diff options
Diffstat (limited to 'modules/bullet/space_bullet.cpp')
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 35 |
1 files changed, 22 insertions, 13 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 9d632aaf83..e74c29769f 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -42,6 +42,7 @@ #include "servers/physics_server.h" #include "soft_body_bullet.h" +#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h> #include <BulletCollision/CollisionDispatch/btCollisionObject.h> #include <BulletCollision/CollisionDispatch/btGhostObject.h> #include <BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h> @@ -459,9 +460,13 @@ void SpaceBullet::remove_area(AreaBullet *p_area) { } void SpaceBullet::reload_collision_filters(AreaBullet *p_area) { - // This is necessary to change collision filter - dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost()); - dynamicsWorld->addCollisionObject(p_area->get_bt_ghost(), p_area->get_collision_layer(), p_area->get_collision_mask()); + btGhostObject *ghost_object = p_area->get_bt_ghost(); + + btBroadphaseProxy *ghost_proxy = ghost_object->getBroadphaseHandle(); + ghost_proxy->m_collisionFilterGroup = p_area->get_collision_layer(); + ghost_proxy->m_collisionFilterMask = p_area->get_collision_mask(); + + dynamicsWorld->refreshBroadphaseProxy(ghost_object); } void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) { @@ -482,9 +487,13 @@ void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) { } void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) { - // This is necessary to change collision filter - remove_rigid_body(p_body); - add_rigid_body(p_body); + btRigidBody *rigid_body = p_body->get_bt_rigid_body(); + + btBroadphaseProxy *body_proxy = rigid_body->getBroadphaseProxy(); + body_proxy->m_collisionFilterGroup = p_body->get_collision_layer(); + body_proxy->m_collisionFilterMask = p_body->get_collision_mask(); + + dynamicsWorld->refreshBroadphaseProxy(rigid_body); } void SpaceBullet::add_soft_body(SoftBodyBullet *p_body) { @@ -581,10 +590,8 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) { } else { world_mem = malloc(sizeof(btDiscreteDynamicsWorld)); } - if (!world_mem) { - ERR_EXPLAIN("Out of memory"); - ERR_FAIL(); - } + + ERR_FAIL_COND_MSG(!world_mem, "Out of memory."); if (p_create_soft_world) { collisionConfiguration = bulletnew(GodotSoftCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem))); @@ -1234,7 +1241,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran ERR_FAIL_COND_V(shape_idx < 0 || shape_idx >= cs->getNumChildShapes(), false); if (cs->getChildShape(shape_idx)->isConvex()) { - if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { + 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; } @@ -1245,7 +1252,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran } } } 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, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { + 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; } @@ -1261,7 +1268,7 @@ 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, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) { +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; @@ -1279,6 +1286,7 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt if (r_recover_result) { if (result.m_distance < r_recover_result->penetration_distance) { r_recover_result->hasPenetration = true; + r_recover_result->local_shape_most_recovered = p_shapeId_A; 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; @@ -1314,6 +1322,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC if (r_recover_result) { if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) { r_recover_result->hasPenetration = true; + r_recover_result->local_shape_most_recovered = p_shapeId_A; 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; |