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-rw-r--r--modules/bullet/space_bullet.cpp106
1 files changed, 52 insertions, 54 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 3a1f5d78dd..97228a972f 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -36,6 +36,7 @@
#include "constraint_bullet.h"
#include "godot_collision_configuration.h"
#include "godot_collision_dispatcher.h"
+#include "project_settings.h"
#include "rigid_body_bullet.h"
#include "servers/physics_server.h"
#include "soft_body_bullet.h"
@@ -325,7 +326,7 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_
}
}
-SpaceBullet::SpaceBullet(bool p_create_soft_world) :
+SpaceBullet::SpaceBullet() :
broadphase(NULL),
dispatcher(NULL),
solver(NULL),
@@ -338,7 +339,7 @@ SpaceBullet::SpaceBullet(bool p_create_soft_world) :
gravityMagnitude(10),
contactDebugCount(0) {
- create_empty_world(p_create_soft_world);
+ create_empty_world(GLOBAL_DEF("physics/3d/active_soft_world", true));
direct_access = memnew(BulletPhysicsDirectSpaceState(this));
}
@@ -355,6 +356,7 @@ void SpaceBullet::flush_queries() {
}
void SpaceBullet::step(real_t p_delta_time) {
+ delta_time = p_delta_time;
dynamicsWorld->stepSimulation(p_delta_time, 0, 0);
}
@@ -483,6 +485,7 @@ void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) {
void SpaceBullet::add_soft_body(SoftBodyBullet *p_body) {
if (is_using_soft_world()) {
if (p_body->get_bt_soft_body()) {
+ p_body->get_bt_soft_body()->m_worldInfo = get_soft_body_world_info();
static_cast<btSoftRigidDynamicsWorld *>(dynamicsWorld)->addSoftBody(p_body->get_bt_soft_body(), p_body->get_collision_layer(), p_body->get_collision_mask());
}
} else {
@@ -494,6 +497,7 @@ void SpaceBullet::remove_soft_body(SoftBodyBullet *p_body) {
if (is_using_soft_world()) {
if (p_body->get_bt_soft_body()) {
static_cast<btSoftRigidDynamicsWorld *>(dynamicsWorld)->removeSoftBody(p_body->get_bt_soft_body());
+ p_body->get_bt_soft_body()->m_worldInfo = NULL;
}
}
}
@@ -549,7 +553,13 @@ BulletPhysicsDirectSpaceState *SpaceBullet::get_direct_state() {
}
btScalar calculateGodotCombinedRestitution(const btCollisionObject *body0, const btCollisionObject *body1) {
- return MAX(body0->getRestitution(), body1->getRestitution());
+
+ 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) {
@@ -585,6 +595,7 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) {
ghostPairCallback = bulletnew(btGhostPairCallback);
godotFilterCallback = bulletnew(GodotFilterCallback);
gCalculateCombinedRestitutionCallback = &calculateGodotCombinedRestitution;
+ gCalculateCombinedFrictionCallback = &calculateGodotCombinedFriction;
dynamicsWorld->setWorldUserInfo(this);
@@ -645,7 +656,7 @@ 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) {
@@ -754,19 +765,20 @@ void SpaceBullet::check_body_collision() {
Vector3 collisionWorldPosition;
Vector3 collisionLocalPosition;
Vector3 normalOnB;
+ float appliedImpulse = pt.m_appliedImpulse;
B_TO_G(pt.m_normalWorldOnB, normalOnB);
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, pt.m_index1, pt.m_index0);
+ bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, pt.m_index1, pt.m_index0);
}
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, pt.m_index0, pt.m_index1);
+ bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1);
}
#ifdef DEBUG_ENABLED
@@ -841,20 +853,19 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
#endif
- btTransform body_safe_position;
- G_TO_B(p_from, body_safe_position);
- UNSCALE_BT_BASIS(body_safe_position);
+ btTransform body_transform;
+ G_TO_B(p_from, body_transform);
+ UNSCALE_BT_BASIS(body_transform);
- btVector3 recover_initial_position(0, 0, 0);
+ btVector3 initial_recover_motion(0, 0, 0);
{ /// Phase one - multi shapes depenetration using margin
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
- if (!recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, recover_initial_position)) {
+ if (!recover_from_penetration(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, initial_recover_motion)) {
break;
}
}
-
// Add recover movement in order to make it safe
- body_safe_position.getOrigin() += recover_initial_position;
+ body_transform.getOrigin() += initial_recover_motion;
}
btVector3 motion;
@@ -885,7 +896,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
btConvexShape *convex_shape_test(static_cast<btConvexShape *>(p_body->get_bt_shape(shIndex)));
- btTransform shape_world_from = body_safe_position * p_body->get_kinematic_utilities()->shapes[shIndex].transform;
+ btTransform shape_world_from = body_transform * p_body->get_kinematic_utilities()->shapes[shIndex].transform;
btTransform shape_world_to(shape_world_from);
shape_world_to.getOrigin() += motion;
@@ -903,62 +914,49 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
}
- body_safe_position.getOrigin() += motion;
+ body_transform.getOrigin() += motion;
}
bool has_penetration = false;
- { /// Phase three - Recover + contact test with margin
+ { /// Phase three - contact test with margin
- btVector3 delta_recover_movement(0, 0, 0);
+ btVector3 __rec(0, 0, 0);
RecoverResult r_recover_result;
- bool l_has_penetration;
- real_t l_penetration_distance = 1e20;
- for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
- l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, delta_recover_movement, &r_recover_result);
+ has_penetration = recover_from_penetration(p_body, body_transform, 0, p_infinite_inertia, __rec, &r_recover_result);
- if (r_result) {
- B_TO_G(motion + delta_recover_movement + recover_initial_position, r_result->motion);
+ // Parse results
+ if (r_result) {
+ B_TO_G(motion + initial_recover_motion, r_result->motion);
- if (l_has_penetration) {
- has_penetration = true;
- if (l_penetration_distance <= r_recover_result.penetration_distance) {
- continue;
- }
+ if (has_penetration) {
- l_penetration_distance = r_recover_result.penetration_distance;
+ const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
+ CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
- const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
- CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
+ B_TO_G(motion, r_result->remainder); // is the remaining movements
+ r_result->remainder = p_motion - r_result->remainder;
- B_TO_G(motion, r_result->remainder); // is the remaining movements
- r_result->remainder = p_motion - r_result->remainder;
- B_TO_G(r_recover_result.pointWorld, r_result->collision_point);
- B_TO_G(r_recover_result.normal, 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 = r_recover_result.other_compound_shape_index;
- r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
+ B_TO_G(r_recover_result.pointWorld, r_result->collision_point);
+ B_TO_G(r_recover_result.normal, 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 = r_recover_result.other_compound_shape_index;
+ r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
#if debug_test_motion
- Vector3 sup_line2;
- B_TO_G(motion, sup_line2);
- normalLine->clear();
- normalLine->begin(Mesh::PRIMITIVE_LINES, NULL);
- normalLine->add_vertex(r_result->collision_point);
- normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10);
- normalLine->end();
+ Vector3 sup_line2;
+ B_TO_G(motion, sup_line2);
+ normalLine->clear();
+ normalLine->begin(Mesh::PRIMITIVE_LINES, NULL);
+ normalLine->add_vertex(r_result->collision_point);
+ normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10);
+ normalLine->end();
#endif
- } else {
- r_result->remainder = Vector3();
- }
} else {
- if (!l_has_penetration)
- break;
- else
- has_penetration = true;
+ r_result->remainder = Vector3();
}
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-09 09:18:50 +0000