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-rw-r--r--modules/bullet/area_bullet.cpp21
-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.cpp44
-rw-r--r--modules/bullet/collision_object_bullet.h40
-rw-r--r--modules/bullet/rigid_body_bullet.cpp105
-rw-r--r--modules/bullet/rigid_body_bullet.h52
-rw-r--r--modules/bullet/soft_body_bullet.cpp18
-rw-r--r--modules/bullet/soft_body_bullet.h20
-rw-r--r--modules/bullet/space_bullet.cpp43
-rw-r--r--modules/bullet/space_bullet.h18
11 files changed, 217 insertions, 170 deletions
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp
index edbd9565b8..b35019bea3 100644
--- a/modules/bullet/area_bullet.cpp
+++ b/modules/bullet/area_bullet.cpp
@@ -65,14 +65,11 @@ AreaBullet::~AreaBullet() {
}
void AreaBullet::dispatch_callbacks() {
- if (!isScratched) {
- return;
- }
- isScratched = false;
+ RigidCollisionObjectBullet::dispatch_callbacks();
// Reverse order because I've to remove EXIT objects
for (int i = overlappingObjects.size() - 1; 0 <= i; --i) {
- OverlappingObjectData &otherObj = overlappingObjects.write[i];
+ OverlappingObjectData &otherObj = overlappingObjects[i];
switch (otherObj.state) {
case OVERLAP_STATE_ENTER:
@@ -112,10 +109,9 @@ void AreaBullet::call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3
}
void AreaBullet::scratch() {
- if (isScratched) {
- return;
+ if (space != nullptr) {
+ space->add_to_pre_flush_queue(this);
}
- isScratched = true;
}
void AreaBullet::clear_overlaps(bool p_notify) {
@@ -173,9 +169,9 @@ 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);
@@ -187,10 +183,11 @@ void AreaBullet::set_space(SpaceBullet *p_space) {
if (space) {
space->register_collision_object(this);
reload_body();
+ scratch();
}
}
-void AreaBullet::on_collision_filters_change() {
+void AreaBullet::do_reload_collision_filters() {
if (space) {
space->reload_collision_filters(this);
}
@@ -204,13 +201,13 @@ void AreaBullet::add_overlap(CollisionObjectBullet *p_otherObject) {
void AreaBullet::put_overlap_as_exit(int p_index) {
scratch();
- overlappingObjects.write[p_index].state = OVERLAP_STATE_EXIT;
+ overlappingObjects[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.write[p_index].state = OVERLAP_STATE_INSIDE;
+ overlappingObjects[p_index].state = OVERLAP_STATE_INSIDE;
}
}
diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h
index 12272092f7..51fbc1f71d 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/vector.h"
+#include "core/local_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;
- Vector<OverlappingObjectData> overlappingObjects;
+ LocalVector<OverlappingObjectData> overlappingObjects;
bool monitorable = true;
PhysicsServer3D::AreaSpaceOverrideMode spOv_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED;
@@ -96,8 +96,6 @@ private:
real_t spOv_angularDump = 0.1;
int spOv_priority = 0;
- bool isScratched = false;
-
InOutEventCallback eventsCallbacks[2];
public:
@@ -139,11 +137,11 @@ 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();
- virtual void do_reload_body();
- virtual void set_space(SpaceBullet *p_space);
+ virtual void main_shape_changed() override;
+ virtual void do_reload_body() override;
+ virtual void set_space(SpaceBullet *p_space) override;
- virtual void dispatch_callbacks();
+ virtual void dispatch_callbacks() override;
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();
@@ -152,9 +150,9 @@ public:
// Dispatch the callbacks and removes from overlapping list
void remove_overlap(CollisionObjectBullet *p_object, bool p_notify);
- virtual void on_collision_filters_change();
- virtual void on_collision_checker_start() {}
- virtual void on_collision_checker_end() { isTransformChanged = false; }
+ virtual void do_reload_collision_filters() override;
+ virtual void on_collision_checker_start() override {}
+ virtual void on_collision_checker_end() override { isTransformChanged = false; }
void add_overlap(CollisionObjectBullet *p_otherObject);
void put_overlap_as_exit(int p_index);
@@ -166,8 +164,8 @@ 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);
- virtual void on_exit_area(AreaBullet *p_area);
+ virtual void on_enter_area(AreaBullet *p_area) override;
+ virtual void on_exit_area(AreaBullet *p_area) override;
};
#endif
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 6078babaf8..eb95120f74 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;
- Vector<SpaceBullet *> active_spaces;
+ LocalVector<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 dd208965bd..660e9afc5e 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -165,11 +165,20 @@ bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet
return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object);
}
-void CollisionObjectBullet::prepare_object_for_dispatch() {
- if (need_body_reload) {
+void CollisionObjectBullet::reload_body() {
+ needs_body_reload = true;
+}
+
+void CollisionObjectBullet::dispatch_callbacks() {}
+
+void CollisionObjectBullet::pre_process() {
+ if (needs_body_reload) {
do_reload_body();
- need_body_reload = false;
+ } 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) {
@@ -245,7 +254,7 @@ void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform
}
void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
- ShapeWrapper &shp = shapes.write[p_index];
+ ShapeWrapper &shp = shapes[p_index];
shp.shape->remove_owner(this);
p_shape->add_owner(this);
shp.shape = p_shape;
@@ -307,7 +316,7 @@ 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.write[p_index].set_transform(p_transform);
+ shapes[p_index].set_transform(p_transform);
shape_changed(p_index);
}
@@ -325,7 +334,7 @@ void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled
if (shapes[p_index].active != p_disabled) {
return;
}
- shapes.write[p_index].active = !p_disabled;
+ shapes[p_index].active = !p_disabled;
shape_changed(p_index);
}
@@ -333,16 +342,16 @@ bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
return !shapes[p_index].active;
}
-void RigidCollisionObjectBullet::prepare_object_for_dispatch() {
+void RigidCollisionObjectBullet::pre_process() {
if (need_shape_reload) {
do_reload_shapes();
need_shape_reload = false;
}
- CollisionObjectBullet::prepare_object_for_dispatch();
+ CollisionObjectBullet::pre_process();
}
void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
- ShapeWrapper &shp = shapes.write[p_shape_index];
+ ShapeWrapper &shp = shapes[p_shape_index];
if (shp.bt_shape == mainShape) {
mainShape = nullptr;
}
@@ -363,12 +372,11 @@ void RigidCollisionObjectBullet::do_reload_shapes() {
mainShape = nullptr;
const int shape_count = shapes.size();
- ShapeWrapper *shapes_ptr = shapes.ptrw();
// Reset all shapes if required
if (force_shape_reset) {
for (int i(0); i < shape_count; ++i) {
- shapes_ptr[i].release_bt_shape();
+ shapes[i].release_bt_shape();
}
force_shape_reset = false;
}
@@ -377,10 +385,10 @@ void RigidCollisionObjectBullet::do_reload_shapes() {
if (1 == shape_count) {
// Is it possible to optimize by not using compound?
- btTransform transform = shapes_ptr[0].get_adjusted_transform();
+ btTransform transform = shapes[0].get_adjusted_transform();
if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
- shapes_ptr[0].claim_bt_shape(body_scale);
- mainShape = shapes_ptr[0].bt_shape;
+ shapes[0].claim_bt_shape(body_scale);
+ mainShape = shapes[0].bt_shape;
main_shape_changed();
// Nothing more to do
return;
@@ -391,10 +399,10 @@ void RigidCollisionObjectBullet::do_reload_shapes() {
btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
for (int i(0); i < shape_count; ++i) {
- shapes_ptr[i].claim_bt_shape(body_scale);
- btTransform scaled_shape_transform(shapes_ptr[i].get_adjusted_transform());
+ shapes[i].claim_bt_shape(body_scale);
+ btTransform scaled_shape_transform(shapes[i].get_adjusted_transform());
scaled_shape_transform.getOrigin() *= body_scale;
- compoundShape->addChildShape(scaled_shape_transform, shapes_ptr[i].bt_shape);
+ compoundShape->addChildShape(scaled_shape_transform, shapes[i].bt_shape);
}
compoundShape->recalculateLocalAabb();
@@ -408,7 +416,7 @@ void RigidCollisionObjectBullet::body_scale_changed() {
}
void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {
- ShapeWrapper &shp = shapes.write[p_index];
+ ShapeWrapper &shp = shapes[p_index];
shp.shape->remove_owner(this, p_permanentlyFromThisBody);
if (shp.bt_shape == mainShape) {
mainShape = nullptr;
diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h
index ac74661f24..920d80af23 100644
--- a/modules/bullet/collision_object_bullet.h
+++ b/modules/bullet/collision_object_bullet.h
@@ -31,6 +31,7 @@
#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"
@@ -126,16 +127,18 @@ protected:
VSet<RID> exceptions;
- bool need_body_reload = true;
+ 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
- Vector<AreaBullet *> areasOverlapped;
+ LocalVector<AreaBullet *> areasOverlapped;
bool isTransformChanged = false;
public:
bool is_in_world = false;
+ bool is_in_flush_queue = false;
public:
CollisionObjectBullet(Type p_type);
@@ -171,7 +174,7 @@ public:
_FORCE_INLINE_ void set_collision_layer(uint32_t p_layer) {
if (collisionLayer != p_layer) {
collisionLayer = p_layer;
- on_collision_filters_change();
+ needs_collision_filters_reload = true;
}
}
_FORCE_INLINE_ uint32_t get_collision_layer() const { return collisionLayer; }
@@ -179,24 +182,23 @@ public:
_FORCE_INLINE_ void set_collision_mask(uint32_t p_mask) {
if (collisionMask != p_mask) {
collisionMask = p_mask;
- on_collision_filters_change();
+ needs_collision_filters_reload = true;
}
}
_FORCE_INLINE_ uint32_t get_collision_mask() const { return collisionMask; }
- virtual void on_collision_filters_change() = 0;
+ virtual void do_reload_collision_filters() = 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 need_body_reload;
+ return needs_body_reload;
}
- void reload_body() {
- need_body_reload = true;
- }
+ void reload_body();
+
virtual void do_reload_body() = 0;
virtual void set_space(SpaceBullet *p_space) = 0;
_FORCE_INLINE_ SpaceBullet *get_space() const { return space; }
@@ -204,8 +206,8 @@ public:
virtual void on_collision_checker_start() = 0;
virtual void on_collision_checker_end() = 0;
- virtual void prepare_object_for_dispatch();
- virtual void dispatch_callbacks() = 0;
+ virtual void dispatch_callbacks();
+ virtual void pre_process();
void set_collision_enabled(bool p_enabled);
bool is_collisions_response_enabled();
@@ -229,7 +231,7 @@ public:
class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet {
protected:
btCollisionShape *mainShape = nullptr;
- Vector<ShapeWrapper> shapes;
+ LocalVector<ShapeWrapper> shapes;
bool need_shape_reload = true;
public:
@@ -237,7 +239,7 @@ public:
CollisionObjectBullet(p_type) {}
~RigidCollisionObjectBullet();
- _FORCE_INLINE_ const Vector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; }
+ _FORCE_INLINE_ const LocalVector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; }
_FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; }
@@ -248,9 +250,9 @@ public:
ShapeBullet *get_shape(int p_index) const;
btCollisionShape *get_bt_shape(int p_index) const;
- int find_shape(ShapeBullet *p_shape) const;
+ virtual int find_shape(ShapeBullet *p_shape) const override;
- virtual void remove_shape_full(ShapeBullet *p_shape);
+ virtual void remove_shape_full(ShapeBullet *p_shape) override;
void remove_shape_full(int p_index);
void remove_all_shapes(bool p_permanentlyFromThisBody = false, bool p_force_not_reload = false);
@@ -262,15 +264,15 @@ public:
void set_shape_disabled(int p_index, bool p_disabled);
bool is_shape_disabled(int p_index);
- virtual void prepare_object_for_dispatch();
+ virtual void pre_process() override;
- virtual void shape_changed(int p_shape_index);
- void reload_shapes();
+ 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 main_shape_changed() = 0;
- virtual void body_scale_changed();
+ virtual void body_scale_changed() override;
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 717c99c738..5c1144b875 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -51,9 +51,7 @@
BulletPhysicsDirectBodyState3D *BulletPhysicsDirectBodyState3D::singleton = nullptr;
Vector3 BulletPhysicsDirectBodyState3D::get_total_gravity() const {
- Vector3 gVec;
- B_TO_G(body->btBody->getGravity(), gVec);
- return gVec;
+ return body->total_gravity;
}
float BulletPhysicsDirectBodyState3D::get_total_angular_damp() const {
@@ -183,7 +181,7 @@ 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.write[p_contact_idx];
+ RigidBodyBullet::CollisionData &colDat = body->collisions[p_contact_idx];
btVector3 hitLocation;
G_TO_B(colDat.hitLocalLocation, hitLocation);
@@ -213,7 +211,7 @@ void RigidBodyBullet::KinematicUtilities::setSafeMargin(btScalar p_margin) {
}
void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
- const Vector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers());
+ const LocalVector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers());
const int shapes_count = shapes_wrappers.size();
just_delete_shapes(shapes_count);
@@ -228,8 +226,8 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
continue;
}
- shapes.write[i].transform = shape_wrapper->transform;
- shapes.write[i].transform.getOrigin() *= owner_scale;
+ shapes[i].transform = shape_wrapper->transform;
+ shapes[i].transform.getOrigin() *= owner_scale;
switch (shape_wrapper->shape->get_type()) {
case PhysicsServer3D::SHAPE_SPHERE:
case PhysicsServer3D::SHAPE_BOX:
@@ -237,11 +235,11 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
case PhysicsServer3D::SHAPE_CYLINDER:
case PhysicsServer3D::SHAPE_CONVEX_POLYGON:
case PhysicsServer3D::SHAPE_RAY: {
- shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
+ shapes[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
} break;
default:
WARN_PRINT("This shape is not supported for kinematic collision.");
- shapes.write[i].shape = nullptr;
+ shapes[i].shape = nullptr;
}
}
}
@@ -249,7 +247,7 @@ 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.write[i].shape);
+ bulletdelete(shapes[i].shape);
}
}
shapes.resize(new_size);
@@ -271,8 +269,8 @@ RigidBodyBullet::RigidBodyBullet() :
reload_axis_lock();
areasWhereIam.resize(maxAreasWhereIam);
- for (int i = areasWhereIam.size() - 1; 0 <= i; --i) {
- areasWhereIam.write[i] = nullptr;
+ for (uint32_t i = 0; i < areasWhereIam.size(); i += 1) {
+ areasWhereIam[i] = nullptr;
}
btBody->setSleepingThresholds(0.2, 0.2);
@@ -335,16 +333,15 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
if (space) {
space->register_collision_object(this);
reload_body();
+ space->add_to_flush_queue(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;
@@ -362,16 +359,22 @@ void RigidBodyBullet::dispatch_callbacks() {
}
}
+ previousActiveState = btBody->isActive();
+}
+
+void RigidBodyBullet::pre_process() {
+ RigidCollisionObjectBullet::pre_process();
+
if (isScratchedSpaceOverrideModificator || 0 < countGravityPointSpaces) {
isScratchedSpaceOverrideModificator = false;
reload_space_override_modificator();
}
- /// Lock axis
- btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor());
- btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor());
-
- previousActiveState = btBody->isActive();
+ if (is_active()) {
+ /// Lock axis
+ btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor());
+ btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor());
+ }
}
void RigidBodyBullet::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) {
@@ -392,7 +395,7 @@ void RigidBodyBullet::scratch_space_override_modificator() {
isScratchedSpaceOverrideModificator = true;
}
-void RigidBodyBullet::on_collision_filters_change() {
+void RigidBodyBullet::do_reload_collision_filters() {
if (space) {
space->reload_collision_filters(this);
}
@@ -405,14 +408,15 @@ void RigidBodyBullet::on_collision_checker_start() {
collisionsCount = 0;
// Swap array
- Vector<RigidBodyBullet *> *s = prev_collision_traces;
- prev_collision_traces = curr_collision_traces;
- curr_collision_traces = s;
+ SWAP(prev_collision_traces, curr_collision_traces);
}
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) {
@@ -420,7 +424,7 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
return false;
}
- CollisionData &cd = collisions.write[collisionsCount];
+ CollisionData &cd = collisions[collisionsCount];
cd.hitLocalLocation = p_hitLocalLocation;
cd.otherObject = p_otherObject;
cd.hitWorldLocation = p_hitWorldLocation;
@@ -429,7 +433,7 @@ 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->write[collisionsCount] = p_otherObject;
+ (*curr_collision_traces)[collisionsCount] = p_otherObject;
++collisionsCount;
return true;
@@ -464,6 +468,7 @@ 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) {
@@ -839,15 +844,15 @@ 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.write[i] = p_area;
+ areasWhereIam[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 = i; j < areaWhereIamCount; ++j) {
- areasWhereIam.write[j + 1] = areasWhereIam[j];
+ areasWhereIam[j + 1] = areasWhereIam[j];
}
- areasWhereIam.write[i] = p_area;
+ areasWhereIam[i] = p_area;
break;
}
}
@@ -871,7 +876,7 @@ 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.write[j] = areasWhereIam[j + 1];
+ areasWhereIam[j] = areasWhereIam[j + 1];
}
wasTheAreaFound = true;
break;
@@ -884,7 +889,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
}
--areaWhereIamCount;
- areasWhereIam.write[areaWhereIamCount] = nullptr; // Even if this is not required, I clear the last element to be safe
+ areasWhereIam[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();
}
@@ -897,36 +902,31 @@ void RigidBodyBullet::reload_space_override_modificator() {
return;
}
- Vector3 newGravity(0.0, 0.0, 0.0);
+ Vector3 newGravity;
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 = areaWhereIamCount - 1; (0 <= i) && !stopped; --i) {
- currentArea = areasWhereIam[i];
+ for (int i = 0; i < areaWhereIamCount && !stopped; i += 1) {
+ AreaBullet *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();
- real_t distanceMag = support_gravity.length();
+
+ const real_t distanceMag = support_gravity.length();
// Normalized in this way to avoid the double call of function "length()"
if (distanceMag == 0) {
- support_gravity.x = 0;
- support_gravity.y = 0;
- support_gravity.z = 0;
+ support_gravity = Vector3();
} else {
- support_gravity.x /= distanceMag;
- support_gravity.y /= distanceMag;
- support_gravity.z /= distanceMag;
+ support_gravity /= distanceMag;
}
/// Here is calculated the final gravity
@@ -988,10 +988,17 @@ void RigidBodyBullet::reload_space_override_modificator() {
newAngularDamp += space->get_angular_damp();
}
- btVector3 newBtGravity;
- G_TO_B(newGravity * gravity_scale, newBtGravity);
+ 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);
+ }
- btBody->setGravity(newBtGravity);
btBody->setDamping(newLinearDamp, newAngularDamp);
}
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index eb62d0d39e..047645677b 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;
- Vector<KinematicShape> shapes;
+ LocalVector<KinematicShape> shapes;
KinematicUtilities(RigidBodyBullet *p_owner);
~KinematicUtilities();
@@ -193,6 +193,7 @@ 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;
@@ -202,18 +203,18 @@ private:
bool omit_forces_integration = false;
bool can_integrate_forces = false;
- Vector<CollisionData> collisions;
- Vector<RigidBodyBullet *> collision_traces_1;
- Vector<RigidBodyBullet *> collision_traces_2;
- Vector<RigidBodyBullet *> *prev_collision_traces;
- Vector<RigidBodyBullet *> *curr_collision_traces;
+ LocalVector<CollisionData> collisions;
+ LocalVector<RigidBodyBullet *> collision_traces_1;
+ LocalVector<RigidBodyBullet *> collision_traces_2;
+ LocalVector<RigidBodyBullet *> *prev_collision_traces;
+ LocalVector<RigidBodyBullet *> *curr_collision_traces;
// these parameters are used to avoid vector resize
- int maxCollisionsDetection = 0;
- int collisionsCount = 0;
- int prev_collision_count = 0;
+ uint32_t maxCollisionsDetection = 0;
+ uint32_t collisionsCount = 0;
+ uint32_t prev_collision_count = 0;
- Vector<AreaBullet *> areasWhereIam;
+ LocalVector<AreaBullet *> areasWhereIam;
// these parameters are used to avoid vector resize
int maxAreasWhereIam = 10;
int areaWhereIamCount = 0;
@@ -235,21 +236,20 @@ public:
_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
- virtual void main_shape_changed();
- virtual void do_reload_body();
- virtual void set_space(SpaceBullet *p_space);
+ virtual void main_shape_changed() override;
+ virtual void do_reload_body() override;
+ virtual void set_space(SpaceBullet *p_space) override;
- virtual void dispatch_callbacks();
+ virtual void dispatch_callbacks() override;
+ virtual void pre_process() override;
void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
void scratch_space_override_modificator();
- 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);
+ virtual void do_reload_collision_filters() override;
+ virtual void on_collision_checker_start() override;
+ virtual void on_collision_checker_end() override;
+ 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);
- virtual const btTransform &get_transform__bullet() const;
+ virtual void set_transform__bullet(const btTransform &p_global_transform) override;
+ virtual const btTransform &get_transform__bullet() const override;
- virtual void do_reload_shapes();
+ virtual void do_reload_shapes() override;
- virtual void on_enter_area(AreaBullet *p_area);
- virtual void on_exit_area(AreaBullet *p_area);
+ virtual void on_enter_area(AreaBullet *p_area) override;
+ virtual void on_exit_area(AreaBullet *p_area) override;
void reload_space_override_modificator();
/// Kinematic
void reload_kinematic_shapes();
- virtual void notify_transform_changed();
+ virtual void notify_transform_changed() override;
private:
void _internal_set_mass(real_t p_mass);
diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp
index 3fccd3d8a2..ee48b3c5f0 100644
--- a/modules/bullet/soft_body_bullet.cpp
+++ b/modules/bullet/soft_body_bullet.cpp
@@ -346,14 +346,14 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
indices_table.push_back(Vector<int>());
}
- indices_table.write[vertex_id].push_back(vs_vertex_index);
+ indices_table[vertex_id].push_back(vs_vertex_index);
vs_indices_to_physics_table.push_back(vertex_id);
}
}
const int indices_map_size(indices_table.size());
- Vector<btScalar> bt_vertices;
+ LocalVector<btScalar> bt_vertices;
{ // Parse vertices to bullet
@@ -361,13 +361,13 @@ 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.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;
+ 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;
}
}
- Vector<int> bt_triangles;
+ LocalVector<int> bt_triangles;
const int triangles_size(p_indices.size() / 3);
{ // Parse indices
@@ -377,9 +377,9 @@ 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.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]];
+ 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]];
}
}
diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h
index ba968f4271..229204b539 100644
--- a/modules/bullet/soft_body_bullet.h
+++ b/modules/bullet/soft_body_bullet.h
@@ -32,7 +32,6 @@
#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
@@ -58,7 +57,7 @@
class SoftBodyBullet : public CollisionObjectBullet {
private:
btSoftBody *bt_soft_body = nullptr;
- Vector<Vector<int>> indices_table;
+ LocalVector<Vector<int>> indices_table;
btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody
bool isScratched = false;
@@ -73,7 +72,7 @@ private:
real_t pose_matching_coefficient = 0.; // [0,1]
real_t damping_coefficient = 0.01; // [0,1]
real_t drag_coefficient = 0.; // [0,1]
- Vector<int> pinned_nodes;
+ LocalVector<int> pinned_nodes;
// Other property to add
//btScalar kVC; // Volume conversation coefficient [0,+inf]
@@ -87,15 +86,14 @@ public:
SoftBodyBullet();
~SoftBodyBullet();
- virtual void do_reload_body();
- virtual void set_space(SpaceBullet *p_space);
+ virtual void do_reload_body() override;
+ virtual void set_space(SpaceBullet *p_space) 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);
+ 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;
_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 70e137b16d..a26d2866c4 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -348,16 +348,46 @@ 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() {
- const int size = collision_objects.size();
- CollisionObjectBullet **objects = collision_objects.ptrw();
- for (int i = 0; i < size; i += 1) {
- objects[i]->prepare_object_for_dispatch();
- objects[i]->dispatch_callbacks();
+ 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;
+ }
+ 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);
}
@@ -488,6 +518,7 @@ void SpaceBullet::register_collision_object(CollisionObjectBullet *p_object) {
}
void SpaceBullet::unregister_collision_object(CollisionObjectBullet *p_object) {
+ remove_from_any_queue(p_object);
collision_objects.erase(p_object);
}
@@ -702,7 +733,7 @@ void SpaceBullet::check_ghost_overlaps() {
/// 1. Reset all states
for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) {
- AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects.write[i];
+ AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects[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 aa9a70594e..897f902fe1 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"
@@ -110,17 +110,23 @@ class SpaceBullet : public RIDBullet {
real_t linear_damp = 0.0;
real_t angular_damp = 0.0;
- Vector<CollisionObjectBullet *> collision_objects;
- Vector<AreaBullet *> areas;
+ LocalVector<CollisionObjectBullet *> queue_pre_flush;
+ LocalVector<CollisionObjectBullet *> queue_flush;
+ LocalVector<CollisionObjectBullet *> collision_objects;
+ LocalVector<AreaBullet *> areas;
- Vector<Vector3> contactDebug;
- int contactDebugCount = 0;
+ LocalVector<Vector3> contactDebug;
+ uint32_t 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);
@@ -177,7 +183,7 @@ public:
}
_FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) {
if (contactDebugCount < contactDebug.size()) {
- contactDebug.write[contactDebugCount++] = p_contact;
+ contactDebug[contactDebugCount++] = p_contact;
}
}
_FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; }
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-24 00:07:24 +0000