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-rw-r--r--modules/bullet/space_bullet.cpp69
1 files changed, 26 insertions, 43 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index d60d8ba0e2..3a1f5d78dd 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -116,13 +116,13 @@ 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 *p_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
+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) {
if (p_result_max <= 0)
return 0;
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
+ btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
@@ -138,7 +138,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
collision_object.setCollisionShape(btConvex);
collision_object.setWorldTransform(bt_xform);
- GodotAllContactResultCallback btQuery(&collision_object, p_results, p_result_max, &p_exclude);
+ GodotAllContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude);
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
btQuery.m_closestDistanceThreshold = 0;
@@ -202,7 +202,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale(), p_margin);
+ btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
@@ -234,7 +234,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale(), p_margin);
+ btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
@@ -628,7 +628,7 @@ void SpaceBullet::destroy_world() {
void SpaceBullet::check_ghost_overlaps() {
- /// Algorith support variables
+ /// Algorithm support variables
btConvexShape *other_body_shape;
btConvexShape *area_shape;
btGjkPairDetector::ClosestPointInput gjk_input;
@@ -660,7 +660,10 @@ void SpaceBullet::check_ghost_overlaps() {
// For each overlapping
for (i = ghostOverlaps.size() - 1; 0 <= i; --i) {
- if (!(ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_RIGID_BODY || ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_AREA))
+ if (ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_AREA) {
+ if (!static_cast<AreaBullet *>(ghostOverlaps[i]->getUserPointer())->is_monitorable())
+ continue;
+ } else if (ghostOverlaps[i]->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY)
continue;
otherObject = static_cast<RigidCollisionObjectBullet *>(ghostOverlaps[i]->getUserPointer());
@@ -790,7 +793,7 @@ void SpaceBullet::update_gravity() {
/// I'm leaving this here just for future tests.
/// Debug motion and normal vector drawing
#define debug_test_motion 0
-#define PERFORM_INITIAL_UNSTACK 0
+
#define RECOVERING_MOVEMENT_SCALE 0.4
#define RECOVERING_MOVEMENT_CYCLES 4
@@ -804,8 +807,7 @@ static Ref<SpatialMaterial> red_mat;
static Ref<SpatialMaterial> blue_mat;
#endif
-#define IGNORE_AREAS_TRUE true
-bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, PhysicsServer::MotionResult *r_result) {
+bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result) {
#if debug_test_motion
/// Yes I know this is not good, but I've used it as fast debugging hack.
@@ -839,25 +841,14 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
#endif
- ///// Release all generated manifolds
- //{
- // if(p_body->get_kinematic_utilities()){
- // for(int i= p_body->get_kinematic_utilities()->m_generatedManifold.size()-1; 0<=i; --i){
- // dispatcher->releaseManifold( p_body->get_kinematic_utilities()->m_generatedManifold[i] );
- // }
- // p_body->get_kinematic_utilities()->m_generatedManifold.clear();
- // }
- //}
-
btTransform body_safe_position;
G_TO_B(p_from, body_safe_position);
UNSCALE_BT_BASIS(body_safe_position);
-#if PERFORM_INITIAL_UNSTACK
btVector3 recover_initial_position(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, recover_initial_position)) {
+ if (!recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, recover_initial_position)) {
break;
}
}
@@ -865,7 +856,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
// Add recover movement in order to make it safe
body_safe_position.getOrigin() += recover_initial_position;
}
-#endif
btVector3 motion;
G_TO_B(p_motion, motion);
@@ -900,11 +890,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
btTransform shape_world_to(shape_world_from);
shape_world_to.getOrigin() += motion;
- GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, IGNORE_AREAS_TRUE);
+ 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();
- dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, 0.002);
+ dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
if (btResult.hasHit()) {
/// Since for each sweep test I fix the motion of new shapes in base the recover result,
@@ -926,14 +916,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
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, delta_recover_movement, &r_recover_result);
+ l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, delta_recover_movement, &r_recover_result);
if (r_result) {
-#if PERFORM_INITIAL_UNSTACK
B_TO_G(motion + delta_recover_movement + recover_initial_position, r_result->motion);
-#else
- B_TO_G(motion + delta_recover_movement, r_result->motion);
-#endif
+
if (l_has_penetration) {
has_penetration = true;
if (l_penetration_distance <= r_recover_result.penetration_distance) {
@@ -955,15 +942,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
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);
- // btManifoldPoint manifoldPoint(result_callabck.m_pointWorld, result_callabck.m_pointWorld, result_callabck.m_pointNormalWorld, result_callabck.m_penetration_distance);
- // manifoldPoint.m_index0 = r_result->collision_local_shape;
- // manifoldPoint.m_index1 = r_result->collider_shape;
- // manifold->addManifoldPoint(manifoldPoint);
- // p_body->get_kinematic_utilities()->m_generatedManifold.push_back(manifold);
- //}
-
#if debug_test_motion
Vector3 sup_line2;
B_TO_G(motion, sup_line2);
@@ -979,6 +957,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
} else {
if (!l_has_penetration)
break;
+ else
+ has_penetration = true;
}
}
}
@@ -1016,11 +996,11 @@ public:
}
void reset() {
- result_collision_objects.empty();
+ result_collision_objects.clear();
}
};
-bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
+bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
@@ -1051,7 +1031,10 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
for (int i = recover_broad_result.result_collision_objects.size() - 1; 0 <= i; --i) {
btCollisionObject *otherObject = recover_broad_result.result_collision_objects[i];
- if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()))
+ if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) {
+ otherObject->activate(); // Force activation of hitten rigid, soft body
+ continue;
+ } else if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()))
continue;
if (otherObject->getCollisionShape()->isCompound()) {
@@ -1130,7 +1113,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, tA, -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);
+ btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS);
if (algorithm) {
GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB);
//discrete collision detection query
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-16 18:31:34 +0000