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-rw-r--r--modules/bullet/btRayShape.cpp5
-rw-r--r--modules/bullet/btRayShape.h4
-rw-r--r--modules/bullet/bullet_physics_server.cpp29
-rw-r--r--modules/bullet/bullet_physics_server.h4
-rw-r--r--modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml2
-rw-r--r--modules/bullet/doc_classes/BulletPhysicsServer.xml2
-rw-r--r--modules/bullet/godot_motion_state.h2
-rw-r--r--modules/bullet/godot_ray_world_algorithm.cpp8
-rw-r--r--modules/bullet/godot_result_callbacks.cpp30
-rw-r--r--modules/bullet/godot_result_callbacks.h13
-rw-r--r--modules/bullet/rigid_body_bullet.cpp16
-rw-r--r--modules/bullet/rigid_body_bullet.h6
-rw-r--r--modules/bullet/shape_bullet.cpp24
-rw-r--r--modules/bullet/shape_bullet.h5
-rw-r--r--modules/bullet/space_bullet.cpp49
-rw-r--r--modules/bullet/space_bullet.h4
16 files changed, 113 insertions, 90 deletions
diff --git a/modules/bullet/btRayShape.cpp b/modules/bullet/btRayShape.cpp
index 4164450cd2..8707096038 100644
--- a/modules/bullet/btRayShape.cpp
+++ b/modules/bullet/btRayShape.cpp
@@ -54,6 +54,11 @@ void btRayShape::setLength(btScalar p_length) {
reload_cache();
}
+void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) {
+
+ slipsOnSlope = p_slipsOnSlope;
+}
+
btVector3 btRayShape::localGetSupportingVertex(const btVector3 &vec) const {
return localGetSupportingVertexWithoutMargin(vec) + (m_shapeAxis * m_collisionMargin);
}
diff --git a/modules/bullet/btRayShape.h b/modules/bullet/btRayShape.h
index 99a9412dbe..a44c30db4b 100644
--- a/modules/bullet/btRayShape.h
+++ b/modules/bullet/btRayShape.h
@@ -44,6 +44,7 @@ ATTRIBUTE_ALIGNED16(class)
btRayShape : public btConvexInternalShape {
btScalar m_length;
+ bool slipsOnSlope;
/// The default axis is the z
btVector3 m_shapeAxis;
@@ -59,6 +60,9 @@ public:
void setLength(btScalar p_length);
btScalar getLength() const { return m_length; }
+ void setSlipsOnSlope(bool p_slipOnSlope);
+ bool getSlipsOnSlope() const { return slipsOnSlope; }
+
const btTransform &getSupportPoint() const { return m_cacheSupportPoint; }
const btScalar &getScaledLength() const { return m_cacheScaledLength; }
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index b646fc164d..4a0c7499b4 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -619,11 +619,11 @@ uint32_t BulletPhysicsServer::body_get_collision_mask(RID p_body) const {
}
void BulletPhysicsServer::body_set_user_flags(RID p_body, uint32_t p_flags) {
- WARN_PRINT("This function si not currently supported by bullet and Godot");
+ // This function si not currently supported
}
uint32_t BulletPhysicsServer::body_get_user_flags(RID p_body) const {
- WARN_PRINT("This function si not currently supported by bullet and Godot");
+ // This function si not currently supported
return 0;
}
@@ -783,22 +783,27 @@ int BulletPhysicsServer::body_get_max_contacts_reported(RID p_body) const {
return body->get_max_collisions_detection();
}
-void BulletPhysicsServer::body_set_contacts_reported_depth_threshold(RID p_body, float p_treshold) {
- WARN_PRINT("Not supported by bullet and even Godot");
+void BulletPhysicsServer::body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) {
+ // Not supported by bullet and even Godot
}
float BulletPhysicsServer::body_get_contacts_reported_depth_threshold(RID p_body) const {
- WARN_PRINT("Not supported by bullet and even Godot");
+ // Not supported by bullet and even Godot
return 0.;
}
void BulletPhysicsServer::body_set_omit_force_integration(RID p_body, bool p_omit) {
- WARN_PRINT("Not supported by bullet");
+ RigidBodyBullet *body = rigid_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_omit_forces_integration(p_omit);
}
bool BulletPhysicsServer::body_is_omitting_force_integration(RID p_body) const {
- WARN_PRINT("Not supported by bullet");
- return false;
+ RigidBodyBullet *body = rigid_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, false);
+
+ return body->get_omit_forces_integration();
}
void BulletPhysicsServer::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) {
@@ -825,12 +830,12 @@ PhysicsDirectBodyState *BulletPhysicsServer::body_get_direct_state(RID p_body) {
return BulletPhysicsDirectBodyState::get_singleton(body);
}
-bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, MotionResult *r_result) {
+bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result) {
RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
- return body->get_space()->test_body_motion(body, p_from, p_motion, r_result);
+ return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result);
}
RID BulletPhysicsServer::soft_body_create(bool p_init_sleeping) {
@@ -979,11 +984,11 @@ PhysicsServer::JointType BulletPhysicsServer::joint_get_type(RID p_joint) const
}
void BulletPhysicsServer::joint_set_solver_priority(RID p_joint, int p_priority) {
- //WARN_PRINTS("Joint priority not supported by bullet");
+ // Joint priority not supported by bullet
}
int BulletPhysicsServer::joint_get_solver_priority(RID p_joint) const {
- //WARN_PRINTS("Joint priority not supported by bullet");
+ // Joint priority not supported by bullet
return 0;
}
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 764ec2387c..e931915bba 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -239,7 +239,7 @@ public:
virtual void body_set_max_contacts_reported(RID p_body, int p_contacts);
virtual int body_get_max_contacts_reported(RID p_body) const;
- virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_treshold);
+ virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold);
virtual float body_get_contacts_reported_depth_threshold(RID p_body) const;
virtual void body_set_omit_force_integration(RID p_body, bool p_omit);
@@ -253,7 +253,7 @@ public:
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body);
- virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, MotionResult *r_result = NULL);
+ virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL);
/* SOFT BODY API */
diff --git a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
index c7909c7d72..a4dc61d0bc 100644
--- a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
+++ b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8" ?>
-<class name="BulletPhysicsDirectBodyState" inherits="PhysicsDirectBodyState" category="Core" version="3.0-stable">
+<class name="BulletPhysicsDirectBodyState" inherits="PhysicsDirectBodyState" category="Core" version="3.1">
<brief_description>
</brief_description>
<description>
diff --git a/modules/bullet/doc_classes/BulletPhysicsServer.xml b/modules/bullet/doc_classes/BulletPhysicsServer.xml
index a59abb0ebb..1486936cf4 100644
--- a/modules/bullet/doc_classes/BulletPhysicsServer.xml
+++ b/modules/bullet/doc_classes/BulletPhysicsServer.xml
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8" ?>
-<class name="BulletPhysicsServer" inherits="PhysicsServer" category="Core" version="3.0-stable">
+<class name="BulletPhysicsServer" inherits="PhysicsServer" category="Core" version="3.1">
<brief_description>
</brief_description>
<description>
diff --git a/modules/bullet/godot_motion_state.h b/modules/bullet/godot_motion_state.h
index fe5d8418b7..fa58e86589 100644
--- a/modules/bullet/godot_motion_state.h
+++ b/modules/bullet/godot_motion_state.h
@@ -87,7 +87,7 @@ public:
public:
/// Use this function to move kinematic body
- /// -- or set initial transfom before body creation.
+ /// -- or set initial transform before body creation.
void moveBody(const btTransform &newWorldTransform) {
bodyKinematicWorldTransf = newWorldTransform;
}
diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp
index 4a511b39a7..53d0ab7e3c 100644
--- a/modules/bullet/godot_ray_world_algorithm.cpp
+++ b/modules/bullet/godot_ray_world_algorithm.cpp
@@ -100,14 +100,16 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo
if (btResult.hasHit()) {
- btVector3 ray_normal(ray_transform.getOrigin() - to.getOrigin());
- ray_normal.normalize();
btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
if (depth >= -RAY_STABILITY_MARGIN)
depth = 0;
- resultOut->addContactPoint(ray_normal, btResult.m_hitPointWorld, depth);
+ if (ray_shape->getSlipsOnSlope())
+ resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth);
+ else {
+ resultOut->addContactPoint((ray_transform.getOrigin() - to.getOrigin()).normalize(), btResult.m_hitPointWorld, depth);
+ }
}
}
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index 8d4ca6d6a7..72c982bb0b 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -98,11 +98,16 @@ bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *prox
if (gObj == m_self_object) {
return false;
} else {
- if (m_ignore_areas && gObj->getType() == CollisionObjectBullet::TYPE_AREA) {
+
+ // A kinematic body can't be stopped by a rigid body since the mass of kinematic body is infinite
+ if (m_infinite_inertia && !btObj->isStaticOrKinematicObject())
return false;
- } else if (m_self_object->has_collision_exception(gObj)) {
+
+ if (gObj->getType() == CollisionObjectBullet::TYPE_AREA)
+ return false;
+
+ if (m_self_object->has_collision_exception(gObj))
return false;
- }
}
return true;
} else {
@@ -252,18 +257,15 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp
void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {
- if (depth < 0) {
- // Has penetration
- if (m_most_penetrated_distance > depth) {
+ // Has penetration
+ if (m_penetration_distance < ABS(depth)) {
- bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
+ bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
- m_most_penetrated_distance = depth;
- m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject();
- m_other_compound_shape_index = isSwapped ? m_index1 : m_index0;
- m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
- m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB;
- m_penetration_distance = depth;
- }
+ m_penetration_distance = depth;
+ m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject();
+ m_other_compound_shape_index = isSwapped ? m_index1 : m_index0;
+ m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
+ m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB;
}
}
diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h
index e1b0b1b421..60493d4788 100644
--- a/modules/bullet/godot_result_callbacks.h
+++ b/modules/bullet/godot_result_callbacks.h
@@ -93,12 +93,12 @@ public:
struct GodotKinClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
public:
const RigidBodyBullet *m_self_object;
- const bool m_ignore_areas;
+ const bool m_infinite_inertia;
- GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_ignore_areas) :
+ GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_infinite_inertia) :
btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld),
m_self_object(p_self_object),
- m_ignore_areas(p_ignore_areas) {}
+ m_infinite_inertia(p_infinite_inertia) {}
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
};
@@ -187,18 +187,15 @@ struct GodotDeepPenetrationContactResultCallback : public btManifoldResult {
int m_other_compound_shape_index;
const btCollisionObject *m_pointCollisionObject;
- btScalar m_most_penetrated_distance;
-
GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) :
btManifoldResult(body0Wrap, body1Wrap),
m_pointCollisionObject(NULL),
m_penetration_distance(0),
- m_other_compound_shape_index(0),
- m_most_penetrated_distance(1e20) {}
+ m_other_compound_shape_index(0) {}
void reset() {
m_pointCollisionObject = NULL;
- m_most_penetrated_distance = 1e20;
+ m_penetration_distance = 0;
}
bool hasHit() {
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index f96218ef46..2494063c22 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -114,10 +114,18 @@ Transform BulletPhysicsDirectBodyState::get_transform() const {
return body->get_transform();
}
+void BulletPhysicsDirectBodyState::add_central_force(const Vector3 &p_force) {
+ body->apply_central_force(p_force);
+}
+
void BulletPhysicsDirectBodyState::add_force(const Vector3 &p_force, const Vector3 &p_pos) {
body->apply_force(p_force, p_pos);
}
+void BulletPhysicsDirectBodyState::add_torque(const Vector3 &p_torque) {
+ body->apply_torque(p_torque);
+}
+
void BulletPhysicsDirectBodyState::apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
body->apply_impulse(p_pos, p_j);
}
@@ -247,6 +255,7 @@ RigidBodyBullet::RigidBodyBullet() :
linearDamp(0),
angularDamp(0),
can_sleep(true),
+ omit_forces_integration(false),
force_integration_callback(NULL),
isTransformChanged(false),
previousActiveState(true),
@@ -326,6 +335,9 @@ void RigidBodyBullet::dispatch_callbacks() {
/// The check isTransformChanged is necessary in order to call integrated forces only when the first transform is sent
if ((btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && isTransformChanged) {
+ if (omit_forces_integration)
+ btBody->clearForces();
+
BulletPhysicsDirectBodyState *bodyDirect = BulletPhysicsDirectBodyState::get_singleton(this);
Variant variantBodyDirect = bodyDirect;
@@ -429,6 +441,10 @@ bool RigidBodyBullet::is_active() const {
return btBody->isActive();
}
+void RigidBodyBullet::set_omit_forces_integration(bool p_omit) {
+ omit_forces_integration = p_omit;
+}
+
void RigidBodyBullet::set_param(PhysicsServer::BodyParameter p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer::BODY_PARAM_BOUNCE:
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index c4a9676bdd..b9511243c7 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -110,7 +110,9 @@ public:
virtual void set_transform(const Transform &p_transform);
virtual Transform get_transform() const;
+ virtual void add_central_force(const Vector3 &p_force);
virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos);
+ virtual void add_torque(const Vector3 &p_torque);
virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j);
virtual void apply_torque_impulse(const Vector3 &p_j);
@@ -196,6 +198,7 @@ private:
real_t linearDamp;
real_t angularDamp;
bool can_sleep;
+ bool omit_forces_integration;
Vector<CollisionData> collisions;
// these parameters are used to avoid vector resize
@@ -252,6 +255,9 @@ public:
void set_activation_state(bool p_active);
bool is_active() const;
+ void set_omit_forces_integration(bool p_omit);
+ _FORCE_INLINE_ bool get_omit_forces_integration() const { return omit_forces_integration; }
+
void set_param(PhysicsServer::BodyParameter p_param, real_t);
real_t get_param(PhysicsServer::BodyParameter p_param) const;
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index c6b9695d96..5d8d391bd9 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -135,8 +135,10 @@ btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<rea
return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, -fieldHeight, fieldHeight, YAxis, PHY_FLOAT, flipQuadEdges));
}
-btRayShape *ShapeBullet::create_shape_ray(real_t p_length) {
- return bulletnew(btRayShape(p_length));
+btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) {
+ btRayShape *r(bulletnew(btRayShape(p_length)));
+ r->setSlipsOnSlope(p_slips_on_slope);
+ return r;
}
/* PLANE */
@@ -435,25 +437,33 @@ btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_impli
/* Ray shape */
RayShapeBullet::RayShapeBullet() :
ShapeBullet(),
- length(1) {}
+ length(1),
+ slips_on_slope(false) {}
void RayShapeBullet::set_data(const Variant &p_data) {
- setup(p_data);
+
+ Dictionary d = p_data;
+ setup(d["length"], d["slips_on_slope"]);
}
Variant RayShapeBullet::get_data() const {
- return length;
+
+ Dictionary d;
+ d["length"] = length;
+ d["slips_on_slope"] = slips_on_slope;
+ return d;
}
PhysicsServer::ShapeType RayShapeBullet::get_type() const {
return PhysicsServer::SHAPE_RAY;
}
-void RayShapeBullet::setup(real_t p_length) {
+void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) {
length = p_length;
+ slips_on_slope = p_slips_on_slope;
notifyShapeChanged();
}
btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
- return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin));
+ return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin, slips_on_slope));
}
diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h
index e04a3c808a..2acba90e36 100644
--- a/modules/bullet/shape_bullet.h
+++ b/modules/bullet/shape_bullet.h
@@ -86,7 +86,7 @@ public:
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 btRayShape *create_shape_ray(real_t p_length);
+ static class btRayShape *create_shape_ray(real_t p_length, bool p_slips_on_slope);
};
class PlaneShapeBullet : public ShapeBullet {
@@ -216,6 +216,7 @@ class RayShapeBullet : public ShapeBullet {
public:
real_t length;
+ bool slips_on_slope;
RayShapeBullet();
@@ -225,6 +226,6 @@ public:
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
private:
- void setup(real_t p_length);
+ void setup(real_t p_length, bool p_slips_on_slope);
};
#endif
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 88d9c20eba..8c15758e0f 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -628,7 +628,7 @@ void SpaceBullet::destroy_world() {
void SpaceBullet::check_ghost_overlaps() {
- /// Algorith support variables
+ /// Algorithm support variables
btConvexShape *other_body_shape;
btConvexShape *area_shape;
btGjkPairDetector::ClosestPointInput gjk_input;
@@ -790,7 +790,7 @@ void SpaceBullet::update_gravity() {
/// I'm leaving this here just for future tests.
/// Debug motion and normal vector drawing
#define debug_test_motion 0
-#define PERFORM_INITIAL_UNSTACK 0
+
#define RECOVERING_MOVEMENT_SCALE 0.4
#define RECOVERING_MOVEMENT_CYCLES 4
@@ -804,8 +804,7 @@ static Ref<SpatialMaterial> red_mat;
static Ref<SpatialMaterial> blue_mat;
#endif
-#define IGNORE_AREAS_TRUE true
-bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, PhysicsServer::MotionResult *r_result) {
+bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result) {
#if debug_test_motion
/// Yes I know this is not good, but I've used it as fast debugging hack.
@@ -839,25 +838,14 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
#endif
- ///// Release all generated manifolds
- //{
- // if(p_body->get_kinematic_utilities()){
- // for(int i= p_body->get_kinematic_utilities()->m_generatedManifold.size()-1; 0<=i; --i){
- // dispatcher->releaseManifold( p_body->get_kinematic_utilities()->m_generatedManifold[i] );
- // }
- // p_body->get_kinematic_utilities()->m_generatedManifold.clear();
- // }
- //}
-
btTransform body_safe_position;
G_TO_B(p_from, body_safe_position);
UNSCALE_BT_BASIS(body_safe_position);
-#if PERFORM_INITIAL_UNSTACK
btVector3 recover_initial_position(0, 0, 0);
{ /// Phase one - multi shapes depenetration using margin
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
- if (!recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, recover_initial_position)) {
+ if (!recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, recover_initial_position)) {
break;
}
}
@@ -865,7 +853,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
// Add recover movement in order to make it safe
body_safe_position.getOrigin() += recover_initial_position;
}
-#endif
btVector3 motion;
G_TO_B(p_motion, motion);
@@ -900,11 +887,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
btTransform shape_world_to(shape_world_from);
shape_world_to.getOrigin() += motion;
- GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, IGNORE_AREAS_TRUE);
+ GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, p_infinite_inertia);
btResult.m_collisionFilterGroup = p_body->get_collision_layer();
btResult.m_collisionFilterMask = p_body->get_collision_mask();
- dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, 0.002);
+ dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
if (btResult.hasHit()) {
/// Since for each sweep test I fix the motion of new shapes in base the recover result,
@@ -926,14 +913,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
real_t l_penetration_distance = 1e20;
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
- l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, delta_recover_movement, &r_recover_result);
+ l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, delta_recover_movement, &r_recover_result);
if (r_result) {
-#if PERFORM_INITIAL_UNSTACK
B_TO_G(motion + delta_recover_movement + recover_initial_position, r_result->motion);
-#else
- B_TO_G(motion + delta_recover_movement, r_result->motion);
-#endif
+
if (l_has_penetration) {
has_penetration = true;
if (l_penetration_distance <= r_recover_result.penetration_distance) {
@@ -955,15 +939,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
r_result->collider_shape = r_recover_result.other_compound_shape_index;
r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
- //{ /// Add manifold point to manage collisions
- // btPersistentManifold* manifold = dynamicsWorld->getDispatcher()->getNewManifold(p_body->getBtBody(), btRigid);
- // btManifoldPoint manifoldPoint(result_callabck.m_pointWorld, result_callabck.m_pointWorld, result_callabck.m_pointNormalWorld, result_callabck.m_penetration_distance);
- // manifoldPoint.m_index0 = r_result->collision_local_shape;
- // manifoldPoint.m_index1 = r_result->collider_shape;
- // manifold->addManifoldPoint(manifoldPoint);
- // p_body->get_kinematic_utilities()->m_generatedManifold.push_back(manifold);
- //}
-
#if debug_test_motion
Vector3 sup_line2;
B_TO_G(motion, sup_line2);
@@ -1022,7 +997,7 @@ public:
}
};
-bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
+bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
@@ -1053,7 +1028,7 @@ 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()))
+ if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()) || (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()))
continue;
if (otherObject->getCollisionShape()->isCompound()) {
@@ -1132,7 +1107,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, tA, -1, p_shapeId_A);
btCollisionObjectWrapper obB(NULL, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);
- btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CLOSEST_POINT_ALGORITHMS);
+ btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS);
if (algorithm) {
GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB);
//discrete collision detection query
@@ -1142,7 +1117,7 @@ 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 * -1 * p_recover_movement_scale);
+ r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * p_recover_movement_scale);
if (r_recover_result) {
if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 2b97f0b274..a6c2786878 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -172,7 +172,7 @@ public:
void update_gravity();
- bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, PhysicsServer::MotionResult *r_result);
+ bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result);
private:
void create_empty_world(bool p_create_soft_world);
@@ -199,7 +199,7 @@ private:
local_shape_most_recovered(0) {}
};
- bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
+ bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
/// This is an API that recover a kinematic object from penetration
/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-29 16:53:42 +0000