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-rw-r--r--modules/bullet/shape_bullet.cpp170
1 files changed, 102 insertions, 68 deletions
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index f46db09e4a..74d6e073b3 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -46,10 +46,15 @@
@author AndreaCatania
*/
-ShapeBullet::ShapeBullet() :
- margin(0.04) {}
+ShapeBullet::ShapeBullet() {
+}
-ShapeBullet::~ShapeBullet() {}
+ShapeBullet::~ShapeBullet() {
+ if (default_shape != nullptr) {
+ bulletdelete(default_shape);
+ default_shape = nullptr;
+ }
+}
btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge) {
btVector3 s;
@@ -57,6 +62,22 @@ btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale,
return create_bt_shape(s, p_extra_edge);
}
+btCollisionShape *ShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+ if (p_extra_edge == 0.0 && (p_implicit_scale - btVector3(1, 1, 1)).length2() <= CMP_EPSILON) {
+ return default_shape;
+ }
+
+ return internal_create_bt_shape(p_implicit_scale, p_extra_edge);
+}
+
+void ShapeBullet::destroy_bt_shape(btCollisionShape *p_shape) const {
+ if (p_shape != default_shape && p_shape != old_default_shape) {
+ if (likely(p_shape != nullptr)) {
+ bulletdelete(p_shape);
+ }
+ }
+}
+
btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
p_btShape->setUserPointer(const_cast<ShapeBullet *>(this));
p_btShape->setMargin(margin);
@@ -64,10 +85,21 @@ btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
}
void ShapeBullet::notifyShapeChanged() {
+ // Store the old shape ptr so to not lose the reference pointer.
+ old_default_shape = default_shape;
+ // Create the new default shape with the new data.
+ default_shape = internal_create_bt_shape(btVector3(1, 1, 1));
+
for (Map<ShapeOwnerBullet *, int>::Element *E = owners.front(); E; E = E->next()) {
ShapeOwnerBullet *owner = static_cast<ShapeOwnerBullet *>(E->key());
owner->shape_changed(owner->find_shape(this));
}
+
+ if (old_default_shape) {
+ // At this point now one has the old default shape; just delete it.
+ bulletdelete(old_default_shape);
+ old_default_shape = nullptr;
+ }
}
void ShapeBullet::add_owner(ShapeOwnerBullet *p_owner) {
@@ -81,7 +113,9 @@ void ShapeBullet::add_owner(ShapeOwnerBullet *p_owner) {
void ShapeBullet::remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody) {
Map<ShapeOwnerBullet *, int>::Element *E = owners.find(p_owner);
- if (!E) return;
+ if (!E) {
+ return;
+ }
E->get()--;
if (p_permanentlyFromThisBody || 0 >= E->get()) {
owners.erase(E);
@@ -89,7 +123,6 @@ void ShapeBullet::remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFrom
}
bool ShapeBullet::is_owner(ShapeOwnerBullet *p_owner) const {
-
return owners.has(p_owner);
}
@@ -122,8 +155,8 @@ btBoxShape *ShapeBullet::create_shape_box(const btVector3 &boxHalfExtents) {
return bulletnew(btBoxShape(boxHalfExtents));
}
-btCapsuleShapeZ *ShapeBullet::create_shape_capsule(btScalar radius, btScalar height) {
- return bulletnew(btCapsuleShapeZ(radius, height));
+btCapsuleShape *ShapeBullet::create_shape_capsule(btScalar radius, btScalar height) {
+ return bulletnew(btCapsuleShape(radius, height));
}
btCylinderShape *ShapeBullet::create_shape_cylinder(btScalar radius, btScalar height) {
@@ -138,21 +171,22 @@ btScaledBvhTriangleMeshShape *ShapeBullet::create_shape_concave(btBvhTriangleMes
if (p_mesh_shape) {
return bulletnew(btScaledBvhTriangleMeshShape(p_mesh_shape, p_local_scaling));
} else {
- return NULL;
+ return nullptr;
}
}
-btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
+btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
const btScalar ignoredHeightScale(1);
const int YAxis = 1; // 0=X, 1=Y, 2=Z
const bool flipQuadEdges = false;
- const void *heightsPtr = p_heights.read().ptr();
+ const void *heightsPtr = p_heights.ptr();
btHeightfieldTerrainShape *heightfield = bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));
- // The shape can be created without params when you do PhysicsServer.shape_create(PhysicsServer.SHAPE_HEIGHTMAP)
- if (heightsPtr)
+ // The shape can be created without params when you do PhysicsServer3D.shape_create(PhysicsServer3D.SHAPE_HEIGHTMAP)
+ if (heightsPtr) {
heightfield->buildAccelerator(16);
+ }
return heightfield;
}
@@ -176,8 +210,8 @@ Variant PlaneShapeBullet::get_data() const {
return plane;
}
-PhysicsServer::ShapeType PlaneShapeBullet::get_type() const {
- return PhysicsServer::SHAPE_PLANE;
+PhysicsServer3D::ShapeType PlaneShapeBullet::get_type() const {
+ return PhysicsServer3D::SHAPE_PLANE;
}
void PlaneShapeBullet::setup(const Plane &p_plane) {
@@ -185,7 +219,7 @@ void PlaneShapeBullet::setup(const Plane &p_plane) {
notifyShapeChanged();
}
-btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *PlaneShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btVector3 btPlaneNormal;
G_TO_B(plane.normal, btPlaneNormal);
return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d));
@@ -204,8 +238,8 @@ Variant SphereShapeBullet::get_data() const {
return radius;
}
-PhysicsServer::ShapeType SphereShapeBullet::get_type() const {
- return PhysicsServer::SHAPE_SPHERE;
+PhysicsServer3D::ShapeType SphereShapeBullet::get_type() const {
+ return PhysicsServer3D::SHAPE_SPHERE;
}
void SphereShapeBullet::setup(real_t p_radius) {
@@ -213,7 +247,7 @@ void SphereShapeBullet::setup(real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *SphereShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_extra_edge));
}
@@ -231,8 +265,8 @@ Variant BoxShapeBullet::get_data() const {
return g_half_extents;
}
-PhysicsServer::ShapeType BoxShapeBullet::get_type() const {
- return PhysicsServer::SHAPE_BOX;
+PhysicsServer3D::ShapeType BoxShapeBullet::get_type() const {
+ return PhysicsServer3D::SHAPE_BOX;
}
void BoxShapeBullet::setup(const Vector3 &p_half_extents) {
@@ -240,7 +274,7 @@ void BoxShapeBullet::setup(const Vector3 &p_half_extents) {
notifyShapeChanged();
}
-btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *BoxShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_extra_edge, p_extra_edge, p_extra_edge)));
}
@@ -263,8 +297,8 @@ Variant CapsuleShapeBullet::get_data() const {
return d;
}
-PhysicsServer::ShapeType CapsuleShapeBullet::get_type() const {
- return PhysicsServer::SHAPE_CAPSULE;
+PhysicsServer3D::ShapeType CapsuleShapeBullet::get_type() const {
+ return PhysicsServer3D::SHAPE_CAPSULE;
}
void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) {
@@ -273,8 +307,8 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
- return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1] + p_extra_edge));
+btCollisionShape *CapsuleShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+ return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1]));
}
/* Cylinder */
@@ -296,8 +330,8 @@ Variant CylinderShapeBullet::get_data() const {
return d;
}
-PhysicsServer::ShapeType CylinderShapeBullet::get_type() const {
- return PhysicsServer::SHAPE_CYLINDER;
+PhysicsServer3D::ShapeType CylinderShapeBullet::get_type() const {
+ return PhysicsServer3D::SHAPE_CYLINDER;
}
void CylinderShapeBullet::setup(real_t p_height, real_t p_radius) {
@@ -306,7 +340,7 @@ void CylinderShapeBullet::setup(real_t p_height, real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *CylinderShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *CylinderShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
return prepare(ShapeBullet::create_shape_cylinder(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin));
}
@@ -334,8 +368,8 @@ Variant ConvexPolygonShapeBullet::get_data() const {
return out_vertices;
}
-PhysicsServer::ShapeType ConvexPolygonShapeBullet::get_type() const {
- return PhysicsServer::SHAPE_CONVEX_POLYGON;
+PhysicsServer3D::ShapeType ConvexPolygonShapeBullet::get_type() const {
+ return PhysicsServer3D::SHAPE_CONVEX_POLYGON;
}
void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
@@ -348,10 +382,11 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
notifyShapeChanged();
}
-btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
- if (!vertices.size())
+btCollisionShape *ConvexPolygonShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+ if (!vertices.size()) {
// This is necessary since 0 vertices
return prepare(ShapeBullet::create_shape_empty());
+ }
btCollisionShape *cs(ShapeBullet::create_shape_convex(vertices));
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
@@ -361,8 +396,7 @@ btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_i
/* Concave polygon */
ConcavePolygonShapeBullet::ConcavePolygonShapeBullet() :
- ShapeBullet(),
- meshShape(NULL) {}
+ ShapeBullet() {}
ConcavePolygonShapeBullet::~ConcavePolygonShapeBullet() {
if (meshShape) {
@@ -370,7 +404,7 @@ ConcavePolygonShapeBullet::~ConcavePolygonShapeBullet() {
delete meshShape->getTriangleInfoMap();
bulletdelete(meshShape);
}
- faces = PoolVector<Vector3>();
+ faces = Vector<Vector3>();
}
void ConcavePolygonShapeBullet::set_data(const Variant &p_data) {
@@ -381,11 +415,11 @@ Variant ConcavePolygonShapeBullet::get_data() const {
return faces;
}
-PhysicsServer::ShapeType ConcavePolygonShapeBullet::get_type() const {
- return PhysicsServer::SHAPE_CONCAVE_POLYGON;
+PhysicsServer3D::ShapeType ConcavePolygonShapeBullet::get_type() const {
+ return PhysicsServer3D::SHAPE_CONCAVE_POLYGON;
}
-void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) {
+void ConcavePolygonShapeBullet::setup(Vector<Vector3> p_faces) {
faces = p_faces;
if (meshShape) {
/// Clear previous created shape
@@ -395,14 +429,13 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) {
}
int src_face_count = faces.size();
if (0 < src_face_count) {
-
// It counts the faces and assert the array contains the correct number of vertices.
ERR_FAIL_COND(src_face_count % 3);
btTriangleMesh *shapeInterface = bulletnew(btTriangleMesh);
src_face_count /= 3;
- PoolVector<Vector3>::Read r = p_faces.read();
- const Vector3 *facesr = r.ptr();
+ const Vector3 *r = p_faces.ptr();
+ const Vector3 *facesr = r;
btVector3 supVec_0;
btVector3 supVec_1;
@@ -425,17 +458,18 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) {
btGenerateInternalEdgeInfo(meshShape, triangleInfoMap);
}
} else {
- meshShape = NULL;
+ meshShape = nullptr;
ERR_PRINT("The faces count are 0, the mesh shape cannot be created");
}
notifyShapeChanged();
}
-btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *ConcavePolygonShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape);
- if (!cs)
- // This is necessary since if 0 faces the creation of concave return NULL
+ if (!cs) {
+ // This is necessary since if 0 faces the creation of concave return null
cs = ShapeBullet::create_shape_empty();
+ }
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
cs->setMargin(0);
@@ -458,23 +492,28 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
real_t l_max_height = 0.0;
// If specified, min and max height will be used as precomputed values
- if (d.has("min_height"))
+ if (d.has("min_height")) {
l_min_height = d["min_height"];
- if (d.has("max_height"))
+ }
+ if (d.has("max_height")) {
l_max_height = d["max_height"];
+ }
ERR_FAIL_COND(l_min_height > l_max_height);
int l_width = d["width"];
int l_depth = d["depth"];
+ ERR_FAIL_COND_MSG(l_width < 2, "Map width must be at least 2.");
+ ERR_FAIL_COND_MSG(l_depth < 2, "Map depth must be at least 2.");
+
// TODO This code will need adjustments if real_t is set to `double`,
// because that precision is unnecessary for a heightmap and Bullet doesn't support it...
- PoolVector<real_t> l_heights;
+ Vector<real_t> l_heights;
Variant l_heights_v = d["heights"];
- if (l_heights_v.get_type() == Variant::POOL_REAL_ARRAY) {
+ if (l_heights_v.get_type() == Variant::PACKED_FLOAT32_ARRAY) {
// Ready-to-use heights can be passed
l_heights = l_heights_v;
@@ -491,13 +530,13 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
// We could convert here automatically but it's better to not be intrusive and let the caller do it if necessary.
ERR_FAIL_COND(l_image->get_format() != Image::FORMAT_RF);
- PoolByteArray im_data = l_image->get_data();
+ PackedByteArray im_data = l_image->get_data();
l_heights.resize(l_image->get_width() * l_image->get_height());
- PoolRealArray::Write w = l_heights.write();
- PoolByteArray::Read r = im_data.read();
- float *rp = (float *)r.ptr();
+ real_t *w = l_heights.ptrw();
+ const uint8_t *r = im_data.ptr();
+ float *rp = (float *)r;
// At this point, `rp` could be used directly for Bullet, but I don't know how safe it would be.
for (int i = 0; i < l_heights.size(); ++i) {
@@ -505,7 +544,7 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
}
} else {
- ERR_FAIL_MSG("Expected PoolRealArray or float Image.");
+ ERR_FAIL_MSG("Expected PackedFloat32Array or float Image.");
}
ERR_FAIL_COND(l_width <= 0);
@@ -514,8 +553,7 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
// Compute min and max heights if not specified.
if (!d.has("min_height") && !d.has("max_height")) {
-
- PoolVector<real_t>::Read r = l_heights.read();
+ const real_t *r = l_heights.ptr();
int heights_size = l_heights.size();
for (int i = 0; i < heights_size; ++i) {
@@ -536,11 +574,11 @@ Variant HeightMapShapeBullet::get_data() const {
ERR_FAIL_V(Variant());
}
-PhysicsServer::ShapeType HeightMapShapeBullet::get_type() const {
- return PhysicsServer::SHAPE_HEIGHTMAP;
+PhysicsServer3D::ShapeType HeightMapShapeBullet::get_type() const {
+ return PhysicsServer3D::SHAPE_HEIGHTMAP;
}
-void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
+void HeightMapShapeBullet::setup(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
// TODO cell size must be tweaked using localScaling, which is a shared property for all Bullet shapes
// If this array is resized outside of here, it should be preserved due to CoW
@@ -553,7 +591,7 @@ void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int
notifyShapeChanged();
}
-btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *HeightMapShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height));
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
@@ -562,26 +600,22 @@ btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_impli
/* Ray shape */
RayShapeBullet::RayShapeBullet() :
- ShapeBullet(),
- length(1),
- slips_on_slope(false) {}
+ ShapeBullet() {}
void RayShapeBullet::set_data(const Variant &p_data) {
-
Dictionary d = p_data;
setup(d["length"], d["slips_on_slope"]);
}
Variant RayShapeBullet::get_data() const {
-
Dictionary d;
d["length"] = length;
d["slips_on_slope"] = slips_on_slope;
return d;
}
-PhysicsServer::ShapeType RayShapeBullet::get_type() const {
- return PhysicsServer::SHAPE_RAY;
+PhysicsServer3D::ShapeType RayShapeBullet::get_type() const {
+ return PhysicsServer3D::SHAPE_RAY;
}
void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) {
@@ -590,6 +624,6 @@ void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) {
notifyShapeChanged();
}
-btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *RayShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_extra_edge, slips_on_slope));
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-09 01:37:27 +0000