diff options
Diffstat (limited to 'modules/bullet')
49 files changed, 300 insertions, 288 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub index 21bdcca18e..bfac0df5b0 100644 --- a/modules/bullet/SCsub +++ b/modules/bullet/SCsub @@ -7,6 +7,8 @@ env_bullet = env_modules.Clone() # Thirdparty source files +thirdparty_obj = [] + if env["builtin_bullet"]: # Build only version 2 for now (as of 2.89) # Sync file list with relevant upstream CMakeLists.txt for each folder. @@ -208,8 +210,16 @@ if env["builtin_bullet"]: env_thirdparty = env_bullet.Clone() env_thirdparty.disable_warnings() - env_thirdparty.add_source_files(env.modules_sources, thirdparty_sources) + env_thirdparty.add_source_files(thirdparty_obj, thirdparty_sources) + env.modules_sources += thirdparty_obj # Godot source files -env_bullet.add_source_files(env.modules_sources, "*.cpp") + +module_obj = [] + +env_bullet.add_source_files(module_obj, "*.cpp") +env.modules_sources += module_obj + +# Needed to force rebuilding the module files when the thirdparty library is updated. +env.Depends(module_obj, thirdparty_obj) diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp index f8f7d79a11..c3bd84c329 100644 --- a/modules/bullet/area_bullet.cpp +++ b/modules/bullet/area_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h index 152fd785c0..7cf666c119 100644 --- a/modules/bullet/area_bullet.h +++ b/modules/bullet/area_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -80,18 +80,18 @@ public: private: // These are used by function callEvent. Instead to create this each call I create if one time. Variant call_event_res[5]; - Variant *call_event_res_ptr[5]; + Variant *call_event_res_ptr[5] = {}; - btGhostObject *btGhost; + btGhostObject *btGhost = nullptr; Vector<OverlappingObjectData> overlappingObjects; bool monitorable = true; PhysicsServer3D::AreaSpaceOverrideMode spOv_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED; bool spOv_gravityPoint = false; - real_t spOv_gravityPointDistanceScale = 0; - real_t spOv_gravityPointAttenuation = 1; + real_t spOv_gravityPointDistanceScale = 0.0; + real_t spOv_gravityPointAttenuation = 1.0; Vector3 spOv_gravityVec = Vector3(0, -1, 0); - real_t spOv_gravityMag = 10; + real_t spOv_gravityMag = 10.0; real_t spOv_linearDump = 0.1; real_t spOv_angularDump = 0.1; int spOv_priority = 0; diff --git a/modules/bullet/btRayShape.cpp b/modules/bullet/btRayShape.cpp index a754ca6a89..109854c9dd 100644 --- a/modules/bullet/btRayShape.cpp +++ b/modules/bullet/btRayShape.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -39,11 +39,9 @@ */ btRayShape::btRayShape(btScalar length) : - btConvexInternalShape(), - m_shapeAxis(0, 0, 1) { + btConvexInternalShape() { m_shapeType = CUSTOM_CONVEX_SHAPE_TYPE; setLength(length); - slipsOnSlope = false; } btRayShape::~btRayShape() { diff --git a/modules/bullet/btRayShape.h b/modules/bullet/btRayShape.h index d9ecde81e6..330755aa31 100644 --- a/modules/bullet/btRayShape.h +++ b/modules/bullet/btRayShape.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -42,10 +42,10 @@ /// Ray shape around z axis ATTRIBUTE_ALIGNED16(class) btRayShape : public btConvexInternalShape { - btScalar m_length; - bool slipsOnSlope; + btScalar m_length = 0; + bool slipsOnSlope = false; /// The default axis is the z - btVector3 m_shapeAxis; + btVector3 m_shapeAxis = btVector3(0, 0, 1); btTransform m_cacheSupportPoint; btScalar m_cacheScaledLength; diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index 663ad6e3e1..7c27292e59 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -461,7 +461,7 @@ void BulletPhysicsServer3D::body_set_space(RID p_body, RID p_space) { } if (body->get_space() == space) { - return; //pointles + return; //pointless } body->set_space(space); @@ -617,22 +617,22 @@ uint32_t BulletPhysicsServer3D::body_get_collision_mask(RID p_body) const { } void BulletPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) { - // This function si not currently supported + // This function is not currently supported } uint32_t BulletPhysicsServer3D::body_get_user_flags(RID p_body) const { - // This function si not currently supported + // This function is not currently supported return 0; } -void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, float p_value) { +void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_param(p_param, p_value); } -float BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const { +real_t BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); @@ -807,11 +807,11 @@ int BulletPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const { return body->get_max_collisions_detection(); } -void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) { +void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) { // Not supported by bullet and even Godot } -float BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const { +real_t BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const { // Not supported by bullet and even Godot return 0.; } @@ -862,7 +862,7 @@ bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform &p_from return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes); } -int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) { +int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); ERR_FAIL_COND_V(!body->get_space(), 0); @@ -898,7 +898,7 @@ void BulletPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) { } if (body->get_space() == space) { - return; //pointles + return; //pointless } body->set_space(space); @@ -1059,16 +1059,16 @@ real_t BulletPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) { return body->get_linear_stiffness(); } -void BulletPhysicsServer3D::soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) { +void BulletPhysicsServer3D::soft_body_set_angular_stiffness(RID p_body, real_t p_stiffness) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); - body->set_areaAngular_stiffness(p_stiffness); + body->set_angular_stiffness(p_stiffness); } -real_t BulletPhysicsServer3D::soft_body_get_areaAngular_stiffness(RID p_body) { +real_t BulletPhysicsServer3D::soft_body_get_angular_stiffness(RID p_body) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); - return body->get_areaAngular_stiffness(); + return body->get_angular_stiffness(); } void BulletPhysicsServer3D::soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) { @@ -1221,7 +1221,7 @@ RID BulletPhysicsServer3D::joint_create_pin(RID p_body_A, const Vector3 &p_local CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) { +void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_PIN); @@ -1229,7 +1229,7 @@ void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_par pin_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { +real_t BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0); @@ -1309,7 +1309,7 @@ RID BulletPhysicsServer3D::joint_create_hinge_simple(RID p_body_A, const Vector3 CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) { +void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_HINGE); @@ -1317,7 +1317,7 @@ void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p hinge_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const { +real_t BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0); @@ -1361,7 +1361,7 @@ RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform &p_ CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) { +void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER); @@ -1369,7 +1369,7 @@ void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam slider_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const { +real_t BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_SLIDER, 0); @@ -1395,7 +1395,7 @@ RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) { +void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST); @@ -1403,7 +1403,7 @@ void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJoi coneTwist_joint->set_param(p_param, p_value); } -float BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const { +real_t BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0.); ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0.); @@ -1431,7 +1431,7 @@ RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transfo CreateThenReturnRID(joint_owner, joint); } -void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) { +void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); @@ -1439,7 +1439,7 @@ void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::A generic_6dof_joint->set_param(p_axis, p_param, p_value); } -float BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) { +real_t BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0); @@ -1463,22 +1463,6 @@ bool BulletPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Ax return generic_6dof_joint->get_flag(p_axis, p_flag); } -void BulletPhysicsServer3D::generic_6dof_joint_set_precision(RID p_joint, int p_precision) { - JointBullet *joint = joint_owner.getornull(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); - Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); - generic_6dof_joint->set_precision(p_precision); -} - -int BulletPhysicsServer3D::generic_6dof_joint_get_precision(RID p_joint) { - JointBullet *joint = joint_owner.getornull(p_joint); - ERR_FAIL_COND_V(!joint, 0); - ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0); - Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); - return generic_6dof_joint->get_precision(); -} - void BulletPhysicsServer3D::free(RID p_rid) { if (shape_owner.owns(p_rid)) { ShapeBullet *shape = shape_owner.getornull(p_rid); @@ -1541,7 +1525,7 @@ void BulletPhysicsServer3D::init() { BulletPhysicsDirectBodyState3D::initSingleton(); } -void BulletPhysicsServer3D::step(float p_deltaTime) { +void BulletPhysicsServer3D::step(real_t p_deltaTime) { if (!active) { return; } diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h index dca9339c44..97b719ae8e 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -207,8 +207,8 @@ public: /// This is not supported by physics server virtual uint32_t body_get_user_flags(RID p_body) const override; - virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value) override; - virtual float body_get_param(RID p_body, BodyParameter p_param) const override; + virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) override; + virtual real_t body_get_param(RID p_body, BodyParameter p_param) const override; virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) override; virtual real_t body_get_kinematic_safe_margin(RID p_body) const override; @@ -241,8 +241,8 @@ public: virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) override; virtual int body_get_max_contacts_reported(RID p_body) const override; - virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) override; - virtual float body_get_contacts_reported_depth_threshold(RID p_body) const override; + virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) override; + virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const override; virtual void body_set_omit_force_integration(RID p_body, bool p_omit) override; virtual bool body_is_omitting_force_integration(RID p_body) const override; @@ -256,7 +256,7 @@ public: virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override; virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override; - virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) override; + virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override; /* SOFT BODY API */ @@ -298,8 +298,8 @@ public: virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) override; virtual real_t soft_body_get_linear_stiffness(RID p_body) override; - virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) override; - virtual real_t soft_body_get_areaAngular_stiffness(RID p_body) override; + virtual void soft_body_set_angular_stiffness(RID p_body, real_t p_stiffness) override; + virtual real_t soft_body_get_angular_stiffness(RID p_body) override; virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) override; virtual real_t soft_body_get_volume_stiffness(RID p_body) override; @@ -337,8 +337,8 @@ public: virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) override; - virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) override; - virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const override; + virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) override; + virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const override; virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) override; virtual Vector3 pin_joint_get_local_a(RID p_joint) const override; @@ -349,8 +349,8 @@ public: virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) override; virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) override; - virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) override; - virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const override; + virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) override; + virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const override; virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) override; virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const override; @@ -358,27 +358,24 @@ public: /// Reference frame is A virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; - virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) override; - virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override; + virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) override; + virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override; /// Reference frame is A virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; - virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) override; - virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override; + virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) override; + virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override; /// Reference frame is A virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; - virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) override; - virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) override; + virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) override; + virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) override; virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) override; virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) override; - virtual void generic_6dof_joint_set_precision(RID p_joint, int precision) override; - virtual int generic_6dof_joint_get_precision(RID p_joint) override; - /* MISC */ virtual void free(RID p_rid) override; @@ -396,7 +393,7 @@ public: } virtual void init() override; - virtual void step(float p_deltaTime) override; + virtual void step(real_t p_deltaTime) override; virtual void flush_queries() override; virtual void finish() override; diff --git a/modules/bullet/bullet_types_converter.cpp b/modules/bullet/bullet_types_converter.cpp index 09b90fe09e..19d4816372 100644 --- a/modules/bullet/bullet_types_converter.cpp +++ b/modules/bullet/bullet_types_converter.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -116,7 +116,7 @@ void UNSCALE_BT_BASIS(btTransform &scaledBasis) { } } else { // Column 1 scale not fuzzy zero. if (column2.fuzzyZero()) { - // Create two vectors othogonal to column 1. + // Create two vectors orthogonal to column 1. // Ensure that a default basis is created if column 1 = <0, 1, 0> column0 = btVector3(column1[1], -column1[0], 0); column2 = column0.cross(column1); diff --git a/modules/bullet/bullet_types_converter.h b/modules/bullet/bullet_types_converter.h index fef07c55b7..ca9b7175dd 100644 --- a/modules/bullet/bullet_types_converter.h +++ b/modules/bullet/bullet_types_converter.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/bullet_utilities.h b/modules/bullet/bullet_utilities.h index a5e33d9829..a7c0fafbea 100644 --- a/modules/bullet/bullet_utilities.h +++ b/modules/bullet/bullet_utilities.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index a3158a15e5..d9f5beb5a1 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -148,6 +148,9 @@ void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet void CollisionObjectBullet::remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) { exceptions.erase(p_ignoreCollisionObject->get_self()); + if (!bt_collision_object) { + return; + } bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, false); if (space) { space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher()); @@ -155,11 +158,14 @@ void CollisionObjectBullet::remove_collision_exception(const CollisionObjectBull } bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const { - return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object); + return exceptions.has(p_otherCollisionObject->get_self()); } void CollisionObjectBullet::set_collision_enabled(bool p_enabled) { collisionsEnabled = p_enabled; + if (!bt_collision_object) { + return; + } if (collisionsEnabled) { bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() & (~btCollisionObject::CF_NO_CONTACT_RESPONSE)); } else { diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h index e2d05f2c38..c8081a53f1 100644 --- a/modules/bullet/collision_object_bullet.h +++ b/modules/bullet/collision_object_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -110,7 +110,7 @@ public: }; protected: - Type type; + Type type = TYPE_AREA; ObjectID instance_id; uint32_t collisionLayer = 0; uint32_t collisionMask = 0; diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp index b4735fa9e9..e785780c5b 100644 --- a/modules/bullet/cone_twist_joint_bullet.cpp +++ b/modules/bullet/cone_twist_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/cone_twist_joint_bullet.h b/modules/bullet/cone_twist_joint_bullet.h index ed4baa9d1b..7d6bafd292 100644 --- a/modules/bullet/cone_twist_joint_bullet.h +++ b/modules/bullet/cone_twist_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/config.py b/modules/bullet/config.py index d22f9454ed..be7cf74f6f 100644 --- a/modules/bullet/config.py +++ b/modules/bullet/config.py @@ -1,5 +1,6 @@ def can_build(env, platform): - return True + # API Changed and bullet is disabled at the moment + return False def configure(env): diff --git a/modules/bullet/constraint_bullet.cpp b/modules/bullet/constraint_bullet.cpp index c47a23e75f..e610727685 100644 --- a/modules/bullet/constraint_bullet.cpp +++ b/modules/bullet/constraint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/constraint_bullet.h b/modules/bullet/constraint_bullet.h index 538808be51..6afd8c9b52 100644 --- a/modules/bullet/constraint_bullet.h +++ b/modules/bullet/constraint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp index 56a66dba45..43ad6c56d5 100644 --- a/modules/bullet/generic_6dof_joint_bullet.cpp +++ b/modules/bullet/generic_6dof_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -273,11 +273,3 @@ bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6D ERR_FAIL_INDEX_V(p_axis, 3, false); return flags[p_axis][p_flag]; } - -void Generic6DOFJointBullet::set_precision(int p_precision) { - sixDOFConstraint->setOverrideNumSolverIterations(MAX(1, p_precision)); -} - -int Generic6DOFJointBullet::get_precision() const { - return sixDOFConstraint->getOverrideNumSolverIterations(); -} diff --git a/modules/bullet/generic_6dof_joint_bullet.h b/modules/bullet/generic_6dof_joint_bullet.h index 316708bb11..62b8e85a81 100644 --- a/modules/bullet/generic_6dof_joint_bullet.h +++ b/modules/bullet/generic_6dof_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -68,9 +68,6 @@ public: void set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value); bool get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const; - - void set_precision(int p_precision); - int get_precision() const; }; #endif diff --git a/modules/bullet/godot_collision_configuration.cpp b/modules/bullet/godot_collision_configuration.cpp index ec7a1dbd9a..94f150b712 100644 --- a/modules/bullet/godot_collision_configuration.cpp +++ b/modules/bullet/godot_collision_configuration.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_collision_configuration.h b/modules/bullet/godot_collision_configuration.h index ffad1b1bda..8ed55cb1da 100644 --- a/modules/bullet/godot_collision_configuration.h +++ b/modules/bullet/godot_collision_configuration.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_collision_dispatcher.cpp b/modules/bullet/godot_collision_dispatcher.cpp index d919c85469..423166c408 100644 --- a/modules/bullet/godot_collision_dispatcher.cpp +++ b/modules/bullet/godot_collision_dispatcher.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -43,7 +43,7 @@ GodotCollisionDispatcher::GodotCollisionDispatcher(btCollisionConfiguration *col bool GodotCollisionDispatcher::needsCollision(const btCollisionObject *body0, const btCollisionObject *body1) { if (body0->getUserIndex() == CASTED_TYPE_AREA || body1->getUserIndex() == CASTED_TYPE_AREA) { - // Avoide area narrow phase + // Avoid area narrow phase return false; } return btCollisionDispatcher::needsCollision(body0, body1); @@ -51,7 +51,7 @@ bool GodotCollisionDispatcher::needsCollision(const btCollisionObject *body0, co bool GodotCollisionDispatcher::needsResponse(const btCollisionObject *body0, const btCollisionObject *body1) { if (body0->getUserIndex() == CASTED_TYPE_AREA || body1->getUserIndex() == CASTED_TYPE_AREA) { - // Avoide area narrow phase + // Avoid area narrow phase return false; } return btCollisionDispatcher::needsResponse(body0, body1); diff --git a/modules/bullet/godot_collision_dispatcher.h b/modules/bullet/godot_collision_dispatcher.h index 13e7255abf..77472a9432 100644 --- a/modules/bullet/godot_collision_dispatcher.h +++ b/modules/bullet/godot_collision_dispatcher.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_motion_state.h b/modules/bullet/godot_motion_state.h index 90d1614a77..ca17349130 100644 --- a/modules/bullet/godot_motion_state.h +++ b/modules/bullet/godot_motion_state.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -51,7 +51,7 @@ class GodotMotionState : public btMotionState { /// This data is used to store last world position btTransform bodyCurrentWorldTransform; - RigidBodyBullet *owner; + RigidBodyBullet *owner = nullptr; public: GodotMotionState(RigidBodyBullet *p_owner) : diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp index a84f3511ba..a8291d4ab4 100644 --- a/modules/bullet/godot_ray_world_algorithm.cpp +++ b/modules/bullet/godot_ray_world_algorithm.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/godot_ray_world_algorithm.h b/modules/bullet/godot_ray_world_algorithm.h index 9786732d40..25798aecb4 100644 --- a/modules/bullet/godot_ray_world_algorithm.h +++ b/modules/bullet/godot_ray_world_algorithm.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -45,7 +45,7 @@ class GodotRayWorldAlgorithm : public btActivatingCollisionAlgorithm { const btDiscreteDynamicsWorld *m_world; btPersistentManifold *m_manifoldPtr; bool m_ownManifold = false; - bool m_isSwapped; + bool m_isSwapped = false; public: GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped); diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp index f82648d6ff..e92b6c189c 100644 --- a/modules/bullet/godot_result_callbacks.cpp +++ b/modules/bullet/godot_result_callbacks.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -113,7 +113,7 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo PhysicsDirectSpaceState3D::ShapeResult &result = m_results[count]; - result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID + result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is an odd name but contains the compound shape ID result.rid = gObj->get_self(); result.collider_id = gObj->get_instance_id(); result.collider = result.collider_id.is_null() ? nullptr : ObjectDB::get_instance(result.collider_id); @@ -176,7 +176,7 @@ bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) { if (convexResult.m_localShapeInfo) { - m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID + m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is an odd name but contains the compound shape ID } else { m_shapeId = 0; } diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h index 1325542973..f92665f3e4 100644 --- a/modules/bullet/godot_result_callbacks.h +++ b/modules/bullet/godot_result_callbacks.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -59,8 +59,8 @@ struct GodotClosestRayResultCallback : public btCollisionWorld::ClosestRayResult bool m_pickRay = false; int m_shapeId = 0; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; public: GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : @@ -84,8 +84,8 @@ public: // store all colliding object struct GodotAllConvexResultCallback : public btCollisionWorld::ConvexResultCallback { public: - PhysicsDirectSpaceState3D::ShapeResult *m_results; - int m_resultMax; + PhysicsDirectSpaceState3D::ShapeResult *m_results = nullptr; + int m_resultMax = 0; const Set<RID> *m_exclude; int count = 0; @@ -117,8 +117,8 @@ public: const Set<RID> *m_exclude; int m_shapeId = 0; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), @@ -134,13 +134,13 @@ public: struct GodotAllContactResultCallback : public btCollisionWorld::ContactResultCallback { public: const btCollisionObject *m_self_object; - PhysicsDirectSpaceState3D::ShapeResult *m_results; - int m_resultMax; + PhysicsDirectSpaceState3D::ShapeResult *m_results = nullptr; + int m_resultMax = 0; const Set<RID> *m_exclude; int m_count = 0; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState3D::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : m_self_object(p_self_object), @@ -159,13 +159,13 @@ public: struct GodotContactPairContactResultCallback : public btCollisionWorld::ContactResultCallback { public: const btCollisionObject *m_self_object; - Vector3 *m_results; - int m_resultMax; + Vector3 *m_results = nullptr; + int m_resultMax = 0; const Set<RID> *m_exclude; int m_count = 0; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : m_self_object(p_self_object), @@ -183,14 +183,14 @@ public: struct GodotRestInfoContactResultCallback : public btCollisionWorld::ContactResultCallback { public: const btCollisionObject *m_self_object; - PhysicsDirectSpaceState3D::ShapeRestInfo *m_result; + PhysicsDirectSpaceState3D::ShapeRestInfo *m_result = nullptr; const Set<RID> *m_exclude; bool m_collided = false; - real_t m_min_distance = 0; - const btCollisionObject *m_rest_info_collision_object; + real_t m_min_distance = 0.0; + const btCollisionObject *m_rest_info_collision_object = nullptr; btVector3 m_rest_info_bt_point; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = false; + bool collide_with_areas = false; GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState3D::ShapeRestInfo *p_result, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : m_self_object(p_self_object), diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp index 2338277565..4ceb98729f 100644 --- a/modules/bullet/hinge_joint_bullet.cpp +++ b/modules/bullet/hinge_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/hinge_joint_bullet.h b/modules/bullet/hinge_joint_bullet.h index 120c40e5c0..06a95be374 100644 --- a/modules/bullet/hinge_joint_bullet.h +++ b/modules/bullet/hinge_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/joint_bullet.cpp b/modules/bullet/joint_bullet.cpp index 6257ff0058..ac371658f5 100644 --- a/modules/bullet/joint_bullet.cpp +++ b/modules/bullet/joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/joint_bullet.h b/modules/bullet/joint_bullet.h index c70cea817e..5bb8b50961 100644 --- a/modules/bullet/joint_bullet.h +++ b/modules/bullet/joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp index 1cfbc65c78..8e8ff57f11 100644 --- a/modules/bullet/pin_joint_bullet.cpp +++ b/modules/bullet/pin_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/pin_joint_bullet.h b/modules/bullet/pin_joint_bullet.h index e7d05f34d4..6fbb6f7e02 100644 --- a/modules/bullet/pin_joint_bullet.h +++ b/modules/bullet/pin_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/register_types.cpp b/modules/bullet/register_types.cpp index d29b699ecd..b5ad5749a6 100644 --- a/modules/bullet/register_types.cpp +++ b/modules/bullet/register_types.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/register_types.h b/modules/bullet/register_types.h index 5a01a1422e..e405996705 100644 --- a/modules/bullet/register_types.h +++ b/modules/bullet/register_types.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/rid_bullet.h b/modules/bullet/rid_bullet.h index 0db09b2b78..face6b4861 100644 --- a/modules/bullet/rid_bullet.h +++ b/modules/bullet/rid_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -41,7 +41,7 @@ class BulletPhysicsServer3D; class RIDBullet { RID self; - BulletPhysicsServer3D *physicsServer; + BulletPhysicsServer3D *physicsServer = nullptr; public: _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; } diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 0c64c3640f..433bff8c38 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -56,11 +56,11 @@ Vector3 BulletPhysicsDirectBodyState3D::get_total_gravity() const { return gVec; } -float BulletPhysicsDirectBodyState3D::get_total_angular_damp() const { +real_t BulletPhysicsDirectBodyState3D::get_total_angular_damp() const { return body->btBody->getAngularDamping(); } -float BulletPhysicsDirectBodyState3D::get_total_linear_damp() const { +real_t BulletPhysicsDirectBodyState3D::get_total_linear_damp() const { return body->btBody->getLinearDamping(); } @@ -74,7 +74,7 @@ Basis BulletPhysicsDirectBodyState3D::get_principal_inertia_axes() const { return Basis(); } -float BulletPhysicsDirectBodyState3D::get_inverse_mass() const { +real_t BulletPhysicsDirectBodyState3D::get_inverse_mass() const { return body->btBody->getInvMass(); } @@ -158,7 +158,7 @@ Vector3 BulletPhysicsDirectBodyState3D::get_contact_local_normal(int p_contact_i return body->collisions[p_contact_idx].hitNormal; } -float BulletPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const { +real_t BulletPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const { return body->collisions[p_contact_idx].appliedImpulse; } @@ -322,10 +322,8 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) { if (space) { can_integrate_forces = false; isScratchedSpaceOverrideModificator = false; - - // Remove all eventual constraints - assert_no_constraints(); - + // Remove any constraints + space->remove_rigid_body_constraints(this); // Remove this object form the physics world space->remove_rigid_body(this); } @@ -414,7 +412,7 @@ void RigidBodyBullet::on_collision_checker_end() { isTransformChanged = btBody->isActive() && !btBody->isStaticOrKinematicObject(); } -bool RigidBodyBullet::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 RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const real_t &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) { if (collisionsCount >= maxCollisionsDetection) { return false; } @@ -443,12 +441,6 @@ bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) { return false; } -void RigidBodyBullet::assert_no_constraints() { - if (btBody->getNumConstraintRefs()) { - WARN_PRINT("A body with a joints is destroyed. Please check the implementation in order to destroy the joint before the body."); - } -} - void RigidBodyBullet::set_activation_state(bool p_active) { if (p_active) { btBody->activate(); @@ -523,7 +515,7 @@ real_t RigidBodyBullet::get_param(PhysicsServer3D::BodyParameter p_param) const } void RigidBodyBullet::set_mode(PhysicsServer3D::BodyMode p_mode) { - // This is necessary to block force_integration untile next move + // This is necessary to block force_integration until next move can_integrate_forces = false; destroy_kinematic_utilities(); // The mode change is relevant to its mass @@ -718,12 +710,12 @@ bool RigidBodyBullet::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const { } void RigidBodyBullet::reload_axis_lock() { - btBody->setLinearFactor(btVector3(float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z)))); + btBody->setLinearFactor(btVector3(btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z)))); if (PhysicsServer3D::BODY_MODE_CHARACTER == mode) { /// When character angular is always locked btBody->setAngularFactor(btVector3(0., 0., 0.)); } else { - btBody->setAngularFactor(btVector3(float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_X)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Y)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Z)))); + btBody->setAngularFactor(btVector3(btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_X)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Y)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Z)))); } } @@ -733,7 +725,7 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) { // 1 meter in one simulation frame btBody->setCcdMotionThreshold(1e-7); - /// Calculate using the rule writte below the CCD swept sphere radius + /// Calculate using the rule write 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 diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index c643611397..a4be7f9e07 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -81,21 +81,21 @@ public: } public: - RigidBodyBullet *body; - real_t deltaTime; + RigidBodyBullet *body = nullptr; + real_t deltaTime = 0.0; private: BulletPhysicsDirectBodyState3D() {} public: virtual Vector3 get_total_gravity() const override; - virtual float get_total_angular_damp() const override; - virtual float get_total_linear_damp() const override; + virtual real_t get_total_angular_damp() const override; + virtual real_t get_total_linear_damp() const override; virtual Vector3 get_center_of_mass() const override; virtual Basis get_principal_inertia_axes() const override; // get the mass - virtual float get_inverse_mass() const override; + virtual real_t get_inverse_mass() const override; // get density of this body space virtual Vector3 get_inverse_inertia() const override; // get density of this body space @@ -124,7 +124,7 @@ public: virtual Vector3 get_contact_local_position(int p_contact_idx) const override; virtual Vector3 get_contact_local_normal(int p_contact_idx) const override; - virtual float get_contact_impulse(int p_contact_idx) const override; + virtual real_t get_contact_impulse(int p_contact_idx) const override; virtual int get_contact_local_shape(int p_contact_idx) const override; virtual RID get_contact_collider(int p_contact_idx) const override; @@ -144,13 +144,13 @@ public: class RigidBodyBullet : public RigidCollisionObjectBullet { public: struct CollisionData { - RigidBodyBullet *otherObject; - int other_object_shape; - int local_shape; + RigidBodyBullet *otherObject = nullptr; + int other_object_shape = 0; + int local_shape = 0; Vector3 hitLocalLocation; Vector3 hitWorldLocation; Vector3 hitNormal; - float appliedImpulse; + real_t appliedImpulse = 0.0; }; struct ForceIntegrationCallback { @@ -169,7 +169,7 @@ public: }; struct KinematicUtilities { - RigidBodyBullet *owner; + RigidBodyBullet *owner = nullptr; btScalar safe_margin; Vector<KinematicShape> shapes; @@ -194,10 +194,10 @@ private: GodotMotionState *godotMotionState; btRigidBody *btBody; uint16_t locked_axis = 0; - real_t mass = 1; - real_t gravity_scale = 1; - real_t linearDamp = 0; - real_t angularDamp = 0; + real_t mass = 1.0; + real_t gravity_scale = 1.0; + real_t linearDamp = 0.0; + real_t angularDamp = 0.0; bool can_sleep = true; bool omit_forces_integration = false; bool can_integrate_forces = false; @@ -264,11 +264,9 @@ 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 add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const real_t &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index); bool was_colliding(RigidBodyBullet *p_other_object); - void assert_no_constraints(); - void set_activation_state(bool p_active); bool is_active() const; diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp index c7b761e92a..82876ab77c 100644 --- a/modules/bullet/shape_bullet.cpp +++ b/modules/bullet/shape_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -480,7 +480,11 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { Vector<real_t> l_heights; Variant l_heights_v = d["heights"]; +#ifdef REAL_T_IS_DOUBLE + if (l_heights_v.get_type() == Variant::PACKED_FLOAT64_ARRAY) { +#else if (l_heights_v.get_type() == Variant::PACKED_FLOAT32_ARRAY) { +#endif // Ready-to-use heights can be passed l_heights = l_heights_v; @@ -503,7 +507,7 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { real_t *w = l_heights.ptrw(); const uint8_t *r = im_data.ptr(); - float *rp = (float *)r; + real_t *rp = (real_t *)r; // At this point, `rp` could be used directly for Bullet, but I don't know how safe it would be. for (int i = 0; i < l_heights.size(); ++i) { @@ -511,7 +515,11 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { } } else { +#ifdef REAL_T_IS_DOUBLE + ERR_FAIL_MSG("Expected PackedFloat64Array or float Image."); +#else ERR_FAIL_MSG("Expected PackedFloat32Array or float Image."); +#endif } ERR_FAIL_COND(l_width <= 0); diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h index 1c29dc1b1f..bfd95747eb 100644 --- a/modules/bullet/shape_bullet.h +++ b/modules/bullet/shape_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -213,10 +213,10 @@ private: class HeightMapShapeBullet : public ShapeBullet { public: Vector<real_t> heights; - int width; - int depth; - real_t min_height; - real_t max_height; + int width = 0; + int depth = 0; + real_t min_height = 0.0; + real_t max_height = 0.0; HeightMapShapeBullet(); @@ -231,7 +231,7 @@ private: class RayShapeBullet : public ShapeBullet { public: - real_t length = 1; + real_t length = 1.0; bool slips_on_slope = false; RayShapeBullet(); diff --git a/modules/bullet/shape_owner_bullet.cpp b/modules/bullet/shape_owner_bullet.cpp index d63096d9a3..ea8821eaec 100644 --- a/modules/bullet/shape_owner_bullet.cpp +++ b/modules/bullet/shape_owner_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/shape_owner_bullet.h b/modules/bullet/shape_owner_bullet.h index f909632c99..4bd583e096 100644 --- a/modules/bullet/shape_owner_bullet.h +++ b/modules/bullet/shape_owner_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp index 6d5d95d07a..45c892851b 100644 --- a/modules/bullet/slider_joint_bullet.cpp +++ b/modules/bullet/slider_joint_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/slider_joint_bullet.h b/modules/bullet/slider_joint_bullet.h index 6410b952ed..90964671c2 100644 --- a/modules/bullet/slider_joint_bullet.h +++ b/modules/bullet/slider_joint_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp index 6794d6c313..a8980984a7 100644 --- a/modules/bullet/soft_body_bullet.cpp +++ b/modules/bullet/soft_body_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -259,10 +259,10 @@ void SoftBodyBullet::set_linear_stiffness(real_t p_val) { } } -void SoftBodyBullet::set_areaAngular_stiffness(real_t p_val) { - areaAngular_stiffness = p_val; +void SoftBodyBullet::set_angular_stiffness(real_t p_val) { + angular_stiffness = p_val; if (bt_soft_body) { - mat0->m_kAST = areaAngular_stiffness; + mat0->m_kAST = angular_stiffness; } } @@ -336,7 +336,7 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector Map<Vector3, int>::Element *e = unique_vertices.find(p_vertices_read[vs_vertex_index]); int vertex_id; if (e) { - // Already rxisting + // Already existing vertex_id = e->value(); } else { // Create new one @@ -409,7 +409,7 @@ void SoftBodyBullet::setup_soft_body() { bt_soft_body->generateBendingConstraints(2, mat0); mat0->m_kLST = linear_stiffness; - mat0->m_kAST = areaAngular_stiffness; + mat0->m_kAST = angular_stiffness; mat0->m_kVST = volume_stiffness; // Clusters allow to have Soft vs Soft collision but doesn't work well right now diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h index da8a2412ed..23f6fba9a6 100644 --- a/modules/bullet/soft_body_bullet.h +++ b/modules/bullet/soft_body_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -59,7 +59,7 @@ class SoftBodyBullet : public CollisionObjectBullet { private: btSoftBody *bt_soft_body = nullptr; Vector<Vector<int>> indices_table; - btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody + btSoftBody::Material *mat0 = nullptr; // This is just a copy of pointer managed by btSoftBody bool isScratched = false; Ref<Mesh> soft_mesh; @@ -67,7 +67,7 @@ private: int simulation_precision = 5; real_t total_mass = 1.; real_t linear_stiffness = 0.5; // [0,1] - real_t areaAngular_stiffness = 0.5; // [0,1] + real_t angular_stiffness = 0.5; // [0,1] real_t volume_stiffness = 0.5; // [0,1] real_t pressure_coefficient = 0.; // [-inf,+inf] real_t pose_matching_coefficient = 0.; // [0,1] @@ -129,8 +129,8 @@ public: void set_linear_stiffness(real_t p_val); _FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; } - void set_areaAngular_stiffness(real_t p_val); - _FORCE_INLINE_ real_t get_areaAngular_stiffness() const { return areaAngular_stiffness; } + void set_angular_stiffness(real_t p_val); + _FORCE_INLINE_ real_t get_angular_stiffness() const { return angular_stiffness; } void set_volume_stiffness(real_t p_val); _FORCE_INLINE_ real_t get_volume_stiffness() const { return volume_stiffness; } diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index abad1beacb..ceae3be8bc 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -81,7 +81,7 @@ int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, Shape btResult.m_collisionFilterMask = p_collision_mask; space->dynamicsWorld->contactTest(&collision_object_point, btResult); - // The results is already populated by GodotAllConvexResultCallback + // The results are already populated by GodotAllConvexResultCallback return btResult.m_count; } @@ -117,7 +117,7 @@ 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 *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (p_result_max <= 0) { return 0; } @@ -152,7 +152,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra return btQuery.m_count; } -bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { +bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { r_closest_safe = 0.0f; r_closest_unsafe = 0.0f; btVector3 bt_motion; @@ -177,8 +177,10 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf bt_xform_to.getOrigin() += bt_motion; if ((bt_xform_to.getOrigin() - bt_xform_from.getOrigin()).fuzzyZero()) { + r_closest_safe = 1.0f; + r_closest_unsafe = 1.0f; bulletdelete(btShape); - return false; + return true; } GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude, p_collide_with_bodies, p_collide_with_areas); @@ -212,7 +214,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf } /// Returns the list of contacts pairs in this order: Local contact, other body contact -bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (p_result_max <= 0) { return false; } @@ -248,7 +250,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform & return btQuery.m_count; } -bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape); ERR_FAIL_COND_V(!shape, false); @@ -477,11 +479,25 @@ void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) { } } +void SpaceBullet::remove_rigid_body_constraints(RigidBodyBullet *p_body) { + btRigidBody *btBody = p_body->get_bt_rigid_body(); + + int constraints = btBody->getNumConstraintRefs(); + if (constraints > 0) { + ERR_PRINT("A body connected to joints was removed."); + for (int i = 0; i < constraints; i++) { + dynamicsWorld->removeConstraint(btBody->getConstraintRef(i)); + } + } +} + void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) { + btRigidBody *btBody = p_body->get_bt_rigid_body(); + if (p_body->is_static()) { - dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body()); + dynamicsWorld->removeCollisionObject(btBody); } else { - dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body()); + dynamicsWorld->removeRigidBody(btBody); } } @@ -825,20 +841,32 @@ void SpaceBullet::check_body_collision() { Vector3 collisionWorldPosition; Vector3 collisionLocalPosition; Vector3 normalOnB; - float appliedImpulse = pt.m_appliedImpulse; + real_t appliedImpulse = pt.m_appliedImpulse; B_TO_G(pt.m_normalWorldOnB, normalOnB); + // The pt.m_index only contains the shape index when more than one collision shape is used + // and only if the collision shape is not a concave collision shape. + // A value of -1 in pt.m_partId indicates the pt.m_index is a shape index. + int shape_index_a = 0; + if (bodyA->get_shape_count() > 1 && pt.m_partId0 == -1) { + shape_index_a = pt.m_index0; + } + int shape_index_b = 0; + if (bodyB->get_shape_count() > 1 && pt.m_partId1 == -1) { + shape_index_b = pt.m_index1; + } + if (bodyA->can_add_collision()) { B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition); /// pt.m_localPointB Doesn't report the exact point in local space B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition); - bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, pt.m_index1, pt.m_index0); + bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, shape_index_b, shape_index_a); } if (bodyB->can_add_collision()) { B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition); /// pt.m_localPointA Doesn't report the exact point in local space B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition); - bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1); + bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, shape_index_a, shape_index_b); } #ifdef DEBUG_ENABLED @@ -1034,7 +1062,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f return has_penetration; } -int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin) { +int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin) { btTransform body_transform; G_TO_B(p_transform, body_transform); UNSCALE_BT_BASIS(body_transform); @@ -1064,13 +1092,13 @@ private: btDbvtVolume bounds; const btCollisionObject *self_collision_object; - uint32_t collision_layer; - uint32_t collision_mask; + uint32_t collision_layer = 0; + uint32_t collision_mask = 0; struct CompoundLeafCallback : btDbvt::ICollide { private: - RecoverPenetrationBroadPhaseCallback *parent_callback; - btCollisionObject *collision_object; + RecoverPenetrationBroadPhaseCallback *parent_callback = nullptr; + btCollisionObject *collision_object = nullptr; public: CompoundLeafCallback(RecoverPenetrationBroadPhaseCallback *p_parent_callback, btCollisionObject *p_collision_object) : @@ -1088,8 +1116,8 @@ private: public: struct BroadphaseResult { - btCollisionObject *collision_object; - int compound_child_index; + btCollisionObject *collision_object = nullptr; + int compound_child_index = 0; }; Vector<BroadphaseResult> results; diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index e362f27d39..87aa2b9e93 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -78,11 +78,11 @@ public: virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override; - virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override; + virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override; /// Returns the list of contacts pairs in this order: Local contact, other body contact - virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override; }; @@ -100,12 +100,12 @@ class SpaceBullet : public RIDBullet { btGhostPairCallback *ghostPairCallback = nullptr; GodotFilterCallback *godotFilterCallback = nullptr; - btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver; - btVoronoiSimplexSolver *gjk_simplex_solver; + btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver = nullptr; + btVoronoiSimplexSolver *gjk_simplex_solver = nullptr; BulletPhysicsDirectSpaceState *direct_access; Vector3 gravityDirection = Vector3(0, -1, 0); - real_t gravityMagnitude = 10; + real_t gravityMagnitude = 10.0; real_t linear_damp = 0.0; real_t angular_damp = 0.0; @@ -151,6 +151,7 @@ public: void reload_collision_filters(AreaBullet *p_area); void add_rigid_body(RigidBodyBullet *p_body); + void remove_rigid_body_constraints(RigidBodyBullet *p_body); void remove_rigid_body(RigidBodyBullet *p_body); void reload_collision_filters(RigidBodyBullet *p_body); @@ -167,7 +168,7 @@ public: BulletPhysicsDirectSpaceState *get_direct_state(); void set_debug_contacts(int p_amount) { contactDebug.resize(p_amount); } - _FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.empty(); } + _FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.is_empty(); } _FORCE_INLINE_ void reset_debug_contact_count() { contactDebugCount = 0; } @@ -188,7 +189,7 @@ public: real_t get_angular_damp() const { return angular_damp; } bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes); - int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin); + int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin); private: void create_empty_world(bool p_create_soft_world); |