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-rw-r--r--modules/bullet/shape_bullet.cpp88
1 files changed, 46 insertions, 42 deletions
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index 8ac26a0fdb..88ffb9ec67 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_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 */
@@ -34,7 +34,7 @@
#include "bullet_physics_server.h"
#include "bullet_types_converter.h"
#include "bullet_utilities.h"
-#include "core/project_settings.h"
+#include "core/config/project_settings.h"
#include "shape_owner_bullet.h"
#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h>
@@ -46,8 +46,7 @@
@author AndreaCatania
*/
-ShapeBullet::ShapeBullet() :
- margin(0.04) {}
+ShapeBullet::ShapeBullet() {}
ShapeBullet::~ShapeBullet() {}
@@ -81,7 +80,9 @@ 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 +90,6 @@ void ShapeBullet::remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFrom
}
bool ShapeBullet::is_owner(ShapeOwnerBullet *p_owner) const {
-
return owners.has(p_owner);
}
@@ -110,7 +110,7 @@ btEmptyShape *ShapeBullet::create_shape_empty() {
return bulletnew(btEmptyShape);
}
-btStaticPlaneShape *ShapeBullet::create_shape_plane(const btVector3 &planeNormal, btScalar planeConstant) {
+btStaticPlaneShape *ShapeBullet::create_shape_world_boundary(const btVector3 &planeNormal, btScalar planeConstant) {
return bulletnew(btStaticPlaneShape(planeNormal, planeConstant));
}
@@ -142,7 +142,7 @@ btScaledBvhTriangleMeshShape *ShapeBullet::create_shape_concave(btBvhTriangleMes
}
}
-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) {
+btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(Vector<float> &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;
@@ -151,8 +151,9 @@ btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(Vector<real_t>
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 PhysicsServer3D.shape_create(PhysicsServer3D.SHAPE_HEIGHTMAP)
- if (heightsPtr)
+ if (heightsPtr) {
heightfield->buildAccelerator(16);
+ }
return heightfield;
}
@@ -163,32 +164,32 @@ btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope
return r;
}
-/* PLANE */
+/* World boundary */
-PlaneShapeBullet::PlaneShapeBullet() :
+WorldBoundaryShapeBullet::WorldBoundaryShapeBullet() :
ShapeBullet() {}
-void PlaneShapeBullet::set_data(const Variant &p_data) {
+void WorldBoundaryShapeBullet::set_data(const Variant &p_data) {
setup(p_data);
}
-Variant PlaneShapeBullet::get_data() const {
+Variant WorldBoundaryShapeBullet::get_data() const {
return plane;
}
-PhysicsServer3D::ShapeType PlaneShapeBullet::get_type() const {
- return PhysicsServer3D::SHAPE_PLANE;
+PhysicsServer3D::ShapeType WorldBoundaryShapeBullet::get_type() const {
+ return PhysicsServer3D::SHAPE_WORLD_BOUNDARY;
}
-void PlaneShapeBullet::setup(const Plane &p_plane) {
+void WorldBoundaryShapeBullet::setup(const Plane &p_plane) {
plane = p_plane;
notifyShapeChanged();
}
-btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *WorldBoundaryShapeBullet::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));
+ return prepare(WorldBoundaryShapeBullet::create_shape_world_boundary(btPlaneNormal, plane.d));
}
/* Sphere */
@@ -274,7 +275,7 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) {
}
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));
+ return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1]));
}
/* Cylinder */
@@ -349,9 +350,10 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
}
btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
- if (!vertices.size())
+ 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 +363,7 @@ btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_i
/* Concave polygon */
ConcavePolygonShapeBullet::ConcavePolygonShapeBullet() :
- ShapeBullet(),
- meshShape(nullptr) {}
+ ShapeBullet() {}
ConcavePolygonShapeBullet::~ConcavePolygonShapeBullet() {
if (meshShape) {
@@ -374,11 +375,17 @@ ConcavePolygonShapeBullet::~ConcavePolygonShapeBullet() {
}
void ConcavePolygonShapeBullet::set_data(const Variant &p_data) {
- setup(p_data);
+ Dictionary d = p_data;
+ ERR_FAIL_COND(!d.has("faces"));
+
+ setup(d["faces"]);
}
Variant ConcavePolygonShapeBullet::get_data() const {
- return faces;
+ Dictionary d;
+ d["faces"] = faces;
+
+ return d;
}
PhysicsServer3D::ShapeType ConcavePolygonShapeBullet::get_type() const {
@@ -395,7 +402,6 @@ void ConcavePolygonShapeBullet::setup(Vector<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);
@@ -433,9 +439,10 @@ void ConcavePolygonShapeBullet::setup(Vector<Vector3> p_faces) {
btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape);
- if (!cs)
+ 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);
@@ -458,20 +465,22 @@ 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"];
- // 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...
+ 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.");
- Vector<real_t> l_heights;
+ Vector<float> l_heights;
Variant l_heights_v = d["heights"];
if (l_heights_v.get_type() == Variant::PACKED_FLOAT32_ARRAY) {
@@ -495,7 +504,7 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
l_heights.resize(l_image->get_width() * l_image->get_height());
- real_t *w = l_heights.ptrw();
+ float *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.
@@ -514,12 +523,11 @@ 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")) {
-
- const real_t *r = l_heights.ptr();
+ const float *r = l_heights.ptr();
int heights_size = l_heights.size();
for (int i = 0; i < heights_size; ++i) {
- real_t h = r[i];
+ float h = r[i];
if (h < l_min_height) {
l_min_height = h;
@@ -540,7 +548,7 @@ PhysicsServer3D::ShapeType HeightMapShapeBullet::get_type() const {
return PhysicsServer3D::SHAPE_HEIGHTMAP;
}
-void HeightMapShapeBullet::setup(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
+void HeightMapShapeBullet::setup(Vector<float> &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
@@ -562,18 +570,14 @@ 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;
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-27 20:54:13 +0000