diff options
Diffstat (limited to 'modules/bullet/space_bullet.h')
| -rw-r--r-- | modules/bullet/space_bullet.h | 38 |
1 files changed, 24 insertions, 14 deletions
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index 6e71a25773..a6c2786878 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -1,10 +1,9 @@ /*************************************************************************/ /* space_bullet.h */ -/* Author: AndreaCatania */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ -/* http://www.godotengine.org */ +/* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ @@ -32,17 +31,22 @@ #ifndef SPACE_BULLET_H #define SPACE_BULLET_H -#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" -#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" -#include "LinearMath/btScalar.h" -#include "LinearMath/btTransform.h" -#include "LinearMath/btVector3.h" #include "core/variant.h" #include "core/vector.h" #include "godot_result_callbacks.h" #include "rid_bullet.h" #include "servers/physics_server.h" +#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h> +#include <BulletCollision/BroadphaseCollision/btOverlappingPairCache.h> +#include <LinearMath/btScalar.h> +#include <LinearMath/btTransform.h> +#include <LinearMath/btVector3.h> + +/** + @author AndreaCatania +*/ + class AreaBullet; class btBroadphaseInterface; class btCollisionDispatcher; @@ -168,7 +172,7 @@ public: void update_gravity(); - bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, PhysicsServer::MotionResult *r_result); + bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result); private: void create_empty_world(bool p_create_soft_world); @@ -178,23 +182,29 @@ private: struct RecoverResult { bool hasPenetration; - btVector3 pointNormalWorld; + btVector3 normal; btVector3 pointWorld; - btScalar penetration_distance; // Negative is penetration + btScalar penetration_distance; // Negative mean penetration int other_compound_shape_index; const btCollisionObject *other_collision_object; int local_shape_most_recovered; RecoverResult() : - hasPenetration(false) {} + hasPenetration(false), + normal(0, 0, 0), + pointWorld(0, 0, 0), + penetration_distance(1e20), + other_compound_shape_index(0), + other_collision_object(NULL), + local_shape_most_recovered(0) {} }; - bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btVector3 &r_recover_position, RecoverResult *r_recover_result = NULL); + bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL); /// This is an API that recover a kinematic object from penetration /// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions - bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result); + bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL); /// This is an API that recover a kinematic object from penetration /// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm - bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result); + bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL); }; #endif |