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-rw-r--r--modules/bullet/space_bullet.h92
1 files changed, 45 insertions, 47 deletions
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 3d4a2aeceb..0f2482e551 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
@@ -31,8 +31,8 @@
#ifndef SPACE_BULLET_H
#define SPACE_BULLET_H
-#include "core/variant.h"
-#include "core/vector.h"
+#include "core/templates/vector.h"
+#include "core/variant/variant.h"
#include "godot_result_callbacks.h"
#include "rid_bullet.h"
#include "servers/physics_server_3d.h"
@@ -76,46 +76,45 @@ 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_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
- 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_collide_with_bodies = true, bool p_collide_with_areas = false, 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, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
- virtual bool 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr);
+ 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, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
+ 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_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override;
+ 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, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
+ virtual bool 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override;
/// 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_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
- 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, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
- virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const;
+ 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, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
+ 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, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
+ virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override;
};
class SpaceBullet : public RIDBullet {
-
friend class AreaBullet;
friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep);
friend class BulletPhysicsDirectSpaceState;
- btBroadphaseInterface *broadphase;
- btDefaultCollisionConfiguration *collisionConfiguration;
- btCollisionDispatcher *dispatcher;
- btConstraintSolver *solver;
- btDiscreteDynamicsWorld *dynamicsWorld;
- btSoftBodyWorldInfo *soft_body_world_info;
- btGhostPairCallback *ghostPairCallback;
- GodotFilterCallback *godotFilterCallback;
+ btBroadphaseInterface *broadphase = nullptr;
+ btDefaultCollisionConfiguration *collisionConfiguration = nullptr;
+ btCollisionDispatcher *dispatcher = nullptr;
+ btConstraintSolver *solver = nullptr;
+ btDiscreteDynamicsWorld *dynamicsWorld = nullptr;
+ btSoftBodyWorldInfo *soft_body_world_info = nullptr;
+ btGhostPairCallback *ghostPairCallback = nullptr;
+ GodotFilterCallback *godotFilterCallback = nullptr;
btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver;
btVoronoiSimplexSolver *gjk_simplex_solver;
BulletPhysicsDirectSpaceState *direct_access;
- Vector3 gravityDirection;
- real_t gravityMagnitude;
+ Vector3 gravityDirection = Vector3(0, -1, 0);
+ real_t gravityMagnitude = 10;
- real_t linear_damp;
- real_t angular_damp;
+ real_t linear_damp = 0.0;
+ real_t angular_damp = 0.0;
Vector<AreaBullet *> areas;
Vector<Vector3> contactDebug;
- int contactDebugCount;
- real_t delta_time;
+ int contactDebugCount = 0;
+ real_t delta_time = 0.;
public:
SpaceBullet();
@@ -125,9 +124,12 @@ public:
real_t get_delta_time() { return delta_time; }
void step(real_t p_delta_time);
- _FORCE_INLINE_ btBroadphaseInterface *get_broadphase() { return broadphase; }
- _FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() { return dispatcher; }
- _FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() { return soft_body_world_info; }
+ _FORCE_INLINE_ btBroadphaseInterface *get_broadphase() const { return broadphase; }
+ _FORCE_INLINE_ btDefaultCollisionConfiguration *get_collision_configuration() const { return collisionConfiguration; }
+ _FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() const { return dispatcher; }
+ _FORCE_INLINE_ btConstraintSolver *get_solver() const { return solver; }
+ _FORCE_INLINE_ btDiscreteDynamicsWorld *get_dynamic_world() const { return dynamicsWorld; }
+ _FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() const { return soft_body_world_info; }
_FORCE_INLINE_ bool is_using_soft_world() { return soft_body_world_info; }
/// Used to set some parameters to Bullet world
@@ -149,6 +151,7 @@ public:
void reload_collision_filters(AreaBullet *p_area);
void add_rigid_body(RigidBodyBullet *p_body);
+ void remove_rigid_body_constraints(RigidBodyBullet *p_body);
void remove_rigid_body(RigidBodyBullet *p_body);
void reload_collision_filters(RigidBodyBullet *p_body);
@@ -165,12 +168,14 @@ public:
BulletPhysicsDirectSpaceState *get_direct_state();
void set_debug_contacts(int p_amount) { contactDebug.resize(p_amount); }
- _FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.empty(); }
+ _FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.is_empty(); }
_FORCE_INLINE_ void reset_debug_contact_count() {
contactDebugCount = 0;
}
_FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) {
- if (contactDebugCount < contactDebug.size()) contactDebug.write[contactDebugCount++] = p_contact;
+ if (contactDebugCount < contactDebug.size()) {
+ contactDebug.write[contactDebugCount++] = p_contact;
+ }
}
_FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; }
_FORCE_INLINE_ int get_debug_contact_count() { return contactDebugCount; }
@@ -193,22 +198,15 @@ private:
void check_body_collision();
struct RecoverResult {
- bool hasPenetration;
- btVector3 normal;
- btVector3 pointWorld;
- btScalar penetration_distance; // Negative mean penetration
- int other_compound_shape_index;
- const btCollisionObject *other_collision_object;
- int local_shape_most_recovered;
-
- RecoverResult() :
- hasPenetration(false),
- normal(0, 0, 0),
- pointWorld(0, 0, 0),
- penetration_distance(1e20),
- other_compound_shape_index(0),
- other_collision_object(nullptr),
- local_shape_most_recovered(0) {}
+ bool hasPenetration = false;
+ btVector3 normal = btVector3(0, 0, 0);
+ btVector3 pointWorld = btVector3(0, 0, 0);
+ btScalar penetration_distance = 1e20; // Negative mean penetration
+ int other_compound_shape_index = 0;
+ const btCollisionObject *other_collision_object = nullptr;
+ int local_shape_most_recovered = 0;
+
+ RecoverResult() {}
};
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 = nullptr);
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-09 22:56:09 +0000