diff options
Diffstat (limited to 'modules/bullet')
| -rw-r--r-- | modules/bullet/SCsub | 4 | ||||
| -rw-r--r-- | modules/bullet/area_bullet.cpp | 28 | ||||
| -rw-r--r-- | modules/bullet/area_bullet.h | 26 | ||||
| -rw-r--r-- | modules/bullet/bullet_physics_server.cpp | 42 | ||||
| -rw-r--r-- | modules/bullet/bullet_physics_server.h | 380 | ||||
| -rw-r--r-- | modules/bullet/bullet_types_converter.cpp | 59 | ||||
| -rw-r--r-- | modules/bullet/collision_object_bullet.cpp | 76 | ||||
| -rw-r--r-- | modules/bullet/collision_object_bullet.h | 50 | ||||
| -rw-r--r-- | modules/bullet/rigid_body_bullet.cpp | 160 | ||||
| -rw-r--r-- | modules/bullet/rigid_body_bullet.h | 126 | ||||
| -rw-r--r-- | modules/bullet/shape_bullet.cpp | 60 | ||||
| -rw-r--r-- | modules/bullet/shape_bullet.h | 30 | ||||
| -rw-r--r-- | modules/bullet/soft_body_bullet.cpp | 24 | ||||
| -rw-r--r-- | modules/bullet/soft_body_bullet.h | 20 | ||||
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 142 | ||||
| -rw-r--r-- | modules/bullet/space_bullet.h | 43 |
16 files changed, 767 insertions, 503 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub index b853ebfc63..21bdcca18e 100644 --- a/modules/bullet/SCsub +++ b/modules/bullet/SCsub @@ -201,8 +201,8 @@ if env["builtin_bullet"]: env_bullet.Append(CPPFLAGS=["-isystem", Dir(thirdparty_dir).path]) else: env_bullet.Prepend(CPPPATH=[thirdparty_dir]) - # if env['target'] == "debug" or env['target'] == "release_debug": - # env_bullet.Append(CPPDEFINES=['BT_DEBUG']) + if env["target"] == "debug" or env["target"] == "release_debug": + env_bullet.Append(CPPDEFINES=["DEBUG"]) env_bullet.Append(CPPDEFINES=["BT_USE_OLD_DAMPING_METHOD"]) diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp index 79d8e252f0..b35019bea3 100644 --- a/modules/bullet/area_bullet.cpp +++ b/modules/bullet/area_bullet.cpp @@ -65,14 +65,11 @@ AreaBullet::~AreaBullet() { } void AreaBullet::dispatch_callbacks() { - if (!isScratched) { - return; - } - isScratched = false; + RigidCollisionObjectBullet::dispatch_callbacks(); // Reverse order because I've to remove EXIT objects for (int i = overlappingObjects.size() - 1; 0 <= i; --i) { - OverlappingObjectData &otherObj = overlappingObjects.write[i]; + OverlappingObjectData &otherObj = overlappingObjects[i]; switch (otherObj.state) { case OVERLAP_STATE_ENTER: @@ -112,10 +109,9 @@ void AreaBullet::call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3 } void AreaBullet::scratch() { - if (isScratched) { - return; + if (space != nullptr) { + space->add_to_pre_flush_queue(this); } - isScratched = true; } void AreaBullet::clear_overlaps(bool p_notify) { @@ -164,7 +160,7 @@ void AreaBullet::main_shape_changed() { btGhost->setCollisionShape(get_main_shape()); } -void AreaBullet::reload_body() { +void AreaBullet::do_reload_body() { if (space) { space->remove_area(this); space->add_area(this); @@ -173,21 +169,25 @@ void AreaBullet::reload_body() { void AreaBullet::set_space(SpaceBullet *p_space) { // Clear the old space if there is one + if (space) { - isScratched = false; + clear_overlaps(false); // Remove this object form the physics world + space->unregister_collision_object(this); space->remove_area(this); } space = p_space; if (space) { - space->add_area(this); + space->register_collision_object(this); + reload_body(); + scratch(); } } -void AreaBullet::on_collision_filters_change() { +void AreaBullet::do_reload_collision_filters() { if (space) { space->reload_collision_filters(this); } @@ -201,13 +201,13 @@ void AreaBullet::add_overlap(CollisionObjectBullet *p_otherObject) { void AreaBullet::put_overlap_as_exit(int p_index) { scratch(); - overlappingObjects.write[p_index].state = OVERLAP_STATE_EXIT; + overlappingObjects[p_index].state = OVERLAP_STATE_EXIT; } void AreaBullet::put_overlap_as_inside(int p_index) { // This check is required to be sure this body was inside if (OVERLAP_STATE_DIRTY == overlappingObjects[p_index].state) { - overlappingObjects.write[p_index].state = OVERLAP_STATE_INSIDE; + overlappingObjects[p_index].state = OVERLAP_STATE_INSIDE; } } diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h index cde889c1ba..51fbc1f71d 100644 --- a/modules/bullet/area_bullet.h +++ b/modules/bullet/area_bullet.h @@ -32,7 +32,7 @@ #define AREABULLET_H #include "collision_object_bullet.h" -#include "core/vector.h" +#include "core/local_vector.h" #include "servers/physics_server_3d.h" #include "space_bullet.h" @@ -83,7 +83,7 @@ private: Variant *call_event_res_ptr[5]; btGhostObject *btGhost; - Vector<OverlappingObjectData> overlappingObjects; + LocalVector<OverlappingObjectData> overlappingObjects; bool monitorable = true; PhysicsServer3D::AreaSpaceOverrideMode spOv_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED; @@ -93,11 +93,9 @@ private: Vector3 spOv_gravityVec = Vector3(0, -1, 0); real_t spOv_gravityMag = 10; real_t spOv_linearDump = 0.1; - real_t spOv_angularDump = 1; + real_t spOv_angularDump = 0.1; int spOv_priority = 0; - bool isScratched = false; - InOutEventCallback eventsCallbacks[2]; public: @@ -139,11 +137,11 @@ public: _FORCE_INLINE_ void set_spOv_priority(int p_priority) { spOv_priority = p_priority; } _FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; } - virtual void main_shape_changed(); - virtual void reload_body(); - virtual void set_space(SpaceBullet *p_space); + virtual void main_shape_changed() override; + virtual void do_reload_body() override; + virtual void set_space(SpaceBullet *p_space) override; - virtual void dispatch_callbacks(); + virtual void dispatch_callbacks() override; void call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3D::AreaBodyStatus p_status); void set_on_state_change(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant()); void scratch(); @@ -152,9 +150,9 @@ public: // Dispatch the callbacks and removes from overlapping list void remove_overlap(CollisionObjectBullet *p_object, bool p_notify); - virtual void on_collision_filters_change(); - virtual void on_collision_checker_start() {} - virtual void on_collision_checker_end() { isTransformChanged = false; } + virtual void do_reload_collision_filters() override; + virtual void on_collision_checker_start() override {} + virtual void on_collision_checker_end() override { isTransformChanged = false; } void add_overlap(CollisionObjectBullet *p_otherObject); void put_overlap_as_exit(int p_index); @@ -166,8 +164,8 @@ public: void set_event_callback(Type p_callbackObjectType, ObjectID p_id, const StringName &p_method); bool has_event_callback(Type p_callbackObjectType); - virtual void on_enter_area(AreaBullet *p_area); - virtual void on_exit_area(AreaBullet *p_area); + virtual void on_enter_area(AreaBullet *p_area) override; + virtual void on_exit_area(AreaBullet *p_area) override; }; #endif diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index 55686543f3..8f64c11867 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -561,14 +561,14 @@ void BulletPhysicsServer3D::body_clear_shapes(RID p_body) { } void BulletPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) { - CollisionObjectBullet *body = get_collisin_object(p_body); + CollisionObjectBullet *body = get_collision_object(p_body); ERR_FAIL_COND(!body); body->set_instance_id(p_id); } ObjectID BulletPhysicsServer3D::body_get_object_instance_id(RID p_body) const { - CollisionObjectBullet *body = get_collisin_object(p_body); + CollisionObjectBullet *body = get_collision_object(p_body); ERR_FAIL_COND_V(!body, ObjectID()); return body->get_instance_id(); @@ -707,11 +707,11 @@ void BulletPhysicsServer3D::body_add_central_force(RID p_body, const Vector3 &p_ body->apply_central_force(p_force); } -void BulletPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) { +void BulletPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); - body->apply_force(p_force, p_pos); + body->apply_force(p_force, p_position); } void BulletPhysicsServer3D::body_add_torque(RID p_body, const Vector3 &p_torque) { @@ -728,11 +728,11 @@ void BulletPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 body->apply_central_impulse(p_impulse); } -void BulletPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) { +void BulletPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); - body->apply_impulse(p_pos, p_impulse); + body->apply_impulse(p_impulse, p_position); } void BulletPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) { @@ -1557,6 +1557,13 @@ void BulletPhysicsServer3D::sync() { } void BulletPhysicsServer3D::flush_queries() { + if (!active) { + return; + } + + for (int i = 0; i < active_spaces_count; ++i) { + active_spaces[i]->flush_queries(); + } } void BulletPhysicsServer3D::finish() { @@ -1567,7 +1574,17 @@ int BulletPhysicsServer3D::get_process_info(ProcessInfo p_info) { return 0; } -CollisionObjectBullet *BulletPhysicsServer3D::get_collisin_object(RID p_object) const { +SpaceBullet *BulletPhysicsServer3D::get_space(RID p_rid) const { + ERR_FAIL_COND_V_MSG(space_owner.owns(p_rid) == false, nullptr, "The RID is not valid."); + return space_owner.getornull(p_rid); +} + +ShapeBullet *BulletPhysicsServer3D::get_shape(RID p_rid) const { + ERR_FAIL_COND_V_MSG(shape_owner.owns(p_rid) == false, nullptr, "The RID is not valid."); + return shape_owner.getornull(p_rid); +} + +CollisionObjectBullet *BulletPhysicsServer3D::get_collision_object(RID p_object) const { if (rigid_body_owner.owns(p_object)) { return rigid_body_owner.getornull(p_object); } @@ -1577,15 +1594,20 @@ CollisionObjectBullet *BulletPhysicsServer3D::get_collisin_object(RID p_object) if (soft_body_owner.owns(p_object)) { return soft_body_owner.getornull(p_object); } - return nullptr; + ERR_FAIL_V_MSG(nullptr, "The RID is no valid."); } -RigidCollisionObjectBullet *BulletPhysicsServer3D::get_rigid_collisin_object(RID p_object) const { +RigidCollisionObjectBullet *BulletPhysicsServer3D::get_rigid_collision_object(RID p_object) const { if (rigid_body_owner.owns(p_object)) { return rigid_body_owner.getornull(p_object); } if (area_owner.owns(p_object)) { return area_owner.getornull(p_object); } - return nullptr; + ERR_FAIL_V_MSG(nullptr, "The RID is no valid."); +} + +JointBullet *BulletPhysicsServer3D::get_joint(RID p_rid) const { + ERR_FAIL_COND_V_MSG(joint_owner.owns(p_rid) == false, nullptr, "The RID is not valid."); + return joint_owner.getornull(p_rid); } diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h index 558d1ce5f7..eb95120f74 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -52,7 +52,7 @@ class BulletPhysicsServer3D : public PhysicsServer3D { bool active = true; char active_spaces_count = 0; - Vector<SpaceBullet *> active_spaces; + LocalVector<SpaceBullet *> active_spaces; mutable RID_PtrOwner<SpaceBullet> space_owner; mutable RID_PtrOwner<ShapeBullet> shape_owner; @@ -88,35 +88,35 @@ public: } /* SHAPE API */ - virtual RID shape_create(ShapeType p_shape); - virtual void shape_set_data(RID p_shape, const Variant &p_data); - virtual ShapeType shape_get_type(RID p_shape) const; - virtual Variant shape_get_data(RID p_shape) const; + virtual RID shape_create(ShapeType p_shape) override; + virtual void shape_set_data(RID p_shape, const Variant &p_data) override; + virtual ShapeType shape_get_type(RID p_shape) const override; + virtual Variant shape_get_data(RID p_shape) const override; - virtual void shape_set_margin(RID p_shape, real_t p_margin); - virtual real_t shape_get_margin(RID p_shape) const; + virtual void shape_set_margin(RID p_shape, real_t p_margin) override; + virtual real_t shape_get_margin(RID p_shape) const override; /// Not supported - virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias); + virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias) override; /// Not supported - virtual real_t shape_get_custom_solver_bias(RID p_shape) const; + virtual real_t shape_get_custom_solver_bias(RID p_shape) const override; /* SPACE API */ - virtual RID space_create(); - virtual void space_set_active(RID p_space, bool p_active); - virtual bool space_is_active(RID p_space) const; + virtual RID space_create() override; + virtual void space_set_active(RID p_space, bool p_active) override; + virtual bool space_is_active(RID p_space) const override; /// Not supported - virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value); + virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) override; /// Not supported - virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const; + virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const override; - virtual PhysicsDirectSpaceState3D *space_get_direct_state(RID p_space); + virtual PhysicsDirectSpaceState3D *space_get_direct_state(RID p_space) override; - virtual void space_set_debug_contacts(RID p_space, int p_max_contacts); - virtual Vector<Vector3> space_get_contacts(RID p_space) const; - virtual int space_get_contact_count(RID p_space) const; + virtual void space_set_debug_contacts(RID p_space, int p_max_contacts) override; + virtual Vector<Vector3> space_get_contacts(RID p_space) const override; + virtual int space_get_contact_count(RID p_space) const override; /* AREA API */ @@ -125,265 +125,265 @@ public: /// The API area_set_param is a bit hacky, and allow Godot to set some parameters on Bullet's world, a different use print a warning to console. /// All other APIs returns a warning message if used - virtual RID area_create(); + virtual RID area_create() override; - virtual void area_set_space(RID p_area, RID p_space); + virtual void area_set_space(RID p_area, RID p_space) override; - virtual RID area_get_space(RID p_area) const; + virtual RID area_get_space(RID p_area) const override; - virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode); - virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const; + virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) override; + virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const override; - virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false); - virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape); - virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform); - virtual int area_get_shape_count(RID p_area) const; - virtual RID area_get_shape(RID p_area, int p_shape_idx) const; - virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const; - virtual void area_remove_shape(RID p_area, int p_shape_idx); - virtual void area_clear_shapes(RID p_area); - virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled); - virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id); - virtual ObjectID area_get_object_instance_id(RID p_area) const; + virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false) override; + virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape) override; + virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) override; + virtual int area_get_shape_count(RID p_area) const override; + virtual RID area_get_shape(RID p_area, int p_shape_idx) const override; + virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const override; + virtual void area_remove_shape(RID p_area, int p_shape_idx) override; + virtual void area_clear_shapes(RID p_area) override; + virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) override; + virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id) override; + virtual ObjectID area_get_object_instance_id(RID p_area) const override; /// If you pass as p_area the SpaceBullet you can set some parameters as specified below /// AREA_PARAM_GRAVITY /// AREA_PARAM_GRAVITY_VECTOR /// Otherwise you can set area parameters - virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value); - virtual Variant area_get_param(RID p_area, AreaParameter p_param) const; + virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) override; + virtual Variant area_get_param(RID p_area, AreaParameter p_param) const override; - virtual void area_set_transform(RID p_area, const Transform &p_transform); - virtual Transform area_get_transform(RID p_area) const; + virtual void area_set_transform(RID p_area, const Transform &p_transform) override; + virtual Transform area_get_transform(RID p_area) const override; - virtual void area_set_collision_mask(RID p_area, uint32_t p_mask); - virtual void area_set_collision_layer(RID p_area, uint32_t p_layer); + virtual void area_set_collision_mask(RID p_area, uint32_t p_mask) override; + virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) override; - virtual void area_set_monitorable(RID p_area, bool p_monitorable); - virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method); - virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method); - virtual void area_set_ray_pickable(RID p_area, bool p_enable); - virtual bool area_is_ray_pickable(RID p_area) const; + virtual void area_set_monitorable(RID p_area, bool p_monitorable) override; + virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) override; + virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) override; + virtual void area_set_ray_pickable(RID p_area, bool p_enable) override; + virtual bool area_is_ray_pickable(RID p_area) const override; /* RIGID BODY API */ - virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false); + virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false) override; - virtual void body_set_space(RID p_body, RID p_space); - virtual RID body_get_space(RID p_body) const; + virtual void body_set_space(RID p_body, RID p_space) override; + virtual RID body_get_space(RID p_body) const override; - virtual void body_set_mode(RID p_body, BodyMode p_mode); - virtual BodyMode body_get_mode(RID p_body) const; + virtual void body_set_mode(RID p_body, BodyMode p_mode) override; + virtual BodyMode body_get_mode(RID p_body) const override; - virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false); + virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false) override; // Not supported, Please remove and add new shape - virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape); - virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform); + virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape) override; + virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) override; - virtual int body_get_shape_count(RID p_body) const; - virtual RID body_get_shape(RID p_body, int p_shape_idx) const; - virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const; + virtual int body_get_shape_count(RID p_body) const override; + virtual RID body_get_shape(RID p_body, int p_shape_idx) const override; + virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const override; - virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled); + virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) override; - virtual void body_remove_shape(RID p_body, int p_shape_idx); - virtual void body_clear_shapes(RID p_body); + virtual void body_remove_shape(RID p_body, int p_shape_idx) override; + virtual void body_clear_shapes(RID p_body) override; // Used for Rigid and Soft Bodies - virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id); - virtual ObjectID body_get_object_instance_id(RID p_body) const; + virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id) override; + virtual ObjectID body_get_object_instance_id(RID p_body) const override; - virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable); - virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const; + virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) override; + virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const override; - virtual void body_set_collision_layer(RID p_body, uint32_t p_layer); - virtual uint32_t body_get_collision_layer(RID p_body) const; + virtual void body_set_collision_layer(RID p_body, uint32_t p_layer) override; + virtual uint32_t body_get_collision_layer(RID p_body) const override; - virtual void body_set_collision_mask(RID p_body, uint32_t p_mask); - virtual uint32_t body_get_collision_mask(RID p_body) const; + virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) override; + virtual uint32_t body_get_collision_mask(RID p_body) const override; /// This is not supported by physics server - virtual void body_set_user_flags(RID p_body, uint32_t p_flags); + virtual void body_set_user_flags(RID p_body, uint32_t p_flags) override; /// This is not supported by physics server - virtual uint32_t body_get_user_flags(RID p_body) const; + virtual uint32_t body_get_user_flags(RID p_body) const override; - virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value); - virtual float body_get_param(RID p_body, BodyParameter p_param) const; + virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value) override; + virtual float body_get_param(RID p_body, BodyParameter p_param) const override; - virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin); - virtual real_t body_get_kinematic_safe_margin(RID p_body) const; + virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) override; + virtual real_t body_get_kinematic_safe_margin(RID p_body) const override; - virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant); - virtual Variant body_get_state(RID p_body, BodyState p_state) const; + virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override; + virtual Variant body_get_state(RID p_body, BodyState p_state) const override; - virtual void body_set_applied_force(RID p_body, const Vector3 &p_force); - virtual Vector3 body_get_applied_force(RID p_body) const; + virtual void body_set_applied_force(RID p_body, const Vector3 &p_force) override; + virtual Vector3 body_get_applied_force(RID p_body) const override; - virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque); - virtual Vector3 body_get_applied_torque(RID p_body) const; + virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque) override; + virtual Vector3 body_get_applied_torque(RID p_body) const override; - virtual void body_add_central_force(RID p_body, const Vector3 &p_force); - virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos); - virtual void body_add_torque(RID p_body, const Vector3 &p_torque); + virtual void body_add_central_force(RID p_body, const Vector3 &p_force) override; + virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) override; + virtual void body_add_torque(RID p_body, const Vector3 &p_torque) override; - virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse); - virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse); - virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse); - virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity); + virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) override; + virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override; + virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) override; + virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) override; - virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock); - virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const; + virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) override; + virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const override; - virtual void body_add_collision_exception(RID p_body, RID p_body_b); - virtual void body_remove_collision_exception(RID p_body, RID p_body_b); - virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions); + virtual void body_add_collision_exception(RID p_body, RID p_body_b) override; + virtual void body_remove_collision_exception(RID p_body, RID p_body_b) override; + virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override; - virtual void body_set_max_contacts_reported(RID p_body, int p_contacts); - virtual int body_get_max_contacts_reported(RID p_body) const; + virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) override; + virtual int body_get_max_contacts_reported(RID p_body) const override; - virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold); - virtual float body_get_contacts_reported_depth_threshold(RID p_body) const; + virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) override; + virtual float body_get_contacts_reported_depth_threshold(RID p_body) const override; - virtual void body_set_omit_force_integration(RID p_body, bool p_omit); - virtual bool body_is_omitting_force_integration(RID p_body) const; + virtual void body_set_omit_force_integration(RID p_body, bool p_omit) override; + virtual bool body_is_omitting_force_integration(RID p_body) const override; - virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant()); + virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant()) override; - virtual void body_set_ray_pickable(RID p_body, bool p_enable); - virtual bool body_is_ray_pickable(RID p_body) const; + virtual void body_set_ray_pickable(RID p_body, bool p_enable) override; + virtual bool body_is_ray_pickable(RID p_body) const override; // this function only works on physics process, errors and returns null otherwise - virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body); + virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override; - virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true); - virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001); + virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override; + virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) override; /* SOFT BODY API */ - virtual RID soft_body_create(bool p_init_sleeping = false); + virtual RID soft_body_create(bool p_init_sleeping = false) override; - virtual void soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler); + virtual void soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler) override; - virtual void soft_body_set_space(RID p_body, RID p_space); - virtual RID soft_body_get_space(RID p_body) const; + virtual void soft_body_set_space(RID p_body, RID p_space) override; + virtual RID soft_body_get_space(RID p_body) const override; - virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh); + virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) override; - virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer); - virtual uint32_t soft_body_get_collision_layer(RID p_body) const; + virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) override; + virtual uint32_t soft_body_get_collision_layer(RID p_body) const override; - virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask); - virtual uint32_t soft_body_get_collision_mask(RID p_body) const; + virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) override; + virtual uint32_t soft_body_get_collision_mask(RID p_body) const override; - virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b); - virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b); - virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions); + virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) override; + virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) override; + virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override; - virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant); - virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const; + virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override; + virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const override; /// Special function. This function has bad performance - virtual void soft_body_set_transform(RID p_body, const Transform &p_transform); - virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const; + virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) override; + virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const override; - virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable); - virtual bool soft_body_is_ray_pickable(RID p_body) const; + virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) override; + virtual bool soft_body_is_ray_pickable(RID p_body) const override; - virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision); - virtual int soft_body_get_simulation_precision(RID p_body); + virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) override; + virtual int soft_body_get_simulation_precision(RID p_body) override; - virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass); - virtual real_t soft_body_get_total_mass(RID p_body); + virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) override; + virtual real_t soft_body_get_total_mass(RID p_body) override; - virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness); - virtual real_t soft_body_get_linear_stiffness(RID p_body); + virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) override; + virtual real_t soft_body_get_linear_stiffness(RID p_body) override; - virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness); - virtual real_t soft_body_get_areaAngular_stiffness(RID p_body); + virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) override; + virtual real_t soft_body_get_areaAngular_stiffness(RID p_body) override; - virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness); - virtual real_t soft_body_get_volume_stiffness(RID p_body); + virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) override; + virtual real_t soft_body_get_volume_stiffness(RID p_body) override; - virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient); - virtual real_t soft_body_get_pressure_coefficient(RID p_body); + virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) override; + virtual real_t soft_body_get_pressure_coefficient(RID p_body) override; - virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient); - virtual real_t soft_body_get_pose_matching_coefficient(RID p_body); + virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) override; + virtual real_t soft_body_get_pose_matching_coefficient(RID p_body) override; - virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient); - virtual real_t soft_body_get_damping_coefficient(RID p_body); + virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) override; + virtual real_t soft_body_get_damping_coefficient(RID p_body) override; - virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient); - virtual real_t soft_body_get_drag_coefficient(RID p_body); + virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) override; + virtual real_t soft_body_get_drag_coefficient(RID p_body) override; - virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position); - virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index); + virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) override; + virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) override; - virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const; + virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const override; - virtual void soft_body_remove_all_pinned_points(RID p_body); - virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin); - virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index); + virtual void soft_body_remove_all_pinned_points(RID p_body) override; + virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) override; + virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) override; /* JOINT API */ - virtual JointType joint_get_type(RID p_joint) const; + virtual JointType joint_get_type(RID p_joint) const override; - virtual void joint_set_solver_priority(RID p_joint, int p_priority); - virtual int joint_get_solver_priority(RID p_joint) const; + virtual void joint_set_solver_priority(RID p_joint, int p_priority) override; + virtual int joint_get_solver_priority(RID p_joint) const override; - virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable); - virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const; + virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) override; + virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const override; - virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B); + virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) override; - virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value); - virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const; + virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) override; + virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const override; - virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A); - virtual Vector3 pin_joint_get_local_a(RID p_joint) const; + virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) override; + virtual Vector3 pin_joint_get_local_a(RID p_joint) const override; - virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B); - virtual Vector3 pin_joint_get_local_b(RID p_joint) const; + virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) override; + virtual Vector3 pin_joint_get_local_b(RID p_joint) const override; - virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B); - virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B); + virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) override; + virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) override; - virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value); - virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const; + virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) override; + virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const override; - virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value); - virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const; + virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) override; + virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const override; /// Reference frame is A - virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); + virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; - virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value); - virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const; + virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) override; + virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override; /// Reference frame is A - virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); + virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; - virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value); - virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const; + virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) override; + virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override; /// Reference frame is A - virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); + virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; - virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value); - virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param); + virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) override; + virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) override; - virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable); - virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag); + virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) override; + virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) override; - virtual void generic_6dof_joint_set_precision(RID p_joint, int precision); - virtual int generic_6dof_joint_get_precision(RID p_joint); + virtual void generic_6dof_joint_set_precision(RID p_joint, int precision) override; + virtual int generic_6dof_joint_get_precision(RID p_joint) override; /* MISC */ - virtual void free(RID p_rid); + virtual void free(RID p_rid) override; - virtual void set_active(bool p_active) { + virtual void set_active(bool p_active) override { active = p_active; } @@ -395,21 +395,21 @@ public: return active; } - virtual void init(); - virtual void step(float p_deltaTime); - virtual void sync(); - virtual void flush_queries(); - virtual void finish(); + virtual void init() override; + virtual void step(float p_deltaTime) override; + virtual void sync() override; + virtual void flush_queries() override; + virtual void finish() override; - virtual bool is_flushing_queries() const { return false; } + virtual bool is_flushing_queries() const override { return false; } - virtual int get_process_info(ProcessInfo p_info); + virtual int get_process_info(ProcessInfo p_info) override; - CollisionObjectBullet *get_collisin_object(RID p_object) const; - RigidCollisionObjectBullet *get_rigid_collisin_object(RID p_object) const; - - /// Internal APIs -public: + SpaceBullet *get_space(RID p_rid) const; + ShapeBullet *get_shape(RID p_rid) const; + CollisionObjectBullet *get_collision_object(RID p_object) const; + RigidCollisionObjectBullet *get_rigid_collision_object(RID p_object) const; + JointBullet *get_joint(RID p_rid) const; }; #endif diff --git a/modules/bullet/bullet_types_converter.cpp b/modules/bullet/bullet_types_converter.cpp index c9493d8892..7ecad9b78a 100644 --- a/modules/bullet/bullet_types_converter.cpp +++ b/modules/bullet/bullet_types_converter.cpp @@ -95,12 +95,61 @@ void G_TO_B(Transform const &inVal, btTransform &outVal) { } void UNSCALE_BT_BASIS(btTransform &scaledBasis) { - btMatrix3x3 &m(scaledBasis.getBasis()); - btVector3 column0(m[0][0], m[1][0], m[2][0]); - btVector3 column1(m[0][1], m[1][1], m[2][1]); - btVector3 column2(m[0][2], m[1][2], m[2][2]); + btMatrix3x3 &basis(scaledBasis.getBasis()); + btVector3 column0 = basis.getColumn(0); + btVector3 column1 = basis.getColumn(1); + btVector3 column2 = basis.getColumn(2); + + // Check for zero scaling. + if (btFuzzyZero(column0[0])) { + if (btFuzzyZero(column1[1])) { + if (btFuzzyZero(column2[2])) { + // All dimensions are fuzzy zero. Create a default basis. + column0 = btVector3(1, 0, 0); + column1 = btVector3(0, 1, 0); + column2 = btVector3(0, 0, 1); + } else { // Column 2 scale not fuzzy zero. + // Create two vectors orthogonal to row 2. + // Ensure that a default basis is created if row 2 = <0, 0, 1> + column1 = btVector3(0, column2[2], -column2[1]); + column0 = column1.cross(column2); + } + } else { // Column 1 scale not fuzzy zero. + if (btFuzzyZero(column2[2])) { + // Create two vectors othogonal to column 1. + // Ensure that a default basis is created if column 1 = <0, 1, 0> + column0 = btVector3(column1[1], -column1[0], 0); + column2 = column0.cross(column1); + } else { // Column 1 and column 2 scales not fuzzy zero. + // Create column 0 orthogonal to column 1 and column 2. + column0 = column1.cross(column2); + } + } + } else { // Column 0 scale not fuzzy zero. + if (btFuzzyZero(column1[1])) { + if (btFuzzyZero(column2[2])) { + // Create two vectors orthogonal to column 0. + // Ensure that a default basis is created if column 0 = <1, 0, 0> + column2 = btVector3(-column0[2], 0, column0[0]); + column1 = column2.cross(column0); + } else { // Column 0 and column 2 scales not fuzzy zero. + // Create column 1 orthogonal to column 0 and column 2. + column1 = column2.cross(column0); + } + } else { // Column 0 and column 1 scales not fuzzy zero. + if (btFuzzyZero(column2[2])) { + // Create column 2 orthogonal to column 0 and column 1. + column2 = column0.cross(column1); + } + } + } + + // Normalize column0.normalize(); column1.normalize(); column2.normalize(); - m.setValue(column0[0], column1[0], column2[0], column0[1], column1[1], column2[1], column0[2], column1[2], column2[2]); + + basis.setValue(column0[0], column1[0], column2[0], + column0[1], column1[1], column2[1], + column0[2], column1[2], column2[2]); } diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index a3158a15e5..660e9afc5e 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -79,7 +79,7 @@ btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const } void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) { - if (!bt_shape) { + if (bt_shape == nullptr) { if (active) { bt_shape = shape->create_bt_shape(scale * body_scale); } else { @@ -88,6 +88,13 @@ void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_s } } +void CollisionObjectBullet::ShapeWrapper::release_bt_shape() { + if (bt_shape != nullptr) { + shape->destroy_bt_shape(bt_shape); + bt_shape = nullptr; + } +} + CollisionObjectBullet::CollisionObjectBullet(Type p_type) : RIDBullet(), type(p_type) {} @@ -158,6 +165,22 @@ bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object); } +void CollisionObjectBullet::reload_body() { + needs_body_reload = true; +} + +void CollisionObjectBullet::dispatch_callbacks() {} + +void CollisionObjectBullet::pre_process() { + if (needs_body_reload) { + do_reload_body(); + } else if (needs_collision_filters_reload) { + do_reload_collision_filters(); + } + needs_body_reload = false; + needs_collision_filters_reload = false; +} + void CollisionObjectBullet::set_collision_enabled(bool p_enabled) { collisionsEnabled = p_enabled; if (collisionsEnabled) { @@ -231,7 +254,7 @@ void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform } void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) { - ShapeWrapper &shp = shapes.write[p_index]; + ShapeWrapper &shp = shapes[p_index]; shp.shape->remove_owner(this); p_shape->add_owner(this); shp.shape = p_shape; @@ -293,7 +316,7 @@ void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBod void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) { ERR_FAIL_INDEX(p_index, get_shape_count()); - shapes.write[p_index].set_transform(p_transform); + shapes[p_index].set_transform(p_transform); shape_changed(p_index); } @@ -311,7 +334,7 @@ void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled if (shapes[p_index].active != p_disabled) { return; } - shapes.write[p_index].active = !p_disabled; + shapes[p_index].active = !p_disabled; shape_changed(p_index); } @@ -319,16 +342,28 @@ bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) { return !shapes[p_index].active; } +void RigidCollisionObjectBullet::pre_process() { + if (need_shape_reload) { + do_reload_shapes(); + need_shape_reload = false; + } + CollisionObjectBullet::pre_process(); +} + void RigidCollisionObjectBullet::shape_changed(int p_shape_index) { - ShapeWrapper &shp = shapes.write[p_shape_index]; + ShapeWrapper &shp = shapes[p_shape_index]; if (shp.bt_shape == mainShape) { mainShape = nullptr; } - bulletdelete(shp.bt_shape); + shp.release_bt_shape(); reload_shapes(); } void RigidCollisionObjectBullet::reload_shapes() { + need_shape_reload = true; +} + +void RigidCollisionObjectBullet::do_reload_shapes() { if (mainShape && mainShape->isCompound()) { // Destroy compound bulletdelete(mainShape); @@ -336,41 +371,38 @@ void RigidCollisionObjectBullet::reload_shapes() { mainShape = nullptr; - ShapeWrapper *shpWrapper; const int shape_count = shapes.size(); - // Reset shape if required + // Reset all shapes if required if (force_shape_reset) { for (int i(0); i < shape_count; ++i) { - shpWrapper = &shapes.write[i]; - bulletdelete(shpWrapper->bt_shape); + shapes[i].release_bt_shape(); } force_shape_reset = false; } const btVector3 body_scale(get_bt_body_scale()); - // Try to optimize by not using compound if (1 == shape_count) { - shpWrapper = &shapes.write[0]; - btTransform transform = shpWrapper->get_adjusted_transform(); + // Is it possible to optimize by not using compound? + btTransform transform = shapes[0].get_adjusted_transform(); if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) { - shpWrapper->claim_bt_shape(body_scale); - mainShape = shpWrapper->bt_shape; + shapes[0].claim_bt_shape(body_scale); + mainShape = shapes[0].bt_shape; main_shape_changed(); + // Nothing more to do return; } } - // Optimization not possible use a compound shape + // Optimization not possible use a compound shape. btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count)); for (int i(0); i < shape_count; ++i) { - shpWrapper = &shapes.write[i]; - shpWrapper->claim_bt_shape(body_scale); - btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform()); + shapes[i].claim_bt_shape(body_scale); + btTransform scaled_shape_transform(shapes[i].get_adjusted_transform()); scaled_shape_transform.getOrigin() *= body_scale; - compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape); + compoundShape->addChildShape(scaled_shape_transform, shapes[i].bt_shape); } compoundShape->recalculateLocalAabb(); @@ -384,10 +416,10 @@ void RigidCollisionObjectBullet::body_scale_changed() { } void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) { - ShapeWrapper &shp = shapes.write[p_index]; + ShapeWrapper &shp = shapes[p_index]; shp.shape->remove_owner(this, p_permanentlyFromThisBody); if (shp.bt_shape == mainShape) { mainShape = nullptr; } - bulletdelete(shp.bt_shape); + shp.release_bt_shape(); } diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h index f1423a69e4..920d80af23 100644 --- a/modules/bullet/collision_object_bullet.h +++ b/modules/bullet/collision_object_bullet.h @@ -31,6 +31,7 @@ #ifndef COLLISION_OBJECT_BULLET_H #define COLLISION_OBJECT_BULLET_H +#include "core/local_vector.h" #include "core/math/transform.h" #include "core/math/vector3.h" #include "core/object.h" @@ -70,11 +71,12 @@ public: struct ShapeWrapper { ShapeBullet *shape = nullptr; - btCollisionShape *bt_shape = nullptr; btTransform transform; btVector3 scale; bool active = true; + btCollisionShape *bt_shape = nullptr; + public: ShapeWrapper() {} ShapeWrapper(ShapeBullet *p_shape, const btTransform &p_transform, bool p_active) : @@ -107,6 +109,7 @@ public: btTransform get_adjusted_transform() const; void claim_bt_shape(const btVector3 &body_scale); + void release_bt_shape(); }; protected: @@ -124,13 +127,20 @@ protected: VSet<RID> exceptions; + bool needs_body_reload = true; + bool needs_collision_filters_reload = true; + /// This array is used to know all areas where this Object is overlapped in /// New area is added when overlap with new area (AreaBullet::addOverlap), then is removed when it exit (CollisionObjectBullet::onExitArea) /// This array is used mainly to know which area hold the pointer of this object - Vector<AreaBullet *> areasOverlapped; + LocalVector<AreaBullet *> areasOverlapped; bool isTransformChanged = false; public: + bool is_in_world = false; + bool is_in_flush_queue = false; + +public: CollisionObjectBullet(Type p_type); virtual ~CollisionObjectBullet(); @@ -164,7 +174,7 @@ public: _FORCE_INLINE_ void set_collision_layer(uint32_t p_layer) { if (collisionLayer != p_layer) { collisionLayer = p_layer; - on_collision_filters_change(); + needs_collision_filters_reload = true; } } _FORCE_INLINE_ uint32_t get_collision_layer() const { return collisionLayer; } @@ -172,25 +182,32 @@ public: _FORCE_INLINE_ void set_collision_mask(uint32_t p_mask) { if (collisionMask != p_mask) { collisionMask = p_mask; - on_collision_filters_change(); + needs_collision_filters_reload = true; } } _FORCE_INLINE_ uint32_t get_collision_mask() const { return collisionMask; } - virtual void on_collision_filters_change() = 0; + virtual void do_reload_collision_filters() = 0; _FORCE_INLINE_ bool test_collision_mask(CollisionObjectBullet *p_other) const { return collisionLayer & p_other->collisionMask || p_other->collisionLayer & collisionMask; } - virtual void reload_body() = 0; + bool need_reload_body() const { + return needs_body_reload; + } + + void reload_body(); + + virtual void do_reload_body() = 0; virtual void set_space(SpaceBullet *p_space) = 0; _FORCE_INLINE_ SpaceBullet *get_space() const { return space; } virtual void on_collision_checker_start() = 0; virtual void on_collision_checker_end() = 0; - virtual void dispatch_callbacks() = 0; + virtual void dispatch_callbacks(); + virtual void pre_process(); void set_collision_enabled(bool p_enabled); bool is_collisions_response_enabled(); @@ -214,14 +231,15 @@ public: class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet { protected: btCollisionShape *mainShape = nullptr; - Vector<ShapeWrapper> shapes; + LocalVector<ShapeWrapper> shapes; + bool need_shape_reload = true; public: RigidCollisionObjectBullet(Type p_type) : CollisionObjectBullet(p_type) {} ~RigidCollisionObjectBullet(); - _FORCE_INLINE_ const Vector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; } + _FORCE_INLINE_ const LocalVector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; } _FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; } @@ -232,9 +250,9 @@ public: ShapeBullet *get_shape(int p_index) const; btCollisionShape *get_bt_shape(int p_index) const; - int find_shape(ShapeBullet *p_shape) const; + virtual int find_shape(ShapeBullet *p_shape) const override; - virtual void remove_shape_full(ShapeBullet *p_shape); + virtual void remove_shape_full(ShapeBullet *p_shape) override; void remove_shape_full(int p_index); void remove_all_shapes(bool p_permanentlyFromThisBody = false, bool p_force_not_reload = false); @@ -246,11 +264,15 @@ public: void set_shape_disabled(int p_index, bool p_disabled); bool is_shape_disabled(int p_index); - virtual void shape_changed(int p_shape_index); - virtual void reload_shapes(); + virtual void pre_process() override; + + virtual void shape_changed(int p_shape_index) override; + virtual void reload_shapes() override; + bool need_reload_shapes() const { return need_shape_reload; } + virtual void do_reload_shapes(); virtual void main_shape_changed() = 0; - virtual void body_scale_changed(); + virtual void body_scale_changed() override; private: void internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody = false); diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 2fca7fe633..f517eecf64 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -51,9 +51,7 @@ BulletPhysicsDirectBodyState3D *BulletPhysicsDirectBodyState3D::singleton = nullptr; Vector3 BulletPhysicsDirectBodyState3D::get_total_gravity() const { - Vector3 gVec; - B_TO_G(body->btBody->getGravity(), gVec); - return gVec; + return body->total_gravity; } float BulletPhysicsDirectBodyState3D::get_total_angular_damp() const { @@ -118,8 +116,8 @@ void BulletPhysicsDirectBodyState3D::add_central_force(const Vector3 &p_force) { body->apply_central_force(p_force); } -void BulletPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_pos) { - body->apply_force(p_force, p_pos); +void BulletPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_position) { + body->apply_force(p_force, p_position); } void BulletPhysicsDirectBodyState3D::add_torque(const Vector3 &p_torque) { @@ -130,8 +128,8 @@ void BulletPhysicsDirectBodyState3D::apply_central_impulse(const Vector3 &p_impu body->apply_central_impulse(p_impulse); } -void BulletPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) { - body->apply_impulse(p_pos, p_impulse); +void BulletPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { + body->apply_impulse(p_impulse, p_position); } void BulletPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impulse) { @@ -183,7 +181,7 @@ int BulletPhysicsDirectBodyState3D::get_contact_collider_shape(int p_contact_idx } Vector3 BulletPhysicsDirectBodyState3D::get_contact_collider_velocity_at_position(int p_contact_idx) const { - RigidBodyBullet::CollisionData &colDat = body->collisions.write[p_contact_idx]; + RigidBodyBullet::CollisionData &colDat = body->collisions[p_contact_idx]; btVector3 hitLocation; G_TO_B(colDat.hitLocalLocation, hitLocation); @@ -213,7 +211,7 @@ void RigidBodyBullet::KinematicUtilities::setSafeMargin(btScalar p_margin) { } void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() { - const Vector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers()); + const LocalVector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers()); const int shapes_count = shapes_wrappers.size(); just_delete_shapes(shapes_count); @@ -228,8 +226,8 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() { continue; } - shapes.write[i].transform = shape_wrapper->transform; - shapes.write[i].transform.getOrigin() *= owner_scale; + shapes[i].transform = shape_wrapper->transform; + shapes[i].transform.getOrigin() *= owner_scale; switch (shape_wrapper->shape->get_type()) { case PhysicsServer3D::SHAPE_SPHERE: case PhysicsServer3D::SHAPE_BOX: @@ -237,11 +235,11 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() { case PhysicsServer3D::SHAPE_CYLINDER: case PhysicsServer3D::SHAPE_CONVEX_POLYGON: case PhysicsServer3D::SHAPE_RAY: { - shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin)); + shapes[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin)); } break; default: WARN_PRINT("This shape is not supported for kinematic collision."); - shapes.write[i].shape = nullptr; + shapes[i].shape = nullptr; } } } @@ -249,7 +247,7 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() { void RigidBodyBullet::KinematicUtilities::just_delete_shapes(int new_size) { for (int i = shapes.size() - 1; 0 <= i; --i) { if (shapes[i].shape) { - bulletdelete(shapes.write[i].shape); + bulletdelete(shapes[i].shape); } } shapes.resize(new_size); @@ -271,8 +269,8 @@ RigidBodyBullet::RigidBodyBullet() : reload_axis_lock(); areasWhereIam.resize(maxAreasWhereIam); - for (int i = areasWhereIam.size() - 1; 0 <= i; --i) { - areasWhereIam.write[i] = nullptr; + for (uint32_t i = 0; i < areasWhereIam.size(); i += 1) { + areasWhereIam[i] = nullptr; } btBody->setSleepingThresholds(0.2, 0.2); @@ -307,7 +305,7 @@ void RigidBodyBullet::main_shape_changed() { set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset } -void RigidBodyBullet::reload_body() { +void RigidBodyBullet::do_reload_body() { if (space) { space->remove_rigid_body(this); if (get_main_shape()) { @@ -320,28 +318,30 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) { // Clear the old space if there is one if (space) { can_integrate_forces = false; + isScratchedSpaceOverrideModificator = false; // Remove all eventual constraints assert_no_constraints(); // Remove this object form the physics world + space->unregister_collision_object(this); space->remove_rigid_body(this); } space = p_space; if (space) { - space->add_rigid_body(this); + space->register_collision_object(this); + reload_body(); + space->add_to_flush_queue(this); } } void RigidBodyBullet::dispatch_callbacks() { + RigidCollisionObjectBullet::dispatch_callbacks(); + /// The check isFirstTransformChanged is necessary in order to call integrated forces only when the first transform is sent if ((btBody->isKinematicObject() || btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && can_integrate_forces) { - if (omit_forces_integration) { - btBody->clearForces(); - } - BulletPhysicsDirectBodyState3D *bodyDirect = BulletPhysicsDirectBodyState3D::get_singleton(this); Variant variantBodyDirect = bodyDirect; @@ -359,16 +359,22 @@ void RigidBodyBullet::dispatch_callbacks() { } } + previousActiveState = btBody->isActive(); +} + +void RigidBodyBullet::pre_process() { + RigidCollisionObjectBullet::pre_process(); + if (isScratchedSpaceOverrideModificator || 0 < countGravityPointSpaces) { isScratchedSpaceOverrideModificator = false; reload_space_override_modificator(); } - /// Lock axis - btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor()); - btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor()); - - previousActiveState = btBody->isActive(); + if (is_active()) { + /// Lock axis + btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor()); + btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor()); + } } void RigidBodyBullet::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) { @@ -389,7 +395,7 @@ void RigidBodyBullet::scratch_space_override_modificator() { isScratchedSpaceOverrideModificator = true; } -void RigidBodyBullet::on_collision_filters_change() { +void RigidBodyBullet::do_reload_collision_filters() { if (space) { space->reload_collision_filters(this); } @@ -402,14 +408,15 @@ void RigidBodyBullet::on_collision_checker_start() { collisionsCount = 0; // Swap array - Vector<RigidBodyBullet *> *s = prev_collision_traces; - prev_collision_traces = curr_collision_traces; - curr_collision_traces = s; + SWAP(prev_collision_traces, curr_collision_traces); } void RigidBodyBullet::on_collision_checker_end() { // Always true if active and not a static or kinematic body isTransformChanged = btBody->isActive() && !btBody->isStaticOrKinematicObject(); + if (isTransformChanged && space != nullptr) { + space->add_to_flush_queue(this); + } } bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) { @@ -417,7 +424,7 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const return false; } - CollisionData &cd = collisions.write[collisionsCount]; + CollisionData &cd = collisions[collisionsCount]; cd.hitLocalLocation = p_hitLocalLocation; cd.otherObject = p_otherObject; cd.hitWorldLocation = p_hitWorldLocation; @@ -426,7 +433,7 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const cd.other_object_shape = p_other_shape_index; cd.local_shape = p_local_shape_index; - curr_collision_traces->write[collisionsCount] = p_otherObject; + (*curr_collision_traces)[collisionsCount] = p_otherObject; ++collisionsCount; return true; @@ -445,11 +452,6 @@ void RigidBodyBullet::assert_no_constraints() { if (btBody->getNumConstraintRefs()) { WARN_PRINT("A body with a joints is destroyed. Please check the implementation in order to destroy the joint before the body."); } - /*for(int i = btBody->getNumConstraintRefs()-1; 0<=i; --i){ - btTypedConstraint* btConst = btBody->getConstraintRef(i); - JointBullet* joint = static_cast<JointBullet*>( btConst->getUserConstraintPtr() ); - space->removeConstraint(joint); - }*/ } void RigidBodyBullet::set_activation_state(bool p_active) { @@ -466,6 +468,7 @@ bool RigidBodyBullet::is_active() const { void RigidBodyBullet::set_omit_forces_integration(bool p_omit) { omit_forces_integration = p_omit; + scratch_space_override_modificator(); } void RigidBodyBullet::set_param(PhysicsServer3D::BodyParameter p_param, real_t p_value) { @@ -609,23 +612,23 @@ Variant RigidBodyBullet::get_state(PhysicsServer3D::BodyState p_state) const { } void RigidBodyBullet::apply_central_impulse(const Vector3 &p_impulse) { - btVector3 btImpu; - G_TO_B(p_impulse, btImpu); + btVector3 btImpulse; + G_TO_B(p_impulse, btImpulse); if (Vector3() != p_impulse) { btBody->activate(); } - btBody->applyCentralImpulse(btImpu); + btBody->applyCentralImpulse(btImpulse); } -void RigidBodyBullet::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) { - btVector3 btImpu; - btVector3 btPos; - G_TO_B(p_impulse, btImpu); - G_TO_B(p_pos, btPos); +void RigidBodyBullet::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { + btVector3 btImpulse; + btVector3 btPosition; + G_TO_B(p_impulse, btImpulse); + G_TO_B(p_position, btPosition); if (Vector3() != p_impulse) { btBody->activate(); } - btBody->applyImpulse(btImpu, btPos); + btBody->applyImpulse(btImpulse, btPosition); } void RigidBodyBullet::apply_torque_impulse(const Vector3 &p_impulse) { @@ -637,15 +640,15 @@ void RigidBodyBullet::apply_torque_impulse(const Vector3 &p_impulse) { btBody->applyTorqueImpulse(btImp); } -void RigidBodyBullet::apply_force(const Vector3 &p_force, const Vector3 &p_pos) { +void RigidBodyBullet::apply_force(const Vector3 &p_force, const Vector3 &p_position) { btVector3 btForce; - btVector3 btPos; + btVector3 btPosition; G_TO_B(p_force, btForce); - G_TO_B(p_pos, btPos); + G_TO_B(p_position, btPosition); if (Vector3() != p_force) { btBody->activate(); } - btBody->applyForce(btForce, btPos); + btBody->applyForce(btForce, btPosition); } void RigidBodyBullet::apply_central_force(const Vector3 &p_force) { @@ -808,8 +811,8 @@ const btTransform &RigidBodyBullet::get_transform__bullet() const { } } -void RigidBodyBullet::reload_shapes() { - RigidCollisionObjectBullet::reload_shapes(); +void RigidBodyBullet::do_reload_shapes() { + RigidCollisionObjectBullet::do_reload_shapes(); const btScalar invMass = btBody->getInvMass(); const btScalar mass = invMass == 0 ? 0 : 1 / invMass; @@ -841,15 +844,15 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) { for (int i = 0; i < areaWhereIamCount; ++i) { if (nullptr == areasWhereIam[i]) { // This area has the highest priority - areasWhereIam.write[i] = p_area; + areasWhereIam[i] = p_area; break; } else { if (areasWhereIam[i]->get_spOv_priority() > p_area->get_spOv_priority()) { // The position was found, just shift all elements - for (int j = i; j < areaWhereIamCount; ++j) { - areasWhereIam.write[j + 1] = areasWhereIam[j]; + for (int j = areaWhereIamCount; j > i; j--) { + areasWhereIam[j] = areasWhereIam[j - 1]; } - areasWhereIam.write[i] = p_area; + areasWhereIam[i] = p_area; break; } } @@ -873,7 +876,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) { if (p_area == areasWhereIam[i]) { // The area was found, just shift down all elements for (int j = i; j < areaWhereIamCount; ++j) { - areasWhereIam.write[j] = areasWhereIam[j + 1]; + areasWhereIam[j] = areasWhereIam[j + 1]; } wasTheAreaFound = true; break; @@ -886,7 +889,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) { } --areaWhereIamCount; - areasWhereIam.write[areaWhereIamCount] = nullptr; // Even if this is not required, I clear the last element to be safe + areasWhereIam[areaWhereIamCount] = nullptr; // Even if this is not required, I clear the last element to be safe if (PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) { scratch_space_override_modificator(); } @@ -894,41 +897,35 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) { } void RigidBodyBullet::reload_space_override_modificator() { - // Make sure that kinematic bodies have their total gravity calculated - if (!is_active() && PhysicsServer3D::BODY_MODE_KINEMATIC != mode) { + if (mode == PhysicsServer3D::BODY_MODE_STATIC) { return; } - Vector3 newGravity(0.0, 0.0, 0.0); + Vector3 newGravity; real_t newLinearDamp = MAX(0.0, linearDamp); real_t newAngularDamp = MAX(0.0, angularDamp); - AreaBullet *currentArea; - // Variable used to calculate new gravity for gravity point areas, it is pointed by currentGravity pointer - Vector3 support_gravity(0, 0, 0); - bool stopped = false; - for (int i = areaWhereIamCount - 1; (0 <= i) && !stopped; --i) { - currentArea = areasWhereIam[i]; + for (int i = 0; i < areaWhereIamCount && !stopped; i += 1) { + AreaBullet *currentArea = areasWhereIam[i]; if (!currentArea || PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED == currentArea->get_spOv_mode()) { continue; } + Vector3 support_gravity; + /// Here is calculated the gravity if (currentArea->is_spOv_gravityPoint()) { /// It calculates the direction of new gravity support_gravity = currentArea->get_transform().xform(currentArea->get_spOv_gravityVec()) - get_transform().get_origin(); - real_t distanceMag = support_gravity.length(); + + const real_t distanceMag = support_gravity.length(); // Normalized in this way to avoid the double call of function "length()" if (distanceMag == 0) { - support_gravity.x = 0; - support_gravity.y = 0; - support_gravity.z = 0; + support_gravity = Vector3(); } else { - support_gravity.x /= distanceMag; - support_gravity.y /= distanceMag; - support_gravity.z /= distanceMag; + support_gravity /= distanceMag; } /// Here is calculated the final gravity @@ -990,10 +987,17 @@ void RigidBodyBullet::reload_space_override_modificator() { newAngularDamp += space->get_angular_damp(); } - btVector3 newBtGravity; - G_TO_B(newGravity * gravity_scale, newBtGravity); + total_gravity = newGravity; + + if (omit_forces_integration) { + // Custom behaviour. + btBody->setGravity(btVector3(0, 0, 0)); + } else { + btVector3 newBtGravity; + G_TO_B(newGravity * gravity_scale, newBtGravity); + btBody->setGravity(newBtGravity); + } - btBody->setGravity(newBtGravity); btBody->setDamping(newLinearDamp, newAngularDamp); } diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index 6d159504b8..047645677b 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -88,57 +88,57 @@ private: BulletPhysicsDirectBodyState3D() {} public: - virtual Vector3 get_total_gravity() const; - virtual float get_total_angular_damp() const; - virtual float get_total_linear_damp() const; + virtual Vector3 get_total_gravity() const override; + virtual float get_total_angular_damp() const override; + virtual float get_total_linear_damp() const override; - virtual Vector3 get_center_of_mass() const; - virtual Basis get_principal_inertia_axes() const; + virtual Vector3 get_center_of_mass() const override; + virtual Basis get_principal_inertia_axes() const override; // get the mass - virtual float get_inverse_mass() const; + virtual float get_inverse_mass() const override; // get density of this body space - virtual Vector3 get_inverse_inertia() const; + virtual Vector3 get_inverse_inertia() const override; // get density of this body space - virtual Basis get_inverse_inertia_tensor() const; + virtual Basis get_inverse_inertia_tensor() const override; - virtual void set_linear_velocity(const Vector3 &p_velocity); - virtual Vector3 get_linear_velocity() const; + virtual void set_linear_velocity(const Vector3 &p_velocity) override; + virtual Vector3 get_linear_velocity() const override; - virtual void set_angular_velocity(const Vector3 &p_velocity); - virtual Vector3 get_angular_velocity() const; + virtual void set_angular_velocity(const Vector3 &p_velocity) override; + virtual Vector3 get_angular_velocity() const override; - virtual void set_transform(const Transform &p_transform); - virtual Transform get_transform() const; + virtual void set_transform(const Transform &p_transform) override; + virtual Transform get_transform() const override; - virtual void add_central_force(const Vector3 &p_force); - virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos); - virtual void add_torque(const Vector3 &p_torque); - virtual void apply_central_impulse(const Vector3 &p_impulse); - virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse); - virtual void apply_torque_impulse(const Vector3 &p_impulse); + virtual void add_central_force(const Vector3 &p_force) override; + virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override; + virtual void add_torque(const Vector3 &p_torque) override; + virtual void apply_central_impulse(const Vector3 &p_impulse) override; + virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override; + virtual void apply_torque_impulse(const Vector3 &p_impulse) override; - virtual void set_sleep_state(bool p_sleep); - virtual bool is_sleeping() const; + virtual void set_sleep_state(bool p_sleep) override; + virtual bool is_sleeping() const override; - virtual int get_contact_count() const; + virtual int get_contact_count() const override; - virtual Vector3 get_contact_local_position(int p_contact_idx) const; - virtual Vector3 get_contact_local_normal(int p_contact_idx) const; - virtual float get_contact_impulse(int p_contact_idx) const; - virtual int get_contact_local_shape(int p_contact_idx) const; + virtual Vector3 get_contact_local_position(int p_contact_idx) const override; + virtual Vector3 get_contact_local_normal(int p_contact_idx) const override; + virtual float get_contact_impulse(int p_contact_idx) const override; + virtual int get_contact_local_shape(int p_contact_idx) const override; - virtual RID get_contact_collider(int p_contact_idx) const; - virtual Vector3 get_contact_collider_position(int p_contact_idx) const; - virtual ObjectID get_contact_collider_id(int p_contact_idx) const; - virtual int get_contact_collider_shape(int p_contact_idx) const; - virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const; + virtual RID get_contact_collider(int p_contact_idx) const override; + virtual Vector3 get_contact_collider_position(int p_contact_idx) const override; + virtual ObjectID get_contact_collider_id(int p_contact_idx) const override; + virtual int get_contact_collider_shape(int p_contact_idx) const override; + virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const override; - virtual real_t get_step() const { return deltaTime; } - virtual void integrate_forces() { + virtual real_t get_step() const override { return deltaTime; } + virtual void integrate_forces() override { // Skip the execution of this function } - virtual PhysicsDirectSpaceState3D *get_space_state(); + virtual PhysicsDirectSpaceState3D *get_space_state() override; }; class RigidBodyBullet : public RigidCollisionObjectBullet { @@ -171,7 +171,7 @@ public: struct KinematicUtilities { RigidBodyBullet *owner; btScalar safe_margin; - Vector<KinematicShape> shapes; + LocalVector<KinematicShape> shapes; KinematicUtilities(RigidBodyBullet *p_owner); ~KinematicUtilities(); @@ -193,6 +193,7 @@ private: PhysicsServer3D::BodyMode mode; GodotMotionState *godotMotionState; btRigidBody *btBody; + Vector3 total_gravity; uint16_t locked_axis = 0; real_t mass = 1; real_t gravity_scale = 1; @@ -202,18 +203,18 @@ private: bool omit_forces_integration = false; bool can_integrate_forces = false; - Vector<CollisionData> collisions; - Vector<RigidBodyBullet *> collision_traces_1; - Vector<RigidBodyBullet *> collision_traces_2; - Vector<RigidBodyBullet *> *prev_collision_traces; - Vector<RigidBodyBullet *> *curr_collision_traces; + LocalVector<CollisionData> collisions; + LocalVector<RigidBodyBullet *> collision_traces_1; + LocalVector<RigidBodyBullet *> collision_traces_2; + LocalVector<RigidBodyBullet *> *prev_collision_traces; + LocalVector<RigidBodyBullet *> *curr_collision_traces; // these parameters are used to avoid vector resize - int maxCollisionsDetection = 0; - int collisionsCount = 0; - int prev_collision_count = 0; + uint32_t maxCollisionsDetection = 0; + uint32_t collisionsCount = 0; + uint32_t prev_collision_count = 0; - Vector<AreaBullet *> areasWhereIam; + LocalVector<AreaBullet *> areasWhereIam; // these parameters are used to avoid vector resize int maxAreasWhereIam = 10; int areaWhereIamCount = 0; @@ -235,21 +236,20 @@ public: _FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; } - virtual void main_shape_changed(); - virtual void reload_body(); - virtual void set_space(SpaceBullet *p_space); + virtual void main_shape_changed() override; + virtual void do_reload_body() override; + virtual void set_space(SpaceBullet *p_space) override; - virtual void dispatch_callbacks(); + virtual void dispatch_callbacks() override; + virtual void pre_process() override; void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant()); void scratch_space_override_modificator(); - virtual void on_collision_filters_change(); - virtual void on_collision_checker_start(); - virtual void on_collision_checker_end(); - - void set_max_collisions_detection(int p_maxCollisionsDetection) { - ERR_FAIL_COND(0 > p_maxCollisionsDetection); + virtual void do_reload_collision_filters() override; + virtual void on_collision_checker_start() override; + virtual void on_collision_checker_end() override; + void set_max_collisions_detection(uint32_t p_maxCollisionsDetection) { maxCollisionsDetection = p_maxCollisionsDetection; collisions.resize(p_maxCollisionsDetection); @@ -284,12 +284,12 @@ public: void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant); Variant get_state(PhysicsServer3D::BodyState p_state) const; - void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse); void apply_central_impulse(const Vector3 &p_impulse); + void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()); void apply_torque_impulse(const Vector3 &p_impulse); - void apply_force(const Vector3 &p_force, const Vector3 &p_pos); void apply_central_force(const Vector3 &p_force); + void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()); void apply_torque(const Vector3 &p_torque); void set_applied_force(const Vector3 &p_force); @@ -312,19 +312,19 @@ public: void set_angular_velocity(const Vector3 &p_velocity); Vector3 get_angular_velocity() const; - virtual void set_transform__bullet(const btTransform &p_global_transform); - virtual const btTransform &get_transform__bullet() const; + virtual void set_transform__bullet(const btTransform &p_global_transform) override; + virtual const btTransform &get_transform__bullet() const override; - virtual void reload_shapes(); + virtual void do_reload_shapes() override; - virtual void on_enter_area(AreaBullet *p_area); - virtual void on_exit_area(AreaBullet *p_area); + virtual void on_enter_area(AreaBullet *p_area) override; + virtual void on_exit_area(AreaBullet *p_area) override; void reload_space_override_modificator(); /// Kinematic void reload_kinematic_shapes(); - virtual void notify_transform_changed(); + virtual void notify_transform_changed() override; private: void _internal_set_mass(real_t p_mass); diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp index d53f1e7d17..74d6e073b3 100644 --- a/modules/bullet/shape_bullet.cpp +++ b/modules/bullet/shape_bullet.cpp @@ -46,9 +46,15 @@ @author AndreaCatania */ -ShapeBullet::ShapeBullet() {} +ShapeBullet::ShapeBullet() { +} -ShapeBullet::~ShapeBullet() {} +ShapeBullet::~ShapeBullet() { + if (default_shape != nullptr) { + bulletdelete(default_shape); + default_shape = nullptr; + } +} btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge) { btVector3 s; @@ -56,6 +62,22 @@ btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, return create_bt_shape(s, p_extra_edge); } +btCollisionShape *ShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { + if (p_extra_edge == 0.0 && (p_implicit_scale - btVector3(1, 1, 1)).length2() <= CMP_EPSILON) { + return default_shape; + } + + return internal_create_bt_shape(p_implicit_scale, p_extra_edge); +} + +void ShapeBullet::destroy_bt_shape(btCollisionShape *p_shape) const { + if (p_shape != default_shape && p_shape != old_default_shape) { + if (likely(p_shape != nullptr)) { + bulletdelete(p_shape); + } + } +} + btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const { p_btShape->setUserPointer(const_cast<ShapeBullet *>(this)); p_btShape->setMargin(margin); @@ -63,10 +85,21 @@ btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const { } void ShapeBullet::notifyShapeChanged() { + // Store the old shape ptr so to not lose the reference pointer. + old_default_shape = default_shape; + // Create the new default shape with the new data. + default_shape = internal_create_bt_shape(btVector3(1, 1, 1)); + for (Map<ShapeOwnerBullet *, int>::Element *E = owners.front(); E; E = E->next()) { ShapeOwnerBullet *owner = static_cast<ShapeOwnerBullet *>(E->key()); owner->shape_changed(owner->find_shape(this)); } + + if (old_default_shape) { + // At this point now one has the old default shape; just delete it. + bulletdelete(old_default_shape); + old_default_shape = nullptr; + } } void ShapeBullet::add_owner(ShapeOwnerBullet *p_owner) { @@ -186,7 +219,7 @@ void PlaneShapeBullet::setup(const Plane &p_plane) { notifyShapeChanged(); } -btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *PlaneShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { btVector3 btPlaneNormal; G_TO_B(plane.normal, btPlaneNormal); return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d)); @@ -214,7 +247,7 @@ void SphereShapeBullet::setup(real_t p_radius) { notifyShapeChanged(); } -btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *SphereShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_extra_edge)); } @@ -241,7 +274,7 @@ void BoxShapeBullet::setup(const Vector3 &p_half_extents) { notifyShapeChanged(); } -btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *BoxShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_extra_edge, p_extra_edge, p_extra_edge))); } @@ -274,8 +307,8 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) { notifyShapeChanged(); } -btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { - return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1] + p_extra_edge)); +btCollisionShape *CapsuleShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { + return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1])); } /* Cylinder */ @@ -307,7 +340,7 @@ void CylinderShapeBullet::setup(real_t p_height, real_t p_radius) { notifyShapeChanged(); } -btCollisionShape *CylinderShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { +btCollisionShape *CylinderShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { return prepare(ShapeBullet::create_shape_cylinder(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin)); } @@ -349,7 +382,7 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) { notifyShapeChanged(); } -btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *ConvexPolygonShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { if (!vertices.size()) { // This is necessary since 0 vertices return prepare(ShapeBullet::create_shape_empty()); @@ -431,7 +464,7 @@ void ConcavePolygonShapeBullet::setup(Vector<Vector3> p_faces) { notifyShapeChanged(); } -btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *ConcavePolygonShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape); if (!cs) { // This is necessary since if 0 faces the creation of concave return null @@ -471,6 +504,9 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { int l_width = d["width"]; int l_depth = d["depth"]; + ERR_FAIL_COND_MSG(l_width < 2, "Map width must be at least 2."); + ERR_FAIL_COND_MSG(l_depth < 2, "Map depth must be at least 2."); + // TODO This code will need adjustments if real_t is set to `double`, // because that precision is unnecessary for a heightmap and Bullet doesn't support it... @@ -555,7 +591,7 @@ void HeightMapShapeBullet::setup(Vector<real_t> &p_heights, int p_width, int p_d notifyShapeChanged(); } -btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *HeightMapShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height)); cs->setLocalScaling(p_implicit_scale); prepare(cs); @@ -588,6 +624,6 @@ void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) { notifyShapeChanged(); } -btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *RayShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_extra_edge, slips_on_slope)); } diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h index b24ded574f..6ca4d36a23 100644 --- a/modules/bullet/shape_bullet.h +++ b/modules/bullet/shape_bullet.h @@ -31,7 +31,7 @@ #ifndef SHAPE_BULLET_H #define SHAPE_BULLET_H -#include "core/math/geometry.h" +#include "core/math/geometry_3d.h" #include "core/variant.h" #include "rid_bullet.h" #include "servers/physics_server_3d.h" @@ -53,6 +53,10 @@ class ShapeBullet : public RIDBullet { Map<ShapeOwnerBullet *, int> owners; real_t margin = 0.04; + // Contains the default shape. + btCollisionShape *default_shape = nullptr; + btCollisionShape *old_default_shape = nullptr; + protected: /// return self btCollisionShape *prepare(btCollisionShape *p_btShape) const; @@ -63,7 +67,11 @@ public: virtual ~ShapeBullet(); btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge = 0); - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0; + btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + + void destroy_bt_shape(btCollisionShape *p_shape) const; + + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0; void add_owner(ShapeOwnerBullet *p_owner); void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false); @@ -102,7 +110,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(const Plane &p_plane); @@ -118,7 +126,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(real_t p_radius); @@ -134,7 +142,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(const Vector3 &p_half_extents); @@ -152,7 +160,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(real_t p_height, real_t p_radius); @@ -170,7 +178,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); private: void setup(real_t p_height, real_t p_radius); @@ -186,7 +194,7 @@ public: void get_vertices(Vector<Vector3> &out_vertices); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(const Vector<Vector3> &p_vertices); @@ -204,7 +212,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(Vector<Vector3> p_faces); @@ -223,7 +231,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height); @@ -239,7 +247,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(real_t p_length, bool p_slips_on_slope); diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp index 6794d6c313..ee48b3c5f0 100644 --- a/modules/bullet/soft_body_bullet.cpp +++ b/modules/bullet/soft_body_bullet.cpp @@ -41,7 +41,7 @@ SoftBodyBullet::SoftBodyBullet() : SoftBodyBullet::~SoftBodyBullet() { } -void SoftBodyBullet::reload_body() { +void SoftBodyBullet::do_reload_body() { if (space) { space->remove_soft_body(this); space->add_soft_body(this); @@ -51,13 +51,15 @@ void SoftBodyBullet::reload_body() { void SoftBodyBullet::set_space(SpaceBullet *p_space) { if (space) { isScratched = false; + space->unregister_collision_object(this); space->remove_soft_body(this); } space = p_space; if (space) { - space->add_soft_body(this); + space->register_collision_object(this); + reload_body(); } } @@ -344,14 +346,14 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector indices_table.push_back(Vector<int>()); } - indices_table.write[vertex_id].push_back(vs_vertex_index); + indices_table[vertex_id].push_back(vs_vertex_index); vs_indices_to_physics_table.push_back(vertex_id); } } const int indices_map_size(indices_table.size()); - Vector<btScalar> bt_vertices; + LocalVector<btScalar> bt_vertices; { // Parse vertices to bullet @@ -359,13 +361,13 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector const Vector3 *p_vertices_read = p_vertices.ptr(); for (int i = 0; i < indices_map_size; ++i) { - bt_vertices.write[3 * i + 0] = p_vertices_read[indices_table[i][0]].x; - bt_vertices.write[3 * i + 1] = p_vertices_read[indices_table[i][0]].y; - bt_vertices.write[3 * i + 2] = p_vertices_read[indices_table[i][0]].z; + bt_vertices[3 * i + 0] = p_vertices_read[indices_table[i][0]].x; + bt_vertices[3 * i + 1] = p_vertices_read[indices_table[i][0]].y; + bt_vertices[3 * i + 2] = p_vertices_read[indices_table[i][0]].z; } } - Vector<int> bt_triangles; + LocalVector<int> bt_triangles; const int triangles_size(p_indices.size() / 3); { // Parse indices @@ -375,9 +377,9 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector const int *p_indices_read = p_indices.ptr(); for (int i = 0; i < triangles_size; ++i) { - bt_triangles.write[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]]; - bt_triangles.write[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]]; - bt_triangles.write[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]]; + bt_triangles[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]]; + bt_triangles[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]]; + bt_triangles[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]]; } } diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h index da8a2412ed..229204b539 100644 --- a/modules/bullet/soft_body_bullet.h +++ b/modules/bullet/soft_body_bullet.h @@ -32,7 +32,6 @@ #define SOFT_BODY_BULLET_H #include "collision_object_bullet.h" -#include "scene/resources/material.h" // TODO remove this please #ifdef None /// This is required to remove the macro None defined by x11 compiler because this word "None" is used internally by Bullet @@ -58,7 +57,7 @@ class SoftBodyBullet : public CollisionObjectBullet { private: btSoftBody *bt_soft_body = nullptr; - Vector<Vector<int>> indices_table; + LocalVector<Vector<int>> indices_table; btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody bool isScratched = false; @@ -73,7 +72,7 @@ private: real_t pose_matching_coefficient = 0.; // [0,1] real_t damping_coefficient = 0.01; // [0,1] real_t drag_coefficient = 0.; // [0,1] - Vector<int> pinned_nodes; + LocalVector<int> pinned_nodes; // Other property to add //btScalar kVC; // Volume conversation coefficient [0,+inf] @@ -87,15 +86,14 @@ public: SoftBodyBullet(); ~SoftBodyBullet(); - virtual void reload_body(); - virtual void set_space(SpaceBullet *p_space); + virtual void do_reload_body() override; + virtual void set_space(SpaceBullet *p_space) override; - virtual void dispatch_callbacks() {} - virtual void on_collision_filters_change() {} - virtual void on_collision_checker_start() {} - virtual void on_collision_checker_end() {} - virtual void on_enter_area(AreaBullet *p_area); - virtual void on_exit_area(AreaBullet *p_area); + virtual void do_reload_collision_filters() override {} + virtual void on_collision_checker_start() override {} + virtual void on_collision_checker_end() override {} + virtual void on_enter_area(AreaBullet *p_area) override; + virtual void on_exit_area(AreaBullet *p_area) override; _FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; } diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 99f58e7059..d0515e7c97 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -123,10 +123,11 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra } ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape); + ERR_FAIL_COND_V(!shape, 0); btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin); if (!btShape->isConvex()) { - bulletdelete(btShape); + shape->destroy_bt_shape(btShape); ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); return 0; } @@ -146,25 +147,28 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra btQuery.m_closestDistanceThreshold = 0; space->dynamicsWorld->contactTest(&collision_object, btQuery); - bulletdelete(btConvex); + shape->destroy_bt_shape(btShape); return btQuery.m_count; } bool BulletPhysicsDirectSpaceState::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { + r_closest_safe = 0.0f; + r_closest_unsafe = 0.0f; + btVector3 bt_motion; + G_TO_B(p_motion, bt_motion); + ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape); + ERR_FAIL_COND_V(!shape, false); btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin); if (!btShape->isConvex()) { - bulletdelete(btShape); + shape->destroy_bt_shape(btShape); ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); return false; } btConvexShape *bt_convex_shape = static_cast<btConvexShape *>(btShape); - btVector3 bt_motion; - G_TO_B(p_motion, bt_motion); - btTransform bt_xform_from; G_TO_B(p_xform, bt_xform_from); UNSCALE_BT_BASIS(bt_xform_from); @@ -172,15 +176,17 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf btTransform bt_xform_to(bt_xform_from); bt_xform_to.getOrigin() += bt_motion; + if ((bt_xform_to.getOrigin() - bt_xform_from.getOrigin()).fuzzyZero()) { + shape->destroy_bt_shape(btShape); + return false; + } + GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude, p_collide_with_bodies, p_collide_with_areas); btResult.m_collisionFilterGroup = 0; btResult.m_collisionFilterMask = p_collision_mask; space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, space->dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration); - r_closest_unsafe = 1.0; - r_closest_safe = 1.0; - if (btResult.hasHit()) { const btScalar l = bt_motion.length(); r_closest_unsafe = btResult.m_closestHitFraction; @@ -196,9 +202,12 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf r_info->collider_id = collision_object->get_instance_id(); r_info->shape = btResult.m_shapeId; } + } else { + r_closest_safe = 1.0f; + r_closest_unsafe = 1.0f; } - bulletdelete(bt_convex_shape); + shape->destroy_bt_shape(btShape); return true; // Mean success } @@ -209,10 +218,11 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform & } ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape); + ERR_FAIL_COND_V(!shape, false); btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin); if (!btShape->isConvex()) { - bulletdelete(btShape); + shape->destroy_bt_shape(btShape); ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); return false; } @@ -233,17 +243,18 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform & space->dynamicsWorld->contactTest(&collision_object, btQuery); r_result_count = btQuery.m_count; - bulletdelete(btConvex); + shape->destroy_bt_shape(btShape); return btQuery.m_count; } bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape); + ERR_FAIL_COND_V(!shape, false); btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin); if (!btShape->isConvex()) { - bulletdelete(btShape); + shape->destroy_bt_shape(btShape); ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); return false; } @@ -263,7 +274,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh btQuery.m_closestDistanceThreshold = 0; space->dynamicsWorld->contactTest(&collision_object, btQuery); - bulletdelete(btConvex); + shape->destroy_bt_shape(btShape); if (btQuery.m_collided) { if (btCollisionObject::CO_RIGID_BODY == btQuery.m_rest_info_collision_object->getInternalType()) { @@ -276,7 +287,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh } Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const { - RigidCollisionObjectBullet *rigid_object = space->get_physics_server()->get_rigid_collisin_object(p_object); + RigidCollisionObjectBullet *rigid_object = space->get_physics_server()->get_rigid_collision_object(p_object); ERR_FAIL_COND_V(!rigid_object, Vector3()); btVector3 out_closest_point(0, 0, 0); @@ -338,14 +349,46 @@ SpaceBullet::~SpaceBullet() { destroy_world(); } +void SpaceBullet::add_to_pre_flush_queue(CollisionObjectBullet *p_co) { + if (p_co->is_in_flush_queue == false) { + p_co->is_in_flush_queue = true; + queue_pre_flush.push_back(p_co); + } +} + +void SpaceBullet::add_to_flush_queue(CollisionObjectBullet *p_co) { + if (p_co->is_in_flush_queue == false) { + p_co->is_in_flush_queue = true; + queue_flush.push_back(p_co); + } +} + +void SpaceBullet::remove_from_any_queue(CollisionObjectBullet *p_co) { + if (p_co->is_in_flush_queue) { + p_co->is_in_flush_queue = false; + queue_pre_flush.erase(p_co); + queue_flush.erase(p_co); + } +} + void SpaceBullet::flush_queries() { - const btCollisionObjectArray &colObjArray = dynamicsWorld->getCollisionObjectArray(); - for (int i = colObjArray.size() - 1; 0 <= i; --i) { - static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->dispatch_callbacks(); + for (uint32_t i = 0; i < queue_pre_flush.size(); i += 1) { + queue_pre_flush[i]->dispatch_callbacks(); + queue_pre_flush[i]->is_in_flush_queue = false; } + for (uint32_t i = 0; i < queue_flush.size(); i += 1) { + queue_flush[i]->dispatch_callbacks(); + queue_flush[i]->is_in_flush_queue = false; + } + queue_pre_flush.clear(); + queue_flush.clear(); } void SpaceBullet::step(real_t p_delta_time) { + for (uint32_t i = 0; i < collision_objects.size(); i += 1) { + collision_objects[i]->pre_process(); + } + delta_time = p_delta_time; dynamicsWorld->stepSimulation(p_delta_time, 0, 0); } @@ -438,16 +481,30 @@ real_t SpaceBullet::get_param(PhysicsServer3D::SpaceParameter p_param) { } void SpaceBullet::add_area(AreaBullet *p_area) { +#ifdef TOOLS_ENABLED + // This never happen, and there is no way for the user to trigger it. + // If in future a bug is introduced into this bullet integration and this + // function is called twice, the crash will notify the developer that will + // fix it even before do the eventual PR. + CRASH_COND(p_area->is_in_world); +#endif areas.push_back(p_area); dynamicsWorld->addCollisionObject(p_area->get_bt_ghost(), p_area->get_collision_layer(), p_area->get_collision_mask()); + p_area->is_in_world = true; } void SpaceBullet::remove_area(AreaBullet *p_area) { - areas.erase(p_area); - dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost()); + if (p_area->is_in_world) { + areas.erase(p_area); + dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost()); + p_area->is_in_world = false; + } } void SpaceBullet::reload_collision_filters(AreaBullet *p_area) { + if (p_area->is_in_world == false) { + return; + } btGhostObject *ghost_object = p_area->get_bt_ghost(); btBroadphaseProxy *ghost_proxy = ghost_object->getBroadphaseHandle(); @@ -457,24 +514,47 @@ void SpaceBullet::reload_collision_filters(AreaBullet *p_area) { dynamicsWorld->refreshBroadphaseProxy(ghost_object); } +void SpaceBullet::register_collision_object(CollisionObjectBullet *p_object) { + collision_objects.push_back(p_object); +} + +void SpaceBullet::unregister_collision_object(CollisionObjectBullet *p_object) { + remove_from_any_queue(p_object); + collision_objects.erase(p_object); +} + void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) { +#ifdef TOOLS_ENABLED + // This never happen, and there is no way for the user to trigger it. + // If in future a bug is introduced into this bullet integration and this + // function is called twice, the crash will notify the developer that will + // fix it even before do the eventual PR. + CRASH_COND(p_body->is_in_world); +#endif if (p_body->is_static()) { dynamicsWorld->addCollisionObject(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask()); } else { dynamicsWorld->addRigidBody(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask()); p_body->scratch_space_override_modificator(); } + p_body->is_in_world = true; } void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) { - if (p_body->is_static()) { - dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body()); - } else { - dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body()); + if (p_body->is_in_world) { + if (p_body->is_static()) { + dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body()); + } else { + dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body()); + } + p_body->is_in_world = false; } } void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) { + if (p_body->is_in_world == false) { + return; + } btRigidBody *rigid_body = p_body->get_bt_rigid_body(); btBroadphaseProxy *body_proxy = rigid_body->getBroadphaseProxy(); @@ -531,10 +611,6 @@ void SpaceBullet::remove_all_collision_objects() { } } -void onBulletPreTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) { - static_cast<SpaceBullet *>(p_dynamicsWorld->getWorldUserInfo())->flush_queries(); -} - void onBulletTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) { const btCollisionObjectArray &colObjArray = p_dynamicsWorld->getCollisionObjectArray(); @@ -602,7 +678,6 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) { dynamicsWorld->setWorldUserInfo(this); - dynamicsWorld->setInternalTickCallback(onBulletPreTickCallback, this, true); dynamicsWorld->setInternalTickCallback(onBulletTickCallback, this, false); dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(ghostPairCallback); // Setup ghost check dynamicsWorld->getPairCache()->setOverlapFilterCallback(godotFilterCallback); @@ -659,7 +734,7 @@ void SpaceBullet::check_ghost_overlaps() { /// 1. Reset all states for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) { - AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects.write[i]; + AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects[i]; // This check prevent the overwrite of ENTER state // if this function is called more times before dispatchCallbacks if (otherObj.state != AreaBullet::OVERLAP_STATE_ENTER) { @@ -939,7 +1014,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f motionVec->end(); #endif - for (int shIndex = 0; shIndex < shape_count && !motion.fuzzyZero(); ++shIndex) { + for (int shIndex = 0; shIndex < shape_count; ++shIndex) { if (p_body->is_shape_disabled(shIndex)) { continue; } @@ -961,6 +1036,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f btTransform shape_world_to(shape_world_from); shape_world_to.getOrigin() += motion; + if ((shape_world_to.getOrigin() - shape_world_from.getOrigin()).fuzzyZero()) { + motion = btVector3(0, 0, 0); + break; + } + GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, p_infinite_inertia); btResult.m_collisionFilterGroup = p_body->get_collision_layer(); btResult.m_collisionFilterMask = p_body->get_collision_mask(); diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index 5ff421ef52..897f902fe1 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -31,8 +31,8 @@ #ifndef SPACE_BULLET_H #define SPACE_BULLET_H +#include "core/local_vector.h" #include "core/variant.h" -#include "core/vector.h" #include "godot_result_callbacks.h" #include "rid_bullet.h" #include "servers/physics_server_3d.h" @@ -76,14 +76,14 @@ 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 { @@ -110,23 +110,33 @@ class SpaceBullet : public RIDBullet { real_t linear_damp = 0.0; real_t angular_damp = 0.0; - Vector<AreaBullet *> areas; + LocalVector<CollisionObjectBullet *> queue_pre_flush; + LocalVector<CollisionObjectBullet *> queue_flush; + LocalVector<CollisionObjectBullet *> collision_objects; + LocalVector<AreaBullet *> areas; - Vector<Vector3> contactDebug; - int contactDebugCount = 0; + LocalVector<Vector3> contactDebug; + uint32_t contactDebugCount = 0; real_t delta_time = 0.; public: SpaceBullet(); virtual ~SpaceBullet(); + void add_to_flush_queue(CollisionObjectBullet *p_co); + void add_to_pre_flush_queue(CollisionObjectBullet *p_co); + void remove_from_any_queue(CollisionObjectBullet *p_co); + void flush_queries(); 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 @@ -147,6 +157,9 @@ public: void remove_area(AreaBullet *p_area); void reload_collision_filters(AreaBullet *p_area); + void register_collision_object(CollisionObjectBullet *p_object); + void unregister_collision_object(CollisionObjectBullet *p_object); + void add_rigid_body(RigidBodyBullet *p_body); void remove_rigid_body(RigidBodyBullet *p_body); void reload_collision_filters(RigidBodyBullet *p_body); @@ -170,7 +183,7 @@ public: } _FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) { if (contactDebugCount < contactDebug.size()) { - contactDebug.write[contactDebugCount++] = p_contact; + contactDebug[contactDebugCount++] = p_contact; } } _FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; } |