diff options
Diffstat (limited to 'modules/bullet/space_bullet.h')
| -rw-r--r-- | modules/bullet/space_bullet.h | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index 67ab5c610d..ecf8a2db9d 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2019 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 */ @@ -57,7 +57,7 @@ class btDiscreteDynamicsWorld; class btEmptyShape; class btGhostPairCallback; class btSoftRigidDynamicsWorld; -class btSoftBodyWorldInfo; +struct btSoftBodyWorldInfo; class ConstraintBullet; class CollisionObjectBullet; class RigidBodyBullet; @@ -68,7 +68,8 @@ class btGjkEpaPenetrationDepthSolver; extern ContactAddedCallback gContactAddedCallback; class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState { - GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState) + GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState); + private: SpaceBullet *space; @@ -96,9 +97,9 @@ class SpaceBullet : public RIDBullet { btCollisionDispatcher *dispatcher; btConstraintSolver *solver; btDiscreteDynamicsWorld *dynamicsWorld; + btSoftBodyWorldInfo *soft_body_world_info; btGhostPairCallback *ghostPairCallback; GodotFilterCallback *godotFilterCallback; - btSoftBodyWorldInfo *soft_body_world_info; btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver; btVoronoiSimplexSolver *gjk_simplex_solver; @@ -207,11 +208,12 @@ private: 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, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL); + bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, 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); /// 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, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL); + int add_separation_result(PhysicsServer::SeparationResult *r_results, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const; int 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); }; #endif |