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-rw-r--r--modules/bullet/bullet_physics_server.cpp159
1 files changed, 38 insertions, 121 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index f7290666ad..93642f2d5c 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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 */
@@ -433,12 +433,6 @@ void BulletPhysicsServer3D::area_set_ray_pickable(RID p_area, bool p_enable) {
area->set_ray_pickable(p_enable);
}
-bool BulletPhysicsServer3D::area_is_ray_pickable(RID p_area) const {
- AreaBullet *area = area_owner.getornull(p_area);
- ERR_FAIL_COND_V(!area, false);
- return area->is_ray_pickable();
-}
-
RID BulletPhysicsServer3D::body_create(BodyMode p_mode, bool p_init_sleeping) {
RigidBodyBullet *body = bulletnew(RigidBodyBullet);
body->set_mode(p_mode);
@@ -461,7 +455,7 @@ void BulletPhysicsServer3D::body_set_space(RID p_body, RID p_space) {
}
if (body->get_space() == space) {
- return; //pointles
+ return; //pointless
}
body->set_space(space);
@@ -617,22 +611,22 @@ uint32_t BulletPhysicsServer3D::body_get_collision_mask(RID p_body) const {
}
void BulletPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) {
- // This function si not currently supported
+ // This function is not currently supported
}
uint32_t BulletPhysicsServer3D::body_get_user_flags(RID p_body) const {
- // This function si not currently supported
+ // This function is not currently supported
return 0;
}
-void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, float p_value) {
+void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_param(p_param, p_value);
}
-float BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const {
+real_t BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0);
@@ -807,11 +801,11 @@ int BulletPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const {
return body->get_max_collisions_detection();
}
-void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) {
+void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
// Not supported by bullet and even Godot
}
-float BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const {
+real_t BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const {
// Not supported by bullet and even Godot
return 0.;
}
@@ -842,12 +836,6 @@ void BulletPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) {
body->set_ray_pickable(p_enable);
}
-bool BulletPhysicsServer3D::body_is_ray_pickable(RID p_body) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
- ERR_FAIL_COND_V(!body, false);
- return body->is_ray_pickable();
-}
-
PhysicsDirectBodyState3D *BulletPhysicsServer3D::body_get_direct_state(RID p_body) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, nullptr);
@@ -862,7 +850,7 @@ bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform &p_from
return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes);
}
-int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
+int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0);
ERR_FAIL_COND_V(!body->get_space(), 0);
@@ -880,7 +868,7 @@ RID BulletPhysicsServer3D::soft_body_create(bool p_init_sleeping) {
CreateThenReturnRID(soft_body_owner, body);
}
-void BulletPhysicsServer3D::soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler) {
+void BulletPhysicsServer3D::soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
@@ -898,7 +886,7 @@ void BulletPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) {
}
if (body->get_space() == space) {
- return; //pointles
+ return; //pointless
}
body->set_space(space);
@@ -922,6 +910,13 @@ void BulletPhysicsServer3D::soft_body_set_mesh(RID p_body, const REF &p_mesh) {
body->set_soft_mesh(p_mesh);
}
+AABB BulletPhysicsServer::soft_body_get_bounds(RID p_body) const {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, AABB());
+
+ return body->get_bounds();
+}
+
void BulletPhysicsServer3D::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
@@ -1002,34 +997,19 @@ void BulletPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform
body->set_soft_transform(p_transform);
}
-Vector3 BulletPhysicsServer3D::soft_body_get_vertex_position(RID p_body, int vertex_index) const {
- const SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- Vector3 pos;
- ERR_FAIL_COND_V(!body, pos);
-
- body->get_node_position(vertex_index, pos);
- return pos;
-}
-
void BulletPhysicsServer3D::soft_body_set_ray_pickable(RID p_body, bool p_enable) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_ray_pickable(p_enable);
}
-bool BulletPhysicsServer3D::soft_body_is_ray_pickable(RID p_body) const {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND_V(!body, false);
- return body->is_ray_pickable();
-}
-
void BulletPhysicsServer3D::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_simulation_precision(p_simulation_precision);
}
-int BulletPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) {
+int BulletPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_simulation_precision();
@@ -1041,13 +1021,13 @@ void BulletPhysicsServer3D::soft_body_set_total_mass(RID p_body, real_t p_total_
body->set_total_mass(p_total_mass);
}
-real_t BulletPhysicsServer3D::soft_body_get_total_mass(RID p_body) {
+real_t BulletPhysicsServer3D::soft_body_get_total_mass(RID p_body) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_total_mass();
}
-void BulletPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) {
+void BulletPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_linear_stiffness(p_stiffness);
@@ -1059,61 +1039,25 @@ real_t BulletPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) {
return body->get_linear_stiffness();
}
-void BulletPhysicsServer3D::soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND(!body);
- body->set_areaAngular_stiffness(p_stiffness);
-}
-
-real_t BulletPhysicsServer3D::soft_body_get_areaAngular_stiffness(RID p_body) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND_V(!body, 0.f);
- return body->get_areaAngular_stiffness();
-}
-
-void BulletPhysicsServer3D::soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND(!body);
- body->set_volume_stiffness(p_stiffness);
-}
-
-real_t BulletPhysicsServer3D::soft_body_get_volume_stiffness(RID p_body) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND_V(!body, 0.f);
- return body->get_volume_stiffness();
-}
-
void BulletPhysicsServer3D::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_pressure_coefficient(p_pressure_coefficient);
}
-real_t BulletPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) {
+real_t BulletPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_pressure_coefficient();
}
-void BulletPhysicsServer3D::soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND(!body);
- return body->set_pose_matching_coefficient(p_pose_matching_coefficient);
-}
-
-real_t BulletPhysicsServer3D::soft_body_get_pose_matching_coefficient(RID p_body) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND_V(!body, 0.f);
- return body->get_pose_matching_coefficient();
-}
-
void BulletPhysicsServer3D::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_damping_coefficient(p_damping_coefficient);
}
-real_t BulletPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) {
+real_t BulletPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_damping_coefficient();
@@ -1125,7 +1069,7 @@ void BulletPhysicsServer3D::soft_body_set_drag_coefficient(RID p_body, real_t p_
body->set_drag_coefficient(p_drag_coefficient);
}
-real_t BulletPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) {
+real_t BulletPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_drag_coefficient();
@@ -1137,7 +1081,7 @@ void BulletPhysicsServer3D::soft_body_move_point(RID p_body, int p_point_index,
body->set_node_position(p_point_index, p_global_position);
}
-Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) {
+Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, Vector3(0., 0., 0.));
Vector3 pos;
@@ -1145,14 +1089,6 @@ Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, i
return pos;
}
-Vector3 BulletPhysicsServer3D::soft_body_get_point_offset(RID p_body, int p_point_index) const {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
- ERR_FAIL_COND_V(!body, Vector3());
- Vector3 res;
- body->get_node_offset(p_point_index, res);
- return res;
-}
-
void BulletPhysicsServer3D::soft_body_remove_all_pinned_points(RID p_body) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
@@ -1165,7 +1101,7 @@ void BulletPhysicsServer3D::soft_body_pin_point(RID p_body, int p_point_index, b
body->set_node_mass(p_point_index, p_pin ? 0 : 1);
}
-bool BulletPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) {
+bool BulletPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_node_mass(p_point_index);
@@ -1221,7 +1157,7 @@ RID BulletPhysicsServer3D::joint_create_pin(RID p_body_A, const Vector3 &p_local
CreateThenReturnRID(joint_owner, joint);
}
-void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) {
+void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
JointBullet *joint = joint_owner.getornull(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
@@ -1229,7 +1165,7 @@ void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_par
pin_joint->set_param(p_param, p_value);
}
-float BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
+real_t BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
JointBullet *joint = joint_owner.getornull(p_joint);
ERR_FAIL_COND_V(!joint, 0);
ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0);
@@ -1309,7 +1245,7 @@ RID BulletPhysicsServer3D::joint_create_hinge_simple(RID p_body_A, const Vector3
CreateThenReturnRID(joint_owner, joint);
}
-void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) {
+void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) {
JointBullet *joint = joint_owner.getornull(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_HINGE);
@@ -1317,7 +1253,7 @@ void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p
hinge_joint->set_param(p_param, p_value);
}
-float BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
+real_t BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
JointBullet *joint = joint_owner.getornull(p_joint);
ERR_FAIL_COND_V(!joint, 0);
ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0);
@@ -1361,7 +1297,7 @@ RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform &p_
CreateThenReturnRID(joint_owner, joint);
}
-void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) {
+void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) {
JointBullet *joint = joint_owner.getornull(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER);
@@ -1369,7 +1305,7 @@ void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam
slider_joint->set_param(p_param, p_value);
}
-float BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
+real_t BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
JointBullet *joint = joint_owner.getornull(p_joint);
ERR_FAIL_COND_V(!joint, 0);
ERR_FAIL_COND_V(joint->get_type() != JOINT_SLIDER, 0);
@@ -1395,7 +1331,7 @@ RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform
CreateThenReturnRID(joint_owner, joint);
}
-void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) {
+void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) {
JointBullet *joint = joint_owner.getornull(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST);
@@ -1403,7 +1339,7 @@ void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJoi
coneTwist_joint->set_param(p_param, p_value);
}
-float BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
+real_t BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
JointBullet *joint = joint_owner.getornull(p_joint);
ERR_FAIL_COND_V(!joint, 0.);
ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0.);
@@ -1431,7 +1367,7 @@ RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transfo
CreateThenReturnRID(joint_owner, joint);
}
-void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) {
+void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) {
JointBullet *joint = joint_owner.getornull(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
@@ -1439,7 +1375,7 @@ void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::A
generic_6dof_joint->set_param(p_axis, p_param, p_value);
}
-float BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) {
+real_t BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) {
JointBullet *joint = joint_owner.getornull(p_joint);
ERR_FAIL_COND_V(!joint, 0);
ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0);
@@ -1463,22 +1399,6 @@ bool BulletPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Ax
return generic_6dof_joint->get_flag(p_axis, p_flag);
}
-void BulletPhysicsServer3D::generic_6dof_joint_set_precision(RID p_joint, int p_precision) {
- JointBullet *joint = joint_owner.getornull(p_joint);
- ERR_FAIL_COND(!joint);
- ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
- Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
- generic_6dof_joint->set_precision(p_precision);
-}
-
-int BulletPhysicsServer3D::generic_6dof_joint_get_precision(RID p_joint) {
- JointBullet *joint = joint_owner.getornull(p_joint);
- ERR_FAIL_COND_V(!joint, 0);
- ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0);
- Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
- return generic_6dof_joint->get_precision();
-}
-
void BulletPhysicsServer3D::free(RID p_rid) {
if (shape_owner.owns(p_rid)) {
ShapeBullet *shape = shape_owner.getornull(p_rid);
@@ -1541,7 +1461,7 @@ void BulletPhysicsServer3D::init() {
BulletPhysicsDirectBodyState3D::initSingleton();
}
-void BulletPhysicsServer3D::step(float p_deltaTime) {
+void BulletPhysicsServer3D::step(real_t p_deltaTime) {
if (!active) {
return;
}
@@ -1553,9 +1473,6 @@ void BulletPhysicsServer3D::step(float p_deltaTime) {
}
}
-void BulletPhysicsServer3D::sync() {
-}
-
void BulletPhysicsServer3D::flush_queries() {
if (!active) {
return;
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-28 19:29:57 +0000