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-rw-r--r--modules/bullet/SCsub6
-rw-r--r--modules/bullet/bullet_physics_server.cpp10
-rw-r--r--modules/bullet/bullet_physics_server.h4
-rw-r--r--modules/bullet/collision_object_bullet.cpp24
-rw-r--r--modules/bullet/collision_object_bullet.h1
-rw-r--r--modules/bullet/cone_twist_joint_bullet.cpp2
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp4
-rw-r--r--modules/bullet/hinge_joint_bullet.cpp2
-rw-r--r--modules/bullet/pin_joint_bullet.cpp2
-rw-r--r--modules/bullet/rigid_body_bullet.cpp10
-rw-r--r--modules/bullet/shape_bullet.cpp8
-rw-r--r--modules/bullet/space_bullet.cpp4
12 files changed, 53 insertions, 24 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub
index 16d694c238..2fe7a1b4c0 100644
--- a/modules/bullet/SCsub
+++ b/modules/bullet/SCsub
@@ -186,7 +186,11 @@ if env['builtin_bullet']:
thirdparty_sources = [thirdparty_dir + file for file in bullet2_src]
- env_bullet.Prepend(CPPPATH=[thirdparty_dir])
+ # Treat Bullet headers as system headers to avoid raising warnings. Not supported on MSVC.
+ if not env.msvc:
+ env_bullet.Append(CPPFLAGS=['-isystem', Dir(thirdparty_dir).path])
+ else:
+ env_bullet.Prepend(CPPPATH=[thirdparty_dir])
# if env['target'] == "debug" or env['target'] == "release_debug":
# env_bullet.Append(CPPFLAGS=['-DBT_DEBUG'])
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index b21bdee052..038001996d 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -267,7 +267,7 @@ RID BulletPhysicsServer::area_get_space(RID p_area) const {
void BulletPhysicsServer::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
AreaBullet *area = area_owner.get(p_area);
- ERR_FAIL_COND(!area)
+ ERR_FAIL_COND(!area);
area->set_spOv_mode(p_mode);
}
@@ -348,13 +348,13 @@ void BulletPhysicsServer::area_set_shape_disabled(RID p_area, int p_shape_idx, b
area->set_shape_disabled(p_shape_idx, p_disabled);
}
-void BulletPhysicsServer::area_attach_object_instance_id(RID p_area, ObjectID p_ID) {
+void BulletPhysicsServer::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
if (space_owner.owns(p_area)) {
return;
}
AreaBullet *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
- area->set_instance_id(p_ID);
+ area->set_instance_id(p_id);
}
ObjectID BulletPhysicsServer::area_get_object_instance_id(RID p_area) const {
@@ -569,11 +569,11 @@ void BulletPhysicsServer::body_clear_shapes(RID p_body) {
body->remove_all_shapes();
}
-void BulletPhysicsServer::body_attach_object_instance_id(RID p_body, uint32_t p_ID) {
+void BulletPhysicsServer::body_attach_object_instance_id(RID p_body, uint32_t p_id) {
CollisionObjectBullet *body = get_collisin_object(p_body);
ERR_FAIL_COND(!body);
- body->set_instance_id(p_ID);
+ body->set_instance_id(p_id);
}
uint32_t BulletPhysicsServer::body_get_object_instance_id(RID p_body) const {
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 5bcb0d244b..0b8ad53658 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -142,7 +142,7 @@ public:
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 void area_attach_object_instance_id(RID p_area, ObjectID p_id);
virtual ObjectID area_get_object_instance_id(RID p_area) const;
/// If you pass as p_area the SpaceBullet you can set some parameters as specified below
@@ -189,7 +189,7 @@ public:
virtual void body_clear_shapes(RID p_body);
// Used for Rigid and Soft Bodies
- virtual void body_attach_object_instance_id(RID p_body, uint32_t p_ID);
+ virtual void body_attach_object_instance_id(RID p_body, uint32_t p_id);
virtual uint32_t body_get_object_instance_id(RID p_body) const;
virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable);
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index eb87901c24..166d7e6158 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -59,6 +59,25 @@ void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_tra
transform = p_transform;
}
+btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const {
+ if (shape->get_type() == PhysicsServer::SHAPE_HEIGHTMAP) {
+ const HeightMapShapeBullet *hm_shape = (const HeightMapShapeBullet *)shape; // should be safe to cast now
+ btTransform adjusted_transform;
+
+ // Bullet centers our heightmap:
+ // https://github.com/bulletphysics/bullet3/blob/master/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h#L33
+ // This is really counter intuitive so we're adjusting for it
+
+ adjusted_transform.setIdentity();
+ adjusted_transform.setOrigin(btVector3(0.0, hm_shape->min_height + ((hm_shape->max_height - hm_shape->min_height) * 0.5), 0.0));
+ adjusted_transform *= transform;
+
+ return adjusted_transform;
+ } else {
+ return transform;
+ }
+}
+
void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
if (!bt_shape) {
if (active)
@@ -345,7 +364,8 @@ void RigidCollisionObjectBullet::reload_shapes() {
// Try to optimize by not using compound
if (1 == shape_count) {
shpWrapper = &shapes.write[0];
- if (shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) {
+ btTransform transform = shpWrapper->get_adjusted_transform();
+ if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
shpWrapper->claim_bt_shape(body_scale);
mainShape = shpWrapper->bt_shape;
main_shape_changed();
@@ -359,7 +379,7 @@ void RigidCollisionObjectBullet::reload_shapes() {
for (int i(0); i < shape_count; ++i) {
shpWrapper = &shapes.write[i];
shpWrapper->claim_bt_shape(body_scale);
- btTransform scaled_shape_transform(shpWrapper->transform);
+ btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform());
scaled_shape_transform.getOrigin() *= body_scale;
compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
}
diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h
index e65bc52caf..c9430bec18 100644
--- a/modules/bullet/collision_object_bullet.h
+++ b/modules/bullet/collision_object_bullet.h
@@ -109,6 +109,7 @@ public:
void set_transform(const Transform &p_transform);
void set_transform(const btTransform &p_transform);
+ btTransform get_adjusted_transform() const;
void claim_bt_shape(const btVector3 &body_scale);
};
diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp
index d9a82d6179..bc7fd52cf6 100644
--- a/modules/bullet/cone_twist_joint_bullet.cpp
+++ b/modules/bullet/cone_twist_joint_bullet.cpp
@@ -84,7 +84,7 @@ void ConeTwistJointBullet::set_param(PhysicsServer::ConeTwistJointParam p_param,
break;
default:
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
- WARN_DEPRECATED
+ WARN_DEPRECATED;
break;
}
}
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index 8fed933854..0d2c46c579 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -175,7 +175,7 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
break;
default:
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
- WARN_DEPRECATED
+ WARN_DEPRECATED;
break;
}
}
@@ -256,7 +256,7 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
break;
default:
ERR_EXPLAIN("This flag " + itos(p_flag) + " is deprecated");
- WARN_DEPRECATED
+ WARN_DEPRECATED;
break;
}
}
diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp
index 7b99d3d89f..b7e1e1a4c2 100644
--- a/modules/bullet/hinge_joint_bullet.cpp
+++ b/modules/bullet/hinge_joint_bullet.cpp
@@ -118,7 +118,7 @@ void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t
break;
default:
ERR_EXPLAIN("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
- WARN_DEPRECATED
+ WARN_DEPRECATED;
break;
}
}
diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp
index 58b090006a..c9c4d1af7e 100644
--- a/modules/bullet/pin_joint_bullet.cpp
+++ b/modules/bullet/pin_joint_bullet.cpp
@@ -86,7 +86,7 @@ real_t PinJointBullet::get_param(PhysicsServer::PinJointParam p_param) const {
return p2pConstraint->m_setting.m_impulseClamp;
default:
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
- WARN_DEPRECATED
+ WARN_DEPRECATED;
return 0;
}
}
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index e5f70a0b34..733a900396 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -741,22 +741,20 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {
if (p_enable) {
// This threshold enable CCD if the object moves more than
// 1 meter in one simulation frame
- btBody->setCcdMotionThreshold(0.1);
+ btBody->setCcdMotionThreshold(1e-7);
/// Calculate using the rule writte below the CCD swept sphere radius
/// CCD works on an embedded sphere of radius, make sure this radius
/// is embedded inside the convex objects, preferably smaller:
/// for an object of dimensions 1 meter, try 0.2
- btScalar radius;
+ btScalar radius(1.0);
if (btBody->getCollisionShape()) {
btVector3 center;
btBody->getCollisionShape()->getBoundingSphere(center, radius);
- } else {
- radius = 0;
}
btBody->setCcdSweptSphereRadius(radius * 0.2);
} else {
- btBody->setCcdMotionThreshold(0.);
+ btBody->setCcdMotionThreshold(10000.0);
btBody->setCcdSweptSphereRadius(0.);
}
}
@@ -834,7 +832,7 @@ void RigidBodyBullet::reload_shapes() {
btBody->updateInertiaTensor();
reload_kinematic_shapes();
-
+ set_continuous_collision_detection(btBody->getCcdMotionThreshold() < 9998.0);
reload_body();
}
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index b590d63167..f15bcec914 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -148,7 +148,13 @@ btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<rea
const bool flipQuadEdges = false;
const void *heightsPtr = p_heights.read().ptr();
- return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));
+ btHeightfieldTerrainShape *heightfield = bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));
+
+ // The shape can be created without params when you do PhysicsServer.shape_create(PhysicsServer.SHAPE_HEIGHTMAP)
+ if (heightsPtr)
+ heightfield->buildAccelerator(16);
+
+ return heightfield;
}
btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) {
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 6bfd98873e..738b415d16 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -1152,7 +1152,7 @@ public:
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) {
- // Calculate the cummulative AABB of all shapes of the kinematic body
+ // Calculate the cumulative AABB of all shapes of the kinematic body
btVector3 aabb_min, aabb_max;
bool shapes_found = false;
@@ -1347,7 +1347,7 @@ int SpaceBullet::add_separation_result(PhysicsServer::SeparationResult *r_result
int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer::SeparationResult *r_results) {
- // Calculate the cummulative AABB of all shapes of the kinematic body
+ // Calculate the cumulative AABB of all shapes of the kinematic body
btVector3 aabb_min, aabb_max;
bool shapes_found = false;
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-04 02:57:47 +0000