diff options
Diffstat (limited to 'modules/bullet')
22 files changed, 266 insertions, 175 deletions
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp index 648919e612..bfb452d109 100644 --- a/modules/bullet/area_bullet.cpp +++ b/modules/bullet/area_bullet.cpp @@ -68,7 +68,9 @@ AreaBullet::AreaBullet() : } AreaBullet::~AreaBullet() { - remove_all_overlapping_instantly(); + // signal are handled by godot, so just clear without notify + for (int i = overlappingObjects.size() - 1; 0 <= i; --i) + overlappingObjects[i].object->on_exit_area(this); } void AreaBullet::dispatch_callbacks() { @@ -121,23 +123,21 @@ void AreaBullet::scratch() { isScratched = true; } -void AreaBullet::remove_all_overlapping_instantly() { - CollisionObjectBullet *supportObject; +void AreaBullet::clear_overlaps(bool p_notify) { for (int i = overlappingObjects.size() - 1; 0 <= i; --i) { - supportObject = overlappingObjects[i].object; - call_event(supportObject, PhysicsServer::AREA_BODY_REMOVED); - supportObject->on_exit_area(this); + if (p_notify) + call_event(overlappingObjects[i].object, PhysicsServer::AREA_BODY_REMOVED); + overlappingObjects[i].object->on_exit_area(this); } overlappingObjects.clear(); } -void AreaBullet::remove_overlapping_instantly(CollisionObjectBullet *p_object) { - CollisionObjectBullet *supportObject; +void AreaBullet::remove_overlap(CollisionObjectBullet *p_object, bool p_notify) { for (int i = overlappingObjects.size() - 1; 0 <= i; --i) { - supportObject = overlappingObjects[i].object; - if (supportObject == p_object) { - call_event(supportObject, PhysicsServer::AREA_BODY_REMOVED); - supportObject->on_exit_area(this); + if (overlappingObjects[i].object == p_object) { + if (p_notify) + call_event(overlappingObjects[i].object, PhysicsServer::AREA_BODY_REMOVED); + overlappingObjects[i].object->on_exit_area(this); overlappingObjects.remove(i); break; } diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h index 78136d574b..b2046c684e 100644 --- a/modules/bullet/area_bullet.h +++ b/modules/bullet/area_bullet.h @@ -150,9 +150,9 @@ public: void set_on_state_change(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant()); void scratch(); - void remove_all_overlapping_instantly(); + void clear_overlaps(bool p_notify); // Dispatch the callbacks and removes from overlapping list - void remove_overlapping_instantly(CollisionObjectBullet *p_object); + void remove_overlap(CollisionObjectBullet *p_object, bool p_notify); virtual void on_collision_filters_change(); virtual void on_collision_checker_start() {} diff --git a/modules/bullet/btRayShape.cpp b/modules/bullet/btRayShape.cpp index 4164450cd2..8707096038 100644 --- a/modules/bullet/btRayShape.cpp +++ b/modules/bullet/btRayShape.cpp @@ -54,6 +54,11 @@ void btRayShape::setLength(btScalar p_length) { reload_cache(); } +void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) { + + slipsOnSlope = p_slipsOnSlope; +} + btVector3 btRayShape::localGetSupportingVertex(const btVector3 &vec) const { return localGetSupportingVertexWithoutMargin(vec) + (m_shapeAxis * m_collisionMargin); } diff --git a/modules/bullet/btRayShape.h b/modules/bullet/btRayShape.h index 99a9412dbe..a44c30db4b 100644 --- a/modules/bullet/btRayShape.h +++ b/modules/bullet/btRayShape.h @@ -44,6 +44,7 @@ ATTRIBUTE_ALIGNED16(class) btRayShape : public btConvexInternalShape { btScalar m_length; + bool slipsOnSlope; /// The default axis is the z btVector3 m_shapeAxis; @@ -59,6 +60,9 @@ public: void setLength(btScalar p_length); btScalar getLength() const { return m_length; } + void setSlipsOnSlope(bool p_slipOnSlope); + bool getSlipsOnSlope() const { return slipsOnSlope; } + const btTransform &getSupportPoint() const { return m_cacheSupportPoint; } const btScalar &getScaledLength() const { return m_cacheScaledLength; } diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index 51de4998fa..6246a295ec 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -70,8 +70,8 @@ return RID(); \ } -#define AddJointToSpace(body, joint, disableCollisionsBetweenLinkedBodies) \ - body->get_space()->add_constraint(joint, disableCollisionsBetweenLinkedBodies); +#define AddJointToSpace(body, joint) \ + body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies()); // <--------------- Joint creation asserts btEmptyShape *BulletPhysicsServer::emptyShape(ShapeBullet::create_shape_empty()); @@ -89,7 +89,9 @@ BulletPhysicsServer::BulletPhysicsServer() : active(true), active_spaces_count(0) {} -BulletPhysicsServer::~BulletPhysicsServer() {} +BulletPhysicsServer::~BulletPhysicsServer() { + bulletdelete(emptyShape); +} RID BulletPhysicsServer::shape_create(ShapeType p_shape) { ShapeBullet *shape = NULL; @@ -619,11 +621,11 @@ uint32_t BulletPhysicsServer::body_get_collision_mask(RID p_body) const { } void BulletPhysicsServer::body_set_user_flags(RID p_body, uint32_t p_flags) { - WARN_PRINT("This function si not currently supported by bullet and Godot"); + // This function si not currently supported } uint32_t BulletPhysicsServer::body_get_user_flags(RID p_body) const { - WARN_PRINT("This function si not currently supported by bullet and Godot"); + // This function si not currently supported return 0; } @@ -783,22 +785,27 @@ int BulletPhysicsServer::body_get_max_contacts_reported(RID p_body) const { return body->get_max_collisions_detection(); } -void BulletPhysicsServer::body_set_contacts_reported_depth_threshold(RID p_body, float p_treshold) { - WARN_PRINT("Not supported by bullet and even Godot"); +void BulletPhysicsServer::body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) { + // Not supported by bullet and even Godot } float BulletPhysicsServer::body_get_contacts_reported_depth_threshold(RID p_body) const { - WARN_PRINT("Not supported by bullet and even Godot"); + // Not supported by bullet and even Godot return 0.; } void BulletPhysicsServer::body_set_omit_force_integration(RID p_body, bool p_omit) { - WARN_PRINT("Not supported by bullet"); + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_omit_forces_integration(p_omit); } bool BulletPhysicsServer::body_is_omitting_force_integration(RID p_body) const { - WARN_PRINT("Not supported by bullet"); - return false; + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, false); + + return body->get_omit_forces_integration(); } void BulletPhysicsServer::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) { @@ -825,12 +832,12 @@ PhysicsDirectBodyState *BulletPhysicsServer::body_get_direct_state(RID p_body) { return BulletPhysicsDirectBodyState::get_singleton(body); } -bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, MotionResult *r_result) { +bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result) { RigidBodyBullet *body = rigid_body_owner.get(p_body); ERR_FAIL_COND_V(!body, false); ERR_FAIL_COND_V(!body->get_space(), false); - return body->get_space()->test_body_motion(body, p_from, p_motion, r_result); + return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result); } RID BulletPhysicsServer::soft_body_create(bool p_init_sleeping) { @@ -979,14 +986,28 @@ PhysicsServer::JointType BulletPhysicsServer::joint_get_type(RID p_joint) const } void BulletPhysicsServer::joint_set_solver_priority(RID p_joint, int p_priority) { - //WARN_PRINTS("Joint priority not supported by bullet"); + // Joint priority not supported by bullet } int BulletPhysicsServer::joint_get_solver_priority(RID p_joint) const { - //WARN_PRINTS("Joint priority not supported by bullet"); + // Joint priority not supported by bullet return 0; } +void BulletPhysicsServer::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + + joint->disable_collisions_between_bodies(p_disable); +} + +bool BulletPhysicsServer::joint_is_disabled_collisions_between_bodies(RID p_joint) const { + JointBullet *joint(joint_owner.get(p_joint)); + ERR_FAIL_COND_V(!joint, false); + + return joint->is_disabled_collisions_between_bodies(); +} + RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) { RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); @@ -1003,7 +1024,7 @@ RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(PinJointBullet(body_A, p_local_A, body_B, p_local_B)); - AddJointToSpace(body_A, joint, true); + AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } @@ -1071,7 +1092,7 @@ RID BulletPhysicsServer::joint_create_hinge(RID p_body_A, const Transform &p_hin ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_hinge_A, p_hinge_B)); - AddJointToSpace(body_A, joint, true); + AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } @@ -1091,7 +1112,7 @@ RID BulletPhysicsServer::joint_create_hinge_simple(RID p_body_A, const Vector3 & ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B)); - AddJointToSpace(body_A, joint, true); + AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } @@ -1143,7 +1164,7 @@ RID BulletPhysicsServer::joint_create_slider(RID p_body_A, const Transform &p_lo ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(SliderJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); - AddJointToSpace(body_A, joint, true); + AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } @@ -1177,7 +1198,7 @@ RID BulletPhysicsServer::joint_create_cone_twist(RID p_body_A, const Transform & } JointBullet *joint = bulletnew(ConeTwistJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); - AddJointToSpace(body_A, joint, true); + AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } @@ -1213,7 +1234,7 @@ RID BulletPhysicsServer::joint_create_generic_6dof(RID p_body_A, const Transform ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B, true)); - AddJointToSpace(body_A, joint, true); + AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h index 1c94428a2a..e931915bba 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -154,7 +154,7 @@ public: /// 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_parea, AreaParameter p_param) const; + virtual Variant area_get_param(RID p_area, AreaParameter p_param) const; virtual void area_set_transform(RID p_area, const Transform &p_transform); virtual Transform area_get_transform(RID p_area) const; @@ -239,7 +239,7 @@ public: 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_contacts_reported_depth_threshold(RID p_body, float p_treshold); + 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_omit_force_integration(RID p_body, bool p_omit); @@ -253,7 +253,7 @@ public: // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body); - virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, MotionResult *r_result = NULL); + virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL); /* SOFT BODY API */ @@ -290,6 +290,9 @@ public: virtual void joint_set_solver_priority(RID p_joint, int p_priority); virtual int joint_get_solver_priority(RID p_joint) const; + virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable); + virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const; + virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B); virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value); @@ -301,7 +304,7 @@ public: 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 RID joint_create_hinge(RID p_body_A, const Transform &p_frame_A, RID p_body_B, const Transform &p_frame_B); + 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 void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value); diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index 34aff68a4a..57e4db708e 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -49,7 +49,7 @@ CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {} void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_transform) { - G_TO_B(p_transform.get_basis().get_scale(), scale); + G_TO_B(p_transform.get_basis().get_scale_abs(), scale); G_TO_B(p_transform, transform); UNSCALE_BT_BASIS(transform); } @@ -68,12 +68,10 @@ CollisionObjectBullet::CollisionObjectBullet(Type p_type) : force_shape_reset(false) {} CollisionObjectBullet::~CollisionObjectBullet() { - // Remove all overlapping + // Remove all overlapping, notify is not required since godot take care of it for (int i = areasOverlapped.size() - 1; 0 <= i; --i) { - areasOverlapped[i]->remove_overlapping_instantly(this); + areasOverlapped[i]->remove_overlap(this, /*Notify*/ false); } - // not required - // areasOverlapped.clear(); destroyBulletCollisionObject(); } @@ -160,7 +158,7 @@ int CollisionObjectBullet::get_godot_object_flags() const { void CollisionObjectBullet::set_transform(const Transform &p_global_transform) { - set_body_scale(p_global_transform.basis.get_scale()); + set_body_scale(p_global_transform.basis.get_scale_abs()); btTransform bt_transform; G_TO_B(p_global_transform, bt_transform); diff --git a/modules/bullet/constraint_bullet.cpp b/modules/bullet/constraint_bullet.cpp index b60e89b6fd..d15fb8de01 100644 --- a/modules/bullet/constraint_bullet.cpp +++ b/modules/bullet/constraint_bullet.cpp @@ -39,7 +39,8 @@ ConstraintBullet::ConstraintBullet() : space(NULL), - constraint(NULL) {} + constraint(NULL), + disabled_collisions_between_bodies(true) {} void ConstraintBullet::setup(btTypedConstraint *p_constraint) { constraint = p_constraint; @@ -53,3 +54,12 @@ void ConstraintBullet::set_space(SpaceBullet *p_space) { void ConstraintBullet::destroy_internal_constraint() { space->remove_constraint(this); } + +void ConstraintBullet::disable_collisions_between_bodies(const bool p_disabled) { + disabled_collisions_between_bodies = p_disabled; + + if (space) { + space->remove_constraint(this); + space->add_constraint(this, disabled_collisions_between_bodies); + } +} diff --git a/modules/bullet/constraint_bullet.h b/modules/bullet/constraint_bullet.h index 23be5a5063..ed3a318cbc 100644 --- a/modules/bullet/constraint_bullet.h +++ b/modules/bullet/constraint_bullet.h @@ -49,6 +49,7 @@ class ConstraintBullet : public RIDBullet { protected: SpaceBullet *space; btTypedConstraint *constraint; + bool disabled_collisions_between_bodies; public: ConstraintBullet(); @@ -57,6 +58,9 @@ public: virtual void set_space(SpaceBullet *p_space); virtual void destroy_internal_constraint(); + void disable_collisions_between_bodies(const bool p_disabled); + _FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; } + public: virtual ~ConstraintBullet() { bulletdelete(constraint); diff --git a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml index c7909c7d72..a4dc61d0bc 100644 --- a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml +++ b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml @@ -1,5 +1,5 @@ <?xml version="1.0" encoding="UTF-8" ?> -<class name="BulletPhysicsDirectBodyState" inherits="PhysicsDirectBodyState" category="Core" version="3.0-stable"> +<class name="BulletPhysicsDirectBodyState" inherits="PhysicsDirectBodyState" category="Core" version="3.1"> <brief_description> </brief_description> <description> diff --git a/modules/bullet/doc_classes/BulletPhysicsServer.xml b/modules/bullet/doc_classes/BulletPhysicsServer.xml index a59abb0ebb..1486936cf4 100644 --- a/modules/bullet/doc_classes/BulletPhysicsServer.xml +++ b/modules/bullet/doc_classes/BulletPhysicsServer.xml @@ -1,5 +1,5 @@ <?xml version="1.0" encoding="UTF-8" ?> -<class name="BulletPhysicsServer" inherits="PhysicsServer" category="Core" version="3.0-stable"> +<class name="BulletPhysicsServer" inherits="PhysicsServer" category="Core" version="3.1"> <brief_description> </brief_description> <description> diff --git a/modules/bullet/godot_motion_state.h b/modules/bullet/godot_motion_state.h index fe5d8418b7..fa58e86589 100644 --- a/modules/bullet/godot_motion_state.h +++ b/modules/bullet/godot_motion_state.h @@ -87,7 +87,7 @@ public: public: /// Use this function to move kinematic body - /// -- or set initial transfom before body creation. + /// -- or set initial transform before body creation. void moveBody(const btTransform &newWorldTransform) { bodyKinematicWorldTransf = newWorldTransform; } diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp index 4a511b39a7..53d0ab7e3c 100644 --- a/modules/bullet/godot_ray_world_algorithm.cpp +++ b/modules/bullet/godot_ray_world_algorithm.cpp @@ -100,14 +100,16 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo if (btResult.hasHit()) { - btVector3 ray_normal(ray_transform.getOrigin() - to.getOrigin()); - ray_normal.normalize(); btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1)); if (depth >= -RAY_STABILITY_MARGIN) depth = 0; - resultOut->addContactPoint(ray_normal, btResult.m_hitPointWorld, depth); + if (ray_shape->getSlipsOnSlope()) + resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth); + else { + resultOut->addContactPoint((ray_transform.getOrigin() - to.getOrigin()).normalize(), btResult.m_hitPointWorld, depth); + } } } diff --git a/modules/bullet/godot_ray_world_algorithm.h b/modules/bullet/godot_ray_world_algorithm.h index c716c1d88d..7383dad2bf 100644 --- a/modules/bullet/godot_ray_world_algorithm.h +++ b/modules/bullet/godot_ray_world_algorithm.h @@ -49,7 +49,7 @@ class GodotRayWorldAlgorithm : public btActivatingCollisionAlgorithm { bool m_isSwapped; public: - GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *m_world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped); + GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped); virtual ~GodotRayWorldAlgorithm(); virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut); diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp index 8d4ca6d6a7..197550d686 100644 --- a/modules/bullet/godot_result_callbacks.cpp +++ b/modules/bullet/godot_result_callbacks.cpp @@ -63,6 +63,9 @@ bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) co } bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + if (count >= m_resultMax) + return false; + const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); @@ -70,6 +73,7 @@ bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) con if (m_exclude->has(gObj->get_self())) { return false; } + return true; } else { return false; @@ -87,7 +91,7 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id); ++count; - return count < m_resultMax; + return 1; // not used by bullet } bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { @@ -98,11 +102,16 @@ bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *prox if (gObj == m_self_object) { return false; } else { - if (m_ignore_areas && gObj->getType() == CollisionObjectBullet::TYPE_AREA) { + + // A kinematic body can't be stopped by a rigid body since the mass of kinematic body is infinite + if (m_infinite_inertia && !btObj->isStaticOrKinematicObject()) return false; - } else if (m_self_object->has_collision_exception(gObj)) { + + if (gObj->getType() == CollisionObjectBullet::TYPE_AREA) + return false; + + if (m_self_object->has_collision_exception(gObj) || gObj->has_collision_exception(m_self_object)) return false; - } } return true; } else { @@ -163,10 +172,7 @@ btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, con result.shape = cp.m_index0; } - if (colObj) - result.collider_id = colObj->get_instance_id(); - else - result.collider_id = 0; + result.collider_id = colObj->get_instance_id(); result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id); result.rid = colObj->get_self(); ++m_count; @@ -176,6 +182,9 @@ btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, con } bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + if (m_count >= m_resultMax) + return false; + const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); @@ -201,7 +210,7 @@ btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint ++m_count; - return m_count < m_resultMax; + return 1; // Not used by bullet } bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { @@ -238,32 +247,23 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp m_rest_info_collision_object = colObj0Wrap->getCollisionObject(); } - if (colObj) - m_result->collider_id = colObj->get_instance_id(); - else - m_result->collider_id = 0; + m_result->collider_id = colObj->get_instance_id(); m_result->rid = colObj->get_self(); m_collided = true; } - return cp.getDistance(); + return 1; // Not used by bullet } void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) { - if (depth < 0) { - // Has penetration - if (m_most_penetrated_distance > depth) { - - bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); + if (m_penetration_distance > depth) { // Has penetration? - m_most_penetrated_distance = depth; - m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject(); - m_other_compound_shape_index = isSwapped ? m_index1 : m_index0; - m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld; - m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB; - m_penetration_distance = depth; - } + bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); + m_penetration_distance = depth; + m_other_compound_shape_index = isSwapped ? m_index0 : m_index1; + m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld; + m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB; } } diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h index b18965a5b8..363051f24c 100644 --- a/modules/bullet/godot_result_callbacks.h +++ b/modules/bullet/godot_result_callbacks.h @@ -93,12 +93,12 @@ public: struct GodotKinClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback { public: const RigidBodyBullet *m_self_object; - const bool m_ignore_areas; + const bool m_infinite_inertia; - GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_ignore_areas) : + GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_infinite_inertia) : btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_self_object(p_self_object), - m_ignore_areas(p_ignore_areas) {} + m_infinite_inertia(p_infinite_inertia) {} virtual bool needsCollision(btBroadphaseProxy *proxy0) const; }; @@ -185,26 +185,20 @@ struct GodotDeepPenetrationContactResultCallback : public btManifoldResult { btVector3 m_pointWorld; btScalar m_penetration_distance; int m_other_compound_shape_index; - const btCollisionObject *m_pointCollisionObject; - - btScalar m_most_penetrated_distance; GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) : btManifoldResult(body0Wrap, body1Wrap), - m_pointCollisionObject(NULL), m_penetration_distance(0), - m_other_compound_shape_index(0), - m_most_penetrated_distance(1e20) {} + m_other_compound_shape_index(0) {} void reset() { - m_pointCollisionObject = NULL; - m_most_penetrated_distance = 1e20; + m_penetration_distance = 0; } bool hasHit() { - return m_pointCollisionObject; + return m_penetration_distance < 0; } - virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth); + virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth); }; #endif // GODOT_RESULT_CALLBACKS_H diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 96a53f9f8b..2494063c22 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -114,10 +114,18 @@ Transform BulletPhysicsDirectBodyState::get_transform() const { return body->get_transform(); } +void BulletPhysicsDirectBodyState::add_central_force(const Vector3 &p_force) { + body->apply_central_force(p_force); +} + void BulletPhysicsDirectBodyState::add_force(const Vector3 &p_force, const Vector3 &p_pos) { body->apply_force(p_force, p_pos); } +void BulletPhysicsDirectBodyState::add_torque(const Vector3 &p_torque) { + body->apply_torque(p_torque); +} + void BulletPhysicsDirectBodyState::apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) { body->apply_impulse(p_pos, p_j); } @@ -247,6 +255,7 @@ RigidBodyBullet::RigidBodyBullet() : linearDamp(0), angularDamp(0), can_sleep(true), + omit_forces_integration(false), force_integration_callback(NULL), isTransformChanged(false), previousActiveState(true), @@ -326,6 +335,9 @@ void RigidBodyBullet::dispatch_callbacks() { /// The check isTransformChanged is necessary in order to call integrated forces only when the first transform is sent if ((btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && isTransformChanged) { + if (omit_forces_integration) + btBody->clearForces(); + BulletPhysicsDirectBodyState *bodyDirect = BulletPhysicsDirectBodyState::get_singleton(this); Variant variantBodyDirect = bodyDirect; @@ -429,6 +441,10 @@ bool RigidBodyBullet::is_active() const { return btBody->isActive(); } +void RigidBodyBullet::set_omit_forces_integration(bool p_omit) { + omit_forces_integration = p_omit; +} + void RigidBodyBullet::set_param(PhysicsServer::BodyParameter p_param, real_t p_value) { switch (p_param) { case PhysicsServer::BODY_PARAM_BOUNCE: @@ -832,7 +848,8 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) { void RigidBodyBullet::reload_space_override_modificator() { - if (!is_active()) + // Make sure that kinematic bodies have their total gravity calculated + if (!is_active() && PhysicsServer::BODY_MODE_KINEMATIC != mode) return; Vector3 newGravity(space->get_gravity_direction() * space->get_gravity_magnitude()); diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index aff6056ad9..b9511243c7 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -110,7 +110,9 @@ public: virtual void set_transform(const Transform &p_transform); virtual Transform get_transform() const; + virtual void add_central_force(const Vector3 &p_force); virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos); + virtual void add_torque(const Vector3 &p_torque); virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j); virtual void apply_torque_impulse(const Vector3 &p_j); @@ -196,6 +198,7 @@ private: real_t linearDamp; real_t angularDamp; bool can_sleep; + bool omit_forces_integration; Vector<CollisionData> collisions; // these parameters are used to avoid vector resize @@ -252,6 +255,9 @@ public: void set_activation_state(bool p_active); bool is_active() const; + void set_omit_forces_integration(bool p_omit); + _FORCE_INLINE_ bool get_omit_forces_integration() const { return omit_forces_integration; } + void set_param(PhysicsServer::BodyParameter p_param, real_t); real_t get_param(PhysicsServer::BodyParameter p_param) const; @@ -262,12 +268,12 @@ public: Variant get_state(PhysicsServer::BodyState p_state) const; void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse); - void apply_central_impulse(const Vector3 &p_force); + void apply_central_impulse(const Vector3 &p_impulse); 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_torque(const Vector3 &p_force); + void apply_torque(const Vector3 &p_torque); void set_applied_force(const Vector3 &p_force); Vector3 get_applied_force() const; diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp index c6b9695d96..76d9614465 100644 --- a/modules/bullet/shape_bullet.cpp +++ b/modules/bullet/shape_bullet.cpp @@ -125,18 +125,19 @@ btScaledBvhTriangleMeshShape *ShapeBullet::create_shape_concave(btBvhTriangleMes } } -btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size) { +btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) { const btScalar ignoredHeightScale(1); - const btScalar fieldHeight(500); // Meters const int YAxis = 1; // 0=X, 1=Y, 2=Z const bool flipQuadEdges = false; const void *heightsPtr = p_heights.read().ptr(); - return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, -fieldHeight, fieldHeight, YAxis, PHY_FLOAT, flipQuadEdges)); + return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges)); } -btRayShape *ShapeBullet::create_shape_ray(real_t p_length) { - return bulletnew(btRayShape(p_length)); +btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) { + btRayShape *r(bulletnew(btRayShape(p_length))); + r->setSlipsOnSlope(p_slips_on_slope); + return r; } /* PLANE */ @@ -335,10 +336,10 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) { int src_face_count = faces.size(); if (0 < src_face_count) { - btTriangleMesh *shapeInterface = bulletnew(btTriangleMesh); - // It counts the faces and assert the array contains the correct number of vertices. ERR_FAIL_COND(src_face_count % 3); + + btTriangleMesh *shapeInterface = bulletnew(btTriangleMesh); src_face_count /= 3; PoolVector<Vector3>::Read r = p_faces.read(); const Vector3 *facesr = r.ptr(); @@ -385,19 +386,44 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { Dictionary d = p_data; ERR_FAIL_COND(!d.has("width")); ERR_FAIL_COND(!d.has("depth")); - ERR_FAIL_COND(!d.has("cell_size")); ERR_FAIL_COND(!d.has("heights")); + real_t l_min_height = 0.0; + real_t l_max_height = 0.0; + + // If specified, min and max height will be used as precomputed values + if (d.has("min_height")) + l_min_height = d["min_height"]; + if (d.has("max_height")) + l_max_height = d["max_height"]; + + ERR_FAIL_COND(l_min_height > l_max_height); + int l_width = d["width"]; int l_depth = d["depth"]; - real_t l_cell_size = d["cell_size"]; PoolVector<real_t> l_heights = d["heights"]; ERR_FAIL_COND(l_width <= 0); ERR_FAIL_COND(l_depth <= 0); - ERR_FAIL_COND(l_cell_size <= CMP_EPSILON); - ERR_FAIL_COND(l_heights.size() != (width * depth)); - setup(heights, width, depth, cell_size); + ERR_FAIL_COND(l_heights.size() != (l_width * l_depth)); + + // Compute min and max heights if not specified. + if (!d.has("min_height") && !d.has("max_height")) { + + PoolVector<real_t>::Read r = heights.read(); + int heights_size = heights.size(); + + for (int i = 0; i < heights_size; ++i) { + real_t h = r[i]; + + if (h < l_min_height) + l_min_height = h; + else if (h > l_max_height) + l_max_height = h; + } + } + + setup(l_heights, l_width, l_depth, l_min_height, l_max_height); } Variant HeightMapShapeBullet::get_data() const { @@ -408,8 +434,14 @@ PhysicsServer::ShapeType HeightMapShapeBullet::get_type() const { return PhysicsServer::SHAPE_HEIGHTMAP; } -void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size) { +void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) { + // TODO cell size must be tweaked using localScaling, which is a shared property for all Bullet shapes + { // Copy + + // TODO If Godot supported 16-bit integer image format, we could share the same memory block for heightfields + // without having to copy anything, optimizing memory and loading performance (Bullet only reads and doesn't take ownership of the data). + const int heights_size = p_heights.size(); heights.resize(heights_size); PoolVector<real_t>::Read p_heights_r = p_heights.read(); @@ -418,14 +450,16 @@ void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int heights_w[i] = p_heights_r[i]; } } + width = p_width; depth = p_depth; - cell_size = p_cell_size; + min_height = p_min_height; + max_height = p_max_height; notifyShapeChanged(); } btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { - btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, cell_size)); + btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height)); cs->setLocalScaling(p_implicit_scale); prepare(cs); cs->setMargin(p_margin); @@ -435,25 +469,33 @@ btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_impli /* Ray shape */ RayShapeBullet::RayShapeBullet() : ShapeBullet(), - length(1) {} + length(1), + slips_on_slope(false) {} void RayShapeBullet::set_data(const Variant &p_data) { - setup(p_data); + + Dictionary d = p_data; + setup(d["length"], d["slips_on_slope"]); } Variant RayShapeBullet::get_data() const { - return length; + + Dictionary d; + d["length"] = length; + d["slips_on_slope"] = slips_on_slope; + return d; } PhysicsServer::ShapeType RayShapeBullet::get_type() const { return PhysicsServer::SHAPE_RAY; } -void RayShapeBullet::setup(real_t p_length) { +void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) { length = p_length; + slips_on_slope = p_slips_on_slope; notifyShapeChanged(); } btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { - return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin)); + return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin, slips_on_slope)); } diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h index 4a03c0f014..abeea0f9ce 100644 --- a/modules/bullet/shape_bullet.h +++ b/modules/bullet/shape_bullet.h @@ -85,8 +85,8 @@ public: /// IMPORTANT: Remember to delete the shape interface by calling: delete my_shape->getMeshInterface(); static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling = btVector3(1, 1, 1)); static class btScaledBvhTriangleMeshShape *create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling = btVector3(1, 1, 1)); - static class btHeightfieldTerrainShape *create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size); - static class btRayShape *create_shape_ray(real_t p_length); + static class btHeightfieldTerrainShape *create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height); + static class btRayShape *create_shape_ray(real_t p_length, bool p_slips_on_slope); }; class PlaneShapeBullet : public ShapeBullet { @@ -99,7 +99,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); private: void setup(const Plane &p_plane); @@ -116,7 +116,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); private: void setup(real_t p_radius); @@ -133,7 +133,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); private: void setup(const Vector3 &p_half_extents); @@ -152,7 +152,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); private: void setup(real_t p_height, real_t p_radius); @@ -169,7 +169,7 @@ public: void get_vertices(Vector<Vector3> &out_vertices); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); private: void setup(const Vector<Vector3> &p_vertices); @@ -187,7 +187,7 @@ public: virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); private: void setup(PoolVector<Vector3> p_faces); @@ -199,32 +199,34 @@ public: PoolVector<real_t> heights; int width; int depth; - real_t cell_size; + real_t min_height; + real_t max_height; HeightMapShapeBullet(); virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); private: - void setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size); + void setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height); }; class RayShapeBullet : public ShapeBullet { public: real_t length; + bool slips_on_slope; RayShapeBullet(); virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0); + virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); private: - void setup(real_t p_length); + void setup(real_t p_length, bool p_slips_on_slope); }; #endif diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index d60d8ba0e2..3a1f5d78dd 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -116,13 +116,13 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V } } -int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *p_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask) { +int BulletPhysicsDirectSpaceState::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, uint32_t p_collision_mask) { if (p_result_max <= 0) return 0; ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape); - btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin); + btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin); if (!btShape->isConvex()) { bulletdelete(btShape); ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); @@ -138,7 +138,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra collision_object.setCollisionShape(btConvex); collision_object.setWorldTransform(bt_xform); - GodotAllContactResultCallback btQuery(&collision_object, p_results, p_result_max, &p_exclude); + GodotAllContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude); btQuery.m_collisionFilterGroup = 0; btQuery.m_collisionFilterMask = p_collision_mask; btQuery.m_closestDistanceThreshold = 0; @@ -202,7 +202,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform & ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape); - btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale(), p_margin); + btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin); if (!btShape->isConvex()) { bulletdelete(btShape); ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); @@ -234,7 +234,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape); - btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale(), p_margin); + btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin); if (!btShape->isConvex()) { bulletdelete(btShape); ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); @@ -628,7 +628,7 @@ void SpaceBullet::destroy_world() { void SpaceBullet::check_ghost_overlaps() { - /// Algorith support variables + /// Algorithm support variables btConvexShape *other_body_shape; btConvexShape *area_shape; btGjkPairDetector::ClosestPointInput gjk_input; @@ -660,7 +660,10 @@ void SpaceBullet::check_ghost_overlaps() { // For each overlapping for (i = ghostOverlaps.size() - 1; 0 <= i; --i) { - if (!(ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_RIGID_BODY || ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_AREA)) + if (ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_AREA) { + if (!static_cast<AreaBullet *>(ghostOverlaps[i]->getUserPointer())->is_monitorable()) + continue; + } else if (ghostOverlaps[i]->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY) continue; otherObject = static_cast<RigidCollisionObjectBullet *>(ghostOverlaps[i]->getUserPointer()); @@ -790,7 +793,7 @@ void SpaceBullet::update_gravity() { /// I'm leaving this here just for future tests. /// Debug motion and normal vector drawing #define debug_test_motion 0 -#define PERFORM_INITIAL_UNSTACK 0 + #define RECOVERING_MOVEMENT_SCALE 0.4 #define RECOVERING_MOVEMENT_CYCLES 4 @@ -804,8 +807,7 @@ static Ref<SpatialMaterial> red_mat; static Ref<SpatialMaterial> blue_mat; #endif -#define IGNORE_AREAS_TRUE true -bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, PhysicsServer::MotionResult *r_result) { +bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result) { #if debug_test_motion /// Yes I know this is not good, but I've used it as fast debugging hack. @@ -839,25 +841,14 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f } #endif - ///// Release all generated manifolds - //{ - // if(p_body->get_kinematic_utilities()){ - // for(int i= p_body->get_kinematic_utilities()->m_generatedManifold.size()-1; 0<=i; --i){ - // dispatcher->releaseManifold( p_body->get_kinematic_utilities()->m_generatedManifold[i] ); - // } - // p_body->get_kinematic_utilities()->m_generatedManifold.clear(); - // } - //} - btTransform body_safe_position; G_TO_B(p_from, body_safe_position); UNSCALE_BT_BASIS(body_safe_position); -#if PERFORM_INITIAL_UNSTACK btVector3 recover_initial_position(0, 0, 0); { /// Phase one - multi shapes depenetration using margin for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) { - if (!recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, recover_initial_position)) { + if (!recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, recover_initial_position)) { break; } } @@ -865,7 +856,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f // Add recover movement in order to make it safe body_safe_position.getOrigin() += recover_initial_position; } -#endif btVector3 motion; G_TO_B(p_motion, motion); @@ -900,11 +890,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f btTransform shape_world_to(shape_world_from); shape_world_to.getOrigin() += motion; - GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, IGNORE_AREAS_TRUE); + 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(); - dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, 0.002); + dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration); if (btResult.hasHit()) { /// Since for each sweep test I fix the motion of new shapes in base the recover result, @@ -926,14 +916,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f real_t l_penetration_distance = 1e20; for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) { - l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, delta_recover_movement, &r_recover_result); + l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, delta_recover_movement, &r_recover_result); if (r_result) { -#if PERFORM_INITIAL_UNSTACK B_TO_G(motion + delta_recover_movement + recover_initial_position, r_result->motion); -#else - B_TO_G(motion + delta_recover_movement, r_result->motion); -#endif + if (l_has_penetration) { has_penetration = true; if (l_penetration_distance <= r_recover_result.penetration_distance) { @@ -955,15 +942,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f r_result->collider_shape = r_recover_result.other_compound_shape_index; r_result->collision_local_shape = r_recover_result.local_shape_most_recovered; - //{ /// Add manifold point to manage collisions - // btPersistentManifold* manifold = dynamicsWorld->getDispatcher()->getNewManifold(p_body->getBtBody(), btRigid); - // btManifoldPoint manifoldPoint(result_callabck.m_pointWorld, result_callabck.m_pointWorld, result_callabck.m_pointNormalWorld, result_callabck.m_penetration_distance); - // manifoldPoint.m_index0 = r_result->collision_local_shape; - // manifoldPoint.m_index1 = r_result->collider_shape; - // manifold->addManifoldPoint(manifoldPoint); - // p_body->get_kinematic_utilities()->m_generatedManifold.push_back(manifold); - //} - #if debug_test_motion Vector3 sup_line2; B_TO_G(motion, sup_line2); @@ -979,6 +957,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f } else { if (!l_has_penetration) break; + else + has_penetration = true; } } } @@ -1016,11 +996,11 @@ public: } void reset() { - result_collision_objects.empty(); + result_collision_objects.clear(); } }; -bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) { +bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) { RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask()); @@ -1051,7 +1031,10 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran for (int i = recover_broad_result.result_collision_objects.size() - 1; 0 <= i; --i) { btCollisionObject *otherObject = recover_broad_result.result_collision_objects[i]; - if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object())) + if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) { + otherObject->activate(); // Force activation of hitten rigid, soft body + continue; + } else if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object())) continue; if (otherObject->getCollisionShape()->isCompound()) { @@ -1130,7 +1113,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, tA, -1, p_shapeId_A); btCollisionObjectWrapper obB(NULL, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B); - btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CLOSEST_POINT_ALGORITHMS); + btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS); if (algorithm) { GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB); //discrete collision detection query diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index 0aeb407dcc..a6c2786878 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -172,7 +172,7 @@ public: void update_gravity(); - bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, PhysicsServer::MotionResult *r_result); + bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result); private: void create_empty_world(bool p_create_soft_world); @@ -199,12 +199,12 @@ private: local_shape_most_recovered(0) {} }; - bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL); + bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL); /// This is an API that recover a kinematic object from penetration /// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions - bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL); + bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL); /// This is an API that recover a kinematic object from penetration /// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm - bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL); + bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL); }; #endif |