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-rw-r--r--modules/bullet/space_bullet.cpp146
1 files changed, 73 insertions, 73 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index f6df97f11d..1659664ff9 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -39,7 +39,7 @@
#include "godot_collision_configuration.h"
#include "godot_collision_dispatcher.h"
#include "rigid_body_bullet.h"
-#include "servers/physics_server.h"
+#include "servers/physics_server_3d.h"
#include "soft_body_bullet.h"
#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
@@ -59,7 +59,7 @@
*/
BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_space) :
- PhysicsDirectSpaceState(),
+ 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) {
@@ -108,7 +108,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V
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() ? NULL : ObjectDB::get_instance(r_result.collider_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.");
}
@@ -309,7 +309,7 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_
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, 0);
+ gjk_pair_detector.getClosestPoints(input, result, nullptr);
if (out_distance > result.m_distance) {
out_distance = result.m_distance;
@@ -332,14 +332,14 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_
}
SpaceBullet::SpaceBullet() :
- broadphase(NULL),
- collisionConfiguration(NULL),
- dispatcher(NULL),
- solver(NULL),
- dynamicsWorld(NULL),
- soft_body_world_info(NULL),
- ghostPairCallback(NULL),
- godotFilterCallback(NULL),
+ broadphase(nullptr),
+ collisionConfiguration(nullptr),
+ dispatcher(nullptr),
+ solver(nullptr),
+ dynamicsWorld(nullptr),
+ soft_body_world_info(nullptr),
+ ghostPairCallback(nullptr),
+ godotFilterCallback(nullptr),
gravityDirection(0, -1, 0),
gravityMagnitude(10),
contactDebugCount(0),
@@ -366,27 +366,27 @@ void SpaceBullet::step(real_t p_delta_time) {
dynamicsWorld->stepSimulation(p_delta_time, 0, 0);
}
-void SpaceBullet::set_param(PhysicsServer::AreaParameter p_param, const Variant &p_value) {
+void SpaceBullet::set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value) {
assert(dynamicsWorld);
switch (p_param) {
- case PhysicsServer::AREA_PARAM_GRAVITY:
+ case PhysicsServer3D::AREA_PARAM_GRAVITY:
gravityMagnitude = p_value;
update_gravity();
break;
- case PhysicsServer::AREA_PARAM_GRAVITY_VECTOR:
+ case PhysicsServer3D::AREA_PARAM_GRAVITY_VECTOR:
gravityDirection = p_value;
update_gravity();
break;
- case PhysicsServer::AREA_PARAM_LINEAR_DAMP:
- case PhysicsServer::AREA_PARAM_ANGULAR_DAMP:
+ case PhysicsServer3D::AREA_PARAM_LINEAR_DAMP:
+ case PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP:
break; // No damp
- case PhysicsServer::AREA_PARAM_PRIORITY:
+ case PhysicsServer3D::AREA_PARAM_PRIORITY:
// Priority is always 0, the lower
break;
- case PhysicsServer::AREA_PARAM_GRAVITY_IS_POINT:
- case PhysicsServer::AREA_PARAM_GRAVITY_DISTANCE_SCALE:
- case PhysicsServer::AREA_PARAM_GRAVITY_POINT_ATTENUATION:
+ 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.");
@@ -394,22 +394,22 @@ void SpaceBullet::set_param(PhysicsServer::AreaParameter p_param, const Variant
}
}
-Variant SpaceBullet::get_param(PhysicsServer::AreaParameter p_param) {
+Variant SpaceBullet::get_param(PhysicsServer3D::AreaParameter p_param) {
switch (p_param) {
- case PhysicsServer::AREA_PARAM_GRAVITY:
+ case PhysicsServer3D::AREA_PARAM_GRAVITY:
return gravityMagnitude;
- case PhysicsServer::AREA_PARAM_GRAVITY_VECTOR:
+ case PhysicsServer3D::AREA_PARAM_GRAVITY_VECTOR:
return gravityDirection;
- case PhysicsServer::AREA_PARAM_LINEAR_DAMP:
- case PhysicsServer::AREA_PARAM_ANGULAR_DAMP:
+ case PhysicsServer3D::AREA_PARAM_LINEAR_DAMP:
+ case PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP:
return 0; // No damp
- case PhysicsServer::AREA_PARAM_PRIORITY:
+ case PhysicsServer3D::AREA_PARAM_PRIORITY:
return 0; // Priority is always 0, the lower
- case PhysicsServer::AREA_PARAM_GRAVITY_IS_POINT:
+ case PhysicsServer3D::AREA_PARAM_GRAVITY_IS_POINT:
return false;
- case PhysicsServer::AREA_PARAM_GRAVITY_DISTANCE_SCALE:
+ case PhysicsServer3D::AREA_PARAM_GRAVITY_DISTANCE_SCALE:
return 0;
- case PhysicsServer::AREA_PARAM_GRAVITY_POINT_ATTENUATION:
+ 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.");
@@ -417,32 +417,32 @@ Variant SpaceBullet::get_param(PhysicsServer::AreaParameter p_param) {
}
}
-void SpaceBullet::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) {
+void SpaceBullet::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value) {
switch (p_param) {
- case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS:
- case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION:
- case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION:
- case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
- case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD:
- case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP:
- case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
- case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
+ 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:
+ case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
+ case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
default:
WARN_PRINT("This set parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it.");
break;
}
}
-real_t SpaceBullet::get_param(PhysicsServer::SpaceParameter p_param) {
+real_t SpaceBullet::get_param(PhysicsServer3D::SpaceParameter p_param) {
switch (p_param) {
- case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS:
- case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION:
- case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION:
- case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
- case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD:
- case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP:
- case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
- case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
+ 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:
+ case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
+ case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
default:
WARN_PRINT("The SpaceBullet doesn't support this get parameter (" + itos(p_param) + "), 0 is returned.");
return 0.f;
@@ -511,7 +511,7 @@ 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 = NULL;
+ p_body->get_bt_soft_body()->m_worldInfo = nullptr;
}
}
}
@@ -539,7 +539,7 @@ 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(NULL);
+ colObj->set_space(nullptr);
}
}
@@ -636,8 +636,8 @@ void SpaceBullet::destroy_world() {
/// The world elements (like: Collision Objects, Constraints, Shapes) are managed by godot
- dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(NULL);
- dynamicsWorld->getPairCache()->setOverlapFilterCallback(NULL);
+ dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(nullptr);
+ dynamicsWorld->getPairCache()->setOverlapFilterCallback(nullptr);
bulletdelete(ghostPairCallback);
bulletdelete(godotFilterCallback);
@@ -645,7 +645,7 @@ void SpaceBullet::destroy_world() {
// Deallocate world
dynamicsWorld->~btDiscreteDynamicsWorld();
free(dynamicsWorld);
- dynamicsWorld = NULL;
+ dynamicsWorld = nullptr;
bulletdelete(solver);
bulletdelete(broadphase);
@@ -741,7 +741,7 @@ void SpaceBullet::check_ghost_overlaps() {
static_cast<btConvexShape *>(other_body_shape),
gjk_simplex_solver,
gjk_epa_pen_solver);
- gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
+ gjk_pair_detector.getClosestPoints(gjk_input, result, nullptr);
if (0 >= result.m_distance) {
hasOverlap = true;
@@ -750,10 +750,10 @@ void SpaceBullet::check_ghost_overlaps() {
} else {
- 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);
+ btCollisionObjectWrapper obA(nullptr, area_shape, area->get_bt_ghost(), gjk_input.m_transformA, -1, y);
+ btCollisionObjectWrapper obB(nullptr, other_body_shape, otherObject->get_bt_collision_object(), gjk_input.m_transformB, -1, z);
- btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS);
+ btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, nullptr, BT_CONTACT_POINT_ALGORITHMS);
if (!algorithm)
continue;
@@ -885,20 +885,20 @@ void SpaceBullet::update_gravity() {
#include "scene/3d/immediate_geometry.h"
-static ImmediateGeometry *motionVec(NULL);
-static ImmediateGeometry *normalLine(NULL);
+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 Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes) {
+bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes) {
#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(ImmediateGeometry);
- normalLine = memnew(ImmediateGeometry);
+ motionVec = memnew(ImmediateGeometry3D);
+ normalLine = memnew(ImmediateGeometry3D);
SceneTree::get_singleton()->get_current_scene()->add_child(motionVec);
SceneTree::get_singleton()->get_current_scene()->add_child(normalLine);
@@ -951,7 +951,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
Vector3 sup_line;
B_TO_G(body_safe_position.getOrigin(), sup_line);
motionVec->clear();
- motionVec->begin(Mesh::PRIMITIVE_LINES, NULL);
+ motionVec->begin(Mesh::PRIMITIVE_LINES, nullptr);
motionVec->add_vertex(sup_line);
motionVec->add_vertex(sup_line + p_motion * 10);
motionVec->end();
@@ -1028,7 +1028,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
Vector3 sup_line2;
B_TO_G(motion, sup_line2);
normalLine->clear();
- normalLine->begin(Mesh::PRIMITIVE_LINES, NULL);
+ 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();
@@ -1042,7 +1042,7 @@ 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, PhysicsServer::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, float p_margin) {
btTransform body_transform;
G_TO_B(p_transform, body_transform);
@@ -1054,7 +1054,7 @@ int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p
int rays_found_this_round = 0;
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
- PhysicsServer::SeparationResult *next_results = &r_results[rays_found];
+ 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;
@@ -1124,7 +1124,7 @@ public:
if (cs->getNumChildShapes() > 1) {
const btDbvt *tree = cs->getDynamicAabbTree();
- ERR_FAIL_COND_V(tree == NULL, true);
+ ERR_FAIL_COND_V(tree == nullptr, true);
// Transform bounds into compound shape local space
const btTransform other_in_compound_space = co->getWorldTransform().inverse();
@@ -1275,7 +1275,7 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt
// 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, 0);
+ 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);
@@ -1302,10 +1302,10 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
btTransform tA(p_transformA);
- btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, tA, -1, p_shapeId_A);
- btCollisionObjectWrapper obB(NULL, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);
+ 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, NULL, BT_CONTACT_POINT_ALGORITHMS);
+ btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, nullptr, BT_CONTACT_POINT_ALGORITHMS);
if (algorithm) {
GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB);
//discrete collision detection query
@@ -1333,7 +1333,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
return false;
}
-int SpaceBullet::add_separation_result(PhysicsServer::SeparationResult *r_result, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const {
+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) {
@@ -1355,7 +1355,7 @@ int SpaceBullet::add_separation_result(PhysicsServer::SeparationResult *r_result
}
}
-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, PhysicsServer::SeparationResult *r_results) {
+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;
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-20 15:32:58 +0000