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-rw-r--r--modules/bullet/rigid_body_bullet.cpp120
1 files changed, 75 insertions, 45 deletions
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index f24c8670a3..8d21b25b20 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) 2007-2018 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */
+/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2019 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 */
@@ -259,29 +259,31 @@ RigidBodyBullet::RigidBodyBullet() :
RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_RIGID_BODY),
kinematic_utilities(NULL),
locked_axis(0),
- gravity_scale(1),
mass(1),
+ gravity_scale(1),
linearDamp(0),
angularDamp(0),
can_sleep(true),
omit_forces_integration(false),
- force_integration_callback(NULL),
- isTransformChanged(false),
- previousActiveState(true),
+ can_integrate_forces(false),
maxCollisionsDetection(0),
collisionsCount(0),
+ prev_collision_count(0),
maxAreasWhereIam(10),
areaWhereIamCount(0),
countGravityPointSpaces(0),
- isScratchedSpaceOverrideModificator(false) {
+ isScratchedSpaceOverrideModificator(false),
+ previousActiveState(true),
+ force_integration_callback(NULL) {
godotMotionState = bulletnew(GodotMotionState(this));
// Initial properties
const btVector3 localInertia(0, 0, 0);
- btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, BulletPhysicsServer::get_empty_shape(), localInertia);
+ btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, NULL, localInertia);
btBody = bulletnew(btRigidBody(cInfo));
+ reload_shapes();
setupBulletCollisionObject(btBody);
set_mode(PhysicsServer::BODY_MODE_RIGID);
@@ -292,6 +294,9 @@ RigidBodyBullet::RigidBodyBullet() :
areasWhereIam.write[i] = NULL;
}
btBody->setSleepingThresholds(0.2, 0.2);
+
+ prev_collision_traces = &collision_traces_1;
+ curr_collision_traces = &collision_traces_2;
}
RigidBodyBullet::~RigidBodyBullet() {
@@ -314,11 +319,9 @@ void RigidBodyBullet::destroy_kinematic_utilities() {
}
}
-void RigidBodyBullet::main_shape_resetted() {
- if (get_main_shape())
- btBody->setCollisionShape(get_main_shape());
- else
- btBody->setCollisionShape(BulletPhysicsServer::get_empty_shape());
+void RigidBodyBullet::main_shape_changed() {
+ CRASH_COND(!get_main_shape())
+ btBody->setCollisionShape(get_main_shape());
set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset
}
@@ -333,7 +336,7 @@ void RigidBodyBullet::reload_body() {
void RigidBodyBullet::set_space(SpaceBullet *p_space) {
// Clear the old space if there is one
if (space) {
- isTransformChanged = false;
+ can_integrate_forces = false;
// Remove all eventual constraints
assert_no_constraints();
@@ -350,8 +353,8 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
}
void RigidBodyBullet::dispatch_callbacks() {
- /// The check isTransformChanged 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 && isTransformChanged) {
+ /// 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();
@@ -400,10 +403,6 @@ void RigidBodyBullet::set_force_integration_callback(ObjectID p_id, const String
}
}
-void RigidBodyBullet::scratch() {
- isTransformChanged = true;
-}
-
void RigidBodyBullet::scratch_space_override_modificator() {
isScratchedSpaceOverrideModificator = true;
}
@@ -415,7 +414,19 @@ void RigidBodyBullet::on_collision_filters_change() {
}
void RigidBodyBullet::on_collision_checker_start() {
+
+ prev_collision_count = collisionsCount;
collisionsCount = 0;
+
+ // Swap array
+ 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();
}
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) {
@@ -433,10 +444,20 @@ 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;
+
++collisionsCount;
return true;
}
+bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) {
+ for (int i = prev_collision_count - 1; 0 <= i; --i) {
+ if ((*prev_collision_traces)[i] == p_other_object)
+ return true;
+ }
+ 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.");
@@ -520,7 +541,7 @@ real_t RigidBodyBullet::get_param(PhysicsServer::BodyParameter p_param) const {
void RigidBodyBullet::set_mode(PhysicsServer::BodyMode p_mode) {
// This is necessary to block force_integration untile next move
- isTransformChanged = false;
+ can_integrate_forces = false;
destroy_kinematic_utilities();
// The mode change is relevant to its mass
switch (p_mode) {
@@ -535,20 +556,18 @@ void RigidBodyBullet::set_mode(PhysicsServer::BodyMode p_mode) {
reload_axis_lock();
_internal_set_mass(0);
break;
- case PhysicsServer::BODY_MODE_RIGID: {
+ case PhysicsServer::BODY_MODE_RIGID:
mode = PhysicsServer::BODY_MODE_RIGID;
reload_axis_lock();
_internal_set_mass(0 == mass ? 1 : mass);
scratch_space_override_modificator();
break;
- }
- case PhysicsServer::BODY_MODE_CHARACTER: {
+ case PhysicsServer::BODY_MODE_CHARACTER:
mode = PhysicsServer::BODY_MODE_CHARACTER;
reload_axis_lock();
_internal_set_mass(0 == mass ? 1 : mass);
scratch_space_override_modificator();
break;
- }
}
btBody->setAngularVelocity(btVector3(0, 0, 0));
@@ -578,6 +597,8 @@ void RigidBodyBullet::set_state(PhysicsServer::BodyState p_state, const Variant
if (!can_sleep) {
// Can't sleep
btBody->forceActivationState(DISABLE_DEACTIVATION);
+ } else {
+ btBody->forceActivationState(ACTIVE_TAG);
}
break;
}
@@ -707,12 +728,12 @@ bool RigidBodyBullet::is_axis_locked(PhysicsServer::BodyAxis p_axis) const {
void RigidBodyBullet::reload_axis_lock() {
- btBody->setLinearFactor(btVector3(!is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_X), !is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_Y), !is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_Z)));
+ btBody->setLinearFactor(btVector3(float(!is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_X)), float(!is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_Y)), float(!is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_Z))));
if (PhysicsServer::BODY_MODE_CHARACTER == mode) {
/// When character angular is always locked
btBody->setAngularFactor(btVector3(0., 0., 0.));
} else {
- btBody->setAngularFactor(btVector3(!is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_X), !is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_Y), !is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_Z)));
+ btBody->setAngularFactor(btVector3(float(!is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_X)), float(!is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_Y)), float(!is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_Z))));
}
}
@@ -720,22 +741,20 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {
if (p_enable) {
// This threshold enable CCD if the object moves more than
// 1 meter in one simulation frame
- btBody->setCcdMotionThreshold(0.1);
+ btBody->setCcdMotionThreshold(1e-7);
/// 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 dimensions 1 meter, try 0.2
- btScalar radius;
+ btScalar radius(1.0);
if (btBody->getCollisionShape()) {
btVector3 center;
btBody->getCollisionShape()->getBoundingSphere(center, radius);
- } else {
- radius = 0;
}
btBody->setCcdSweptSphereRadius(radius * 0.2);
} else {
- btBody->setCcdMotionThreshold(0.);
+ btBody->setCcdMotionThreshold(10000.0);
btBody->setCcdSweptSphereRadius(0.);
}
}
@@ -778,9 +797,11 @@ void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transfor
btBody->setLinearVelocity((p_global_transform.getOrigin() - btBody->getWorldTransform().getOrigin()) / space->get_delta_time());
// The kinematic use MotionState class
godotMotionState->moveBody(p_global_transform);
+ } else {
+ // Is necesasry to avoid wrong location on the rendering side on the next frame
+ godotMotionState->setWorldTransform(p_global_transform);
}
- btBody->setWorldTransform(p_global_transform);
- scratch();
+ CollisionObjectBullet::set_transform__bullet(p_global_transform);
}
const btTransform &RigidBodyBullet::get_transform__bullet() const {
@@ -793,21 +814,25 @@ const btTransform &RigidBodyBullet::get_transform__bullet() const {
}
}
-void RigidBodyBullet::on_shapes_changed() {
- RigidCollisionObjectBullet::on_shapes_changed();
+void RigidBodyBullet::reload_shapes() {
+ RigidCollisionObjectBullet::reload_shapes();
const btScalar invMass = btBody->getInvMass();
const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
if (mainShape) {
- btVector3 inertia;
- mainShape->calculateLocalInertia(mass, inertia);
+ // inertia initialised zero here because some of bullet's collision
+ // shapes incorrectly do not set the vector in calculateLocalIntertia.
+ // Arbitrary zero is preferable to undefined behaviour.
+ btVector3 inertia(0, 0, 0);
+ if (EMPTY_SHAPE_PROXYTYPE != mainShape->getShapeType()) // Necessary to avoid assertion of the empty shape
+ mainShape->calculateLocalInertia(mass, inertia);
btBody->setMassProps(mass, inertia);
}
btBody->updateInertiaTensor();
reload_kinematic_shapes();
-
+ set_continuous_collision_detection(btBody->getCcdMotionThreshold() < 9998.0);
reload_body();
}
@@ -841,7 +866,7 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) {
if (p_area->is_spOv_gravityPoint()) {
++countGravityPointSpaces;
- assert(0 < countGravityPointSpaces);
+ ERR_FAIL_COND(countGravityPointSpaces <= 0);
}
}
@@ -863,7 +888,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
if (wasTheAreaFound) {
if (p_area->is_spOv_gravityPoint()) {
--countGravityPointSpaces;
- assert(0 <= countGravityPointSpaces);
+ ERR_FAIL_COND(countGravityPointSpaces < 0);
}
--areaWhereIamCount;
@@ -927,10 +952,10 @@ void RigidBodyBullet::reload_space_override_modificator() {
}
switch (currentArea->get_spOv_mode()) {
- ///case PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED:
- /// This area does not affect gravity/damp. These are generally areas
- /// that exist only to detect collisions, and objects entering or exiting them.
- /// break;
+ case PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED:
+ /// This area does not affect gravity/damp. These are generally areas
+ /// that exist only to detect collisions, and objects entering or exiting them.
+ break;
case PhysicsServer::AREA_SPACE_OVERRIDE_COMBINE:
/// This area adds its gravity/damp values to whatever has been
/// calculated so far. This way, many overlapping areas can combine
@@ -989,6 +1014,11 @@ void RigidBodyBullet::reload_kinematic_shapes() {
kinematic_utilities->copyAllOwnerShapes();
}
+void RigidBodyBullet::notify_transform_changed() {
+ RigidCollisionObjectBullet::notify_transform_changed();
+ can_integrate_forces = true;
+}
+
void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
btVector3 localInertia(0, 0, 0);
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-15 15:33:51 +0000