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-rw-r--r--modules/bullet/shape_bullet.cpp87
1 files changed, 67 insertions, 20 deletions
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index 76d9614465..cc7d106496 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -44,19 +44,20 @@
@author AndreaCatania
*/
-ShapeBullet::ShapeBullet() {}
+ShapeBullet::ShapeBullet() :
+ margin(0.04) {}
ShapeBullet::~ShapeBullet() {}
-btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge) {
btVector3 s;
G_TO_B(p_implicit_scale, s);
- return create_bt_shape(s, p_margin);
+ return create_bt_shape(s, p_extra_edge);
}
btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
p_btShape->setUserPointer(const_cast<ShapeBullet *>(this));
- p_btShape->setMargin(0.);
+ p_btShape->setMargin(margin);
return p_btShape;
}
@@ -93,6 +94,15 @@ const Map<ShapeOwnerBullet *, int> &ShapeBullet::get_owners() const {
return owners;
}
+void ShapeBullet::set_margin(real_t p_margin) {
+ margin = p_margin;
+ notifyShapeChanged();
+}
+
+real_t ShapeBullet::get_margin() const {
+ return margin;
+}
+
btEmptyShape *ShapeBullet::create_shape_empty() {
return bulletnew(btEmptyShape);
}
@@ -113,6 +123,10 @@ btCapsuleShapeZ *ShapeBullet::create_shape_capsule(btScalar radius, btScalar hei
return bulletnew(btCapsuleShapeZ(radius, height));
}
+btCylinderShape *ShapeBullet::create_shape_cylinder(btScalar radius, btScalar height) {
+ return bulletnew(btCylinderShape(btVector3(radius, height / 2.0, radius)));
+}
+
btConvexPointCloudShape *ShapeBullet::create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling) {
return bulletnew(btConvexPointCloudShape(&p_vertices[0], p_vertices.size(), p_local_scaling));
}
@@ -162,7 +176,7 @@ void PlaneShapeBullet::setup(const Plane &p_plane) {
notifyShapeChanged();
}
-btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *PlaneShapeBullet::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));
@@ -190,8 +204,8 @@ void SphereShapeBullet::setup(real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
- return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_margin));
+btCollisionShape *SphereShapeBullet::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));
}
/* Box */
@@ -217,8 +231,8 @@ void BoxShapeBullet::setup(const Vector3 &p_half_extents) {
notifyShapeChanged();
}
-btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
- return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_margin, p_margin, p_margin)));
+btCollisionShape *BoxShapeBullet::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)));
}
/* Capsule */
@@ -250,8 +264,41 @@ 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_margin) {
- return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin));
+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));
+}
+
+/* Cylinder */
+
+CylinderShapeBullet::CylinderShapeBullet() :
+ ShapeBullet() {}
+
+void CylinderShapeBullet::set_data(const Variant &p_data) {
+ Dictionary d = p_data;
+ ERR_FAIL_COND(!d.has("radius"));
+ ERR_FAIL_COND(!d.has("height"));
+ setup(d["height"], d["radius"]);
+}
+
+Variant CylinderShapeBullet::get_data() const {
+ Dictionary d;
+ d["radius"] = radius;
+ d["height"] = height;
+ return d;
+}
+
+PhysicsServer::ShapeType CylinderShapeBullet::get_type() const {
+ return PhysicsServer::SHAPE_CYLINDER;
+}
+
+void CylinderShapeBullet::setup(real_t p_height, real_t p_radius) {
+ radius = p_radius;
+ height = p_height;
+ notifyShapeChanged();
+}
+
+btCollisionShape *CylinderShapeBullet::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));
}
/* Convex polygon */
@@ -267,7 +314,7 @@ void ConvexPolygonShapeBullet::get_vertices(Vector<Vector3> &out_vertices) {
const int n_of_vertices = vertices.size();
out_vertices.resize(n_of_vertices);
for (int i = n_of_vertices - 1; 0 <= i; --i) {
- B_TO_G(vertices[i], out_vertices[i]);
+ B_TO_G(vertices[i], out_vertices.write[i]);
}
}
@@ -292,11 +339,13 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
notifyShapeChanged();
}
-btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *ConvexPolygonShapeBullet::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);
- cs->setMargin(p_margin);
return cs;
}
@@ -365,14 +414,13 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) {
notifyShapeChanged();
}
-btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *ConcavePolygonShapeBullet::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
cs = ShapeBullet::create_shape_empty();
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
- cs->setMargin(p_margin);
return cs;
}
@@ -458,11 +506,10 @@ 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_margin) {
+btCollisionShape *HeightMapShapeBullet::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);
- cs->setMargin(p_margin);
return cs;
}
@@ -496,6 +543,6 @@ 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_margin) {
- return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin, slips_on_slope));
+btCollisionShape *RayShapeBullet::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 2025-04-15 14:21:43 +0000