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-rw-r--r--modules/bullet/rigid_body_bullet.cpp88
1 files changed, 46 insertions, 42 deletions
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index e7342e2ae8..2494063c22 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -1,10 +1,9 @@
/*************************************************************************/
-/* body_bullet.cpp */
-/* Author: AndreaCatania */
+/* rigid_body_bullet.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
-/* http://www.godotengine.org */
+/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */
@@ -30,18 +29,25 @@
/*************************************************************************/
#include "rigid_body_bullet.h"
-#include "BulletCollision/CollisionDispatch/btGhostObject.h"
-#include "BulletCollision/CollisionShapes/btConvexPointCloudShape.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "btBulletCollisionCommon.h"
+
#include "btRayShape.h"
#include "bullet_physics_server.h"
#include "bullet_types_converter.h"
#include "bullet_utilities.h"
#include "godot_motion_state.h"
#include "joint_bullet.h"
+
+#include <BulletCollision/CollisionDispatch/btGhostObject.h>
+#include <BulletCollision/CollisionShapes/btConvexPointCloudShape.h>
+#include <BulletDynamics/Dynamics/btRigidBody.h>
+#include <btBulletCollisionCommon.h>
+
#include <assert.h>
+/**
+ @author AndreaCatania
+*/
+
BulletPhysicsDirectBodyState *BulletPhysicsDirectBodyState::singleton = NULL;
Vector3 BulletPhysicsDirectBodyState::get_total_gravity() const {
@@ -108,10 +114,18 @@ Transform BulletPhysicsDirectBodyState::get_transform() const {
return body->get_transform();
}
+void BulletPhysicsDirectBodyState::add_central_force(const Vector3 &p_force) {
+ body->apply_central_force(p_force);
+}
+
void BulletPhysicsDirectBodyState::add_force(const Vector3 &p_force, const Vector3 &p_pos) {
body->apply_force(p_force, p_pos);
}
+void BulletPhysicsDirectBodyState::add_torque(const Vector3 &p_torque) {
+ body->apply_torque(p_torque);
+}
+
void BulletPhysicsDirectBodyState::apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
body->apply_impulse(p_pos, p_j);
}
@@ -198,48 +212,27 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
const CollisionObjectBullet::ShapeWrapper *shape_wrapper;
- btVector3 owner_body_scale(owner->get_bt_body_scale());
+ btVector3 owner_scale(owner->get_bt_body_scale());
for (int i = shapes_count - 1; 0 <= i; --i) {
shape_wrapper = &shapes_wrappers[i];
if (!shape_wrapper->active) {
continue;
}
- shapes[i].transform = shape_wrapper->transform;
-
- btConvexShape *&kin_shape_ref = shapes[i].shape;
+ shapes[i].transform = shape_wrapper->transform;
+ shapes[i].transform.getOrigin() *= owner_scale;
switch (shape_wrapper->shape->get_type()) {
- case PhysicsServer::SHAPE_SPHERE: {
- SphereShapeBullet *sphere = static_cast<SphereShapeBullet *>(shape_wrapper->shape);
- kin_shape_ref = ShapeBullet::create_shape_sphere(sphere->get_radius() * owner_body_scale[0] + safe_margin);
- break;
- }
- case PhysicsServer::SHAPE_BOX: {
- BoxShapeBullet *box = static_cast<BoxShapeBullet *>(shape_wrapper->shape);
- kin_shape_ref = ShapeBullet::create_shape_box((box->get_half_extents() * owner_body_scale) + btVector3(safe_margin, safe_margin, safe_margin));
- break;
- }
- case PhysicsServer::SHAPE_CAPSULE: {
- CapsuleShapeBullet *capsule = static_cast<CapsuleShapeBullet *>(shape_wrapper->shape);
-
- kin_shape_ref = ShapeBullet::create_shape_capsule(capsule->get_radius() * owner_body_scale[0] + safe_margin, capsule->get_height() * owner_body_scale[1] + safe_margin);
- break;
- }
- case PhysicsServer::SHAPE_CONVEX_POLYGON: {
- ConvexPolygonShapeBullet *godot_convex = static_cast<ConvexPolygonShapeBullet *>(shape_wrapper->shape);
- kin_shape_ref = ShapeBullet::create_shape_convex(godot_convex->vertices);
- kin_shape_ref->setLocalScaling(owner_body_scale + btVector3(safe_margin, safe_margin, safe_margin));
- break;
- }
+ case PhysicsServer::SHAPE_SPHERE:
+ case PhysicsServer::SHAPE_BOX:
+ case PhysicsServer::SHAPE_CAPSULE:
+ case PhysicsServer::SHAPE_CONVEX_POLYGON:
case PhysicsServer::SHAPE_RAY: {
- RayShapeBullet *godot_ray = static_cast<RayShapeBullet *>(shape_wrapper->shape);
- kin_shape_ref = ShapeBullet::create_shape_ray(godot_ray->length * owner_body_scale[1] + safe_margin);
- break;
- }
+ shapes[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
+ } break;
default:
WARN_PRINT("This shape is not supported to be kinematic!");
- kin_shape_ref = NULL;
+ shapes[i].shape = NULL;
}
}
}
@@ -262,6 +255,7 @@ RigidBodyBullet::RigidBodyBullet() :
linearDamp(0),
angularDamp(0),
can_sleep(true),
+ omit_forces_integration(false),
force_integration_callback(NULL),
isTransformChanged(false),
previousActiveState(true),
@@ -341,6 +335,9 @@ void RigidBodyBullet::dispatch_callbacks() {
/// The check isTransformChanged is necessary in order to call integrated forces only when the first transform is sent
if ((btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && isTransformChanged) {
+ if (omit_forces_integration)
+ btBody->clearForces();
+
BulletPhysicsDirectBodyState *bodyDirect = BulletPhysicsDirectBodyState::get_singleton(this);
Variant variantBodyDirect = bodyDirect;
@@ -444,6 +441,10 @@ bool RigidBodyBullet::is_active() const {
return btBody->isActive();
}
+void RigidBodyBullet::set_omit_forces_integration(bool p_omit) {
+ omit_forces_integration = p_omit;
+}
+
void RigidBodyBullet::set_param(PhysicsServer::BodyParameter p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer::BODY_PARAM_BOUNCE:
@@ -705,7 +706,7 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {
/// Calculate using the rule writte below the CCD swept sphere radius
/// CCD works on an embedded sphere of radius, make sure this radius
/// is embedded inside the convex objects, preferably smaller:
- /// for an object of dimentions 1 meter, try 0.2
+ /// for an object of dimensions 1 meter, try 0.2
btVector3 center;
btScalar radius;
btBody->getCollisionShape()->getBoundingSphere(center, radius);
@@ -847,7 +848,8 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
void RigidBodyBullet::reload_space_override_modificator() {
- if (!is_active())
+ // Make sure that kinematic bodies have their total gravity calculated
+ if (!is_active() && PhysicsServer::BODY_MODE_KINEMATIC != mode)
return;
Vector3 newGravity(space->get_gravity_direction() * space->get_gravity_magnitude());
@@ -970,7 +972,8 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
const bool isDynamic = p_mass != 0.f;
if (isDynamic) {
- ERR_FAIL_COND(PhysicsServer::BODY_MODE_RIGID != mode && PhysicsServer::BODY_MODE_CHARACTER != mode);
+ if (PhysicsServer::BODY_MODE_RIGID != mode && PhysicsServer::BODY_MODE_CHARACTER != mode)
+ return;
m_isStatic = false;
compoundShape->calculateLocalInertia(p_mass, localInertia);
@@ -990,7 +993,8 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
}
} else {
- ERR_FAIL_COND(PhysicsServer::BODY_MODE_STATIC != mode && PhysicsServer::BODY_MODE_KINEMATIC != mode);
+ if (PhysicsServer::BODY_MODE_STATIC != mode && PhysicsServer::BODY_MODE_KINEMATIC != mode)
+ return;
m_isStatic = true;
if (PhysicsServer::BODY_MODE_STATIC == mode) {
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-29 01:51:53 +0000