diff options
Diffstat (limited to 'modules/bullet')
48 files changed, 525 insertions, 450 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub index 21bdcca18e..bfac0df5b0 100644 --- a/modules/bullet/SCsub +++ b/modules/bullet/SCsub @@ -7,6 +7,8 @@ env_bullet = env_modules.Clone() # Thirdparty source files +thirdparty_obj = [] + if env["builtin_bullet"]: # Build only version 2 for now (as of 2.89) # Sync file list with relevant upstream CMakeLists.txt for each folder. @@ -208,8 +210,16 @@ if env["builtin_bullet"]: env_thirdparty = env_bullet.Clone() env_thirdparty.disable_warnings() - env_thirdparty.add_source_files(env.modules_sources, thirdparty_sources) + env_thirdparty.add_source_files(thirdparty_obj, thirdparty_sources) + env.modules_sources += thirdparty_obj # Godot source files -env_bullet.add_source_files(env.modules_sources, "*.cpp") + +module_obj = [] + +env_bullet.add_source_files(module_obj, "*.cpp") +env.modules_sources += module_obj + +# Needed to force rebuilding the module files when the thirdparty library is updated. +env.Depends(module_obj, thirdparty_obj) diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp index 79d8e252f0..c3bd84c329 100644 --- a/modules/bullet/area_bullet.cpp +++ b/modules/bullet/area_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -174,6 +174,7 @@ void AreaBullet::reload_body() { void AreaBullet::set_space(SpaceBullet *p_space) { // Clear the old space if there is one if (space) { + clear_overlaps(false); isScratched = false; // Remove this object form the physics world diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h index c0bcc858fe..a5fa678fec 100644 --- a/modules/bullet/area_bullet.h +++ b/modules/bullet/area_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -32,7 +32,7 @@ #define AREABULLET_H #include "collision_object_bullet.h" -#include "core/vector.h" +#include "core/templates/vector.h" #include "servers/physics_server_3d.h" #include "space_bullet.h" diff --git a/modules/bullet/btRayShape.cpp b/modules/bullet/btRayShape.cpp index a754ca6a89..1568cca63d 100644 --- a/modules/bullet/btRayShape.cpp +++ b/modules/bullet/btRayShape.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/btRayShape.h b/modules/bullet/btRayShape.h index d9ecde81e6..dcc4cc79c7 100644 --- a/modules/bullet/btRayShape.h +++ b/modules/bullet/btRayShape.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index 55686543f3..632682a15d 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -32,9 +32,9 @@ #include "bullet_utilities.h" #include "cone_twist_joint_bullet.h" -#include "core/class_db.h" -#include "core/error_macros.h" -#include "core/ustring.h" +#include "core/error/error_macros.h" +#include "core/object/class_db.h" +#include "core/string/ustring.h" #include "generic_6dof_joint_bullet.h" #include "hinge_joint_bullet.h" #include "pin_joint_bullet.h" @@ -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) { @@ -1463,22 +1463,6 @@ bool BulletPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Ax return generic_6dof_joint->get_flag(p_axis, p_flag); } -void BulletPhysicsServer3D::generic_6dof_joint_set_precision(RID p_joint, int p_precision) { - JointBullet *joint = joint_owner.getornull(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); - Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); - generic_6dof_joint->set_precision(p_precision); -} - -int BulletPhysicsServer3D::generic_6dof_joint_get_precision(RID p_joint) { - JointBullet *joint = joint_owner.getornull(p_joint); - ERR_FAIL_COND_V(!joint, 0); - ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0); - Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); - return generic_6dof_joint->get_precision(); -} - void BulletPhysicsServer3D::free(RID p_rid) { if (shape_owner.owns(p_rid)) { ShapeBullet *shape = shape_owner.getornull(p_rid); @@ -1553,10 +1537,14 @@ void BulletPhysicsServer3D::step(float p_deltaTime) { } } -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 +1555,17 @@ 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 +1575,20 @@ 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..b5dc84c8f5 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -32,8 +32,8 @@ #define BULLET_PHYSICS_SERVER_H #include "area_bullet.h" -#include "core/rid.h" -#include "core/rid_owner.h" +#include "core/templates/rid.h" +#include "core/templates/rid_owner.h" #include "joint_bullet.h" #include "rigid_body_bullet.h" #include "servers/physics_server_3d.h" @@ -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 +125,262 @@ 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_precision(RID p_joint, int precision); - virtual int generic_6dof_joint_get_precision(RID p_joint); + 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; /* 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 +392,20 @@ public: return active; } - virtual void init(); - virtual void step(float p_deltaTime); - virtual void sync(); - virtual void flush_queries(); - virtual void finish(); - - virtual bool is_flushing_queries() const { return false; } + virtual void init() override; + virtual void step(float p_deltaTime) override; + virtual void flush_queries() override; + virtual void finish() override; - virtual int get_process_info(ProcessInfo p_info); + virtual bool is_flushing_queries() const override { return false; } - CollisionObjectBullet *get_collisin_object(RID p_object) const; - RigidCollisionObjectBullet *get_rigid_collisin_object(RID p_object) const; + virtual int get_process_info(ProcessInfo p_info) override; - /// 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..7b21e4e4b2 100644 --- a/modules/bullet/bullet_types_converter.cpp +++ b/modules/bullet/bullet_types_converter.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -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 (column0.fuzzyZero()) { + if (column1.fuzzyZero()) { + if (column2.fuzzyZero()) { + // 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 (column2.fuzzyZero()) { + // 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 (column1.fuzzyZero()) { + if (column2.fuzzyZero()) { + // 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 (column2.fuzzyZero()) { + // 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/bullet_types_converter.h b/modules/bullet/bullet_types_converter.h index fef07c55b7..ca9b7175dd 100644 --- a/modules/bullet/bullet_types_converter.h +++ b/modules/bullet/bullet_types_converter.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/bullet_utilities.h b/modules/bullet/bullet_utilities.h index a5e33d9829..a7c0fafbea 100644 --- a/modules/bullet/bullet_utilities.h +++ b/modules/bullet/bullet_utilities.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index a3158a15e5..bce8ec8076 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h index f1423a69e4..bea28f2183 100644 --- a/modules/bullet/collision_object_bullet.h +++ b/modules/bullet/collision_object_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -33,8 +33,8 @@ #include "core/math/transform.h" #include "core/math/vector3.h" -#include "core/object.h" -#include "core/vset.h" +#include "core/object/class_db.h" +#include "core/templates/vset.h" #include "shape_owner_bullet.h" #include <LinearMath/btTransform.h> diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp index b4735fa9e9..e785780c5b 100644 --- a/modules/bullet/cone_twist_joint_bullet.cpp +++ b/modules/bullet/cone_twist_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/cone_twist_joint_bullet.h b/modules/bullet/cone_twist_joint_bullet.h index ed4baa9d1b..7d6bafd292 100644 --- a/modules/bullet/cone_twist_joint_bullet.h +++ b/modules/bullet/cone_twist_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/constraint_bullet.cpp b/modules/bullet/constraint_bullet.cpp index c47a23e75f..e610727685 100644 --- a/modules/bullet/constraint_bullet.cpp +++ b/modules/bullet/constraint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/constraint_bullet.h b/modules/bullet/constraint_bullet.h index 538808be51..6afd8c9b52 100644 --- a/modules/bullet/constraint_bullet.h +++ b/modules/bullet/constraint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp index 56a66dba45..43ad6c56d5 100644 --- a/modules/bullet/generic_6dof_joint_bullet.cpp +++ b/modules/bullet/generic_6dof_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -273,11 +273,3 @@ bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6D ERR_FAIL_INDEX_V(p_axis, 3, false); return flags[p_axis][p_flag]; } - -void Generic6DOFJointBullet::set_precision(int p_precision) { - sixDOFConstraint->setOverrideNumSolverIterations(MAX(1, p_precision)); -} - -int Generic6DOFJointBullet::get_precision() const { - return sixDOFConstraint->getOverrideNumSolverIterations(); -} diff --git a/modules/bullet/generic_6dof_joint_bullet.h b/modules/bullet/generic_6dof_joint_bullet.h index 316708bb11..62b8e85a81 100644 --- a/modules/bullet/generic_6dof_joint_bullet.h +++ b/modules/bullet/generic_6dof_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -68,9 +68,6 @@ public: void set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value); bool get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const; - - void set_precision(int p_precision); - int get_precision() const; }; #endif diff --git a/modules/bullet/godot_collision_configuration.cpp b/modules/bullet/godot_collision_configuration.cpp index ec7a1dbd9a..94f150b712 100644 --- a/modules/bullet/godot_collision_configuration.cpp +++ b/modules/bullet/godot_collision_configuration.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_collision_configuration.h b/modules/bullet/godot_collision_configuration.h index ffad1b1bda..8ed55cb1da 100644 --- a/modules/bullet/godot_collision_configuration.h +++ b/modules/bullet/godot_collision_configuration.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_collision_dispatcher.cpp b/modules/bullet/godot_collision_dispatcher.cpp index d919c85469..5d1e4d34d8 100644 --- a/modules/bullet/godot_collision_dispatcher.cpp +++ b/modules/bullet/godot_collision_dispatcher.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_collision_dispatcher.h b/modules/bullet/godot_collision_dispatcher.h index 5a96268ee9..77472a9432 100644 --- a/modules/bullet/godot_collision_dispatcher.h +++ b/modules/bullet/godot_collision_dispatcher.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,7 +31,7 @@ #ifndef GODOT_COLLISION_DISPATCHER_H #define GODOT_COLLISION_DISPATCHER_H -#include "core/int_types.h" +#include <cstdint> #include <btBulletDynamicsCommon.h> diff --git a/modules/bullet/godot_motion_state.h b/modules/bullet/godot_motion_state.h index 90d1614a77..0669d2739a 100644 --- a/modules/bullet/godot_motion_state.h +++ b/modules/bullet/godot_motion_state.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp index a84f3511ba..a8291d4ab4 100644 --- a/modules/bullet/godot_ray_world_algorithm.cpp +++ b/modules/bullet/godot_ray_world_algorithm.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_ray_world_algorithm.h b/modules/bullet/godot_ray_world_algorithm.h index 9786732d40..f705edef81 100644 --- a/modules/bullet/godot_ray_world_algorithm.h +++ b/modules/bullet/godot_ray_world_algorithm.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp index f82648d6ff..15d625afeb 100644 --- a/modules/bullet/godot_result_callbacks.cpp +++ b/modules/bullet/godot_result_callbacks.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h index 1325542973..4f40f7ecfd 100644 --- a/modules/bullet/godot_result_callbacks.h +++ b/modules/bullet/godot_result_callbacks.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp index 2338277565..4ceb98729f 100644 --- a/modules/bullet/hinge_joint_bullet.cpp +++ b/modules/bullet/hinge_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/hinge_joint_bullet.h b/modules/bullet/hinge_joint_bullet.h index 120c40e5c0..06a95be374 100644 --- a/modules/bullet/hinge_joint_bullet.h +++ b/modules/bullet/hinge_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/joint_bullet.cpp b/modules/bullet/joint_bullet.cpp index 6257ff0058..ac371658f5 100644 --- a/modules/bullet/joint_bullet.cpp +++ b/modules/bullet/joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/joint_bullet.h b/modules/bullet/joint_bullet.h index c70cea817e..5bb8b50961 100644 --- a/modules/bullet/joint_bullet.h +++ b/modules/bullet/joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp index 1cfbc65c78..8e8ff57f11 100644 --- a/modules/bullet/pin_joint_bullet.cpp +++ b/modules/bullet/pin_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/pin_joint_bullet.h b/modules/bullet/pin_joint_bullet.h index e7d05f34d4..6fbb6f7e02 100644 --- a/modules/bullet/pin_joint_bullet.h +++ b/modules/bullet/pin_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/register_types.cpp b/modules/bullet/register_types.cpp index 009d0dff63..b5ad5749a6 100644 --- a/modules/bullet/register_types.cpp +++ b/modules/bullet/register_types.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,8 +31,8 @@ #include "register_types.h" #include "bullet_physics_server.h" -#include "core/class_db.h" -#include "core/project_settings.h" +#include "core/config/project_settings.h" +#include "core/object/class_db.h" /** @author AndreaCatania diff --git a/modules/bullet/register_types.h b/modules/bullet/register_types.h index 5a01a1422e..e405996705 100644 --- a/modules/bullet/register_types.h +++ b/modules/bullet/register_types.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/rid_bullet.h b/modules/bullet/rid_bullet.h index 3551ca05f9..0b74a0cc4d 100644 --- a/modules/bullet/rid_bullet.h +++ b/modules/bullet/rid_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,7 +31,7 @@ #ifndef RID_BULLET_H #define RID_BULLET_H -#include "core/rid.h" +#include "core/templates/rid.h" /** @author AndreaCatania diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 9aac7ba9e4..4763098584 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -118,8 +118,8 @@ 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 +130,8 @@ 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) { @@ -264,6 +264,7 @@ RigidBodyBullet::RigidBodyBullet() : btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, nullptr, localInertia); btBody = bulletnew(btRigidBody(cInfo)); + btBody->setFriction(1.0); reload_shapes(); setupBulletCollisionObject(btBody); @@ -320,10 +321,9 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) { // Clear the old space if there is one if (space) { can_integrate_forces = false; - - // Remove all eventual constraints - assert_no_constraints(); - + isScratchedSpaceOverrideModificator = false; + // Remove any constraints + space->remove_rigid_body_constraints(this); // Remove this object form the physics world space->remove_rigid_body(this); } @@ -441,12 +441,6 @@ bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) { return false; } -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."); - } -} - void RigidBodyBullet::set_activation_state(bool p_active) { if (p_active) { btBody->activate(); @@ -604,23 +598,23 @@ 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) { @@ -632,15 +626,15 @@ 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) { @@ -742,7 +736,7 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) { } btBody->setCcdSweptSphereRadius(radius * 0.2); } else { - btBody->setCcdMotionThreshold(10000.0); + btBody->setCcdMotionThreshold(0.); btBody->setCcdSweptSphereRadius(0.); } } @@ -822,7 +816,7 @@ void RigidBodyBullet::reload_shapes() { btBody->updateInertiaTensor(); reload_kinematic_shapes(); - set_continuous_collision_detection(btBody->getCcdMotionThreshold() < 9998.0); + set_continuous_collision_detection(is_continuous_collision_detection_enabled()); reload_body(); } @@ -841,8 +835,8 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) { } 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.write[j] = areasWhereIam[j - 1]; } areasWhereIam.write[i] = p_area; break; @@ -889,8 +883,7 @@ 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; } diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index 6d159504b8..fc3f2db796 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -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 { @@ -267,8 +267,6 @@ public: bool 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); bool was_colliding(RigidBodyBullet *p_other_object); - void assert_no_constraints(); - void set_activation_state(bool p_active); bool is_active() const; @@ -284,12 +282,12 @@ 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); diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp index d53f1e7d17..cc2ec28a9e 100644 --- a/modules/bullet/shape_bullet.cpp +++ b/modules/bullet/shape_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -34,7 +34,7 @@ #include "bullet_physics_server.h" #include "bullet_types_converter.h" #include "bullet_utilities.h" -#include "core/project_settings.h" +#include "core/config/project_settings.h" #include "shape_owner_bullet.h" #include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h> @@ -275,7 +275,7 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) { } 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)); + return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1])); } /* Cylinder */ @@ -471,6 +471,9 @@ 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... diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h index a35a1d8a18..63475822de 100644 --- a/modules/bullet/shape_bullet.h +++ b/modules/bullet/shape_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -32,7 +32,7 @@ #define SHAPE_BULLET_H #include "core/math/geometry_3d.h" -#include "core/variant.h" +#include "core/variant/variant.h" #include "rid_bullet.h" #include "servers/physics_server_3d.h" diff --git a/modules/bullet/shape_owner_bullet.cpp b/modules/bullet/shape_owner_bullet.cpp index d63096d9a3..ea8821eaec 100644 --- a/modules/bullet/shape_owner_bullet.cpp +++ b/modules/bullet/shape_owner_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/shape_owner_bullet.h b/modules/bullet/shape_owner_bullet.h index f909632c99..4bd583e096 100644 --- a/modules/bullet/shape_owner_bullet.h +++ b/modules/bullet/shape_owner_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp index 6d5d95d07a..45c892851b 100644 --- a/modules/bullet/slider_joint_bullet.cpp +++ b/modules/bullet/slider_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/slider_joint_bullet.h b/modules/bullet/slider_joint_bullet.h index 6410b952ed..90964671c2 100644 --- a/modules/bullet/slider_joint_bullet.h +++ b/modules/bullet/slider_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp index 6794d6c313..a490179964 100644 --- a/modules/bullet/soft_body_bullet.cpp +++ b/modules/bullet/soft_body_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h index da8a2412ed..b15b72daf9 100644 --- a/modules/bullet/soft_body_bullet.h +++ b/modules/bullet/soft_body_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index cfe8cd5322..d7dd11d2a5 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -34,8 +34,8 @@ #include "bullet_types_converter.h" #include "bullet_utilities.h" #include "constraint_bullet.h" -#include "core/project_settings.h" -#include "core/ustring.h" +#include "core/config/project_settings.h" +#include "core/string/ustring.h" #include "godot_collision_configuration.h" #include "godot_collision_dispatcher.h" #include "rigid_body_bullet.h" @@ -158,10 +158,6 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf btVector3 bt_motion; G_TO_B(p_motion, bt_motion); - if (bt_motion.fuzzyZero()) { - return false; - } - ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape); ERR_FAIL_COND_V(!shape, false); @@ -180,6 +176,13 @@ 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()) { + r_closest_safe = 1.0f; + r_closest_unsafe = 1.0f; + bulletdelete(btShape); + return true; + } + 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; @@ -286,7 +289,7 @@ 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); @@ -476,11 +479,25 @@ void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) { } } +void SpaceBullet::remove_rigid_body_constraints(RigidBodyBullet *p_body) { + btRigidBody *btBody = p_body->get_bt_rigid_body(); + + int constraints = btBody->getNumConstraintRefs(); + if (constraints > 0) { + ERR_PRINT("A body connected to joints was removed."); + for (int i = 0; i < constraints; i++) { + dynamicsWorld->removeConstraint(btBody->getConstraintRef(i)); + } + } +} + void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) { + btRigidBody *btBody = p_body->get_bt_rigid_body(); + if (p_body->is_static()) { - dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body()); + dynamicsWorld->removeCollisionObject(btBody); } else { - dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body()); + dynamicsWorld->removeRigidBody(btBody); } } @@ -541,10 +558,6 @@ 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(); @@ -612,7 +625,6 @@ 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); @@ -832,17 +844,29 @@ void SpaceBullet::check_body_collision() { float appliedImpulse = pt.m_appliedImpulse; B_TO_G(pt.m_normalWorldOnB, normalOnB); + // The pt.m_index only contains the shape index when more than one collision shape is used + // and only if the collision shape is not a concave collision shape. + // A value of -1 in pt.m_partId indicates the pt.m_index is a shape index. + int shape_index_a = 0; + if (bodyA->get_shape_count() > 1 && pt.m_partId0 == -1) { + shape_index_a = pt.m_index0; + } + int shape_index_b = 0; + if (bodyB->get_shape_count() > 1 && pt.m_partId1 == -1) { + shape_index_b = pt.m_index1; + } + if (bodyA->can_add_collision()) { B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition); /// pt.m_localPointB Doesn't report the exact point in local space B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition); - bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, pt.m_index1, pt.m_index0); + bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, shape_index_b, shape_index_a); } if (bodyB->can_add_collision()) { B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition); /// pt.m_localPointA Doesn't report the exact point in local space B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition); - bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1); + bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, shape_index_a, shape_index_b); } #ifdef DEBUG_ENABLED @@ -894,8 +918,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f SceneTree::get_singleton()->get_current_scene()->add_child(motionVec); SceneTree::get_singleton()->get_current_scene()->add_child(normalLine); - motionVec->set_as_toplevel(true); - normalLine->set_as_toplevel(true); + motionVec->set_as_top_level(true); + normalLine->set_as_top_level(true); red_mat = Ref<StandardMaterial3D>(memnew(StandardMaterial3D)); red_mat->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); @@ -949,7 +973,7 @@ 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; } @@ -971,6 +995,11 @@ 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..0f2482e551 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -31,8 +31,8 @@ #ifndef SPACE_BULLET_H #define SPACE_BULLET_H -#include "core/variant.h" -#include "core/vector.h" +#include "core/templates/vector.h" +#include "core/variant/variant.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 { @@ -124,9 +124,12 @@ public: 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 @@ -148,6 +151,7 @@ public: void reload_collision_filters(AreaBullet *p_area); void add_rigid_body(RigidBodyBullet *p_body); + void remove_rigid_body_constraints(RigidBodyBullet *p_body); void remove_rigid_body(RigidBodyBullet *p_body); void reload_collision_filters(RigidBodyBullet *p_body); @@ -164,7 +168,7 @@ public: BulletPhysicsDirectSpaceState *get_direct_state(); void set_debug_contacts(int p_amount) { contactDebug.resize(p_amount); } - _FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.empty(); } + _FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.is_empty(); } _FORCE_INLINE_ void reset_debug_contact_count() { contactDebugCount = 0; } |