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-rw-r--r--modules/bullet/SCsub3
-rw-r--r--modules/bullet/config.py11
-rw-r--r--modules/bullet/doc_classes/BulletPhysicsDirectBodyState3D.xml13
-rw-r--r--modules/bullet/doc_classes/BulletPhysicsServer3D.xml13
-rw-r--r--modules/bullet/rigid_body_bullet.cpp44
-rw-r--r--modules/bullet/rigid_body_bullet.h2
-rw-r--r--modules/bullet/space_bullet.cpp10
-rw-r--r--modules/bullet/space_bullet.h6
8 files changed, 40 insertions, 62 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub
index 692c749886..b853ebfc63 100644
--- a/modules/bullet/SCsub
+++ b/modules/bullet/SCsub
@@ -175,6 +175,7 @@ if env["builtin_bullet"]:
"BulletSoftBody/btDeformableContactProjection.cpp",
"BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp",
"BulletSoftBody/btDeformableContactConstraint.cpp",
+ "BulletSoftBody/poly34.cpp",
# clew
"clew/clew.c",
# LinearMath
@@ -203,6 +204,8 @@ if env["builtin_bullet"]:
# if env['target'] == "debug" or env['target'] == "release_debug":
# env_bullet.Append(CPPDEFINES=['BT_DEBUG'])
+ env_bullet.Append(CPPDEFINES=["BT_USE_OLD_DAMPING_METHOD"])
+
env_thirdparty = env_bullet.Clone()
env_thirdparty.disable_warnings()
env_thirdparty.add_source_files(env.modules_sources, thirdparty_sources)
diff --git a/modules/bullet/config.py b/modules/bullet/config.py
index e8ca273f61..d22f9454ed 100644
--- a/modules/bullet/config.py
+++ b/modules/bullet/config.py
@@ -4,14 +4,3 @@ def can_build(env, platform):
def configure(env):
pass
-
-
-def get_doc_classes():
- return [
- "BulletPhysicsDirectBodyState3D",
- "BulletPhysicsServer3D",
- ]
-
-
-def get_doc_path():
- return "doc_classes"
diff --git a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState3D.xml b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState3D.xml
deleted file mode 100644
index 1c0181bd9c..0000000000
--- a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState3D.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<class name="BulletPhysicsDirectBodyState3D" inherits="PhysicsDirectBodyState3D" version="4.0">
- <brief_description>
- </brief_description>
- <description>
- </description>
- <tutorials>
- </tutorials>
- <methods>
- </methods>
- <constants>
- </constants>
-</class>
diff --git a/modules/bullet/doc_classes/BulletPhysicsServer3D.xml b/modules/bullet/doc_classes/BulletPhysicsServer3D.xml
deleted file mode 100644
index b20595b4f6..0000000000
--- a/modules/bullet/doc_classes/BulletPhysicsServer3D.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<class name="BulletPhysicsServer3D" inherits="PhysicsServer3D" version="4.0">
- <brief_description>
- </brief_description>
- <description>
- </description>
- <tutorials>
- </tutorials>
- <methods>
- </methods>
- <constants>
- </constants>
-</class>
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index fc4e1d57de..e393396713 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -138,8 +138,8 @@ void BulletPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impul
body->apply_torque_impulse(p_impulse);
}
-void BulletPhysicsDirectBodyState3D::set_sleep_state(bool p_enable) {
- body->set_activation_state(p_enable);
+void BulletPhysicsDirectBodyState3D::set_sleep_state(bool p_sleep) {
+ body->set_activation_state(!p_sleep);
}
bool BulletPhysicsDirectBodyState3D::is_sleeping() const {
@@ -503,15 +503,18 @@ void RigidBodyBullet::set_param(PhysicsServer3D::BodyParameter p_param, real_t p
}
case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP:
linearDamp = p_value;
- btBody->setDamping(linearDamp, angularDamp);
+ // Mark for updating total linear damping.
+ scratch_space_override_modificator();
break;
case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP:
angularDamp = p_value;
- btBody->setDamping(linearDamp, angularDamp);
+ // Mark for updating total angular damping.
+ scratch_space_override_modificator();
break;
case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE:
gravity_scale = p_value;
- /// The Bullet gravity will be is set by reload_space_override_modificator
+ // The Bullet gravity will be is set by reload_space_override_modificator.
+ // Mark for updating total gravity scale.
scratch_space_override_modificator();
break;
default:
@@ -902,21 +905,20 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
}
void RigidBodyBullet::reload_space_override_modificator() {
-
// Make sure that kinematic bodies have their total gravity calculated
if (!is_active() && PhysicsServer3D::BODY_MODE_KINEMATIC != mode)
return;
- Vector3 newGravity(space->get_gravity_direction() * space->get_gravity_magnitude());
- real_t newLinearDamp(linearDamp);
- real_t newAngularDamp(angularDamp);
+ 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);
- int countCombined(0);
- for (int i = areaWhereIamCount - 1; 0 <= i; --i) {
+ bool stopped = false;
+ for (int i = areaWhereIamCount - 1; (0 <= i) && !stopped; --i) {
currentArea = areasWhereIam[i];
@@ -965,7 +967,6 @@ void RigidBodyBullet::reload_space_override_modificator() {
newGravity += support_gravity;
newLinearDamp += currentArea->get_spOv_linearDamp();
newAngularDamp += currentArea->get_spOv_angularDamp();
- ++countCombined;
break;
case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE:
/// This area adds its gravity/damp values to whatever has been calculated
@@ -974,32 +975,31 @@ void RigidBodyBullet::reload_space_override_modificator() {
newGravity += support_gravity;
newLinearDamp += currentArea->get_spOv_linearDamp();
newAngularDamp += currentArea->get_spOv_angularDamp();
- ++countCombined;
- goto endAreasCycle;
+ stopped = true;
+ break;
case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE:
/// This area replaces any gravity/damp, even the default one, and
/// stops taking into account the rest of the areas.
newGravity = support_gravity;
newLinearDamp = currentArea->get_spOv_linearDamp();
newAngularDamp = currentArea->get_spOv_angularDamp();
- countCombined = 1;
- goto endAreasCycle;
+ stopped = true;
+ break;
case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE:
/// This area replaces any gravity/damp calculated so far, but keeps
/// calculating the rest of the areas, down to the default one.
newGravity = support_gravity;
newLinearDamp = currentArea->get_spOv_linearDamp();
newAngularDamp = currentArea->get_spOv_angularDamp();
- countCombined = 1;
break;
}
}
-endAreasCycle:
- if (1 < countCombined) {
- newGravity /= countCombined;
- newLinearDamp /= countCombined;
- newAngularDamp /= countCombined;
+ // Add default gravity and damping from space.
+ if (!stopped) {
+ newGravity += space->get_gravity_direction() * space->get_gravity_magnitude();
+ newLinearDamp += space->get_linear_damp();
+ newAngularDamp += space->get_angular_damp();
}
btVector3 newBtGravity;
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 95491b1e62..420b5cc443 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -117,7 +117,7 @@ public:
virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
virtual void apply_torque_impulse(const Vector3 &p_impulse);
- virtual void set_sleep_state(bool p_enable);
+ virtual void set_sleep_state(bool p_sleep);
virtual bool is_sleeping() const;
virtual int get_contact_count() const;
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 1659664ff9..d49e635fd5 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -342,6 +342,8 @@ SpaceBullet::SpaceBullet() :
godotFilterCallback(nullptr),
gravityDirection(0, -1, 0),
gravityMagnitude(10),
+ linear_damp(0.0),
+ angular_damp(0.0),
contactDebugCount(0),
delta_time(0.) {
@@ -379,8 +381,11 @@ void SpaceBullet::set_param(PhysicsServer3D::AreaParameter p_param, const Varian
update_gravity();
break;
case PhysicsServer3D::AREA_PARAM_LINEAR_DAMP:
+ linear_damp = p_value;
+ break;
case PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP:
- break; // No damp
+ angular_damp = p_value;
+ break;
case PhysicsServer3D::AREA_PARAM_PRIORITY:
// Priority is always 0, the lower
break;
@@ -401,8 +406,9 @@ Variant SpaceBullet::get_param(PhysicsServer3D::AreaParameter p_param) {
case PhysicsServer3D::AREA_PARAM_GRAVITY_VECTOR:
return gravityDirection;
case PhysicsServer3D::AREA_PARAM_LINEAR_DAMP:
+ return linear_damp;
case PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP:
- return 0; // No damp
+ return angular_damp;
case PhysicsServer3D::AREA_PARAM_PRIORITY:
return 0; // Priority is always 0, the lower
case PhysicsServer3D::AREA_PARAM_GRAVITY_IS_POINT:
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index f9a8c063fd..3d4a2aeceb 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -108,6 +108,9 @@ class SpaceBullet : public RIDBullet {
Vector3 gravityDirection;
real_t gravityMagnitude;
+ real_t linear_damp;
+ real_t angular_damp;
+
Vector<AreaBullet *> areas;
Vector<Vector3> contactDebug;
@@ -177,6 +180,9 @@ public:
void update_gravity();
+ real_t get_linear_damp() const { return linear_damp; }
+ real_t get_angular_damp() const { return angular_damp; }
+
bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes);
int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin);
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-24 04:38:38 +0000