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-rw-r--r--modules/bullet/space_bullet.cpp71
1 files changed, 50 insertions, 21 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index cfe8cd5322..d7dd11d2a5 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"
@@ -158,10 +158,6 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
btVector3 bt_motion;
G_TO_B(p_motion, bt_motion);
- if (bt_motion.fuzzyZero()) {
- return false;
- }
-
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape);
ERR_FAIL_COND_V(!shape, false);
@@ -180,6 +176,13 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
btTransform bt_xform_to(bt_xform_from);
bt_xform_to.getOrigin() += bt_motion;
+ if ((bt_xform_to.getOrigin() - bt_xform_from.getOrigin()).fuzzyZero()) {
+ 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);
btResult.m_collisionFilterGroup = 0;
btResult.m_collisionFilterMask = p_collision_mask;
@@ -286,7 +289,7 @@ 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);
+ RigidCollisionObjectBullet *rigid_object = space->get_physics_server()->get_rigid_collision_object(p_object);
ERR_FAIL_COND_V(!rigid_object, Vector3());
btVector3 out_closest_point(0, 0, 0);
@@ -476,11 +479,25 @@ void SpaceBullet::add_rigid_body(RigidBodyBullet *p_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));
+ }
+ }
+}
+
void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) {
+ btRigidBody *btBody = p_body->get_bt_rigid_body();
+
if (p_body->is_static()) {
- dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body());
+ dynamicsWorld->removeCollisionObject(btBody);
} else {
- dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body());
+ dynamicsWorld->removeRigidBody(btBody);
}
}
@@ -541,10 +558,6 @@ void SpaceBullet::remove_all_collision_objects() {
}
}
-void onBulletPreTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) {
- static_cast<SpaceBullet *>(p_dynamicsWorld->getWorldUserInfo())->flush_queries();
-}
-
void onBulletTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) {
const btCollisionObjectArray &colObjArray = p_dynamicsWorld->getCollisionObjectArray();
@@ -612,7 +625,6 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) {
dynamicsWorld->setWorldUserInfo(this);
- dynamicsWorld->setInternalTickCallback(onBulletPreTickCallback, this, true);
dynamicsWorld->setInternalTickCallback(onBulletTickCallback, this, false);
dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(ghostPairCallback); // Setup ghost check
dynamicsWorld->getPairCache()->setOverlapFilterCallback(godotFilterCallback);
@@ -832,17 +844,29 @@ void SpaceBullet::check_body_collision() {
float 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
@@ -894,8 +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);
@@ -949,7 +973,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
motionVec->end();
#endif
- for (int shIndex = 0; shIndex < shape_count && !motion.fuzzyZero(); ++shIndex) {
+ for (int shIndex = 0; shIndex < shape_count; ++shIndex) {
if (p_body->is_shape_disabled(shIndex)) {
continue;
}
@@ -971,6 +995,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
btTransform shape_world_to(shape_world_from);
shape_world_to.getOrigin() += motion;
+ if ((shape_world_to.getOrigin() - shape_world_from.getOrigin()).fuzzyZero()) {
+ motion = btVector3(0, 0, 0);
+ break;
+ }
+
GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, p_infinite_inertia);
btResult.m_collisionFilterGroup = p_body->get_collision_layer();
btResult.m_collisionFilterMask = p_body->get_collision_mask();
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-25 02:33:53 +0000