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-rw-r--r--modules/bullet/area_bullet.cpp24
-rw-r--r--modules/bullet/area_bullet.h4
-rw-r--r--modules/bullet/bullet_physics_server.cpp4
-rw-r--r--modules/bullet/collision_object_bullet.cpp10
-rw-r--r--modules/bullet/godot_result_callbacks.cpp34
-rw-r--r--modules/bullet/godot_result_callbacks.h5
-rw-r--r--modules/bullet/shape_bullet.cpp58
-rw-r--r--modules/bullet/shape_bullet.h7
-rw-r--r--modules/bullet/space_bullet.cpp20
9 files changed, 100 insertions, 66 deletions
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp
index 648919e612..bfb452d109 100644
--- a/modules/bullet/area_bullet.cpp
+++ b/modules/bullet/area_bullet.cpp
@@ -68,7 +68,9 @@ AreaBullet::AreaBullet() :
}
AreaBullet::~AreaBullet() {
- remove_all_overlapping_instantly();
+ // signal are handled by godot, so just clear without notify
+ for (int i = overlappingObjects.size() - 1; 0 <= i; --i)
+ overlappingObjects[i].object->on_exit_area(this);
}
void AreaBullet::dispatch_callbacks() {
@@ -121,23 +123,21 @@ void AreaBullet::scratch() {
isScratched = true;
}
-void AreaBullet::remove_all_overlapping_instantly() {
- CollisionObjectBullet *supportObject;
+void AreaBullet::clear_overlaps(bool p_notify) {
for (int i = overlappingObjects.size() - 1; 0 <= i; --i) {
- supportObject = overlappingObjects[i].object;
- call_event(supportObject, PhysicsServer::AREA_BODY_REMOVED);
- supportObject->on_exit_area(this);
+ if (p_notify)
+ call_event(overlappingObjects[i].object, PhysicsServer::AREA_BODY_REMOVED);
+ overlappingObjects[i].object->on_exit_area(this);
}
overlappingObjects.clear();
}
-void AreaBullet::remove_overlapping_instantly(CollisionObjectBullet *p_object) {
- CollisionObjectBullet *supportObject;
+void AreaBullet::remove_overlap(CollisionObjectBullet *p_object, bool p_notify) {
for (int i = overlappingObjects.size() - 1; 0 <= i; --i) {
- supportObject = overlappingObjects[i].object;
- if (supportObject == p_object) {
- call_event(supportObject, PhysicsServer::AREA_BODY_REMOVED);
- supportObject->on_exit_area(this);
+ if (overlappingObjects[i].object == p_object) {
+ if (p_notify)
+ call_event(overlappingObjects[i].object, PhysicsServer::AREA_BODY_REMOVED);
+ overlappingObjects[i].object->on_exit_area(this);
overlappingObjects.remove(i);
break;
}
diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h
index 78136d574b..b2046c684e 100644
--- a/modules/bullet/area_bullet.h
+++ b/modules/bullet/area_bullet.h
@@ -150,9 +150,9 @@ public:
void set_on_state_change(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
void scratch();
- void remove_all_overlapping_instantly();
+ void clear_overlaps(bool p_notify);
// Dispatch the callbacks and removes from overlapping list
- void remove_overlapping_instantly(CollisionObjectBullet *p_object);
+ void remove_overlap(CollisionObjectBullet *p_object, bool p_notify);
virtual void on_collision_filters_change();
virtual void on_collision_checker_start() {}
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 4a0c7499b4..6246a295ec 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -89,7 +89,9 @@ BulletPhysicsServer::BulletPhysicsServer() :
active(true),
active_spaces_count(0) {}
-BulletPhysicsServer::~BulletPhysicsServer() {}
+BulletPhysicsServer::~BulletPhysicsServer() {
+ bulletdelete(emptyShape);
+}
RID BulletPhysicsServer::shape_create(ShapeType p_shape) {
ShapeBullet *shape = NULL;
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index 34aff68a4a..57e4db708e 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -49,7 +49,7 @@
CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {}
void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_transform) {
- G_TO_B(p_transform.get_basis().get_scale(), scale);
+ G_TO_B(p_transform.get_basis().get_scale_abs(), scale);
G_TO_B(p_transform, transform);
UNSCALE_BT_BASIS(transform);
}
@@ -68,12 +68,10 @@ CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
force_shape_reset(false) {}
CollisionObjectBullet::~CollisionObjectBullet() {
- // Remove all overlapping
+ // Remove all overlapping, notify is not required since godot take care of it
for (int i = areasOverlapped.size() - 1; 0 <= i; --i) {
- areasOverlapped[i]->remove_overlapping_instantly(this);
+ areasOverlapped[i]->remove_overlap(this, /*Notify*/ false);
}
- // not required
- // areasOverlapped.clear();
destroyBulletCollisionObject();
}
@@ -160,7 +158,7 @@ int CollisionObjectBullet::get_godot_object_flags() const {
void CollisionObjectBullet::set_transform(const Transform &p_global_transform) {
- set_body_scale(p_global_transform.basis.get_scale());
+ set_body_scale(p_global_transform.basis.get_scale_abs());
btTransform bt_transform;
G_TO_B(p_global_transform, bt_transform);
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index 72c982bb0b..197550d686 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -63,6 +63,9 @@ bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) co
}
bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
+ if (count >= m_resultMax)
+ return false;
+
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
@@ -70,6 +73,7 @@ bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) con
if (m_exclude->has(gObj->get_self())) {
return false;
}
+
return true;
} else {
return false;
@@ -87,7 +91,7 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo
result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);
++count;
- return count < m_resultMax;
+ return 1; // not used by bullet
}
bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
@@ -106,7 +110,7 @@ bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *prox
if (gObj->getType() == CollisionObjectBullet::TYPE_AREA)
return false;
- if (m_self_object->has_collision_exception(gObj))
+ if (m_self_object->has_collision_exception(gObj) || gObj->has_collision_exception(m_self_object))
return false;
}
return true;
@@ -168,10 +172,7 @@ btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, con
result.shape = cp.m_index0;
}
- if (colObj)
- result.collider_id = colObj->get_instance_id();
- else
- result.collider_id = 0;
+ result.collider_id = colObj->get_instance_id();
result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);
result.rid = colObj->get_self();
++m_count;
@@ -181,6 +182,9 @@ btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, con
}
bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
+ if (m_count >= m_resultMax)
+ return false;
+
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
@@ -206,7 +210,7 @@ btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint
++m_count;
- return m_count < m_resultMax;
+ return 1; // Not used by bullet
}
bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
@@ -243,29 +247,23 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp
m_rest_info_collision_object = colObj0Wrap->getCollisionObject();
}
- if (colObj)
- m_result->collider_id = colObj->get_instance_id();
- else
- m_result->collider_id = 0;
+ m_result->collider_id = colObj->get_instance_id();
m_result->rid = colObj->get_self();
m_collided = true;
}
- return cp.getDistance();
+ return 1; // Not used by bullet
}
void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {
- // Has penetration
- if (m_penetration_distance < ABS(depth)) {
+ if (m_penetration_distance > depth) { // Has penetration?
bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
-
m_penetration_distance = depth;
- m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject();
- m_other_compound_shape_index = isSwapped ? m_index1 : m_index0;
+ m_other_compound_shape_index = isSwapped ? m_index0 : m_index1;
m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
- m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB;
+ m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB;
}
}
diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h
index 60493d4788..363051f24c 100644
--- a/modules/bullet/godot_result_callbacks.h
+++ b/modules/bullet/godot_result_callbacks.h
@@ -185,21 +185,18 @@ struct GodotDeepPenetrationContactResultCallback : public btManifoldResult {
btVector3 m_pointWorld;
btScalar m_penetration_distance;
int m_other_compound_shape_index;
- const btCollisionObject *m_pointCollisionObject;
GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) :
btManifoldResult(body0Wrap, body1Wrap),
- m_pointCollisionObject(NULL),
m_penetration_distance(0),
m_other_compound_shape_index(0) {}
void reset() {
- m_pointCollisionObject = NULL;
m_penetration_distance = 0;
}
bool hasHit() {
- return m_pointCollisionObject;
+ return m_penetration_distance < 0;
}
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth);
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index 5d8d391bd9..76d9614465 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -125,14 +125,13 @@ btScaledBvhTriangleMeshShape *ShapeBullet::create_shape_concave(btBvhTriangleMes
}
}
-btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size) {
+btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
const btScalar ignoredHeightScale(1);
- const btScalar fieldHeight(500); // Meters
const int YAxis = 1; // 0=X, 1=Y, 2=Z
const bool flipQuadEdges = false;
const void *heightsPtr = p_heights.read().ptr();
- return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, -fieldHeight, fieldHeight, YAxis, PHY_FLOAT, flipQuadEdges));
+ return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));
}
btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) {
@@ -337,10 +336,10 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) {
int src_face_count = faces.size();
if (0 < src_face_count) {
- btTriangleMesh *shapeInterface = bulletnew(btTriangleMesh);
-
// It counts the faces and assert the array contains the correct number of vertices.
ERR_FAIL_COND(src_face_count % 3);
+
+ btTriangleMesh *shapeInterface = bulletnew(btTriangleMesh);
src_face_count /= 3;
PoolVector<Vector3>::Read r = p_faces.read();
const Vector3 *facesr = r.ptr();
@@ -387,19 +386,44 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
Dictionary d = p_data;
ERR_FAIL_COND(!d.has("width"));
ERR_FAIL_COND(!d.has("depth"));
- ERR_FAIL_COND(!d.has("cell_size"));
ERR_FAIL_COND(!d.has("heights"));
+ real_t l_min_height = 0.0;
+ real_t l_max_height = 0.0;
+
+ // If specified, min and max height will be used as precomputed values
+ if (d.has("min_height"))
+ l_min_height = d["min_height"];
+ if (d.has("max_height"))
+ l_max_height = d["max_height"];
+
+ ERR_FAIL_COND(l_min_height > l_max_height);
+
int l_width = d["width"];
int l_depth = d["depth"];
- real_t l_cell_size = d["cell_size"];
PoolVector<real_t> l_heights = d["heights"];
ERR_FAIL_COND(l_width <= 0);
ERR_FAIL_COND(l_depth <= 0);
- ERR_FAIL_COND(l_cell_size <= CMP_EPSILON);
- ERR_FAIL_COND(l_heights.size() != (width * depth));
- setup(heights, width, depth, cell_size);
+ ERR_FAIL_COND(l_heights.size() != (l_width * l_depth));
+
+ // 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();
+
+ for (int i = 0; i < heights_size; ++i) {
+ real_t h = r[i];
+
+ if (h < l_min_height)
+ l_min_height = h;
+ else if (h > l_max_height)
+ l_max_height = h;
+ }
+ }
+
+ setup(l_heights, l_width, l_depth, l_min_height, l_max_height);
}
Variant HeightMapShapeBullet::get_data() const {
@@ -410,8 +434,14 @@ PhysicsServer::ShapeType HeightMapShapeBullet::get_type() const {
return PhysicsServer::SHAPE_HEIGHTMAP;
}
-void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size) {
+void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
+ // TODO cell size must be tweaked using localScaling, which is a shared property for all Bullet shapes
+
{ // Copy
+
+ // TODO If Godot supported 16-bit integer image format, we could share the same memory block for heightfields
+ // without having to copy anything, optimizing memory and loading performance (Bullet only reads and doesn't take ownership of the data).
+
const int heights_size = p_heights.size();
heights.resize(heights_size);
PoolVector<real_t>::Read p_heights_r = p_heights.read();
@@ -420,14 +450,16 @@ void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int
heights_w[i] = p_heights_r[i];
}
}
+
width = p_width;
depth = p_depth;
- cell_size = p_cell_size;
+ min_height = p_min_height;
+ max_height = p_max_height;
notifyShapeChanged();
}
btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
- btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, cell_size));
+ btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height));
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
cs->setMargin(p_margin);
diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h
index 2acba90e36..abeea0f9ce 100644
--- a/modules/bullet/shape_bullet.h
+++ b/modules/bullet/shape_bullet.h
@@ -85,7 +85,7 @@ public:
/// IMPORTANT: Remember to delete the shape interface by calling: delete my_shape->getMeshInterface();
static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
static class btScaledBvhTriangleMeshShape *create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
- static class btHeightfieldTerrainShape *create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size);
+ static class btHeightfieldTerrainShape *create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
static class btRayShape *create_shape_ray(real_t p_length, bool p_slips_on_slope);
};
@@ -199,7 +199,8 @@ public:
PoolVector<real_t> heights;
int width;
int depth;
- real_t cell_size;
+ real_t min_height;
+ real_t max_height;
HeightMapShapeBullet();
@@ -209,7 +210,7 @@ public:
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
- void setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size);
+ void setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
};
class RayShapeBullet : public ShapeBullet {
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 8c15758e0f..3a1f5d78dd 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -122,7 +122,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
+ btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
@@ -202,7 +202,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale(), p_margin);
+ btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
@@ -234,7 +234,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale(), p_margin);
+ btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
if (!btShape->isConvex()) {
bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
@@ -660,7 +660,10 @@ void SpaceBullet::check_ghost_overlaps() {
// For each overlapping
for (i = ghostOverlaps.size() - 1; 0 <= i; --i) {
- if (!(ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_RIGID_BODY || ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_AREA))
+ if (ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_AREA) {
+ if (!static_cast<AreaBullet *>(ghostOverlaps[i]->getUserPointer())->is_monitorable())
+ continue;
+ } else if (ghostOverlaps[i]->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY)
continue;
otherObject = static_cast<RigidCollisionObjectBullet *>(ghostOverlaps[i]->getUserPointer());
@@ -993,7 +996,7 @@ public:
}
void reset() {
- result_collision_objects.empty();
+ result_collision_objects.clear();
}
};
@@ -1028,7 +1031,10 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
for (int i = recover_broad_result.result_collision_objects.size() - 1; 0 <= i; --i) {
btCollisionObject *otherObject = recover_broad_result.result_collision_objects[i];
- if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()) || (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()))
+ if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) {
+ otherObject->activate(); // Force activation of hitten rigid, soft body
+ continue;
+ } else if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()))
continue;
if (otherObject->getCollisionShape()->isCompound()) {
@@ -1117,7 +1123,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
dispatcher->freeCollisionAlgorithm(algorithm);
if (contactPointResult.hasHit()) {
- r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * p_recover_movement_scale);
+ r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1 * p_recover_movement_scale);
if (r_recover_result) {
if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-19 09:17:51 +0000