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-rw-r--r--modules/bullet/bullet_physics_server.cpp12
-rw-r--r--modules/bullet/bullet_physics_server.h3
-rw-r--r--modules/bullet/godot_result_callbacks.cpp51
-rw-r--r--modules/bullet/godot_result_callbacks.h44
-rw-r--r--modules/bullet/shape_bullet.cpp45
-rw-r--r--modules/bullet/shape_bullet.h24
-rw-r--r--modules/bullet/space_bullet.cpp26
-rw-r--r--modules/bullet/space_bullet.h12
8 files changed, 158 insertions, 59 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 0139842470..70f70e7e5f 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -163,6 +163,18 @@ Variant BulletPhysicsServer::shape_get_data(RID p_shape) const {
return shape->get_data();
}
+void BulletPhysicsServer::shape_set_margin(RID p_shape, real_t p_margin) {
+ ShapeBullet *shape = shape_owner.get(p_shape);
+ ERR_FAIL_COND(!shape);
+ shape->set_margin(p_margin);
+}
+
+real_t BulletPhysicsServer::shape_get_margin(RID p_shape) const {
+ ShapeBullet *shape = shape_owner.get(p_shape);
+ ERR_FAIL_COND_V(!shape, 0.0);
+ return shape->get_margin();
+}
+
real_t BulletPhysicsServer::shape_get_custom_solver_bias(RID p_shape) const {
//WARN_PRINT("Bias not supported by Bullet physics engine");
return 0.;
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 76716f1d1b..e9c568d605 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -99,6 +99,9 @@ public:
virtual ShapeType shape_get_type(RID p_shape) const;
virtual Variant shape_get_data(RID p_shape) const;
+ virtual void shape_set_margin(RID p_shape, real_t p_margin);
+ virtual real_t shape_get_margin(RID p_shape) const;
+
/// Not supported
virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias);
/// Not supported
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index 85178bf83c..534034d707 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -30,6 +30,7 @@
#include "godot_result_callbacks.h"
+#include "area_bullet.h"
#include "bullet_types_converter.h"
#include "collision_object_bullet.h"
#include "rigid_body_bullet.h"
@@ -51,11 +52,23 @@ bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) co
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
+
+ if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
+ if (!collide_with_areas)
+ return false;
+ } else {
+ if (!collide_with_bodies)
+ return false;
+ }
+
if (m_pickRay && !gObj->is_ray_pickable()) {
return false;
- } else if (m_exclude->has(gObj->get_self())) {
+ }
+
+ if (m_exclude->has(gObj->get_self())) {
return false;
}
+
return true;
} else {
return false;
@@ -124,6 +137,15 @@ bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0)
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
+
+ if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
+ if (!collide_with_areas)
+ return false;
+ } else {
+ if (!collide_with_bodies)
+ return false;
+ }
+
if (m_exclude->has(gObj->get_self())) {
return false;
}
@@ -144,6 +166,15 @@ bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) co
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
+
+ if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
+ if (!collide_with_areas)
+ return false;
+ } else {
+ if (!collide_with_bodies)
+ return false;
+ }
+
if (m_exclude->has(gObj->get_self())) {
return false;
}
@@ -189,6 +220,15 @@ bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *pr
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
+
+ if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
+ if (!collide_with_areas)
+ return false;
+ } else {
+ if (!collide_with_bodies)
+ return false;
+ }
+
if (m_exclude->has(gObj->get_self())) {
return false;
}
@@ -218,6 +258,15 @@ bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
+
+ if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
+ if (!collide_with_areas)
+ return false;
+ } else {
+ if (!collide_with_bodies)
+ return false;
+ }
+
if (m_exclude->has(gObj->get_self())) {
return false;
}
diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h
index 363051f24c..3948f43c00 100644
--- a/modules/bullet/godot_result_callbacks.h
+++ b/modules/bullet/godot_result_callbacks.h
@@ -56,12 +56,17 @@ struct GodotClosestRayResultCallback : public btCollisionWorld::ClosestRayResult
bool m_pickRay;
int m_shapeId;
+ bool collide_with_bodies;
+ bool collide_with_areas;
+
public:
- GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude) :
+ GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld),
m_exclude(p_exclude),
m_pickRay(false),
- m_shapeId(0) {}
+ m_shapeId(0),
+ collide_with_bodies(p_collide_with_bodies),
+ collide_with_areas(p_collide_with_areas) {}
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
@@ -108,9 +113,14 @@ public:
const Set<RID> *m_exclude;
int m_shapeId;
- GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude) :
+ bool collide_with_bodies;
+ bool collide_with_areas;
+
+ GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld),
- m_exclude(p_exclude) {}
+ m_exclude(p_exclude),
+ collide_with_bodies(p_collide_with_bodies),
+ collide_with_areas(p_collide_with_areas) {}
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
@@ -125,12 +135,17 @@ public:
int m_count;
const Set<RID> *m_exclude;
- GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude) :
+ bool collide_with_bodies;
+ bool collide_with_areas;
+
+ GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
m_self_object(p_self_object),
m_results(p_results),
m_exclude(p_exclude),
m_resultMax(p_resultMax),
- m_count(0) {}
+ m_count(0),
+ collide_with_bodies(p_collide_with_bodies),
+ collide_with_areas(p_collide_with_areas) {}
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
@@ -146,12 +161,17 @@ public:
int m_count;
const Set<RID> *m_exclude;
- GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude) :
+ bool collide_with_bodies;
+ bool collide_with_areas;
+
+ GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
m_self_object(p_self_object),
m_results(p_results),
m_exclude(p_exclude),
m_resultMax(p_resultMax),
- m_count(0) {}
+ m_count(0),
+ collide_with_bodies(p_collide_with_bodies),
+ collide_with_areas(p_collide_with_areas) {}
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
@@ -167,13 +187,17 @@ public:
const btCollisionObject *m_rest_info_collision_object;
btVector3 m_rest_info_bt_point;
const Set<RID> *m_exclude;
+ bool collide_with_bodies;
+ bool collide_with_areas;
- GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeRestInfo *p_result, const Set<RID> *p_exclude) :
+ GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeRestInfo *p_result, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
m_self_object(p_self_object),
m_result(p_result),
m_exclude(p_exclude),
m_collided(false),
- m_min_distance(0) {}
+ m_min_distance(0),
+ collide_with_bodies(p_collide_with_bodies),
+ collide_with_areas(p_collide_with_areas) {}
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index e4c1a5f9b5..fab8d0cf3d 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -44,19 +44,20 @@
@author AndreaCatania
*/
-ShapeBullet::ShapeBullet() {}
+ShapeBullet::ShapeBullet() :
+ margin(0.04) {}
ShapeBullet::~ShapeBullet() {}
-btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge) {
btVector3 s;
G_TO_B(p_implicit_scale, s);
- return create_bt_shape(s, p_margin);
+ return create_bt_shape(s, p_extra_edge);
}
btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
p_btShape->setUserPointer(const_cast<ShapeBullet *>(this));
- p_btShape->setMargin(0.);
+ p_btShape->setMargin(margin);
return p_btShape;
}
@@ -93,6 +94,15 @@ const Map<ShapeOwnerBullet *, int> &ShapeBullet::get_owners() const {
return owners;
}
+void ShapeBullet::set_margin(real_t p_margin) {
+ margin = p_margin;
+ notifyShapeChanged();
+}
+
+real_t ShapeBullet::get_margin() const {
+ return margin;
+}
+
btEmptyShape *ShapeBullet::create_shape_empty() {
return bulletnew(btEmptyShape);
}
@@ -166,7 +176,7 @@ void PlaneShapeBullet::setup(const Plane &p_plane) {
notifyShapeChanged();
}
-btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btVector3 btPlaneNormal;
G_TO_B(plane.normal, btPlaneNormal);
return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d));
@@ -194,8 +204,8 @@ void SphereShapeBullet::setup(real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
- return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_margin));
+btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+ return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_extra_edge));
}
/* Box */
@@ -221,8 +231,8 @@ void BoxShapeBullet::setup(const Vector3 &p_half_extents) {
notifyShapeChanged();
}
-btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
- return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_margin, p_margin, p_margin)));
+btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+ return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_extra_edge, p_extra_edge, p_extra_edge)));
}
/* Capsule */
@@ -254,8 +264,8 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
- return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin));
+btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+ return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1] + p_extra_edge));
}
/* Cylinder */
@@ -329,11 +339,10 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
notifyShapeChanged();
}
-btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btCollisionShape *cs(ShapeBullet::create_shape_convex(vertices));
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
- cs->setMargin(p_margin);
return cs;
}
@@ -402,14 +411,13 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) {
notifyShapeChanged();
}
-btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape);
if (!cs)
// This is necessary since if 0 faces the creation of concave return NULL
cs = ShapeBullet::create_shape_empty();
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
- cs->setMargin(p_margin);
return cs;
}
@@ -495,11 +503,10 @@ void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int
notifyShapeChanged();
}
-btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height));
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
- cs->setMargin(p_margin);
return cs;
}
@@ -533,6 +540,6 @@ void RayShapeBullet::setup(real_t p_length, bool 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, slips_on_slope));
+btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+ return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_extra_edge, slips_on_slope));
}
diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h
index 16a5ac1fc6..638e044e6a 100644
--- a/modules/bullet/shape_bullet.h
+++ b/modules/bullet/shape_bullet.h
@@ -52,6 +52,7 @@ class btBvhTriangleMeshShape;
class ShapeBullet : public RIDBullet {
Map<ShapeOwnerBullet *, int> owners;
+ real_t margin;
protected:
/// return self
@@ -62,14 +63,17 @@ public:
ShapeBullet();
virtual ~ShapeBullet();
- btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_margin = 0);
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0) = 0;
+ btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0;
void add_owner(ShapeOwnerBullet *p_owner);
void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false);
bool is_owner(ShapeOwnerBullet *p_owner) const;
const Map<ShapeOwnerBullet *, int> &get_owners() const;
+ void set_margin(real_t p_margin);
+ real_t get_margin() const;
+
/// Setup the shape
virtual void set_data(const Variant &p_data) = 0;
virtual Variant get_data() const = 0;
@@ -100,7 +104,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Plane &p_plane);
@@ -117,7 +121,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(real_t p_radius);
@@ -134,7 +138,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Vector3 &p_half_extents);
@@ -153,7 +157,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(real_t p_height, real_t p_radius);
@@ -189,7 +193,7 @@ public:
void get_vertices(Vector<Vector3> &out_vertices);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Vector<Vector3> &p_vertices);
@@ -207,7 +211,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(PoolVector<Vector3> p_faces);
@@ -227,7 +231,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
@@ -244,7 +248,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(real_t p_length, bool p_slips_on_slope);
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index e1a4e88db0..b5329bc347 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -61,7 +61,7 @@ BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_spac
PhysicsDirectSpaceState(),
space(p_space) {}
-int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
+int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0)
return 0;
@@ -69,13 +69,13 @@ int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, Shape
btVector3 bt_point;
G_TO_B(p_point, bt_point);
- btSphereShape sphere_point(0.f);
+ btSphereShape sphere_point(0.001f);
btCollisionObject collision_object_point;
collision_object_point.setCollisionShape(&sphere_point);
collision_object_point.setWorldTransform(btTransform(btQuaternion::getIdentity(), bt_point));
// Setup query
- GodotAllContactResultCallback btResult(&collision_object_point, r_results, p_result_max, &p_exclude);
+ GodotAllContactResultCallback btResult(&collision_object_point, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btResult.m_collisionFilterGroup = 0;
btResult.m_collisionFilterMask = p_collision_mask;
space->dynamicsWorld->contactTest(&collision_object_point, btResult);
@@ -84,7 +84,7 @@ int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, Shape
return btResult.m_count;
}
-bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_pick_ray) {
+bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) {
btVector3 btVec_from;
btVector3 btVec_to;
@@ -93,7 +93,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V
G_TO_B(p_to, btVec_to);
// setup query
- GodotClosestRayResultCallback btResult(btVec_from, btVec_to, &p_exclude);
+ GodotClosestRayResultCallback btResult(btVec_from, btVec_to, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btResult.m_collisionFilterGroup = 0;
btResult.m_collisionFilterMask = p_collision_mask;
btResult.m_pickRay = p_pick_ray;
@@ -117,7 +117,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V
}
}
-int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
+int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0)
return 0;
@@ -139,7 +139,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
collision_object.setCollisionShape(btConvex);
collision_object.setWorldTransform(bt_xform);
- GodotAllContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude);
+ GodotAllContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
btQuery.m_closestDistanceThreshold = 0;
@@ -150,7 +150,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
return btQuery.m_count;
}
-bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, ShapeRestInfo *r_info) {
+bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
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);
@@ -171,7 +171,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
btTransform bt_xform_to(bt_xform_from);
bt_xform_to.getOrigin() += bt_motion;
- GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude);
+ GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btResult.m_collisionFilterGroup = 0;
btResult.m_collisionFilterMask = p_collision_mask;
@@ -197,7 +197,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
}
/// Returns the list of contacts pairs in this order: Local contact, other body contact
-bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
+bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0)
return 0;
@@ -219,7 +219,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
collision_object.setCollisionShape(btConvex);
collision_object.setWorldTransform(bt_xform);
- GodotContactPairContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude);
+ GodotContactPairContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
btQuery.m_closestDistanceThreshold = 0;
@@ -231,7 +231,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
return btQuery.m_count;
}
-bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
+bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
@@ -251,7 +251,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
collision_object.setCollisionShape(btConvex);
collision_object.setWorldTransform(bt_xform);
- GodotRestInfoContactResultCallback btQuery(&collision_object, r_info, &p_exclude);
+ GodotRestInfoContactResultCallback btQuery(&collision_object, r_info, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
btQuery.m_closestDistanceThreshold = 0;
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 95814d1fef..517ec67ffa 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -73,13 +73,13 @@ private:
public:
BulletPhysicsDirectSpaceState(SpaceBullet *p_space);
- virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF);
- virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_pick_ray = false);
- virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF);
- virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, ShapeRestInfo *r_info = NULL);
+ virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
+ virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false);
+ virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
+ virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = NULL);
/// Returns the list of contacts pairs in this order: Local contact, other body contact
- virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF);
- virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF);
+ virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
+ virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const;
};
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-20 21:52:40 +0000