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-rw-r--r--modules/bullet/bullet_physics_server.cpp3
-rw-r--r--modules/bullet/cone_twist_joint_bullet.cpp6
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp9
-rw-r--r--modules/bullet/hinge_joint_bullet.cpp6
-rw-r--r--modules/bullet/pin_joint_bullet.cpp3
-rw-r--r--modules/bullet/rigid_body_bullet.h2
-rw-r--r--modules/bullet/shape_bullet.cpp3
-rw-r--r--modules/bullet/space_bullet.cpp10
-rw-r--r--modules/bullet/space_bullet.h2
9 files changed, 19 insertions, 25 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 038001996d..e01928191a 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -1548,8 +1548,7 @@ void BulletPhysicsServer::free(RID p_rid) {
bulletdelete(space);
} else {
- ERR_EXPLAIN("Invalid ID");
- ERR_FAIL();
+ ERR_FAIL_MSG("Invalid ID.");
}
}
diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp
index bc7fd52cf6..97b9a81f77 100644
--- a/modules/bullet/cone_twist_joint_bullet.cpp
+++ b/modules/bullet/cone_twist_joint_bullet.cpp
@@ -83,8 +83,7 @@ void ConeTwistJointBullet::set_param(PhysicsServer::ConeTwistJointParam p_param,
coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), coneConstraint->getBiasFactor(), p_value);
break;
default:
- ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
- WARN_DEPRECATED;
+ WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
break;
}
}
@@ -102,8 +101,7 @@ real_t ConeTwistJointBullet::get_param(PhysicsServer::ConeTwistJointParam p_para
case PhysicsServer::CONE_TWIST_JOINT_RELAXATION:
return coneConstraint->getRelaxationFactor();
default:
- ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
- WARN_DEPRECATED;
+ WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
return 0;
}
}
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index 0d2c46c579..4aae87c220 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -174,8 +174,7 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint = p_value;
break;
default:
- ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
- WARN_DEPRECATED;
+ WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
break;
}
}
@@ -216,8 +215,7 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint;
default:
- ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
- WARN_DEPRECATED;
+ WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
return 0;
}
}
@@ -255,8 +253,7 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableSpring = p_value;
break;
default:
- ERR_EXPLAIN("This flag " + itos(p_flag) + " is deprecated");
- WARN_DEPRECATED;
+ WARN_DEPRECATED_MSG("The flag " + itos(p_flag) + " is deprecated.");
break;
}
}
diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp
index b7e1e1a4c2..4d26e729db 100644
--- a/modules/bullet/hinge_joint_bullet.cpp
+++ b/modules/bullet/hinge_joint_bullet.cpp
@@ -117,8 +117,7 @@ void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t
hingeConstraint->setMaxMotorImpulse(p_value);
break;
default:
- ERR_EXPLAIN("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
- WARN_DEPRECATED;
+ WARN_DEPRECATED_MSG("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
break;
}
}
@@ -143,8 +142,7 @@ real_t HingeJointBullet::get_param(PhysicsServer::HingeJointParam p_param) const
case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE:
return hingeConstraint->getMaxMotorImpulse();
default:
- ERR_EXPLAIN("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
- WARN_DEPRECATED;
+ WARN_DEPRECATED_MSG("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
return 0;
}
}
diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp
index c9c4d1af7e..8d404e7f04 100644
--- a/modules/bullet/pin_joint_bullet.cpp
+++ b/modules/bullet/pin_joint_bullet.cpp
@@ -85,8 +85,7 @@ real_t PinJointBullet::get_param(PhysicsServer::PinJointParam p_param) const {
case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP:
return p2pConstraint->m_setting.m_impulseClamp;
default:
- ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
- WARN_DEPRECATED;
+ WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
return 0;
}
}
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 2c9bdb8b0b..f63148092f 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -305,7 +305,7 @@ public:
void reload_axis_lock();
/// Doc:
- /// http://www.bulletphysics.org/mediawiki-1.5.8/index.php?title=Anti_tunneling_by_Motion_Clamping
+ /// https://web.archive.org/web/20180404091446/http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Anti_tunneling_by_Motion_Clamping
void set_continuous_collision_detection(bool p_enable);
bool is_continuous_collision_detection_enabled() const;
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index f15bcec914..85f47c3bbb 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -505,8 +505,7 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
}
} else {
- ERR_EXPLAIN("Expected PoolRealArray or float Image.");
- ERR_FAIL();
+ ERR_FAIL_MSG("Expected PoolRealArray or float Image.");
}
ERR_FAIL_COND(l_width <= 0);
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 738b415d16..d2b16b0fd1 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -582,6 +582,8 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) {
world_mem = malloc(sizeof(btDiscreteDynamicsWorld));
}
+ ERR_FAIL_COND_MSG(!world_mem, "Out of memory.");
+
if (p_create_soft_world) {
collisionConfiguration = bulletnew(GodotSoftCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem)));
} else {
@@ -1230,7 +1232,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
ERR_FAIL_COND_V(shape_idx < 0 || shape_idx >= cs->getNumChildShapes(), false);
if (cs->getChildShape(shape_idx)->isConvex()) {
- if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
+ if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
penetration = true;
}
@@ -1241,7 +1243,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
}
}
} else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape
- if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
+ if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
penetration = true;
}
@@ -1257,7 +1259,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
return penetration;
}
-bool SpaceBullet::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) {
+bool SpaceBullet::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) {
// Initialize GJK input
btGjkPairDetector::ClosestPointInput gjk_input;
@@ -1275,6 +1277,7 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt
if (r_recover_result) {
if (result.m_distance < r_recover_result->penetration_distance) {
r_recover_result->hasPenetration = true;
+ r_recover_result->local_shape_most_recovered = p_shapeId_A;
r_recover_result->other_collision_object = p_objectB;
r_recover_result->other_compound_shape_index = p_shapeId_B;
r_recover_result->penetration_distance = result.m_distance;
@@ -1310,6 +1313,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
if (r_recover_result) {
if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {
r_recover_result->hasPenetration = true;
+ r_recover_result->local_shape_most_recovered = p_shapeId_A;
r_recover_result->other_collision_object = p_objectB;
r_recover_result->other_compound_shape_index = p_shapeId_B;
r_recover_result->penetration_distance = contactPointResult.m_penetration_distance;
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index eb4a065e54..ecf8a2db9d 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -208,7 +208,7 @@ 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);
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-06 07:23:55 +0000