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-rw-r--r--modules/bullet/space_bullet.cpp92
1 files changed, 47 insertions, 45 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 853906063b..3ce4b294db 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -50,10 +50,11 @@
#include "ustring.h"
#include <assert.h>
-BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_space)
- : PhysicsDirectSpaceState(), space(p_space) {}
+BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_space) :
+ PhysicsDirectSpaceState(),
+ 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_layer, uint32_t p_object_type_mask) {
+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) {
if (p_result_max <= 0)
return 0;
@@ -68,15 +69,15 @@ int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, Shape
// Setup query
GodotAllContactResultCallback btResult(&collision_object_point, r_results, p_result_max, &p_exclude);
- btResult.m_collisionFilterGroup = p_collision_layer;
- btResult.m_collisionFilterMask = p_object_type_mask;
+ btResult.m_collisionFilterGroup = 0;
+ btResult.m_collisionFilterMask = p_collision_mask;
space->dynamicsWorld->contactTest(&collision_object_point, btResult);
// The results is 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_layer, uint32_t p_object_type_mask, bool p_pick_ray) {
+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_pick_ray) {
btVector3 btVec_from;
btVector3 btVec_to;
@@ -86,8 +87,8 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V
// setup query
GodotClosestRayResultCallback btResult(btVec_from, btVec_to, &p_exclude);
- btResult.m_collisionFilterGroup = p_collision_layer;
- btResult.m_collisionFilterMask = p_object_type_mask;
+ btResult.m_collisionFilterGroup = 0;
+ btResult.m_collisionFilterMask = p_collision_mask;
btResult.m_pickRay = p_pick_ray;
space->dynamicsWorld->rayTest(btVec_from, btVec_to, btResult);
@@ -96,7 +97,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V
B_TO_G(btResult.m_hitNormalWorld.normalize(), r_result.normal);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btResult.m_collisionObject->getUserPointer());
if (gObj) {
- r_result.shape = 0;
+ r_result.shape = btResult.m_shapeId;
r_result.rid = gObj->get_self();
r_result.collider_id = gObj->get_instance_id();
r_result.collider = 0 == r_result.collider_id ? NULL : ObjectDB::get_instance(r_result.collider_id);
@@ -109,7 +110,7 @@ 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_layer, uint32_t p_object_type_mask) {
+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) {
if (p_result_max <= 0)
return 0;
@@ -135,8 +136,8 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
collision_object.setWorldTransform(bt_xform);
GodotAllContactResultCallback btQuery(&collision_object, p_results, p_result_max, &p_exclude);
- btQuery.m_collisionFilterGroup = p_collision_layer;
- btQuery.m_collisionFilterMask = p_object_type_mask;
+ btQuery.m_collisionFilterGroup = 0;
+ btQuery.m_collisionFilterMask = p_collision_mask;
btQuery.m_closestDistanceThreshold = p_margin;
space->dynamicsWorld->contactTest(&collision_object, btQuery);
@@ -145,7 +146,7 @@ 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 &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask, ShapeRestInfo *r_info) {
+bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, ShapeRestInfo *r_info) {
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
btCollisionShape *btShape = shape->create_bt_shape();
@@ -170,8 +171,8 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
bt_xform_to.getOrigin() += bt_motion;
GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude);
- btResult.m_collisionFilterGroup = p_collision_layer;
- btResult.m_collisionFilterMask = p_object_type_mask;
+ btResult.m_collisionFilterGroup = 0;
+ btResult.m_collisionFilterMask = p_collision_mask;
space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, 0.002);
@@ -195,7 +196,7 @@ 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_layer, uint32_t p_object_type_mask) {
+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) {
if (p_result_max <= 0)
return 0;
@@ -221,8 +222,8 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
collision_object.setWorldTransform(bt_xform);
GodotContactPairContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude);
- btQuery.m_collisionFilterGroup = p_collision_layer;
- btQuery.m_collisionFilterMask = p_object_type_mask;
+ btQuery.m_collisionFilterGroup = 0;
+ btQuery.m_collisionFilterMask = p_collision_mask;
btQuery.m_closestDistanceThreshold = p_margin;
space->dynamicsWorld->contactTest(&collision_object, btQuery);
@@ -232,7 +233,7 @@ 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_layer, uint32_t p_object_type_mask) {
+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) {
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
@@ -256,8 +257,8 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
collision_object.setWorldTransform(bt_xform);
GodotRestInfoContactResultCallback btQuery(&collision_object, r_info, &p_exclude);
- btQuery.m_collisionFilterGroup = p_collision_layer;
- btQuery.m_collisionFilterMask = p_object_type_mask;
+ btQuery.m_collisionFilterGroup = 0;
+ btQuery.m_collisionFilterMask = p_collision_mask;
btQuery.m_closestDistanceThreshold = p_margin;
space->dynamicsWorld->contactTest(&collision_object, btQuery);
@@ -330,18 +331,18 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_
}
}
-SpaceBullet::SpaceBullet(bool p_create_soft_world)
- : broadphase(NULL),
- dispatcher(NULL),
- solver(NULL),
- collisionConfiguration(NULL),
- dynamicsWorld(NULL),
- soft_body_world_info(NULL),
- ghostPairCallback(NULL),
- godotFilterCallback(NULL),
- gravityDirection(0, -1, 0),
- gravityMagnitude(10),
- contactDebugCount(0) {
+SpaceBullet::SpaceBullet(bool p_create_soft_world) :
+ broadphase(NULL),
+ dispatcher(NULL),
+ solver(NULL),
+ collisionConfiguration(NULL),
+ dynamicsWorld(NULL),
+ soft_body_world_info(NULL),
+ ghostPairCallback(NULL),
+ godotFilterCallback(NULL),
+ gravityDirection(0, -1, 0),
+ gravityMagnitude(10),
+ contactDebugCount(0) {
create_empty_world(p_create_soft_world);
direct_access = memnew(BulletPhysicsDirectSpaceState(this));
@@ -467,6 +468,7 @@ void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) {
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();
}
}
@@ -938,14 +940,14 @@ 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);
-//}
+ //{ /// 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;
@@ -978,10 +980,10 @@ public:
Vector<btCollisionObject *> result_collision_objects;
public:
- RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, uint32_t p_collision_mask)
- : self_collision_object(p_self_collision_object),
- collision_layer(p_collision_layer),
- collision_mask(p_collision_mask) {}
+ RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, uint32_t p_collision_mask) :
+ self_collision_object(p_self_collision_object),
+ collision_layer(p_collision_layer),
+ collision_mask(p_collision_mask) {}
virtual ~RecoverPenetrationBroadPhaseCallback() {}
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-05 00:03:16 +0000