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-rw-r--r--modules/bullet/space_bullet.cpp177
1 files changed, 68 insertions, 109 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index d0515e7c97..7d337bc4d0 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_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 */
@@ -34,8 +34,8 @@
#include "bullet_types_converter.h"
#include "bullet_utilities.h"
#include "constraint_bullet.h"
-#include "core/project_settings.h"
-#include "core/ustring.h"
+#include "core/config/project_settings.h"
+#include "core/string/ustring.h"
#include "godot_collision_configuration.h"
#include "godot_collision_dispatcher.h"
#include "rigid_body_bullet.h"
@@ -117,7 +117,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V
}
}
-int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, 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) {
+int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, 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;
}
@@ -127,7 +127,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return 0;
}
@@ -147,12 +147,12 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
btQuery.m_closestDistanceThreshold = 0;
space->dynamicsWorld->contactTest(&collision_object, btQuery);
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btConvex);
return btQuery.m_count;
}
-bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
+bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
r_closest_safe = 0.0f;
r_closest_unsafe = 0.0f;
btVector3 bt_motion;
@@ -163,7 +163,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
if (!btShape->isConvex()) {
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return false;
}
@@ -177,8 +177,10 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
bt_xform_to.getOrigin() += bt_motion;
if ((bt_xform_to.getOrigin() - bt_xform_from.getOrigin()).fuzzyZero()) {
- shape->destroy_bt_shape(btShape);
- return false;
+ r_closest_safe = 1.0f;
+ r_closest_unsafe = 1.0f;
+ bulletdelete(btShape);
+ return true;
}
GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude, p_collide_with_bodies, p_collide_with_areas);
@@ -207,12 +209,12 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
r_closest_unsafe = 1.0f;
}
- shape->destroy_bt_shape(btShape);
+ bulletdelete(bt_convex_shape);
return true; // Mean success
}
/// Returns the list of contacts pairs in this order: Local contact, other body contact
-bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, 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 false;
}
@@ -222,7 +224,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return false;
}
@@ -243,18 +245,18 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
space->dynamicsWorld->contactTest(&collision_object, btQuery);
r_result_count = btQuery.m_count;
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btConvex);
return btQuery.m_count;
}
-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) {
+bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, real_t 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);
ERR_FAIL_COND_V(!shape, false);
btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return false;
}
@@ -274,7 +276,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
btQuery.m_closestDistanceThreshold = 0;
space->dynamicsWorld->contactTest(&collision_object, btQuery);
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btConvex);
if (btQuery.m_collided) {
if (btCollisionObject::CO_RIGID_BODY == btQuery.m_rest_info_collision_object->getInternalType()) {
@@ -349,46 +351,14 @@ SpaceBullet::~SpaceBullet() {
destroy_world();
}
-void SpaceBullet::add_to_pre_flush_queue(CollisionObjectBullet *p_co) {
- if (p_co->is_in_flush_queue == false) {
- p_co->is_in_flush_queue = true;
- queue_pre_flush.push_back(p_co);
- }
-}
-
-void SpaceBullet::add_to_flush_queue(CollisionObjectBullet *p_co) {
- if (p_co->is_in_flush_queue == false) {
- p_co->is_in_flush_queue = true;
- queue_flush.push_back(p_co);
- }
-}
-
-void SpaceBullet::remove_from_any_queue(CollisionObjectBullet *p_co) {
- if (p_co->is_in_flush_queue) {
- p_co->is_in_flush_queue = false;
- queue_pre_flush.erase(p_co);
- queue_flush.erase(p_co);
- }
-}
-
void SpaceBullet::flush_queries() {
- for (uint32_t i = 0; i < queue_pre_flush.size(); i += 1) {
- queue_pre_flush[i]->dispatch_callbacks();
- queue_pre_flush[i]->is_in_flush_queue = false;
- }
- for (uint32_t i = 0; i < queue_flush.size(); i += 1) {
- queue_flush[i]->dispatch_callbacks();
- queue_flush[i]->is_in_flush_queue = false;
+ const btCollisionObjectArray &colObjArray = dynamicsWorld->getCollisionObjectArray();
+ for (int i = colObjArray.size() - 1; 0 <= i; --i) {
+ static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->dispatch_callbacks();
}
- queue_pre_flush.clear();
- queue_flush.clear();
}
void SpaceBullet::step(real_t p_delta_time) {
- for (uint32_t i = 0; i < collision_objects.size(); i += 1) {
- collision_objects[i]->pre_process();
- }
-
delta_time = p_delta_time;
dynamicsWorld->stepSimulation(p_delta_time, 0, 0);
}
@@ -481,30 +451,16 @@ real_t SpaceBullet::get_param(PhysicsServer3D::SpaceParameter p_param) {
}
void SpaceBullet::add_area(AreaBullet *p_area) {
-#ifdef TOOLS_ENABLED
- // This never happen, and there is no way for the user to trigger it.
- // If in future a bug is introduced into this bullet integration and this
- // function is called twice, the crash will notify the developer that will
- // fix it even before do the eventual PR.
- CRASH_COND(p_area->is_in_world);
-#endif
areas.push_back(p_area);
dynamicsWorld->addCollisionObject(p_area->get_bt_ghost(), p_area->get_collision_layer(), p_area->get_collision_mask());
- p_area->is_in_world = true;
}
void SpaceBullet::remove_area(AreaBullet *p_area) {
- if (p_area->is_in_world) {
- areas.erase(p_area);
- dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost());
- p_area->is_in_world = false;
- }
+ areas.erase(p_area);
+ dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost());
}
void SpaceBullet::reload_collision_filters(AreaBullet *p_area) {
- if (p_area->is_in_world == false) {
- return;
- }
btGhostObject *ghost_object = p_area->get_bt_ghost();
btBroadphaseProxy *ghost_proxy = ghost_object->getBroadphaseHandle();
@@ -514,47 +470,38 @@ void SpaceBullet::reload_collision_filters(AreaBullet *p_area) {
dynamicsWorld->refreshBroadphaseProxy(ghost_object);
}
-void SpaceBullet::register_collision_object(CollisionObjectBullet *p_object) {
- collision_objects.push_back(p_object);
-}
-
-void SpaceBullet::unregister_collision_object(CollisionObjectBullet *p_object) {
- remove_from_any_queue(p_object);
- collision_objects.erase(p_object);
-}
-
void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) {
-#ifdef TOOLS_ENABLED
- // This never happen, and there is no way for the user to trigger it.
- // If in future a bug is introduced into this bullet integration and this
- // function is called twice, the crash will notify the developer that will
- // fix it even before do the eventual PR.
- CRASH_COND(p_body->is_in_world);
-#endif
if (p_body->is_static()) {
dynamicsWorld->addCollisionObject(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask());
} else {
dynamicsWorld->addRigidBody(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask());
p_body->scratch_space_override_modificator();
}
- p_body->is_in_world = true;
}
-void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) {
- if (p_body->is_in_world) {
- if (p_body->is_static()) {
- dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body());
- } else {
- dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body());
+void SpaceBullet::remove_rigid_body_constraints(RigidBodyBullet *p_body) {
+ btRigidBody *btBody = p_body->get_bt_rigid_body();
+
+ int constraints = btBody->getNumConstraintRefs();
+ if (constraints > 0) {
+ ERR_PRINT("A body connected to joints was removed.");
+ for (int i = 0; i < constraints; i++) {
+ dynamicsWorld->removeConstraint(btBody->getConstraintRef(i));
}
- p_body->is_in_world = false;
}
}
-void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) {
- if (p_body->is_in_world == false) {
- return;
+void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) {
+ btRigidBody *btBody = p_body->get_bt_rigid_body();
+
+ if (p_body->is_static()) {
+ dynamicsWorld->removeCollisionObject(btBody);
+ } else {
+ dynamicsWorld->removeRigidBody(btBody);
}
+}
+
+void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) {
btRigidBody *rigid_body = p_body->get_bt_rigid_body();
btBroadphaseProxy *body_proxy = rigid_body->getBroadphaseProxy();
@@ -734,7 +681,7 @@ void SpaceBullet::check_ghost_overlaps() {
/// 1. Reset all states
for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) {
- AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects[i];
+ AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects.write[i];
// This check prevent the overwrite of ENTER state
// if this function is called more times before dispatchCallbacks
if (otherObj.state != AreaBullet::OVERLAP_STATE_ENTER) {
@@ -894,20 +841,32 @@ void SpaceBullet::check_body_collision() {
Vector3 collisionWorldPosition;
Vector3 collisionLocalPosition;
Vector3 normalOnB;
- float appliedImpulse = pt.m_appliedImpulse;
+ real_t appliedImpulse = pt.m_appliedImpulse;
B_TO_G(pt.m_normalWorldOnB, normalOnB);
+ // The pt.m_index only contains the shape index when more than one collision shape is used
+ // and only if the collision shape is not a concave collision shape.
+ // A value of -1 in pt.m_partId indicates the pt.m_index is a shape index.
+ int shape_index_a = 0;
+ if (bodyA->get_shape_count() > 1 && pt.m_partId0 == -1) {
+ shape_index_a = pt.m_index0;
+ }
+ int shape_index_b = 0;
+ if (bodyB->get_shape_count() > 1 && pt.m_partId1 == -1) {
+ shape_index_b = pt.m_index1;
+ }
+
if (bodyA->can_add_collision()) {
B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition);
/// pt.m_localPointB Doesn't report the exact point in local space
B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition);
- bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, pt.m_index1, pt.m_index0);
+ bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, shape_index_b, shape_index_a);
}
if (bodyB->can_add_collision()) {
B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition);
/// pt.m_localPointA Doesn't report the exact point in local space
B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition);
- bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1);
+ bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, shape_index_a, shape_index_b);
}
#ifdef DEBUG_ENABLED
@@ -959,8 +918,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
SceneTree::get_singleton()->get_current_scene()->add_child(motionVec);
SceneTree::get_singleton()->get_current_scene()->add_child(normalLine);
- motionVec->set_as_toplevel(true);
- normalLine->set_as_toplevel(true);
+ motionVec->set_as_top_level(true);
+ normalLine->set_as_top_level(true);
red_mat = Ref<StandardMaterial3D>(memnew(StandardMaterial3D));
red_mat->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
@@ -1103,7 +1062,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
return has_penetration;
}
-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) {
+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, real_t p_margin) {
btTransform body_transform;
G_TO_B(p_transform, body_transform);
UNSCALE_BT_BASIS(body_transform);
@@ -1133,13 +1092,13 @@ private:
btDbvtVolume bounds;
const btCollisionObject *self_collision_object;
- uint32_t collision_layer;
- uint32_t collision_mask;
+ uint32_t collision_layer = 0;
+ uint32_t collision_mask = 0;
struct CompoundLeafCallback : btDbvt::ICollide {
private:
- RecoverPenetrationBroadPhaseCallback *parent_callback;
- btCollisionObject *collision_object;
+ RecoverPenetrationBroadPhaseCallback *parent_callback = nullptr;
+ btCollisionObject *collision_object = nullptr;
public:
CompoundLeafCallback(RecoverPenetrationBroadPhaseCallback *p_parent_callback, btCollisionObject *p_collision_object) :
@@ -1157,8 +1116,8 @@ private:
public:
struct BroadphaseResult {
- btCollisionObject *collision_object;
- int compound_child_index;
+ btCollisionObject *collision_object = nullptr;
+ int compound_child_index = 0;
};
Vector<BroadphaseResult> results;
generated by cgit v1.2.3 (git 2.25.1) at 2025-08-01 23:57:54 +0000