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Diffstat (limited to 'modules/bullet/rigid_body_bullet.cpp')
-rw-r--r--modules/bullet/rigid_body_bullet.cpp115
1 files changed, 53 insertions, 62 deletions
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index f517eecf64..76c0e0e607 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -51,7 +51,9 @@
BulletPhysicsDirectBodyState3D *BulletPhysicsDirectBodyState3D::singleton = nullptr;
Vector3 BulletPhysicsDirectBodyState3D::get_total_gravity() const {
- return body->total_gravity;
+ Vector3 gVec;
+ B_TO_G(body->btBody->getGravity(), gVec);
+ return gVec;
}
float BulletPhysicsDirectBodyState3D::get_total_angular_damp() const {
@@ -181,7 +183,7 @@ 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[p_contact_idx];
+ RigidBodyBullet::CollisionData &colDat = body->collisions.write[p_contact_idx];
btVector3 hitLocation;
G_TO_B(colDat.hitLocalLocation, hitLocation);
@@ -211,7 +213,7 @@ void RigidBodyBullet::KinematicUtilities::setSafeMargin(btScalar p_margin) {
}
void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
- const LocalVector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers());
+ const Vector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers());
const int shapes_count = shapes_wrappers.size();
just_delete_shapes(shapes_count);
@@ -226,8 +228,8 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
continue;
}
- shapes[i].transform = shape_wrapper->transform;
- shapes[i].transform.getOrigin() *= owner_scale;
+ shapes.write[i].transform = shape_wrapper->transform;
+ shapes.write[i].transform.getOrigin() *= owner_scale;
switch (shape_wrapper->shape->get_type()) {
case PhysicsServer3D::SHAPE_SPHERE:
case PhysicsServer3D::SHAPE_BOX:
@@ -235,11 +237,11 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
case PhysicsServer3D::SHAPE_CYLINDER:
case PhysicsServer3D::SHAPE_CONVEX_POLYGON:
case PhysicsServer3D::SHAPE_RAY: {
- shapes[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
+ shapes.write[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 for kinematic collision.");
- shapes[i].shape = nullptr;
+ shapes.write[i].shape = nullptr;
}
}
}
@@ -247,7 +249,7 @@ 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[i].shape);
+ bulletdelete(shapes.write[i].shape);
}
}
shapes.resize(new_size);
@@ -269,8 +271,8 @@ RigidBodyBullet::RigidBodyBullet() :
reload_axis_lock();
areasWhereIam.resize(maxAreasWhereIam);
- for (uint32_t i = 0; i < areasWhereIam.size(); i += 1) {
- areasWhereIam[i] = nullptr;
+ for (int i = areasWhereIam.size() - 1; 0 <= i; --i) {
+ areasWhereIam.write[i] = nullptr;
}
btBody->setSleepingThresholds(0.2, 0.2);
@@ -305,7 +307,7 @@ void RigidBodyBullet::main_shape_changed() {
set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset
}
-void RigidBodyBullet::do_reload_body() {
+void RigidBodyBullet::reload_body() {
if (space) {
space->remove_rigid_body(this);
if (get_main_shape()) {
@@ -324,24 +326,23 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
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->register_collision_object(this);
- reload_body();
- space->add_to_flush_queue(this);
+ space->add_rigid_body(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;
@@ -359,22 +360,16 @@ void RigidBodyBullet::dispatch_callbacks() {
}
}
- previousActiveState = btBody->isActive();
-}
-
-void RigidBodyBullet::pre_process() {
- RigidCollisionObjectBullet::pre_process();
-
if (isScratchedSpaceOverrideModificator || 0 < countGravityPointSpaces) {
isScratchedSpaceOverrideModificator = false;
reload_space_override_modificator();
}
- if (is_active()) {
- /// Lock axis
- btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor());
- btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor());
- }
+ /// Lock axis
+ btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor());
+ btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor());
+
+ previousActiveState = btBody->isActive();
}
void RigidBodyBullet::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) {
@@ -395,7 +390,7 @@ void RigidBodyBullet::scratch_space_override_modificator() {
isScratchedSpaceOverrideModificator = true;
}
-void RigidBodyBullet::do_reload_collision_filters() {
+void RigidBodyBullet::on_collision_filters_change() {
if (space) {
space->reload_collision_filters(this);
}
@@ -408,15 +403,14 @@ void RigidBodyBullet::on_collision_checker_start() {
collisionsCount = 0;
// Swap array
- SWAP(prev_collision_traces, curr_collision_traces);
+ Vector<RigidBodyBullet *> *s = prev_collision_traces;
+ prev_collision_traces = curr_collision_traces;
+ curr_collision_traces = s;
}
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) {
@@ -424,7 +418,7 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
return false;
}
- CollisionData &cd = collisions[collisionsCount];
+ CollisionData &cd = collisions.write[collisionsCount];
cd.hitLocalLocation = p_hitLocalLocation;
cd.otherObject = p_otherObject;
cd.hitWorldLocation = p_hitWorldLocation;
@@ -433,7 +427,7 @@ 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)[collisionsCount] = p_otherObject;
+ curr_collision_traces->write[collisionsCount] = p_otherObject;
++collisionsCount;
return true;
@@ -468,7 +462,6 @@ 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) {
@@ -811,8 +804,8 @@ const btTransform &RigidBodyBullet::get_transform__bullet() const {
}
}
-void RigidBodyBullet::do_reload_shapes() {
- RigidCollisionObjectBullet::do_reload_shapes();
+void RigidBodyBullet::reload_shapes() {
+ RigidCollisionObjectBullet::reload_shapes();
const btScalar invMass = btBody->getInvMass();
const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
@@ -844,15 +837,15 @@ 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[i] = p_area;
+ areasWhereIam.write[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 = areaWhereIamCount; j > i; j--) {
- areasWhereIam[j] = areasWhereIam[j - 1];
+ areasWhereIam.write[j] = areasWhereIam[j - 1];
}
- areasWhereIam[i] = p_area;
+ areasWhereIam.write[i] = p_area;
break;
}
}
@@ -876,7 +869,7 @@ 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[j] = areasWhereIam[j + 1];
+ areasWhereIam.write[j] = areasWhereIam[j + 1];
}
wasTheAreaFound = true;
break;
@@ -889,7 +882,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
}
--areaWhereIamCount;
- areasWhereIam[areaWhereIamCount] = nullptr; // Even if this is not required, I clear the last element to be safe
+ areasWhereIam.write[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();
}
@@ -901,31 +894,36 @@ void RigidBodyBullet::reload_space_override_modificator() {
return;
}
- Vector3 newGravity;
+ Vector3 newGravity(0.0, 0.0, 0.0);
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 = 0; i < areaWhereIamCount && !stopped; i += 1) {
- AreaBullet *currentArea = areasWhereIam[i];
+ for (int i = areaWhereIamCount - 1; (0 <= i) && !stopped; --i) {
+ 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();
-
- const real_t distanceMag = support_gravity.length();
+ real_t distanceMag = support_gravity.length();
// Normalized in this way to avoid the double call of function "length()"
if (distanceMag == 0) {
- support_gravity = Vector3();
+ support_gravity.x = 0;
+ support_gravity.y = 0;
+ support_gravity.z = 0;
} else {
- support_gravity /= distanceMag;
+ support_gravity.x /= distanceMag;
+ support_gravity.y /= distanceMag;
+ support_gravity.z /= distanceMag;
}
/// Here is calculated the final gravity
@@ -987,17 +985,10 @@ void RigidBodyBullet::reload_space_override_modificator() {
newAngularDamp += space->get_angular_damp();
}
- 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);
- }
+ btVector3 newBtGravity;
+ G_TO_B(newGravity * gravity_scale, newBtGravity);
+ btBody->setGravity(newBtGravity);
btBody->setDamping(newLinearDamp, newAngularDamp);
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-29 05:48:14 +0000