diff options
Diffstat (limited to 'modules/bullet')
| -rw-r--r-- | modules/bullet/SCsub | 2 | ||||
| -rw-r--r-- | modules/bullet/area_bullet.cpp | 7 | ||||
| -rw-r--r-- | modules/bullet/bullet_physics_server.h | 2 | ||||
| -rw-r--r-- | modules/bullet/godot_result_callbacks.h | 5 | ||||
| -rw-r--r-- | modules/bullet/rigid_body_bullet.cpp | 20 |
5 files changed, 26 insertions, 10 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub index b82eddde1c..2557e8cb1d 100644 --- a/modules/bullet/SCsub +++ b/modules/bullet/SCsub @@ -68,7 +68,7 @@ if env['builtin_bullet']: , "BulletCollision/CollisionShapes/btEmptyShape.cpp" , "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp" , "BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp" - , "BulletCollision/CollisionShapes/btMiniSDF.cpp" + , "BulletCollision/CollisionShapes/btMiniSDF.cpp" , "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp" , "BulletCollision/CollisionShapes/btMultiSphereShape.cpp" , "BulletCollision/CollisionShapes/btOptimizedBvh.cpp" diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp index f1da454e2e..3200b4a214 100644 --- a/modules/bullet/area_bullet.cpp +++ b/modules/bullet/area_bullet.cpp @@ -30,6 +30,7 @@ #include "area_bullet.h" +#include "bullet_physics_server.h" #include "bullet_types_converter.h" #include "bullet_utilities.h" #include "collision_object_bullet.h" @@ -57,6 +58,7 @@ AreaBullet::AreaBullet() : spOv_priority(0) { btGhost = bulletnew(btGhostObject); + btGhost->setCollisionShape(BulletPhysicsServer::get_empty_shape()); setupBulletCollisionObject(btGhost); /// Collision objects with a callback still have collision response with dynamic rigid bodies. /// In order to use collision objects as trigger, you have to disable the collision response. @@ -162,7 +164,10 @@ bool AreaBullet::is_monitoring() const { } void AreaBullet::main_shape_resetted() { - btGhost->setCollisionShape(get_main_shape()); + if (get_main_shape()) + btGhost->setCollisionShape(get_main_shape()); + else + btGhost->setCollisionShape(BulletPhysicsServer::get_empty_shape()); } void AreaBullet::reload_body() { diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h index e9c568d605..87719383f8 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -61,7 +61,7 @@ class BulletPhysicsServer : public PhysicsServer { mutable RID_Owner<JointBullet> joint_owner; private: - /// This is used when a collision shape is not active, so the bullet compound shapes index are always sync with godot index + /// This is used as replacement of collision shape inside a compound or main shape static btEmptyShape *emptyShape; public: diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h index 61247e2a7a..8e70b72841 100644 --- a/modules/bullet/godot_result_callbacks.h +++ b/modules/bullet/godot_result_callbacks.h @@ -74,7 +74,10 @@ public: virtual bool needsCollision(btBroadphaseProxy *proxy0) const; virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace) { - m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID + if (rayResult.m_localShapeInfo) + m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID + else + m_shapeId = 0; return btCollisionWorld::ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace); } }; diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 2974d6b3e4..2d0e74eb6f 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -279,7 +279,7 @@ RigidBodyBullet::RigidBodyBullet() : // Initial properties const btVector3 localInertia(0, 0, 0); - btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, NULL, localInertia); + btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, BulletPhysicsServer::get_empty_shape(), localInertia); btBody = bulletnew(btRigidBody(cInfo)); setupBulletCollisionObject(btBody); @@ -315,7 +315,11 @@ void RigidBodyBullet::destroy_kinematic_utilities() { } void RigidBodyBullet::main_shape_resetted() { - btBody->setCollisionShape(get_main_shape()); + if (get_main_shape()) + btBody->setCollisionShape(get_main_shape()); + else + btBody->setCollisionShape(BulletPhysicsServer::get_empty_shape()); + set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset } void RigidBodyBullet::reload_body() { @@ -716,15 +720,19 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) { if (p_enable) { // This threshold enable CCD if the object moves more than // 1 meter in one simulation frame - btBody->setCcdMotionThreshold(1); + btBody->setCcdMotionThreshold(0.1); /// Calculate using the rule writte below the CCD swept sphere radius /// CCD works on an embedded sphere of radius, make sure this radius /// is embedded inside the convex objects, preferably smaller: /// for an object of dimensions 1 meter, try 0.2 - btVector3 center; btScalar radius; - btBody->getCollisionShape()->getBoundingSphere(center, radius); + if (btBody->getCollisionShape()) { + btVector3 center; + btBody->getCollisionShape()->getBoundingSphere(center, radius); + } else { + radius = 0; + } btBody->setCcdSweptSphereRadius(radius * 0.2); } else { btBody->setCcdMotionThreshold(0.); @@ -733,7 +741,7 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) { } bool RigidBodyBullet::is_continuous_collision_detection_enabled() const { - return 0. != btBody->getCcdMotionThreshold(); + return 0. < btBody->getCcdMotionThreshold(); } void RigidBodyBullet::set_linear_velocity(const Vector3 &p_velocity) { |