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-rw-r--r--modules/bullet/space_bullet.cpp59
1 files changed, 37 insertions, 22 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 404cb8e37b..fed12cd5ed 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -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);
@@ -175,12 +175,15 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
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);
+ space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, space->dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
+
+ 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
@@ -329,16 +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));
@@ -536,17 +540,20 @@ void onBulletPreTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep
void onBulletTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) {
- // Notify all Collision objects the collision checker is started
const btCollisionObjectArray &colObjArray = p_dynamicsWorld->getCollisionObjectArray();
+
+ // Notify all Collision objects the collision checker is started
for (int i = colObjArray.size() - 1; 0 <= i; --i) {
- CollisionObjectBullet *colObj = static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer());
- assert(NULL != colObj);
- colObj->on_collision_checker_start();
+ 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() {
@@ -567,7 +574,6 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) {
gjk_epa_pen_solver = bulletnew(btGjkEpaPenetrationDepthSolver);
gjk_simplex_solver = bulletnew(btVoronoiSimplexSolver);
- gjk_simplex_solver->setEqualVertexThreshold(0.f);
void *world_mem;
if (p_create_soft_world) {
@@ -577,7 +583,7 @@ 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)));
}
@@ -646,7 +652,6 @@ void SpaceBullet::check_ghost_overlaps() {
btConvexShape *area_shape;
btGjkPairDetector::ClosestPointInput gjk_input;
AreaBullet *area;
- RigidCollisionObjectBullet *otherObject;
int x(-1), i(-1), y(-1), z(-1), indexOverlap(-1);
/// For each areas
@@ -673,13 +678,17 @@ void SpaceBullet::check_ghost_overlaps() {
// For each overlapping
for (i = ghostOverlaps.size() - 1; 0 <= i; --i) {
- if (ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_AREA) {
- if (!static_cast<AreaBullet *>(ghostOverlaps[i]->getUserPointer())->is_monitorable())
- continue;
- } else if (ghostOverlaps[i]->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY)
+ btCollisionObject *overlapped_bt_co = ghostOverlaps[i];
+ RigidCollisionObjectBullet *otherObject = static_cast<RigidCollisionObjectBullet *>(overlapped_bt_co->getUserPointer());
+
+ if (!area->is_transform_changed() && !otherObject->is_transform_changed())
continue;
- otherObject = static_cast<RigidCollisionObjectBullet *>(ghostOverlaps[i]->getUserPointer());
+ if (overlapped_bt_co->getUserIndex() == CollisionObjectBullet::TYPE_AREA) {
+ if (!static_cast<AreaBullet *>(overlapped_bt_co->getUserPointer())->is_monitorable())
+ continue;
+ } else if (overlapped_bt_co->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY)
+ continue;
bool hasOverlap = false;
@@ -777,16 +786,22 @@ void SpaceBullet::check_body_collision() {
}
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
- // Since I don't need report all contacts for these objects, I'll report only the first
if (numContacts) {
btManifoldPoint &pt = contactManifold->getContactPoint(0);
#endif
- if (pt.getDistance() <= 0.0) {
+ if (
+ pt.getDistance() <= 0.0 ||
+ bodyA->was_colliding(bodyB) ||
+ bodyB->was_colliding(bodyA)) {
+
Vector3 collisionWorldPosition;
Vector3 collisionLocalPosition;
Vector3 normalOnB;
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-10 16:41:50 +0000