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-rw-r--r--modules/bullet/area_bullet.cpp27
-rw-r--r--modules/bullet/area_bullet.h24
-rw-r--r--modules/bullet/bullet_physics_server.h2
-rw-r--r--modules/bullet/collision_object_bullet.cpp76
-rw-r--r--modules/bullet/collision_object_bullet.h50
-rw-r--r--modules/bullet/rigid_body_bullet.cpp115
-rw-r--r--modules/bullet/rigid_body_bullet.h52
-rw-r--r--modules/bullet/shape_bullet.cpp57
-rw-r--r--modules/bullet/shape_bullet.h28
-rw-r--r--modules/bullet/soft_body_bullet.cpp24
-rw-r--r--modules/bullet/soft_body_bullet.h20
-rw-r--r--modules/bullet/space_bullet.cpp107
-rw-r--r--modules/bullet/space_bullet.h20
13 files changed, 211 insertions, 391 deletions
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp
index b35019bea3..f8f7d79a11 100644
--- a/modules/bullet/area_bullet.cpp
+++ b/modules/bullet/area_bullet.cpp
@@ -65,11 +65,14 @@ AreaBullet::~AreaBullet() {
}
void AreaBullet::dispatch_callbacks() {
- RigidCollisionObjectBullet::dispatch_callbacks();
+ if (!isScratched) {
+ return;
+ }
+ isScratched = false;
// Reverse order because I've to remove EXIT objects
for (int i = overlappingObjects.size() - 1; 0 <= i; --i) {
- OverlappingObjectData &otherObj = overlappingObjects[i];
+ OverlappingObjectData &otherObj = overlappingObjects.write[i];
switch (otherObj.state) {
case OVERLAP_STATE_ENTER:
@@ -109,9 +112,10 @@ void AreaBullet::call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3
}
void AreaBullet::scratch() {
- if (space != nullptr) {
- space->add_to_pre_flush_queue(this);
+ if (isScratched) {
+ return;
}
+ isScratched = true;
}
void AreaBullet::clear_overlaps(bool p_notify) {
@@ -160,7 +164,7 @@ void AreaBullet::main_shape_changed() {
btGhost->setCollisionShape(get_main_shape());
}
-void AreaBullet::do_reload_body() {
+void AreaBullet::reload_body() {
if (space) {
space->remove_area(this);
space->add_area(this);
@@ -169,25 +173,22 @@ void AreaBullet::do_reload_body() {
void AreaBullet::set_space(SpaceBullet *p_space) {
// Clear the old space if there is one
-
if (space) {
clear_overlaps(false);
+ isScratched = false;
// Remove this object form the physics world
- space->unregister_collision_object(this);
space->remove_area(this);
}
space = p_space;
if (space) {
- space->register_collision_object(this);
- reload_body();
- scratch();
+ space->add_area(this);
}
}
-void AreaBullet::do_reload_collision_filters() {
+void AreaBullet::on_collision_filters_change() {
if (space) {
space->reload_collision_filters(this);
}
@@ -201,13 +202,13 @@ void AreaBullet::add_overlap(CollisionObjectBullet *p_otherObject) {
void AreaBullet::put_overlap_as_exit(int p_index) {
scratch();
- overlappingObjects[p_index].state = OVERLAP_STATE_EXIT;
+ overlappingObjects.write[p_index].state = OVERLAP_STATE_EXIT;
}
void AreaBullet::put_overlap_as_inside(int p_index) {
// This check is required to be sure this body was inside
if (OVERLAP_STATE_DIRTY == overlappingObjects[p_index].state) {
- overlappingObjects[p_index].state = OVERLAP_STATE_INSIDE;
+ overlappingObjects.write[p_index].state = OVERLAP_STATE_INSIDE;
}
}
diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h
index 51fbc1f71d..c0bcc858fe 100644
--- a/modules/bullet/area_bullet.h
+++ b/modules/bullet/area_bullet.h
@@ -32,7 +32,7 @@
#define AREABULLET_H
#include "collision_object_bullet.h"
-#include "core/local_vector.h"
+#include "core/vector.h"
#include "servers/physics_server_3d.h"
#include "space_bullet.h"
@@ -83,7 +83,7 @@ private:
Variant *call_event_res_ptr[5];
btGhostObject *btGhost;
- LocalVector<OverlappingObjectData> overlappingObjects;
+ Vector<OverlappingObjectData> overlappingObjects;
bool monitorable = true;
PhysicsServer3D::AreaSpaceOverrideMode spOv_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED;
@@ -96,6 +96,8 @@ private:
real_t spOv_angularDump = 0.1;
int spOv_priority = 0;
+ bool isScratched = false;
+
InOutEventCallback eventsCallbacks[2];
public:
@@ -137,11 +139,11 @@ public:
_FORCE_INLINE_ void set_spOv_priority(int p_priority) { spOv_priority = p_priority; }
_FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; }
- virtual void main_shape_changed() override;
- virtual void do_reload_body() override;
- virtual void set_space(SpaceBullet *p_space) override;
+ virtual void main_shape_changed();
+ virtual void reload_body();
+ virtual void set_space(SpaceBullet *p_space);
- virtual void dispatch_callbacks() override;
+ virtual void dispatch_callbacks();
void call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3D::AreaBodyStatus p_status);
void set_on_state_change(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
void scratch();
@@ -150,9 +152,9 @@ public:
// Dispatch the callbacks and removes from overlapping list
void remove_overlap(CollisionObjectBullet *p_object, bool p_notify);
- virtual void do_reload_collision_filters() override;
- virtual void on_collision_checker_start() override {}
- virtual void on_collision_checker_end() override { isTransformChanged = false; }
+ virtual void on_collision_filters_change();
+ virtual void on_collision_checker_start() {}
+ virtual void on_collision_checker_end() { isTransformChanged = false; }
void add_overlap(CollisionObjectBullet *p_otherObject);
void put_overlap_as_exit(int p_index);
@@ -164,8 +166,8 @@ public:
void set_event_callback(Type p_callbackObjectType, ObjectID p_id, const StringName &p_method);
bool has_event_callback(Type p_callbackObjectType);
- virtual void on_enter_area(AreaBullet *p_area) override;
- virtual void on_exit_area(AreaBullet *p_area) override;
+ virtual void on_enter_area(AreaBullet *p_area);
+ virtual void on_exit_area(AreaBullet *p_area);
};
#endif
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index eb95120f74..6078babaf8 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -52,7 +52,7 @@ class BulletPhysicsServer3D : public PhysicsServer3D {
bool active = true;
char active_spaces_count = 0;
- LocalVector<SpaceBullet *> active_spaces;
+ Vector<SpaceBullet *> active_spaces;
mutable RID_PtrOwner<SpaceBullet> space_owner;
mutable RID_PtrOwner<ShapeBullet> shape_owner;
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index 660e9afc5e..a3158a15e5 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -79,7 +79,7 @@ btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const
}
void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
- if (bt_shape == nullptr) {
+ if (!bt_shape) {
if (active) {
bt_shape = shape->create_bt_shape(scale * body_scale);
} else {
@@ -88,13 +88,6 @@ void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_s
}
}
-void CollisionObjectBullet::ShapeWrapper::release_bt_shape() {
- if (bt_shape != nullptr) {
- shape->destroy_bt_shape(bt_shape);
- bt_shape = nullptr;
- }
-}
-
CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
RIDBullet(),
type(p_type) {}
@@ -165,22 +158,6 @@ bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet
return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object);
}
-void CollisionObjectBullet::reload_body() {
- needs_body_reload = true;
-}
-
-void CollisionObjectBullet::dispatch_callbacks() {}
-
-void CollisionObjectBullet::pre_process() {
- if (needs_body_reload) {
- do_reload_body();
- } else if (needs_collision_filters_reload) {
- do_reload_collision_filters();
- }
- needs_body_reload = false;
- needs_collision_filters_reload = false;
-}
-
void CollisionObjectBullet::set_collision_enabled(bool p_enabled) {
collisionsEnabled = p_enabled;
if (collisionsEnabled) {
@@ -254,7 +231,7 @@ void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform
}
void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
- ShapeWrapper &shp = shapes[p_index];
+ ShapeWrapper &shp = shapes.write[p_index];
shp.shape->remove_owner(this);
p_shape->add_owner(this);
shp.shape = p_shape;
@@ -316,7 +293,7 @@ void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBod
void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) {
ERR_FAIL_INDEX(p_index, get_shape_count());
- shapes[p_index].set_transform(p_transform);
+ shapes.write[p_index].set_transform(p_transform);
shape_changed(p_index);
}
@@ -334,7 +311,7 @@ void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled
if (shapes[p_index].active != p_disabled) {
return;
}
- shapes[p_index].active = !p_disabled;
+ shapes.write[p_index].active = !p_disabled;
shape_changed(p_index);
}
@@ -342,28 +319,16 @@ bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
return !shapes[p_index].active;
}
-void RigidCollisionObjectBullet::pre_process() {
- if (need_shape_reload) {
- do_reload_shapes();
- need_shape_reload = false;
- }
- CollisionObjectBullet::pre_process();
-}
-
void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
- ShapeWrapper &shp = shapes[p_shape_index];
+ ShapeWrapper &shp = shapes.write[p_shape_index];
if (shp.bt_shape == mainShape) {
mainShape = nullptr;
}
- shp.release_bt_shape();
+ bulletdelete(shp.bt_shape);
reload_shapes();
}
void RigidCollisionObjectBullet::reload_shapes() {
- need_shape_reload = true;
-}
-
-void RigidCollisionObjectBullet::do_reload_shapes() {
if (mainShape && mainShape->isCompound()) {
// Destroy compound
bulletdelete(mainShape);
@@ -371,38 +336,41 @@ void RigidCollisionObjectBullet::do_reload_shapes() {
mainShape = nullptr;
+ ShapeWrapper *shpWrapper;
const int shape_count = shapes.size();
- // Reset all shapes if required
+ // Reset shape if required
if (force_shape_reset) {
for (int i(0); i < shape_count; ++i) {
- shapes[i].release_bt_shape();
+ shpWrapper = &shapes.write[i];
+ bulletdelete(shpWrapper->bt_shape);
}
force_shape_reset = false;
}
const btVector3 body_scale(get_bt_body_scale());
+ // Try to optimize by not using compound
if (1 == shape_count) {
- // Is it possible to optimize by not using compound?
- btTransform transform = shapes[0].get_adjusted_transform();
+ shpWrapper = &shapes.write[0];
+ btTransform transform = shpWrapper->get_adjusted_transform();
if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
- shapes[0].claim_bt_shape(body_scale);
- mainShape = shapes[0].bt_shape;
+ shpWrapper->claim_bt_shape(body_scale);
+ mainShape = shpWrapper->bt_shape;
main_shape_changed();
- // Nothing more to do
return;
}
}
- // Optimization not possible use a compound shape.
+ // Optimization not possible use a compound shape
btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
for (int i(0); i < shape_count; ++i) {
- shapes[i].claim_bt_shape(body_scale);
- btTransform scaled_shape_transform(shapes[i].get_adjusted_transform());
+ shpWrapper = &shapes.write[i];
+ shpWrapper->claim_bt_shape(body_scale);
+ btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform());
scaled_shape_transform.getOrigin() *= body_scale;
- compoundShape->addChildShape(scaled_shape_transform, shapes[i].bt_shape);
+ compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
}
compoundShape->recalculateLocalAabb();
@@ -416,10 +384,10 @@ void RigidCollisionObjectBullet::body_scale_changed() {
}
void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {
- ShapeWrapper &shp = shapes[p_index];
+ ShapeWrapper &shp = shapes.write[p_index];
shp.shape->remove_owner(this, p_permanentlyFromThisBody);
if (shp.bt_shape == mainShape) {
mainShape = nullptr;
}
- shp.release_bt_shape();
+ bulletdelete(shp.bt_shape);
}
diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h
index 920d80af23..f1423a69e4 100644
--- a/modules/bullet/collision_object_bullet.h
+++ b/modules/bullet/collision_object_bullet.h
@@ -31,7 +31,6 @@
#ifndef COLLISION_OBJECT_BULLET_H
#define COLLISION_OBJECT_BULLET_H
-#include "core/local_vector.h"
#include "core/math/transform.h"
#include "core/math/vector3.h"
#include "core/object.h"
@@ -71,12 +70,11 @@ public:
struct ShapeWrapper {
ShapeBullet *shape = nullptr;
+ btCollisionShape *bt_shape = nullptr;
btTransform transform;
btVector3 scale;
bool active = true;
- btCollisionShape *bt_shape = nullptr;
- public:
ShapeWrapper() {}
ShapeWrapper(ShapeBullet *p_shape, const btTransform &p_transform, bool p_active) :
@@ -109,7 +107,6 @@ public:
btTransform get_adjusted_transform() const;
void claim_bt_shape(const btVector3 &body_scale);
- void release_bt_shape();
};
protected:
@@ -127,20 +124,13 @@ protected:
VSet<RID> exceptions;
- bool needs_body_reload = true;
- bool needs_collision_filters_reload = true;
-
/// This array is used to know all areas where this Object is overlapped in
/// New area is added when overlap with new area (AreaBullet::addOverlap), then is removed when it exit (CollisionObjectBullet::onExitArea)
/// This array is used mainly to know which area hold the pointer of this object
- LocalVector<AreaBullet *> areasOverlapped;
+ Vector<AreaBullet *> areasOverlapped;
bool isTransformChanged = false;
public:
- bool is_in_world = false;
- bool is_in_flush_queue = false;
-
-public:
CollisionObjectBullet(Type p_type);
virtual ~CollisionObjectBullet();
@@ -174,7 +164,7 @@ public:
_FORCE_INLINE_ void set_collision_layer(uint32_t p_layer) {
if (collisionLayer != p_layer) {
collisionLayer = p_layer;
- needs_collision_filters_reload = true;
+ on_collision_filters_change();
}
}
_FORCE_INLINE_ uint32_t get_collision_layer() const { return collisionLayer; }
@@ -182,32 +172,25 @@ public:
_FORCE_INLINE_ void set_collision_mask(uint32_t p_mask) {
if (collisionMask != p_mask) {
collisionMask = p_mask;
- needs_collision_filters_reload = true;
+ on_collision_filters_change();
}
}
_FORCE_INLINE_ uint32_t get_collision_mask() const { return collisionMask; }
- virtual void do_reload_collision_filters() = 0;
+ virtual void on_collision_filters_change() = 0;
_FORCE_INLINE_ bool test_collision_mask(CollisionObjectBullet *p_other) const {
return collisionLayer & p_other->collisionMask || p_other->collisionLayer & collisionMask;
}
- bool need_reload_body() const {
- return needs_body_reload;
- }
-
- void reload_body();
-
- virtual void do_reload_body() = 0;
+ virtual void reload_body() = 0;
virtual void set_space(SpaceBullet *p_space) = 0;
_FORCE_INLINE_ SpaceBullet *get_space() const { return space; }
virtual void on_collision_checker_start() = 0;
virtual void on_collision_checker_end() = 0;
- virtual void dispatch_callbacks();
- virtual void pre_process();
+ virtual void dispatch_callbacks() = 0;
void set_collision_enabled(bool p_enabled);
bool is_collisions_response_enabled();
@@ -231,15 +214,14 @@ public:
class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet {
protected:
btCollisionShape *mainShape = nullptr;
- LocalVector<ShapeWrapper> shapes;
- bool need_shape_reload = true;
+ Vector<ShapeWrapper> shapes;
public:
RigidCollisionObjectBullet(Type p_type) :
CollisionObjectBullet(p_type) {}
~RigidCollisionObjectBullet();
- _FORCE_INLINE_ const LocalVector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; }
+ _FORCE_INLINE_ const Vector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; }
_FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; }
@@ -250,9 +232,9 @@ public:
ShapeBullet *get_shape(int p_index) const;
btCollisionShape *get_bt_shape(int p_index) const;
- virtual int find_shape(ShapeBullet *p_shape) const override;
+ int find_shape(ShapeBullet *p_shape) const;
- virtual void remove_shape_full(ShapeBullet *p_shape) override;
+ virtual void remove_shape_full(ShapeBullet *p_shape);
void remove_shape_full(int p_index);
void remove_all_shapes(bool p_permanentlyFromThisBody = false, bool p_force_not_reload = false);
@@ -264,15 +246,11 @@ public:
void set_shape_disabled(int p_index, bool p_disabled);
bool is_shape_disabled(int p_index);
- virtual void pre_process() override;
-
- virtual void shape_changed(int p_shape_index) override;
- virtual void reload_shapes() override;
- bool need_reload_shapes() const { return need_shape_reload; }
- virtual void do_reload_shapes();
+ virtual void shape_changed(int p_shape_index);
+ virtual void reload_shapes();
virtual void main_shape_changed() = 0;
- virtual void body_scale_changed() override;
+ virtual void body_scale_changed();
private:
void internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody = false);
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index f517eecf64..76c0e0e607 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -51,7 +51,9 @@
BulletPhysicsDirectBodyState3D *BulletPhysicsDirectBodyState3D::singleton = nullptr;
Vector3 BulletPhysicsDirectBodyState3D::get_total_gravity() const {
- return body->total_gravity;
+ Vector3 gVec;
+ B_TO_G(body->btBody->getGravity(), gVec);
+ return gVec;
}
float BulletPhysicsDirectBodyState3D::get_total_angular_damp() const {
@@ -181,7 +183,7 @@ int BulletPhysicsDirectBodyState3D::get_contact_collider_shape(int p_contact_idx
}
Vector3 BulletPhysicsDirectBodyState3D::get_contact_collider_velocity_at_position(int p_contact_idx) const {
- RigidBodyBullet::CollisionData &colDat = body->collisions[p_contact_idx];
+ RigidBodyBullet::CollisionData &colDat = body->collisions.write[p_contact_idx];
btVector3 hitLocation;
G_TO_B(colDat.hitLocalLocation, hitLocation);
@@ -211,7 +213,7 @@ void RigidBodyBullet::KinematicUtilities::setSafeMargin(btScalar p_margin) {
}
void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
- const LocalVector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers());
+ const Vector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers());
const int shapes_count = shapes_wrappers.size();
just_delete_shapes(shapes_count);
@@ -226,8 +228,8 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
continue;
}
- shapes[i].transform = shape_wrapper->transform;
- shapes[i].transform.getOrigin() *= owner_scale;
+ shapes.write[i].transform = shape_wrapper->transform;
+ shapes.write[i].transform.getOrigin() *= owner_scale;
switch (shape_wrapper->shape->get_type()) {
case PhysicsServer3D::SHAPE_SPHERE:
case PhysicsServer3D::SHAPE_BOX:
@@ -235,11 +237,11 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
case PhysicsServer3D::SHAPE_CYLINDER:
case PhysicsServer3D::SHAPE_CONVEX_POLYGON:
case PhysicsServer3D::SHAPE_RAY: {
- shapes[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
+ shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
} break;
default:
WARN_PRINT("This shape is not supported for kinematic collision.");
- shapes[i].shape = nullptr;
+ shapes.write[i].shape = nullptr;
}
}
}
@@ -247,7 +249,7 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
void RigidBodyBullet::KinematicUtilities::just_delete_shapes(int new_size) {
for (int i = shapes.size() - 1; 0 <= i; --i) {
if (shapes[i].shape) {
- bulletdelete(shapes[i].shape);
+ bulletdelete(shapes.write[i].shape);
}
}
shapes.resize(new_size);
@@ -269,8 +271,8 @@ RigidBodyBullet::RigidBodyBullet() :
reload_axis_lock();
areasWhereIam.resize(maxAreasWhereIam);
- for (uint32_t i = 0; i < areasWhereIam.size(); i += 1) {
- areasWhereIam[i] = nullptr;
+ for (int i = areasWhereIam.size() - 1; 0 <= i; --i) {
+ areasWhereIam.write[i] = nullptr;
}
btBody->setSleepingThresholds(0.2, 0.2);
@@ -305,7 +307,7 @@ void RigidBodyBullet::main_shape_changed() {
set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset
}
-void RigidBodyBullet::do_reload_body() {
+void RigidBodyBullet::reload_body() {
if (space) {
space->remove_rigid_body(this);
if (get_main_shape()) {
@@ -324,24 +326,23 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
assert_no_constraints();
// Remove this object form the physics world
- space->unregister_collision_object(this);
space->remove_rigid_body(this);
}
space = p_space;
if (space) {
- space->register_collision_object(this);
- reload_body();
- space->add_to_flush_queue(this);
+ space->add_rigid_body(this);
}
}
void RigidBodyBullet::dispatch_callbacks() {
- RigidCollisionObjectBullet::dispatch_callbacks();
-
/// The check isFirstTransformChanged is necessary in order to call integrated forces only when the first transform is sent
if ((btBody->isKinematicObject() || btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && can_integrate_forces) {
+ if (omit_forces_integration) {
+ btBody->clearForces();
+ }
+
BulletPhysicsDirectBodyState3D *bodyDirect = BulletPhysicsDirectBodyState3D::get_singleton(this);
Variant variantBodyDirect = bodyDirect;
@@ -359,22 +360,16 @@ void RigidBodyBullet::dispatch_callbacks() {
}
}
- previousActiveState = btBody->isActive();
-}
-
-void RigidBodyBullet::pre_process() {
- RigidCollisionObjectBullet::pre_process();
-
if (isScratchedSpaceOverrideModificator || 0 < countGravityPointSpaces) {
isScratchedSpaceOverrideModificator = false;
reload_space_override_modificator();
}
- if (is_active()) {
- /// Lock axis
- btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor());
- btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor());
- }
+ /// Lock axis
+ btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor());
+ btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor());
+
+ previousActiveState = btBody->isActive();
}
void RigidBodyBullet::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) {
@@ -395,7 +390,7 @@ void RigidBodyBullet::scratch_space_override_modificator() {
isScratchedSpaceOverrideModificator = true;
}
-void RigidBodyBullet::do_reload_collision_filters() {
+void RigidBodyBullet::on_collision_filters_change() {
if (space) {
space->reload_collision_filters(this);
}
@@ -408,15 +403,14 @@ void RigidBodyBullet::on_collision_checker_start() {
collisionsCount = 0;
// Swap array
- SWAP(prev_collision_traces, curr_collision_traces);
+ Vector<RigidBodyBullet *> *s = prev_collision_traces;
+ prev_collision_traces = curr_collision_traces;
+ curr_collision_traces = s;
}
void RigidBodyBullet::on_collision_checker_end() {
// Always true if active and not a static or kinematic body
isTransformChanged = btBody->isActive() && !btBody->isStaticOrKinematicObject();
- if (isTransformChanged && space != nullptr) {
- space->add_to_flush_queue(this);
- }
}
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) {
@@ -424,7 +418,7 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
return false;
}
- CollisionData &cd = collisions[collisionsCount];
+ CollisionData &cd = collisions.write[collisionsCount];
cd.hitLocalLocation = p_hitLocalLocation;
cd.otherObject = p_otherObject;
cd.hitWorldLocation = p_hitWorldLocation;
@@ -433,7 +427,7 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
cd.other_object_shape = p_other_shape_index;
cd.local_shape = p_local_shape_index;
- (*curr_collision_traces)[collisionsCount] = p_otherObject;
+ curr_collision_traces->write[collisionsCount] = p_otherObject;
++collisionsCount;
return true;
@@ -468,7 +462,6 @@ bool RigidBodyBullet::is_active() const {
void RigidBodyBullet::set_omit_forces_integration(bool p_omit) {
omit_forces_integration = p_omit;
- scratch_space_override_modificator();
}
void RigidBodyBullet::set_param(PhysicsServer3D::BodyParameter p_param, real_t p_value) {
@@ -811,8 +804,8 @@ const btTransform &RigidBodyBullet::get_transform__bullet() const {
}
}
-void RigidBodyBullet::do_reload_shapes() {
- RigidCollisionObjectBullet::do_reload_shapes();
+void RigidBodyBullet::reload_shapes() {
+ RigidCollisionObjectBullet::reload_shapes();
const btScalar invMass = btBody->getInvMass();
const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
@@ -844,15 +837,15 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) {
for (int i = 0; i < areaWhereIamCount; ++i) {
if (nullptr == areasWhereIam[i]) {
// This area has the highest priority
- areasWhereIam[i] = p_area;
+ areasWhereIam.write[i] = p_area;
break;
} else {
if (areasWhereIam[i]->get_spOv_priority() > p_area->get_spOv_priority()) {
// The position was found, just shift all elements
for (int j = areaWhereIamCount; j > i; j--) {
- areasWhereIam[j] = areasWhereIam[j - 1];
+ areasWhereIam.write[j] = areasWhereIam[j - 1];
}
- areasWhereIam[i] = p_area;
+ areasWhereIam.write[i] = p_area;
break;
}
}
@@ -876,7 +869,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
if (p_area == areasWhereIam[i]) {
// The area was found, just shift down all elements
for (int j = i; j < areaWhereIamCount; ++j) {
- areasWhereIam[j] = areasWhereIam[j + 1];
+ areasWhereIam.write[j] = areasWhereIam[j + 1];
}
wasTheAreaFound = true;
break;
@@ -889,7 +882,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
}
--areaWhereIamCount;
- areasWhereIam[areaWhereIamCount] = nullptr; // Even if this is not required, I clear the last element to be safe
+ areasWhereIam.write[areaWhereIamCount] = nullptr; // Even if this is not required, I clear the last element to be safe
if (PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) {
scratch_space_override_modificator();
}
@@ -901,31 +894,36 @@ void RigidBodyBullet::reload_space_override_modificator() {
return;
}
- Vector3 newGravity;
+ Vector3 newGravity(0.0, 0.0, 0.0);
real_t newLinearDamp = MAX(0.0, linearDamp);
real_t newAngularDamp = MAX(0.0, angularDamp);
+ AreaBullet *currentArea;
+ // Variable used to calculate new gravity for gravity point areas, it is pointed by currentGravity pointer
+ Vector3 support_gravity(0, 0, 0);
+
bool stopped = false;
- for (int i = 0; i < areaWhereIamCount && !stopped; i += 1) {
- AreaBullet *currentArea = areasWhereIam[i];
+ for (int i = areaWhereIamCount - 1; (0 <= i) && !stopped; --i) {
+ currentArea = areasWhereIam[i];
if (!currentArea || PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED == currentArea->get_spOv_mode()) {
continue;
}
- Vector3 support_gravity;
-
/// Here is calculated the gravity
if (currentArea->is_spOv_gravityPoint()) {
/// It calculates the direction of new gravity
support_gravity = currentArea->get_transform().xform(currentArea->get_spOv_gravityVec()) - get_transform().get_origin();
-
- const real_t distanceMag = support_gravity.length();
+ real_t distanceMag = support_gravity.length();
// Normalized in this way to avoid the double call of function "length()"
if (distanceMag == 0) {
- support_gravity = Vector3();
+ support_gravity.x = 0;
+ support_gravity.y = 0;
+ support_gravity.z = 0;
} else {
- support_gravity /= distanceMag;
+ support_gravity.x /= distanceMag;
+ support_gravity.y /= distanceMag;
+ support_gravity.z /= distanceMag;
}
/// Here is calculated the final gravity
@@ -987,17 +985,10 @@ void RigidBodyBullet::reload_space_override_modificator() {
newAngularDamp += space->get_angular_damp();
}
- total_gravity = newGravity;
-
- if (omit_forces_integration) {
- // Custom behaviour.
- btBody->setGravity(btVector3(0, 0, 0));
- } else {
- btVector3 newBtGravity;
- G_TO_B(newGravity * gravity_scale, newBtGravity);
- btBody->setGravity(newBtGravity);
- }
+ btVector3 newBtGravity;
+ G_TO_B(newGravity * gravity_scale, newBtGravity);
+ btBody->setGravity(newBtGravity);
btBody->setDamping(newLinearDamp, newAngularDamp);
}
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 047645677b..c643611397 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -171,7 +171,7 @@ public:
struct KinematicUtilities {
RigidBodyBullet *owner;
btScalar safe_margin;
- LocalVector<KinematicShape> shapes;
+ Vector<KinematicShape> shapes;
KinematicUtilities(RigidBodyBullet *p_owner);
~KinematicUtilities();
@@ -193,7 +193,6 @@ private:
PhysicsServer3D::BodyMode mode;
GodotMotionState *godotMotionState;
btRigidBody *btBody;
- Vector3 total_gravity;
uint16_t locked_axis = 0;
real_t mass = 1;
real_t gravity_scale = 1;
@@ -203,18 +202,18 @@ private:
bool omit_forces_integration = false;
bool can_integrate_forces = false;
- LocalVector<CollisionData> collisions;
- LocalVector<RigidBodyBullet *> collision_traces_1;
- LocalVector<RigidBodyBullet *> collision_traces_2;
- LocalVector<RigidBodyBullet *> *prev_collision_traces;
- LocalVector<RigidBodyBullet *> *curr_collision_traces;
+ Vector<CollisionData> collisions;
+ Vector<RigidBodyBullet *> collision_traces_1;
+ Vector<RigidBodyBullet *> collision_traces_2;
+ Vector<RigidBodyBullet *> *prev_collision_traces;
+ Vector<RigidBodyBullet *> *curr_collision_traces;
// these parameters are used to avoid vector resize
- uint32_t maxCollisionsDetection = 0;
- uint32_t collisionsCount = 0;
- uint32_t prev_collision_count = 0;
+ int maxCollisionsDetection = 0;
+ int collisionsCount = 0;
+ int prev_collision_count = 0;
- LocalVector<AreaBullet *> areasWhereIam;
+ Vector<AreaBullet *> areasWhereIam;
// these parameters are used to avoid vector resize
int maxAreasWhereIam = 10;
int areaWhereIamCount = 0;
@@ -236,20 +235,21 @@ public:
_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
- virtual void main_shape_changed() override;
- virtual void do_reload_body() override;
- virtual void set_space(SpaceBullet *p_space) override;
+ virtual void main_shape_changed();
+ virtual void reload_body();
+ virtual void set_space(SpaceBullet *p_space);
- virtual void dispatch_callbacks() override;
- virtual void pre_process() override;
+ virtual void dispatch_callbacks();
void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
void scratch_space_override_modificator();
- virtual void do_reload_collision_filters() override;
- virtual void on_collision_checker_start() override;
- virtual void on_collision_checker_end() override;
+ virtual void on_collision_filters_change();
+ virtual void on_collision_checker_start();
+ virtual void on_collision_checker_end();
+
+ void set_max_collisions_detection(int p_maxCollisionsDetection) {
+ ERR_FAIL_COND(0 > p_maxCollisionsDetection);
- void set_max_collisions_detection(uint32_t p_maxCollisionsDetection) {
maxCollisionsDetection = p_maxCollisionsDetection;
collisions.resize(p_maxCollisionsDetection);
@@ -312,19 +312,19 @@ public:
void set_angular_velocity(const Vector3 &p_velocity);
Vector3 get_angular_velocity() const;
- virtual void set_transform__bullet(const btTransform &p_global_transform) override;
- virtual const btTransform &get_transform__bullet() const override;
+ virtual void set_transform__bullet(const btTransform &p_global_transform);
+ virtual const btTransform &get_transform__bullet() const;
- virtual void do_reload_shapes() override;
+ virtual void reload_shapes();
- virtual void on_enter_area(AreaBullet *p_area) override;
- virtual void on_exit_area(AreaBullet *p_area) override;
+ virtual void on_enter_area(AreaBullet *p_area);
+ virtual void on_exit_area(AreaBullet *p_area);
void reload_space_override_modificator();
/// Kinematic
void reload_kinematic_shapes();
- virtual void notify_transform_changed() override;
+ virtual void notify_transform_changed();
private:
void _internal_set_mass(real_t p_mass);
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index 74d6e073b3..340680c8d9 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -46,15 +46,9 @@
@author AndreaCatania
*/
-ShapeBullet::ShapeBullet() {
-}
+ShapeBullet::ShapeBullet() {}
-ShapeBullet::~ShapeBullet() {
- if (default_shape != nullptr) {
- bulletdelete(default_shape);
- default_shape = nullptr;
- }
-}
+ShapeBullet::~ShapeBullet() {}
btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge) {
btVector3 s;
@@ -62,22 +56,6 @@ btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale,
return create_bt_shape(s, p_extra_edge);
}
-btCollisionShape *ShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
- if (p_extra_edge == 0.0 && (p_implicit_scale - btVector3(1, 1, 1)).length2() <= CMP_EPSILON) {
- return default_shape;
- }
-
- return internal_create_bt_shape(p_implicit_scale, p_extra_edge);
-}
-
-void ShapeBullet::destroy_bt_shape(btCollisionShape *p_shape) const {
- if (p_shape != default_shape && p_shape != old_default_shape) {
- if (likely(p_shape != nullptr)) {
- bulletdelete(p_shape);
- }
- }
-}
-
btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
p_btShape->setUserPointer(const_cast<ShapeBullet *>(this));
p_btShape->setMargin(margin);
@@ -85,21 +63,10 @@ btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
}
void ShapeBullet::notifyShapeChanged() {
- // Store the old shape ptr so to not lose the reference pointer.
- old_default_shape = default_shape;
- // Create the new default shape with the new data.
- default_shape = internal_create_bt_shape(btVector3(1, 1, 1));
-
for (Map<ShapeOwnerBullet *, int>::Element *E = owners.front(); E; E = E->next()) {
ShapeOwnerBullet *owner = static_cast<ShapeOwnerBullet *>(E->key());
owner->shape_changed(owner->find_shape(this));
}
-
- if (old_default_shape) {
- // At this point now one has the old default shape; just delete it.
- bulletdelete(old_default_shape);
- old_default_shape = nullptr;
- }
}
void ShapeBullet::add_owner(ShapeOwnerBullet *p_owner) {
@@ -219,7 +186,7 @@ void PlaneShapeBullet::setup(const Plane &p_plane) {
notifyShapeChanged();
}
-btCollisionShape *PlaneShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btVector3 btPlaneNormal;
G_TO_B(plane.normal, btPlaneNormal);
return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d));
@@ -247,7 +214,7 @@ void SphereShapeBullet::setup(real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *SphereShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_extra_edge));
}
@@ -274,7 +241,7 @@ void BoxShapeBullet::setup(const Vector3 &p_half_extents) {
notifyShapeChanged();
}
-btCollisionShape *BoxShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_extra_edge, p_extra_edge, p_extra_edge)));
}
@@ -307,8 +274,8 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *CapsuleShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
- return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1]));
+btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+ return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1] + p_extra_edge));
}
/* Cylinder */
@@ -340,7 +307,7 @@ void CylinderShapeBullet::setup(real_t p_height, real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *CylinderShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *CylinderShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
return prepare(ShapeBullet::create_shape_cylinder(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin));
}
@@ -382,7 +349,7 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
notifyShapeChanged();
}
-btCollisionShape *ConvexPolygonShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
if (!vertices.size()) {
// This is necessary since 0 vertices
return prepare(ShapeBullet::create_shape_empty());
@@ -464,7 +431,7 @@ void ConcavePolygonShapeBullet::setup(Vector<Vector3> p_faces) {
notifyShapeChanged();
}
-btCollisionShape *ConcavePolygonShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape);
if (!cs) {
// This is necessary since if 0 faces the creation of concave return null
@@ -591,7 +558,7 @@ void HeightMapShapeBullet::setup(Vector<real_t> &p_heights, int p_width, int p_d
notifyShapeChanged();
}
-btCollisionShape *HeightMapShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height));
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
@@ -624,6 +591,6 @@ void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) {
notifyShapeChanged();
}
-btCollisionShape *RayShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_extra_edge, slips_on_slope));
}
diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h
index 6ca4d36a23..a35a1d8a18 100644
--- a/modules/bullet/shape_bullet.h
+++ b/modules/bullet/shape_bullet.h
@@ -53,10 +53,6 @@ class ShapeBullet : public RIDBullet {
Map<ShapeOwnerBullet *, int> owners;
real_t margin = 0.04;
- // Contains the default shape.
- btCollisionShape *default_shape = nullptr;
- btCollisionShape *old_default_shape = nullptr;
-
protected:
/// return self
btCollisionShape *prepare(btCollisionShape *p_btShape) const;
@@ -67,11 +63,7 @@ public:
virtual ~ShapeBullet();
btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge = 0);
- btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
-
- void destroy_bt_shape(btCollisionShape *p_shape) const;
-
- virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0;
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0;
void add_owner(ShapeOwnerBullet *p_owner);
void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false);
@@ -110,7 +102,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Plane &p_plane);
@@ -126,7 +118,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(real_t p_radius);
@@ -142,7 +134,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Vector3 &p_half_extents);
@@ -160,7 +152,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(real_t p_height, real_t p_radius);
@@ -178,7 +170,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
void setup(real_t p_height, real_t p_radius);
@@ -194,7 +186,7 @@ public:
void get_vertices(Vector<Vector3> &out_vertices);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Vector<Vector3> &p_vertices);
@@ -212,7 +204,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(Vector<Vector3> p_faces);
@@ -231,7 +223,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
@@ -247,7 +239,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer3D::ShapeType get_type() const;
- virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(real_t p_length, bool p_slips_on_slope);
diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp
index ee48b3c5f0..6794d6c313 100644
--- a/modules/bullet/soft_body_bullet.cpp
+++ b/modules/bullet/soft_body_bullet.cpp
@@ -41,7 +41,7 @@ SoftBodyBullet::SoftBodyBullet() :
SoftBodyBullet::~SoftBodyBullet() {
}
-void SoftBodyBullet::do_reload_body() {
+void SoftBodyBullet::reload_body() {
if (space) {
space->remove_soft_body(this);
space->add_soft_body(this);
@@ -51,15 +51,13 @@ void SoftBodyBullet::do_reload_body() {
void SoftBodyBullet::set_space(SpaceBullet *p_space) {
if (space) {
isScratched = false;
- space->unregister_collision_object(this);
space->remove_soft_body(this);
}
space = p_space;
if (space) {
- space->register_collision_object(this);
- reload_body();
+ space->add_soft_body(this);
}
}
@@ -346,14 +344,14 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
indices_table.push_back(Vector<int>());
}
- indices_table[vertex_id].push_back(vs_vertex_index);
+ indices_table.write[vertex_id].push_back(vs_vertex_index);
vs_indices_to_physics_table.push_back(vertex_id);
}
}
const int indices_map_size(indices_table.size());
- LocalVector<btScalar> bt_vertices;
+ Vector<btScalar> bt_vertices;
{ // Parse vertices to bullet
@@ -361,13 +359,13 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
const Vector3 *p_vertices_read = p_vertices.ptr();
for (int i = 0; i < indices_map_size; ++i) {
- bt_vertices[3 * i + 0] = p_vertices_read[indices_table[i][0]].x;
- bt_vertices[3 * i + 1] = p_vertices_read[indices_table[i][0]].y;
- bt_vertices[3 * i + 2] = p_vertices_read[indices_table[i][0]].z;
+ bt_vertices.write[3 * i + 0] = p_vertices_read[indices_table[i][0]].x;
+ bt_vertices.write[3 * i + 1] = p_vertices_read[indices_table[i][0]].y;
+ bt_vertices.write[3 * i + 2] = p_vertices_read[indices_table[i][0]].z;
}
}
- LocalVector<int> bt_triangles;
+ Vector<int> bt_triangles;
const int triangles_size(p_indices.size() / 3);
{ // Parse indices
@@ -377,9 +375,9 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
const int *p_indices_read = p_indices.ptr();
for (int i = 0; i < triangles_size; ++i) {
- bt_triangles[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]];
- bt_triangles[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]];
- bt_triangles[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]];
+ bt_triangles.write[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]];
+ bt_triangles.write[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]];
+ bt_triangles.write[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]];
}
}
diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h
index 229204b539..da8a2412ed 100644
--- a/modules/bullet/soft_body_bullet.h
+++ b/modules/bullet/soft_body_bullet.h
@@ -32,6 +32,7 @@
#define SOFT_BODY_BULLET_H
#include "collision_object_bullet.h"
+#include "scene/resources/material.h" // TODO remove this please
#ifdef None
/// This is required to remove the macro None defined by x11 compiler because this word "None" is used internally by Bullet
@@ -57,7 +58,7 @@
class SoftBodyBullet : public CollisionObjectBullet {
private:
btSoftBody *bt_soft_body = nullptr;
- LocalVector<Vector<int>> indices_table;
+ Vector<Vector<int>> indices_table;
btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody
bool isScratched = false;
@@ -72,7 +73,7 @@ private:
real_t pose_matching_coefficient = 0.; // [0,1]
real_t damping_coefficient = 0.01; // [0,1]
real_t drag_coefficient = 0.; // [0,1]
- LocalVector<int> pinned_nodes;
+ Vector<int> pinned_nodes;
// Other property to add
//btScalar kVC; // Volume conversation coefficient [0,+inf]
@@ -86,14 +87,15 @@ public:
SoftBodyBullet();
~SoftBodyBullet();
- virtual void do_reload_body() override;
- virtual void set_space(SpaceBullet *p_space) override;
+ virtual void reload_body();
+ virtual void set_space(SpaceBullet *p_space);
- virtual void do_reload_collision_filters() override {}
- virtual void on_collision_checker_start() override {}
- virtual void on_collision_checker_end() override {}
- virtual void on_enter_area(AreaBullet *p_area) override;
- virtual void on_exit_area(AreaBullet *p_area) override;
+ virtual void dispatch_callbacks() {}
+ virtual void on_collision_filters_change() {}
+ virtual void on_collision_checker_start() {}
+ virtual void on_collision_checker_end() {}
+ virtual void on_enter_area(AreaBullet *p_area);
+ virtual void on_exit_area(AreaBullet *p_area);
_FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; }
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 9f4bfe3cef..c581d1804e 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -127,7 +127,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return 0;
}
@@ -147,7 +147,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
btQuery.m_closestDistanceThreshold = 0;
space->dynamicsWorld->contactTest(&collision_object, btQuery);
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btConvex);
return btQuery.m_count;
}
@@ -163,7 +163,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
if (!btShape->isConvex()) {
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return false;
}
@@ -177,7 +177,7 @@ 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()) {
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btShape);
return false;
}
@@ -207,7 +207,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
r_closest_unsafe = 1.0f;
}
- shape->destroy_bt_shape(btShape);
+ bulletdelete(bt_convex_shape);
return true; // Mean success
}
@@ -222,7 +222,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return false;
}
@@ -243,7 +243,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
space->dynamicsWorld->contactTest(&collision_object, btQuery);
r_result_count = btQuery.m_count;
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btConvex);
return btQuery.m_count;
}
@@ -254,7 +254,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btShape);
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return false;
}
@@ -274,7 +274,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
btQuery.m_closestDistanceThreshold = 0;
space->dynamicsWorld->contactTest(&collision_object, btQuery);
- shape->destroy_bt_shape(btShape);
+ bulletdelete(btConvex);
if (btQuery.m_collided) {
if (btCollisionObject::CO_RIGID_BODY == btQuery.m_rest_info_collision_object->getInternalType()) {
@@ -349,46 +349,14 @@ SpaceBullet::~SpaceBullet() {
destroy_world();
}
-void SpaceBullet::add_to_pre_flush_queue(CollisionObjectBullet *p_co) {
- if (p_co->is_in_flush_queue == false) {
- p_co->is_in_flush_queue = true;
- queue_pre_flush.push_back(p_co);
- }
-}
-
-void SpaceBullet::add_to_flush_queue(CollisionObjectBullet *p_co) {
- if (p_co->is_in_flush_queue == false) {
- p_co->is_in_flush_queue = true;
- queue_flush.push_back(p_co);
- }
-}
-
-void SpaceBullet::remove_from_any_queue(CollisionObjectBullet *p_co) {
- if (p_co->is_in_flush_queue) {
- p_co->is_in_flush_queue = false;
- queue_pre_flush.erase(p_co);
- queue_flush.erase(p_co);
- }
-}
-
void SpaceBullet::flush_queries() {
- for (uint32_t i = 0; i < queue_pre_flush.size(); i += 1) {
- queue_pre_flush[i]->dispatch_callbacks();
- queue_pre_flush[i]->is_in_flush_queue = false;
- }
- for (uint32_t i = 0; i < queue_flush.size(); i += 1) {
- queue_flush[i]->dispatch_callbacks();
- queue_flush[i]->is_in_flush_queue = false;
+ const btCollisionObjectArray &colObjArray = dynamicsWorld->getCollisionObjectArray();
+ for (int i = colObjArray.size() - 1; 0 <= i; --i) {
+ static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->dispatch_callbacks();
}
- queue_pre_flush.clear();
- queue_flush.clear();
}
void SpaceBullet::step(real_t p_delta_time) {
- for (uint32_t i = 0; i < collision_objects.size(); i += 1) {
- collision_objects[i]->pre_process();
- }
-
delta_time = p_delta_time;
dynamicsWorld->stepSimulation(p_delta_time, 0, 0);
}
@@ -481,30 +449,16 @@ real_t SpaceBullet::get_param(PhysicsServer3D::SpaceParameter p_param) {
}
void SpaceBullet::add_area(AreaBullet *p_area) {
-#ifdef TOOLS_ENABLED
- // This never happen, and there is no way for the user to trigger it.
- // If in future a bug is introduced into this bullet integration and this
- // function is called twice, the crash will notify the developer that will
- // fix it even before do the eventual PR.
- CRASH_COND(p_area->is_in_world);
-#endif
areas.push_back(p_area);
dynamicsWorld->addCollisionObject(p_area->get_bt_ghost(), p_area->get_collision_layer(), p_area->get_collision_mask());
- p_area->is_in_world = true;
}
void SpaceBullet::remove_area(AreaBullet *p_area) {
- if (p_area->is_in_world) {
- areas.erase(p_area);
- dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost());
- p_area->is_in_world = false;
- }
+ areas.erase(p_area);
+ dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost());
}
void SpaceBullet::reload_collision_filters(AreaBullet *p_area) {
- if (p_area->is_in_world == false) {
- return;
- }
btGhostObject *ghost_object = p_area->get_bt_ghost();
btBroadphaseProxy *ghost_proxy = ghost_object->getBroadphaseHandle();
@@ -514,47 +468,24 @@ void SpaceBullet::reload_collision_filters(AreaBullet *p_area) {
dynamicsWorld->refreshBroadphaseProxy(ghost_object);
}
-void SpaceBullet::register_collision_object(CollisionObjectBullet *p_object) {
- collision_objects.push_back(p_object);
-}
-
-void SpaceBullet::unregister_collision_object(CollisionObjectBullet *p_object) {
- remove_from_any_queue(p_object);
- collision_objects.erase(p_object);
-}
-
void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) {
-#ifdef TOOLS_ENABLED
- // This never happen, and there is no way for the user to trigger it.
- // If in future a bug is introduced into this bullet integration and this
- // function is called twice, the crash will notify the developer that will
- // fix it even before do the eventual PR.
- CRASH_COND(p_body->is_in_world);
-#endif
if (p_body->is_static()) {
dynamicsWorld->addCollisionObject(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask());
} else {
dynamicsWorld->addRigidBody(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask());
p_body->scratch_space_override_modificator();
}
- p_body->is_in_world = true;
}
void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) {
- if (p_body->is_in_world) {
- if (p_body->is_static()) {
- dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body());
- } else {
- dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body());
- }
- p_body->is_in_world = false;
+ if (p_body->is_static()) {
+ dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body());
+ } else {
+ dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body());
}
}
void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) {
- if (p_body->is_in_world == false) {
- return;
- }
btRigidBody *rigid_body = p_body->get_bt_rigid_body();
btBroadphaseProxy *body_proxy = rigid_body->getBroadphaseProxy();
@@ -734,7 +665,7 @@ void SpaceBullet::check_ghost_overlaps() {
/// 1. Reset all states
for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) {
- AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects[i];
+ AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects.write[i];
// This check prevent the overwrite of ENTER state
// if this function is called more times before dispatchCallbacks
if (otherObj.state != AreaBullet::OVERLAP_STATE_ENTER) {
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 897f902fe1..de281064af 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -31,8 +31,8 @@
#ifndef SPACE_BULLET_H
#define SPACE_BULLET_H
-#include "core/local_vector.h"
#include "core/variant.h"
+#include "core/vector.h"
#include "godot_result_callbacks.h"
#include "rid_bullet.h"
#include "servers/physics_server_3d.h"
@@ -110,23 +110,16 @@ class SpaceBullet : public RIDBullet {
real_t linear_damp = 0.0;
real_t angular_damp = 0.0;
- LocalVector<CollisionObjectBullet *> queue_pre_flush;
- LocalVector<CollisionObjectBullet *> queue_flush;
- LocalVector<CollisionObjectBullet *> collision_objects;
- LocalVector<AreaBullet *> areas;
+ Vector<AreaBullet *> areas;
- LocalVector<Vector3> contactDebug;
- uint32_t contactDebugCount = 0;
+ Vector<Vector3> contactDebug;
+ int contactDebugCount = 0;
real_t delta_time = 0.;
public:
SpaceBullet();
virtual ~SpaceBullet();
- void add_to_flush_queue(CollisionObjectBullet *p_co);
- void add_to_pre_flush_queue(CollisionObjectBullet *p_co);
- void remove_from_any_queue(CollisionObjectBullet *p_co);
-
void flush_queries();
real_t get_delta_time() { return delta_time; }
void step(real_t p_delta_time);
@@ -157,9 +150,6 @@ public:
void remove_area(AreaBullet *p_area);
void reload_collision_filters(AreaBullet *p_area);
- void register_collision_object(CollisionObjectBullet *p_object);
- void unregister_collision_object(CollisionObjectBullet *p_object);
-
void add_rigid_body(RigidBodyBullet *p_body);
void remove_rigid_body(RigidBodyBullet *p_body);
void reload_collision_filters(RigidBodyBullet *p_body);
@@ -183,7 +173,7 @@ public:
}
_FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) {
if (contactDebugCount < contactDebug.size()) {
- contactDebug[contactDebugCount++] = p_contact;
+ contactDebug.write[contactDebugCount++] = p_contact;
}
}
_FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; }
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-30 20:59:14 +0000