i].width += table->columns[i].expand_ratio * remaining_width / total_ratio; table->total_width += table->columns[i].width + hseparation; } diff --git a/scene/gui/text_edit.cpp b/scene/gui/text_edit.cpp index 6203b15992..53035fbb9b 100644 --- a/scene/gui/text_edit.cpp +++ b/scene/gui/text_edit.cpp @@ -4682,6 +4682,8 @@ bool TextEdit::has_keyword_color(String p_keyword) const { } Color TextEdit::get_keyword_color(String p_keyword) const { + + ERR_FAIL_COND_V(!keywords.has(p_keyword), Color()); return keywords[p_keyword]; } diff --git a/scene/gui/tree.cpp b/scene/gui/tree.cpp index 2007ae2669..23b2147875 100644 --- a/scene/gui/tree.cpp +++ b/scene/gui/tree.cpp @@ -318,7 +318,7 @@ void TreeItem::set_custom_draw(int p_column, Object *p_object, const StringName void TreeItem::set_collapsed(bool p_collapsed) { - if (collapsed == p_collapsed) + if (collapsed == p_collapsed || !tree) return; collapsed = p_collapsed; TreeItem *ci = tree->selected_item; @@ -344,8 +344,7 @@ void TreeItem::set_collapsed(bool p_collapsed) { } _changed_notify(); - if (tree) - tree->emit_signal("item_collapsed", this); + tree->emit_signal("item_collapsed", this); } bool TreeItem::is_collapsed() { diff --git a/scene/main/node.cpp b/scene/main/node.cpp index 2f23c11748..ee23b24b3c 100644 --- a/scene/main/node.cpp +++ b/scene/main/node.cpp @@ -1165,7 +1165,7 @@ void Node::add_child(Node *p_child, bool p_legible_unique_name) { ERR_FAIL_NULL(p_child); if (p_child == this) { - ERR_EXPLAIN("Can't add child '" + p_child->get_name() + "' to itself.") + ERR_EXPLAIN("Can't add child '" + p_child->get_name() + "' to itself."); ERR_FAIL_COND(p_child == this); // adding to itself! } @@ -1199,7 +1199,7 @@ void Node::add_child_below_node(Node *p_node, Node *p_child, bool p_legible_uniq if (is_a_parent_of(p_node)) { move_child(p_child, p_node->get_position_in_parent() + 1); } else { - WARN_PRINTS("Cannot move under node " + p_node->get_name() + " as " + p_child->get_name() + " does not share a parent.") + WARN_PRINTS("Cannot move under node " + p_node->get_name() + " as " + p_child->get_name() + " does not share a parent."); } } diff --git a/scene/main/scene_tree.cpp b/scene/main/scene_tree.cpp index 65cda73a23..7f0cebd492 100644 --- a/scene/main/scene_tree.cpp +++ b/scene/main/scene_tree.cpp @@ -1244,7 +1244,7 @@ void SceneTree::_update_root_rect() { root->update_canvas_items(); //force them to update just in case if (use_font_oversampling) { - WARN_PRINT("Font oversampling does not work in 'Viewport' stretch mode, only '2D'.") + WARN_PRINT("Font oversampling does not work in 'Viewport' stretch mode, only '2D'."); } } break; diff --git a/scene/resources/animation.cpp b/scene/resources/animation.cpp index b49b551252..e4da659b0d 100644 --- a/scene/resources/animation.cpp +++ b/scene/resources/animation.cpp @@ -93,7 +93,7 @@ bool Animation::_set(const StringName &p_name, const Variant &p_value) { TransformTrack *tt = static_cast<TransformTrack *>(tracks[track]); PoolVector<float> values = p_value; int vcount = values.size(); - ERR_FAIL_COND_V(vcount % 12, false); // shuld be multiple of 11 + ERR_FAIL_COND_V(vcount % 12, false); // should be multiple of 11 PoolVector<float>::Read r = values.read(); diff --git a/scene/resources/packed_scene.cpp b/scene/resources/packed_scene.cpp index 2c6f30f429..99286668ce 100644 --- a/scene/resources/packed_scene.cpp +++ b/scene/resources/packed_scene.cpp @@ -92,8 +92,8 @@ Node *SceneState::instance(GenEditState p_edit_state) const { if (i > 0) { - ERR_EXPLAIN(vformat("Invalid scene: node %s does not specify its parent node.", snames[n.name])) - ERR_FAIL_COND_V(n.parent == -1, NULL) + ERR_EXPLAIN(vformat("Invalid scene: node %s does not specify its parent node.", snames[n.name])); + ERR_FAIL_COND_V(n.parent == -1, NULL); NODE_FROM_ID(nparent, n.parent); #ifdef DEBUG_ENABLED if (!nparent && (n.parent & FLAG_ID_IS_PATH)) { diff --git a/scene/resources/texture.cpp b/scene/resources/texture.cpp index 92172912c2..503949fd60 100644 --- a/scene/resources/texture.cpp +++ b/scene/resources/texture.cpp @@ -232,7 +232,7 @@ Image::Format ImageTexture::get_format() const { #ifndef DISABLE_DEPRECATED Error ImageTexture::load(const String &p_path) { - WARN_DEPRECATED + WARN_DEPRECATED; Ref<Image> img; img.instance(); Error err = img->load(p_path); diff --git a/scene/resources/visual_shader.cpp b/scene/resources/visual_shader.cpp index 9b2e410985..dd595d9ff8 100644 --- a/scene/resources/visual_shader.cpp +++ b/scene/resources/visual_shader.cpp @@ -297,7 +297,7 @@ Error VisualShader::connect_nodes(Type p_type, int p_from_node, int p_from_port, if (MAX(0, from_port_type - 2) != (MAX(0, to_port_type - 2))) { ERR_EXPLAIN("Incompatible port types (scalar/vec/bool with transform"); - ERR_FAIL_V(ERR_INVALID_PARAMETER) + ERR_FAIL_V(ERR_INVALID_PARAMETER); return ERR_INVALID_PARAMETER; } diff --git a/servers/audio/effects/audio_effect_spectrum_analyzer.cpp b/servers/audio/effects/audio_effect_spectrum_analyzer.cpp index 8e15e9288f..f5ac0afefa 100644 --- a/servers/audio/effects/audio_effect_spectrum_analyzer.cpp +++ b/servers/audio/effects/audio_effect_spectrum_analyzer.cpp @@ -1,3 +1,33 @@ +/*************************************************************************/ +/* audio_effect_spectrum_analyzer.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + #include "audio_effect_spectrum_analyzer.h" #include "servers/audio_server.h" diff --git a/servers/audio/effects/audio_effect_spectrum_analyzer.h b/servers/audio/effects/audio_effect_spectrum_analyzer.h index 0534426da3..4f4c3c8a58 100644 --- a/servers/audio/effects/audio_effect_spectrum_analyzer.h +++ b/servers/audio/effects/audio_effect_spectrum_analyzer.h @@ -1,3 +1,33 @@ +/*************************************************************************/ +/* audio_effect_spectrum_analyzer.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + #ifndef AUDIO_EFFECT_SPECTRUM_ANALYZER_H #define AUDIO_EFFECT_SPECTRUM_ANALYZER_H diff --git a/servers/audio/effects/audio_stream_generator.cpp b/servers/audio/effects/audio_stream_generator.cpp index f4a66b5643..49af63e82a 100644 --- a/servers/audio/effects/audio_stream_generator.cpp +++ b/servers/audio/effects/audio_stream_generator.cpp @@ -1,3 +1,33 @@ +/*************************************************************************/ +/* audio_stream_generator.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + #include "audio_stream_generator.h" void AudioStreamGenerator::set_mix_rate(float p_mix_rate) { diff --git a/servers/audio/effects/audio_stream_generator.h b/servers/audio/effects/audio_stream_generator.h index 2082682907..c3490ddaa5 100644 --- a/servers/audio/effects/audio_stream_generator.h +++ b/servers/audio/effects/audio_stream_generator.h @@ -1,5 +1,35 @@ -#ifndef AUDIO_STREAM_USER_FED_H -#define AUDIO_STREAM_USER_FED_H +/*************************************************************************/ +/* audio_stream_generator.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#ifndef AUDIO_STREAM_GENERATOR_H +#define AUDIO_STREAM_GENERATOR_H #include "core/ring_buffer.h" #include "servers/audio/audio_stream.h" @@ -63,4 +93,4 @@ public: AudioStreamGeneratorPlayback(); }; -#endif // AUDIO_STREAM_USER_FED_H +#endif // AUDIO_STREAM_GENERATOR_H diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp index 954b0fa3ea..acdaa6e6df 100644 --- a/servers/physics_2d/joints_2d_sw.cpp +++ b/servers/physics_2d/joints_2d_sw.cpp @@ -92,7 +92,7 @@ normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vecto bool PinJoint2DSW::setup(real_t p_step) { Space2DSW *space = A->get_space(); - ERR_FAIL_COND_V(!space, false;) + ERR_FAIL_COND_V(!space, false); rA = A->get_transform().basis_xform(anchor_A); rB = B ? B->get_transform().basis_xform(anchor_B) : anchor_B; diff --git a/thirdparty/README.md b/thirdparty/README.md index 732c08fdea..3e1e8f9734 100644 --- a/thirdparty/README.md +++ b/thirdparty/README.md @@ -26,7 +26,7 @@ comments. ## bullet - Upstream: https://github.com/bulletphysics/bullet3 -- Version: 2.88 +- Version: git (5ec8339, 2019) - License: zlib Files extracted from upstream source: diff --git a/thirdparty/bullet/Bullet3Common/b3Quaternion.h b/thirdparty/bullet/Bullet3Common/b3Quaternion.h index 9bd5ff7d90..4fdd72dcc4 100644 --- a/thirdparty/bullet/Bullet3Common/b3Quaternion.h +++ b/thirdparty/bullet/Bullet3Common/b3Quaternion.h @@ -92,8 +92,11 @@ public: /**@brief Set the rotation using axis angle notation * @param axis The axis around which to rotate * @param angle The magnitude of the rotation in Radians */ - void setRotation(const b3Vector3& axis, const b3Scalar& _angle) + void setRotation(const b3Vector3& axis1, const b3Scalar& _angle) { + b3Vector3 axis = axis1; + axis.safeNormalize(); + b3Scalar d = axis.length(); b3Assert(d != b3Scalar(0.0)); if (d < B3_EPSILON) diff --git a/thirdparty/bullet/Bullet3Common/b3Vector3.h b/thirdparty/bullet/Bullet3Common/b3Vector3.h index 56e6c13311..a70d68d6e1 100644 --- a/thirdparty/bullet/Bullet3Common/b3Vector3.h +++ b/thirdparty/bullet/Bullet3Common/b3Vector3.h @@ -36,7 +36,7 @@ subject to the following restrictions: #pragma warning(disable : 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255' #endif -#define B3_SHUFFLE(x, y, z, w) ((w) << 6 | (z) << 4 | (y) << 2 | (x)) +#define B3_SHUFFLE(x, y, z, w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff) //#define b3_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) ) #define b3_pshufd_ps(_a, _mask) _mm_shuffle_ps((_a), (_a), (_mask)) #define b3_splat3_ps(_a, _i) b3_pshufd_ps((_a), B3_SHUFFLE(_i, _i, _i, 3)) diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp index 37156fd589..166cb04c0b 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp @@ -37,7 +37,7 @@ static DBVT_INLINE int indexof(const btDbvtNode* node) static DBVT_INLINE btDbvtVolume merge(const btDbvtVolume& a, const btDbvtVolume& b) { -#if (DBVT_MERGE_IMPL == DBVT_IMPL_SSE) +#ifdef BT_USE_SSE ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtAabbMm)]); btDbvtVolume* ptr = (btDbvtVolume*)locals; btDbvtVolume& res = *ptr; @@ -80,6 +80,7 @@ static DBVT_INLINE void deletenode(btDbvt* pdbvt, static void recursedeletenode(btDbvt* pdbvt, btDbvtNode* node) { + if (node == 0) return; if (!node->isleaf()) { recursedeletenode(pdbvt, node->childs[0]); @@ -298,7 +299,7 @@ static int split(btDbvtNode** leaves, static btDbvtVolume bounds(btDbvtNode** leaves, int count) { -#if DBVT_MERGE_IMPL == DBVT_IMPL_SSE +#ifdef BT_USE_SSE ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtVolume)]); btDbvtVolume* ptr = (btDbvtVolume*)locals; btDbvtVolume& volume = *ptr; diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp index 166cf771fe..b7fe0a1f34 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp @@ -123,11 +123,11 @@ protected: void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg, btDispatcher* dispatcher) { + m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg, dispatcher); + btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg); freeHandle(proxy0); - m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg, dispatcher); - //validate(); } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp index 98a02d0c45..b48d9301d7 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp @@ -43,6 +43,7 @@ btCollisionObject::btCollisionObject() m_userObjectPointer(0), m_userIndex2(-1), m_userIndex(-1), + m_userIndex3(-1), m_hitFraction(btScalar(1.)), m_ccdSweptSphereRadius(btScalar(0.)), m_ccdMotionThreshold(btScalar(0.)), diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h index 56b3d89e56..85dc488c8c 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -101,6 +101,8 @@ protected: int m_userIndex; + int m_userIndex3; + ///time of impact calculation btScalar m_hitFraction; @@ -526,6 +528,11 @@ public: return m_userIndex2; } + int getUserIndex3() const + { + return m_userIndex3; + } + ///users can point to their objects, userPointer is not used by Bullet void setUserPointer(void* userPointer) { @@ -543,6 +550,11 @@ public: m_userIndex2 = index; } + void setUserIndex3(int index) + { + m_userIndex3 = index; + } + int getUpdateRevisionInternal() const { return m_updateRevision; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index b30ce03164..71184f36ac 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -19,10 +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/btHeightfieldTerrainShape.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" @@ -414,7 +414,9 @@ 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) + else if (((resultCallback.m_flags&btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator)==0) + && collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE + ) { ///optimized version for btHeightfieldTerrainShape btHeightfieldTerrainShape* heightField = (btHeightfieldTerrainShape*)collisionShape; @@ -422,7 +424,7 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); - BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),heightField,colObjWorldTransform); + BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), heightField, colObjWorldTransform); rcb.m_hitFraction = resultCallback.m_closestHitFraction; heightField->performRaycast(&rcb, rayFromLocal, rayToLocal); } diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp index 65b669e1c0..9694f4ddb3 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp @@ -27,7 +27,7 @@ btConvexPolyhedron::~btConvexPolyhedron() { } -inline bool IsAlmostZero(const btVector3& v) +inline bool IsAlmostZero1(const btVector3& v) { if (btFabs(v.x()) > 1e-6 || btFabs(v.y()) > 1e-6 || btFabs(v.z()) > 1e-6) return false; return true; @@ -122,8 +122,8 @@ void btConvexPolyhedron::initialize() for (int p = 0; p < m_uniqueEdges.size(); p++) { - if (IsAlmostZero(m_uniqueEdges[p] - edge) || - IsAlmostZero(m_uniqueEdges[p] + edge)) + if (IsAlmostZero1(m_uniqueEdges[p] - edge) || + IsAlmostZero1(m_uniqueEdges[p] + edge)) { found = true; break; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp index 4adf27e6bb..34ec2d8c45 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -71,9 +71,10 @@ void btHeightfieldTerrainShape::initialize( m_flipQuadEdges = flipQuadEdges; m_useDiamondSubdivision = false; m_useZigzagSubdivision = false; + m_flipTriangleWinding = 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; @@ -335,30 +336,37 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback for (int x = startX; x < endX; x++) { btVector3 vertices[3]; + int indices[3] = { 0, 1, 2 }; + if (m_flipTriangleWinding) + { + indices[0] = 2; + indices[2] = 0; + } + if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j + x) & 1)) || (m_useZigzagSubdivision && !(j & 1))) { //first triangle - getVertex(x, j, vertices[0]); - getVertex(x, j + 1, vertices[1]); - getVertex(x + 1, j + 1, vertices[2]); + getVertex(x, j, vertices[indices[0]]); + getVertex(x, j + 1, vertices[indices[1]]); + getVertex(x + 1, j + 1, vertices[indices[2]]); callback->processTriangle(vertices, x, j); //second triangle // getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman - getVertex(x + 1, j + 1, vertices[1]); - getVertex(x + 1, j, vertices[2]); + getVertex(x + 1, j + 1, vertices[indices[1]]); + getVertex(x + 1, j, vertices[indices[2]]); callback->processTriangle(vertices, x, j); } else { //first triangle - getVertex(x, j, vertices[0]); - getVertex(x, j + 1, vertices[1]); - getVertex(x + 1, j, vertices[2]); + getVertex(x, j, vertices[indices[0]]); + getVertex(x, j + 1, vertices[indices[1]]); + getVertex(x + 1, j, vertices[indices[2]]); callback->processTriangle(vertices, x, j); //second triangle - getVertex(x + 1, j, vertices[0]); + getVertex(x + 1, j, vertices[indices[0]]); //getVertex(x,j+1,vertices[1]); - getVertex(x + 1, j + 1, vertices[2]); + getVertex(x + 1, j + 1, vertices[indices[2]]); callback->processTriangle(vertices, x, j); } } @@ -381,39 +389,42 @@ const btVector3& btHeightfieldTerrainShape::getLocalScaling() const return m_localScaling; } - - -struct GridRaycastState +namespace { - 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; -}; - + 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) +void gridRaycast(Action_T& quadAction, const btVector3& beginPos, const btVector3& endPos, int indices[3]) { 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]; + btScalar rayDirectionFlatX = endPos[indices[0]] - beginPos[indices[0]]; + btScalar rayDirectionFlatZ = endPos[indices[2]] - beginPos[indices[2]]; rs.maxDistanceFlat = btSqrt(rayDirectionFlatX * rayDirectionFlatX + rayDirectionFlatZ * rayDirectionFlatZ); - if(rs.maxDistanceFlat < 0.0001) + if (rs.maxDistanceFlat < 0.0001) { // Consider the ray vertical rayDirectionFlatX = 0; @@ -433,34 +444,46 @@ void gridRaycast(Action_T &quadAction, const btVector3 &beginPos, const btVector 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? + 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; + { + paramCrossX = (ceil(beginPos[indices[0]]) - beginPos[indices[0]]) * paramDeltaX; + } else - paramCrossX = (beginPos[0] - floor(beginPos[0])) * paramDeltaX; + { + paramCrossX = (beginPos[indices[0]] - floor(beginPos[indices[0]])) * paramDeltaX; + } } else - paramCrossX = infinite; // Will never cross on X + { + paramCrossX = infinite; // Will never cross on X + } // Z initialization if (ziStep != 0) { if (ziStep == 1) - paramCrossZ = (ceil(beginPos[2]) - beginPos[2]) * paramDeltaZ; + { + paramCrossZ = (ceil(beginPos[indices[2]]) - beginPos[indices[2]]) * paramDeltaZ; + } else - paramCrossZ = (beginPos[2] - floor(beginPos[2])) * paramDeltaZ; + { + paramCrossZ = (beginPos[indices[2]] - floor(beginPos[indices[2]])) * paramDeltaZ; + } } else - paramCrossZ = infinite; // Will never cross on Z + { + paramCrossZ = infinite; // Will never cross on Z + } - rs.x = static_cast<int>(floor(beginPos[0])); - rs.z = static_cast<int>(floor(beginPos[2])); + rs.x = static_cast<int>(floor(beginPos[indices[0]])); + rs.z = static_cast<int>(floor(beginPos[indices[2]])); // Workaround cases where the ray starts at an integer position if (paramCrossX == 0.0) @@ -469,7 +492,9 @@ void gridRaycast(Action_T &quadAction, const btVector3 &beginPos, const btVector // 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) @@ -513,14 +538,15 @@ void gridRaycast(Action_T &quadAction, const btVector3 &beginPos, const btVector break; } else + { quadAction(rs); + } } } - struct ProcessTrianglesAction { - const btHeightfieldTerrainShape *shape; + const btHeightfieldTerrainShape* shape; bool flipQuadEdges; bool useDiamondSubdivision; int width; @@ -529,11 +555,15 @@ struct ProcessTrianglesAction void exec(int x, int z) const { - if(x < 0 || z < 0 || x >= width || z >= length) + if (x < 0 || z < 0 || x >= width || z >= length) + { return; + } btVector3 vertices[3]; + // TODO Since this is for raycasts, we could greatly benefit from an early exit on the first hit + // Check quad if (flipQuadEdges || (useDiamondSubdivision && (((z + x) & 1) > 0))) { @@ -565,16 +595,15 @@ struct ProcessTrianglesAction } } - void operator ()(const GridRaycastState &bs) const + void operator()(const GridRaycastState& bs) const { exec(bs.prev_x, bs.prev_z); } }; - struct ProcessVBoundsAction { - const btHeightfieldTerrainShape::Range *vbounds; + const btAlignedObjectArray<btHeightfieldTerrainShape::Range>& vbounds; int width; int length; int chunkSize; @@ -583,15 +612,23 @@ struct ProcessVBoundsAction btVector3 rayEnd; btVector3 rayDir; + int* m_indices; ProcessTrianglesAction processTriangles; - void operator ()(const GridRaycastState &rs) const + ProcessVBoundsAction(const btAlignedObjectArray<btHeightfieldTerrainShape::Range>& bnd, int* indices) + : vbounds(bnd), + m_indices(indices) + { + } + 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) + if (x < 0 || z < 0 || x >= width || z >= length) + { return; + } const btHeightfieldTerrainShape::Range chunk = vbounds[x + z * width]; @@ -608,10 +645,14 @@ struct ProcessVBoundsAction // 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) + if (enterPos[1] > chunk.max && exitPos[m_indices[1]] > chunk.max) + { return; - if (enterPos[1] < chunk.min && exitPos[1] < chunk.min) + } + if (enterPos[1] < chunk.min && exitPos[m_indices[1]] < chunk.min) + { return; + } } else { @@ -621,13 +662,12 @@ struct ProcessVBoundsAction exitPos = rayEnd; } - gridRaycast(processTriangles, enterPos, exitPos); + gridRaycast(processTriangles, enterPos, exitPos, m_indices); // 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. @@ -648,10 +688,16 @@ void btHeightfieldTerrainShape::performRaycast(btTriangleCallback* callback, con 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])); + int indices[3] = { 0, 1, 2 }; + if (m_upAxis == 2) + { + indices[1] = 2; + indices[2] = 1; + } + int iBeginX = static_cast<int>(floor(beginPos[indices[0]])); + int iBeginZ = static_cast<int>(floor(beginPos[indices[2]])); + int iEndX = static_cast<int>(floor(endPos[indices[0]])); + int iEndZ = static_cast<int>(floor(endPos[indices[2]])); if (iBeginX == iEndX && iBeginZ == iEndZ) { @@ -662,36 +708,36 @@ void btHeightfieldTerrainShape::performRaycast(btTriangleCallback* callback, con return; } - if (m_vboundsGrid == NULL) + + + if (m_vboundsGrid.size()==0) { // Process all quads intersecting the flat projection of the ray - gridRaycast(processTriangles, beginPos, endPos); + gridRaycast(processTriangles, beginPos, endPos, &indices[0]); } else { btVector3 rayDiff = endPos - beginPos; - btScalar flatDistance2 = rayDiff[0] * rayDiff[0] + rayDiff[2] * rayDiff[2]; + btScalar flatDistance2 = rayDiff[indices[0]] * rayDiff[indices[0]] + rayDiff[indices[2]] * rayDiff[indices[2]]; if (flatDistance2 < m_vboundsChunkSize * m_vboundsChunkSize) { // Don't use chunks, the ray is too short in the plane - gridRaycast(processTriangles, beginPos, endPos); + gridRaycast(processTriangles, beginPos, endPos, &indices[0]); } - ProcessVBoundsAction processVBounds; + ProcessVBoundsAction processVBounds(m_vboundsGrid, &indices[0]); 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); + gridRaycast(processVBounds, beginPos / m_vboundsChunkSize, endPos / m_vboundsChunkSize, indices); } } - /// 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. @@ -708,11 +754,15 @@ void btHeightfieldTerrainShape::buildAccelerator(int chunkSize) int nChunksZ = m_heightStickLength / chunkSize; if (m_heightStickWidth % chunkSize > 0) - ++nChunksX; // In case terrain size isn't dividable by chunk size + { + ++nChunksX; // In case terrain size isn't dividable by chunk size + } if (m_heightStickLength % chunkSize > 0) + { ++nChunksZ; + } - if(m_vboundsGridWidth != nChunksX || m_vboundsGridLength != nChunksZ) + if (m_vboundsGridWidth != nChunksX || m_vboundsGridLength != nChunksZ) { clearAccelerator(); m_vboundsGridWidth = nChunksX; @@ -720,13 +770,13 @@ void btHeightfieldTerrainShape::buildAccelerator(int chunkSize) } 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]; - + m_vboundsGrid.resize(nChunksX * nChunksZ); + // Compute min and max height for all chunks for (int cz = 0; cz < nChunksZ; ++cz) { @@ -760,19 +810,27 @@ void btHeightfieldTerrainShape::buildAccelerator(int chunkSize) 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; + } } } @@ -781,15 +839,7 @@ void btHeightfieldTerrainShape::buildAccelerator(int chunkSize) } } - void btHeightfieldTerrainShape::clearAccelerator() { - if (m_vboundsGrid) - { - // TODO What is the recommended way to deallocate this? - delete[] m_vboundsGrid; - m_vboundsGrid = 0; - } -} - - + m_vboundsGrid.clear(); +}
\ No newline at end of file diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h index e23b548cb2..43e1d25e3d 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h @@ -17,7 +17,7 @@ subject to the following restrictions: #define BT_HEIGHTFIELD_TERRAIN_SHAPE_H #include "btConcaveShape.h" - +#include "LinearMath/btAlignedObjectArray.h" ///btHeightfieldTerrainShape simulates a 2D heightfield terrain /** @@ -73,7 +73,8 @@ ATTRIBUTE_ALIGNED16(class) btHeightfieldTerrainShape : public btConcaveShape { public: - struct Range { + struct Range + { btScalar min; btScalar max; }; @@ -102,13 +103,13 @@ protected: bool m_flipQuadEdges; bool m_useDiamondSubdivision; bool m_useZigzagSubdivision; - + bool m_flipTriangleWinding; int m_upAxis; btVector3 m_localScaling; // Accelerator - Range *m_vboundsGrid; + btAlignedObjectArray<Range> m_vboundsGrid; int m_vboundsGridWidth; int m_vboundsGridLength; int m_vboundsChunkSize; @@ -157,6 +158,10 @@ public: ///could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625 void setUseZigzagSubdivision(bool useZigzagSubdivision = true) { m_useZigzagSubdivision = useZigzagSubdivision; } + void setFlipTriangleWinding(bool flipTriangleWinding) + { + m_flipTriangleWinding = flipTriangleWinding; + } virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const; virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const; @@ -166,16 +171,20 @@ 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 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 buildAccelerator(int chunkSize = 16); void clearAccelerator(); + int getUpAxis() const + { + return m_upAxis; + } //debugging virtual const char* getName() const { return "HEIGHTFIELD"; } }; -#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H +#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
\ No newline at end of file diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h index 54888c6757..8f78c234b4 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h @@ -28,28 +28,7 @@ subject to the following restrictions: #include "btBoxCollision.h" #include "btTriangleShapeEx.h" - -//! Overlapping pair -struct GIM_PAIR -{ - int m_index1; - int m_index2; - GIM_PAIR() - { - } - - GIM_PAIR(const GIM_PAIR& p) - { - m_index1 = p.m_index1; - m_index2 = p.m_index2; - } - - GIM_PAIR(int index1, int index2) - { - m_index1 = index1; - m_index2 = index2; - } -}; +#include "gim_pair.h" //for GIM_PAIR ///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box struct GIM_BVH_DATA diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp index 3d8ab9f520..73e3db1010 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp @@ -18,7 +18,7 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ /* -Author: Francisco Len Nßjera +Author: Francisco Leon Najera Concave-Concave Collision */ @@ -590,14 +590,16 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(const btCollisionObjectWrappe } btCollisionObjectWrapper ob0(body0Wrap, colshape0, body0Wrap->getCollisionObject(), body0Wrap->getWorldTransform(), m_part0, m_triface0); - const btCollisionObjectWrapper* prevObj0 = m_resultOut->getBody0Wrap(); + const btCollisionObjectWrapper* prevObj; if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob0.getCollisionObject()) { + prevObj = m_resultOut->getBody0Wrap(); m_resultOut->setBody0Wrap(&ob0); } else { + prevObj = m_resultOut->getBody1Wrap(); m_resultOut->setBody1Wrap(&ob0); } @@ -610,7 +612,15 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(const btCollisionObjectWrappe { shape_vs_shape_collision(&ob0, body1Wrap, colshape0, shape1); } - m_resultOut->setBody0Wrap(prevObj0); + + if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob0.getCollisionObject()) + { + m_resultOut->setBody0Wrap(prevObj); + } + else + { + m_resultOut->setBody1Wrap(prevObj); + } } shape0->unlockChildShapes(); diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h index 5b85e87041..eb33ce05e2 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h @@ -1,5 +1,5 @@ /*! \file btGImpactShape.h -\author Francisco Len Nßjera +\author Francisco Leon Najera */ /* This source file is part of GIMPACT Library. diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h index 0522007e4f..afc591dac0 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h @@ -37,28 +37,7 @@ email: projectileman@yahoo.com #include "gim_radixsort.h" #include "gim_box_collision.h" #include "gim_tri_collision.h" - -//! Overlapping pair -struct GIM_PAIR -{ - GUINT m_index1; - GUINT m_index2; - GIM_PAIR() - { - } - - GIM_PAIR(const GIM_PAIR& p) - { - m_index1 = p.m_index1; - m_index2 = p.m_index2; - } - - GIM_PAIR(GUINT index1, GUINT index2) - { - m_index1 = index1; - m_index2 = index2; - } -}; +#include "gim_pair.h" //! A pairset array class gim_pair_set : public gim_array<GIM_PAIR> diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_pair.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_pair.h new file mode 100644 index 0000000000..56c185a5dc --- /dev/null +++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_pair.h @@ -0,0 +1,28 @@ +#ifndef GIM_PAIR_H +#define GIM_PAIR_H + + +//! Overlapping pair +struct GIM_PAIR +{ + int m_index1; + int m_index2; + GIM_PAIR() + { + } + + GIM_PAIR(const GIM_PAIR& p) + { + m_index1 = p.m_index1; + m_index2 = p.m_index2; + } + + GIM_PAIR(int index1, int index2) + { + m_index1 = index1; + m_index2 = index2; + } +}; + +#endif //GIM_PAIR_H + diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h index 76f54699c5..77b19be599 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h @@ -23,11 +23,11 @@ class btMinkowskiSumShape; #include "LinearMath/btIDebugDraw.h" #ifdef BT_USE_DOUBLE_PRECISION -#define MAX_ITERATIONS 64 -#define MAX_EPSILON (SIMD_EPSILON * 10) +#define MAX_CONVEX_CAST_ITERATIONS 64 +#define MAX_CONVEX_CAST_EPSILON (SIMD_EPSILON * 10) #else -#define MAX_ITERATIONS 32 -#define MAX_EPSILON btScalar(0.0001) +#define MAX_CONVEX_CAST_ITERATIONS 32 +#define MAX_CONVEX_CAST_EPSILON btScalar(0.0001) #endif ///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases. ///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565 @@ -58,8 +58,8 @@ public: : m_fraction(btScalar(BT_LARGE_FLOAT)), m_debugDrawer(0), m_allowedPenetration(btScalar(0)), - m_subSimplexCastMaxIterations(MAX_ITERATIONS), - m_subSimplexCastEpsilon(MAX_EPSILON) + m_subSimplexCastMaxIterations(MAX_CONVEX_CAST_ITERATIONS), + m_subSimplexCastEpsilon(MAX_CONVEX_CAST_EPSILON) { } diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index 803f6e0671..4339b2ea75 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -1,4 +1,4 @@ -/* +/* Bullet Continuous Collision Detection and Physics Library Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h index 2b2dfabec2..2d0df718a2 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h @@ -37,6 +37,7 @@ public: ///SubSimplexConvexCastRaytest is the default, even if kF_None is set. kF_UseSubSimplexConvexCastRaytest = 1 << 2, // Uses an approximate but faster ray versus convex intersection algorithm kF_UseGjkConvexCastRaytest = 1 << 3, + kF_DisableHeightfieldAccelerator = 1 << 4, //don't use the heightfield raycast accelerator. See https://github.com/bulletphysics/bullet3/pull/2062 kF_Terminator = 0xFFFFFFFF }; unsigned int m_flags; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp index b51dfaad3c..2a5efc6495 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp @@ -22,6 +22,8 @@ subject to the following restrictions: #include <string.h> //for memset +#include <cmath> + const int kNoMerge = -1; bool btBatchedConstraints::s_debugDrawBatches = false; @@ -520,7 +522,7 @@ static void writeGrainSizes(btBatchedConstraints* bc) { const Range& phase = bc->m_phases[iPhase]; int numBatches = phase.end - phase.begin; - float grainSize = floor((0.25f * numBatches / float(numThreads)) + 0.0f); + float grainSize = std::floor((0.25f * numBatches / float(numThreads)) + 0.0f); bc->m_phaseGrainSize[iPhase] = btMax(1, int(grainSize)); } } diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp index 10678b2a61..ac046aa6ea 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp @@ -19,6 +19,7 @@ Written by: Marcus Hennix #include "BulletDynamics/Dynamics/btRigidBody.h" #include "LinearMath/btTransformUtil.h" #include "LinearMath/btMinMax.h" +#include <cmath> #include <new> //#define CONETWIST_USE_OBSOLETE_SOLVER true @@ -842,7 +843,7 @@ void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone, btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2); norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1); btScalar swingLimit2 = (1 + surfaceSlope2) / norm; - swingLimit = sqrt(swingLimit2); + swingLimit = std::sqrt(swingLimit2); } // test! @@ -887,7 +888,7 @@ btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btSc btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2); norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1); btScalar swingLimit2 = (1 + surfaceSlope2) / norm; - swingLimit = sqrt(swingLimit2); + swingLimit = std::sqrt(swingLimit2); } // convert into point in constraint space: diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h index 808433477c..68a4a07a1d 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h @@ -35,6 +35,7 @@ enum btConstraintSolverType BT_MLCP_SOLVER = 2, BT_NNCG_SOLVER = 4, BT_MULTIBODY_SOLVER = 8, + BT_BLOCK_SOLVER = 16, }; class btConstraintSolver diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 89f8db8b1a..63d7c98e16 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -64,6 +64,7 @@ struct btContactSolverInfoData btScalar m_restitutionVelocityThreshold; bool m_jointFeedbackInWorldSpace; bool m_jointFeedbackInJointFrame; + int m_reportSolverAnalytics; }; struct btContactSolverInfo : public btContactSolverInfoData @@ -98,6 +99,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution m_jointFeedbackInWorldSpace = false; m_jointFeedbackInJointFrame = false; + m_reportSolverAnalytics = 0; } }; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp index 49c8d9bbf7..9a3b39e6f8 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp @@ -32,7 +32,7 @@ Cons: /* 2007-09-09 -btGeneric6DofConstraint Refactored by Francisco Le?n +btGeneric6DofConstraint Refactored by Francisco Leon email: projectileman@yahoo.com http://gimpact.sf.net */ @@ -40,6 +40,7 @@ http://gimpact.sf.net #include "btGeneric6DofSpring2Constraint.h" #include "BulletDynamics/Dynamics/btRigidBody.h" #include "LinearMath/btTransformUtil.h" +#include <cmath> #include <new> btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, RotateOrder rotOrder) @@ -310,9 +311,9 @@ void btGeneric6DofSpring2Constraint::calculateAngleInfo() case RO_XYZ: { //Is this the "line of nodes" calculation choosing planes YZ (B coordinate system) and xy (A coordinate system)? (http://en.wikipedia.org/wiki/Euler_angles) - //The two planes are non-homologous, so this is a Tait–Bryan angle formalism and not a proper Euler + //The two planes are non-homologous, so this is a Tait-Bryan angle formalism and not a proper Euler //Extrinsic rotations are equal to the reversed order intrinsic rotations so the above xyz extrinsic rotations (axes are fixed) are the same as the zy'x" intrinsic rotations (axes are refreshed after each rotation) - //that is why xy and YZ planes are chosen (this will describe a zy'x" intrinsic rotation) (see the figure on the left at http://en.wikipedia.org/wiki/Euler_angles under Tait–Bryan angles) + //that is why xy and YZ planes are chosen (this will describe a zy'x" intrinsic rotation) (see the figure on the left at http://en.wikipedia.org/wiki/Euler_angles under Tait-Bryan angles) // x' = Nperp = N.cross(axis2) // y' = N = axis2.cross(axis0) // z' = z @@ -845,7 +846,7 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2( if (m_rbA.getInvMass() == 0) m = mB; else if (m_rbB.getInvMass() == 0) m = mA; else m = mA*mB / (mA + mB); - btScalar angularfreq = sqrt(ks / m); + btScalar angularfreq = btSqrt(ks / m); //limit stiffness (the spring should not be sampled faster that the quarter of its angular frequency) if (limot->m_springStiffnessLimited && 0.25 < angularfreq * dt) @@ -865,7 +866,7 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2( // vel + f / m * (rotational ? -1 : 1) // so in theory this should be set here for m_constraintError // (with m_constraintError we set a desired velocity for the affected body(es)) - // however in practice any value is fine as long as it is greater then the "proper" velocity, + // however in practice any value is fine as long as it is greater than the "proper" velocity, // because the m_lowerLimit and the m_upperLimit will determinate the strength of the final pulling force // so it is much simpler (and more robust) just to simply use inf (with the proper sign) // (Even with our best intent the "new" velocity is only an estimation. If we underestimate @@ -1085,7 +1086,7 @@ void btGeneric6DofSpring2Constraint::setServoTarget(int index, btScalar targetOr btScalar target = targetOrg + SIMD_PI; if (1) { - btScalar m = target - SIMD_2_PI * floor(target / SIMD_2_PI); + btScalar m = target - SIMD_2_PI * std::floor(target / SIMD_2_PI); // handle boundary cases resulted from floating-point cut off: { if (m >= SIMD_2_PI) diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h index bc3ee6d210..00e24364e0 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h @@ -294,7 +294,7 @@ protected: bool m_hasStaticBody; int m_flags; - btGeneric6DofSpring2Constraint& operator=(btGeneric6DofSpring2Constraint&) + btGeneric6DofSpring2Constraint& operator=(const btGeneric6DofSpring2Constraint&) { btAssert(0); return *this; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index def3227b43..d3b71e4583 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -394,6 +394,18 @@ btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstr return gResolveSingleConstraintRowLowerLimit_scalar_reference; } +btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarSplitPenetrationImpulseGeneric() +{ + return gResolveSplitPenetrationImpulse_scalar_reference; +} + +btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2SplitPenetrationImpulseGeneric() +{ + return gResolveSplitPenetrationImpulse_sse2; +} + + + #ifdef USE_SIMD btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric() { @@ -421,6 +433,11 @@ unsigned long btSequentialImpulseConstraintSolver::btRand2() return m_btSeed2; } +unsigned long btSequentialImpulseConstraintSolver::btRand2a(unsigned long& seed) +{ + seed = (1664525L * seed + 1013904223L) & 0xffffffff; + return seed; +} //See ODE: adam's all-int straightforward(?) dRandInt (0..n-1) int btSequentialImpulseConstraintSolver::btRandInt2(int n) { @@ -454,42 +471,44 @@ int btSequentialImpulseConstraintSolver::btRandInt2(int n) return (int)(r % un); } -void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep) +int btSequentialImpulseConstraintSolver::btRandInt2a(int n, unsigned long& seed) { - btRigidBody* rb = collisionObject ? btRigidBody::upcast(collisionObject) : 0; - - solverBody->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f); + // seems good; xor-fold and modulus + const unsigned long un = static_cast<unsigned long>(n); + unsigned long r = btSequentialImpulseConstraintSolver::btRand2a(seed); - if (rb) - { - solverBody->m_worldTransform = rb->getWorldTransform(); - solverBody->internalSetInvMass(btVector3(rb->getInvMass(), rb->getInvMass(), rb->getInvMass()) * rb->getLinearFactor()); - solverBody->m_originalBody = rb; - solverBody->m_angularFactor = rb->getAngularFactor(); - solverBody->m_linearFactor = rb->getLinearFactor(); - solverBody->m_linearVelocity = rb->getLinearVelocity(); - solverBody->m_angularVelocity = rb->getAngularVelocity(); - solverBody->m_externalForceImpulse = rb->getTotalForce() * rb->getInvMass() * timeStep; - solverBody->m_externalTorqueImpulse = rb->getTotalTorque() * rb->getInvInertiaTensorWorld() * timeStep; - } - else + // note: probably more aggressive than it needs to be -- might be + // able to get away without one or two of the innermost branches. + if (un <= 0x00010000UL) { - solverBody->m_worldTransform.setIdentity(); - solverBody->internalSetInvMass(btVector3(0, 0, 0)); - solverBody->m_originalBody = 0; - solverBody->m_angularFactor.setValue(1, 1, 1); - solverBody->m_linearFactor.setValue(1, 1, 1); - solverBody->m_linearVelocity.setValue(0, 0, 0); - solverBody->m_angularVelocity.setValue(0, 0, 0); - solverBody->m_externalForceImpulse.setValue(0, 0, 0); - solverBody->m_externalTorqueImpulse.setValue(0, 0, 0); + r ^= (r >> 16); + if (un <= 0x00000100UL) + { + r ^= (r >> 8); + if (un <= 0x00000010UL) + { + r ^= (r >> 4); + if (un <= 0x00000004UL) + { + r ^= (r >> 2); + if (un <= 0x00000002UL) + { + r ^= (r >> 1); + } + } + } + } } + + return (int)(r % un); } -btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) +void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep) +{ + btSISolverSingleIterationData::initSolverBody(solverBody, collisionObject, timeStep); +} + +btScalar btSequentialImpulseConstraintSolver::restitutionCurveInternal(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) { //printf("rel_vel =%f\n", rel_vel); if (btFabs(rel_vel) < velocityThreshold) @@ -498,6 +517,10 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar rest = restitution * -rel_vel; return rest; } +btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) +{ + return btSequentialImpulseConstraintSolver::restitutionCurveInternal(rel_vel, restitution, velocityThreshold); +} void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionObject* colObj, btVector3& frictionDirection, int frictionMode) { @@ -513,13 +536,13 @@ void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionOb } } -void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) +void btSequentialImpulseConstraintSolver::setupFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { - btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; + btSolverBody& solverBodyA = tmpSolverBodyPool[solverBodyIdA]; + btSolverBody& solverBodyB = tmpSolverBodyPool[solverBodyIdB]; - btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; - btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; + btRigidBody* body0 = tmpSolverBodyPool[solverBodyIdA].m_originalBody; + btRigidBody* bodyA = tmpSolverBodyPool[solverBodyIdB].m_originalBody; solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -605,30 +628,47 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr } } +void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) +{ + btSequentialImpulseConstraintSolver::setupFrictionConstraintInternal(m_tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip); +} + +btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) +{ + btSolverConstraint& solverConstraint = tmpSolverContactFrictionConstraintPool.expandNonInitializing(); + solverConstraint.m_frictionIndex = frictionIndex; + setupFrictionConstraintInternal(tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, + colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip); + return solverConstraint; +} + + + btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing(); solverConstraint.m_frictionIndex = frictionIndex; setupFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, - colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip); + colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip); return solverConstraint; } -void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, - btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, - btScalar desiredVelocity, btScalar cfmSlip) + +void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, + btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, + btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, + btScalar desiredVelocity, btScalar cfmSlip) { btVector3 normalAxis(0, 0, 0); solverConstraint.m_contactNormal1 = normalAxis; solverConstraint.m_contactNormal2 = -normalAxis; - btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; + btSolverBody& solverBodyA = tmpSolverBodyPool[solverBodyIdA]; + btSolverBody& solverBodyB = tmpSolverBodyPool[solverBodyIdB]; - btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; - btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; + btRigidBody* body0 = tmpSolverBodyPool[solverBodyIdA].m_originalBody; + btRigidBody* bodyA = tmpSolverBodyPool[solverBodyIdB].m_originalBody; solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -677,15 +717,250 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(btSol } } + +void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, + btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, + btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, + btScalar desiredVelocity, btScalar cfmSlip) + +{ + setupTorsionalFrictionConstraintInternal(m_tmpSolverBodyPool, solverConstraint, normalAxis1, solverBodyIdA, solverBodyIdB, + cp, combinedTorsionalFriction, rel_pos1, rel_pos2, + colObj0, colObj1, relaxation, + desiredVelocity, cfmSlip); + +} + +btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) +{ + btSolverConstraint& solverConstraint = tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing(); + solverConstraint.m_frictionIndex = frictionIndex; + setupTorsionalFrictionConstraintInternal(tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, combinedTorsionalFriction, rel_pos1, rel_pos2, + colObj0, colObj1, relaxation, desiredVelocity, cfmSlip); + return solverConstraint; +} + + btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) { btSolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing(); solverConstraint.m_frictionIndex = frictionIndex; setupTorsionalFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, combinedTorsionalFriction, rel_pos1, rel_pos2, - colObj0, colObj1, relaxation, desiredVelocity, cfmSlip); + colObj0, colObj1, relaxation, desiredVelocity, cfmSlip); return solverConstraint; } +int btSISolverSingleIterationData::getOrInitSolverBody(btCollisionObject & body, btScalar timeStep) +{ +#if BT_THREADSAFE + int solverBodyId = -1; + bool isRigidBodyType = btRigidBody::upcast(&body) != NULL; + if (isRigidBodyType && !body.isStaticOrKinematicObject()) + { + // dynamic body + // Dynamic bodies can only be in one island, so it's safe to write to the companionId + solverBodyId = body.getCompanionId(); + if (solverBodyId < 0) + { + solverBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody(&solverBody, &body, timeStep); + body.setCompanionId(solverBodyId); + } + } + else if (isRigidBodyType && body.isKinematicObject()) + { + // + // NOTE: must test for kinematic before static because some kinematic objects also + // identify as "static" + // + // Kinematic bodies can be in multiple islands at once, so it is a + // race condition to write to them, so we use an alternate method + // to record the solverBodyId + int uniqueId = body.getWorldArrayIndex(); + const int INVALID_SOLVER_BODY_ID = -1; + if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size()) + { + m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID); + } + solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId]; + // if no table entry yet, + if (solverBodyId == INVALID_SOLVER_BODY_ID) + { + // create a table entry for this body + solverBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody(&solverBody, &body, timeStep); + m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId] = solverBodyId; + } + } + else + { + bool isMultiBodyType = (body.getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK); + // Incorrectly set collision object flags can degrade performance in various ways. + if (!isMultiBodyType) + { + btAssert(body.isStaticOrKinematicObject()); + } + //it could be a multibody link collider + // all fixed bodies (inf mass) get mapped to a single solver id + if (m_fixedBodyId < 0) + { + m_fixedBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + initSolverBody(&fixedBody, 0, timeStep); + } + solverBodyId = m_fixedBodyId; + } + btAssert(solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size()); + return solverBodyId; +#else // BT_THREADSAFE + + int solverBodyIdA = -1; + + if (body.getCompanionId() >= 0) + { + //body has already been converted + solverBodyIdA = body.getCompanionId(); + btAssert(solverBodyIdA < m_tmpSolverBodyPool.size()); + } + else + { + btRigidBody* rb = btRigidBody::upcast(&body); + //convert both active and kinematic objects (for their velocity) + if (rb && (rb->getInvMass() || rb->isKinematicObject())) + { + solverBodyIdA = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody(&solverBody, &body, timeStep); + body.setCompanionId(solverBodyIdA); + } + else + { + if (m_fixedBodyId < 0) + { + m_fixedBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + initSolverBody(&fixedBody, 0, timeStep); + } + return m_fixedBodyId; + // return 0;//assume first one is a fixed solver body + } + } + + return solverBodyIdA; +#endif // BT_THREADSAFE +} +void btSISolverSingleIterationData::initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep) +{ + btRigidBody* rb = collisionObject ? btRigidBody::upcast(collisionObject) : 0; + + solverBody->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f); + + if (rb) + { + solverBody->m_worldTransform = rb->getWorldTransform(); + solverBody->internalSetInvMass(btVector3(rb->getInvMass(), rb->getInvMass(), rb->getInvMass()) * rb->getLinearFactor()); + solverBody->m_originalBody = rb; + solverBody->m_angularFactor = rb->getAngularFactor(); + solverBody->m_linearFactor = rb->getLinearFactor(); + solverBody->m_linearVelocity = rb->getLinearVelocity(); + solverBody->m_angularVelocity = rb->getAngularVelocity(); + solverBody->m_externalForceImpulse = rb->getTotalForce() * rb->getInvMass() * timeStep; + solverBody->m_externalTorqueImpulse = rb->getTotalTorque() * rb->getInvInertiaTensorWorld() * timeStep; + } + else + { + solverBody->m_worldTransform.setIdentity(); + solverBody->internalSetInvMass(btVector3(0, 0, 0)); + solverBody->m_originalBody = 0; + solverBody->m_angularFactor.setValue(1, 1, 1); + solverBody->m_linearFactor.setValue(1, 1, 1); + solverBody->m_linearVelocity.setValue(0, 0, 0); + solverBody->m_angularVelocity.setValue(0, 0, 0); + solverBody->m_externalForceImpulse.setValue(0, 0, 0); + solverBody->m_externalTorqueImpulse.setValue(0, 0, 0); + } +} + +int btSISolverSingleIterationData::getSolverBody(btCollisionObject& body) const +{ +#if BT_THREADSAFE + int solverBodyId = -1; + bool isRigidBodyType = btRigidBody::upcast(&body) != NULL; + if (isRigidBodyType && !body.isStaticOrKinematicObject()) + { + // dynamic body + // Dynamic bodies can only be in one island, so it's safe to write to the companionId + solverBodyId = body.getCompanionId(); + btAssert(solverBodyId >= 0); + } + else if (isRigidBodyType && body.isKinematicObject()) + { + // + // NOTE: must test for kinematic before static because some kinematic objects also + // identify as "static" + // + // Kinematic bodies can be in multiple islands at once, so it is a + // race condition to write to them, so we use an alternate method + // to record the solverBodyId + int uniqueId = body.getWorldArrayIndex(); + const int INVALID_SOLVER_BODY_ID = -1; + if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size()) + { + m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID); + } + solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId]; + btAssert(solverBodyId != INVALID_SOLVER_BODY_ID); + } + else + { + bool isMultiBodyType = (body.getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK); + // Incorrectly set collision object flags can degrade performance in various ways. + if (!isMultiBodyType) + { + btAssert(body.isStaticOrKinematicObject()); + } + btAssert(m_fixedBodyId >= 0); + solverBodyId = m_fixedBodyId; + } + btAssert(solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size()); + return solverBodyId; +#else // BT_THREADSAFE + int solverBodyIdA = -1; + + if (body.getCompanionId() >= 0) + { + //body has already been converted + solverBodyIdA = body.getCompanionId(); + btAssert(solverBodyIdA < m_tmpSolverBodyPool.size()); + } + else + { + btRigidBody* rb = btRigidBody::upcast(&body); + //convert both active and kinematic objects (for their velocity) + if (rb && (rb->getInvMass() || rb->isKinematicObject())) + { + btAssert(0); + } + else + { + if (m_fixedBodyId < 0) + { + btAssert(0); + } + return m_fixedBodyId; + // return 0;//assume first one is a fixed solver body + } + } + + return solverBodyIdA; +#endif // BT_THREADSAFE +} + int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body, btScalar timeStep) { #if BT_THREADSAFE @@ -789,17 +1064,20 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& } #include <stdio.h> -void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, - int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, - btScalar& relaxation, - const btVector3& rel_pos1, const btVector3& rel_pos2) + + +void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISolverSingleIterationData& siData, + btSolverConstraint& solverConstraint, + int solverBodyIdA, int solverBodyIdB, + btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, + btScalar& relaxation, + const btVector3& rel_pos1, const btVector3& rel_pos2) { // const btVector3& pos1 = cp.getPositionWorldOnA(); // const btVector3& pos2 = cp.getPositionWorldOnB(); - btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB]; + btSolverBody* bodyA = &siData.m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* bodyB = &siData.m_tmpSolverBodyPool[solverBodyIdB]; btRigidBody* rb0 = bodyA->m_originalBody; btRigidBody* rb1 = bodyB->m_originalBody; @@ -906,7 +1184,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra solverConstraint.m_friction = cp.m_combinedFriction; - restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold); + restitution = btSequentialImpulseConstraintSolver::restitutionCurveInternal(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold); if (restitution <= btScalar(0.)) { restitution = 0.f; @@ -920,7 +1198,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra if (rb0) bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse); if (rb1) - bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() , -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse); + bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse); } else { @@ -974,25 +1252,59 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra } } -void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverConstraint& solverConstraint, - int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, + int solverBodyIdA, int solverBodyIdB, + btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, + btScalar& relaxation, + const btVector3& rel_pos1, const btVector3& rel_pos2) +{ + btSISolverSingleIterationData siData(m_tmpSolverBodyPool, + m_tmpSolverContactConstraintPool, + m_tmpSolverNonContactConstraintPool, + m_tmpSolverContactFrictionConstraintPool, + m_tmpSolverContactRollingFrictionConstraintPool, + m_orderTmpConstraintPool, + m_orderNonContactConstraintPool, + m_orderFrictionConstraintPool, + m_tmpConstraintSizesPool, + m_resolveSingleConstraintRowGeneric, + m_resolveSingleConstraintRowLowerLimit, + m_resolveSplitPenetrationImpulse, + m_kinematicBodyUniqueIdToSolverBodyTable, + m_btSeed2, + m_fixedBodyId, + m_maxOverrideNumSolverIterations + ); + + + setupContactConstraintInternal(siData, solverConstraint, + solverBodyIdA, solverBodyIdB, + cp, infoGlobal, + relaxation, + rel_pos1, rel_pos2); +} + + +void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, + btSolverConstraint& solverConstraint, + int solverBodyIdA, int solverBodyIdB, + btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) { - btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB]; + btSolverBody* bodyA = &tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* bodyB = &tmpSolverBodyPool[solverBodyIdB]; btRigidBody* rb0 = bodyA->m_originalBody; btRigidBody* rb1 = bodyB->m_originalBody; { - btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; + btSolverConstraint& frictionConstraint1 = tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) { frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor; if (rb0) - bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass() , frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse); + bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass(), frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse); if (rb1) - bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass() , -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse); + bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass(), -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse); } else { @@ -1002,7 +1314,7 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverC if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { - btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1]; + btSolverConstraint& frictionConstraint2 = tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1]; if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) { frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor; @@ -1018,21 +1330,31 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverC } } -void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverConstraint& solverConstraint, + int solverBodyIdA, int solverBodyIdB, + btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) +{ + setFrictionConstraintImpulseInternal(m_tmpSolverBodyPool, m_tmpSolverContactFrictionConstraintPool, + solverConstraint, + solverBodyIdA, solverBodyIdB, + cp, infoGlobal); + +} +void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingleIterationData& siData, btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) { btCollisionObject *colObj0 = 0, *colObj1 = 0; colObj0 = (btCollisionObject*)manifold->getBody0(); colObj1 = (btCollisionObject*)manifold->getBody1(); - int solverBodyIdA = getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep); - int solverBodyIdB = getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep); + int solverBodyIdA = siData.getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep); + int solverBodyIdB = siData.getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep); // btRigidBody* bodyA = btRigidBody::upcast(colObj0); // btRigidBody* bodyB = btRigidBody::upcast(colObj1); - btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB]; + btSolverBody* solverBodyA = &siData.m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* solverBodyB = &siData.m_tmpSolverBodyPool[solverBodyIdB]; ///avoid collision response between two static objects if (!solverBodyA || (solverBodyA->m_invMass.fuzzyZero() && (!solverBodyB || solverBodyB->m_invMass.fuzzyZero()))) @@ -1049,8 +1371,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m btVector3 rel_pos2; btScalar relaxation; - int frictionIndex = m_tmpSolverContactConstraintPool.size(); - btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing(); + int frictionIndex = siData.m_tmpSolverContactConstraintPool.size(); + btSolverConstraint& solverConstraint = siData.m_tmpSolverContactConstraintPool.expandNonInitializing(); solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -1071,16 +1393,20 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m btVector3 vel = vel1 - vel2; btScalar rel_vel = cp.m_normalWorldOnB.dot(vel); - setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2); + setupContactConstraintInternal(siData, solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2); /////setup the friction constraints - solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size(); + solverConstraint.m_frictionIndex = siData.m_tmpSolverContactFrictionConstraintPool.size(); if ((cp.m_combinedRollingFriction > 0.f) && (rollingFriction > 0)) { { - addTorsionalFrictionConstraint(cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedSpinningFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); + + btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, + siData.m_tmpSolverContactRollingFrictionConstraintPool, + cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedSpinningFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); + btVector3 axis0, axis1; btPlaneSpace1(cp.m_normalWorldOnB, axis0, axis1); axis0.normalize(); @@ -1091,11 +1417,17 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m applyAnisotropicFriction(colObj0, axis1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); applyAnisotropicFriction(colObj1, axis1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); if (axis0.length() > 0.001) - addTorsionalFrictionConstraint(axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp, - cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); + { + btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, + siData.m_tmpSolverContactRollingFrictionConstraintPool, axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp, + cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); + } if (axis1.length() > 0.001) - addTorsionalFrictionConstraint(axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, - cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); + { + btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, + siData.m_tmpSolverContactRollingFrictionConstraintPool, axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, + cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); + } } } @@ -1124,7 +1456,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m cp.m_lateralFrictionDir1 *= 1.f / btSqrt(lat_rel_vel); applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, + cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { @@ -1132,7 +1465,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m cp.m_lateralFrictionDir2.normalize(); //?? applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, + cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); } } else @@ -1141,13 +1475,15 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, + cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, + cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) @@ -1158,16 +1494,44 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m } else { - addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); + btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, + cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); + { + btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, + cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); + } } - setFrictionConstraintImpulse(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); + btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal( + siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, + solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); } } } +void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) +{ + btSISolverSingleIterationData siData(m_tmpSolverBodyPool, + m_tmpSolverContactConstraintPool, + m_tmpSolverNonContactConstraintPool, + m_tmpSolverContactFrictionConstraintPool, + m_tmpSolverContactRollingFrictionConstraintPool, + m_orderTmpConstraintPool, + m_orderNonContactConstraintPool, + m_orderFrictionConstraintPool, + m_tmpConstraintSizesPool, + m_resolveSingleConstraintRowGeneric, + m_resolveSingleConstraintRowLowerLimit, + m_resolveSplitPenetrationImpulse, + m_kinematicBodyUniqueIdToSolverBodyTable, + m_btSeed2, + m_fixedBodyId, + m_maxOverrideNumSolverIterations); + + btSequentialImpulseConstraintSolver::convertContactInternal(siData, manifold, infoGlobal); +} + void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) { int i; @@ -1181,22 +1545,24 @@ void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** } } -void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow, - btTypedConstraint* constraint, - const btTypedConstraint::btConstraintInfo1& info1, - int solverBodyIdA, - int solverBodyIdB, - const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, + int& maxOverrideNumSolverIterations, + btSolverConstraint* currentConstraintRow, + btTypedConstraint* constraint, + const btTypedConstraint::btConstraintInfo1& info1, + int solverBodyIdA, + int solverBodyIdB, + const btContactSolverInfo& infoGlobal) { const btRigidBody& rbA = constraint->getRigidBodyA(); const btRigidBody& rbB = constraint->getRigidBodyB(); - const btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA]; - const btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB]; + const btSolverBody* bodyAPtr = &tmpSolverBodyPool[solverBodyIdA]; + const btSolverBody* bodyBPtr = &tmpSolverBodyPool[solverBodyIdB]; int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations; - if (overrideNumSolverIterations > m_maxOverrideNumSolverIterations) - m_maxOverrideNumSolverIterations = overrideNumSolverIterations; + if (overrideNumSolverIterations > maxOverrideNumSolverIterations) + maxOverrideNumSolverIterations = overrideNumSolverIterations; for (int j = 0; j < info1.m_numConstraintRows; j++) { @@ -1236,7 +1602,7 @@ void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* curre info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2; info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal; info2.rowskip = sizeof(btSolverConstraint) / sizeof(btScalar); //check this - ///the size of btSolverConstraint needs be a multiple of btScalar + ///the size of btSolverConstraint needs be a multiple of btScalar btAssert(info2.rowskip * sizeof(btScalar) == sizeof(btSolverConstraint)); info2.m_constraintError = ¤tConstraintRow->m_rhs; currentConstraintRow->m_cfm = infoGlobal.m_globalCfm; @@ -1313,7 +1679,16 @@ void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* curre } } -void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow, + btTypedConstraint* constraint, + const btTypedConstraint::btConstraintInfo1& info1, + int solverBodyIdA, + int solverBodyIdB, + const btContactSolverInfo& infoGlobal) +{ +} + +void btSequentialImpulseConstraintSolver::convertJointsInternal(btSISolverSingleIterationData& siData, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) { BT_PROFILE("convertJoints"); for (int j = 0; j < numConstraints; j++) @@ -1325,11 +1700,11 @@ void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** cons int totalNumRows = 0; - m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); + siData.m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); //calculate the total number of contraint rows for (int i = 0; i < numConstraints; i++) { - btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; + btTypedConstraint::btConstraintInfo1& info1 = siData.m_tmpConstraintSizesPool[i]; btJointFeedback* fb = constraints[i]->getJointFeedback(); if (fb) { @@ -1350,34 +1725,58 @@ void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** cons } totalNumRows += info1.m_numConstraintRows; } - m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); + siData.m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); ///setup the btSolverConstraints int currentRow = 0; for (int i = 0; i < numConstraints; i++) { - const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; + const btTypedConstraint::btConstraintInfo1& info1 = siData.m_tmpConstraintSizesPool[i]; if (info1.m_numConstraintRows) { btAssert(currentRow < totalNumRows); - btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow]; + btSolverConstraint* currentConstraintRow = &siData.m_tmpSolverNonContactConstraintPool[currentRow]; btTypedConstraint* constraint = constraints[i]; btRigidBody& rbA = constraint->getRigidBodyA(); btRigidBody& rbB = constraint->getRigidBodyB(); - int solverBodyIdA = getOrInitSolverBody(rbA, infoGlobal.m_timeStep); - int solverBodyIdB = getOrInitSolverBody(rbB, infoGlobal.m_timeStep); + int solverBodyIdA = siData.getOrInitSolverBody(rbA, infoGlobal.m_timeStep); + int solverBodyIdB = siData.getOrInitSolverBody(rbB, infoGlobal.m_timeStep); - convertJoint(currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal); + convertJointInternal(siData.m_tmpSolverBodyPool, siData.m_maxOverrideNumSolverIterations, + currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal); } currentRow += info1.m_numConstraintRows; } } -void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) +{ + btSISolverSingleIterationData siData(m_tmpSolverBodyPool, + m_tmpSolverContactConstraintPool, + m_tmpSolverNonContactConstraintPool, + m_tmpSolverContactFrictionConstraintPool, + m_tmpSolverContactRollingFrictionConstraintPool, + m_orderTmpConstraintPool, + m_orderNonContactConstraintPool, + m_orderFrictionConstraintPool, + m_tmpConstraintSizesPool, + m_resolveSingleConstraintRowGeneric, + m_resolveSingleConstraintRowLowerLimit, + m_resolveSplitPenetrationImpulse, + m_kinematicBodyUniqueIdToSolverBodyTable, + m_btSeed2, + m_fixedBodyId, + m_maxOverrideNumSolverIterations); + + convertJointsInternal(siData, constraints, numConstraints, infoGlobal); +} + + +void btSequentialImpulseConstraintSolver::convertBodiesInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { BT_PROFILE("convertBodies"); for (int i = 0; i < numBodies; i++) @@ -1385,23 +1784,23 @@ void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodi bodies[i]->setCompanionId(-1); } #if BT_THREADSAFE - m_kinematicBodyUniqueIdToSolverBodyTable.resize(0); + siData.m_kinematicBodyUniqueIdToSolverBodyTable.resize(0); #endif // BT_THREADSAFE - m_tmpSolverBodyPool.reserve(numBodies + 1); - m_tmpSolverBodyPool.resize(0); + siData.m_tmpSolverBodyPool.reserve(numBodies + 1); + siData.m_tmpSolverBodyPool.resize(0); //btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); //initSolverBody(&fixedBody,0); for (int i = 0; i < numBodies; i++) { - int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); + int bodyId = siData.getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); btRigidBody* body = btRigidBody::upcast(bodies[i]); if (body && body->getInvMass()) { - btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; + btSolverBody& solverBody = siData.m_tmpSolverBodyPool[bodyId]; btVector3 gyroForce(0, 0, 0); if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT) { @@ -1422,6 +1821,29 @@ void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodi } } + +void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +{ + btSISolverSingleIterationData siData(m_tmpSolverBodyPool, + m_tmpSolverContactConstraintPool, + m_tmpSolverNonContactConstraintPool, + m_tmpSolverContactFrictionConstraintPool, + m_tmpSolverContactRollingFrictionConstraintPool, + m_orderTmpConstraintPool, + m_orderNonContactConstraintPool, + m_orderFrictionConstraintPool, + m_tmpConstraintSizesPool, + m_resolveSingleConstraintRowGeneric, + m_resolveSingleConstraintRowLowerLimit, + m_resolveSplitPenetrationImpulse, + m_kinematicBodyUniqueIdToSolverBodyTable, + m_btSeed2, + m_fixedBodyId, + m_maxOverrideNumSolverIterations); + + convertBodiesInternal(siData, bodies, numBodies, infoGlobal); +} + btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { m_fixedBodyId = -1; @@ -1545,14 +1967,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol return 0.f; } -btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/) +btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) { BT_PROFILE("solveSingleIteration"); btScalar leastSquaresResidual = 0.f; - int numNonContactPool = m_tmpSolverNonContactConstraintPool.size(); - int numConstraintPool = m_tmpSolverContactConstraintPool.size(); - int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size(); + int numNonContactPool = siData.m_tmpSolverNonContactConstraintPool.size(); + int numConstraintPool = siData.m_tmpSolverContactConstraintPool.size(); + int numFrictionPool = siData.m_tmpSolverContactFrictionConstraintPool.size(); if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) { @@ -1560,10 +1982,10 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration { for (int j = 0; j < numNonContactPool; ++j) { - int tmp = m_orderNonContactConstraintPool[j]; - int swapi = btRandInt2(j + 1); - m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi]; - m_orderNonContactConstraintPool[swapi] = tmp; + int tmp = siData.m_orderNonContactConstraintPool[j]; + int swapi = btRandInt2a(j + 1, siData.m_seed); + siData.m_orderNonContactConstraintPool[j] = siData.m_orderNonContactConstraintPool[swapi]; + siData.m_orderNonContactConstraintPool[swapi] = tmp; } //contact/friction constraints are not solved more than @@ -1571,30 +1993,30 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration { for (int j = 0; j < numConstraintPool; ++j) { - int tmp = m_orderTmpConstraintPool[j]; - int swapi = btRandInt2(j + 1); - m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi]; - m_orderTmpConstraintPool[swapi] = tmp; + int tmp = siData.m_orderTmpConstraintPool[j]; + int swapi = btRandInt2a(j + 1, siData.m_seed); + siData.m_orderTmpConstraintPool[j] = siData.m_orderTmpConstraintPool[swapi]; + siData.m_orderTmpConstraintPool[swapi] = tmp; } for (int j = 0; j < numFrictionPool; ++j) { - int tmp = m_orderFrictionConstraintPool[j]; - int swapi = btRandInt2(j + 1); - m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi]; - m_orderFrictionConstraintPool[swapi] = tmp; + int tmp = siData.m_orderFrictionConstraintPool[j]; + int swapi = btRandInt2a(j + 1, siData.m_seed); + siData.m_orderFrictionConstraintPool[j] = siData.m_orderFrictionConstraintPool[swapi]; + siData.m_orderFrictionConstraintPool[swapi] = tmp; } } } } ///solve all joint constraints - for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) + for (int j = 0; j < siData.m_tmpSolverNonContactConstraintPool.size(); j++) { - btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]]; + btSolverConstraint& constraint = siData.m_tmpSolverNonContactConstraintPool[siData.m_orderNonContactConstraintPool[j]]; if (iteration < constraint.m_overrideNumSolverIterations) { - btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint); + btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[constraint.m_solverBodyIdA], siData.m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -1605,10 +2027,10 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration { if (constraints[j]->isEnabled()) { - int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(), infoGlobal.m_timeStep); - int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(), infoGlobal.m_timeStep); - btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; - btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; + int bodyAid = siData.getSolverBody(constraints[j]->getRigidBodyA()); + int bodyBid = siData.getSolverBody(constraints[j]->getRigidBodyB()); + btSolverBody& bodyA = siData.m_tmpSolverBodyPool[bodyAid]; + btSolverBody& bodyB = siData.m_tmpSolverBodyPool[bodyBid]; constraints[j]->solveConstraintObsolete(bodyA, bodyB, infoGlobal.m_timeStep); } } @@ -1616,7 +2038,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration ///solve all contact constraints if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) { - int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1; for (int c = 0; c < numPoolConstraints; c++) @@ -1624,8 +2046,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration btScalar totalImpulse = 0; { - const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]]; - btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[c]]; + btScalar residual = siData.m_resolveSingleConstraintRowLowerLimit(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); totalImpulse = solveManifold.m_appliedImpulse; @@ -1634,28 +2056,28 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration if (applyFriction) { { - btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]]; + btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[c * multiplier]]; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) { - btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]]; + btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[c * multiplier + 1]]; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -1665,40 +2087,40 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration else //SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS { //solve the friction constraints after all contact constraints, don't interleave them - int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); int j; for (j = 0; j < numPoolConstraints; j++) { - const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; - btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[j]]; + btScalar residual = siData.m_resolveSingleConstraintRowLowerLimit(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } ///solve all friction constraints - int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size(); + int numFrictionPoolConstraints = siData.m_tmpSolverContactFrictionConstraintPool.size(); for (j = 0; j < numFrictionPoolConstraints; j++) { - btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]]; - btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[j]]; + btScalar totalImpulse = siData.m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } } - int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); + int numRollingFrictionPoolConstraints = siData.m_tmpSolverContactRollingFrictionConstraintPool.size(); for (int j = 0; j < numRollingFrictionPoolConstraints; j++) { - btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j]; - btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; + btSolverConstraint& rollingFrictionConstraint = siData.m_tmpSolverContactRollingFrictionConstraintPool[j]; + btScalar totalImpulse = siData.m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; if (totalImpulse > btScalar(0)) { btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse; @@ -1708,7 +2130,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; - btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint); + btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], siData.m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -1716,8 +2138,56 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration return leastSquaresResidual; } + +btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/) +{ + btSISolverSingleIterationData siData(m_tmpSolverBodyPool, + m_tmpSolverContactConstraintPool, + m_tmpSolverNonContactConstraintPool, + m_tmpSolverContactFrictionConstraintPool, + m_tmpSolverContactRollingFrictionConstraintPool, + m_orderTmpConstraintPool, + m_orderNonContactConstraintPool, + m_orderFrictionConstraintPool, + m_tmpConstraintSizesPool, + m_resolveSingleConstraintRowGeneric, + m_resolveSingleConstraintRowLowerLimit, + m_resolveSplitPenetrationImpulse, + m_kinematicBodyUniqueIdToSolverBodyTable, + m_btSeed2, + m_fixedBodyId, + m_maxOverrideNumSolverIterations); + + btScalar leastSquaresResidual = btSequentialImpulseConstraintSolver::solveSingleIterationInternal(siData, + iteration, constraints, numConstraints, infoGlobal); + return leastSquaresResidual; +} + void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { + btSISolverSingleIterationData siData(m_tmpSolverBodyPool, + m_tmpSolverContactConstraintPool, + m_tmpSolverNonContactConstraintPool, + m_tmpSolverContactFrictionConstraintPool, + m_tmpSolverContactRollingFrictionConstraintPool, + m_orderTmpConstraintPool, + m_orderNonContactConstraintPool, + m_orderFrictionConstraintPool, + m_tmpConstraintSizesPool, + m_resolveSingleConstraintRowGeneric, + m_resolveSingleConstraintRowLowerLimit, + m_resolveSplitPenetrationImpulse, + m_kinematicBodyUniqueIdToSolverBodyTable, + m_btSeed2, + m_fixedBodyId, + m_maxOverrideNumSolverIterations); + + solveGroupCacheFriendlySplitImpulseIterationsInternal(siData, + bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + +} +void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterationsInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) +{ BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); int iteration; if (infoGlobal.m_splitImpulse) @@ -1727,13 +2197,13 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte { btScalar leastSquaresResidual = 0.f; { - int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); int j; for (j = 0; j < numPoolConstraints; j++) { - const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; + const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[j]]; - btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = siData.m_resolveSplitPenetrationImpulse(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -1760,7 +2230,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations( int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; for (int iteration = 0; iteration < maxIterations; iteration++) - //for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--) + //for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--) { m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); @@ -1769,6 +2239,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations( #ifdef VERBOSE_RESIDUAL_PRINTF printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration); #endif + m_analyticsData.m_numSolverCalls++; + m_analyticsData.m_numIterationsUsed = iteration+1; + m_analyticsData.m_islandId = -2; + if (numBodies>0) + m_analyticsData.m_islandId = bodies[0]->getCompanionId(); + m_analyticsData.m_numBodies = numBodies; + m_analyticsData.m_numContactManifolds = numManifolds; + m_analyticsData.m_remainingLeastSquaresResidual = m_leastSquaresResidual; break; } } @@ -1776,31 +2254,42 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations( return 0.f; } -void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::writeBackContactsInternal(btConstraintArray& tmpSolverContactConstraintPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { for (int j = iBegin; j < iEnd; j++) { - const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j]; + const btSolverConstraint& solveManifold = tmpSolverContactConstraintPool[j]; btManifoldPoint* pt = (btManifoldPoint*)solveManifold.m_originalContactPoint; btAssert(pt); pt->m_appliedImpulse = solveManifold.m_appliedImpulse; // float f = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; // printf("pt->m_appliedImpulseLateral1 = %f\n", f); - pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + pt->m_appliedImpulseLateral1 = tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; //printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { - pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse; + pt->m_appliedImpulseLateral2 = tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse; } //do a callback here? } } +void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) +{ + writeBackContactsInternal(m_tmpSolverContactConstraintPool, m_tmpSolverContactFrictionConstraintPool, iBegin, iEnd, infoGlobal); + +} + void btSequentialImpulseConstraintSolver::writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { + writeBackJointsInternal(m_tmpSolverNonContactConstraintPool, iBegin, iEnd, infoGlobal); +} + +void btSequentialImpulseConstraintSolver::writeBackJointsInternal(btConstraintArray& tmpSolverNonContactConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) +{ for (int j = iBegin; j < iEnd; j++) { - const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j]; + const btSolverConstraint& solverConstr = tmpSolverNonContactConstraintPool[j]; btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint; btJointFeedback* fb = constr->getJointFeedback(); if (fb) @@ -1821,53 +2310,79 @@ void btSequentialImpulseConstraintSolver::writeBackJoints(int iBegin, int iEnd, void btSequentialImpulseConstraintSolver::writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { + writeBackBodiesInternal(m_tmpSolverBodyPool, iBegin, iEnd, infoGlobal); +} +void btSequentialImpulseConstraintSolver::writeBackBodiesInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) +{ for (int i = iBegin; i < iEnd; i++) { - btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; + btRigidBody* body = tmpSolverBodyPool[i].m_originalBody; if (body) { if (infoGlobal.m_splitImpulse) - m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp); + tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp); else - m_tmpSolverBodyPool[i].writebackVelocity(); + tmpSolverBodyPool[i].writebackVelocity(); - m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity( - m_tmpSolverBodyPool[i].m_linearVelocity + - m_tmpSolverBodyPool[i].m_externalForceImpulse); + tmpSolverBodyPool[i].m_originalBody->setLinearVelocity( + tmpSolverBodyPool[i].m_linearVelocity + + tmpSolverBodyPool[i].m_externalForceImpulse); - m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity( - m_tmpSolverBodyPool[i].m_angularVelocity + - m_tmpSolverBodyPool[i].m_externalTorqueImpulse); + tmpSolverBodyPool[i].m_originalBody->setAngularVelocity( + tmpSolverBodyPool[i].m_angularVelocity + + tmpSolverBodyPool[i].m_externalTorqueImpulse); if (infoGlobal.m_splitImpulse) - m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform); + tmpSolverBodyPool[i].m_originalBody->setWorldTransform(tmpSolverBodyPool[i].m_worldTransform); - m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1); + tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1); } } } -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { BT_PROFILE("solveGroupCacheFriendlyFinish"); if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) { - writeBackContacts(0, m_tmpSolverContactConstraintPool.size(), infoGlobal); + writeBackContactsInternal(siData.m_tmpSolverContactConstraintPool, siData.m_tmpSolverContactFrictionConstraintPool, 0, siData.m_tmpSolverContactConstraintPool.size(), infoGlobal); } - writeBackJoints(0, m_tmpSolverNonContactConstraintPool.size(), infoGlobal); - writeBackBodies(0, m_tmpSolverBodyPool.size(), infoGlobal); + writeBackJointsInternal(siData.m_tmpSolverNonContactConstraintPool, 0, siData.m_tmpSolverNonContactConstraintPool.size(), infoGlobal); + writeBackBodiesInternal(siData.m_tmpSolverBodyPool, 0, siData.m_tmpSolverBodyPool.size(), infoGlobal); - m_tmpSolverContactConstraintPool.resizeNoInitialize(0); - m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); - m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); - m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0); + siData.m_tmpSolverContactConstraintPool.resizeNoInitialize(0); + siData.m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); + siData.m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); + siData.m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0); - m_tmpSolverBodyPool.resizeNoInitialize(0); + siData.m_tmpSolverBodyPool.resizeNoInitialize(0); return 0.f; } +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +{ + btSISolverSingleIterationData siData(m_tmpSolverBodyPool, + m_tmpSolverContactConstraintPool, + m_tmpSolverNonContactConstraintPool, + m_tmpSolverContactFrictionConstraintPool, + m_tmpSolverContactRollingFrictionConstraintPool, + m_orderTmpConstraintPool, + m_orderNonContactConstraintPool, + m_orderFrictionConstraintPool, + m_tmpConstraintSizesPool, + m_resolveSingleConstraintRowGeneric, + m_resolveSingleConstraintRowLowerLimit, + m_resolveSplitPenetrationImpulse, + m_kinematicBodyUniqueIdToSolverBodyTable, + m_btSeed2, + m_fixedBodyId, + m_maxOverrideNumSolverIterations); + + return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal(siData, bodies, numBodies, infoGlobal); +} + /// btSequentialImpulseConstraintSolver Sequentially applies impulses btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer, btDispatcher* /*dispatcher*/) { @@ -1886,4 +2401,4 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod void btSequentialImpulseConstraintSolver::reset() { m_btSeed2 = 0; -} +}
\ No newline at end of file diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 70db83b063..2b88e25be7 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -29,10 +29,91 @@ class btCollisionObject; typedef btScalar (*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&); +struct btSISolverSingleIterationData +{ + btAlignedObjectArray<btSolverBody>& m_tmpSolverBodyPool; + btConstraintArray& m_tmpSolverContactConstraintPool; + btConstraintArray& m_tmpSolverNonContactConstraintPool; + btConstraintArray& m_tmpSolverContactFrictionConstraintPool; + btConstraintArray& m_tmpSolverContactRollingFrictionConstraintPool; + + btAlignedObjectArray<int>& m_orderTmpConstraintPool; + btAlignedObjectArray<int>& m_orderNonContactConstraintPool; + btAlignedObjectArray<int>& m_orderFrictionConstraintPool; + btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& m_tmpConstraintSizesPool; + unsigned long& m_seed; + + btSingleConstraintRowSolver& m_resolveSingleConstraintRowGeneric; + btSingleConstraintRowSolver& m_resolveSingleConstraintRowLowerLimit; + btSingleConstraintRowSolver& m_resolveSplitPenetrationImpulse; + btAlignedObjectArray<int>& m_kinematicBodyUniqueIdToSolverBodyTable; + int& m_fixedBodyId; + int& m_maxOverrideNumSolverIterations; + int getOrInitSolverBody(btCollisionObject & body, btScalar timeStep); + static void initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep); + int getSolverBody(btCollisionObject& body) const; + + + btSISolverSingleIterationData(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, + btConstraintArray& tmpSolverContactConstraintPool, + btConstraintArray& tmpSolverNonContactConstraintPool, + btConstraintArray& tmpSolverContactFrictionConstraintPool, + btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, + btAlignedObjectArray<int>& orderTmpConstraintPool, + btAlignedObjectArray<int>& orderNonContactConstraintPool, + btAlignedObjectArray<int>& orderFrictionConstraintPool, + btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& tmpConstraintSizesPool, + btSingleConstraintRowSolver& resolveSingleConstraintRowGeneric, + btSingleConstraintRowSolver& resolveSingleConstraintRowLowerLimit, + btSingleConstraintRowSolver& resolveSplitPenetrationImpulse, + btAlignedObjectArray<int>& kinematicBodyUniqueIdToSolverBodyTable, + unsigned long& seed, + int& fixedBodyId, + int& maxOverrideNumSolverIterations + ) + :m_tmpSolverBodyPool(tmpSolverBodyPool), + m_tmpSolverContactConstraintPool(tmpSolverContactConstraintPool), + m_tmpSolverNonContactConstraintPool(tmpSolverNonContactConstraintPool), + m_tmpSolverContactFrictionConstraintPool(tmpSolverContactFrictionConstraintPool), + m_tmpSolverContactRollingFrictionConstraintPool(tmpSolverContactRollingFrictionConstraintPool), + m_orderTmpConstraintPool(orderTmpConstraintPool), + m_orderNonContactConstraintPool(orderNonContactConstraintPool), + m_orderFrictionConstraintPool(orderFrictionConstraintPool), + m_tmpConstraintSizesPool(tmpConstraintSizesPool), + m_seed(seed), + m_resolveSingleConstraintRowGeneric(resolveSingleConstraintRowGeneric), + m_resolveSingleConstraintRowLowerLimit(resolveSingleConstraintRowLowerLimit), + m_resolveSplitPenetrationImpulse(resolveSplitPenetrationImpulse), + m_kinematicBodyUniqueIdToSolverBodyTable(kinematicBodyUniqueIdToSolverBodyTable), + m_fixedBodyId(fixedBodyId), + m_maxOverrideNumSolverIterations(maxOverrideNumSolverIterations) + { + } +}; + +struct btSolverAnalyticsData +{ + btSolverAnalyticsData() + { + m_numSolverCalls = 0; + m_numIterationsUsed = -1; + m_remainingLeastSquaresResidual = -1; + m_islandId = -2; + } + int m_islandId; + int m_numBodies; + int m_numContactManifolds; + int m_numSolverCalls; + int m_numIterationsUsed; + double m_remainingLeastSquaresResidual; +}; + ///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver { + + protected: btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool; btConstraintArray m_tmpSolverContactConstraintPool; @@ -64,26 +145,26 @@ protected: btScalar m_leastSquaresResidual; void setupFrictionConstraint(btSolverConstraint & solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, - btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, - const btContactSolverInfo& infoGlobal, - btScalar desiredVelocity = 0., btScalar cfmSlip = 0.); + btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, + btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, + const btContactSolverInfo& infoGlobal, + btScalar desiredVelocity = 0., btScalar cfmSlip = 0.); void setupTorsionalFrictionConstraint(btSolverConstraint & solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, - btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, - btScalar desiredVelocity = 0., btScalar cfmSlip = 0.); + btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, + btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, + btScalar desiredVelocity = 0., btScalar cfmSlip = 0.); btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0., btScalar cfmSlip = 0.); btSolverConstraint& addTorsionalFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar torsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity = 0, btScalar cfmSlip = 0.f); void setupContactConstraint(btSolverConstraint & solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, - const btContactSolverInfo& infoGlobal, btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2); + const btContactSolverInfo& infoGlobal, btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2); static void applyAnisotropicFriction(btCollisionObject * colObj, btVector3 & frictionDirection, int frictionMode); void setFrictionConstraintImpulse(btSolverConstraint & solverConstraint, int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); + btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction unsigned long m_btSeed2; @@ -97,6 +178,7 @@ protected: virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal); void convertJoint(btSolverConstraint * currentConstraintRow, btTypedConstraint * constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal); + virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); btScalar resolveSplitPenetrationSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint) @@ -122,7 +204,8 @@ protected: return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint); } -protected: +public: + void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); @@ -130,6 +213,7 @@ protected: virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); + virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); @@ -141,13 +225,52 @@ public: virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher); + static btScalar solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal); + static void convertBodiesInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); + static void convertJointsInternal(btSISolverSingleIterationData& siData, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal); + static void convertContactInternal(btSISolverSingleIterationData& siData, btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal); + static void setupContactConstraintInternal(btSISolverSingleIterationData& siData, btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, + const btVector3& rel_pos1, const btVector3& rel_pos2); + static btScalar restitutionCurveInternal(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold); + static btSolverConstraint& addTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity = 0, btScalar cfmSlip = 0.); + static void setupTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, + btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, + btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, + btScalar desiredVelocity, btScalar cfmSlip); + static void setupFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip); + static btSolverConstraint& addFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0., btScalar cfmSlip = 0.); + static void setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, + + btSolverConstraint& solverConstraint, + int solverBodyIdA, int solverBodyIdB, + btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); + static void convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, + int& maxOverrideNumSolverIterations, + btSolverConstraint* currentConstraintRow, + btTypedConstraint* constraint, + const btTypedConstraint::btConstraintInfo1& info1, + int solverBodyIdA, + int solverBodyIdB, + const btContactSolverInfo& infoGlobal); + + static btScalar solveGroupCacheFriendlyFinishInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); + + static void writeBackContactsInternal(btConstraintArray& tmpSolverContactConstraintPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); + + static void writeBackJointsInternal(btConstraintArray& tmpSolverNonContactConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); + static void writeBackBodiesInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); + static void solveGroupCacheFriendlySplitImpulseIterationsInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); + + ///clear internal cached data and reset random seed virtual void reset(); unsigned long btRand2(); - int btRandInt2(int n); + static unsigned long btRand2a(unsigned long& seed); + static int btRandInt2a(int n, unsigned long& seed); + void setRandSeed(unsigned long seed) { m_btSeed2 = seed; @@ -179,15 +302,22 @@ public: m_resolveSingleConstraintRowLowerLimit = rowSolver; } + + ///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4 - btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); - btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); - btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); + static btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); + static btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); + static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); ///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4 - btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); - btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); - btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); + static btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); + static btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); + static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); + + static btSingleConstraintRowSolver getScalarSplitPenetrationImpulseGeneric(); + static btSingleConstraintRowSolver getSSE2SplitPenetrationImpulseGeneric(); + + btSolverAnalyticsData m_analyticsData; }; #endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp index 17287aa82a..5353fe009e 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp @@ -65,7 +65,7 @@ inline int getIslandId(const btPersistentManifold* lhs) return islandId; } -SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs) +SIMD_FORCE_INLINE int btGetConstraintIslandId1(const btTypedConstraint* lhs) { const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); @@ -452,7 +452,7 @@ void btSimulationIslandManagerMt::addConstraintsToIslands(btAlignedObjectArray<b btTypedConstraint* constraint = constraints[i]; if (constraint->isEnabled()) { - int islandId = btGetConstraintIslandId(constraint); + int islandId = btGetConstraintIslandId1(constraint); // if island is not sleeping, if (Island* island = getIsland(islandId)) { diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp index 53fc48d4b9..3e210d7520 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp @@ -106,6 +106,7 @@ btMultiBody::btMultiBody(int n_links, m_fixedBase(fixedBase), m_awake(true), m_canSleep(canSleep), + m_canWakeup(true), m_sleepTimer(0), m_userObjectPointer(0), m_userIndex2(-1), @@ -343,6 +344,7 @@ void btMultiBody::finalizeMultiDof() m_deltaV.resize(6 + m_dofCount); m_realBuf.resize(6 + m_dofCount + m_dofCount * m_dofCount + 6 + m_dofCount); //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices + delta-pos vector (6 base "vels" + joint "vels") m_vectorBuf.resize(2 * m_dofCount); //two 3-vectors (i.e. one six-vector) for each system dof ("h" matrices) + m_matrixBuf.resize(m_links.size() + 1); for (int i = 0; i < m_vectorBuf.size(); i++) { m_vectorBuf[i].setValue(0, 0, 0); @@ -350,9 +352,9 @@ void btMultiBody::finalizeMultiDof() updateLinksDofOffsets(); } -int btMultiBody::getParent(int i) const +int btMultiBody::getParent(int link_num) const { - return m_links[i].m_parent; + return m_links[link_num].m_parent; } btScalar btMultiBody::getLinkMass(int i) const @@ -1882,6 +1884,8 @@ void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep) return; } + + // motion is computed as omega^2 + v^2 + (sum of squares of joint velocities) btScalar motion = 0; { @@ -1900,8 +1904,11 @@ void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep) else { m_sleepTimer = 0; - if (!m_awake) - wakeUp(); + if (m_canWakeup) + { + if (!m_awake) + wakeUp(); + } } } diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h index e5c0f1806b..c0b0d003be 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h @@ -65,7 +65,7 @@ public: virtual ~btMultiBody(); //note: fixed link collision with parent is always disabled - void setupFixed(int linkIndex, + void setupFixed(int i, //linkIndex btScalar mass, const btVector3 &inertia, int parent, @@ -83,7 +83,7 @@ public: const btVector3 &thisPivotToThisComOffset, bool disableParentCollision); - void setupRevolute(int linkIndex, // 0 to num_links-1 + void setupRevolute(int i, // 0 to num_links-1 btScalar mass, const btVector3 &inertia, int parentIndex, @@ -93,7 +93,7 @@ public: const btVector3 &thisPivotToThisComOffset, // vector from joint axis to my COM, in MY frame bool disableParentCollision = false); - void setupSpherical(int linkIndex, // 0 to num_links-1 + void setupSpherical(int i, // linkIndex, 0 to num_links-1 btScalar mass, const btVector3 &inertia, int parent, @@ -182,7 +182,10 @@ public: // get/set pos/vel/rot/omega for the base link // - const btVector3 &getBasePos() const { return m_basePos; } // in world frame + const btVector3 &getBasePos() const + { + return m_basePos; + } // in world frame const btVector3 getBaseVel() const { return btVector3(m_realBuf[3], m_realBuf[4], m_realBuf[5]); @@ -274,15 +277,15 @@ public: // // transform vectors in local frame of link i to world frame (or vice versa) // - btVector3 localPosToWorld(int i, const btVector3 &vec) const; - btVector3 localDirToWorld(int i, const btVector3 &vec) const; - btVector3 worldPosToLocal(int i, const btVector3 &vec) const; - btVector3 worldDirToLocal(int i, const btVector3 &vec) const; + btVector3 localPosToWorld(int i, const btVector3 &local_pos) const; + btVector3 localDirToWorld(int i, const btVector3 &local_dir) const; + btVector3 worldPosToLocal(int i, const btVector3 &world_pos) const; + btVector3 worldDirToLocal(int i, const btVector3 &world_dir) const; // // transform a frame in local coordinate to a frame in world coordinate // - btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &mat) const; + btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &local_frame) const; // // calculate kinetic energy and angular momentum @@ -451,7 +454,10 @@ public: // void setCanSleep(bool canSleep) { - m_canSleep = canSleep; + if (m_canWakeup) + { + m_canSleep = canSleep; + } } bool getCanSleep() const @@ -459,6 +465,15 @@ public: return m_canSleep; } + bool getCanWakeup() const + { + return m_canWakeup; + } + + void setCanWakeup(bool canWakeup) + { + m_canWakeup = canWakeup; + } bool isAwake() const { return m_awake; } void wakeUp(); void goToSleep(); @@ -469,6 +484,11 @@ public: return m_fixedBase; } + void setFixedBase(bool fixedBase) + { + m_fixedBase = fixedBase; + } + int getCompanionId() const { return m_companionId; @@ -556,11 +576,11 @@ public: { return m_internalNeedsJointFeedback; } - void forwardKinematics(btAlignedObjectArray<btQuaternion> & scratch_q, btAlignedObjectArray<btVector3> & scratch_m); + void forwardKinematics(btAlignedObjectArray<btQuaternion>& world_to_local, btAlignedObjectArray<btVector3> & local_origin); void compTreeLinkVelocities(btVector3 * omega, btVector3 * vel) const; - void updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion> & scratch_q, btAlignedObjectArray<btVector3> & scratch_m); + void updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion> & world_to_local, btAlignedObjectArray<btVector3> & local_origin); virtual int calculateSerializeBufferSize() const; @@ -688,6 +708,7 @@ private: // Sleep parameters. bool m_awake; bool m_canSleep; + bool m_canWakeup; btScalar m_sleepTimer; void *m_userObjectPointer; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index e97bd71cc4..23e163f0e8 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -70,6 +70,30 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl //solve featherstone frictional contact if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode & SOLVER_DISABLE_IMPLICIT_CONE_FRICTION) == 0)) { + for (int j1 = 0; j1 < this->m_multiBodySpinningFrictionContactConstraints.size(); j1++) + { + if (iteration < infoGlobal.m_numIterations) + { + int index = j1; + + btMultiBodySolverConstraint& frictionConstraint = m_multiBodySpinningFrictionContactConstraints[index]; + btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse; + //adjust friction limits here + if (totalImpulse > btScalar(0)) + { + frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction * totalImpulse); + frictionConstraint.m_upperLimit = frictionConstraint.m_friction * totalImpulse; + btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint); + leastSquaredResidual = btMax(leastSquaredResidual, residual * residual); + + if (frictionConstraint.m_multiBodyA) + frictionConstraint.m_multiBodyA->setPosUpdated(false); + if (frictionConstraint.m_multiBodyB) + frictionConstraint.m_multiBodyB->setPosUpdated(false); + } + } + } + for (int j1 = 0; j1 < this->m_multiBodyTorsionalFrictionContactConstraints.size(); j1++) { if (iteration < infoGlobal.m_numIterations) @@ -78,18 +102,29 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl btMultiBodySolverConstraint& frictionConstraint = m_multiBodyTorsionalFrictionContactConstraints[index]; btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse; + j1++; + int index2 = j1; + btMultiBodySolverConstraint& frictionConstraintB = m_multiBodyTorsionalFrictionContactConstraints[index2]; //adjust friction limits here - if (totalImpulse > btScalar(0)) + if (totalImpulse > btScalar(0) && frictionConstraint.m_frictionIndex == frictionConstraintB.m_frictionIndex) { frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction * totalImpulse); frictionConstraint.m_upperLimit = frictionConstraint.m_friction * totalImpulse; - btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint); + frictionConstraintB.m_lowerLimit = -(frictionConstraintB.m_friction * totalImpulse); + frictionConstraintB.m_upperLimit = frictionConstraintB.m_friction * totalImpulse; + + btScalar residual = resolveConeFrictionConstraintRows(frictionConstraint, frictionConstraintB); leastSquaredResidual = btMax(leastSquaredResidual, residual * residual); if (frictionConstraint.m_multiBodyA) frictionConstraint.m_multiBodyA->setPosUpdated(false); if (frictionConstraint.m_multiBodyB) frictionConstraint.m_multiBodyB->setPosUpdated(false); + + if (frictionConstraintB.m_multiBodyA) + frictionConstraintB.m_multiBodyA->setPosUpdated(false); + if (frictionConstraintB.m_multiBodyB) + frictionConstraintB.m_multiBodyB->setPosUpdated(false); } } } @@ -164,6 +199,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionOb m_multiBodyNormalContactConstraints.resize(0); m_multiBodyFrictionContactConstraints.resize(0); m_multiBodyTorsionalFrictionContactConstraints.resize(0); + m_multiBodySpinningFrictionContactConstraints.resize(0); m_data.m_jacobians.resize(0); m_data.m_deltaVelocitiesUnitImpulse.resize(0); @@ -1169,6 +1205,43 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyTorsionalF return solverConstraint; } +btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodySpinningFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, + btScalar combinedTorsionalFriction, + btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) +{ + BT_PROFILE("addMultiBodyRollingFrictionConstraint"); + + btMultiBodySolverConstraint& solverConstraint = m_multiBodySpinningFrictionContactConstraints.expandNonInitializing(); + solverConstraint.m_orgConstraint = 0; + solverConstraint.m_orgDofIndex = -1; + + solverConstraint.m_frictionIndex = frictionIndex; + bool isFriction = true; + + const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0()); + const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1()); + + btMultiBody* mbA = fcA ? fcA->m_multiBody : 0; + btMultiBody* mbB = fcB ? fcB->m_multiBody : 0; + + int solverBodyIdA = mbA ? -1 : getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep); + int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep); + + solverConstraint.m_solverBodyIdA = solverBodyIdA; + solverConstraint.m_solverBodyIdB = solverBodyIdB; + solverConstraint.m_multiBodyA = mbA; + if (mbA) + solverConstraint.m_linkA = fcA->m_link; + + solverConstraint.m_multiBodyB = mbB; + if (mbB) + solverConstraint.m_linkB = fcB->m_link; + + solverConstraint.m_originalContactPoint = &cp; + + setupMultiBodyTorsionalFrictionConstraint(solverConstraint, normalAxis, cp, combinedTorsionalFriction, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip); + return solverConstraint; +} void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) { const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0()); @@ -1258,7 +1331,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* { if (cp.m_combinedSpinningFriction > 0) { - addMultiBodyTorsionalFrictionConstraint(cp.m_normalWorldOnB, manifold, frictionIndex, cp, cp.m_combinedSpinningFriction, colObj0, colObj1, relaxation, infoGlobal); + addMultiBodySpinningFrictionConstraint(cp.m_normalWorldOnB, manifold, frictionIndex, cp, cp.m_combinedSpinningFriction, colObj0, colObj1, relaxation, infoGlobal); } if (cp.m_combinedRollingFriction > 0) { @@ -1267,11 +1340,8 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); - if (cp.m_lateralFrictionDir1.length() > 0.001) - addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, cp.m_combinedRollingFriction, colObj0, colObj1, relaxation, infoGlobal); - - if (cp.m_lateralFrictionDir2.length() > 0.001) - addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, cp.m_combinedRollingFriction, colObj0, colObj1, relaxation, infoGlobal); + addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, cp.m_combinedRollingFriction, colObj0, colObj1, relaxation, infoGlobal); + addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, cp.m_combinedRollingFriction, colObj0, colObj1, relaxation, infoGlobal); } rollingFriction--; } diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h index f39f2879fc..abf5718839 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h @@ -34,6 +34,7 @@ protected: btMultiBodyConstraintArray m_multiBodyNormalContactConstraints; btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints; btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints; + btMultiBodyConstraintArray m_multiBodySpinningFrictionContactConstraints; btMultiBodyJacobianData m_data; @@ -54,6 +55,10 @@ protected: btScalar combinedTorsionalFriction, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); + btMultiBodySolverConstraint& addMultiBodySpinningFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, + btScalar combinedTorsionalFriction, + btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); + void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint & constraintRow, btScalar * jacA, btScalar * jacB, btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff, diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 1557987bc3..1131e5378c 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -207,6 +207,7 @@ public: } }; + struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback { btContactSolverInfo* m_solverInfo; @@ -224,6 +225,8 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: btAlignedObjectArray<btTypedConstraint*> m_constraints; btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints; + btAlignedObjectArray<btSolverAnalyticsData> m_islandAnalyticsData; + MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver, btDispatcher* dispatcher) : m_solverInfo(NULL), @@ -235,7 +238,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: { } - MultiBodyInplaceSolverIslandCallback& operator=(MultiBodyInplaceSolverIslandCallback& other) + MultiBodyInplaceSolverIslandCallback& operator=(const MultiBodyInplaceSolverIslandCallback& other) { btAssert(0); (void)other; @@ -244,6 +247,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: SIMD_FORCE_INLINE void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer) { + m_islandAnalyticsData.clear(); btAssert(solverInfo); m_solverInfo = solverInfo; @@ -270,6 +274,11 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: { ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher); + if (m_solverInfo->m_reportSolverAnalytics&1) + { + m_solver->m_analyticsData.m_islandId = islandId; + m_islandAnalyticsData.push_back(m_solver->m_analyticsData); + } } else { @@ -335,7 +344,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize) { - processConstraints(); + processConstraints(islandId); } else { @@ -344,7 +353,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: } } } - void processConstraints() + void processConstraints(int islandId=-1) { btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0; btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0; @@ -354,6 +363,11 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size()); m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher); + if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1)) + { + m_solver->m_analyticsData.m_islandId = islandId; + m_islandAnalyticsData.push_back(m_solver->m_analyticsData); + } m_bodies.resize(0); m_manifolds.resize(0); m_constraints.resize(0); @@ -361,6 +375,11 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: } }; +void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray<btSolverAnalyticsData>& islandAnalyticsData) const +{ + islandAnalyticsData = m_solverMultiBodyIslandCallback->m_islandAnalyticsData; +} + btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration) : btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration), m_multiBodyConstraintSolver(constraintSolver) @@ -717,13 +736,17 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) m_scratch_v.resize(bod->getNumLinks() + 1); m_scratch_m.resize(bod->getNumLinks() + 1); + if (bod->internalNeedsJointFeedback()) { if (!bod->isUsingRK4Integration()) { - bool isConstraintPass = true; - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, - getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); + if (bod->internalNeedsJointFeedback()) + { + bool isConstraintPass = true; + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } } } } diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index 641238f3bb..e36c2f7aad 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -109,5 +109,7 @@ public: virtual void serialize(btSerializer* serializer); virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver); virtual void setConstraintSolver(btConstraintSolver* solver); + virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const; + }; #endif //BT_MULTIBODY_DYNAMICS_WORLD_H diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h index f91c001f12..bc909990c2 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h @@ -36,6 +36,10 @@ public: btMultiBody* m_multiBody; int m_link; + virtual ~btMultiBodyLinkCollider() + { + + } btMultiBodyLinkCollider(btMultiBody* multiBody, int link) : m_multiBody(multiBody), m_link(link) diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp index 338e8af0ab..f2186a93e9 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp @@ -22,9 +22,9 @@ subject to the following restrictions: #define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS -static bool interleaveContactAndFriction = false; +static bool interleaveContactAndFriction1 = false; -struct btJointNode +struct btJointNode1 { int jointIndex; // pointer to enclosing dxJoint object int otherBodyIndex; // *other* body this joint is connected to @@ -241,7 +241,7 @@ void btMultiBodyMLCPConstraintSolver::createMLCPFast(const btContactSolverInfo& void btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody(const btContactSolverInfo& infoGlobal) { - int numContactRows = interleaveContactAndFriction ? 3 : 1; + int numContactRows = interleaveContactAndFriction1 ? 3 : 1; int numConstraintRows = m_allConstraintPtrArray.size(); @@ -301,7 +301,7 @@ void btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody(const btContactSol BT_PROFILE("bodyJointNodeArray.resize"); bodyJointNodeArray.resize(numBodies, -1); } - btAlignedObjectArray<btJointNode> jointNodeArray; + btAlignedObjectArray<btJointNode1> jointNodeArray; { BT_PROFILE("jointNodeArray.reserve"); jointNodeArray.reserve(2 * m_allConstraintPtrArray.size()); @@ -729,7 +729,7 @@ btScalar btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup( int firstContactConstraintOffset = dindex; // The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead - if (interleaveContactAndFriction) + if (interleaveContactAndFriction1) { for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++) { @@ -785,7 +785,7 @@ btScalar btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup( firstContactConstraintOffset = dindex; // The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead - if (interleaveContactAndFriction) + if (interleaveContactAndFriction1) { for (int i = 0; i < m_multiBodyNormalContactConstraints.size(); ++i) { diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h index 6be36ba142..77fdb86bb9 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h @@ -156,7 +156,7 @@ protected: btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, - btIDebugDraw* debugDrawer) BT_OVERRIDE; + btIDebugDraw* debugDrawer) ; public: BT_DECLARE_ALIGNED_ALLOCATOR() diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h index 3f215e56bb..ac2fc46ab0 100644 --- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h +++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h @@ -20,7 +20,7 @@ subject to the following restrictions: #include "btMLCPSolverInterface.h" #include "btLemkeAlgorithm.h" -///The btLemkeSolver is based on "Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd) " +///The btLemkeSolver is based on "Fast Implementation of Lemke's Algorithm for Rigid Body Contact Simulation (John E. Lloyd) " ///It is a slower but more accurate solver. Increase the m_maxLoops for better convergence, at the cost of more CPU time. ///The original implementation of the btLemkeAlgorithm was done by Kilian Grundl from the MBSim team class btLemkeSolver : public btMLCPSolverInterface @@ -67,7 +67,7 @@ public: btMatrixXu A1; btMatrixXu B(n, n); { - BT_PROFILE("inverse(slow)"); + //BT_PROFILE("inverse(slow)"); A1.resize(A.rows(), A.cols()); for (int row = 0; row < A.rows(); row++) { @@ -174,7 +174,7 @@ public: y1.resize(n, 1); btLemkeAlgorithm lemke(M, qq, m_debugLevel); { - BT_PROFILE("lemke.solve"); + //BT_PROFILE("lemke.solve"); lemke.setSystem(M, qq); z1 = lemke.solve(m_maxLoops); } diff --git a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp index f150b5ae4c..9326b0d098 100644 --- a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp +++ b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp @@ -349,7 +349,7 @@ int MultiBodyTree::finalize() const int &num_bodies = m_init_cache->numBodies(); const int &num_dofs = m_init_cache->numDoFs(); - if (num_dofs <= 0) + if (num_dofs < 0) { bt_id_error_message("Need num_dofs>=1, but num_dofs= %d\n", num_dofs); //return -1; diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp index befbc2e2a4..ec9a562295 100644 --- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp +++ b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp @@ -479,9 +479,17 @@ int MultiBodyTree::MultiBodyImpl::calculateKinematics(const vecx &q, const vecx //todo: review RigidBody &body = m_body_list[m_body_spherical_list[i]]; - body.m_body_T_parent = transformZ(q(body.m_q_index + 2)) * - transformY(q(body.m_q_index + 1)) * - transformX(q(body.m_q_index)); + mat33 T; + + T = transformX(q(body.m_q_index)) * + transformY(q(body.m_q_index + 1)) * + transformZ(q(body.m_q_index + 2)); + body.m_body_T_parent = T * body.m_body_T_parent_ref; + + body.m_parent_pos_parent_body(0)=0; + body.m_parent_pos_parent_body(1)=0; + body.m_parent_pos_parent_body(2)=0; + body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body; if (type >= POSITION_VELOCITY) @@ -832,6 +840,25 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body; } + + for (idArrayIdx i = 0; i < m_body_spherical_list.size(); i++) + { + //todo: review + RigidBody &body = m_body_list[m_body_spherical_list[i]]; + + mat33 T; + + T = transformX(q(body.m_q_index)) * + transformY(q(body.m_q_index + 1)) * + transformZ(q(body.m_q_index + 2)); + body.m_body_T_parent = T * body.m_body_T_parent_ref; + + body.m_parent_pos_parent_body(0)=0; + body.m_parent_pos_parent_body(1)=0; + body.m_parent_pos_parent_body(2)=0; + + body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body; + } } for (int i = m_body_list.size() - 1; i >= 0; i--) { diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp index 58796a88d0..7463bdc019 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp +++ b/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp @@ -518,7 +518,7 @@ void btSoftBody::addAeroForceToNode(const btVector3& windVelocity, int nodeIndex fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm); // Check angle of attack - // cos(10º) = 0.98480 + // cos(10°) = 0.98480 if (0 < n_dot_v && n_dot_v < 0.98480f) fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f - n_dot_v * n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm)); @@ -604,7 +604,7 @@ void btSoftBody::addAeroForceToFace(const btVector3& windVelocity, int faceIndex fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm); // Check angle of attack - // cos(10º) = 0.98480 + // cos(10°) = 0.98480 if (0 < n_dot_v && n_dot_v < 0.98480f) fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f - n_dot_v * n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm)); diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp index 02f4ed1631..a03f6dc570 100644 --- a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp +++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp @@ -45,14 +45,14 @@ subject to the following restrictions: int btGetNumHardwareThreads() { - return btMin<int>(BT_MAX_THREAD_COUNT, std::thread::hardware_concurrency()); + return btMax(1u, btMin(BT_MAX_THREAD_COUNT, std::thread::hardware_concurrency())); } #else int btGetNumHardwareThreads() { - return btMin<int>(BT_MAX_THREAD_COUNT, sysconf(_SC_NPROCESSORS_ONLN)); + return btMax(1, btMin<int>(BT_MAX_THREAD_COUNT, sysconf(_SC_NPROCESSORS_ONLN))); } #endif @@ -304,8 +304,8 @@ void btThreadSupportPosix::stopThreads() checkPThreadFunction(sem_post(threadStatus.startSemaphore)); checkPThreadFunction(sem_wait(m_mainSemaphore)); - destroySem(threadStatus.startSemaphore); checkPThreadFunction(pthread_join(threadStatus.thread, 0)); + destroySem(threadStatus.startSemaphore); } destroySem(m_mainSemaphore); m_activeThreadStatus.clear(); diff --git a/thirdparty/bullet/LinearMath/btAlignedObjectArray.h b/thirdparty/bullet/LinearMath/btAlignedObjectArray.h index b4671bc19f..b3d5d64b58 100644 --- a/thirdparty/bullet/LinearMath/btAlignedObjectArray.h +++ b/thirdparty/bullet/LinearMath/btAlignedObjectArray.h @@ -38,13 +38,6 @@ subject to the following restrictions: #include <new> //for placement new #endif //BT_USE_PLACEMENT_NEW -// The register keyword is deprecated in C++11 so don't use it. -#if __cplusplus > 199711L -#define BT_REGISTER -#else -#define BT_REGISTER register -#endif - ///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods ///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data template <typename T> @@ -209,7 +202,7 @@ public: SIMD_FORCE_INLINE void resize(int newsize, const T& fillData = T()) { - const BT_REGISTER int curSize = size(); + const int curSize = size(); if (newsize < curSize) { @@ -236,7 +229,7 @@ public: } SIMD_FORCE_INLINE T& expandNonInitializing() { - const BT_REGISTER int sz = size(); + const int sz = size(); if (sz == capacity()) { reserve(allocSize(size())); @@ -248,7 +241,7 @@ public: SIMD_FORCE_INLINE T& expand(const T& fillValue = T()) { - const BT_REGISTER int sz = size(); + const int sz = size(); if (sz == capacity()) { reserve(allocSize(size())); @@ -263,7 +256,7 @@ public: SIMD_FORCE_INLINE void push_back(const T& _Val) { - const BT_REGISTER int sz = size(); + const int sz = size(); if (sz == capacity()) { reserve(allocSize(size())); diff --git a/thirdparty/bullet/LinearMath/btMatrixX.h b/thirdparty/bullet/LinearMath/btMatrixX.h index 9df9e49469..388c57c2d7 100644 --- a/thirdparty/bullet/LinearMath/btMatrixX.h +++ b/thirdparty/bullet/LinearMath/btMatrixX.h @@ -263,7 +263,10 @@ struct btMatrixX { { BT_PROFILE("storage=0"); - btSetZero(&m_storage[0], m_storage.size()); + if (m_storage.size()) + { + btSetZero(&m_storage[0], m_storage.size()); + } //memset(&m_storage[0],0,sizeof(T)*m_storage.size()); //for (int i=0;i<m_storage.size();i++) // m_storage[i]=0; @@ -281,7 +284,7 @@ struct btMatrixX } } - void printMatrix(const char* msg) + void printMatrix(const char* msg) const { printf("%s ---------------------\n", msg); for (int i = 0; i < rows(); i++) diff --git a/thirdparty/bullet/LinearMath/btScalar.h b/thirdparty/bullet/LinearMath/btScalar.h index c198bd4b35..ba49d6700b 100644 --- a/thirdparty/bullet/LinearMath/btScalar.h +++ b/thirdparty/bullet/LinearMath/btScalar.h @@ -124,7 +124,7 @@ inline int btGetVersion() #ifdef BT_DEBUG #ifdef _MSC_VER #include <stdio.h> - #define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} + #define btAssert(x) { if(!(x)){printf("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} #else//_MSC_VER #include <assert.h> #define btAssert assert @@ -152,7 +152,7 @@ inline int btGetVersion() #ifdef __SPU__ #include <spu_printf.h> #define printf spu_printf - #define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}} + #define btAssert(x) {if(!(x)){printf("Assert " __FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}} #else #define btAssert assert #endif diff --git a/thirdparty/bullet/LinearMath/btVector3.h b/thirdparty/bullet/LinearMath/btVector3.h index 61fd8d1e46..d65ed9808d 100644 --- a/thirdparty/bullet/LinearMath/btVector3.h +++ b/thirdparty/bullet/LinearMath/btVector3.h @@ -36,7 +36,7 @@ subject to the following restrictions: #pragma warning(disable : 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255' #endif -#define BT_SHUFFLE(x, y, z, w) ((w) << 6 | (z) << 4 | (y) << 2 | (x)) +#define BT_SHUFFLE(x, y, z, w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff) //#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) ) #define bt_pshufd_ps(_a, _mask) _mm_shuffle_ps((_a), (_a), (_mask)) #define bt_splat3_ps(_a, _i) bt_pshufd_ps((_a), BT_SHUFFLE(_i, _i, _i, 3)) diff --git a/thirdparty/bullet/btBulletCollisionAll.cpp b/thirdparty/bullet/btBulletCollisionAll.cpp new file mode 100644 index 0000000000..2851fb3b73 --- /dev/null +++ b/thirdparty/bullet/btBulletCollisionAll.cpp @@ -0,0 +1,96 @@ +#include "BulletCollision/BroadphaseCollision/btAxisSweep3.cpp" +#include "BulletCollision/BroadphaseCollision/btDbvt.cpp" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp" +#include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp" +#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp" +#include "BulletCollision/BroadphaseCollision/btDispatcher.cpp" +#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp" +#include "BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp" +#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp" +#include "BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp" +#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp" +#include "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp" +#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp" +#include "BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp" +#include "BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp" +#include "BulletCollision/CollisionDispatch/btManifoldResult.cpp" +#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp" +#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp" +#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp" +#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp" +#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp" +#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp" +#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp" +#include "BulletCollision/CollisionDispatch/btCollisionObject.cpp" +#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp" +#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp" +#include "BulletCollision/CollisionDispatch/btCollisionWorld.cpp" +#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp" +#include "BulletCollision/CollisionDispatch/btUnionFind.cpp" +#include "BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp" +#include "BulletCollision/CollisionDispatch/btGhostObject.cpp" +#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp" +#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp" +#include "BulletCollision/NarrowPhaseCollision/btConvexCast.cpp" +#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp" +#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp" +#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp" +#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp" +#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp" +#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp" +#include "BulletCollision/CollisionShapes/btBox2dShape.cpp" +#include "BulletCollision/CollisionShapes/btConvexPolyhedron.cpp" +#include "BulletCollision/CollisionShapes/btShapeHull.cpp" +#include "BulletCollision/CollisionShapes/btBoxShape.cpp" +#include "BulletCollision/CollisionShapes/btConvexShape.cpp" +#include "BulletCollision/CollisionShapes/btSphereShape.cpp" +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp" +#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.cpp" +#include "BulletCollision/CollisionShapes/btCapsuleShape.cpp" +#include "BulletCollision/CollisionShapes/btCylinderShape.cpp" +#include "BulletCollision/CollisionShapes/btStridingMeshInterface.cpp" +#include "BulletCollision/CollisionShapes/btCollisionShape.cpp" +#include "BulletCollision/CollisionShapes/btEmptyShape.cpp" +#include "BulletCollision/CollisionShapes/btTetrahedronShape.cpp" +#include "BulletCollision/CollisionShapes/btCompoundShape.cpp" +#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp" +#include "BulletCollision/CollisionShapes/btTriangleBuffer.cpp" +#include "BulletCollision/CollisionShapes/btConcaveShape.cpp" +#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp" +#include "BulletCollision/CollisionShapes/btTriangleCallback.cpp" +#include "BulletCollision/CollisionShapes/btConeShape.cpp" +#include "BulletCollision/CollisionShapes/btMultiSphereShape.cpp" +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp" +#include "BulletCollision/CollisionShapes/btConvex2dShape.cpp" +#include "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp" +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp" +#include "BulletCollision/CollisionShapes/btConvexHullShape.cpp" +#include "BulletCollision/CollisionShapes/btOptimizedBvh.cpp" +#include "BulletCollision/CollisionShapes/btTriangleMesh.cpp" +#include "BulletCollision/CollisionShapes/btConvexInternalShape.cpp" +#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp" +#include "BulletCollision/CollisionShapes/btTriangleMeshShape.cpp" +#include "BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp" +#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp" +#include "BulletCollision/CollisionShapes/btSdfCollisionShape.cpp" +#include "BulletCollision/CollisionShapes/btMiniSDF.cpp" +#include "BulletCollision/CollisionShapes/btUniformScalingShape.cpp" +#include "BulletCollision/Gimpact/btContactProcessing.cpp" +#include "BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp" +#include "BulletCollision/Gimpact/btTriangleShapeEx.cpp" +#include "BulletCollision/Gimpact/gim_memory.cpp" +#include "BulletCollision/Gimpact/btGImpactBvh.cpp" +#include "BulletCollision/Gimpact/btGImpactShape.cpp" +#include "BulletCollision/Gimpact/gim_box_set.cpp" +#include "BulletCollision/Gimpact/gim_tri_collision.cpp" +#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp" +#include "BulletCollision/Gimpact/btGenericPoolAllocator.cpp" +#include "BulletCollision/Gimpact/gim_contact.cpp" diff --git a/thirdparty/bullet/btBulletDynamicsAll.cpp b/thirdparty/bullet/btBulletDynamicsAll.cpp new file mode 100644 index 0000000000..a8069e30ae --- /dev/null +++ b/thirdparty/bullet/btBulletDynamicsAll.cpp @@ -0,0 +1,42 @@ +#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp" +#include "BulletDynamics/Dynamics/btRigidBody.cpp" +#include "BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp" +#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp" +#include "BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp" +#include "BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp" +#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp" +#include "BulletDynamics/ConstraintSolver/btSliderConstraint.cpp" +#include "BulletDynamics/ConstraintSolver/btContactConstraint.cpp" +#include "BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp" +#include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp" +#include "BulletDynamics/ConstraintSolver/btFixedConstraint.cpp" +#include "BulletDynamics/ConstraintSolver/btHingeConstraint.cpp" +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.cpp" +#include "BulletDynamics/ConstraintSolver/btGearConstraint.cpp" +#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp" +#include "BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp" +#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp" +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp" +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp" +#include "BulletDynamics/MLCPSolvers/btDantzigLCP.cpp" +#include "BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp" +#include "BulletDynamics/MLCPSolvers/btMLCPSolver.cpp" +#include "BulletDynamics/Featherstone/btMultiBody.cpp" +#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp" +#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp" +#include "BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.cpp" +#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp" +#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp" +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp" +#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp" +#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp" +#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp" +#include "BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp" +#include "BulletDynamics/Vehicle/btRaycastVehicle.cpp" +#include "BulletDynamics/Vehicle/btWheelInfo.cpp" +#include "BulletDynamics/Character/btKinematicCharacterController.cpp" + diff --git a/thirdparty/bullet/btLinearMathAll.cpp b/thirdparty/bullet/btLinearMathAll.cpp new file mode 100644 index 0000000000..808f412803 --- /dev/null +++ b/thirdparty/bullet/btLinearMathAll.cpp @@ -0,0 +1,14 @@ +#include "LinearMath/btAlignedAllocator.cpp" +#include "LinearMath/btGeometryUtil.cpp" +#include "LinearMath/btSerializer.cpp" +#include "LinearMath/btVector3.cpp" +#include "LinearMath/btConvexHull.cpp" +#include "LinearMath/btPolarDecomposition.cpp" +#include "LinearMath/btSerializer64.cpp" +#include "LinearMath/btConvexHullComputer.cpp" +#include "LinearMath/btQuickprof.cpp" +#include "LinearMath/btThreads.cpp" +#include "LinearMath/TaskScheduler/btTaskScheduler.cpp" +#include "LinearMath/TaskScheduler/btThreadSupportPosix.cpp" +#include "LinearMath/TaskScheduler/btThreadSupportWin32.cpp" + |