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-rw-r--r--modules/bullet/rigid_body_bullet.cpp63
1 files changed, 28 insertions, 35 deletions
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 9aac7ba9e4..4763098584 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.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 */
@@ -118,8 +118,8 @@ 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 +130,8 @@ 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) {
@@ -264,6 +264,7 @@ RigidBodyBullet::RigidBodyBullet() :
btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, nullptr, localInertia);
btBody = bulletnew(btRigidBody(cInfo));
+ btBody->setFriction(1.0);
reload_shapes();
setupBulletCollisionObject(btBody);
@@ -320,10 +321,9 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
// Clear the old space if there is one
if (space) {
can_integrate_forces = false;
-
- // Remove all eventual constraints
- assert_no_constraints();
-
+ isScratchedSpaceOverrideModificator = false;
+ // Remove any constraints
+ space->remove_rigid_body_constraints(this);
// Remove this object form the physics world
space->remove_rigid_body(this);
}
@@ -441,12 +441,6 @@ bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) {
return false;
}
-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.");
- }
-}
-
void RigidBodyBullet::set_activation_state(bool p_active) {
if (p_active) {
btBody->activate();
@@ -604,23 +598,23 @@ 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) {
@@ -632,15 +626,15 @@ 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) {
@@ -742,7 +736,7 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {
}
btBody->setCcdSweptSphereRadius(radius * 0.2);
} else {
- btBody->setCcdMotionThreshold(10000.0);
+ btBody->setCcdMotionThreshold(0.);
btBody->setCcdSweptSphereRadius(0.);
}
}
@@ -822,7 +816,7 @@ void RigidBodyBullet::reload_shapes() {
btBody->updateInertiaTensor();
reload_kinematic_shapes();
- set_continuous_collision_detection(btBody->getCcdMotionThreshold() < 9998.0);
+ set_continuous_collision_detection(is_continuous_collision_detection_enabled());
reload_body();
}
@@ -841,8 +835,8 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) {
} 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.write[j] = areasWhereIam[j - 1];
}
areasWhereIam.write[i] = p_area;
break;
@@ -889,8 +883,7 @@ 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;
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-25 02:43:34 +0000