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-rw-r--r--modules/bullet/rigid_body_bullet.cpp56
1 files changed, 42 insertions, 14 deletions
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 2494063c22..81a62edba6 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -126,6 +126,10 @@ void BulletPhysicsDirectBodyState::add_torque(const Vector3 &p_torque) {
body->apply_torque(p_torque);
}
+void BulletPhysicsDirectBodyState::apply_central_impulse(const Vector3 &p_j) {
+ body->apply_central_impulse(p_j);
+}
+
void BulletPhysicsDirectBodyState::apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
body->apply_impulse(p_pos, p_j);
}
@@ -154,6 +158,10 @@ Vector3 BulletPhysicsDirectBodyState::get_contact_local_normal(int p_contact_idx
return body->collisions[p_contact_idx].hitNormal;
}
+float BulletPhysicsDirectBodyState::get_contact_impulse(int p_contact_idx) const {
+ return body->collisions[p_contact_idx].appliedImpulse;
+}
+
int BulletPhysicsDirectBodyState::get_contact_local_shape(int p_contact_idx) const {
return body->collisions[p_contact_idx].local_shape;
}
@@ -175,7 +183,7 @@ int BulletPhysicsDirectBodyState::get_contact_collider_shape(int p_contact_idx)
}
Vector3 BulletPhysicsDirectBodyState::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);
@@ -220,19 +228,20 @@ 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 PhysicsServer::SHAPE_SPHERE:
case PhysicsServer::SHAPE_BOX:
case PhysicsServer::SHAPE_CAPSULE:
+ case PhysicsServer::SHAPE_CYLINDER:
case PhysicsServer::SHAPE_CONVEX_POLYGON:
case PhysicsServer::SHAPE_RAY: {
- shapes[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->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 to be kinematic!");
- shapes[i].shape = NULL;
+ shapes.write[i].shape = NULL;
}
}
}
@@ -240,7 +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);
@@ -256,6 +265,8 @@ RigidBodyBullet::RigidBodyBullet() :
angularDamp(0),
can_sleep(true),
omit_forces_integration(false),
+ restitution_combine_mode(PhysicsServer::COMBINE_MODE_INHERIT),
+ friction_combine_mode(PhysicsServer::COMBINE_MODE_INHERIT),
force_integration_callback(NULL),
isTransformChanged(false),
previousActiveState(true),
@@ -280,7 +291,7 @@ RigidBodyBullet::RigidBodyBullet() :
areasWhereIam.resize(maxAreasWhereIam);
for (int i = areasWhereIam.size() - 1; 0 <= i; --i) {
- areasWhereIam[i] = NULL;
+ areasWhereIam.write[i] = NULL;
}
btBody->setSleepingThresholds(0.2, 0.2);
}
@@ -400,17 +411,18 @@ void RigidBodyBullet::on_collision_checker_start() {
collisionsCount = 0;
}
-bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, int p_other_shape_index, int p_local_shape_index) {
+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) {
if (collisionsCount >= maxCollisionsDetection) {
return false;
}
- CollisionData &cd = collisions[collisionsCount];
+ CollisionData &cd = collisions.write[collisionsCount];
cd.hitLocalLocation = p_hitLocalLocation;
cd.otherObject = p_otherObject;
cd.hitWorldLocation = p_hitWorldLocation;
cd.hitNormal = p_hitNormal;
+ cd.appliedImpulse = p_appliedImpulse;
cd.other_object_shape = p_other_shape_index;
cd.local_shape = p_local_shape_index;
@@ -749,6 +761,22 @@ Vector3 RigidBodyBullet::get_angular_velocity() const {
return gVec;
}
+void RigidBodyBullet::set_combine_mode(const PhysicsServer::BodyParameter p_param, const PhysicsServer::CombineMode p_mode) {
+ if (p_param == PhysicsServer::BODY_PARAM_BOUNCE) {
+ restitution_combine_mode = p_mode;
+ } else {
+ friction_combine_mode = p_mode;
+ }
+}
+
+PhysicsServer::CombineMode RigidBodyBullet::get_combine_mode(PhysicsServer::BodyParameter p_param) const {
+ if (p_param == PhysicsServer::BODY_PARAM_BOUNCE) {
+ return restitution_combine_mode;
+ } else {
+ return friction_combine_mode;
+ }
+}
+
void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transform) {
if (mode == PhysicsServer::BODY_MODE_KINEMATIC) {
// The kinematic use MotionState class
@@ -794,15 +822,15 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) {
if (NULL == 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 = i; j < areaWhereIamCount; ++j) {
- areasWhereIam[j + 1] = areasWhereIam[j];
+ areasWhereIam.write[j + 1] = areasWhereIam[j];
}
- areasWhereIam[i] = p_area;
+ areasWhereIam.write[i] = p_area;
break;
}
}
@@ -826,7 +854,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
if (p_area == areasWhereIam[i]) {
// The area was fount, 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;
@@ -839,7 +867,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
}
--areaWhereIamCount;
- areasWhereIam[areaWhereIamCount] = NULL; // Even if this is not required, I clear the last element to be safe
+ areasWhereIam.write[areaWhereIamCount] = NULL; // Even if this is not required, I clear the last element to be safe
if (PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) {
scratch_space_override_modificator();
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-02 20:32:47 +0000