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-rw-r--r--modules/bullet/space_bullet.cpp38
1 files changed, 0 insertions, 38 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index aff203d7b4..433f1109c9 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -63,7 +63,6 @@ BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_spac
space(p_space) {}
int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
-
if (p_result_max <= 0)
return 0;
@@ -86,7 +85,6 @@ int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, Shape
}
bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) {
-
btVector3 btVec_from;
btVector3 btVec_to;
@@ -238,7 +236,6 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
}
bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
-
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape);
btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
@@ -276,7 +273,6 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
}
Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const {
-
RigidCollisionObjectBullet *rigid_object = space->get_physics_server()->get_rigid_collisin_object(p_object);
ERR_FAIL_COND_V(!rigid_object, Vector3());
@@ -320,12 +316,10 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_
}
if (shapes_found) {
-
Vector3 out;
B_TO_G(out_closest_point, out);
return out;
} else {
-
// no shapes found, use distance to origin.
return rigid_object->get_transform().get_origin();
}
@@ -539,7 +533,6 @@ void onBulletPreTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep
}
void onBulletTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) {
-
const btCollisionObjectArray &colObjArray = p_dynamicsWorld->getCollisionObjectArray();
// Notify all Collision objects the collision checker is started
@@ -561,17 +554,14 @@ BulletPhysicsDirectSpaceState *SpaceBullet::get_direct_state() {
}
btScalar calculateGodotCombinedRestitution(const btCollisionObject *body0, const btCollisionObject *body1) {
-
return CLAMP(body0->getRestitution() + body1->getRestitution(), 0, 1);
}
btScalar calculateGodotCombinedFriction(const btCollisionObject *body0, const btCollisionObject *body1) {
-
return ABS(MIN(body0->getFriction(), body1->getFriction()));
}
void SpaceBullet::create_empty_world(bool p_create_soft_world) {
-
gjk_epa_pen_solver = bulletnew(btGjkEpaPenetrationDepthSolver);
gjk_simplex_solver = bulletnew(btVoronoiSimplexSolver);
@@ -624,7 +614,6 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) {
}
void SpaceBullet::destroy_world() {
-
/// The world elements (like: Collision Objects, Constraints, Shapes) are managed by godot
dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(nullptr);
@@ -648,7 +637,6 @@ void SpaceBullet::destroy_world() {
}
void SpaceBullet::check_ghost_overlaps() {
-
/// Algorithm support variables
btCollisionShape *other_body_shape;
btConvexShape *area_shape;
@@ -681,7 +669,6 @@ void SpaceBullet::check_ghost_overlaps() {
// For each overlapping
for (i = ghostOverlaps.size() - 1; 0 <= i; --i) {
-
bool hasOverlap = false;
btCollisionObject *overlapped_bt_co = ghostOverlaps[i];
RigidCollisionObjectBullet *otherObject = static_cast<RigidCollisionObjectBullet *>(overlapped_bt_co->getUserPointer());
@@ -714,7 +701,6 @@ void SpaceBullet::check_ghost_overlaps() {
// For each other object shape
for (z = otherObject->get_shape_count() - 1; 0 <= z; --z) {
-
other_body_shape = static_cast<btCollisionShape *>(otherObject->get_bt_shape(z));
btTransform other_shape_transform(otherObject->get_bt_shape_transform(z));
@@ -725,7 +711,6 @@ void SpaceBullet::check_ghost_overlaps() {
other_shape_transform;
if (other_body_shape->isConvex()) {
-
btPointCollector result;
btGjkPairDetector gjk_pair_detector(
area_shape,
@@ -740,7 +725,6 @@ void SpaceBullet::check_ghost_overlaps() {
}
} else {
-
btCollisionObjectWrapper obA(nullptr, area_shape, area->get_bt_ghost(), gjk_input.m_transformA, -1, y);
btCollisionObjectWrapper obB(nullptr, other_body_shape, otherObject->get_bt_collision_object(), gjk_input.m_transformB, -1, z);
@@ -823,7 +807,6 @@ void SpaceBullet::check_body_collision() {
pt.getDistance() <= 0.0 ||
bodyA->was_colliding(bodyB) ||
bodyB->was_colliding(bodyA)) {
-
Vector3 collisionWorldPosition;
Vector3 collisionLocalPosition;
Vector3 normalOnB;
@@ -883,7 +866,6 @@ static Ref<StandardMaterial3D> blue_mat;
#endif
bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes) {
-
#if debug_test_motion
/// Yes I know this is not good, but I've used it as fast debugging hack.
/// I'm leaving it here just for speedup the other eventual debugs
@@ -1000,7 +982,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
B_TO_G(motion + initial_recover_motion + __rec, r_result->motion);
if (has_penetration) {
-
const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
@@ -1034,7 +1015,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin) {
-
btTransform body_transform;
G_TO_B(p_transform, body_transform);
UNSCALE_BT_BASIS(body_transform);
@@ -1099,14 +1079,12 @@ public:
self_collision_object(p_self_collision_object),
collision_layer(p_collision_layer),
collision_mask(p_collision_mask) {
-
bounds = btDbvtVolume::FromMM(p_aabb_min, p_aabb_max);
}
virtual ~RecoverPenetrationBroadPhaseCallback() {}
virtual bool process(const btBroadphaseProxy *proxy) {
-
btCollisionObject *co = static_cast<btCollisionObject *>(proxy->m_clientObject);
if (co->getInternalType() <= btCollisionObject::CO_RIGID_BODY) {
if (self_collision_object != proxy->m_clientObject && GodotFilterCallback::test_collision_filters(collision_layer, collision_mask, proxy->m_collisionFilterGroup, proxy->m_collisionFilterMask)) {
@@ -1150,13 +1128,11 @@ public:
};
bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
-
// Calculate the cumulative AABB of all shapes of the kinematic body
btVector3 aabb_min, aabb_max;
bool shapes_found = false;
for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
-
const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
if (!kin_shape.is_active()) {
continue;
@@ -1201,7 +1177,6 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
// Perform narrowphase per shape
for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
-
const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
if (!kin_shape.is_active()) {
continue;
@@ -1230,23 +1205,19 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
if (cs->getChildShape(shape_idx)->isConvex()) {
if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
-
penetration = true;
}
} else {
if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(shape_idx), p_body->get_bt_collision_object(), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
-
penetration = true;
}
}
} else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape
if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
-
penetration = true;
}
} else {
if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
-
penetration = true;
}
}
@@ -1257,7 +1228,6 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
}
bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
-
// Initialize GJK input
btGjkPairDetector::ClosestPointInput gjk_input;
gjk_input.m_transformA = p_transformA;
@@ -1288,7 +1258,6 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt
}
bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
-
/// Contact test
btTransform tA(p_transformA);
@@ -1325,7 +1294,6 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
}
int SpaceBullet::add_separation_result(PhysicsServer3D::SeparationResult *r_result, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const {
-
// optimize results (ignore non-colliding)
if (p_recover_result.penetration_distance < 0.0) {
const btRigidBody *btRigid = static_cast<const btRigidBody *>(p_other_object);
@@ -1347,13 +1315,11 @@ int SpaceBullet::add_separation_result(PhysicsServer3D::SeparationResult *r_resu
}
int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer3D::SeparationResult *r_results) {
-
// Calculate the cumulative AABB of all shapes of the kinematic body
btVector3 aabb_min, aabb_max;
bool shapes_found = false;
for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
-
const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
if (!kin_shape.is_active()) {
continue;
@@ -1397,7 +1363,6 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT
// Perform narrowphase per shape
for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
-
if (ray_count >= p_result_max) {
break;
}
@@ -1429,14 +1394,11 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT
RecoverResult recover_result;
if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(shape_idx), p_body->get_bt_collision_object(), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) {
-
ray_count = add_separation_result(&r_results[ray_count], recover_result, kinIndex, otherObject);
}
} else {
-
RecoverResult recover_result;
if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) {
-
ray_count = add_separation_result(&r_results[ray_count], recover_result, kinIndex, otherObject);
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-25 00:11:28 +0000