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-rw-r--r--modules/bullet/space_bullet.cpp56
1 files changed, 37 insertions, 19 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 3bfcd83606..7d337bc4d0 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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 */
@@ -117,7 +117,7 @@ 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 *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) {
+int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &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;
}
@@ -152,7 +152,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
return btQuery.m_count;
}
-bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &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) {
+bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &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;
@@ -177,8 +177,10 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
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 false;
+ return true;
}
GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude, p_collide_with_bodies, p_collide_with_areas);
@@ -212,7 +214,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
}
/// Returns the list of contacts pairs in this order: Local contact, other body contact
-bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, float 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) {
+bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &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;
}
@@ -248,7 +250,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
return btQuery.m_count;
}
-bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float 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) {
+bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &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()->getornull(p_shape);
ERR_FAIL_COND_V(!shape, false);
@@ -477,16 +479,20 @@ void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) {
}
}
-void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) {
+void SpaceBullet::remove_rigid_body_constraints(RigidBodyBullet *p_body) {
btRigidBody *btBody = p_body->get_bt_rigid_body();
int constraints = btBody->getNumConstraintRefs();
if (constraints > 0) {
- WARN_PRINT("A body connected to joints was removed. Ensure bodies are disconnected from joints before removing them.");
+ 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);
@@ -835,20 +841,32 @@ void SpaceBullet::check_body_collision() {
Vector3 collisionWorldPosition;
Vector3 collisionLocalPosition;
Vector3 normalOnB;
- float appliedImpulse = pt.m_appliedImpulse;
+ 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, pt.m_index1, pt.m_index0);
+ 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, pt.m_index0, pt.m_index1);
+ bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, shape_index_a, shape_index_b);
}
#ifdef DEBUG_ENABLED
@@ -1044,7 +1062,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
return has_penetration;
}
-int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin) {
+int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &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);
@@ -1074,13 +1092,13 @@ private:
btDbvtVolume bounds;
const btCollisionObject *self_collision_object;
- uint32_t collision_layer;
- uint32_t collision_mask;
+ uint32_t collision_layer = 0;
+ uint32_t collision_mask = 0;
struct CompoundLeafCallback : btDbvt::ICollide {
private:
- RecoverPenetrationBroadPhaseCallback *parent_callback;
- btCollisionObject *collision_object;
+ RecoverPenetrationBroadPhaseCallback *parent_callback = nullptr;
+ btCollisionObject *collision_object = nullptr;
public:
CompoundLeafCallback(RecoverPenetrationBroadPhaseCallback *p_parent_callback, btCollisionObject *p_collision_object) :
@@ -1098,8 +1116,8 @@ private:
public:
struct BroadphaseResult {
- btCollisionObject *collision_object;
- int compound_child_index;
+ btCollisionObject *collision_object = nullptr;
+ int compound_child_index = 0;
};
Vector<BroadphaseResult> results;
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-27 18:59:33 +0000