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Diffstat (limited to 'modules/bullet/rigid_body_bullet.cpp')
-rw-r--r--modules/bullet/rigid_body_bullet.cpp160
1 files changed, 82 insertions, 78 deletions
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 2fca7fe633..f517eecf64 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -51,9 +51,7 @@
BulletPhysicsDirectBodyState3D *BulletPhysicsDirectBodyState3D::singleton = nullptr;
Vector3 BulletPhysicsDirectBodyState3D::get_total_gravity() const {
- Vector3 gVec;
- B_TO_G(body->btBody->getGravity(), gVec);
- return gVec;
+ return body->total_gravity;
}
float BulletPhysicsDirectBodyState3D::get_total_angular_damp() const {
@@ -118,8 +116,8 @@ void BulletPhysicsDirectBodyState3D::add_central_force(const Vector3 &p_force) {
body->apply_central_force(p_force);
}
-void BulletPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_pos) {
- body->apply_force(p_force, p_pos);
+void BulletPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_position) {
+ body->apply_force(p_force, p_position);
}
void BulletPhysicsDirectBodyState3D::add_torque(const Vector3 &p_torque) {
@@ -130,8 +128,8 @@ void BulletPhysicsDirectBodyState3D::apply_central_impulse(const Vector3 &p_impu
body->apply_central_impulse(p_impulse);
}
-void BulletPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
- body->apply_impulse(p_pos, p_impulse);
+void BulletPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+ body->apply_impulse(p_impulse, p_position);
}
void BulletPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impulse) {
@@ -183,7 +181,7 @@ int BulletPhysicsDirectBodyState3D::get_contact_collider_shape(int p_contact_idx
}
Vector3 BulletPhysicsDirectBodyState3D::get_contact_collider_velocity_at_position(int p_contact_idx) const {
- RigidBodyBullet::CollisionData &colDat = body->collisions.write[p_contact_idx];
+ RigidBodyBullet::CollisionData &colDat = body->collisions[p_contact_idx];
btVector3 hitLocation;
G_TO_B(colDat.hitLocalLocation, hitLocation);
@@ -213,7 +211,7 @@ void RigidBodyBullet::KinematicUtilities::setSafeMargin(btScalar p_margin) {
}
void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
- const Vector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers());
+ const LocalVector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers());
const int shapes_count = shapes_wrappers.size();
just_delete_shapes(shapes_count);
@@ -228,8 +226,8 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
continue;
}
- shapes.write[i].transform = shape_wrapper->transform;
- shapes.write[i].transform.getOrigin() *= owner_scale;
+ shapes[i].transform = shape_wrapper->transform;
+ shapes[i].transform.getOrigin() *= owner_scale;
switch (shape_wrapper->shape->get_type()) {
case PhysicsServer3D::SHAPE_SPHERE:
case PhysicsServer3D::SHAPE_BOX:
@@ -237,11 +235,11 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
case PhysicsServer3D::SHAPE_CYLINDER:
case PhysicsServer3D::SHAPE_CONVEX_POLYGON:
case PhysicsServer3D::SHAPE_RAY: {
- shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
+ shapes[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
} break;
default:
WARN_PRINT("This shape is not supported for kinematic collision.");
- shapes.write[i].shape = nullptr;
+ shapes[i].shape = nullptr;
}
}
}
@@ -249,7 +247,7 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
void RigidBodyBullet::KinematicUtilities::just_delete_shapes(int new_size) {
for (int i = shapes.size() - 1; 0 <= i; --i) {
if (shapes[i].shape) {
- bulletdelete(shapes.write[i].shape);
+ bulletdelete(shapes[i].shape);
}
}
shapes.resize(new_size);
@@ -271,8 +269,8 @@ RigidBodyBullet::RigidBodyBullet() :
reload_axis_lock();
areasWhereIam.resize(maxAreasWhereIam);
- for (int i = areasWhereIam.size() - 1; 0 <= i; --i) {
- areasWhereIam.write[i] = nullptr;
+ for (uint32_t i = 0; i < areasWhereIam.size(); i += 1) {
+ areasWhereIam[i] = nullptr;
}
btBody->setSleepingThresholds(0.2, 0.2);
@@ -307,7 +305,7 @@ void RigidBodyBullet::main_shape_changed() {
set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset
}
-void RigidBodyBullet::reload_body() {
+void RigidBodyBullet::do_reload_body() {
if (space) {
space->remove_rigid_body(this);
if (get_main_shape()) {
@@ -320,28 +318,30 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
// Clear the old space if there is one
if (space) {
can_integrate_forces = false;
+ isScratchedSpaceOverrideModificator = false;
// Remove all eventual constraints
assert_no_constraints();
// Remove this object form the physics world
+ space->unregister_collision_object(this);
space->remove_rigid_body(this);
}
space = p_space;
if (space) {
- space->add_rigid_body(this);
+ space->register_collision_object(this);
+ reload_body();
+ space->add_to_flush_queue(this);
}
}
void RigidBodyBullet::dispatch_callbacks() {
+ RigidCollisionObjectBullet::dispatch_callbacks();
+
/// The check isFirstTransformChanged is necessary in order to call integrated forces only when the first transform is sent
if ((btBody->isKinematicObject() || btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && can_integrate_forces) {
- if (omit_forces_integration) {
- btBody->clearForces();
- }
-
BulletPhysicsDirectBodyState3D *bodyDirect = BulletPhysicsDirectBodyState3D::get_singleton(this);
Variant variantBodyDirect = bodyDirect;
@@ -359,16 +359,22 @@ void RigidBodyBullet::dispatch_callbacks() {
}
}
+ previousActiveState = btBody->isActive();
+}
+
+void RigidBodyBullet::pre_process() {
+ RigidCollisionObjectBullet::pre_process();
+
if (isScratchedSpaceOverrideModificator || 0 < countGravityPointSpaces) {
isScratchedSpaceOverrideModificator = false;
reload_space_override_modificator();
}
- /// Lock axis
- btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor());
- btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor());
-
- previousActiveState = btBody->isActive();
+ if (is_active()) {
+ /// Lock axis
+ btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor());
+ btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor());
+ }
}
void RigidBodyBullet::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) {
@@ -389,7 +395,7 @@ void RigidBodyBullet::scratch_space_override_modificator() {
isScratchedSpaceOverrideModificator = true;
}
-void RigidBodyBullet::on_collision_filters_change() {
+void RigidBodyBullet::do_reload_collision_filters() {
if (space) {
space->reload_collision_filters(this);
}
@@ -402,14 +408,15 @@ void RigidBodyBullet::on_collision_checker_start() {
collisionsCount = 0;
// Swap array
- Vector<RigidBodyBullet *> *s = prev_collision_traces;
- prev_collision_traces = curr_collision_traces;
- curr_collision_traces = s;
+ SWAP(prev_collision_traces, curr_collision_traces);
}
void RigidBodyBullet::on_collision_checker_end() {
// Always true if active and not a static or kinematic body
isTransformChanged = btBody->isActive() && !btBody->isStaticOrKinematicObject();
+ if (isTransformChanged && space != nullptr) {
+ space->add_to_flush_queue(this);
+ }
}
bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) {
@@ -417,7 +424,7 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
return false;
}
- CollisionData &cd = collisions.write[collisionsCount];
+ CollisionData &cd = collisions[collisionsCount];
cd.hitLocalLocation = p_hitLocalLocation;
cd.otherObject = p_otherObject;
cd.hitWorldLocation = p_hitWorldLocation;
@@ -426,7 +433,7 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
cd.other_object_shape = p_other_shape_index;
cd.local_shape = p_local_shape_index;
- curr_collision_traces->write[collisionsCount] = p_otherObject;
+ (*curr_collision_traces)[collisionsCount] = p_otherObject;
++collisionsCount;
return true;
@@ -445,11 +452,6 @@ void RigidBodyBullet::assert_no_constraints() {
if (btBody->getNumConstraintRefs()) {
WARN_PRINT("A body with a joints is destroyed. Please check the implementation in order to destroy the joint before the body.");
}
- /*for(int i = btBody->getNumConstraintRefs()-1; 0<=i; --i){
- btTypedConstraint* btConst = btBody->getConstraintRef(i);
- JointBullet* joint = static_cast<JointBullet*>( btConst->getUserConstraintPtr() );
- space->removeConstraint(joint);
- }*/
}
void RigidBodyBullet::set_activation_state(bool p_active) {
@@ -466,6 +468,7 @@ bool RigidBodyBullet::is_active() const {
void RigidBodyBullet::set_omit_forces_integration(bool p_omit) {
omit_forces_integration = p_omit;
+ scratch_space_override_modificator();
}
void RigidBodyBullet::set_param(PhysicsServer3D::BodyParameter p_param, real_t p_value) {
@@ -609,23 +612,23 @@ Variant RigidBodyBullet::get_state(PhysicsServer3D::BodyState p_state) const {
}
void RigidBodyBullet::apply_central_impulse(const Vector3 &p_impulse) {
- btVector3 btImpu;
- G_TO_B(p_impulse, btImpu);
+ btVector3 btImpulse;
+ G_TO_B(p_impulse, btImpulse);
if (Vector3() != p_impulse) {
btBody->activate();
}
- btBody->applyCentralImpulse(btImpu);
+ btBody->applyCentralImpulse(btImpulse);
}
-void RigidBodyBullet::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
- btVector3 btImpu;
- btVector3 btPos;
- G_TO_B(p_impulse, btImpu);
- G_TO_B(p_pos, btPos);
+void RigidBodyBullet::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+ btVector3 btImpulse;
+ btVector3 btPosition;
+ G_TO_B(p_impulse, btImpulse);
+ G_TO_B(p_position, btPosition);
if (Vector3() != p_impulse) {
btBody->activate();
}
- btBody->applyImpulse(btImpu, btPos);
+ btBody->applyImpulse(btImpulse, btPosition);
}
void RigidBodyBullet::apply_torque_impulse(const Vector3 &p_impulse) {
@@ -637,15 +640,15 @@ void RigidBodyBullet::apply_torque_impulse(const Vector3 &p_impulse) {
btBody->applyTorqueImpulse(btImp);
}
-void RigidBodyBullet::apply_force(const Vector3 &p_force, const Vector3 &p_pos) {
+void RigidBodyBullet::apply_force(const Vector3 &p_force, const Vector3 &p_position) {
btVector3 btForce;
- btVector3 btPos;
+ btVector3 btPosition;
G_TO_B(p_force, btForce);
- G_TO_B(p_pos, btPos);
+ G_TO_B(p_position, btPosition);
if (Vector3() != p_force) {
btBody->activate();
}
- btBody->applyForce(btForce, btPos);
+ btBody->applyForce(btForce, btPosition);
}
void RigidBodyBullet::apply_central_force(const Vector3 &p_force) {
@@ -808,8 +811,8 @@ const btTransform &RigidBodyBullet::get_transform__bullet() const {
}
}
-void RigidBodyBullet::reload_shapes() {
- RigidCollisionObjectBullet::reload_shapes();
+void RigidBodyBullet::do_reload_shapes() {
+ RigidCollisionObjectBullet::do_reload_shapes();
const btScalar invMass = btBody->getInvMass();
const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
@@ -841,15 +844,15 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) {
for (int i = 0; i < areaWhereIamCount; ++i) {
if (nullptr == areasWhereIam[i]) {
// This area has the highest priority
- areasWhereIam.write[i] = p_area;
+ areasWhereIam[i] = p_area;
break;
} else {
if (areasWhereIam[i]->get_spOv_priority() > p_area->get_spOv_priority()) {
// The position was found, just shift all elements
- for (int j = i; j < areaWhereIamCount; ++j) {
- areasWhereIam.write[j + 1] = areasWhereIam[j];
+ for (int j = areaWhereIamCount; j > i; j--) {
+ areasWhereIam[j] = areasWhereIam[j - 1];
}
- areasWhereIam.write[i] = p_area;
+ areasWhereIam[i] = p_area;
break;
}
}
@@ -873,7 +876,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
if (p_area == areasWhereIam[i]) {
// The area was found, just shift down all elements
for (int j = i; j < areaWhereIamCount; ++j) {
- areasWhereIam.write[j] = areasWhereIam[j + 1];
+ areasWhereIam[j] = areasWhereIam[j + 1];
}
wasTheAreaFound = true;
break;
@@ -886,7 +889,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
}
--areaWhereIamCount;
- areasWhereIam.write[areaWhereIamCount] = nullptr; // Even if this is not required, I clear the last element to be safe
+ areasWhereIam[areaWhereIamCount] = nullptr; // Even if this is not required, I clear the last element to be safe
if (PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) {
scratch_space_override_modificator();
}
@@ -894,41 +897,35 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
}
void RigidBodyBullet::reload_space_override_modificator() {
- // Make sure that kinematic bodies have their total gravity calculated
- if (!is_active() && PhysicsServer3D::BODY_MODE_KINEMATIC != mode) {
+ if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
return;
}
- Vector3 newGravity(0.0, 0.0, 0.0);
+ Vector3 newGravity;
real_t newLinearDamp = MAX(0.0, linearDamp);
real_t newAngularDamp = MAX(0.0, angularDamp);
- AreaBullet *currentArea;
- // Variable used to calculate new gravity for gravity point areas, it is pointed by currentGravity pointer
- Vector3 support_gravity(0, 0, 0);
-
bool stopped = false;
- for (int i = areaWhereIamCount - 1; (0 <= i) && !stopped; --i) {
- currentArea = areasWhereIam[i];
+ for (int i = 0; i < areaWhereIamCount && !stopped; i += 1) {
+ AreaBullet *currentArea = areasWhereIam[i];
if (!currentArea || PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED == currentArea->get_spOv_mode()) {
continue;
}
+ Vector3 support_gravity;
+
/// Here is calculated the gravity
if (currentArea->is_spOv_gravityPoint()) {
/// It calculates the direction of new gravity
support_gravity = currentArea->get_transform().xform(currentArea->get_spOv_gravityVec()) - get_transform().get_origin();
- real_t distanceMag = support_gravity.length();
+
+ const real_t distanceMag = support_gravity.length();
// Normalized in this way to avoid the double call of function "length()"
if (distanceMag == 0) {
- support_gravity.x = 0;
- support_gravity.y = 0;
- support_gravity.z = 0;
+ support_gravity = Vector3();
} else {
- support_gravity.x /= distanceMag;
- support_gravity.y /= distanceMag;
- support_gravity.z /= distanceMag;
+ support_gravity /= distanceMag;
}
/// Here is calculated the final gravity
@@ -990,10 +987,17 @@ void RigidBodyBullet::reload_space_override_modificator() {
newAngularDamp += space->get_angular_damp();
}
- btVector3 newBtGravity;
- G_TO_B(newGravity * gravity_scale, newBtGravity);
+ total_gravity = newGravity;
+
+ if (omit_forces_integration) {
+ // Custom behaviour.
+ btBody->setGravity(btVector3(0, 0, 0));
+ } else {
+ btVector3 newBtGravity;
+ G_TO_B(newGravity * gravity_scale, newBtGravity);
+ btBody->setGravity(newBtGravity);
+ }
- btBody->setGravity(newBtGravity);
btBody->setDamping(newLinearDamp, newAngularDamp);
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-10-05 15:21:23 +0000