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-rw-r--r--modules/bullet/btRayShape.cpp5
-rw-r--r--modules/bullet/btRayShape.h4
-rw-r--r--modules/bullet/bullet_physics_server.cpp30
-rw-r--r--modules/bullet/bullet_physics_server.h3
-rw-r--r--modules/bullet/constraint_bullet.cpp12
-rw-r--r--modules/bullet/constraint_bullet.h4
-rw-r--r--modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml2
-rw-r--r--modules/bullet/doc_classes/BulletPhysicsServer.xml2
-rw-r--r--modules/bullet/godot_ray_world_algorithm.cpp8
-rw-r--r--modules/bullet/rigid_body_bullet.cpp11
-rw-r--r--modules/bullet/rigid_body_bullet.h2
-rw-r--r--modules/bullet/shape_bullet.cpp24
-rw-r--r--modules/bullet/shape_bullet.h5
-rw-r--r--modules/bullet/space_bullet.cpp2
14 files changed, 90 insertions, 24 deletions
diff --git a/modules/bullet/btRayShape.cpp b/modules/bullet/btRayShape.cpp
index 4164450cd2..8707096038 100644
--- a/modules/bullet/btRayShape.cpp
+++ b/modules/bullet/btRayShape.cpp
@@ -54,6 +54,11 @@ void btRayShape::setLength(btScalar p_length) {
reload_cache();
}
+void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) {
+
+ slipsOnSlope = p_slipsOnSlope;
+}
+
btVector3 btRayShape::localGetSupportingVertex(const btVector3 &vec) const {
return localGetSupportingVertexWithoutMargin(vec) + (m_shapeAxis * m_collisionMargin);
}
diff --git a/modules/bullet/btRayShape.h b/modules/bullet/btRayShape.h
index 99a9412dbe..a44c30db4b 100644
--- a/modules/bullet/btRayShape.h
+++ b/modules/bullet/btRayShape.h
@@ -44,6 +44,7 @@ ATTRIBUTE_ALIGNED16(class)
btRayShape : public btConvexInternalShape {
btScalar m_length;
+ bool slipsOnSlope;
/// The default axis is the z
btVector3 m_shapeAxis;
@@ -59,6 +60,9 @@ public:
void setLength(btScalar p_length);
btScalar getLength() const { return m_length; }
+ void setSlipsOnSlope(bool p_slipOnSlope);
+ bool getSlipsOnSlope() const { return slipsOnSlope; }
+
const btTransform &getSupportPoint() const { return m_cacheSupportPoint; }
const btScalar &getScaledLength() const { return m_cacheScaledLength; }
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 51de4998fa..b646fc164d 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -70,8 +70,8 @@
return RID(); \
}
-#define AddJointToSpace(body, joint, disableCollisionsBetweenLinkedBodies) \
- body->get_space()->add_constraint(joint, disableCollisionsBetweenLinkedBodies);
+#define AddJointToSpace(body, joint) \
+ body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies());
// <--------------- Joint creation asserts
btEmptyShape *BulletPhysicsServer::emptyShape(ShapeBullet::create_shape_empty());
@@ -987,6 +987,20 @@ int BulletPhysicsServer::joint_get_solver_priority(RID p_joint) const {
return 0;
}
+void BulletPhysicsServer::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
+ JointBullet *joint = joint_owner.get(p_joint);
+ ERR_FAIL_COND(!joint);
+
+ joint->disable_collisions_between_bodies(p_disable);
+}
+
+bool BulletPhysicsServer::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
+ JointBullet *joint(joint_owner.get(p_joint));
+ ERR_FAIL_COND_V(!joint, false);
+
+ return joint->is_disabled_collisions_between_bodies();
+}
+
RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) {
RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A);
ERR_FAIL_COND_V(!body_A, RID());
@@ -1003,7 +1017,7 @@ RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A
ERR_FAIL_COND_V(body_A == body_B, RID());
JointBullet *joint = bulletnew(PinJointBullet(body_A, p_local_A, body_B, p_local_B));
- AddJointToSpace(body_A, joint, true);
+ AddJointToSpace(body_A, joint);
CreateThenReturnRID(joint_owner, joint);
}
@@ -1071,7 +1085,7 @@ RID BulletPhysicsServer::joint_create_hinge(RID p_body_A, const Transform &p_hin
ERR_FAIL_COND_V(body_A == body_B, RID());
JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_hinge_A, p_hinge_B));
- AddJointToSpace(body_A, joint, true);
+ AddJointToSpace(body_A, joint);
CreateThenReturnRID(joint_owner, joint);
}
@@ -1091,7 +1105,7 @@ RID BulletPhysicsServer::joint_create_hinge_simple(RID p_body_A, const Vector3 &
ERR_FAIL_COND_V(body_A == body_B, RID());
JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B));
- AddJointToSpace(body_A, joint, true);
+ AddJointToSpace(body_A, joint);
CreateThenReturnRID(joint_owner, joint);
}
@@ -1143,7 +1157,7 @@ RID BulletPhysicsServer::joint_create_slider(RID p_body_A, const Transform &p_lo
ERR_FAIL_COND_V(body_A == body_B, RID());
JointBullet *joint = bulletnew(SliderJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
- AddJointToSpace(body_A, joint, true);
+ AddJointToSpace(body_A, joint);
CreateThenReturnRID(joint_owner, joint);
}
@@ -1177,7 +1191,7 @@ RID BulletPhysicsServer::joint_create_cone_twist(RID p_body_A, const Transform &
}
JointBullet *joint = bulletnew(ConeTwistJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
- AddJointToSpace(body_A, joint, true);
+ AddJointToSpace(body_A, joint);
CreateThenReturnRID(joint_owner, joint);
}
@@ -1213,7 +1227,7 @@ RID BulletPhysicsServer::joint_create_generic_6dof(RID p_body_A, const Transform
ERR_FAIL_COND_V(body_A == body_B, RID());
JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B, true));
- AddJointToSpace(body_A, joint, true);
+ AddJointToSpace(body_A, joint);
CreateThenReturnRID(joint_owner, joint);
}
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index e0e46cd369..764ec2387c 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -290,6 +290,9 @@ public:
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_disable_collisions_between_bodies(RID p_joint, const bool p_disable);
+ virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const;
+
virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B);
virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value);
diff --git a/modules/bullet/constraint_bullet.cpp b/modules/bullet/constraint_bullet.cpp
index b60e89b6fd..d15fb8de01 100644
--- a/modules/bullet/constraint_bullet.cpp
+++ b/modules/bullet/constraint_bullet.cpp
@@ -39,7 +39,8 @@
ConstraintBullet::ConstraintBullet() :
space(NULL),
- constraint(NULL) {}
+ constraint(NULL),
+ disabled_collisions_between_bodies(true) {}
void ConstraintBullet::setup(btTypedConstraint *p_constraint) {
constraint = p_constraint;
@@ -53,3 +54,12 @@ void ConstraintBullet::set_space(SpaceBullet *p_space) {
void ConstraintBullet::destroy_internal_constraint() {
space->remove_constraint(this);
}
+
+void ConstraintBullet::disable_collisions_between_bodies(const bool p_disabled) {
+ disabled_collisions_between_bodies = p_disabled;
+
+ if (space) {
+ space->remove_constraint(this);
+ space->add_constraint(this, disabled_collisions_between_bodies);
+ }
+}
diff --git a/modules/bullet/constraint_bullet.h b/modules/bullet/constraint_bullet.h
index 23be5a5063..ed3a318cbc 100644
--- a/modules/bullet/constraint_bullet.h
+++ b/modules/bullet/constraint_bullet.h
@@ -49,6 +49,7 @@ class ConstraintBullet : public RIDBullet {
protected:
SpaceBullet *space;
btTypedConstraint *constraint;
+ bool disabled_collisions_between_bodies;
public:
ConstraintBullet();
@@ -57,6 +58,9 @@ public:
virtual void set_space(SpaceBullet *p_space);
virtual void destroy_internal_constraint();
+ void disable_collisions_between_bodies(const bool p_disabled);
+ _FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; }
+
public:
virtual ~ConstraintBullet() {
bulletdelete(constraint);
diff --git a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
index c7909c7d72..8c8647e097 100644
--- a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
+++ b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8" ?>
-<class name="BulletPhysicsDirectBodyState" inherits="PhysicsDirectBodyState" category="Core" version="3.0-stable">
+<class name="BulletPhysicsDirectBodyState" inherits="PhysicsDirectBodyState" category="Core" version="3.1-dev">
<brief_description>
</brief_description>
<description>
diff --git a/modules/bullet/doc_classes/BulletPhysicsServer.xml b/modules/bullet/doc_classes/BulletPhysicsServer.xml
index a59abb0ebb..8ed84e1dec 100644
--- a/modules/bullet/doc_classes/BulletPhysicsServer.xml
+++ b/modules/bullet/doc_classes/BulletPhysicsServer.xml
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8" ?>
-<class name="BulletPhysicsServer" inherits="PhysicsServer" category="Core" version="3.0-stable">
+<class name="BulletPhysicsServer" inherits="PhysicsServer" category="Core" version="3.1-dev">
<brief_description>
</brief_description>
<description>
diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp
index 4a511b39a7..53d0ab7e3c 100644
--- a/modules/bullet/godot_ray_world_algorithm.cpp
+++ b/modules/bullet/godot_ray_world_algorithm.cpp
@@ -100,14 +100,16 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo
if (btResult.hasHit()) {
- btVector3 ray_normal(ray_transform.getOrigin() - to.getOrigin());
- ray_normal.normalize();
btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
if (depth >= -RAY_STABILITY_MARGIN)
depth = 0;
- resultOut->addContactPoint(ray_normal, btResult.m_hitPointWorld, depth);
+ if (ray_shape->getSlipsOnSlope())
+ resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth);
+ else {
+ resultOut->addContactPoint((ray_transform.getOrigin() - to.getOrigin()).normalize(), btResult.m_hitPointWorld, depth);
+ }
}
}
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 96a53f9f8b..75b4cc054a 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -114,10 +114,18 @@ Transform BulletPhysicsDirectBodyState::get_transform() const {
return body->get_transform();
}
+void BulletPhysicsDirectBodyState::add_central_force(const Vector3 &p_force) {
+ body->apply_central_force(p_force);
+}
+
void BulletPhysicsDirectBodyState::add_force(const Vector3 &p_force, const Vector3 &p_pos) {
body->apply_force(p_force, p_pos);
}
+void BulletPhysicsDirectBodyState::add_torque(const Vector3 &p_torque) {
+ body->apply_torque(p_torque);
+}
+
void BulletPhysicsDirectBodyState::apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
body->apply_impulse(p_pos, p_j);
}
@@ -832,7 +840,8 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
void RigidBodyBullet::reload_space_override_modificator() {
- if (!is_active())
+ // Make sure that kinematic bodies have their total gravity calculated
+ if (!is_active() && PhysicsServer::BODY_MODE_KINEMATIC != mode)
return;
Vector3 newGravity(space->get_gravity_direction() * space->get_gravity_magnitude());
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index c4a9676bdd..2d529f6dc7 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -110,7 +110,9 @@ public:
virtual void set_transform(const Transform &p_transform);
virtual Transform get_transform() const;
+ 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_impulse(const Vector3 &p_pos, const Vector3 &p_j);
virtual void apply_torque_impulse(const Vector3 &p_j);
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index c6b9695d96..5d8d391bd9 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -135,8 +135,10 @@ btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<rea
return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, -fieldHeight, fieldHeight, YAxis, PHY_FLOAT, flipQuadEdges));
}
-btRayShape *ShapeBullet::create_shape_ray(real_t p_length) {
- return bulletnew(btRayShape(p_length));
+btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) {
+ btRayShape *r(bulletnew(btRayShape(p_length)));
+ r->setSlipsOnSlope(p_slips_on_slope);
+ return r;
}
/* PLANE */
@@ -435,25 +437,33 @@ btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_impli
/* Ray shape */
RayShapeBullet::RayShapeBullet() :
ShapeBullet(),
- length(1) {}
+ length(1),
+ slips_on_slope(false) {}
void RayShapeBullet::set_data(const Variant &p_data) {
- setup(p_data);
+
+ Dictionary d = p_data;
+ setup(d["length"], d["slips_on_slope"]);
}
Variant RayShapeBullet::get_data() const {
- return length;
+
+ Dictionary d;
+ d["length"] = length;
+ d["slips_on_slope"] = slips_on_slope;
+ return d;
}
PhysicsServer::ShapeType RayShapeBullet::get_type() const {
return PhysicsServer::SHAPE_RAY;
}
-void RayShapeBullet::setup(real_t p_length) {
+void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) {
length = p_length;
+ slips_on_slope = p_slips_on_slope;
notifyShapeChanged();
}
btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
- return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin));
+ return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin, slips_on_slope));
}
diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h
index e04a3c808a..2acba90e36 100644
--- a/modules/bullet/shape_bullet.h
+++ b/modules/bullet/shape_bullet.h
@@ -86,7 +86,7 @@ public:
static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
static class btScaledBvhTriangleMeshShape *create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
static class btHeightfieldTerrainShape *create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size);
- static class btRayShape *create_shape_ray(real_t p_length);
+ static class btRayShape *create_shape_ray(real_t p_length, bool p_slips_on_slope);
};
class PlaneShapeBullet : public ShapeBullet {
@@ -216,6 +216,7 @@ class RayShapeBullet : public ShapeBullet {
public:
real_t length;
+ bool slips_on_slope;
RayShapeBullet();
@@ -225,6 +226,6 @@ public:
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
- void setup(real_t p_length);
+ void setup(real_t p_length, bool p_slips_on_slope);
};
#endif
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 6f0cda8957..88d9c20eba 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -979,6 +979,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
} else {
if (!l_has_penetration)
break;
+ else
+ has_penetration = true;
}
}
}
generated by cgit v1.2.3 (git 2.39.1) at 2026-01-14 21:48:43 +0000