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Diffstat (limited to 'modules/bullet/space_bullet.cpp')
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 1436 |
1 files changed, 0 insertions, 1436 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp deleted file mode 100644 index 460b78d778..0000000000 --- a/modules/bullet/space_bullet.cpp +++ /dev/null @@ -1,1436 +0,0 @@ -/*************************************************************************/ -/* space_bullet.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ -/* */ -/* Permission is hereby granted, free of charge, to any person obtaining */ -/* a copy of this software and associated documentation files (the */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ - -#include "space_bullet.h" - -#include "bullet_physics_server.h" -#include "bullet_types_converter.h" -#include "bullet_utilities.h" -#include "constraint_bullet.h" -#include "core/config/project_settings.h" -#include "core/string/ustring.h" -#include "godot_collision_configuration.h" -#include "godot_collision_dispatcher.h" -#include "rigid_body_bullet.h" -#include "servers/physics_server_3d.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> -#include <BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h> -#include <BulletCollision/NarrowPhaseCollision/btPointCollector.h> -#include <BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h> -#include <BulletSoftBody/btSoftRigidDynamicsWorld.h> -#include <btBulletDynamicsCommon.h> - -#include <assert.h> - -BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_space) : - PhysicsDirectSpaceState3D(), - space(p_space) {} - -int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - if (p_result_max <= 0) { - return 0; - } - - btVector3 bt_point; - G_TO_B(p_point, bt_point); - - btSphereShape sphere_point(0.001f); - btCollisionObject collision_object_point; - collision_object_point.setCollisionShape(&sphere_point); - collision_object_point.setWorldTransform(btTransform(btQuaternion::getIdentity(), bt_point)); - - // Setup query - GodotAllContactResultCallback btResult(&collision_object_point, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas); - btResult.m_collisionFilterGroup = 0; - btResult.m_collisionFilterMask = p_collision_mask; - space->dynamicsWorld->contactTest(&collision_object_point, btResult); - - // The results are already populated by GodotAllConvexResultCallback - return btResult.m_count; -} - -bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) { - btVector3 btVec_from; - btVector3 btVec_to; - - G_TO_B(p_from, btVec_from); - G_TO_B(p_to, btVec_to); - - // setup query - GodotClosestRayResultCallback btResult(btVec_from, btVec_to, &p_exclude, p_collide_with_bodies, p_collide_with_areas); - btResult.m_collisionFilterGroup = 0; - btResult.m_collisionFilterMask = p_collision_mask; - btResult.m_pickRay = p_pick_ray; - - space->dynamicsWorld->rayTest(btVec_from, btVec_to, btResult); - if (btResult.hasHit()) { - B_TO_G(btResult.m_hitPointWorld, r_result.position); - B_TO_G(btResult.m_hitNormalWorld.normalize(), r_result.normal); - CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btResult.m_collisionObject->getUserPointer()); - if (gObj) { - r_result.shape = btResult.m_shapeId; - r_result.rid = gObj->get_self(); - r_result.collider_id = gObj->get_instance_id(); - r_result.collider = r_result.collider_id.is_null() ? nullptr : ObjectDB::get_instance(r_result.collider_id); - } else { - WARN_PRINT("The raycast performed has hit a collision object that is not part of Godot scene, please check it."); - } - return true; - } else { - return false; - } -} - -int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - if (p_result_max <= 0) { - return 0; - } - - ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get_or_null(p_shape); - ERR_FAIL_COND_V(!shape, 0); - - btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin); - if (!btShape->isConvex()) { - bulletdelete(btShape); - ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); - return 0; - } - btConvexShape *btConvex = static_cast<btConvexShape *>(btShape); - - btTransform bt_xform; - G_TO_B(p_xform, bt_xform); - UNSCALE_BT_BASIS(bt_xform); - - btCollisionObject collision_object; - collision_object.setCollisionShape(btConvex); - collision_object.setWorldTransform(bt_xform); - - GodotAllContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas); - btQuery.m_collisionFilterGroup = 0; - btQuery.m_collisionFilterMask = p_collision_mask; - btQuery.m_closestDistanceThreshold = 0; - space->dynamicsWorld->contactTest(&collision_object, btQuery); - - bulletdelete(btConvex); - - return btQuery.m_count; -} - -bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { - r_closest_safe = 0.0f; - r_closest_unsafe = 0.0f; - btVector3 bt_motion; - G_TO_B(p_motion, bt_motion); - - ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get_or_null(p_shape); - ERR_FAIL_COND_V(!shape, false); - - btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin); - if (!btShape->isConvex()) { - bulletdelete(btShape); - ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); - return false; - } - btConvexShape *bt_convex_shape = static_cast<btConvexShape *>(btShape); - - btTransform bt_xform_from; - G_TO_B(p_xform, bt_xform_from); - UNSCALE_BT_BASIS(bt_xform_from); - - btTransform bt_xform_to(bt_xform_from); - bt_xform_to.getOrigin() += bt_motion; - - if ((bt_xform_to.getOrigin() - bt_xform_from.getOrigin()).fuzzyZero()) { - r_closest_safe = 1.0f; - r_closest_unsafe = 1.0f; - bulletdelete(btShape); - return true; - } - - GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude, p_collide_with_bodies, p_collide_with_areas); - btResult.m_collisionFilterGroup = 0; - btResult.m_collisionFilterMask = p_collision_mask; - - space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, space->dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration); - - if (btResult.hasHit()) { - const btScalar l = bt_motion.length(); - r_closest_unsafe = btResult.m_closestHitFraction; - r_closest_safe = MAX(r_closest_unsafe - (1 - ((l - 0.01) / l)), 0); - if (r_info) { - if (btCollisionObject::CO_RIGID_BODY == btResult.m_hitCollisionObject->getInternalType()) { - B_TO_G(static_cast<const btRigidBody *>(btResult.m_hitCollisionObject)->getVelocityInLocalPoint(btResult.m_hitPointWorld), r_info->linear_velocity); - } - CollisionObjectBullet *collision_object = static_cast<CollisionObjectBullet *>(btResult.m_hitCollisionObject->getUserPointer()); - B_TO_G(btResult.m_hitPointWorld, r_info->point); - B_TO_G(btResult.m_hitNormalWorld, r_info->normal); - r_info->rid = collision_object->get_self(); - r_info->collider_id = collision_object->get_instance_id(); - r_info->shape = btResult.m_shapeId; - } - } else { - r_closest_safe = 1.0f; - r_closest_unsafe = 1.0f; - } - - bulletdelete(bt_convex_shape); - return true; // Mean success -} - -/// Returns the list of contacts pairs in this order: Local contact, other body contact -bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - if (p_result_max <= 0) { - return false; - } - - ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get_or_null(p_shape); - ERR_FAIL_COND_V(!shape, false); - - btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin); - if (!btShape->isConvex()) { - bulletdelete(btShape); - ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); - return false; - } - btConvexShape *btConvex = static_cast<btConvexShape *>(btShape); - - btTransform bt_xform; - G_TO_B(p_shape_xform, bt_xform); - UNSCALE_BT_BASIS(bt_xform); - - btCollisionObject collision_object; - collision_object.setCollisionShape(btConvex); - collision_object.setWorldTransform(bt_xform); - - GodotContactPairContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas); - btQuery.m_collisionFilterGroup = 0; - btQuery.m_collisionFilterMask = p_collision_mask; - btQuery.m_closestDistanceThreshold = 0; - space->dynamicsWorld->contactTest(&collision_object, btQuery); - - r_result_count = btQuery.m_count; - bulletdelete(btConvex); - - return btQuery.m_count; -} - -bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get_or_null(p_shape); - ERR_FAIL_COND_V(!shape, false); - - btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin); - if (!btShape->isConvex()) { - bulletdelete(btShape); - ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); - return false; - } - btConvexShape *btConvex = static_cast<btConvexShape *>(btShape); - - btTransform bt_xform; - G_TO_B(p_shape_xform, bt_xform); - UNSCALE_BT_BASIS(bt_xform); - - btCollisionObject collision_object; - collision_object.setCollisionShape(btConvex); - collision_object.setWorldTransform(bt_xform); - - GodotRestInfoContactResultCallback btQuery(&collision_object, r_info, &p_exclude, p_collide_with_bodies, p_collide_with_areas); - btQuery.m_collisionFilterGroup = 0; - btQuery.m_collisionFilterMask = p_collision_mask; - btQuery.m_closestDistanceThreshold = 0; - space->dynamicsWorld->contactTest(&collision_object, btQuery); - - bulletdelete(btConvex); - - if (btQuery.m_collided) { - if (btCollisionObject::CO_RIGID_BODY == btQuery.m_rest_info_collision_object->getInternalType()) { - B_TO_G(static_cast<const btRigidBody *>(btQuery.m_rest_info_collision_object)->getVelocityInLocalPoint(btQuery.m_rest_info_bt_point), r_info->linear_velocity); - } - B_TO_G(btQuery.m_rest_info_bt_point, r_info->point); - } - - return btQuery.m_collided; -} - -Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const { - RigidCollisionObjectBullet *rigid_object = space->get_physics_server()->get_rigid_collision_object(p_object); - ERR_FAIL_COND_V(!rigid_object, Vector3()); - - btVector3 out_closest_point(0, 0, 0); - btScalar out_distance = 1e20; - - btVector3 bt_point; - G_TO_B(p_point, bt_point); - - btSphereShape point_shape(0.); - - btCollisionShape *shape; - btConvexShape *convex_shape; - btTransform child_transform; - btTransform body_transform(rigid_object->get_bt_collision_object()->getWorldTransform()); - - btGjkPairDetector::ClosestPointInput input; - input.m_transformA.getBasis().setIdentity(); - input.m_transformA.setOrigin(bt_point); - - bool shapes_found = false; - - for (int i = rigid_object->get_shape_count() - 1; 0 <= i; --i) { - shape = rigid_object->get_bt_shape(i); - if (shape->isConvex()) { - child_transform = rigid_object->get_bt_shape_transform(i); - convex_shape = static_cast<btConvexShape *>(shape); - - input.m_transformB = body_transform * child_transform; - - btPointCollector result; - btGjkPairDetector gjk_pair_detector(&point_shape, convex_shape, space->gjk_simplex_solver, space->gjk_epa_pen_solver); - gjk_pair_detector.getClosestPoints(input, result, nullptr); - - if (out_distance > result.m_distance) { - out_distance = result.m_distance; - out_closest_point = result.m_pointInWorld; - } - } - shapes_found = true; - } - - if (shapes_found) { - Vector3 out; - B_TO_G(out_closest_point, out); - return out; - } else { - // no shapes found, use distance to origin. - return rigid_object->get_transform().get_origin(); - } -} - -SpaceBullet::SpaceBullet() { - create_empty_world(GLOBAL_DEF("physics/3d/active_soft_world", true)); - direct_access = memnew(BulletPhysicsDirectSpaceState(this)); -} - -SpaceBullet::~SpaceBullet() { - memdelete(direct_access); - destroy_world(); -} - -void SpaceBullet::flush_queries() { - const btCollisionObjectArray &colObjArray = dynamicsWorld->getCollisionObjectArray(); - for (int i = colObjArray.size() - 1; 0 <= i; --i) { - static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->dispatch_callbacks(); - } -} - -void SpaceBullet::step(real_t p_delta_time) { - delta_time = p_delta_time; - dynamicsWorld->stepSimulation(p_delta_time, 0, 0); -} - -void SpaceBullet::set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value) { - assert(dynamicsWorld); - - switch (p_param) { - case PhysicsServer3D::AREA_PARAM_GRAVITY: - gravityMagnitude = p_value; - update_gravity(); - break; - case PhysicsServer3D::AREA_PARAM_GRAVITY_VECTOR: - gravityDirection = p_value; - update_gravity(); - break; - case PhysicsServer3D::AREA_PARAM_LINEAR_DAMP: - linear_damp = p_value; - break; - case PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP: - angular_damp = p_value; - break; - case PhysicsServer3D::AREA_PARAM_PRIORITY: - // Priority is always 0, the lower - break; - case PhysicsServer3D::AREA_PARAM_GRAVITY_IS_POINT: - case PhysicsServer3D::AREA_PARAM_GRAVITY_DISTANCE_SCALE: - case PhysicsServer3D::AREA_PARAM_GRAVITY_POINT_ATTENUATION: - break; - default: - WARN_PRINT("This set parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it."); - break; - } -} - -Variant SpaceBullet::get_param(PhysicsServer3D::AreaParameter p_param) { - switch (p_param) { - case PhysicsServer3D::AREA_PARAM_GRAVITY: - return gravityMagnitude; - case PhysicsServer3D::AREA_PARAM_GRAVITY_VECTOR: - return gravityDirection; - case PhysicsServer3D::AREA_PARAM_LINEAR_DAMP: - return linear_damp; - case PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP: - return angular_damp; - case PhysicsServer3D::AREA_PARAM_PRIORITY: - return 0; // Priority is always 0, the lower - case PhysicsServer3D::AREA_PARAM_GRAVITY_IS_POINT: - return false; - case PhysicsServer3D::AREA_PARAM_GRAVITY_DISTANCE_SCALE: - return 0; - case PhysicsServer3D::AREA_PARAM_GRAVITY_POINT_ATTENUATION: - return 0; - default: - WARN_PRINT("This get parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it."); - return Variant(); - } -} - -void SpaceBullet::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value) { - switch (p_param) { - case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: - case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_SEPARATION: - case PhysicsServer3D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: - case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: - case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: - case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP: - default: - WARN_PRINT("This set parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it."); - break; - } -} - -real_t SpaceBullet::get_param(PhysicsServer3D::SpaceParameter p_param) { - switch (p_param) { - case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: - case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_SEPARATION: - case PhysicsServer3D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: - case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: - case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: - case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP: - default: - WARN_PRINT("The SpaceBullet doesn't support this get parameter (" + itos(p_param) + "), 0 is returned."); - return 0.f; - } -} - -void SpaceBullet::add_area(AreaBullet *p_area) { - areas.push_back(p_area); - dynamicsWorld->addCollisionObject(p_area->get_bt_ghost(), p_area->get_collision_layer(), p_area->get_collision_mask()); -} - -void SpaceBullet::remove_area(AreaBullet *p_area) { - areas.erase(p_area); - dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost()); -} - -void SpaceBullet::reload_collision_filters(AreaBullet *p_area) { - 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) { - if (p_body->is_static()) { - dynamicsWorld->addCollisionObject(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask()); - } else { - dynamicsWorld->addRigidBody(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask()); - p_body->scratch_space_override_modificator(); - } -} - -void SpaceBullet::remove_rigid_body_constraints(RigidBodyBullet *p_body) { - btRigidBody *btBody = p_body->get_bt_rigid_body(); - - int constraints = btBody->getNumConstraintRefs(); - if (constraints > 0) { - ERR_PRINT("A body connected to joints was removed."); - for (int i = 0; i < constraints; i++) { - dynamicsWorld->removeConstraint(btBody->getConstraintRef(i)); - } - } -} - -void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) { - btRigidBody *btBody = p_body->get_bt_rigid_body(); - - if (p_body->is_static()) { - dynamicsWorld->removeCollisionObject(btBody); - } else { - dynamicsWorld->removeRigidBody(btBody); - } -} - -void SpaceBullet::reload_collision_filters(RigidBodyBullet *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) { - 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 { - ERR_PRINT("This soft body can't be added to non soft world"); - } -} - -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 = nullptr; - } - } -} - -void SpaceBullet::reload_collision_filters(SoftBodyBullet *p_body) { - // This is necessary to change collision filter - remove_soft_body(p_body); - add_soft_body(p_body); -} - -void SpaceBullet::add_constraint(ConstraintBullet *p_constraint, bool disableCollisionsBetweenLinkedBodies) { - p_constraint->set_space(this); - dynamicsWorld->addConstraint(p_constraint->get_bt_constraint(), disableCollisionsBetweenLinkedBodies); -} - -void SpaceBullet::remove_constraint(ConstraintBullet *p_constraint) { - dynamicsWorld->removeConstraint(p_constraint->get_bt_constraint()); -} - -int SpaceBullet::get_num_collision_objects() const { - return dynamicsWorld->getNumCollisionObjects(); -} - -void SpaceBullet::remove_all_collision_objects() { - for (int i = dynamicsWorld->getNumCollisionObjects() - 1; 0 <= i; --i) { - btCollisionObject *btObj = dynamicsWorld->getCollisionObjectArray()[i]; - CollisionObjectBullet *colObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); - colObj->set_space(nullptr); - } -} - -void onBulletTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) { - const btCollisionObjectArray &colObjArray = p_dynamicsWorld->getCollisionObjectArray(); - - // Notify all Collision objects the collision checker is started - for (int i = colObjArray.size() - 1; 0 <= i; --i) { - static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->on_collision_checker_start(); - } - - SpaceBullet *sb = static_cast<SpaceBullet *>(p_dynamicsWorld->getWorldUserInfo()); - sb->check_ghost_overlaps(); - sb->check_body_collision(); - - for (int i = colObjArray.size() - 1; 0 <= i; --i) { - static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->on_collision_checker_end(); - } -} - -BulletPhysicsDirectSpaceState *SpaceBullet::get_direct_state() { - return direct_access; -} - -btScalar calculateGodotCombinedRestitution(const btCollisionObject *body0, const btCollisionObject *body1) { - 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) { - gjk_epa_pen_solver = bulletnew(btGjkEpaPenetrationDepthSolver); - gjk_simplex_solver = bulletnew(btVoronoiSimplexSolver); - - void *world_mem; - if (p_create_soft_world) { - world_mem = malloc(sizeof(btSoftRigidDynamicsWorld)); - } else { - world_mem = malloc(sizeof(btDiscreteDynamicsWorld)); - } - - ERR_FAIL_COND_MSG(!world_mem, "Out of memory."); - - if (p_create_soft_world) { - collisionConfiguration = bulletnew(GodotSoftCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem))); - } else { - collisionConfiguration = bulletnew(GodotCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem))); - } - - dispatcher = bulletnew(GodotCollisionDispatcher(collisionConfiguration)); - broadphase = bulletnew(btDbvtBroadphase); - solver = bulletnew(btSequentialImpulseConstraintSolver); - - if (p_create_soft_world) { - dynamicsWorld = new (world_mem) btSoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration); - soft_body_world_info = bulletnew(btSoftBodyWorldInfo); - } else { - dynamicsWorld = new (world_mem) btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration); - } - - ghostPairCallback = bulletnew(btGhostPairCallback); - godotFilterCallback = bulletnew(GodotFilterCallback); - gCalculateCombinedRestitutionCallback = &calculateGodotCombinedRestitution; - gCalculateCombinedFrictionCallback = &calculateGodotCombinedFriction; - gContactAddedCallback = &godotContactAddedCallback; - - dynamicsWorld->setWorldUserInfo(this); - - dynamicsWorld->setInternalTickCallback(onBulletTickCallback, this, false); - dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(ghostPairCallback); // Setup ghost check - dynamicsWorld->getPairCache()->setOverlapFilterCallback(godotFilterCallback); - - if (soft_body_world_info) { - soft_body_world_info->m_broadphase = broadphase; - soft_body_world_info->m_dispatcher = dispatcher; - soft_body_world_info->m_sparsesdf.Initialize(); - } - - update_gravity(); -} - -void SpaceBullet::destroy_world() { - /// The world elements (like: Collision Objects, Constraints, Shapes) are managed by godot - - dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(nullptr); - dynamicsWorld->getPairCache()->setOverlapFilterCallback(nullptr); - - bulletdelete(ghostPairCallback); - bulletdelete(godotFilterCallback); - - // Deallocate world - dynamicsWorld->~btDiscreteDynamicsWorld(); - free(dynamicsWorld); - dynamicsWorld = nullptr; - - bulletdelete(solver); - bulletdelete(broadphase); - bulletdelete(dispatcher); - bulletdelete(collisionConfiguration); - bulletdelete(soft_body_world_info); - bulletdelete(gjk_simplex_solver); - bulletdelete(gjk_epa_pen_solver); -} - -void SpaceBullet::check_ghost_overlaps() { - // For each area - for (int area_idx = 0; area_idx < areas.size(); area_idx++) { - AreaBullet *area = areas[area_idx]; - if (!area->is_monitoring()) { - continue; - } - - btGhostObject *bt_ghost = area->get_bt_ghost(); - const btTransform &area_transform = area->get_transform__bullet(); - const btVector3 &area_scale(area->get_bt_body_scale()); - - // Mark all current overlapping shapes dirty. - area->mark_all_overlaps_dirty(); - - // Broadphase - const btAlignedObjectArray<btCollisionObject *> overlapping_pairs = bt_ghost->getOverlappingPairs(); - // Narrowphase - for (int pair_idx = 0; pair_idx < overlapping_pairs.size(); pair_idx++) { - btCollisionObject *other_bt_collision_object = overlapping_pairs[pair_idx]; - RigidCollisionObjectBullet *other_object = static_cast<RigidCollisionObjectBullet *>(other_bt_collision_object->getUserPointer()); - const btTransform &other_transform = other_object->get_transform__bullet(); - const btVector3 &other_scale(other_object->get_bt_body_scale()); - - if (!area->is_updated() && !other_object->is_updated()) { - area->mark_object_overlaps_inside(other_object); - continue; - } - - if (other_bt_collision_object->getUserIndex() == CollisionObjectBullet::TYPE_AREA) { - if (!static_cast<AreaBullet *>(other_bt_collision_object->getUserPointer())->is_monitorable()) { - continue; - } - } else if (other_bt_collision_object->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY) { - continue; - } - - // For each area shape - for (int our_shape_id = 0; our_shape_id < area->get_shape_count(); our_shape_id++) { - btCollisionShape *area_shape = area->get_bt_shape(our_shape_id); - if (!area_shape->isConvex()) { - continue; - } - btConvexShape *area_convex_shape = static_cast<btConvexShape *>(area_shape); - - btTransform area_shape_transform(area->get_bt_shape_transform(our_shape_id)); - area_shape_transform.getOrigin() *= area_scale; - btGjkPairDetector::ClosestPointInput gjk_input; - gjk_input.m_transformA = area_transform * area_shape_transform; - - // For each other object shape - for (int other_shape_id = 0; other_shape_id < other_object->get_shape_count(); other_shape_id++) { - btCollisionShape *other_shape = other_object->get_bt_shape(other_shape_id); - btTransform other_shape_transform(other_object->get_bt_shape_transform(other_shape_id)); - other_shape_transform.getOrigin() *= other_scale; - gjk_input.m_transformB = other_transform * other_shape_transform; - - if (other_shape->isConvex()) { - btPointCollector result; - btGjkPairDetector gjk_pair_detector( - area_convex_shape, - static_cast<btConvexShape *>(other_shape), - gjk_simplex_solver, - gjk_epa_pen_solver); - - gjk_pair_detector.getClosestPoints(gjk_input, result, nullptr); - if (result.m_distance <= 0) { - area->set_overlap(other_object, other_shape_id, our_shape_id); - } - } else { // Other shape is not convex. - btCollisionObjectWrapper obA(nullptr, area_convex_shape, bt_ghost, gjk_input.m_transformA, -1, our_shape_id); - btCollisionObjectWrapper obB(nullptr, other_shape, other_bt_collision_object, gjk_input.m_transformB, -1, other_shape_id); - btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, nullptr, BT_CONTACT_POINT_ALGORITHMS); - - if (!algorithm) { - continue; - } - - GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB); - algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult); - algorithm->~btCollisionAlgorithm(); - dispatcher->freeCollisionAlgorithm(algorithm); - - if (contactPointResult.hasHit()) { - area->set_overlap(other_object, our_shape_id, other_shape_id); - } - } - } // End for each other object shape - } // End for each area shape - } // End for each overlapping pair - - // All overlapping shapes still marked dirty must have exited. - area->mark_all_dirty_overlaps_as_exit(); - } // End for each area -} - -void SpaceBullet::check_body_collision() { -#ifdef DEBUG_ENABLED - reset_debug_contact_count(); -#endif - - const int numManifolds = dynamicsWorld->getDispatcher()->getNumManifolds(); - for (int i = 0; i < numManifolds; ++i) { - btPersistentManifold *contactManifold = dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i); - - // I know this static cast is a bit risky. But I'm checking its type just after it. - // This allow me to avoid a lot of other cast and checks - RigidBodyBullet *bodyA = static_cast<RigidBodyBullet *>(contactManifold->getBody0()->getUserPointer()); - RigidBodyBullet *bodyB = static_cast<RigidBodyBullet *>(contactManifold->getBody1()->getUserPointer()); - - if (CollisionObjectBullet::TYPE_RIGID_BODY == bodyA->getType() && CollisionObjectBullet::TYPE_RIGID_BODY == bodyB->getType()) { - if (!bodyA->can_add_collision() && !bodyB->can_add_collision()) { - continue; - } - - const int numContacts = contactManifold->getNumContacts(); - - /// Since I don't need report all contacts for these objects, - /// So report only the first -#define REPORT_ALL_CONTACTS 0 -#if REPORT_ALL_CONTACTS - for (int j = 0; j < numContacts; j++) { - btManifoldPoint &pt = contactManifold->getContactPoint(j); -#else - if (numContacts) { - btManifoldPoint &pt = contactManifold->getContactPoint(0); -#endif - if ( - pt.getDistance() < 0.0 || - bodyA->was_colliding(bodyB) || - bodyB->was_colliding(bodyA)) { - Vector3 collisionWorldPosition; - Vector3 collisionLocalPosition; - Vector3 normalOnB; - real_t appliedImpulse = pt.m_appliedImpulse; - B_TO_G(pt.m_normalWorldOnB, normalOnB); - - // The pt.m_index only contains the shape index when more than one collision shape is used - // and only if the collision shape is not a concave collision shape. - // A value of -1 in pt.m_partId indicates the pt.m_index is a shape index. - int shape_index_a = 0; - if (bodyA->get_shape_count() > 1 && pt.m_partId0 == -1) { - shape_index_a = pt.m_index0; - } - int shape_index_b = 0; - if (bodyB->get_shape_count() > 1 && pt.m_partId1 == -1) { - shape_index_b = pt.m_index1; - } - - 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, appliedImpulse, shape_index_b, shape_index_a); - } - 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, appliedImpulse * -1, shape_index_a, shape_index_b); - } - -#ifdef DEBUG_ENABLED - if (is_debugging_contacts()) { - add_debug_contact(collisionWorldPosition); - } -#endif - } - } - } - } -} - -void SpaceBullet::update_gravity() { - btVector3 btGravity; - G_TO_B(gravityDirection * gravityMagnitude, btGravity); - //dynamicsWorld->setGravity(btGravity); - dynamicsWorld->setGravity(btVector3(0, 0, 0)); - if (soft_body_world_info) { - soft_body_world_info->m_gravity = btGravity; - } -} - -/// IMPORTANT: Please don't turn it ON this is not managed correctly!! -/// I'm leaving this here just for future tests. -/// Debug motion and normal vector drawing -#define debug_test_motion 0 - -#define RECOVERING_MOVEMENT_SCALE 0.4 -#define RECOVERING_MOVEMENT_CYCLES 4 - -#if debug_test_motion - -#include "scene/3d/immediate_geometry.h" - -static ImmediateGeometry3D *motionVec(nullptr); -static ImmediateGeometry3D *normalLine(nullptr); -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, 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 - if (!normalLine) { - motionVec = memnew(ImmediateGeometry3D); - normalLine = memnew(ImmediateGeometry3D); - SceneTree::get_singleton()->get_current_scene()->add_child(motionVec); - SceneTree::get_singleton()->get_current_scene()->add_child(normalLine); - - motionVec->set_as_top_level(true); - normalLine->set_as_top_level(true); - - red_mat = Ref<StandardMaterial3D>(memnew(StandardMaterial3D)); - red_mat->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); - red_mat->set_line_width(20.0); - red_mat->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA); - red_mat->set_flag(StandardMaterial3D::FLAG_ALBEDO_FROM_VERTEX_COLOR, true); - red_mat->set_flag(StandardMaterial3D::FLAG_SRGB_VERTEX_COLOR, true); - red_mat->set_albedo(Color(1, 0, 0, 1)); - motionVec->set_material_override(red_mat); - - blue_mat = Ref<StandardMaterial3D>(memnew(StandardMaterial3D)); - blue_mat->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); - blue_mat->set_line_width(20.0); - blue_mat->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA); - blue_mat->set_flag(StandardMaterial3D::FLAG_ALBEDO_FROM_VERTEX_COLOR, true); - blue_mat->set_flag(StandardMaterial3D::FLAG_SRGB_VERTEX_COLOR, true); - blue_mat->set_albedo(Color(0, 0, 1, 1)); - normalLine->set_material_override(blue_mat); - } -#endif - - btTransform body_transform; - G_TO_B(p_from, body_transform); - UNSCALE_BT_BASIS(body_transform); - - if (!p_body->get_kinematic_utilities()) { - p_body->init_kinematic_utilities(); - } - - 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, nullptr, p_exclude)) { - break; - } - } - // Add recover movement in order to make it safe - body_transform.getOrigin() += initial_recover_motion; - } - - 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 - - const int shape_count(p_body->get_shape_count()); - -#if debug_test_motion - Vector3 sup_line; - B_TO_G(body_safe_position.getOrigin(), sup_line); - motionVec->clear(); - motionVec->begin(Mesh::PRIMITIVE_LINES, nullptr); - motionVec->add_vertex(sup_line); - motionVec->add_vertex(sup_line + p_motion * 10); - motionVec->end(); -#endif - - for (int shIndex = 0; shIndex < shape_count; ++shIndex) { - if (p_body->is_shape_disabled(shIndex)) { - continue; - } - - if (!p_body->get_bt_shape(shIndex)->isConvex()) { - // Skip no convex shape - continue; - } - - if (p_exclude_raycast_shapes && p_body->get_bt_shape(shIndex)->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) { - // Skip rayshape in order to implement custom separation process - continue; - } - - btConvexShape *convex_shape_test(static_cast<btConvexShape *>(p_body->get_bt_shape(shIndex))); - - 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; - - if ((shape_world_to.getOrigin() - shape_world_from.getOrigin()).fuzzyZero()) { - motion = btVector3(0, 0, 0); - break; - } - - 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; - } - } - - body_transform.getOrigin() += motion; - } - - bool has_penetration = false; - - { /// Phase three - contact test with margin - - 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, p_exclude); - - // Parse results - if (r_result) { - B_TO_G(motion + initial_recover_motion + __rec, r_result->motion); - - if (has_penetration) { - 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(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; - 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; - B_TO_G(motion, sup_line2); - normalLine->clear(); - normalLine->begin(Mesh::PRIMITIVE_LINES, nullptr); - 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(); - } - } - } - - return has_penetration; -} - -int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin) { - btTransform body_transform; - G_TO_B(p_transform, body_transform); - UNSCALE_BT_BASIS(body_transform); - - if (!p_body->get_kinematic_utilities()) { - p_body->init_kinematic_utilities(); - } - - btVector3 recover_motion(0, 0, 0); - - int rays_found = 0; - int rays_found_this_round = 0; - - for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) { - PhysicsServer3D::SeparationResult *next_results = &r_results[rays_found]; - rays_found_this_round = recover_from_penetration_ray(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, p_result_max - rays_found, recover_motion, next_results); - - rays_found += rays_found_this_round; - if (rays_found_this_round == 0) { - body_transform.getOrigin() += recover_motion; - break; - } - } - - B_TO_G(recover_motion, r_recover_motion); - return rays_found; -} - -struct RecoverPenetrationBroadPhaseCallback : public btBroadphaseAabbCallback { -private: - btDbvtVolume bounds; - - const btCollisionObject *self_collision_object; - uint32_t collision_layer = 0; - - struct CompoundLeafCallback : btDbvt::ICollide { - private: - RecoverPenetrationBroadPhaseCallback *parent_callback = nullptr; - btCollisionObject *collision_object = nullptr; - - public: - CompoundLeafCallback(RecoverPenetrationBroadPhaseCallback *p_parent_callback, btCollisionObject *p_collision_object) : - parent_callback(p_parent_callback), - collision_object(p_collision_object) { - } - - void Process(const btDbvtNode *leaf) { - BroadphaseResult result; - result.collision_object = collision_object; - result.compound_child_index = leaf->dataAsInt; - parent_callback->results.push_back(result); - } - }; - -public: - struct BroadphaseResult { - btCollisionObject *collision_object = nullptr; - int compound_child_index = 0; - }; - - Vector<BroadphaseResult> results; - -public: - 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) { - bounds = btDbvtVolume::FromMM(p_aabb_min, p_aabb_max); - } - - virtual ~RecoverPenetrationBroadPhaseCallback() {} - - 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 && (proxy->collision_layer & m_collisionFilterMask)) { - if (co->getCollisionShape()->isCompound()) { - const btCompoundShape *cs = static_cast<btCompoundShape *>(co->getCollisionShape()); - - if (cs->getNumChildShapes() > 1) { - const btDbvt *tree = cs->getDynamicAabbTree(); - ERR_FAIL_COND_V(tree == nullptr, true); - - // Transform bounds into compound shape local space - const btTransform other_in_compound_space = co->getWorldTransform().inverse(); - const btMatrix3x3 abs_b = other_in_compound_space.getBasis().absolute(); - const btVector3 local_center = other_in_compound_space(bounds.Center()); - const btVector3 local_extent = bounds.Extents().dot3(abs_b[0], abs_b[1], abs_b[2]); - const btVector3 local_aabb_min = local_center - local_extent; - const btVector3 local_aabb_max = local_center + local_extent; - const btDbvtVolume local_bounds = btDbvtVolume::FromMM(local_aabb_min, local_aabb_max); - - // Test collision against compound child shapes using its AABB tree - CompoundLeafCallback compound_leaf_callback(this, co); - tree->collideTV(tree->m_root, local_bounds, compound_leaf_callback); - } else { - // If there's only a single child shape then there's no need to search any more, we know which child overlaps - BroadphaseResult result; - result.collision_object = co; - result.compound_child_index = 0; - results.push_back(result); - } - } else { - BroadphaseResult result; - result.collision_object = co; - result.compound_child_index = -1; - results.push_back(result); - } - return true; - } - } - return false; - } -}; - -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; - - for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) { - const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]); - if (!kin_shape.is_active()) { - continue; - } - - if (kin_shape.shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) { - // Skip rayshape in order to implement custom separation process - continue; - } - - btTransform shape_transform = p_body_position * kin_shape.transform; - shape_transform.getOrigin() += r_delta_recover_movement; - - btVector3 shape_aabb_min, shape_aabb_max; - kin_shape.shape->getAabb(shape_transform, shape_aabb_min, shape_aabb_max); - - if (!shapes_found) { - aabb_min = shape_aabb_min; - aabb_max = shape_aabb_max; - shapes_found = true; - } else { - aabb_min.setX((aabb_min.x() < shape_aabb_min.x()) ? aabb_min.x() : shape_aabb_min.x()); - aabb_min.setY((aabb_min.y() < shape_aabb_min.y()) ? aabb_min.y() : shape_aabb_min.y()); - aabb_min.setZ((aabb_min.z() < shape_aabb_min.z()) ? aabb_min.z() : shape_aabb_min.z()); - - aabb_max.setX((aabb_max.x() > shape_aabb_max.x()) ? aabb_max.x() : shape_aabb_max.x()); - aabb_max.setY((aabb_max.y() > shape_aabb_max.y()) ? aabb_max.y() : shape_aabb_max.y()); - aabb_max.setZ((aabb_max.z() > shape_aabb_max.z()) ? aabb_max.z() : shape_aabb_max.z()); - } - } - - // If there are no shapes then there is no penetration either - if (!shapes_found) { - return false; - } - - // Perform broadphase test - 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; - - // Perform narrowphase per shape - for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) { - const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]); - if (!kin_shape.is_active()) { - continue; - } - - if (kin_shape.shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) { - // Skip rayshape in order to implement custom separation process - continue; - } - - if (kin_shape.shape->getShapeType() == EMPTY_SHAPE_PROXYTYPE) { - continue; - } - - btTransform shape_transform = p_body_position * kin_shape.transform; - shape_transform.getOrigin() += r_delta_recover_movement; - - 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; - } else if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object())) { - continue; - } - - if (otherObject->getCollisionShape()->isCompound()) { - const btCompoundShape *cs = static_cast<const btCompoundShape *>(otherObject->getCollisionShape()); - int shape_idx = recover_broad_result.results[i].compound_child_index; - 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, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { - penetration = true; - } - } else { - if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(shape_idx), p_body->get_bt_collision_object(), 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; - } - } - } 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, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { - penetration = true; - } - } else { - if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { - penetration = true; - } - } - } - } - - return penetration; -} - -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; - gjk_input.m_transformA = p_transformA; - gjk_input.m_transformB = p_transformB; - - // Perform GJK test - btPointCollector result; - btGjkPairDetector gjk_pair_detector(p_shapeA, p_shapeB, gjk_simplex_solver, gjk_epa_pen_solver); - gjk_pair_detector.getClosestPoints(gjk_input, result, nullptr); - if (0 > result.m_distance) { - // Has penetration - r_delta_recover_movement += result.m_normalOnBInWorld * (result.m_distance * -1 * p_recover_movement_scale); - - 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; - r_recover_result->pointWorld = result.m_pointInWorld; - r_recover_result->normal = result.m_normalOnBInWorld; - } - } - return true; - } - return false; -} - -bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, 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) { - /// Contact test - - btTransform tA(p_transformA); - - btCollisionObjectWrapper obA(nullptr, p_shapeA, p_objectA, tA, -1, p_shapeId_A); - btCollisionObjectWrapper obB(nullptr, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B); - - btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, nullptr, BT_CONTACT_POINT_ALGORITHMS); - if (algorithm) { - GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB); - //discrete collision detection query - algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult); - - algorithm->~btCollisionAlgorithm(); - dispatcher->freeCollisionAlgorithm(algorithm); - - if (contactPointResult.hasHit()) { - r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1 * p_recover_movement_scale); - 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; - r_recover_result->pointWorld = contactPointResult.m_pointWorld; - r_recover_result->normal = contactPointResult.m_pointNormalWorld; - } - } - return true; - } - } - return false; -} - -int SpaceBullet::add_separation_result(PhysicsServer3D::SeparationResult *r_result, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const { - // optimize results (ignore non-colliding) - if (p_recover_result.penetration_distance < 0.0) { - const btRigidBody *btRigid = static_cast<const btRigidBody *>(p_other_object); - CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(p_other_object->getUserPointer()); - - r_result->collision_depth = p_recover_result.penetration_distance; - B_TO_G(p_recover_result.pointWorld, r_result->collision_point); - B_TO_G(p_recover_result.normal, r_result->collision_normal); - B_TO_G(btRigid->getVelocityInLocalPoint(p_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); - r_result->collision_local_shape = p_shape_id; - r_result->collider_id = collisionObject->get_instance_id(); - r_result->collider = collisionObject->get_self(); - r_result->collider_shape = p_recover_result.other_compound_shape_index; - - return 1; - } else { - return 0; - } -} - -int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer3D::SeparationResult *r_results) { - // Calculate the cumulative AABB of all shapes of the kinematic body - btVector3 aabb_min, aabb_max; - bool shapes_found = false; - - for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) { - const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]); - if (!kin_shape.is_active()) { - continue; - } - - if (kin_shape.shape->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE) { - continue; - } - - btTransform shape_transform = p_body_position * kin_shape.transform; - shape_transform.getOrigin() += r_delta_recover_movement; - - btVector3 shape_aabb_min, shape_aabb_max; - kin_shape.shape->getAabb(shape_transform, shape_aabb_min, shape_aabb_max); - - if (!shapes_found) { - aabb_min = shape_aabb_min; - aabb_max = shape_aabb_max; - shapes_found = true; - } else { - aabb_min.setX((aabb_min.x() < shape_aabb_min.x()) ? aabb_min.x() : shape_aabb_min.x()); - aabb_min.setY((aabb_min.y() < shape_aabb_min.y()) ? aabb_min.y() : shape_aabb_min.y()); - aabb_min.setZ((aabb_min.z() < shape_aabb_min.z()) ? aabb_min.z() : shape_aabb_min.z()); - - aabb_max.setX((aabb_max.x() > shape_aabb_max.x()) ? aabb_max.x() : shape_aabb_max.x()); - aabb_max.setY((aabb_max.y() > shape_aabb_max.y()) ? aabb_max.y() : shape_aabb_max.y()); - aabb_max.setZ((aabb_max.z() > shape_aabb_max.z()) ? aabb_max.z() : shape_aabb_max.z()); - } - } - - // If there are no shapes then there is no penetration either - if (!shapes_found) { - return 0; - } - - // Perform broadphase test - 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; - - // Perform narrowphase per shape - for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) { - if (ray_count >= p_result_max) { - break; - } - - const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]); - if (!kin_shape.is_active()) { - continue; - } - - if (kin_shape.shape->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE) { - continue; - } - - btTransform shape_transform = p_body_position * kin_shape.transform; - shape_transform.getOrigin() += r_delta_recover_movement; - - for (int i = recover_broad_result.results.size() - 1; 0 <= i; --i) { - btCollisionObject *otherObject = recover_broad_result.results[i].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()) { - const btCompoundShape *cs = static_cast<const btCompoundShape *>(otherObject->getCollisionShape()); - int shape_idx = recover_broad_result.results[i].compound_child_index; - ERR_FAIL_COND_V(shape_idx < 0 || shape_idx >= cs->getNumChildShapes(), false); - - RecoverResult recover_result; - if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(shape_idx), p_body->get_bt_collision_object(), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) { - ray_count = add_separation_result(&r_results[ray_count], recover_result, kinIndex, otherObject); - } - } else { - RecoverResult recover_result; - if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) { - ray_count = add_separation_result(&r_results[ray_count], recover_result, kinIndex, otherObject); - } - } - } - } - - return ray_count; -} |