diff options
Diffstat (limited to 'modules/bullet/space_bullet.cpp')
-rw-r--r-- | modules/bullet/space_bullet.cpp | 130 |
1 files changed, 79 insertions, 51 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index b12925b073..ba4c72f4c7 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -34,13 +34,13 @@ #include "bullet_types_converter.h" #include "bullet_utilities.h" #include "constraint_bullet.h" +#include "core/project_settings.h" +#include "core/ustring.h" #include "godot_collision_configuration.h" #include "godot_collision_dispatcher.h" -#include "project_settings.h" #include "rigid_body_bullet.h" #include "servers/physics_server.h" #include "soft_body_bullet.h" -#include "ustring.h" #include <BulletCollision/CollisionDispatch/btCollisionObject.h> #include <BulletCollision/CollisionDispatch/btGhostObject.h> @@ -150,14 +150,14 @@ 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_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, 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) { ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape); btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin); if (!btShape->isConvex()) { bulletdelete(btShape); ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); - return 0; + return false; } btConvexShape *bt_convex_shape = static_cast<btConvexShape *>(btShape); @@ -177,10 +177,13 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, 0.002); + r_closest_unsafe = 1.0; + r_closest_safe = 1.0; + if (btResult.hasHit()) { const btScalar l = bt_motion.length(); - p_closest_unsafe = btResult.m_closestHitFraction; - p_closest_safe = MAX(p_closest_unsafe - (1 - ((l - 0.01) / l)), 0); + 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); @@ -195,7 +198,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf } bulletdelete(bt_convex_shape); - return btResult.hasHit(); + return true; // Mean success } /// Returns the list of contacts pairs in this order: Local contact, other body contact @@ -295,11 +298,10 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_ bool shapes_found = false; - btCompoundShape *compound = rigid_object->get_compound_shape(); - for (int i = compound->getNumChildShapes() - 1; 0 <= i; --i) { - shape = compound->getChildShape(i); + for (int i = rigid_object->get_shape_count() - 1; 0 <= i; --i) { + shape = rigid_object->get_bt_shape(i); if (shape->isConvex()) { - child_transform = compound->getChildTransform(i); + child_transform = rigid_object->get_bt_shape_transform(i); convex_shape = static_cast<btConvexShape *>(shape); input.m_transformB = body_transform * child_transform; @@ -330,16 +332,17 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_ SpaceBullet::SpaceBullet() : broadphase(NULL), + collisionConfiguration(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) { + contactDebugCount(0), + delta_time(0.) { create_empty_world(GLOBAL_DEF("physics/3d/active_soft_world", true)); direct_access = memnew(BulletPhysicsDirectSpaceState(this)); @@ -578,7 +581,7 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) { } if (p_create_soft_world) { - collisionConfiguration = bulletnew(btSoftBodyRigidBodyCollisionConfiguration); + collisionConfiguration = bulletnew(GodotSoftCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem))); } else { collisionConfiguration = bulletnew(GodotCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem))); } @@ -598,6 +601,7 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) { godotFilterCallback = bulletnew(GodotFilterCallback); gCalculateCombinedRestitutionCallback = &calculateGodotCombinedRestitution; gCalculateCombinedFrictionCallback = &calculateGodotCombinedFriction; + gContactAddedCallback = &godotContactAddedCallback; dynamicsWorld->setWorldUserInfo(this); @@ -642,7 +646,7 @@ void SpaceBullet::destroy_world() { void SpaceBullet::check_ghost_overlaps() { /// Algorithm support variables - btConvexShape *other_body_shape; + btCollisionShape *other_body_shape; btConvexShape *area_shape; btGjkPairDetector::ClosestPointInput gjk_input; AreaBullet *area; @@ -684,30 +688,52 @@ void SpaceBullet::check_ghost_overlaps() { bool hasOverlap = false; // For each area shape - for (y = area->get_compound_shape()->getNumChildShapes() - 1; 0 <= y; --y) { - if (!area->get_compound_shape()->getChildShape(y)->isConvex()) + for (y = area->get_shape_count() - 1; 0 <= y; --y) { + if (!area->get_bt_shape(y)->isConvex()) continue; - gjk_input.m_transformA = area->get_transform__bullet() * area->get_compound_shape()->getChildTransform(y); - area_shape = static_cast<btConvexShape *>(area->get_compound_shape()->getChildShape(y)); + gjk_input.m_transformA = area->get_transform__bullet() * area->get_bt_shape_transform(y); + area_shape = static_cast<btConvexShape *>(area->get_bt_shape(y)); // For each other object shape - for (z = otherObject->get_compound_shape()->getNumChildShapes() - 1; 0 <= z; --z) { + for (z = otherObject->get_shape_count() - 1; 0 <= z; --z) { + + other_body_shape = static_cast<btCollisionShape *>(otherObject->get_bt_shape(z)); + gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_bt_shape_transform(z); + + if (other_body_shape->isConvex()) { + + btPointCollector result; + btGjkPairDetector gjk_pair_detector(area_shape, static_cast<btConvexShape *>(other_body_shape), gjk_simplex_solver, gjk_epa_pen_solver); + gjk_pair_detector.getClosestPoints(gjk_input, result, 0); + + if (0 >= result.m_distance) { + hasOverlap = true; + goto collision_found; + } + + } else { - if (!otherObject->get_compound_shape()->getChildShape(z)->isConvex()) - continue; + btCollisionObjectWrapper obA(NULL, area_shape, area->get_bt_ghost(), gjk_input.m_transformA, -1, y); + btCollisionObjectWrapper obB(NULL, other_body_shape, otherObject->get_bt_collision_object(), gjk_input.m_transformB, -1, z); - other_body_shape = static_cast<btConvexShape *>(otherObject->get_compound_shape()->getChildShape(z)); - gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_compound_shape()->getChildTransform(z); + btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS); - btPointCollector result; - btGjkPairDetector gjk_pair_detector(area_shape, other_body_shape, gjk_simplex_solver, gjk_epa_pen_solver); - gjk_pair_detector.getClosestPoints(gjk_input, result, 0); + if (!algorithm) + continue; - if (0 >= result.m_distance) { - hasOverlap = true; - goto collision_found; + GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB); + algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult); + + algorithm->~btCollisionAlgorithm(); + dispatcher->freeCollisionAlgorithm(algorithm); + + if (contactPointResult.hasHit()) { + hasOverlap = true; + goto collision_found; + } } + } // ~For each other object shape } // ~For each area shape @@ -764,30 +790,32 @@ void SpaceBullet::check_body_collision() { if (numContacts) { btManifoldPoint &pt = contactManifold->getContactPoint(0); #endif - Vector3 collisionWorldPosition; - Vector3 collisionLocalPosition; - Vector3 normalOnB; - float appliedImpulse = pt.m_appliedImpulse; - B_TO_G(pt.m_normalWorldOnB, normalOnB); - - 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); - } - 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); - } + if (pt.getDistance() <= 0.0) { + Vector3 collisionWorldPosition; + Vector3 collisionLocalPosition; + Vector3 normalOnB; + float appliedImpulse = pt.m_appliedImpulse; + B_TO_G(pt.m_normalWorldOnB, normalOnB); + + 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); + } + 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); + } #ifdef DEBUG_ENABLED - if (is_debugging_contacts()) { - add_debug_contact(collisionWorldPosition); - } + if (is_debugging_contacts()) { + add_debug_contact(collisionWorldPosition); + } #endif + } } } } |