summaryrefslogtreecommitdiff
path: root/modules/bullet
diff options
context:
space:
mode:
Diffstat (limited to 'modules/bullet')
-rw-r--r--modules/bullet/bullet_physics_server.cpp16
-rw-r--r--modules/bullet/bullet_physics_server.h3
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp8
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.h3
-rw-r--r--modules/bullet/godot_result_callbacks.cpp8
-rw-r--r--modules/bullet/rigid_body_bullet.cpp21
-rw-r--r--modules/bullet/rigid_body_bullet.h15
-rw-r--r--modules/bullet/space_bullet.cpp10
8 files changed, 82 insertions, 2 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 315afe3d72..7bc731e75e 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -1471,6 +1471,22 @@ bool BulletPhysicsServer::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis
return generic_6dof_joint->get_flag(p_axis, p_flag);
}
+void BulletPhysicsServer::generic_6dof_joint_set_precision(RID p_joint, int p_precision) {
+ JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::generic_6dof_joint_get_precision(RID p_joint) {
+ JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::free(RID p_rid) {
if (shape_owner.owns(p_rid)) {
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index c8c782267e..0cea3f5ba6 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -375,6 +375,9 @@ public:
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);
+
/* MISC */
virtual void free(RID p_rid);
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index a94b88d566..812dcd2d56 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -265,3 +265,11 @@ bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
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 176127ed6c..848c3a10cd 100644
--- a/modules/bullet/generic_6dof_joint_bullet.h
+++ b/modules/bullet/generic_6dof_joint_bullet.h
@@ -68,6 +68,9 @@ public:
void set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value);
bool get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const;
+
+ void set_precision(int p_precision);
+ int get_precision() const;
};
#endif
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index 3b44ab838e..0117bb375f 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -102,6 +102,9 @@ bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) con
}
btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
+ if (count >= m_resultMax)
+ return 1; // not used by bullet
+
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer());
PhysicsDirectSpaceState::ShapeResult &result = m_results[count];
@@ -172,6 +175,9 @@ btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::Loc
}
bool GodotAllContactResultCallback::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);
@@ -249,6 +255,8 @@ bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *pr
}
btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
+ if (m_count >= m_resultMax)
+ return 1; // not used by bullet
if (m_self_object == colObj0Wrap->getCollisionObject()) {
B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 0]); // Local contact
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 85659e1523..9dd04100ed 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -268,6 +268,7 @@ RigidBodyBullet::RigidBodyBullet() :
can_integrate_forces(false),
maxCollisionsDetection(0),
collisionsCount(0),
+ prev_collision_count(0),
maxAreasWhereIam(10),
areaWhereIamCount(0),
countGravityPointSpaces(0),
@@ -293,6 +294,9 @@ RigidBodyBullet::RigidBodyBullet() :
areasWhereIam.write[i] = NULL;
}
btBody->setSleepingThresholds(0.2, 0.2);
+
+ prev_collision_traces = &collision_traces_1;
+ curr_collision_traces = &collision_traces_2;
}
RigidBodyBullet::~RigidBodyBullet() {
@@ -410,7 +414,14 @@ void RigidBodyBullet::on_collision_filters_change() {
}
void RigidBodyBullet::on_collision_checker_start() {
+
+ prev_collision_count = collisionsCount;
collisionsCount = 0;
+
+ // Swap array
+ Vector<RigidBodyBullet *> *s = prev_collision_traces;
+ prev_collision_traces = curr_collision_traces;
+ curr_collision_traces = s;
}
void RigidBodyBullet::on_collision_checker_end() {
@@ -433,10 +444,20 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
cd.other_object_shape = p_other_shape_index;
cd.local_shape = p_local_shape_index;
+ curr_collision_traces->write[collisionsCount] = p_otherObject;
+
++collisionsCount;
return true;
}
+bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) {
+ for (int i = prev_collision_count - 1; 0 <= i; --i) {
+ if ((*prev_collision_traces)[i] == p_other_object)
+ return true;
+ }
+ 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.");
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 26e5018c87..0696073d21 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -205,9 +205,15 @@ private:
bool can_integrate_forces;
Vector<CollisionData> collisions;
+ Vector<RigidBodyBullet *> collision_traces_1;
+ Vector<RigidBodyBullet *> collision_traces_2;
+ Vector<RigidBodyBullet *> *prev_collision_traces;
+ Vector<RigidBodyBullet *> *curr_collision_traces;
+
// these parameters are used to avoid vector resize
int maxCollisionsDetection;
int collisionsCount;
+ int prev_collision_count;
Vector<AreaBullet *> areasWhereIam;
// these parameters are used to avoid vector resize
@@ -244,9 +250,17 @@ public:
virtual void on_collision_checker_end();
void set_max_collisions_detection(int p_maxCollisionsDetection) {
+
+ ERR_FAIL_COND(0 > p_maxCollisionsDetection);
+
maxCollisionsDetection = p_maxCollisionsDetection;
+
collisions.resize(p_maxCollisionsDetection);
+ collision_traces_1.resize(p_maxCollisionsDetection);
+ collision_traces_2.resize(p_maxCollisionsDetection);
+
collisionsCount = 0;
+ prev_collision_count = MIN(prev_collision_count, p_maxCollisionsDetection);
}
int get_max_collisions_detection() {
return maxCollisionsDetection;
@@ -254,6 +268,7 @@ public:
bool can_add_collision() { return collisionsCount < maxCollisionsDetection; }
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();
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index ab2d1781ad..fed12cd5ed 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -786,16 +786,22 @@ void SpaceBullet::check_body_collision() {
}
const int numContacts = contactManifold->getNumContacts();
+
+ /// Since I don't need report all contacts for these objects,
+ /// So report only the first
#define REPORT_ALL_CONTACTS 0
#if REPORT_ALL_CONTACTS
for (int j = 0; j < numContacts; j++) {
btManifoldPoint &pt = contactManifold->getContactPoint(j);
#else
- // Since I don't need report all contacts for these objects, I'll report only the first
if (numContacts) {
btManifoldPoint &pt = contactManifold->getContactPoint(0);
#endif
- if (pt.getDistance() <= 0.0) {
+ if (
+ pt.getDistance() <= 0.0 ||
+ bodyA->was_colliding(bodyB) ||
+ bodyB->was_colliding(bodyA)) {
+
Vector3 collisionWorldPosition;
Vector3 collisionLocalPosition;
Vector3 normalOnB;
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-06 06:58:37 +0000