diff options
Diffstat (limited to 'modules/bullet/space_bullet.h')
| -rw-r--r-- | modules/bullet/space_bullet.h | 39 |
1 files changed, 31 insertions, 8 deletions
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index b36896650b..99bcfb8563 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -59,6 +59,7 @@ class CollisionObjectBullet; class RigidBodyBullet; class SpaceBullet; class SoftBodyBullet; +class btGjkEpaPenetrationDepthSolver; class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState { GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState) @@ -68,13 +69,13 @@ private: public: BulletPhysicsDirectSpaceState(SpaceBullet *p_space); - virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); - virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, bool p_pick_ray = false); - virtual int 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 = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); - virtual bool 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 = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, ShapeRestInfo *r_info = NULL); + virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF); + virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_pick_ray = false); + virtual int 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF); + virtual bool 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, ShapeRestInfo *r_info = NULL); /// Returns the list of contacts pairs in this order: Local contact, other body contact - virtual bool 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 = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); - virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); + virtual bool 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF); + virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF); virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const; }; @@ -93,6 +94,9 @@ private: GodotFilterCallback *godotFilterCallback; btSoftBodyWorldInfo *soft_body_world_info; + btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver; + btVoronoiSimplexSolver *gjk_simplex_solver; + BulletPhysicsDirectSpaceState *direct_access; Vector3 gravityDirection; real_t gravityMagnitude; @@ -164,7 +168,7 @@ public: void update_gravity(); - bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer::MotionResult *r_result); + bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, PhysicsServer::MotionResult *r_result); private: void create_empty_world(bool p_create_soft_world); @@ -172,6 +176,25 @@ private: void check_ghost_overlaps(); void check_body_collision(); - bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_maxPenetrationDepth, btScalar p_depenetration_speed, btVector3 &out_recover_position); + struct RecoverResult { + bool hasPenetration; + btVector3 pointNormalWorld; + btVector3 pointWorld; + btScalar penetration_distance; // Negative is penetration + int other_compound_shape_index; + const btCollisionObject *other_collision_object; + int local_shape_most_recovered; + + RecoverResult() + : hasPenetration(false) {} + }; + + bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btVector3 &r_recover_position, 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); + /// 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); }; #endif |