diff options
Diffstat (limited to 'modules/bullet/space_bullet.cpp')
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 40 |
1 files changed, 11 insertions, 29 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index d60d8ba0e2..e20a79f667 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -116,7 +116,7 @@ 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; @@ -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; @@ -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; @@ -804,8 +804,7 @@ 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. @@ -839,16 +838,6 @@ 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); @@ -857,7 +846,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f 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; } } @@ -900,7 +889,7 @@ 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(); @@ -926,7 +915,7 @@ 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 @@ -955,15 +944,6 @@ 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 +959,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f } else { if (!l_has_penetration) break; + else + has_penetration = true; } } } @@ -1020,7 +1002,7 @@ public: } }; -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 +1033,7 @@ 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_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()) || (p_infinite_inertia && !otherObject->isStaticOrKinematicObject())) continue; if (otherObject->getCollisionShape()->isCompound()) { |