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-rw-r--r--modules/bullet/SCsub2
-rw-r--r--modules/bullet/btRayShape.cpp6
-rw-r--r--modules/bullet/bullet_types_converter.h2
-rw-r--r--modules/bullet/collision_object_bullet.cpp4
-rw-r--r--modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml2
-rw-r--r--modules/bullet/doc_classes/BulletPhysicsServer.xml2
-rw-r--r--modules/bullet/godot_ray_world_algorithm.cpp4
-rw-r--r--modules/bullet/godot_result_callbacks.cpp10
-rw-r--r--modules/bullet/rigid_body_bullet.cpp6
-rw-r--r--modules/bullet/rigid_body_bullet.h2
-rw-r--r--modules/bullet/shape_bullet.cpp9
-rw-r--r--modules/bullet/space_bullet.cpp68
-rw-r--r--modules/bullet/space_bullet.h1
13 files changed, 77 insertions, 41 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub
index 11ce18449b..7e714ba43f 100644
--- a/modules/bullet/SCsub
+++ b/modules/bullet/SCsub
@@ -187,6 +187,8 @@ if env['builtin_bullet']:
thirdparty_sources = [thirdparty_dir + file for file in bullet2_src]
env_bullet.Append(CPPPATH=[thirdparty_dir])
+ # if env['target'] == "debug" or env['target'] == "release_debug":
+ # env_bullet.Append(CCFLAGS=['-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..b902d08eca 100644
--- a/modules/bullet/btRayShape.cpp
+++ b/modules/bullet/btRayShape.cpp
@@ -79,7 +79,7 @@ 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);
+ btVector3 localAabbMax(m_shapeAxis * (m_cacheScaledLength + m_collisionMargin));
btTransformAabb(localAabbMin, localAabbMax, MARGIN_BROADPHASE, t, aabbMin, aabbMax);
}
@@ -97,8 +97,8 @@ 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);
+ m_cacheSupportPoint.setOrigin(m_shapeAxis * (m_cacheScaledLength + m_collisionMargin));
}
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..ef5f21fc21 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -69,8 +69,12 @@ 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),
diff --git a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
index a4dc61d0bc..1f91349f32 100644
--- a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
+++ b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
@@ -1,5 +1,5 @@
<?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>
diff --git a/modules/bullet/doc_classes/BulletPhysicsServer.xml b/modules/bullet/doc_classes/BulletPhysicsServer.xml
index 1486936cf4..8adc659b2c 100644
--- a/modules/bullet/doc_classes/BulletPhysicsServer.xml
+++ b/modules/bullet/doc_classes/BulletPhysicsServer.xml
@@ -1,5 +1,5 @@
<?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>
diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp
index 449f625e17..3e06239453 100644
--- a/modules/bullet/godot_ray_world_algorithm.cpp
+++ b/modules/bullet/godot_ray_world_algorithm.cpp
@@ -35,8 +35,6 @@
#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h>
-#define RAY_STABILITY_MARGIN 0.1
-
/**
@author AndreaCatania
*/
@@ -102,7 +100,7 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo
btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
- if (depth >= -RAY_STABILITY_MARGIN)
+ if (depth >= -ray_shape->getMargin() * 0.5)
depth = 0;
if (ray_shape->getSlipsOnSlope())
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..22f2214898 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -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);
}
@@ -822,7 +825,8 @@ 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();
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..b590d63167 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -510,16 +510,17 @@ 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..8fb8eba057 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) {
@@ -1224,6 +1246,21 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
return false;
}
+void SpaceBullet::convert_to_separation_result(PhysicsServer::SeparationResult *r_result, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const {
+
+ const btRigidBody *btRigid = static_cast<const btRigidBody *>(p_other_object);
+ CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(p_other_object->getUserPointer());
+
+ 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;
+}
+
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) {
RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
@@ -1275,22 +1312,19 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT
btCompoundShape *cs = static_cast<btCompoundShape *>(otherObject->getCollisionShape());
for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) {
- 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)) {
+ RecoverResult 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, &recover_result)) {
- const btRigidBody *btRigid = static_cast<const btRigidBody *>(otherObject);
- CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(otherObject->getUserPointer());
-
- 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;
+ convert_to_separation_result(&r_results[ray_index], recover_result, kinIndex, otherObject);
}
}
+ } else {
+
+ RecoverResult recover_result;
+ 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, &recover_result)) {
+
+ convert_to_separation_result(&r_results[ray_index], recover_result, kinIndex, otherObject);
+ }
}
}
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 9f36c63982..7bf6a216b5 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);
+ void convert_to_separation_result(PhysicsServer::SeparationResult *r_result, 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 2024-12-20 00:31:29 +0000