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-rw-r--r--modules/bullet/SCsub4
-rw-r--r--modules/bullet/btRayShape.cpp12
-rw-r--r--modules/bullet/btRayShape.h2
-rw-r--r--modules/bullet/bullet_physics_server.cpp16
-rw-r--r--modules/bullet/bullet_physics_server.h8
-rw-r--r--modules/bullet/bullet_types_converter.h2
-rw-r--r--modules/bullet/collision_object_bullet.cpp39
-rw-r--r--modules/bullet/collision_object_bullet.h3
-rw-r--r--modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml4
-rw-r--r--modules/bullet/doc_classes/BulletPhysicsServer.xml4
-rw-r--r--modules/bullet/godot_ray_world_algorithm.cpp9
-rw-r--r--modules/bullet/godot_result_callbacks.cpp10
-rw-r--r--modules/bullet/rigid_body_bullet.cpp18
-rw-r--r--modules/bullet/rigid_body_bullet.h2
-rw-r--r--modules/bullet/shape_bullet.cpp17
-rw-r--r--modules/bullet/space_bullet.cpp333
-rw-r--r--modules/bullet/space_bullet.h1
17 files changed, 333 insertions, 151 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub
index 11ce18449b..16d694c238 100644
--- a/modules/bullet/SCsub
+++ b/modules/bullet/SCsub
@@ -186,7 +186,9 @@ if env['builtin_bullet']:
thirdparty_sources = [thirdparty_dir + file for file in bullet2_src]
- env_bullet.Append(CPPPATH=[thirdparty_dir])
+ env_bullet.Prepend(CPPPATH=[thirdparty_dir])
+ # if env['target'] == "debug" or env['target'] == "release_debug":
+ # env_bullet.Append(CPPFLAGS=['-DBT_DEBUG'])
env_thirdparty = env_bullet.Clone()
env_thirdparty.disable_warnings()
diff --git a/modules/bullet/btRayShape.cpp b/modules/bullet/btRayShape.cpp
index 935d86daa6..b60d6ba693 100644
--- a/modules/bullet/btRayShape.cpp
+++ b/modules/bullet/btRayShape.cpp
@@ -54,6 +54,11 @@ void btRayShape::setLength(btScalar p_length) {
reload_cache();
}
+void btRayShape::setMargin(btScalar margin) {
+ btConvexInternalShape::setMargin(margin);
+ reload_cache();
+}
+
void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) {
slipsOnSlope = p_slipsOnSlope;
@@ -77,10 +82,9 @@ void btRayShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVecto
}
void btRayShape::getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const {
-#define MARGIN_BROADPHASE 0.1
btVector3 localAabbMin(0, 0, 0);
- btVector3 localAabbMax(m_shapeAxis * m_length);
- btTransformAabb(localAabbMin, localAabbMax, MARGIN_BROADPHASE, t, aabbMin, aabbMax);
+ btVector3 localAabbMax(m_shapeAxis * m_cacheScaledLength);
+ btTransformAabb(localAabbMin, localAabbMax, m_collisionMargin, t, aabbMin, aabbMax);
}
void btRayShape::calculateLocalInertia(btScalar mass, btVector3 &inertia) const {
@@ -97,7 +101,7 @@ void btRayShape::getPreferredPenetrationDirection(int index, btVector3 &penetrat
void btRayShape::reload_cache() {
- m_cacheScaledLength = m_length * m_localScaling[2] + m_collisionMargin;
+ m_cacheScaledLength = m_length * m_localScaling[2];
m_cacheSupportPoint.setIdentity();
m_cacheSupportPoint.setOrigin(m_shapeAxis * m_cacheScaledLength);
diff --git a/modules/bullet/btRayShape.h b/modules/bullet/btRayShape.h
index 7fedb74083..7f3229b3e8 100644
--- a/modules/bullet/btRayShape.h
+++ b/modules/bullet/btRayShape.h
@@ -60,6 +60,8 @@ public:
void setLength(btScalar p_length);
btScalar getLength() const { return m_length; }
+ virtual void setMargin(btScalar margin);
+
void setSlipsOnSlope(bool p_slipOnSlope);
bool getSlipsOnSlope() const { return slipsOnSlope; }
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 44ea061f51..be4e0b88e8 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -279,14 +279,14 @@ PhysicsServer::AreaSpaceOverrideMode BulletPhysicsServer::area_get_space_overrid
return area->get_spOv_mode();
}
-void BulletPhysicsServer::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform) {
+void BulletPhysicsServer::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform, bool p_disabled) {
AreaBullet *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
ShapeBullet *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
- area->add_shape(shape, p_transform);
+ area->add_shape(shape, p_transform, p_disabled);
}
void BulletPhysicsServer::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
@@ -348,13 +348,13 @@ void BulletPhysicsServer::area_set_shape_disabled(RID p_area, int p_shape_idx, b
area->set_shape_disabled(p_shape_idx, p_disabled);
}
-void BulletPhysicsServer::area_attach_object_instance_id(RID p_area, ObjectID p_ID) {
+void BulletPhysicsServer::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
if (space_owner.owns(p_area)) {
return;
}
AreaBullet *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
- area->set_instance_id(p_ID);
+ area->set_instance_id(p_id);
}
ObjectID BulletPhysicsServer::area_get_object_instance_id(RID p_area) const {
@@ -498,7 +498,7 @@ PhysicsServer::BodyMode BulletPhysicsServer::body_get_mode(RID p_body) const {
return body->get_mode();
}
-void BulletPhysicsServer::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform) {
+void BulletPhysicsServer::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform, bool p_disabled) {
RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND(!body);
@@ -506,7 +506,7 @@ void BulletPhysicsServer::body_add_shape(RID p_body, RID p_shape, const Transfor
ShapeBullet *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
- body->add_shape(shape, p_transform);
+ body->add_shape(shape, p_transform, p_disabled);
}
void BulletPhysicsServer::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
@@ -569,11 +569,11 @@ void BulletPhysicsServer::body_clear_shapes(RID p_body) {
body->remove_all_shapes();
}
-void BulletPhysicsServer::body_attach_object_instance_id(RID p_body, uint32_t p_ID) {
+void BulletPhysicsServer::body_attach_object_instance_id(RID p_body, uint32_t p_id) {
CollisionObjectBullet *body = get_collisin_object(p_body);
ERR_FAIL_COND(!body);
- body->set_instance_id(p_ID);
+ body->set_instance_id(p_id);
}
uint32_t BulletPhysicsServer::body_get_object_instance_id(RID p_body) const {
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 1b74cbf3fc..0b8ad53658 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -133,7 +133,7 @@ public:
virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode);
virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const;
- virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform());
+ virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape);
virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform);
virtual int area_get_shape_count(RID p_area) const;
@@ -142,7 +142,7 @@ public:
virtual void area_remove_shape(RID p_area, int p_shape_idx);
virtual void area_clear_shapes(RID p_area);
virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled);
- virtual void area_attach_object_instance_id(RID p_area, ObjectID p_ID);
+ virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id);
virtual ObjectID area_get_object_instance_id(RID p_area) const;
/// If you pass as p_area the SpaceBullet you can set some parameters as specified below
@@ -174,7 +174,7 @@ public:
virtual void body_set_mode(RID p_body, BodyMode p_mode);
virtual BodyMode body_get_mode(RID p_body) const;
- virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform());
+ virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
// Not supported, Please remove and add new shape
virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape);
virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform);
@@ -189,7 +189,7 @@ public:
virtual void body_clear_shapes(RID p_body);
// Used for Rigid and Soft Bodies
- virtual void body_attach_object_instance_id(RID p_body, uint32_t p_ID);
+ virtual void body_attach_object_instance_id(RID p_body, uint32_t p_id);
virtual uint32_t body_get_object_instance_id(RID p_body) const;
virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable);
diff --git a/modules/bullet/bullet_types_converter.h b/modules/bullet/bullet_types_converter.h
index 57c3300b3d..ba36331d07 100644
--- a/modules/bullet/bullet_types_converter.h
+++ b/modules/bullet/bullet_types_converter.h
@@ -31,7 +31,7 @@
#ifndef BULLET_TYPES_CONVERTER_H
#define BULLET_TYPES_CONVERTER_H
-#include "core/math/matrix3.h"
+#include "core/math/basis.h"
#include "core/math/transform.h"
#include "core/math/vector3.h"
#include "core/typedefs.h"
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index 91a5ed095a..166d7e6158 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -43,7 +43,9 @@
@author AndreaCatania
*/
-#define enableDynamicAabbTree false
+// We enable dynamic AABB tree so that we can actually perform a broadphase on bodies with compound collision shapes.
+// This is crucial for the performance of kinematic bodies and for bodies with transforming shapes.
+#define enableDynamicAabbTree true
CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {}
@@ -57,6 +59,25 @@ void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_tra
transform = p_transform;
}
+btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const {
+ if (shape->get_type() == PhysicsServer::SHAPE_HEIGHTMAP) {
+ const HeightMapShapeBullet *hm_shape = (const HeightMapShapeBullet *)shape; // should be safe to cast now
+ btTransform adjusted_transform;
+
+ // Bullet centers our heightmap:
+ // https://github.com/bulletphysics/bullet3/blob/master/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h#L33
+ // This is really counter intuitive so we're adjusting for it
+
+ adjusted_transform.setIdentity();
+ adjusted_transform.setOrigin(btVector3(0.0, hm_shape->min_height + ((hm_shape->max_height - hm_shape->min_height) * 0.5), 0.0));
+ adjusted_transform *= transform;
+
+ return adjusted_transform;
+ } else {
+ return transform;
+ }
+}
+
void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
if (!bt_shape) {
if (active)
@@ -69,8 +90,12 @@ void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_s
CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
RIDBullet(),
type(p_type),
+ instance_id(0),
+ collisionLayer(0),
+ collisionMask(0),
collisionsEnabled(true),
m_isStatic(false),
+ ray_pickable(false),
bt_collision_object(NULL),
body_scale(1., 1., 1.),
force_shape_reset(false),
@@ -212,8 +237,8 @@ RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
}
}
-void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform) {
- shapes.push_back(ShapeWrapper(p_shape, p_transform, true));
+void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform, bool p_disabled) {
+ shapes.push_back(ShapeWrapper(p_shape, p_transform, !p_disabled));
p_shape->add_owner(this);
reload_shapes();
}
@@ -280,7 +305,6 @@ void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transfor
ERR_FAIL_INDEX(p_index, get_shape_count());
shapes.write[p_index].set_transform(p_transform);
- // Note, enableDynamicAabbTree is false because on transform change compound is destroyed
reload_shapes();
}
@@ -295,6 +319,8 @@ Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
}
void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
+ if (shapes[p_index].active != p_disabled)
+ return;
shapes.write[p_index].active = !p_disabled;
shape_changed(p_index);
}
@@ -338,7 +364,8 @@ void RigidCollisionObjectBullet::reload_shapes() {
// Try to optimize by not using compound
if (1 == shape_count) {
shpWrapper = &shapes.write[0];
- if (shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) {
+ btTransform transform = shpWrapper->get_adjusted_transform();
+ if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
shpWrapper->claim_bt_shape(body_scale);
mainShape = shpWrapper->bt_shape;
main_shape_changed();
@@ -352,7 +379,7 @@ void RigidCollisionObjectBullet::reload_shapes() {
for (int i(0); i < shape_count; ++i) {
shpWrapper = &shapes.write[i];
shpWrapper->claim_bt_shape(body_scale);
- btTransform scaled_shape_transform(shpWrapper->transform);
+ btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform());
scaled_shape_transform.getOrigin() *= body_scale;
compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
}
diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h
index 2d4e5c4f1a..c9430bec18 100644
--- a/modules/bullet/collision_object_bullet.h
+++ b/modules/bullet/collision_object_bullet.h
@@ -109,6 +109,7 @@ public:
void set_transform(const Transform &p_transform);
void set_transform(const btTransform &p_transform);
+ btTransform get_adjusted_transform() const;
void claim_bt_shape(const btVector3 &body_scale);
};
@@ -224,7 +225,7 @@ public:
_FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; }
- void add_shape(ShapeBullet *p_shape, const Transform &p_transform = Transform());
+ void add_shape(ShapeBullet *p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
void set_shape(int p_index, ShapeBullet *p_shape);
int get_shape_count() const;
diff --git a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
index a4dc61d0bc..078bcc45a8 100644
--- a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
+++ b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
@@ -1,13 +1,11 @@
<?xml version="1.0" encoding="UTF-8" ?>
-<class name="BulletPhysicsDirectBodyState" inherits="PhysicsDirectBodyState" category="Core" version="3.1">
+<class name="BulletPhysicsDirectBodyState" inherits="PhysicsDirectBodyState" category="Core" version="3.2">
<brief_description>
</brief_description>
<description>
</description>
<tutorials>
</tutorials>
- <demos>
- </demos>
<methods>
</methods>
<constants>
diff --git a/modules/bullet/doc_classes/BulletPhysicsServer.xml b/modules/bullet/doc_classes/BulletPhysicsServer.xml
index 1486936cf4..2a37f6af5e 100644
--- a/modules/bullet/doc_classes/BulletPhysicsServer.xml
+++ b/modules/bullet/doc_classes/BulletPhysicsServer.xml
@@ -1,13 +1,11 @@
<?xml version="1.0" encoding="UTF-8" ?>
-<class name="BulletPhysicsServer" inherits="PhysicsServer" category="Core" version="3.1">
+<class name="BulletPhysicsServer" inherits="PhysicsServer" category="Core" version="3.2">
<brief_description>
</brief_description>
<description>
</description>
<tutorials>
</tutorials>
- <demos>
- </demos>
<methods>
</methods>
<constants>
diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp
index 449f625e17..2ba75b9a98 100644
--- a/modules/bullet/godot_ray_world_algorithm.cpp
+++ b/modules/bullet/godot_ray_world_algorithm.cpp
@@ -35,12 +35,13 @@
#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h>
-#define RAY_STABILITY_MARGIN 0.1
-
/**
@author AndreaCatania
*/
+// Epsilon to account for floating point inaccuracies
+#define RAY_PENETRATION_DEPTH_EPSILON 0.01
+
GodotRayWorldAlgorithm::CreateFunc::CreateFunc(const btDiscreteDynamicsWorld *world) :
m_world(world) {}
@@ -102,8 +103,8 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo
btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
- if (depth >= -RAY_STABILITY_MARGIN)
- depth = 0;
+ if (depth > -RAY_PENETRATION_DEPTH_EPSILON)
+ depth = 0.0;
if (ray_shape->getSlipsOnSlope())
resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth);
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index 7babfcc133..360950c4c7 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -333,14 +333,6 @@ void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3
m_other_compound_shape_index = isSwapped ? m_index0 : m_index1;
m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB;
- const btCollisionObjectWrapper *bw0 = m_body0Wrap;
- if (isSwapped)
- bw0 = m_body1Wrap;
-
- if (bw0->getCollisionShape()->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
- m_pointNormalWorld = bw0->m_worldTransform.getBasis().transpose() * btVector3(0, 0, 1);
- } else {
- m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
- }
+ m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
}
}
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 09177205b4..733a900396 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -597,6 +597,8 @@ void RigidBodyBullet::set_state(PhysicsServer::BodyState p_state, const Variant
if (!can_sleep) {
// Can't sleep
btBody->forceActivationState(DISABLE_DEACTIVATION);
+ } else {
+ btBody->forceActivationState(ACTIVE_TAG);
}
break;
}
@@ -739,22 +741,20 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {
if (p_enable) {
// This threshold enable CCD if the object moves more than
// 1 meter in one simulation frame
- btBody->setCcdMotionThreshold(0.1);
+ btBody->setCcdMotionThreshold(1e-7);
/// Calculate using the rule writte below the CCD swept sphere radius
/// CCD works on an embedded sphere of radius, make sure this radius
/// is embedded inside the convex objects, preferably smaller:
/// for an object of dimensions 1 meter, try 0.2
- btScalar radius;
+ btScalar radius(1.0);
if (btBody->getCollisionShape()) {
btVector3 center;
btBody->getCollisionShape()->getBoundingSphere(center, radius);
- } else {
- radius = 0;
}
btBody->setCcdSweptSphereRadius(radius * 0.2);
} else {
- btBody->setCcdMotionThreshold(0.);
+ btBody->setCcdMotionThreshold(10000.0);
btBody->setCcdSweptSphereRadius(0.);
}
}
@@ -797,6 +797,9 @@ void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transfor
btBody->setLinearVelocity((p_global_transform.getOrigin() - btBody->getWorldTransform().getOrigin()) / space->get_delta_time());
// The kinematic use MotionState class
godotMotionState->moveBody(p_global_transform);
+ } else {
+ // Is necesasry to avoid wrong location on the rendering side on the next frame
+ godotMotionState->setWorldTransform(p_global_transform);
}
CollisionObjectBullet::set_transform__bullet(p_global_transform);
}
@@ -822,13 +825,14 @@ void RigidBodyBullet::reload_shapes() {
// shapes incorrectly do not set the vector in calculateLocalIntertia.
// Arbitrary zero is preferable to undefined behaviour.
btVector3 inertia(0, 0, 0);
- mainShape->calculateLocalInertia(mass, inertia);
+ if (EMPTY_SHAPE_PROXYTYPE != mainShape->getShapeType()) // Necessary to avoid assertion of the empty shape
+ mainShape->calculateLocalInertia(mass, inertia);
btBody->setMassProps(mass, inertia);
}
btBody->updateInertiaTensor();
reload_kinematic_shapes();
-
+ set_continuous_collision_detection(btBody->getCcdMotionThreshold() < 9998.0);
reload_body();
}
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 784e99ab86..1e1bea846a 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -167,7 +167,7 @@ public:
KinematicShape() :
shape(NULL) {}
- const bool is_active() const { return shape; }
+ bool is_active() const { return shape; }
};
struct KinematicUtilities {
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index 1aba31f03d..f15bcec914 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -148,7 +148,13 @@ btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<rea
const bool flipQuadEdges = false;
const void *heightsPtr = p_heights.read().ptr();
- return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));
+ btHeightfieldTerrainShape *heightfield = bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));
+
+ // The shape can be created without params when you do PhysicsServer.shape_create(PhysicsServer.SHAPE_HEIGHTMAP)
+ if (heightsPtr)
+ heightfield->buildAccelerator(16);
+
+ return heightfield;
}
btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) {
@@ -510,16 +516,17 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
// Compute min and max heights if not specified.
if (!d.has("min_height") && !d.has("max_height")) {
- PoolVector<real_t>::Read r = heights.read();
- int heights_size = heights.size();
+ PoolVector<real_t>::Read r = l_heights.read();
+ int heights_size = l_heights.size();
for (int i = 0; i < heights_size; ++i) {
real_t h = r[i];
- if (h < l_min_height)
+ if (h < l_min_height) {
l_min_height = h;
- else if (h > l_max_height)
+ } else if (h > l_max_height) {
l_max_height = h;
+ }
}
}
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 6562b18b3c..738b415d16 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -658,6 +658,8 @@ void SpaceBullet::check_ghost_overlaps() {
for (x = areas.size() - 1; 0 <= x; --x) {
area = areas[x];
+ btVector3 area_scale(area->get_bt_body_scale());
+
if (!area->is_monitoring())
continue;
@@ -681,9 +683,10 @@ void SpaceBullet::check_ghost_overlaps() {
bool hasOverlap = false;
btCollisionObject *overlapped_bt_co = ghostOverlaps[i];
RigidCollisionObjectBullet *otherObject = static_cast<RigidCollisionObjectBullet *>(overlapped_bt_co->getUserPointer());
+ btVector3 other_body_scale(otherObject->get_bt_body_scale());
if (!area->is_transform_changed() && !otherObject->is_transform_changed()) {
- hasOverlap = true;
+ hasOverlap = -1 != area->find_overlapping_object(otherObject);
goto collision_found;
}
@@ -698,19 +701,38 @@ void SpaceBullet::check_ghost_overlaps() {
if (!area->get_bt_shape(y)->isConvex())
continue;
- gjk_input.m_transformA = area->get_transform__bullet() * area->get_bt_shape_transform(y);
+ btTransform area_shape_treansform(area->get_bt_shape_transform(y));
+ area_shape_treansform.getOrigin() *= area_scale;
+
+ gjk_input.m_transformA =
+ area->get_transform__bullet() *
+ area_shape_treansform;
+
area_shape = static_cast<btConvexShape *>(area->get_bt_shape(y));
// For each other object shape
for (z = otherObject->get_shape_count() - 1; 0 <= z; --z) {
other_body_shape = static_cast<btCollisionShape *>(otherObject->get_bt_shape(z));
- gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_bt_shape_transform(z);
+
+ if (other_body_shape->isConcave())
+ continue;
+
+ btTransform other_shape_transform(otherObject->get_bt_shape_transform(z));
+ other_shape_transform.getOrigin() *= other_body_scale;
+
+ gjk_input.m_transformB =
+ otherObject->get_transform__bullet() *
+ other_shape_transform;
if (other_body_shape->isConvex()) {
btPointCollector result;
- btGjkPairDetector gjk_pair_detector(area_shape, static_cast<btConvexShape *>(other_body_shape), gjk_simplex_solver, gjk_epa_pen_solver);
+ btGjkPairDetector gjk_pair_detector(
+ area_shape,
+ static_cast<btConvexShape *>(other_body_shape),
+ gjk_simplex_solver,
+ gjk_epa_pen_solver);
gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
if (0 >= result.m_distance) {
@@ -1021,23 +1043,16 @@ int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p
btVector3 recover_motion(0, 0, 0);
int rays_found = 0;
+ int rays_found_this_round = 0;
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
- int last_ray_index = recover_from_penetration_ray(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, p_result_max, recover_motion, r_results);
+ PhysicsServer::SeparationResult *next_results = &r_results[rays_found];
+ rays_found_this_round = recover_from_penetration_ray(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, p_result_max - rays_found, recover_motion, next_results);
- rays_found = MAX(last_ray_index, rays_found);
- if (!rays_found) {
- break;
- } else {
+ rays_found += rays_found_this_round;
+ if (rays_found_this_round == 0) {
body_transform.getOrigin() += recover_motion;
- }
- }
-
- //optimize results (remove non colliding)
- for (int i = 0; i < rays_found; i++) {
- if (r_results[i].collision_depth >= 0) {
- rays_found--;
- SWAP(r_results[i], r_results[rays_found]);
+ break;
}
}
@@ -1047,18 +1062,47 @@ int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p
struct RecoverPenetrationBroadPhaseCallback : public btBroadphaseAabbCallback {
private:
+ btDbvtVolume bounds;
+
const btCollisionObject *self_collision_object;
uint32_t collision_layer;
uint32_t collision_mask;
+ struct CompoundLeafCallback : btDbvt::ICollide {
+ private:
+ RecoverPenetrationBroadPhaseCallback *parent_callback;
+ btCollisionObject *collision_object;
+
+ public:
+ CompoundLeafCallback(RecoverPenetrationBroadPhaseCallback *p_parent_callback, btCollisionObject *p_collision_object) :
+ parent_callback(p_parent_callback),
+ collision_object(p_collision_object) {
+ }
+
+ void Process(const btDbvtNode *leaf) {
+ BroadphaseResult result;
+ result.collision_object = collision_object;
+ result.compound_child_index = leaf->dataAsInt;
+ parent_callback->results.push_back(result);
+ }
+ };
+
public:
- Vector<btCollisionObject *> result_collision_objects;
+ struct BroadphaseResult {
+ btCollisionObject *collision_object;
+ int compound_child_index;
+ };
+
+ Vector<BroadphaseResult> results;
public:
- RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, uint32_t p_collision_mask) :
+ RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, uint32_t p_collision_mask, btVector3 p_aabb_min, btVector3 p_aabb_max) :
self_collision_object(p_self_collision_object),
collision_layer(p_collision_layer),
- collision_mask(p_collision_mask) {}
+ collision_mask(p_collision_mask) {
+
+ bounds = btDbvtVolume::FromMM(p_aabb_min, p_aabb_max);
+ }
virtual ~RecoverPenetrationBroadPhaseCallback() {}
@@ -1067,35 +1111,98 @@ public:
btCollisionObject *co = static_cast<btCollisionObject *>(proxy->m_clientObject);
if (co->getInternalType() <= btCollisionObject::CO_RIGID_BODY) {
if (self_collision_object != proxy->m_clientObject && GodotFilterCallback::test_collision_filters(collision_layer, collision_mask, proxy->m_collisionFilterGroup, proxy->m_collisionFilterMask)) {
- result_collision_objects.push_back(co);
+ if (co->getCollisionShape()->isCompound()) {
+ const btCompoundShape *cs = static_cast<btCompoundShape *>(co->getCollisionShape());
+
+ if (cs->getNumChildShapes() > 1) {
+ const btDbvt *tree = cs->getDynamicAabbTree();
+ ERR_FAIL_COND_V(tree == NULL, true);
+
+ // Transform bounds into compound shape local space
+ const btTransform other_in_compound_space = co->getWorldTransform().inverse();
+ const btMatrix3x3 abs_b = other_in_compound_space.getBasis().absolute();
+ const btVector3 local_center = other_in_compound_space(bounds.Center());
+ const btVector3 local_extent = bounds.Extents().dot3(abs_b[0], abs_b[1], abs_b[2]);
+ const btVector3 local_aabb_min = local_center - local_extent;
+ const btVector3 local_aabb_max = local_center + local_extent;
+ const btDbvtVolume local_bounds = btDbvtVolume::FromMM(local_aabb_min, local_aabb_max);
+
+ // Test collision against compound child shapes using its AABB tree
+ CompoundLeafCallback compound_leaf_callback(this, co);
+ tree->collideTV(tree->m_root, local_bounds, compound_leaf_callback);
+ } else {
+ // If there's only a single child shape then there's no need to search any more, we know which child overlaps
+ BroadphaseResult result;
+ result.collision_object = co;
+ result.compound_child_index = 0;
+ results.push_back(result);
+ }
+ } else {
+ BroadphaseResult result;
+ result.collision_object = co;
+ result.compound_child_index = -1;
+ results.push_back(result);
+ }
return true;
}
}
return false;
}
-
- void reset() {
- result_collision_objects.clear();
- }
};
bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
- RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
+ // Calculate the cumulative AABB of all shapes of the kinematic body
+ btVector3 aabb_min, aabb_max;
+ bool shapes_found = false;
+
+ for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
+
+ const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
+ if (!kin_shape.is_active()) {
+ continue;
+ }
+
+ if (kin_shape.shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
+ // Skip rayshape in order to implement custom separation process
+ continue;
+ }
+
+ btTransform shape_transform = p_body_position * kin_shape.transform;
+ shape_transform.getOrigin() += r_delta_recover_movement;
+
+ btVector3 shape_aabb_min, shape_aabb_max;
+ kin_shape.shape->getAabb(shape_transform, shape_aabb_min, shape_aabb_max);
+
+ if (!shapes_found) {
+ aabb_min = shape_aabb_min;
+ aabb_max = shape_aabb_max;
+ shapes_found = true;
+ } else {
+ aabb_min.setX((aabb_min.x() < shape_aabb_min.x()) ? aabb_min.x() : shape_aabb_min.x());
+ aabb_min.setY((aabb_min.y() < shape_aabb_min.y()) ? aabb_min.y() : shape_aabb_min.y());
+ aabb_min.setZ((aabb_min.z() < shape_aabb_min.z()) ? aabb_min.z() : shape_aabb_min.z());
+
+ aabb_max.setX((aabb_max.x() > shape_aabb_max.x()) ? aabb_max.x() : shape_aabb_max.x());
+ aabb_max.setY((aabb_max.y() > shape_aabb_max.y()) ? aabb_max.y() : shape_aabb_max.y());
+ aabb_max.setZ((aabb_max.z() > shape_aabb_max.z()) ? aabb_max.z() : shape_aabb_max.z());
+ }
+ }
- btTransform body_shape_position;
- btTransform body_shape_position_recovered;
+ // If there are no shapes then there is no penetration either
+ if (!shapes_found) {
+ return false;
+ }
- // Broad phase support
- btVector3 minAabb, maxAabb;
+ // Perform broadphase test
+ RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask(), aabb_min, aabb_max);
+ dynamicsWorld->getBroadphase()->aabbTest(aabb_min, aabb_max, recover_broad_result);
bool penetration = false;
- // For each shape
+ // Perform narrowphase per shape
for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
- recover_broad_result.reset();
-
const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
if (!kin_shape.is_active()) {
continue;
@@ -1106,15 +1213,11 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
continue;
}
- body_shape_position = p_body_position * kin_shape.transform;
- body_shape_position_recovered = body_shape_position;
- body_shape_position_recovered.getOrigin() += r_delta_recover_movement;
-
- kin_shape.shape->getAabb(body_shape_position_recovered, minAabb, maxAabb);
- dynamicsWorld->getBroadphase()->aabbTest(minAabb, maxAabb, recover_broad_result);
+ btTransform shape_transform = p_body_position * kin_shape.transform;
+ shape_transform.getOrigin() += r_delta_recover_movement;
- for (int i = recover_broad_result.result_collision_objects.size() - 1; 0 <= i; --i) {
- btCollisionObject *otherObject = recover_broad_result.result_collision_objects[i];
+ for (int i = recover_broad_result.results.size() - 1; 0 <= i; --i) {
+ btCollisionObject *otherObject = recover_broad_result.results[i].collision_object;
if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) {
otherObject->activate(); // Force activation of hitten rigid, soft body
continue;
@@ -1122,30 +1225,28 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
continue;
if (otherObject->getCollisionShape()->isCompound()) {
+ const btCompoundShape *cs = static_cast<const btCompoundShape *>(otherObject->getCollisionShape());
+ int shape_idx = recover_broad_result.results[i].compound_child_index;
+ ERR_FAIL_COND_V(shape_idx < 0 || shape_idx >= cs->getNumChildShapes(), false);
- // Each convex shape
- btCompoundShape *cs = static_cast<btCompoundShape *>(otherObject->getCollisionShape());
- for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) {
-
- if (cs->getChildShape(x)->isConvex()) {
- if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(x)), otherObject, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
+ if (cs->getChildShape(shape_idx)->isConvex()) {
+ if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
- penetration = true;
- }
- } else {
- if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
+ penetration = true;
+ }
+ } else {
+ if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(shape_idx), p_body->get_bt_collision_object(), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
- penetration = true;
- }
+ penetration = true;
}
}
} else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape
- if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, 0, body_shape_position, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
+ if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
penetration = true;
}
} else {
- if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, body_shape_position, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
+ if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
penetration = true;
}
@@ -1161,7 +1262,6 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt
// Initialize GJK input
btGjkPairDetector::ClosestPointInput gjk_input;
gjk_input.m_transformA = p_transformA;
- gjk_input.m_transformA.getOrigin() += r_delta_recover_movement;
gjk_input.m_transformB = p_transformB;
// Perform GJK test
@@ -1192,7 +1292,6 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
/// Contact test
btTransform tA(p_transformA);
- tA.getOrigin() += r_delta_recover_movement;
btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, tA, -1, p_shapeId_A);
btCollisionObjectWrapper obB(NULL, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);
@@ -1224,24 +1323,81 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
return false;
}
-int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer::SeparationResult *r_results) {
+int SpaceBullet::add_separation_result(PhysicsServer::SeparationResult *r_result, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const {
- RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
+ // optimize results (ignore non-colliding)
+ if (p_recover_result.penetration_distance < 0.0) {
+ const btRigidBody *btRigid = static_cast<const btRigidBody *>(p_other_object);
+ CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(p_other_object->getUserPointer());
- btTransform body_shape_position;
- btTransform body_shape_position_recovered;
+ r_result->collision_depth = p_recover_result.penetration_distance;
+ B_TO_G(p_recover_result.pointWorld, r_result->collision_point);
+ B_TO_G(p_recover_result.normal, r_result->collision_normal);
+ B_TO_G(btRigid->getVelocityInLocalPoint(p_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity);
+ r_result->collision_local_shape = p_shape_id;
+ r_result->collider_id = collisionObject->get_instance_id();
+ r_result->collider = collisionObject->get_self();
+ r_result->collider_shape = p_recover_result.other_compound_shape_index;
- // Broad phase support
- btVector3 minAabb, maxAabb;
+ return 1;
+ } else {
+ return 0;
+ }
+}
- int ray_index = 0;
+int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer::SeparationResult *r_results) {
+
+ // Calculate the cumulative AABB of all shapes of the kinematic body
+ btVector3 aabb_min, aabb_max;
+ bool shapes_found = false;
- // For each shape
for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
- recover_broad_result.reset();
+ const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
+ if (!kin_shape.is_active()) {
+ continue;
+ }
- if (ray_index >= p_result_max) {
+ if (kin_shape.shape->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE) {
+ continue;
+ }
+
+ btTransform shape_transform = p_body_position * kin_shape.transform;
+ shape_transform.getOrigin() += r_delta_recover_movement;
+
+ btVector3 shape_aabb_min, shape_aabb_max;
+ kin_shape.shape->getAabb(shape_transform, shape_aabb_min, shape_aabb_max);
+
+ if (!shapes_found) {
+ aabb_min = shape_aabb_min;
+ aabb_max = shape_aabb_max;
+ shapes_found = true;
+ } else {
+ aabb_min.setX((aabb_min.x() < shape_aabb_min.x()) ? aabb_min.x() : shape_aabb_min.x());
+ aabb_min.setY((aabb_min.y() < shape_aabb_min.y()) ? aabb_min.y() : shape_aabb_min.y());
+ aabb_min.setZ((aabb_min.z() < shape_aabb_min.z()) ? aabb_min.z() : shape_aabb_min.z());
+
+ aabb_max.setX((aabb_max.x() > shape_aabb_max.x()) ? aabb_max.x() : shape_aabb_max.x());
+ aabb_max.setY((aabb_max.y() > shape_aabb_max.y()) ? aabb_max.y() : shape_aabb_max.y());
+ aabb_max.setZ((aabb_max.z() > shape_aabb_max.z()) ? aabb_max.z() : shape_aabb_max.z());
+ }
+ }
+
+ // If there are no shapes then there is no penetration either
+ if (!shapes_found) {
+ return 0;
+ }
+
+ // Perform broadphase test
+ RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask(), aabb_min, aabb_max);
+ dynamicsWorld->getBroadphase()->aabbTest(aabb_min, aabb_max, recover_broad_result);
+
+ int ray_count = 0;
+
+ // Perform narrowphase per shape
+ for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
+
+ if (ray_count >= p_result_max) {
break;
}
@@ -1254,15 +1410,11 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT
continue;
}
- body_shape_position = p_body_position * kin_shape.transform;
- body_shape_position_recovered = body_shape_position;
- body_shape_position_recovered.getOrigin() += r_delta_recover_movement;
+ btTransform shape_transform = p_body_position * kin_shape.transform;
+ shape_transform.getOrigin() += r_delta_recover_movement;
- kin_shape.shape->getAabb(body_shape_position_recovered, minAabb, maxAabb);
- dynamicsWorld->getBroadphase()->aabbTest(minAabb, maxAabb, recover_broad_result);
-
- for (int i = recover_broad_result.result_collision_objects.size() - 1; 0 <= i; --i) {
- btCollisionObject *otherObject = recover_broad_result.result_collision_objects[i];
+ for (int i = recover_broad_result.results.size() - 1; 0 <= i; --i) {
+ btCollisionObject *otherObject = recover_broad_result.results[i].collision_object;
if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) {
otherObject->activate(); // Force activation of hitten rigid, soft body
continue;
@@ -1270,32 +1422,25 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT
continue;
if (otherObject->getCollisionShape()->isCompound()) {
+ const btCompoundShape *cs = static_cast<const btCompoundShape *>(otherObject->getCollisionShape());
+ int shape_idx = recover_broad_result.results[i].compound_child_index;
+ ERR_FAIL_COND_V(shape_idx < 0 || shape_idx >= cs->getNumChildShapes(), false);
- // Each convex shape
- btCompoundShape *cs = static_cast<btCompoundShape *>(otherObject->getCollisionShape());
- for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) {
+ RecoverResult recover_result;
+ if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(shape_idx), p_body->get_bt_collision_object(), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) {
- RecoverResult r_recover_result;
- if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_delta_recover_movement, &r_recover_result)) {
+ ray_count = add_separation_result(&r_results[ray_count], recover_result, kinIndex, otherObject);
+ }
+ } else {
- const btRigidBody *btRigid = static_cast<const btRigidBody *>(otherObject);
- CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(otherObject->getUserPointer());
+ RecoverResult recover_result;
+ if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) {
- r_results[ray_index].collision_depth = r_recover_result.penetration_distance;
- B_TO_G(r_recover_result.pointWorld, r_results[ray_index].collision_point);
- B_TO_G(r_recover_result.normal, r_results[ray_index].collision_normal);
- B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_results[ray_index].collider_velocity);
- r_results[ray_index].collision_local_shape = kinIndex;
- r_results[ray_index].collider_id = collisionObject->get_instance_id();
- r_results[ray_index].collider = collisionObject->get_self();
- r_results[ray_index].collider_shape = r_recover_result.other_compound_shape_index;
- }
+ ray_count = add_separation_result(&r_results[ray_count], recover_result, kinIndex, otherObject);
}
}
}
-
- ++ray_index;
}
- return ray_index;
+ return ray_count;
}
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 9f36c63982..6b3d65edf6 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -212,6 +212,7 @@ private:
/// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm
bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
+ int add_separation_result(PhysicsServer::SeparationResult *r_results, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const;
int recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer::SeparationResult *r_results);
};
#endif
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-07 09:52:45 +0000