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-rw-r--r--modules/bullet/space_bullet.cpp225
1 files changed, 190 insertions, 35 deletions
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 971fd39509..e8e6fc4d07 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -36,6 +36,7 @@
#include "constraint_bullet.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"
@@ -60,7 +61,7 @@ BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_spac
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_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, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0)
return 0;
@@ -68,13 +69,13 @@ int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, Shape
btVector3 bt_point;
G_TO_B(p_point, bt_point);
- btSphereShape sphere_point(0.f);
+ btSphereShape sphere_point(0.001f);
btCollisionObject collision_object_point;
collision_object_point.setCollisionShape(&sphere_point);
collision_object_point.setWorldTransform(btTransform(btQuaternion::getIdentity(), bt_point));
// Setup query
- GodotAllContactResultCallback btResult(&collision_object_point, r_results, p_result_max, &p_exclude);
+ GodotAllContactResultCallback btResult(&collision_object_point, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btResult.m_collisionFilterGroup = 0;
btResult.m_collisionFilterMask = p_collision_mask;
space->dynamicsWorld->contactTest(&collision_object_point, btResult);
@@ -83,7 +84,7 @@ int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, Shape
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_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_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) {
btVector3 btVec_from;
btVector3 btVec_to;
@@ -92,7 +93,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V
G_TO_B(p_to, btVec_to);
// setup query
- GodotClosestRayResultCallback btResult(btVec_from, btVec_to, &p_exclude);
+ GodotClosestRayResultCallback btResult(btVec_from, btVec_to, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btResult.m_collisionFilterGroup = 0;
btResult.m_collisionFilterMask = p_collision_mask;
btResult.m_pickRay = p_pick_ray;
@@ -116,7 +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) {
+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) {
if (p_result_max <= 0)
return 0;
@@ -138,7 +139,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
collision_object.setCollisionShape(btConvex);
collision_object.setWorldTransform(bt_xform);
- GodotAllContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude);
+ GodotAllContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
btQuery.m_closestDistanceThreshold = 0;
@@ -149,7 +150,7 @@ 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_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, 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);
@@ -170,14 +171,16 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
btTransform bt_xform_to(bt_xform_from);
bt_xform_to.getOrigin() += bt_motion;
- GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude);
+ GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude, p_collide_with_bodies, p_collide_with_areas);
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);
if (btResult.hasHit()) {
- p_closest_safe = p_closest_unsafe = btResult.m_closestHitFraction;
+ 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);
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);
@@ -196,7 +199,7 @@ 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 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) {
if (p_result_max <= 0)
return 0;
@@ -218,7 +221,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
collision_object.setCollisionShape(btConvex);
collision_object.setWorldTransform(bt_xform);
- GodotContactPairContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude);
+ GodotContactPairContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
btQuery.m_closestDistanceThreshold = 0;
@@ -230,7 +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_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, bool p_collide_with_bodies, bool p_collide_with_areas) {
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
@@ -250,7 +253,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
collision_object.setCollisionShape(btConvex);
collision_object.setWorldTransform(bt_xform);
- GodotRestInfoContactResultCallback btQuery(&collision_object, r_info, &p_exclude);
+ GodotRestInfoContactResultCallback btQuery(&collision_object, r_info, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
btQuery.m_closestDistanceThreshold = 0;
@@ -325,7 +328,7 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_
}
}
-SpaceBullet::SpaceBullet(bool p_create_soft_world) :
+SpaceBullet::SpaceBullet() :
broadphase(NULL),
dispatcher(NULL),
solver(NULL),
@@ -338,7 +341,7 @@ SpaceBullet::SpaceBullet(bool p_create_soft_world) :
gravityMagnitude(10),
contactDebugCount(0) {
- create_empty_world(p_create_soft_world);
+ create_empty_world(GLOBAL_DEF("physics/3d/active_soft_world", true));
direct_access = memnew(BulletPhysicsDirectSpaceState(this));
}
@@ -355,6 +358,7 @@ void SpaceBullet::flush_queries() {
}
void SpaceBullet::step(real_t p_delta_time) {
+ delta_time = p_delta_time;
dynamicsWorld->stepSimulation(p_delta_time, 0, 0);
}
@@ -483,6 +487,7 @@ void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) {
void SpaceBullet::add_soft_body(SoftBodyBullet *p_body) {
if (is_using_soft_world()) {
if (p_body->get_bt_soft_body()) {
+ p_body->get_bt_soft_body()->m_worldInfo = get_soft_body_world_info();
static_cast<btSoftRigidDynamicsWorld *>(dynamicsWorld)->addSoftBody(p_body->get_bt_soft_body(), p_body->get_collision_layer(), p_body->get_collision_mask());
}
} else {
@@ -494,6 +499,7 @@ 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;
}
}
}
@@ -549,7 +555,13 @@ BulletPhysicsDirectSpaceState *SpaceBullet::get_direct_state() {
}
btScalar calculateGodotCombinedRestitution(const btCollisionObject *body0, const btCollisionObject *body1) {
- return MAX(body0->getRestitution(), body1->getRestitution());
+
+ return CLAMP(body0->getRestitution() + body1->getRestitution(), 0, 1);
+}
+
+btScalar calculateGodotCombinedFriction(const btCollisionObject *body0, const btCollisionObject *body1) {
+
+ return ABS(MIN(body0->getFriction(), body1->getFriction()));
}
void SpaceBullet::create_empty_world(bool p_create_soft_world) {
@@ -585,6 +597,7 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) {
ghostPairCallback = bulletnew(btGhostPairCallback);
godotFilterCallback = bulletnew(GodotFilterCallback);
gCalculateCombinedRestitutionCallback = &calculateGodotCombinedRestitution;
+ gCalculateCombinedFrictionCallback = &calculateGodotCombinedFriction;
dynamicsWorld->setWorldUserInfo(this);
@@ -629,7 +642,7 @@ 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;
@@ -645,7 +658,7 @@ void SpaceBullet::check_ghost_overlaps() {
/// 1. Reset all states
for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) {
- AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects[i];
+ AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects.write[i];
// This check prevent the overwrite of ENTER state
// if this function is called more times before dispatchCallbacks
if (otherObj.state != AreaBullet::OVERLAP_STATE_ENTER) {
@@ -681,20 +694,42 @@ void SpaceBullet::check_ghost_overlaps() {
// For each other object shape
for (z = otherObject->get_compound_shape()->getNumChildShapes() - 1; 0 <= z; --z) {
- if (!otherObject->get_compound_shape()->getChildShape(z)->isConvex())
- continue;
-
- other_body_shape = static_cast<btConvexShape *>(otherObject->get_compound_shape()->getChildShape(z));
+ other_body_shape = static_cast<btCollisionShape *>(otherObject->get_compound_shape()->getChildShape(z));
gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_compound_shape()->getChildTransform(z);
- 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 (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 {
+
+ 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);
+
+ btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS);
+
+ 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
@@ -754,19 +789,20 @@ void SpaceBullet::check_body_collision() {
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, pt.m_index1, pt.m_index0);
+ 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, pt.m_index0, pt.m_index1);
+ bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1);
}
#ifdef DEBUG_ENABLED
@@ -807,7 +843,7 @@ static Ref<SpatialMaterial> red_mat;
static Ref<SpatialMaterial> 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 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) {
#if debug_test_motion
/// Yes I know this is not good, but I've used it as fast debugging hack.
@@ -882,6 +918,12 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
// Skip no convex shape
continue;
}
+
+ if (p_exclude_raycast_shapes && p_body->get_bt_shape(shIndex)->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
+ // Skip rayshape in order to implement custom separation process
+ continue;
+ }
+
btConvexShape *convex_shape_test(static_cast<btConvexShape *>(p_body->get_bt_shape(shIndex)));
btTransform shape_world_from = body_transform * p_body->get_kinematic_utilities()->shapes[shIndex].transform;
@@ -912,11 +954,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
btVector3 __rec(0, 0, 0);
RecoverResult r_recover_result;
- has_penetration = recover_from_penetration(p_body, body_transform, 0, p_infinite_inertia, __rec, &r_recover_result);
+ has_penetration = recover_from_penetration(p_body, body_transform, 1, p_infinite_inertia, __rec, &r_recover_result);
// Parse results
if (r_result) {
- B_TO_G(motion + initial_recover_motion, r_result->motion);
+ B_TO_G(motion + initial_recover_motion + __rec, r_result->motion);
if (has_penetration) {
@@ -952,6 +994,39 @@ 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) {
+
+ btTransform body_transform;
+ G_TO_B(p_transform, body_transform);
+ UNSCALE_BT_BASIS(body_transform);
+
+ btVector3 recover_motion(0, 0, 0);
+
+ int rays_found = 0;
+
+ for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
+ int last_ray_index = recover_from_penetration_ray(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, p_result_max, recover_motion, r_results);
+
+ rays_found = MAX(last_ray_index, rays_found);
+ if (!rays_found) {
+ break;
+ } else {
+ body_transform.getOrigin() += recover_motion;
+ }
+ }
+
+ //optimize results (remove non colliding)
+ for (int i = 0; i < rays_found; i++) {
+ if (r_results[i].collision_depth >= 0) {
+ rays_found--;
+ SWAP(r_results[i], r_results[rays_found]);
+ }
+ }
+
+ B_TO_G(recover_motion, r_recover_motion);
+ return rays_found;
+}
+
struct RecoverPenetrationBroadPhaseCallback : public btBroadphaseAabbCallback {
private:
const btCollisionObject *self_collision_object;
@@ -1008,6 +1083,11 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
continue;
}
+ if (kin_shape.shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
+ // Skip rayshape in order to implement custom separation process
+ continue;
+ }
+
body_shape_position = p_body_position * kin_shape.transform;
body_shape_position_recovered = body_shape_position;
body_shape_position_recovered.getOrigin() += r_delta_recover_movement;
@@ -1110,7 +1190,6 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
if (contactPointResult.hasHit()) {
r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1 * p_recover_movement_scale);
-
if (r_recover_result) {
if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {
r_recover_result->hasPenetration = true;
@@ -1126,3 +1205,79 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
}
return false;
}
+
+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) {
+
+ RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
+
+ btTransform body_shape_position;
+ btTransform body_shape_position_recovered;
+
+ // Broad phase support
+ btVector3 minAabb, maxAabb;
+
+ int ray_index = 0;
+
+ // For each shape
+ for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
+
+ recover_broad_result.reset();
+
+ if (ray_index >= p_result_max) {
+ break;
+ }
+
+ const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
+ if (!kin_shape.is_active()) {
+ continue;
+ }
+
+ if (kin_shape.shape->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE) {
+ continue;
+ }
+
+ body_shape_position = p_body_position * kin_shape.transform;
+ body_shape_position_recovered = body_shape_position;
+ body_shape_position_recovered.getOrigin() += r_delta_recover_movement;
+
+ kin_shape.shape->getAabb(body_shape_position_recovered, minAabb, maxAabb);
+ dynamicsWorld->getBroadphase()->aabbTest(minAabb, maxAabb, recover_broad_result);
+
+ for (int i = recover_broad_result.result_collision_objects.size() - 1; 0 <= i; --i) {
+ btCollisionObject *otherObject = recover_broad_result.result_collision_objects[i];
+ if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) {
+ otherObject->activate(); // Force activation of hitten rigid, soft body
+ continue;
+ } else if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()))
+ continue;
+
+ if (otherObject->getCollisionShape()->isCompound()) {
+
+ // Each convex shape
+ btCompoundShape *cs = static_cast<btCompoundShape *>(otherObject->getCollisionShape());
+ for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) {
+
+ RecoverResult r_recover_result;
+ if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_delta_recover_movement, &r_recover_result)) {
+
+ const btRigidBody *btRigid = static_cast<const btRigidBody *>(otherObject);
+ CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(otherObject->getUserPointer());
+
+ r_results[ray_index].collision_depth = r_recover_result.penetration_distance;
+ B_TO_G(r_recover_result.pointWorld, r_results[ray_index].collision_point);
+ B_TO_G(r_recover_result.normal, r_results[ray_index].collision_normal);
+ B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_results[ray_index].collider_velocity);
+ r_results[ray_index].collision_local_shape = kinIndex;
+ r_results[ray_index].collider_id = collisionObject->get_instance_id();
+ r_results[ray_index].collider = collisionObject->get_self();
+ r_results[ray_index].collider_shape = r_recover_result.other_compound_shape_index;
+ }
+ }
+ }
+ }
+
+ ++ray_index;
+ }
+
+ return ray_index;
+}
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-15 14:37:51 +0000