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-rw-r--r--modules/bullet/space_bullet.cpp53
1 files changed, 41 insertions, 12 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 33dd9ef56d..a9a811c445 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -908,7 +908,7 @@ static Ref<StandardMaterial3D> red_mat;
static Ref<StandardMaterial3D> blue_mat;
#endif
-bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes) {
+bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
#if debug_test_motion
/// Yes I know this is not good, but I've used it as fast debugging hack.
/// I'm leaving it here just for speedup the other eventual debugs
@@ -945,10 +945,15 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
G_TO_B(p_from, body_transform);
UNSCALE_BT_BASIS(body_transform);
+ if (!p_body->get_kinematic_utilities()) {
+ p_body->init_kinematic_utilities();
+ p_body->reload_kinematic_shapes();
+ }
+
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_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, initial_recover_motion)) {
+ if (!recover_from_penetration(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, initial_recover_motion, nullptr, p_exclude)) {
break;
}
}
@@ -958,6 +963,9 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
btVector3 motion;
G_TO_B(p_motion, motion);
+ real_t total_length = motion.length();
+ real_t unsafe_fraction = 1.0;
+ real_t safe_fraction = 1.0;
{
// Phase two - sweep test, from a secure position without margin
@@ -1000,13 +1008,22 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
break;
}
- GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, p_infinite_inertia);
+ GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, p_infinite_inertia, &p_exclude);
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, dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
if (btResult.hasHit()) {
+ if (total_length > CMP_EPSILON) {
+ real_t hit_fraction = btResult.m_closestHitFraction * motion.length() / total_length;
+ if (hit_fraction < unsafe_fraction) {
+ unsafe_fraction = hit_fraction;
+ real_t margin = p_body->get_kinematic_utilities()->safe_margin;
+ safe_fraction = MAX(hit_fraction - (1 - ((total_length - margin) / total_length)), 0);
+ }
+ }
+
/// Since for each sweep test I fix the motion of new shapes in base the recover result,
/// if another shape will hit something it means that has a deepest penetration respect the previous shape
motion *= btResult.m_closestHitFraction;
@@ -1023,7 +1040,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
btVector3 __rec(0, 0, 0);
RecoverResult r_recover_result;
- has_penetration = recover_from_penetration(p_body, body_transform, 1, p_infinite_inertia, __rec, &r_recover_result);
+ has_penetration = recover_from_penetration(p_body, body_transform, 1, p_infinite_inertia, __rec, &r_recover_result, p_exclude);
// Parse results
if (r_result) {
@@ -1043,6 +1060,9 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
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;
+ r_result->collision_depth = Math::abs(r_recover_result.penetration_distance);
+ r_result->collision_safe_fraction = safe_fraction;
+ r_result->collision_unsafe_fraction = unsafe_fraction;
#if debug_test_motion
Vector3 sup_line2;
@@ -1067,6 +1087,11 @@ int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform3D
G_TO_B(p_transform, body_transform);
UNSCALE_BT_BASIS(body_transform);
+ if (!p_body->get_kinematic_utilities()) {
+ p_body->init_kinematic_utilities();
+ p_body->reload_kinematic_shapes();
+ }
+
btVector3 recover_motion(0, 0, 0);
int rays_found = 0;
@@ -1093,7 +1118,6 @@ private:
const btCollisionObject *self_collision_object;
uint32_t collision_layer = 0;
- uint32_t collision_mask = 0;
struct CompoundLeafCallback : btDbvt::ICollide {
private:
@@ -1123,10 +1147,9 @@ public:
Vector<BroadphaseResult> results;
public:
- RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, uint32_t p_collision_mask, btVector3 p_aabb_min, btVector3 p_aabb_max) :
+ RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, btVector3 p_aabb_min, btVector3 p_aabb_max) :
self_collision_object(p_self_collision_object),
- collision_layer(p_collision_layer),
- collision_mask(p_collision_mask) {
+ collision_layer(p_collision_layer) {
bounds = btDbvtVolume::FromMM(p_aabb_min, p_aabb_max);
}
@@ -1135,7 +1158,7 @@ public:
virtual bool process(const btBroadphaseProxy *proxy) {
btCollisionObject *co = static_cast<btCollisionObject *>(proxy->m_clientObject);
if (co->getInternalType() <= btCollisionObject::CO_RIGID_BODY) {
- if (self_collision_object != proxy->m_clientObject && GodotFilterCallback::test_collision_filters(collision_layer, collision_mask, proxy->m_collisionFilterGroup, proxy->m_collisionFilterMask)) {
+ if (self_collision_object != proxy->m_clientObject && (proxy->collision_layer & m_collisionFilterMask)) {
if (co->getCollisionShape()->isCompound()) {
const btCompoundShape *cs = static_cast<btCompoundShape *>(co->getCollisionShape());
@@ -1175,7 +1198,7 @@ public:
}
};
-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) {
+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, const Set<RID> &p_exclude) {
// Calculate the cumulative AABB of all shapes of the kinematic body
btVector3 aabb_min, aabb_max;
bool shapes_found = false;
@@ -1218,7 +1241,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
}
// Perform broadphase test
- RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask(), aabb_min, aabb_max);
+ RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), aabb_min, aabb_max);
dynamicsWorld->getBroadphase()->aabbTest(aabb_min, aabb_max, recover_broad_result);
bool penetration = false;
@@ -1244,6 +1267,12 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
for (int i = recover_broad_result.results.size() - 1; 0 <= i; --i) {
btCollisionObject *otherObject = recover_broad_result.results[i].collision_object;
+
+ CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(otherObject->getUserPointer());
+ if (p_exclude.has(gObj->get_self())) {
+ continue;
+ }
+
if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) {
otherObject->activate(); // Force activation of hitten rigid, soft body
continue;
@@ -1409,7 +1438,7 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT
}
// Perform broadphase test
- RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask(), aabb_min, aabb_max);
+ RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), aabb_min, aabb_max);
dynamicsWorld->getBroadphase()->aabbTest(aabb_min, aabb_max, recover_broad_result);
int ray_count = 0;
generated by cgit v1.2.3 (git 2.25.1) at 2025-08-02 05:46:01 +0000