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-rw-r--r--modules/bullet/SCsub2
-rw-r--r--modules/bullet/bullet_physics_server.cpp4
-rw-r--r--modules/bullet/bullet_physics_server.h2
-rw-r--r--modules/bullet/godot_result_callbacks.cpp31
-rw-r--r--modules/bullet/godot_result_callbacks.h6
-rw-r--r--modules/bullet/rigid_body_bullet.cpp10
-rw-r--r--modules/bullet/rigid_body_bullet.h4
-rw-r--r--modules/bullet/space_bullet.cpp53
-rw-r--r--modules/bullet/space_bullet.h4
9 files changed, 76 insertions, 40 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub
index bfac0df5b0..ba57de303e 100644
--- a/modules/bullet/SCsub
+++ b/modules/bullet/SCsub
@@ -12,6 +12,8 @@ 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.
+ if env["float"] == "64":
+ env.Append(CPPDEFINES=["BT_USE_DOUBLE_PRECISION=1"])
thirdparty_dir = "#thirdparty/bullet/"
bullet2_src = [
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index e07be14c5b..fc876a81cf 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -842,12 +842,12 @@ PhysicsDirectBodyState3D *BulletPhysicsServer3D::body_get_direct_state(RID p_bod
return BulletPhysicsDirectBodyState3D::get_singleton(body);
}
-bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes) {
+bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
RigidBodyBullet *body = rigid_body_owner.getornull(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, p_infinite_inertia, r_result, p_exclude_raycast_shapes);
+ return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes, p_exclude);
}
int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index d34d619ba2..7f0934e679 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -253,7 +253,7 @@ public:
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override;
- virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override;
+ virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override;
virtual int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override;
/* SOFT BODY API */
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index e92b6c189c..1f962772e7 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -47,17 +47,12 @@ bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapp
return true;
}
-bool GodotFilterCallback::test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask) {
- return body0_collision_layer & body1_collision_mask || body1_collision_layer & body0_collision_mask;
-}
-
bool GodotFilterCallback::needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const {
- return GodotFilterCallback::test_collision_filters(proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask, proxy1->m_collisionFilterGroup, proxy1->m_collisionFilterMask);
+ return (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) || (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
}
bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
- const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
- if (needs) {
+ if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
@@ -90,8 +85,7 @@ bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) con
return false;
}
- const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
- if (needs) {
+ if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
if (m_exclude->has(gObj->get_self())) {
@@ -123,8 +117,7 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo
}
bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
- const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
- if (needs) {
+ if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
if (gObj == m_self_object) {
@@ -142,6 +135,10 @@ bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *prox
if (m_self_object->has_collision_exception(gObj) || gObj->has_collision_exception(m_self_object)) {
return false;
}
+
+ if (m_exclude->has(gObj->get_self())) {
+ return false;
+ }
}
return true;
} else {
@@ -150,8 +147,7 @@ bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *prox
}
bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
- const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
- if (needs) {
+ if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
@@ -188,8 +184,7 @@ bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) co
return false;
}
- const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
- if (needs) {
+ if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
@@ -244,8 +239,7 @@ bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *pr
return false;
}
- const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
- if (needs) {
+ if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
@@ -287,8 +281,7 @@ btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint
}
bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
- const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
- if (needs) {
+ if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h
index f92665f3e4..96a649d77a 100644
--- a/modules/bullet/godot_result_callbacks.h
+++ b/modules/bullet/godot_result_callbacks.h
@@ -47,8 +47,6 @@ bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapp
/// This class is required to implement custom collision behaviour in the broadphase
struct GodotFilterCallback : public btOverlapFilterCallback {
- static bool test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask);
-
// return true when pairs need collision
virtual bool needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const;
};
@@ -102,11 +100,13 @@ public:
struct GodotKinClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
public:
const RigidBodyBullet *m_self_object;
+ const Set<RID> *m_exclude;
const bool m_infinite_inertia;
- GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_infinite_inertia) :
+ GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_infinite_inertia, const Set<RID> *p_exclude) :
btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld),
m_self_object(p_self_object),
+ m_exclude(p_exclude),
m_infinite_inertia(p_infinite_inertia) {}
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index ce39d4f0df..0d2cd1f5a0 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -114,6 +114,16 @@ Transform3D BulletPhysicsDirectBodyState3D::get_transform() const {
return body->get_transform();
}
+Vector3 BulletPhysicsDirectBodyState3D::get_velocity_at_local_position(const Vector3 &p_position) const {
+ btVector3 local_position;
+ G_TO_B(p_position, local_position);
+
+ Vector3 velocity;
+ B_TO_G(body->btBody->getVelocityInLocalPoint(local_position), velocity);
+
+ return velocity;
+}
+
void BulletPhysicsDirectBodyState3D::add_central_force(const Vector3 &p_force) {
body->apply_central_force(p_force);
}
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 606df7134b..01ac1e4836 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -110,6 +110,8 @@ public:
virtual void set_transform(const Transform3D &p_transform) override;
virtual Transform3D get_transform() const override;
+ virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const override;
+
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;
@@ -299,7 +301,7 @@ public:
void reload_axis_lock();
/// Doc:
- /// https://web.archive.org/web/20180404091446/http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Anti_tunneling_by_Motion_Clamping
+ /// https://web.archive.org/web/20180404091446/https://www.bulletphysics.org/mediawiki-1.5.8/index.php/Anti_tunneling_by_Motion_Clamping
void set_continuous_collision_detection(bool p_enable);
bool is_continuous_collision_detection_enabled() const;
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 33dd9ef56d..a9a811c445 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -908,7 +908,7 @@ static Ref<StandardMaterial3D> red_mat;
static Ref<StandardMaterial3D> blue_mat;
#endif
-bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes) {
+bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
#if debug_test_motion
/// Yes I know this is not good, but I've used it as fast debugging hack.
/// I'm leaving it here just for speedup the other eventual debugs
@@ -945,10 +945,15 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
G_TO_B(p_from, body_transform);
UNSCALE_BT_BASIS(body_transform);
+ if (!p_body->get_kinematic_utilities()) {
+ p_body->init_kinematic_utilities();
+ p_body->reload_kinematic_shapes();
+ }
+
btVector3 initial_recover_motion(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_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, initial_recover_motion)) {
+ if (!recover_from_penetration(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, initial_recover_motion, nullptr, p_exclude)) {
break;
}
}
@@ -958,6 +963,9 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
btVector3 motion;
G_TO_B(p_motion, motion);
+ real_t total_length = motion.length();
+ real_t unsafe_fraction = 1.0;
+ real_t safe_fraction = 1.0;
{
// Phase two - sweep test, from a secure position without margin
@@ -1000,13 +1008,22 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
break;
}
- GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, p_infinite_inertia);
+ GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, p_infinite_inertia, &p_exclude);
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, dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
if (btResult.hasHit()) {
+ if (total_length > CMP_EPSILON) {
+ real_t hit_fraction = btResult.m_closestHitFraction * motion.length() / total_length;
+ if (hit_fraction < unsafe_fraction) {
+ unsafe_fraction = hit_fraction;
+ real_t margin = p_body->get_kinematic_utilities()->safe_margin;
+ safe_fraction = MAX(hit_fraction - (1 - ((total_length - margin) / total_length)), 0);
+ }
+ }
+
/// Since for each sweep test I fix the motion of new shapes in base the recover result,
/// if another shape will hit something it means that has a deepest penetration respect the previous shape
motion *= btResult.m_closestHitFraction;
@@ -1023,7 +1040,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
btVector3 __rec(0, 0, 0);
RecoverResult r_recover_result;
- has_penetration = recover_from_penetration(p_body, body_transform, 1, p_infinite_inertia, __rec, &r_recover_result);
+ has_penetration = recover_from_penetration(p_body, body_transform, 1, p_infinite_inertia, __rec, &r_recover_result, p_exclude);
// Parse results
if (r_result) {
@@ -1043,6 +1060,9 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
r_result->collider_id = collisionObject->get_instance_id();
r_result->collider_shape = r_recover_result.other_compound_shape_index;
r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
+ r_result->collision_depth = Math::abs(r_recover_result.penetration_distance);
+ r_result->collision_safe_fraction = safe_fraction;
+ r_result->collision_unsafe_fraction = unsafe_fraction;
#if debug_test_motion
Vector3 sup_line2;
@@ -1067,6 +1087,11 @@ int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform3D
G_TO_B(p_transform, body_transform);
UNSCALE_BT_BASIS(body_transform);
+ if (!p_body->get_kinematic_utilities()) {
+ p_body->init_kinematic_utilities();
+ p_body->reload_kinematic_shapes();
+ }
+
btVector3 recover_motion(0, 0, 0);
int rays_found = 0;
@@ -1093,7 +1118,6 @@ private:
const btCollisionObject *self_collision_object;
uint32_t collision_layer = 0;
- uint32_t collision_mask = 0;
struct CompoundLeafCallback : btDbvt::ICollide {
private:
@@ -1123,10 +1147,9 @@ public:
Vector<BroadphaseResult> results;
public:
- RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, uint32_t p_collision_mask, btVector3 p_aabb_min, btVector3 p_aabb_max) :
+ RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, btVector3 p_aabb_min, btVector3 p_aabb_max) :
self_collision_object(p_self_collision_object),
- collision_layer(p_collision_layer),
- collision_mask(p_collision_mask) {
+ collision_layer(p_collision_layer) {
bounds = btDbvtVolume::FromMM(p_aabb_min, p_aabb_max);
}
@@ -1135,7 +1158,7 @@ public:
virtual bool process(const btBroadphaseProxy *proxy) {
btCollisionObject *co = static_cast<btCollisionObject *>(proxy->m_clientObject);
if (co->getInternalType() <= btCollisionObject::CO_RIGID_BODY) {
- if (self_collision_object != proxy->m_clientObject && GodotFilterCallback::test_collision_filters(collision_layer, collision_mask, proxy->m_collisionFilterGroup, proxy->m_collisionFilterMask)) {
+ if (self_collision_object != proxy->m_clientObject && (proxy->collision_layer & m_collisionFilterMask)) {
if (co->getCollisionShape()->isCompound()) {
const btCompoundShape *cs = static_cast<btCompoundShape *>(co->getCollisionShape());
@@ -1175,7 +1198,7 @@ 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) {
+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, const Set<RID> &p_exclude) {
// Calculate the cumulative AABB of all shapes of the kinematic body
btVector3 aabb_min, aabb_max;
bool shapes_found = false;
@@ -1218,7 +1241,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
}
// Perform broadphase test
- RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask(), aabb_min, aabb_max);
+ RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), aabb_min, aabb_max);
dynamicsWorld->getBroadphase()->aabbTest(aabb_min, aabb_max, recover_broad_result);
bool penetration = false;
@@ -1244,6 +1267,12 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
for (int i = recover_broad_result.results.size() - 1; 0 <= i; --i) {
btCollisionObject *otherObject = recover_broad_result.results[i].collision_object;
+
+ CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(otherObject->getUserPointer());
+ if (p_exclude.has(gObj->get_self())) {
+ continue;
+ }
+
if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) {
otherObject->activate(); // Force activation of hitten rigid, soft body
continue;
@@ -1409,7 +1438,7 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT
}
// Perform broadphase test
- RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask(), aabb_min, aabb_max);
+ RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), aabb_min, aabb_max);
dynamicsWorld->getBroadphase()->aabbTest(aabb_min, aabb_max, recover_broad_result);
int ray_count = 0;
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 36d0538e6b..2070e0e633 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -188,7 +188,7 @@ public:
real_t get_linear_damp() const { return linear_damp; }
real_t get_angular_damp() const { return angular_damp; }
- bool test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes);
+ bool test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude = Set<RID>());
int test_ray_separation(RigidBodyBullet *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin);
private:
@@ -209,7 +209,7 @@ private:
RecoverResult() {}
};
- 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 = nullptr);
+ 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 = nullptr, const Set<RID> &p_exclude = Set<RID>());
/// 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_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 = nullptr);
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-24 04:09:17 +0000