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-rw-r--r--modules/bullet/space_bullet.cpp206
1 files changed, 122 insertions, 84 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 9df01aee3e..e4d049b00d 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -115,12 +115,13 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btConvexShape *btConvex = dynamic_cast<btConvexShape *>(shape->create_bt_shape());
- if (!btConvex) {
- bulletdelete(btConvex);
+ btCollisionShape *btShape = shape->create_bt_shape();
+ if (!btShape->isConvex()) {
+ bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return 0;
}
+ btConvexShape *btConvex = static_cast<btConvexShape *>(btShape);
btVector3 scale_with_margin;
G_TO_B(p_xform.basis.get_scale(), scale_with_margin);
@@ -147,12 +148,13 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask, ShapeRestInfo *r_info) {
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btConvexShape *bt_convex_shape = dynamic_cast<btConvexShape *>(shape->create_bt_shape());
- if (!bt_convex_shape) {
- bulletdelete(bt_convex_shape);
+ btCollisionShape *btShape = shape->create_bt_shape();
+ if (!btShape->isConvex()) {
+ bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return 0;
}
+ btConvexShape *bt_convex_shape = static_cast<btConvexShape *>(btShape);
btVector3 bt_motion;
G_TO_B(p_motion, bt_motion);
@@ -173,17 +175,19 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, 0.002);
- if (btResult.hasHit()) {
- if (btCollisionObject::CO_RIGID_BODY == btResult.m_hitCollisionObject->getInternalType()) {
- B_TO_G(static_cast<const btRigidBody *>(btResult.m_hitCollisionObject)->getVelocityInLocalPoint(btResult.m_hitPointWorld), r_info->linear_velocity);
+ if (r_info) {
+ if (btResult.hasHit()) {
+ if (btCollisionObject::CO_RIGID_BODY == btResult.m_hitCollisionObject->getInternalType()) {
+ B_TO_G(static_cast<const btRigidBody *>(btResult.m_hitCollisionObject)->getVelocityInLocalPoint(btResult.m_hitPointWorld), r_info->linear_velocity);
+ }
+ CollisionObjectBullet *collision_object = static_cast<CollisionObjectBullet *>(btResult.m_hitCollisionObject->getUserPointer());
+ p_closest_safe = p_closest_unsafe = btResult.m_closestHitFraction;
+ B_TO_G(btResult.m_hitPointWorld, r_info->point);
+ B_TO_G(btResult.m_hitNormalWorld, r_info->normal);
+ r_info->rid = collision_object->get_self();
+ r_info->collider_id = collision_object->get_instance_id();
+ r_info->shape = btResult.m_shapeId;
}
- CollisionObjectBullet *collision_object = static_cast<CollisionObjectBullet *>(btResult.m_hitCollisionObject->getUserPointer());
- p_closest_safe = p_closest_unsafe = btResult.m_closestHitFraction;
- B_TO_G(btResult.m_hitPointWorld, r_info->point);
- B_TO_G(btResult.m_hitNormalWorld, r_info->normal);
- r_info->rid = collision_object->get_self();
- r_info->collider_id = collision_object->get_instance_id();
- r_info->shape = btResult.m_shapePart;
}
bulletdelete(bt_convex_shape);
@@ -197,12 +201,13 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btConvexShape *btConvex = dynamic_cast<btConvexShape *>(shape->create_bt_shape());
- if (!btConvex) {
- bulletdelete(btConvex);
+ btCollisionShape *btShape = shape->create_bt_shape();
+ if (!btShape->isConvex()) {
+ bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return 0;
}
+ btConvexShape *btConvex = static_cast<btConvexShape *>(btShape);
btVector3 scale_with_margin;
G_TO_B(p_shape_xform.basis.get_scale(), scale_with_margin);
@@ -231,12 +236,13 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btConvexShape *btConvex = dynamic_cast<btConvexShape *>(shape->create_bt_shape());
- if (!btConvex) {
- bulletdelete(btConvex);
+ btCollisionShape *btShape = shape->create_bt_shape();
+ if (!btShape->isConvex()) {
+ bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return 0;
}
+ btConvexShape *btConvex = static_cast<btConvexShape *>(btShape);
btVector3 scale_with_margin;
G_TO_B(p_shape_xform.basis.get_scale() + Vector3(p_margin, p_margin, p_margin), scale_with_margin);
@@ -777,7 +783,8 @@ void SpaceBullet::check_body_collision() {
void SpaceBullet::update_gravity() {
btVector3 btGravity;
G_TO_B(gravityDirection * gravityMagnitude, btGravity);
- dynamicsWorld->setGravity(btGravity);
+ //dynamicsWorld->setGravity(btGravity);
+ dynamicsWorld->setGravity(btVector3(0, 0, 0));
if (soft_body_world_info) {
soft_body_world_info->m_gravity = btGravity;
}
@@ -877,11 +884,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
continue;
}
- btConvexShape *convex_shape_test(dynamic_cast<btConvexShape *>(p_body->get_bt_shape(shIndex)));
- if (!convex_shape_test) {
+ if (!p_body->get_bt_shape(shIndex)->isConvex()) {
// Skip no convex shape
continue;
}
+ btConvexShape *convex_shape_test(static_cast<btConvexShape *>(p_body->get_bt_shape(shIndex)));
btTransform shape_world_from;
G_TO_B(p_body->get_shape_transform(shIndex), shape_world_from);
@@ -910,26 +917,26 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
{ /// Phase three - Recover + contact test with margin
- RecoverResult recover_result;
+ RecoverResult r_recover_result;
- hasPenetration = recover_from_penetration(p_body, body_safe_position, recovered_motion, &recover_result);
+ hasPenetration = recover_from_penetration(p_body, body_safe_position, recovered_motion, &r_recover_result);
if (r_result) {
B_TO_G(recovered_motion + recover_initial_position, r_result->motion);
if (hasPenetration) {
- const btRigidBody *btRigid = static_cast<const btRigidBody *>(recover_result.other_collision_object);
+ const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
r_result->remainder = p_motion - r_result->motion; // is the remaining movements
- B_TO_G(recover_result.pointWorld, r_result->collision_point);
- B_TO_G(recover_result.pointNormalWorld, r_result->collision_normal);
- B_TO_G(btRigid->getVelocityInLocalPoint(recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
+ B_TO_G(r_recover_result.pointWorld, r_result->collision_point);
+ B_TO_G(r_recover_result.pointNormalWorld, r_result->collision_normal);
+ B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
r_result->collider = collisionObject->get_self();
r_result->collider_id = collisionObject->get_instance_id();
- r_result->collider_shape = recover_result.other_compound_shape_index;
- r_result->collision_local_shape = recover_result.local_shape_most_recovered;
+ r_result->collider_shape = r_recover_result.other_compound_shape_index;
+ r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
//{ /// Add manifold point to manage collisions
// btPersistentManifold* manifold = dynamicsWorld->getDispatcher()->getNewManifold(p_body->getBtBody(), btRigid);
@@ -995,7 +1002,7 @@ public:
}
};
-bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btVector3 &out_recover_position, RecoverResult *recover_result) {
+bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
@@ -1005,9 +1012,6 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
// Broad phase support
btVector3 minAabb, maxAabb;
- // GJK support
- btGjkPairDetector::ClosestPointInput gjk_input;
-
bool penetration = false;
// For each shape
@@ -1022,7 +1026,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
body_shape_position = p_body_position * kin_shape.transform;
body_shape_position_recovered = body_shape_position;
- body_shape_position_recovered.getOrigin() += out_recover_position;
+ body_shape_position_recovered.getOrigin() += r_recover_position;
kin_shape.shape->getAabb(body_shape_position_recovered, minAabb, maxAabb);
dynamicsWorld->getBroadphase()->aabbTest(minAabb, maxAabb, recover_broad_result);
@@ -1032,66 +1036,33 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()))
continue;
- if (otherObject->getCollisionShape()->isCompound()) { /// Execute GJK test against all shapes
+ if (otherObject->getCollisionShape()->isCompound()) {
// Each convex shape
btCompoundShape *cs = static_cast<btCompoundShape *>(otherObject->getCollisionShape());
for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) {
- if (!cs->getChildShape(x)->isConvex())
- continue;
+ if (cs->getChildShape(x)->isConvex()) {
+ if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(x)), otherObject, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), r_recover_position, r_recover_result)) {
- // Initialize GJK input
- gjk_input.m_transformA = body_shape_position;
- gjk_input.m_transformA.getOrigin() += out_recover_position;
- gjk_input.m_transformB = otherObject->getWorldTransform() * cs->getChildTransform(x);
+ penetration = true;
+ }
+ } else {
+ if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), r_recover_position, r_recover_result)) {
- // Perform GJK test
- btPointCollector result;
- btGjkPairDetector gjk_pair_detector(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(x)), gjk_simplex_solver, gjk_epa_pen_solver);
- gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
- if (0 > result.m_distance) {
- // Has penetration
- out_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1);
- penetration = true;
-
- if (recover_result) {
-
- recover_result->hasPenetration = true;
- recover_result->other_collision_object = otherObject;
- recover_result->other_compound_shape_index = x;
- recover_result->penetration_distance = result.m_distance;
- recover_result->pointNormalWorld = result.m_normalOnBInWorld;
- recover_result->pointWorld = result.m_pointInWorld;
+ 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, 0, body_shape_position, otherObject->getWorldTransform(), r_recover_position, r_recover_result)) {
- // Initialize GJK input
- gjk_input.m_transformA = body_shape_position;
- gjk_input.m_transformA.getOrigin() += out_recover_position;
- gjk_input.m_transformB = otherObject->getWorldTransform();
-
- // Perform GJK test
- btPointCollector result;
- btGjkPairDetector gjk_pair_detector(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), gjk_simplex_solver, gjk_epa_pen_solver);
- gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
- if (0 > result.m_distance) {
- // Has penetration
- out_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1);
penetration = true;
+ }
+ } else {
+ if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, body_shape_position, otherObject->getWorldTransform(), r_recover_position, r_recover_result)) {
- if (recover_result) {
-
- recover_result->hasPenetration = true;
- recover_result->other_collision_object = otherObject;
- recover_result->other_compound_shape_index = 0;
- recover_result->penetration_distance = result.m_distance;
- recover_result->pointNormalWorld = result.m_normalOnBInWorld;
- recover_result->pointWorld = result.m_pointInWorld;
- }
+ penetration = true;
}
}
}
@@ -1099,3 +1070,70 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
return penetration;
}
+
+bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
+
+ // Initialize GJK input
+ btGjkPairDetector::ClosestPointInput gjk_input;
+ gjk_input.m_transformA = p_transformA;
+ gjk_input.m_transformA.getOrigin() += r_recover_position;
+ gjk_input.m_transformB = p_transformB;
+
+ // Perform GJK test
+ btPointCollector result;
+ btGjkPairDetector gjk_pair_detector(p_shapeA, p_shapeB, gjk_simplex_solver, gjk_epa_pen_solver);
+ gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
+ if (0 > result.m_distance) {
+ // Has penetration
+ r_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1);
+
+ if (r_recover_result) {
+
+ r_recover_result->hasPenetration = true;
+ r_recover_result->other_collision_object = p_objectB;
+ r_recover_result->other_compound_shape_index = p_shapeId_B;
+ r_recover_result->penetration_distance = result.m_distance;
+ r_recover_result->pointNormalWorld = result.m_normalOnBInWorld;
+ r_recover_result->pointWorld = result.m_pointInWorld;
+ }
+ return true;
+ }
+ return false;
+}
+
+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, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
+
+ /// Contact test
+
+ btTransform p_recovered_transformA(p_transformA);
+ p_recovered_transformA.getOrigin() += r_recover_position;
+
+ btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, p_recovered_transformA, -1, p_shapeId_A);
+ btCollisionObjectWrapper obB(NULL, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);
+
+ btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CLOSEST_POINT_ALGORITHMS);
+ if (algorithm) {
+ GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB);
+ //discrete collision detection query
+ algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult);
+
+ algorithm->~btCollisionAlgorithm();
+ dispatcher->freeCollisionAlgorithm(algorithm);
+
+ if (contactPointResult.hasHit()) {
+ r_recover_position += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1);
+
+ if (r_recover_result) {
+
+ r_recover_result->hasPenetration = true;
+ r_recover_result->other_collision_object = p_objectB;
+ r_recover_result->other_compound_shape_index = p_shapeId_B;
+ r_recover_result->penetration_distance = contactPointResult.m_penetration_distance;
+ r_recover_result->pointNormalWorld = contactPointResult.m_pointNormalWorld;
+ r_recover_result->pointWorld = contactPointResult.m_pointWorld;
+ }
+ return true;
+ }
+ }
+ return false;
+}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-05 13:36:48 +0000