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-rw-r--r--modules/bullet/SCsub11
-rw-r--r--modules/bullet/area_bullet.cpp180
-rw-r--r--modules/bullet/area_bullet.h59
-rw-r--r--modules/bullet/bullet_physics_server.cpp383
-rw-r--r--modules/bullet/bullet_physics_server.h6
-rw-r--r--modules/bullet/collision_object_bullet.cpp17
-rw-r--r--modules/bullet/collision_object_bullet.h6
-rw-r--r--modules/bullet/godot_result_callbacks.cpp48
-rw-r--r--modules/bullet/godot_result_callbacks.h6
-rw-r--r--modules/bullet/rigid_body_bullet.cpp14
-rw-r--r--modules/bullet/shape_bullet.cpp4
-rw-r--r--modules/bullet/soft_body_bullet.cpp70
-rw-r--r--modules/bullet/soft_body_bullet.h8
-rw-r--r--modules/bullet/space_bullet.cpp164
14 files changed, 504 insertions, 472 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub
index ba57de303e..09509abc44 100644
--- a/modules/bullet/SCsub
+++ b/modules/bullet/SCsub
@@ -10,7 +10,7 @@ env_bullet = env_modules.Clone()
thirdparty_obj = []
if env["builtin_bullet"]:
- # Build only version 2 for now (as of 2.89)
+ # Build only "Bullet2" API (not "Bullet3" folders).
# Sync file list with relevant upstream CMakeLists.txt for each folder.
if env["float"] == "64":
env.Append(CPPDEFINES=["BT_USE_DOUBLE_PRECISION=1"])
@@ -189,6 +189,7 @@ if env["builtin_bullet"]:
"LinearMath/btGeometryUtil.cpp",
"LinearMath/btPolarDecomposition.cpp",
"LinearMath/btQuickprof.cpp",
+ "LinearMath/btReducedVector.cpp",
"LinearMath/btSerializer.cpp",
"LinearMath/btSerializer64.cpp",
"LinearMath/btThreads.cpp",
@@ -200,15 +201,11 @@ if env["builtin_bullet"]:
thirdparty_sources = [thirdparty_dir + file for file in bullet2_src]
- # Treat Bullet headers as system headers to avoid raising warnings. Not supported on MSVC.
- if not env.msvc:
- env_bullet.Append(CPPFLAGS=["-isystem", Dir(thirdparty_dir).path])
- else:
- env_bullet.Prepend(CPPPATH=[thirdparty_dir])
+ env_bullet.Prepend(CPPPATH=[thirdparty_dir])
if env["target"] == "debug" or env["target"] == "release_debug":
env_bullet.Append(CPPDEFINES=["DEBUG"])
- env_bullet.Append(CPPDEFINES=["BT_USE_OLD_DAMPING_METHOD"])
+ env_bullet.Append(CPPDEFINES=["BT_USE_OLD_DAMPING_METHOD", "BT_THREADSAFE"])
env_thirdparty = env_bullet.Clone()
env_thirdparty.disable_warnings()
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp
index c3bd84c329..10a71d65df 100644
--- a/modules/bullet/area_bullet.cpp
+++ b/modules/bullet/area_bullet.cpp
@@ -59,8 +59,8 @@ AreaBullet::AreaBullet() :
AreaBullet::~AreaBullet() {
// signal are handled by godot, so just clear without notify
- for (int i = overlappingObjects.size() - 1; 0 <= i; --i) {
- overlappingObjects[i].object->on_exit_area(this);
+ for (int i = 0; i < overlapping_shapes.size(); i++) {
+ overlapping_shapes[i].other_object->on_exit_area(this);
}
}
@@ -70,89 +70,140 @@ void AreaBullet::dispatch_callbacks() {
}
isScratched = false;
- // Reverse order because I've to remove EXIT objects
- for (int i = overlappingObjects.size() - 1; 0 <= i; --i) {
- OverlappingObjectData &otherObj = overlappingObjects.write[i];
+ // Reverse order so items can be removed.
+ for (int i = overlapping_shapes.size() - 1; i >= 0; i--) {
+ OverlappingShapeData &overlapping_shape = overlapping_shapes.write[i];
- switch (otherObj.state) {
+ switch (overlapping_shape.state) {
case OVERLAP_STATE_ENTER:
- otherObj.state = OVERLAP_STATE_INSIDE;
- call_event(otherObj.object, PhysicsServer3D::AREA_BODY_ADDED);
- otherObj.object->on_enter_area(this);
+ overlapping_shape.state = OVERLAP_STATE_INSIDE;
+ call_event(overlapping_shape, PhysicsServer3D::AREA_BODY_ADDED);
+ if (_overlapping_shape_count(overlapping_shape.other_object) == 1) {
+ // This object's first shape being added.
+ overlapping_shape.other_object->on_enter_area(this);
+ }
break;
case OVERLAP_STATE_EXIT:
- call_event(otherObj.object, PhysicsServer3D::AREA_BODY_REMOVED);
- otherObj.object->on_exit_area(this);
- overlappingObjects.remove(i); // Remove after callback
+ call_event(overlapping_shape, PhysicsServer3D::AREA_BODY_REMOVED);
+ if (_overlapping_shape_count(overlapping_shape.other_object) == 1) {
+ // This object's last shape being removed.
+ overlapping_shape.other_object->on_exit_area(this);
+ }
+ overlapping_shapes.remove_at(i); // Remove after callback
break;
+ case OVERLAP_STATE_INSIDE: {
+ if (overlapping_shape.other_object->getType() == TYPE_RIGID_BODY) {
+ RigidBodyBullet *body = static_cast<RigidBodyBullet *>(overlapping_shape.other_object);
+ body->scratch_space_override_modificator();
+ }
+ break;
+ }
case OVERLAP_STATE_DIRTY:
- case OVERLAP_STATE_INSIDE:
break;
}
}
}
-void AreaBullet::call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3D::AreaBodyStatus p_status) {
- InOutEventCallback &event = eventsCallbacks[static_cast<int>(p_otherObject->getType())];
- Object *areaGodoObject = ObjectDB::get_instance(event.event_callback_id);
+void AreaBullet::call_event(const OverlappingShapeData &p_overlapping_shape, PhysicsServer3D::AreaBodyStatus p_status) {
+ InOutEventCallback &event = eventsCallbacks[static_cast<int>(p_overlapping_shape.other_object->getType())];
- if (!areaGodoObject) {
- event.event_callback_id = ObjectID();
+ if (!event.event_callback.is_valid()) {
+ event.event_callback = Callable();
return;
}
call_event_res[0] = p_status;
- call_event_res[1] = p_otherObject->get_self(); // Other body
- call_event_res[2] = p_otherObject->get_instance_id(); // instance ID
- call_event_res[3] = 0; // other_body_shape ID
- call_event_res[4] = 0; // self_shape ID
+ call_event_res[1] = p_overlapping_shape.other_object->get_self(); // RID
+ call_event_res[2] = p_overlapping_shape.other_object->get_instance_id(); // Object ID
+ call_event_res[3] = p_overlapping_shape.other_shape_id; // Other object's shape ID
+ call_event_res[4] = p_overlapping_shape.our_shape_id; // This area's shape ID
Callable::CallError outResp;
- areaGodoObject->call(event.event_callback_method, (const Variant **)call_event_res_ptr, 5, outResp);
+ Variant ret;
+ event.event_callback.call((const Variant **)call_event_res, 5, ret, outResp);
}
-void AreaBullet::scratch() {
- if (isScratched) {
- return;
+int AreaBullet::_overlapping_shape_count(CollisionObjectBullet *p_other_object) {
+ int count = 0;
+ for (int i = 0; i < overlapping_shapes.size(); i++) {
+ if (overlapping_shapes[i].other_object == p_other_object) {
+ count++;
+ }
}
- isScratched = true;
+ return count;
}
-void AreaBullet::clear_overlaps(bool p_notify) {
- for (int i = overlappingObjects.size() - 1; 0 <= i; --i) {
- if (p_notify) {
- call_event(overlappingObjects[i].object, PhysicsServer3D::AREA_BODY_REMOVED);
+int AreaBullet::_find_overlapping_shape(CollisionObjectBullet *p_other_object, uint32_t p_other_shape_id, uint32_t p_our_shape_id) {
+ for (int i = 0; i < overlapping_shapes.size(); i++) {
+ const OverlappingShapeData &overlapping_shape = overlapping_shapes[i];
+ if (overlapping_shape.other_object == p_other_object && overlapping_shape.other_shape_id == p_other_shape_id && overlapping_shape.our_shape_id == p_our_shape_id) {
+ return i;
}
- overlappingObjects[i].object->on_exit_area(this);
}
- overlappingObjects.clear();
+ return -1;
}
-void AreaBullet::remove_overlap(CollisionObjectBullet *p_object, bool p_notify) {
- for (int i = overlappingObjects.size() - 1; 0 <= i; --i) {
- if (overlappingObjects[i].object == p_object) {
- if (p_notify) {
- call_event(overlappingObjects[i].object, PhysicsServer3D::AREA_BODY_REMOVED);
- }
- overlappingObjects[i].object->on_exit_area(this);
- overlappingObjects.remove(i);
- break;
+void AreaBullet::mark_all_overlaps_dirty() {
+ OverlappingShapeData *overlapping_shapes_w = overlapping_shapes.ptrw();
+ for (int i = 0; i < overlapping_shapes.size(); i++) {
+ // Don't overwrite OVERLAP_STATE_ENTER state.
+ if (overlapping_shapes_w[i].state != OVERLAP_STATE_ENTER) {
+ overlapping_shapes_w[i].state = OVERLAP_STATE_DIRTY;
}
}
}
-int AreaBullet::find_overlapping_object(CollisionObjectBullet *p_colObj) {
- const int size = overlappingObjects.size();
- for (int i = 0; i < size; ++i) {
- if (overlappingObjects[i].object == p_colObj) {
- return i;
+void AreaBullet::mark_object_overlaps_inside(CollisionObjectBullet *p_other_object) {
+ OverlappingShapeData *overlapping_shapes_w = overlapping_shapes.ptrw();
+ for (int i = 0; i < overlapping_shapes.size(); i++) {
+ if (overlapping_shapes_w[i].other_object == p_other_object && overlapping_shapes_w[i].state == OVERLAP_STATE_DIRTY) {
+ overlapping_shapes_w[i].state = OVERLAP_STATE_INSIDE;
}
}
- return -1;
+}
+
+void AreaBullet::set_overlap(CollisionObjectBullet *p_other_object, uint32_t p_other_shape_id, uint32_t p_our_shape_id) {
+ int i = _find_overlapping_shape(p_other_object, p_other_shape_id, p_our_shape_id);
+ if (i == -1) { // Not found, create new one.
+ OverlappingShapeData overlapping_shape(p_other_object, OVERLAP_STATE_ENTER, p_other_shape_id, p_our_shape_id);
+ overlapping_shapes.push_back(overlapping_shape);
+ p_other_object->notify_new_overlap(this);
+ isScratched = true;
+ } else {
+ overlapping_shapes.ptrw()[i].state = OVERLAP_STATE_INSIDE;
+ }
+}
+
+void AreaBullet::mark_all_dirty_overlaps_as_exit() {
+ OverlappingShapeData *overlapping_shapes_w = overlapping_shapes.ptrw();
+ for (int i = 0; i < overlapping_shapes.size(); i++) {
+ if (overlapping_shapes[i].state == OVERLAP_STATE_DIRTY) {
+ overlapping_shapes_w[i].state = OVERLAP_STATE_EXIT;
+ isScratched = true;
+ }
+ }
+}
+
+void AreaBullet::remove_object_overlaps(CollisionObjectBullet *p_object) {
+ // Reverse order so items can be removed.
+ for (int i = overlapping_shapes.size() - 1; i >= 0; i--) {
+ if (overlapping_shapes[i].other_object == p_object) {
+ overlapping_shapes.remove_at(i);
+ }
+ }
+}
+
+void AreaBullet::clear_overlaps() {
+ for (int i = 0; i < overlapping_shapes.size(); i++) {
+ call_event(overlapping_shapes[i], PhysicsServer3D::AREA_BODY_REMOVED);
+ overlapping_shapes[i].other_object->on_exit_area(this);
+ }
+ overlapping_shapes.clear();
}
void AreaBullet::set_monitorable(bool p_monitorable) {
monitorable = p_monitorable;
+ updated = true;
}
bool AreaBullet::is_monitoring() const {
@@ -162,6 +213,7 @@ bool AreaBullet::is_monitoring() const {
void AreaBullet::main_shape_changed() {
CRASH_COND(!get_main_shape());
btGhost->setCollisionShape(get_main_shape());
+ updated = true;
}
void AreaBullet::reload_body() {
@@ -174,7 +226,7 @@ void AreaBullet::reload_body() {
void AreaBullet::set_space(SpaceBullet *p_space) {
// Clear the old space if there is one
if (space) {
- clear_overlaps(false);
+ clear_overlaps();
isScratched = false;
// Remove this object form the physics world
@@ -192,24 +244,7 @@ void AreaBullet::on_collision_filters_change() {
if (space) {
space->reload_collision_filters(this);
}
-}
-
-void AreaBullet::add_overlap(CollisionObjectBullet *p_otherObject) {
- scratch();
- overlappingObjects.push_back(OverlappingObjectData(p_otherObject, OVERLAP_STATE_ENTER));
- p_otherObject->notify_new_overlap(this);
-}
-
-void AreaBullet::put_overlap_as_exit(int p_index) {
- scratch();
- overlappingObjects.write[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;
- }
+ updated = true;
}
void AreaBullet::set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value) {
@@ -241,6 +276,7 @@ void AreaBullet::set_param(PhysicsServer3D::AreaParameter p_param, const Variant
default:
WARN_PRINT("Area doesn't support this parameter in the Bullet backend: " + itos(p_param));
}
+ isScratched = true;
}
Variant AreaBullet::get_param(PhysicsServer3D::AreaParameter p_param) const {
@@ -267,21 +303,21 @@ Variant AreaBullet::get_param(PhysicsServer3D::AreaParameter p_param) const {
}
}
-void AreaBullet::set_event_callback(Type p_callbackObjectType, ObjectID p_id, const StringName &p_method) {
+void AreaBullet::set_event_callback(Type p_callbackObjectType, const Callable &p_callback) {
InOutEventCallback &ev = eventsCallbacks[static_cast<int>(p_callbackObjectType)];
- ev.event_callback_id = p_id;
- ev.event_callback_method = p_method;
+ ev.event_callback = p_callback;
/// Set if monitoring
- if (eventsCallbacks[0].event_callback_id.is_valid() || eventsCallbacks[1].event_callback_id.is_valid()) {
+ if (!eventsCallbacks[0].event_callback.is_null() || !eventsCallbacks[1].event_callback.is_null()) {
set_godot_object_flags(get_godot_object_flags() | GOF_IS_MONITORING_AREA);
} else {
set_godot_object_flags(get_godot_object_flags() & (~GOF_IS_MONITORING_AREA));
+ clear_overlaps();
}
}
bool AreaBullet::has_event_callback(Type p_callbackObjectType) {
- return eventsCallbacks[static_cast<int>(p_callbackObjectType)].event_callback_id.is_valid();
+ return !eventsCallbacks[static_cast<int>(p_callbackObjectType)].event_callback.is_null();
}
void AreaBullet::on_enter_area(AreaBullet *p_area) {
diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h
index 7cf666c119..3bff364cc1 100644
--- a/modules/bullet/area_bullet.h
+++ b/modules/bullet/area_bullet.h
@@ -43,12 +43,9 @@
class btGhostObject;
class AreaBullet : public RigidCollisionObjectBullet {
- friend void SpaceBullet::check_ghost_overlaps();
-
public:
struct InOutEventCallback {
- ObjectID event_callback_id;
- StringName event_callback_method;
+ Callable event_callback;
InOutEventCallback() {}
};
@@ -60,21 +57,19 @@ public:
OVERLAP_STATE_EXIT // Mark ended overlaps
};
- struct OverlappingObjectData {
- CollisionObjectBullet *object = nullptr;
- OverlapState state = OVERLAP_STATE_ENTER;
-
- OverlappingObjectData() {}
- OverlappingObjectData(CollisionObjectBullet *p_object, OverlapState p_state) :
- object(p_object),
- state(p_state) {}
- OverlappingObjectData(const OverlappingObjectData &other) {
- operator=(other);
- }
- void operator=(const OverlappingObjectData &other) {
- object = other.object;
- state = other.state;
- }
+ struct OverlappingShapeData {
+ CollisionObjectBullet *other_object = nullptr;
+ OverlapState state = OVERLAP_STATE_DIRTY;
+ uint32_t other_shape_id = 0;
+ uint32_t our_shape_id = 0;
+
+ OverlappingShapeData() {}
+
+ OverlappingShapeData(CollisionObjectBullet *p_other_object, OverlapState p_state, uint32_t p_other_shape_id, uint32_t p_our_shape_id) :
+ other_object(p_other_object),
+ state(p_state),
+ other_shape_id(p_other_shape_id),
+ our_shape_id(p_our_shape_id) {}
};
private:
@@ -83,7 +78,9 @@ private:
Variant *call_event_res_ptr[5] = {};
btGhostObject *btGhost = nullptr;
- Vector<OverlappingObjectData> overlappingObjects;
+ Vector<OverlappingShapeData> overlapping_shapes;
+ int _overlapping_shape_count(CollisionObjectBullet *p_other_object);
+ int _find_overlapping_shape(CollisionObjectBullet *p_other_object, uint32_t p_other_shape_id, uint32_t p_our_shape_id);
bool monitorable = true;
PhysicsServer3D::AreaSpaceOverrideMode spOv_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED;
@@ -105,7 +102,6 @@ public:
~AreaBullet();
_FORCE_INLINE_ btGhostObject *get_bt_ghost() const { return btGhost; }
- int find_overlapping_object(CollisionObjectBullet *p_colObj);
void set_monitorable(bool p_monitorable);
_FORCE_INLINE_ bool is_monitorable() const { return monitorable; }
@@ -144,26 +140,23 @@ public:
virtual void set_space(SpaceBullet *p_space);
virtual void dispatch_callbacks();
- 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();
-
- void clear_overlaps(bool p_notify);
- // Dispatch the callbacks and removes from overlapping list
- void remove_overlap(CollisionObjectBullet *p_object, bool p_notify);
+ void call_event(const OverlappingShapeData &p_overlapping_shape, PhysicsServer3D::AreaBodyStatus p_status);
virtual void on_collision_filters_change();
virtual void on_collision_checker_start() {}
- virtual void on_collision_checker_end() { isTransformChanged = false; }
+ virtual void on_collision_checker_end() { updated = false; }
- void add_overlap(CollisionObjectBullet *p_otherObject);
- void put_overlap_as_exit(int p_index);
- void put_overlap_as_inside(int p_index);
+ void mark_all_overlaps_dirty();
+ void mark_object_overlaps_inside(CollisionObjectBullet *p_other_object);
+ void set_overlap(CollisionObjectBullet *p_other_object, uint32_t p_other_shape_id, uint32_t p_our_shape_id);
+ void mark_all_dirty_overlaps_as_exit();
+ void remove_object_overlaps(CollisionObjectBullet *p_object);
+ void clear_overlaps();
void set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value);
Variant get_param(PhysicsServer3D::AreaParameter p_param) const;
- void set_event_callback(Type p_callbackObjectType, ObjectID p_id, const StringName &p_method);
+ void set_event_callback(Type p_callbackObjectType, const Callable &p_callback);
bool has_event_callback(Type p_callbackObjectType);
virtual void on_enter_area(AreaBullet *p_area);
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index ed05e51e53..684a20cf4d 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -124,7 +124,7 @@ RID BulletPhysicsServer3D::shape_create(ShapeType p_shape) {
}
void BulletPhysicsServer3D::shape_set_data(RID p_shape, const Variant &p_data) {
- ShapeBullet *shape = shape_owner.getornull(p_shape);
+ ShapeBullet *shape = shape_owner.get_or_null(p_shape);
ERR_FAIL_COND(!shape);
shape->set_data(p_data);
}
@@ -134,25 +134,25 @@ void BulletPhysicsServer3D::shape_set_custom_solver_bias(RID p_shape, real_t p_b
}
PhysicsServer3D::ShapeType BulletPhysicsServer3D::shape_get_type(RID p_shape) const {
- ShapeBullet *shape = shape_owner.getornull(p_shape);
+ ShapeBullet *shape = shape_owner.get_or_null(p_shape);
ERR_FAIL_COND_V(!shape, PhysicsServer3D::SHAPE_CUSTOM);
return shape->get_type();
}
Variant BulletPhysicsServer3D::shape_get_data(RID p_shape) const {
- ShapeBullet *shape = shape_owner.getornull(p_shape);
+ ShapeBullet *shape = shape_owner.get_or_null(p_shape);
ERR_FAIL_COND_V(!shape, Variant());
return shape->get_data();
}
void BulletPhysicsServer3D::shape_set_margin(RID p_shape, real_t p_margin) {
- ShapeBullet *shape = shape_owner.getornull(p_shape);
+ ShapeBullet *shape = shape_owner.get_or_null(p_shape);
ERR_FAIL_COND(!shape);
shape->set_margin(p_margin);
}
real_t BulletPhysicsServer3D::shape_get_margin(RID p_shape) const {
- ShapeBullet *shape = shape_owner.getornull(p_shape);
+ ShapeBullet *shape = shape_owner.get_or_null(p_shape);
ERR_FAIL_COND_V(!shape, 0.0);
return shape->get_margin();
}
@@ -168,7 +168,7 @@ RID BulletPhysicsServer3D::space_create() {
}
void BulletPhysicsServer3D::space_set_active(RID p_space, bool p_active) {
- SpaceBullet *space = space_owner.getornull(p_space);
+ SpaceBullet *space = space_owner.get_or_null(p_space);
ERR_FAIL_COND(!space);
if (space_is_active(p_space) == p_active) {
@@ -185,47 +185,47 @@ void BulletPhysicsServer3D::space_set_active(RID p_space, bool p_active) {
}
bool BulletPhysicsServer3D::space_is_active(RID p_space) const {
- SpaceBullet *space = space_owner.getornull(p_space);
+ SpaceBullet *space = space_owner.get_or_null(p_space);
ERR_FAIL_COND_V(!space, false);
return -1 != active_spaces.find(space);
}
void BulletPhysicsServer3D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
- SpaceBullet *space = space_owner.getornull(p_space);
+ SpaceBullet *space = space_owner.get_or_null(p_space);
ERR_FAIL_COND(!space);
space->set_param(p_param, p_value);
}
real_t BulletPhysicsServer3D::space_get_param(RID p_space, SpaceParameter p_param) const {
- SpaceBullet *space = space_owner.getornull(p_space);
+ SpaceBullet *space = space_owner.get_or_null(p_space);
ERR_FAIL_COND_V(!space, 0);
return space->get_param(p_param);
}
PhysicsDirectSpaceState3D *BulletPhysicsServer3D::space_get_direct_state(RID p_space) {
- SpaceBullet *space = space_owner.getornull(p_space);
+ SpaceBullet *space = space_owner.get_or_null(p_space);
ERR_FAIL_COND_V(!space, nullptr);
return space->get_direct_state();
}
void BulletPhysicsServer3D::space_set_debug_contacts(RID p_space, int p_max_contacts) {
- SpaceBullet *space = space_owner.getornull(p_space);
+ SpaceBullet *space = space_owner.get_or_null(p_space);
ERR_FAIL_COND(!space);
space->set_debug_contacts(p_max_contacts);
}
Vector<Vector3> BulletPhysicsServer3D::space_get_contacts(RID p_space) const {
- SpaceBullet *space = space_owner.getornull(p_space);
+ SpaceBullet *space = space_owner.get_or_null(p_space);
ERR_FAIL_COND_V(!space, Vector<Vector3>());
return space->get_debug_contacts();
}
int BulletPhysicsServer3D::space_get_contact_count(RID p_space) const {
- SpaceBullet *space = space_owner.getornull(p_space);
+ SpaceBullet *space = space_owner.get_or_null(p_space);
ERR_FAIL_COND_V(!space, 0);
return space->get_debug_contact_count();
@@ -239,91 +239,91 @@ RID BulletPhysicsServer3D::area_create() {
}
void BulletPhysicsServer3D::area_set_space(RID p_area, RID p_space) {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
SpaceBullet *space = nullptr;
if (p_space.is_valid()) {
- space = space_owner.getornull(p_space);
+ space = space_owner.get_or_null(p_space);
ERR_FAIL_COND(!space);
}
area->set_space(space);
}
RID BulletPhysicsServer3D::area_get_space(RID p_area) const {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
return area->get_space()->get_self();
}
void BulletPhysicsServer3D::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
area->set_spOv_mode(p_mode);
}
PhysicsServer3D::AreaSpaceOverrideMode BulletPhysicsServer3D::area_get_space_override_mode(RID p_area) const {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND_V(!area, PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED);
return area->get_spOv_mode();
}
void BulletPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
- ShapeBullet *shape = shape_owner.getornull(p_shape);
+ ShapeBullet *shape = shape_owner.get_or_null(p_shape);
ERR_FAIL_COND(!shape);
area->add_shape(shape, p_transform, p_disabled);
}
void BulletPhysicsServer3D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
- ShapeBullet *shape = shape_owner.getornull(p_shape);
+ ShapeBullet *shape = shape_owner.get_or_null(p_shape);
ERR_FAIL_COND(!shape);
area->set_shape(p_shape_idx, shape);
}
void BulletPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
area->set_shape_transform(p_shape_idx, p_transform);
}
int BulletPhysicsServer3D::area_get_shape_count(RID p_area) const {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND_V(!area, 0);
return area->get_shape_count();
}
RID BulletPhysicsServer3D::area_get_shape(RID p_area, int p_shape_idx) const {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND_V(!area, RID());
return area->get_shape(p_shape_idx)->get_self();
}
Transform3D BulletPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND_V(!area, Transform3D());
return area->get_shape_transform(p_shape_idx);
}
void BulletPhysicsServer3D::area_remove_shape(RID p_area, int p_shape_idx) {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
return area->remove_shape_full(p_shape_idx);
}
void BulletPhysicsServer3D::area_clear_shapes(RID p_area) {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
for (int i = area->get_shape_count(); 0 < i; --i) {
@@ -332,7 +332,7 @@ void BulletPhysicsServer3D::area_clear_shapes(RID p_area) {
}
void BulletPhysicsServer3D::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
area->set_shape_disabled(p_shape_idx, p_disabled);
@@ -342,7 +342,7 @@ void BulletPhysicsServer3D::area_attach_object_instance_id(RID p_area, ObjectID
if (space_owner.owns(p_area)) {
return;
}
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
area->set_instance_id(p_id);
}
@@ -351,19 +351,19 @@ ObjectID BulletPhysicsServer3D::area_get_object_instance_id(RID p_area) const {
if (space_owner.owns(p_area)) {
return ObjectID();
}
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND_V(!area, ObjectID());
return area->get_instance_id();
}
void BulletPhysicsServer3D::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
if (space_owner.owns(p_area)) {
- SpaceBullet *space = space_owner.getornull(p_area);
+ SpaceBullet *space = space_owner.get_or_null(p_area);
if (space) {
space->set_param(p_param, p_value);
}
} else {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
area->set_param(p_param, p_value);
@@ -372,10 +372,10 @@ void BulletPhysicsServer3D::area_set_param(RID p_area, AreaParameter p_param, co
Variant BulletPhysicsServer3D::area_get_param(RID p_area, AreaParameter p_param) const {
if (space_owner.owns(p_area)) {
- SpaceBullet *space = space_owner.getornull(p_area);
+ SpaceBullet *space = space_owner.get_or_null(p_area);
return space->get_param(p_param);
} else {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND_V(!area, Variant());
return area->get_param(p_param);
@@ -383,52 +383,52 @@ Variant BulletPhysicsServer3D::area_get_param(RID p_area, AreaParameter p_param)
}
void BulletPhysicsServer3D::area_set_transform(RID p_area, const Transform3D &p_transform) {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
area->set_transform(p_transform);
}
Transform3D BulletPhysicsServer3D::area_get_transform(RID p_area) const {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND_V(!area, Transform3D());
return area->get_transform();
}
void BulletPhysicsServer3D::area_set_collision_mask(RID p_area, uint32_t p_mask) {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
area->set_collision_mask(p_mask);
}
void BulletPhysicsServer3D::area_set_collision_layer(RID p_area, uint32_t p_layer) {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
area->set_collision_layer(p_layer);
}
void BulletPhysicsServer3D::area_set_monitorable(RID p_area, bool p_monitorable) {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
area->set_monitorable(p_monitorable);
}
-void BulletPhysicsServer3D::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
- AreaBullet *area = area_owner.getornull(p_area);
+void BulletPhysicsServer3D::area_set_monitor_callback(RID p_area, const Callable &p_callback) {
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
- area->set_event_callback(CollisionObjectBullet::TYPE_RIGID_BODY, p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method);
+ area->set_event_callback(CollisionObjectBullet::TYPE_RIGID_BODY, p_callback.is_valid() ? p_callback : Callable());
}
-void BulletPhysicsServer3D::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
- AreaBullet *area = area_owner.getornull(p_area);
+void BulletPhysicsServer3D::area_set_area_monitor_callback(RID p_area, const Callable &p_callback) {
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
- area->set_event_callback(CollisionObjectBullet::TYPE_AREA, p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method);
+ area->set_event_callback(CollisionObjectBullet::TYPE_AREA, p_callback.is_valid() ? p_callback : Callable());
}
void BulletPhysicsServer3D::area_set_ray_pickable(RID p_area, bool p_enable) {
- AreaBullet *area = area_owner.getornull(p_area);
+ AreaBullet *area = area_owner.get_or_null(p_area);
ERR_FAIL_COND(!area);
area->set_ray_pickable(p_enable);
}
@@ -445,12 +445,12 @@ RID BulletPhysicsServer3D::body_create(BodyMode p_mode, bool p_init_sleeping) {
}
void BulletPhysicsServer3D::body_set_space(RID p_body, RID p_space) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
SpaceBullet *space = nullptr;
if (p_space.is_valid()) {
- space = space_owner.getornull(p_space);
+ space = space_owner.get_or_null(p_space);
ERR_FAIL_COND(!space);
}
@@ -462,7 +462,7 @@ void BulletPhysicsServer3D::body_set_space(RID p_body, RID p_space) {
}
RID BulletPhysicsServer3D::body_get_space(RID p_body) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, RID());
SpaceBullet *space = body->get_space();
@@ -473,52 +473,52 @@ RID BulletPhysicsServer3D::body_get_space(RID p_body) const {
}
void BulletPhysicsServer3D::body_set_mode(RID p_body, PhysicsServer3D::BodyMode p_mode) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_mode(p_mode);
}
PhysicsServer3D::BodyMode BulletPhysicsServer3D::body_get_mode(RID p_body) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
return body->get_mode();
}
void BulletPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
- ShapeBullet *shape = shape_owner.getornull(p_shape);
+ ShapeBullet *shape = shape_owner.get_or_null(p_shape);
ERR_FAIL_COND(!shape);
body->add_shape(shape, p_transform, p_disabled);
}
void BulletPhysicsServer3D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
- ShapeBullet *shape = shape_owner.getornull(p_shape);
+ ShapeBullet *shape = shape_owner.get_or_null(p_shape);
ERR_FAIL_COND(!shape);
body->set_shape(p_shape_idx, shape);
}
void BulletPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_shape_transform(p_shape_idx, p_transform);
}
int BulletPhysicsServer3D::body_get_shape_count(RID p_body) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_shape_count();
}
RID BulletPhysicsServer3D::body_get_shape(RID p_body, int p_shape_idx) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, RID());
ShapeBullet *shape = body->get_shape(p_shape_idx);
@@ -528,27 +528,27 @@ RID BulletPhysicsServer3D::body_get_shape(RID p_body, int p_shape_idx) const {
}
Transform3D BulletPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, Transform3D());
return body->get_shape_transform(p_shape_idx);
}
void BulletPhysicsServer3D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_shape_disabled(p_shape_idx, p_disabled);
}
void BulletPhysicsServer3D::body_remove_shape(RID p_body, int p_shape_idx) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->remove_shape_full(p_shape_idx);
}
void BulletPhysicsServer3D::body_clear_shapes(RID p_body) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->remove_all_shapes();
@@ -569,42 +569,42 @@ ObjectID BulletPhysicsServer3D::body_get_object_instance_id(RID p_body) const {
}
void BulletPhysicsServer3D::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_continuous_collision_detection(p_enable);
}
bool BulletPhysicsServer3D::body_is_continuous_collision_detection_enabled(RID p_body) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, false);
return body->is_continuous_collision_detection_enabled();
}
void BulletPhysicsServer3D::body_set_collision_layer(RID p_body, uint32_t p_layer) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_collision_layer(p_layer);
}
uint32_t BulletPhysicsServer3D::body_get_collision_layer(RID p_body) const {
- const RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ const RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_collision_layer();
}
void BulletPhysicsServer3D::body_set_collision_mask(RID p_body, uint32_t p_mask) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_collision_mask(p_mask);
}
uint32_t BulletPhysicsServer3D::body_get_collision_mask(RID p_body) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_collision_mask();
@@ -620,21 +620,21 @@ uint32_t BulletPhysicsServer3D::body_get_user_flags(RID p_body) const {
}
void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_param(p_param, p_value);
}
real_t BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_param(p_param);
}
void BulletPhysicsServer3D::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
if (body->get_kinematic_utilities()) {
@@ -643,7 +643,7 @@ void BulletPhysicsServer3D::body_set_kinematic_safe_margin(RID p_body, real_t p_
}
real_t BulletPhysicsServer3D::body_get_kinematic_safe_margin(RID p_body) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
if (body->get_kinematic_utilities()) {
@@ -654,90 +654,90 @@ real_t BulletPhysicsServer3D::body_get_kinematic_safe_margin(RID p_body) const {
}
void BulletPhysicsServer3D::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_state(p_state, p_variant);
}
Variant BulletPhysicsServer3D::body_get_state(RID p_body, BodyState p_state) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, Variant());
return body->get_state(p_state);
}
void BulletPhysicsServer3D::body_set_applied_force(RID p_body, const Vector3 &p_force) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_applied_force(p_force);
}
Vector3 BulletPhysicsServer3D::body_get_applied_force(RID p_body) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, Vector3());
return body->get_applied_force();
}
void BulletPhysicsServer3D::body_set_applied_torque(RID p_body, const Vector3 &p_torque) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_applied_torque(p_torque);
}
Vector3 BulletPhysicsServer3D::body_get_applied_torque(RID p_body) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, Vector3());
return body->get_applied_torque();
}
void BulletPhysicsServer3D::body_add_central_force(RID p_body, const Vector3 &p_force) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->apply_central_force(p_force);
}
void BulletPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->apply_force(p_force, p_position);
}
void BulletPhysicsServer3D::body_add_torque(RID p_body, const Vector3 &p_torque) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->apply_torque(p_torque);
}
void BulletPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->apply_central_impulse(p_impulse);
}
void BulletPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->apply_impulse(p_impulse, p_position);
}
void BulletPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->apply_torque_impulse(p_impulse);
}
void BulletPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
Vector3 v = body->get_linear_velocity();
@@ -748,39 +748,39 @@ void BulletPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_
}
void BulletPhysicsServer3D::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_axis_lock(p_axis, p_lock);
}
bool BulletPhysicsServer3D::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
- const RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ const RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->is_axis_locked(p_axis);
}
void BulletPhysicsServer3D::body_add_collision_exception(RID p_body, RID p_body_b) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
- RigidBodyBullet *other_body = rigid_body_owner.getornull(p_body_b);
+ RigidBodyBullet *other_body = rigid_body_owner.get_or_null(p_body_b);
ERR_FAIL_COND(!other_body);
body->add_collision_exception(other_body);
}
void BulletPhysicsServer3D::body_remove_collision_exception(RID p_body, RID p_body_b) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
- RigidBodyBullet *other_body = rigid_body_owner.getornull(p_body_b);
+ RigidBodyBullet *other_body = rigid_body_owner.get_or_null(p_body_b);
ERR_FAIL_COND(!other_body);
body->remove_collision_exception(other_body);
}
void BulletPhysicsServer3D::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
for (int i = 0; i < body->get_exceptions().size(); i++) {
p_exceptions->push_back(body->get_exceptions()[i]);
@@ -788,14 +788,14 @@ void BulletPhysicsServer3D::body_get_collision_exceptions(RID p_body, List<RID>
}
void BulletPhysicsServer3D::body_set_max_contacts_reported(RID p_body, int p_contacts) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_max_collisions_detection(p_contacts);
}
int BulletPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_max_collisions_detection();
@@ -811,39 +811,48 @@ real_t BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_b
}
void BulletPhysicsServer3D::body_set_omit_force_integration(RID p_body, bool p_omit) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_omit_forces_integration(p_omit);
}
bool BulletPhysicsServer3D::body_is_omitting_force_integration(RID p_body) const {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, false);
return body->get_omit_forces_integration();
}
void BulletPhysicsServer3D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_force_integration_callback(p_callable, p_udata);
}
void BulletPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_ray_pickable(p_enable);
}
PhysicsDirectBodyState3D *BulletPhysicsServer3D::body_get_direct_state(RID p_body) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ if (!rigid_body_owner.owns(p_body)) {
+ return nullptr;
+ }
+
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, nullptr);
+
+ if (!body->get_space()) {
+ return nullptr;
+ }
+
return BulletPhysicsDirectBodyState3D::get_singleton(body);
}
bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
@@ -851,7 +860,7 @@ bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform3D &p_fr
}
int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
ERR_FAIL_COND_V(!body->get_space(), 0);
@@ -869,19 +878,19 @@ RID BulletPhysicsServer3D::soft_body_create(bool p_init_sleeping) {
}
void BulletPhysicsServer3D::soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->update_rendering_server(p_rendering_server_handler);
}
void BulletPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
SpaceBullet *space = nullptr;
if (p_space.is_valid()) {
- space = space_owner.getornull(p_space);
+ space = space_owner.get_or_null(p_space);
ERR_FAIL_COND(!space);
}
@@ -893,7 +902,7 @@ void BulletPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) {
}
RID BulletPhysicsServer3D::soft_body_get_space(RID p_body) const {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, RID());
SpaceBullet *space = body->get_space();
@@ -903,8 +912,8 @@ RID BulletPhysicsServer3D::soft_body_get_space(RID p_body) const {
return space->get_self();
}
-void BulletPhysicsServer3D::soft_body_set_mesh(RID p_body, const REF &p_mesh) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+void BulletPhysicsServer3D::soft_body_set_mesh(RID p_body, RID p_mesh) {
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_soft_mesh(p_mesh);
@@ -918,40 +927,40 @@ AABB BulletPhysicsServer::soft_body_get_bounds(RID p_body) const {
}
void BulletPhysicsServer3D::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_collision_layer(p_layer);
}
uint32_t BulletPhysicsServer3D::soft_body_get_collision_layer(RID p_body) const {
- const SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ const SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_collision_layer();
}
void BulletPhysicsServer3D::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_collision_mask(p_mask);
}
uint32_t BulletPhysicsServer3D::soft_body_get_collision_mask(RID p_body) const {
- const SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ const SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_collision_mask();
}
void BulletPhysicsServer3D::soft_body_add_collision_exception(RID p_body, RID p_body_b) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
- CollisionObjectBullet *other_body = rigid_body_owner.getornull(p_body_b);
+ CollisionObjectBullet *other_body = rigid_body_owner.get_or_null(p_body_b);
if (!other_body) {
- other_body = soft_body_owner.getornull(p_body_b);
+ other_body = soft_body_owner.get_or_null(p_body_b);
}
ERR_FAIL_COND(!other_body);
@@ -959,12 +968,12 @@ void BulletPhysicsServer3D::soft_body_add_collision_exception(RID p_body, RID p_
}
void BulletPhysicsServer3D::soft_body_remove_collision_exception(RID p_body, RID p_body_b) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
- CollisionObjectBullet *other_body = rigid_body_owner.getornull(p_body_b);
+ CollisionObjectBullet *other_body = rigid_body_owner.get_or_null(p_body_b);
if (!other_body) {
- other_body = soft_body_owner.getornull(p_body_b);
+ other_body = soft_body_owner.get_or_null(p_body_b);
}
ERR_FAIL_COND(!other_body);
@@ -972,7 +981,7 @@ void BulletPhysicsServer3D::soft_body_remove_collision_exception(RID p_body, RID
}
void BulletPhysicsServer3D::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
for (int i = 0; i < body->get_exceptions().size(); i++) {
p_exceptions->push_back(body->get_exceptions()[i]);
@@ -991,98 +1000,98 @@ Variant BulletPhysicsServer3D::soft_body_get_state(RID p_body, BodyState p_state
}
void BulletPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform3D &p_transform) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_soft_transform(p_transform);
}
void BulletPhysicsServer3D::soft_body_set_ray_pickable(RID p_body, bool p_enable) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_ray_pickable(p_enable);
}
void BulletPhysicsServer3D::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_simulation_precision(p_simulation_precision);
}
int BulletPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) const {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_simulation_precision();
}
void BulletPhysicsServer3D::soft_body_set_total_mass(RID p_body, real_t p_total_mass) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_total_mass(p_total_mass);
}
real_t BulletPhysicsServer3D::soft_body_get_total_mass(RID p_body) const {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_total_mass();
}
void BulletPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) const {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_linear_stiffness(p_stiffness);
}
real_t BulletPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_linear_stiffness();
}
void BulletPhysicsServer3D::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_pressure_coefficient(p_pressure_coefficient);
}
real_t BulletPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) const {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_pressure_coefficient();
}
void BulletPhysicsServer3D::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_damping_coefficient(p_damping_coefficient);
}
real_t BulletPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) const {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_damping_coefficient();
}
void BulletPhysicsServer3D::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_drag_coefficient(p_drag_coefficient);
}
real_t BulletPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) const {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_drag_coefficient();
}
void BulletPhysicsServer3D::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_node_position(p_point_index, p_global_position);
}
Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) const {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, Vector3(0., 0., 0.));
Vector3 pos;
body->get_node_position(p_point_index, pos);
@@ -1090,25 +1099,25 @@ Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, i
}
void BulletPhysicsServer3D::soft_body_remove_all_pinned_points(RID p_body) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->reset_all_node_mass();
}
void BulletPhysicsServer3D::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_node_mass(p_point_index, p_pin ? 0 : 1);
}
bool BulletPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) const {
- SoftBodyBullet *body = soft_body_owner.getornull(p_body);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_node_mass(p_point_index);
}
PhysicsServer3D::JointType BulletPhysicsServer3D::joint_get_type(RID p_joint) const {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND_V(!joint, JOINT_PIN);
return joint->get_type();
}
@@ -1123,28 +1132,28 @@ int BulletPhysicsServer3D::joint_get_solver_priority(RID p_joint) const {
}
void BulletPhysicsServer3D::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND(!joint);
joint->disable_collisions_between_bodies(p_disable);
}
bool BulletPhysicsServer3D::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
- JointBullet *joint(joint_owner.getornull(p_joint));
+ JointBullet *joint(joint_owner.get_or_null(p_joint));
ERR_FAIL_COND_V(!joint, false);
return joint->is_disabled_collisions_between_bodies();
}
RID BulletPhysicsServer3D::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) {
- RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A);
+ RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
ERR_FAIL_COND_V(!body_A, RID());
JointAssertSpace(body_A, "A", RID());
RigidBodyBullet *body_B = nullptr;
if (p_body_B.is_valid()) {
- body_B = rigid_body_owner.getornull(p_body_B);
+ body_B = rigid_body_owner.get_or_null(p_body_B);
JointAssertSpace(body_B, "B", RID());
JointAssertSameSpace(body_A, body_B, RID());
}
@@ -1158,7 +1167,7 @@ RID BulletPhysicsServer3D::joint_create_pin(RID p_body_A, const Vector3 &p_local
}
void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
@@ -1166,7 +1175,7 @@ void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_par
}
real_t BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND_V(!joint, 0);
ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0);
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
@@ -1174,7 +1183,7 @@ real_t BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_p
}
void BulletPhysicsServer3D::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
@@ -1182,7 +1191,7 @@ void BulletPhysicsServer3D::pin_joint_set_local_a(RID p_joint, const Vector3 &p_
}
Vector3 BulletPhysicsServer3D::pin_joint_get_local_a(RID p_joint) const {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND_V(!joint, Vector3());
ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3());
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
@@ -1190,7 +1199,7 @@ Vector3 BulletPhysicsServer3D::pin_joint_get_local_a(RID p_joint) const {
}
void BulletPhysicsServer3D::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
@@ -1198,7 +1207,7 @@ void BulletPhysicsServer3D::pin_joint_set_local_b(RID p_joint, const Vector3 &p_
}
Vector3 BulletPhysicsServer3D::pin_joint_get_local_b(RID p_joint) const {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND_V(!joint, Vector3());
ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3());
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
@@ -1206,13 +1215,13 @@ Vector3 BulletPhysicsServer3D::pin_joint_get_local_b(RID p_joint) const {
}
RID BulletPhysicsServer3D::joint_create_hinge(RID p_body_A, const Transform3D &p_hinge_A, RID p_body_B, const Transform3D &p_hinge_B) {
- RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A);
+ RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
ERR_FAIL_COND_V(!body_A, RID());
JointAssertSpace(body_A, "A", RID());
RigidBodyBullet *body_B = nullptr;
if (p_body_B.is_valid()) {
- body_B = rigid_body_owner.getornull(p_body_B);
+ body_B = rigid_body_owner.get_or_null(p_body_B);
JointAssertSpace(body_B, "B", RID());
JointAssertSameSpace(body_A, body_B, RID());
}
@@ -1226,13 +1235,13 @@ RID BulletPhysicsServer3D::joint_create_hinge(RID p_body_A, const Transform3D &p
}
RID BulletPhysicsServer3D::joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) {
- RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A);
+ RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
ERR_FAIL_COND_V(!body_A, RID());
JointAssertSpace(body_A, "A", RID());
RigidBodyBullet *body_B = nullptr;
if (p_body_B.is_valid()) {
- body_B = rigid_body_owner.getornull(p_body_B);
+ body_B = rigid_body_owner.get_or_null(p_body_B);
JointAssertSpace(body_B, "B", RID());
JointAssertSameSpace(body_A, body_B, RID());
}
@@ -1246,7 +1255,7 @@ RID BulletPhysicsServer3D::joint_create_hinge_simple(RID p_body_A, const Vector3
}
void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_HINGE);
HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
@@ -1254,7 +1263,7 @@ void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p
}
real_t BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND_V(!joint, 0);
ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0);
HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
@@ -1262,7 +1271,7 @@ real_t BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam
}
void BulletPhysicsServer3D::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_HINGE);
HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
@@ -1270,7 +1279,7 @@ void BulletPhysicsServer3D::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_f
}
bool BulletPhysicsServer3D::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND_V(!joint, false);
ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, false);
HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
@@ -1278,13 +1287,13 @@ bool BulletPhysicsServer3D::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_f
}
RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
- RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A);
+ RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
ERR_FAIL_COND_V(!body_A, RID());
JointAssertSpace(body_A, "A", RID());
RigidBodyBullet *body_B = nullptr;
if (p_body_B.is_valid()) {
- body_B = rigid_body_owner.getornull(p_body_B);
+ body_B = rigid_body_owner.get_or_null(p_body_B);
JointAssertSpace(body_B, "B", RID());
JointAssertSameSpace(body_A, body_B, RID());
}
@@ -1298,7 +1307,7 @@ RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform3D &
}
void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER);
SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint);
@@ -1306,7 +1315,7 @@ void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam
}
real_t BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND_V(!joint, 0);
ERR_FAIL_COND_V(joint->get_type() != JOINT_SLIDER, 0);
SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint);
@@ -1314,13 +1323,13 @@ real_t BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointPar
}
RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
- RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A);
+ RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
ERR_FAIL_COND_V(!body_A, RID());
JointAssertSpace(body_A, "A", RID());
RigidBodyBullet *body_B = nullptr;
if (p_body_B.is_valid()) {
- body_B = rigid_body_owner.getornull(p_body_B);
+ body_B = rigid_body_owner.get_or_null(p_body_B);
JointAssertSpace(body_B, "B", RID());
JointAssertSameSpace(body_A, body_B, RID());
}
@@ -1332,7 +1341,7 @@ RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform
}
void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST);
ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint);
@@ -1340,7 +1349,7 @@ void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJoi
}
real_t BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND_V(!joint, 0.);
ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0.);
ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint);
@@ -1348,13 +1357,13 @@ real_t BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJ
}
RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
- RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A);
+ RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
ERR_FAIL_COND_V(!body_A, RID());
JointAssertSpace(body_A, "A", RID());
RigidBodyBullet *body_B = nullptr;
if (p_body_B.is_valid()) {
- body_B = rigid_body_owner.getornull(p_body_B);
+ body_B = rigid_body_owner.get_or_null(p_body_B);
JointAssertSpace(body_B, "B", RID());
JointAssertSameSpace(body_A, body_B, RID());
}
@@ -1368,7 +1377,7 @@ RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transfo
}
void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
@@ -1376,7 +1385,7 @@ void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::A
}
real_t BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND_V(!joint, 0);
ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0);
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
@@ -1384,7 +1393,7 @@ real_t BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3:
}
void BulletPhysicsServer3D::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
@@ -1392,7 +1401,7 @@ void BulletPhysicsServer3D::generic_6dof_joint_set_flag(RID p_joint, Vector3::Ax
}
bool BulletPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) {
- JointBullet *joint = joint_owner.getornull(p_joint);
+ JointBullet *joint = joint_owner.get_or_null(p_joint);
ERR_FAIL_COND_V(!joint, false);
ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, false);
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
@@ -1401,17 +1410,17 @@ bool BulletPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Ax
void BulletPhysicsServer3D::free(RID p_rid) {
if (shape_owner.owns(p_rid)) {
- ShapeBullet *shape = shape_owner.getornull(p_rid);
+ ShapeBullet *shape = shape_owner.get_or_null(p_rid);
// Notify the shape is configured
- for (Map<ShapeOwnerBullet *, int>::Element *element = shape->get_owners().front(); element; element = element->next()) {
- static_cast<ShapeOwnerBullet *>(element->key())->remove_shape_full(shape);
+ for (const KeyValue<ShapeOwnerBullet *, int> &element : shape->get_owners()) {
+ static_cast<ShapeOwnerBullet *>(element.key)->remove_shape_full(shape);
}
shape_owner.free(p_rid);
bulletdelete(shape);
} else if (rigid_body_owner.owns(p_rid)) {
- RigidBodyBullet *body = rigid_body_owner.getornull(p_rid);
+ RigidBodyBullet *body = rigid_body_owner.get_or_null(p_rid);
body->set_space(nullptr);
@@ -1421,7 +1430,7 @@ void BulletPhysicsServer3D::free(RID p_rid) {
bulletdelete(body);
} else if (soft_body_owner.owns(p_rid)) {
- SoftBodyBullet *body = soft_body_owner.getornull(p_rid);
+ SoftBodyBullet *body = soft_body_owner.get_or_null(p_rid);
body->set_space(nullptr);
@@ -1429,7 +1438,7 @@ void BulletPhysicsServer3D::free(RID p_rid) {
bulletdelete(body);
} else if (area_owner.owns(p_rid)) {
- AreaBullet *area = area_owner.getornull(p_rid);
+ AreaBullet *area = area_owner.get_or_null(p_rid);
area->set_space(nullptr);
@@ -1439,13 +1448,13 @@ void BulletPhysicsServer3D::free(RID p_rid) {
bulletdelete(area);
} else if (joint_owner.owns(p_rid)) {
- JointBullet *joint = joint_owner.getornull(p_rid);
+ JointBullet *joint = joint_owner.get_or_null(p_rid);
joint->destroy_internal_constraint();
joint_owner.free(p_rid);
bulletdelete(joint);
} else if (space_owner.owns(p_rid)) {
- SpaceBullet *space = space_owner.getornull(p_rid);
+ SpaceBullet *space = space_owner.get_or_null(p_rid);
space->remove_all_collision_objects();
@@ -1493,38 +1502,38 @@ int BulletPhysicsServer3D::get_process_info(ProcessInfo p_info) {
SpaceBullet *BulletPhysicsServer3D::get_space(RID p_rid) const {
ERR_FAIL_COND_V_MSG(space_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
- return space_owner.getornull(p_rid);
+ return space_owner.get_or_null(p_rid);
}
ShapeBullet *BulletPhysicsServer3D::get_shape(RID p_rid) const {
ERR_FAIL_COND_V_MSG(shape_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
- return shape_owner.getornull(p_rid);
+ return shape_owner.get_or_null(p_rid);
}
CollisionObjectBullet *BulletPhysicsServer3D::get_collision_object(RID p_object) const {
if (rigid_body_owner.owns(p_object)) {
- return rigid_body_owner.getornull(p_object);
+ return rigid_body_owner.get_or_null(p_object);
}
if (area_owner.owns(p_object)) {
- return area_owner.getornull(p_object);
+ return area_owner.get_or_null(p_object);
}
if (soft_body_owner.owns(p_object)) {
- return soft_body_owner.getornull(p_object);
+ return soft_body_owner.get_or_null(p_object);
}
ERR_FAIL_V_MSG(nullptr, "The RID is no valid.");
}
RigidCollisionObjectBullet *BulletPhysicsServer3D::get_rigid_collision_object(RID p_object) const {
if (rigid_body_owner.owns(p_object)) {
- return rigid_body_owner.getornull(p_object);
+ return rigid_body_owner.get_or_null(p_object);
}
if (area_owner.owns(p_object)) {
- return area_owner.getornull(p_object);
+ return area_owner.get_or_null(p_object);
}
ERR_FAIL_V_MSG(nullptr, "The RID is no valid.");
}
JointBullet *BulletPhysicsServer3D::get_joint(RID p_rid) const {
ERR_FAIL_COND_V_MSG(joint_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
- return joint_owner.getornull(p_rid);
+ return joint_owner.get_or_null(p_rid);
}
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 7f0934e679..94635b5bfc 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -160,8 +160,8 @@ public:
virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) override;
virtual void area_set_monitorable(RID p_area, bool p_monitorable) override;
- virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) override;
- virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) override;
+ virtual void area_set_monitor_callback(RID p_area, const Callable &p_callback) override;
+ virtual void area_set_area_monitor_callback(RID p_area, const Callable &p_callback) override;
virtual void area_set_ray_pickable(RID p_area, bool p_enable) override;
/* RIGID BODY API */
@@ -265,7 +265,7 @@ public:
virtual void soft_body_set_space(RID p_body, RID p_space) override;
virtual RID soft_body_get_space(RID p_body) const override;
- virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) override;
+ virtual void soft_body_set_mesh(RID p_body, RID p_mesh) override;
virtual AABB soft_body_get_bounds(RID p_body) const override;
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index c45bd5bbc0..cbb746800d 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -93,11 +93,9 @@ CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
type(p_type) {}
CollisionObjectBullet::~CollisionObjectBullet() {
- // Remove all overlapping, notify is not required since godot take care of it
- for (int i = areasOverlapped.size() - 1; 0 <= i; --i) {
- areasOverlapped[i]->remove_overlap(this, /*Notify*/ false);
+ for (int i = 0; i < areasOverlapped.size(); i++) {
+ areasOverlapped[i]->remove_object_overlaps(this);
}
-
destroyBulletCollisionObject();
}
@@ -178,7 +176,9 @@ bool CollisionObjectBullet::is_collisions_response_enabled() {
}
void CollisionObjectBullet::notify_new_overlap(AreaBullet *p_area) {
- areasOverlapped.push_back(p_area);
+ if (areasOverlapped.find(p_area) == -1) {
+ areasOverlapped.push_back(p_area);
+ }
}
void CollisionObjectBullet::on_exit_area(AreaBullet *p_area) {
@@ -187,6 +187,7 @@ void CollisionObjectBullet::on_exit_area(AreaBullet *p_area) {
void CollisionObjectBullet::set_godot_object_flags(int flags) {
bt_collision_object->setUserIndex2(flags);
+ updated = true;
}
int CollisionObjectBullet::get_godot_object_flags() const {
@@ -220,7 +221,7 @@ const btTransform &CollisionObjectBullet::get_transform__bullet() const {
}
void CollisionObjectBullet::notify_transform_changed() {
- isTransformChanged = true;
+ updated = true;
}
RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
@@ -272,7 +273,7 @@ void RigidCollisionObjectBullet::remove_shape_full(ShapeBullet *p_shape) {
for (int i = shapes.size() - 1; 0 <= i; --i) {
if (p_shape == shapes[i].shape) {
internal_shape_destroy(i);
- shapes.remove(i);
+ shapes.remove_at(i);
}
}
reload_shapes();
@@ -281,7 +282,7 @@ void RigidCollisionObjectBullet::remove_shape_full(ShapeBullet *p_shape) {
void RigidCollisionObjectBullet::remove_shape_full(int p_index) {
ERR_FAIL_INDEX(p_index, get_shape_count());
internal_shape_destroy(p_index);
- shapes.remove(p_index);
+ shapes.remove_at(p_index);
reload_shapes();
}
diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h
index 944ab89b87..6d2c564e44 100644
--- a/modules/bullet/collision_object_bullet.h
+++ b/modules/bullet/collision_object_bullet.h
@@ -128,7 +128,7 @@ protected:
/// 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;
- bool isTransformChanged = false;
+ bool updated = false;
public:
CollisionObjectBullet(Type p_type);
@@ -206,9 +206,9 @@ public:
Transform3D get_transform() const;
virtual void set_transform__bullet(const btTransform &p_global_transform);
virtual const btTransform &get_transform__bullet() const;
-
- bool is_transform_changed() const { return isTransformChanged; }
virtual void notify_transform_changed();
+
+ bool is_updated() const { return updated; }
};
class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet {
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index 1f962772e7..edb2bcb4c7 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -107,7 +107,14 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo
PhysicsDirectSpaceState3D::ShapeResult &result = m_results[count];
- result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is an odd name but contains the compound shape ID
+ // Triangle index is an odd name but contains the compound shape ID.
+ // A shape part of -1 indicates the index is a shape index and not a triangle index.
+ if (convexResult.m_localShapeInfo && convexResult.m_localShapeInfo->m_shapePart == -1) {
+ result.shape = convexResult.m_localShapeInfo->m_triangleIndex;
+ } else {
+ result.shape = 0;
+ }
+
result.rid = gObj->get_self();
result.collider_id = gObj->get_instance_id();
result.collider = result.collider_id.is_null() ? nullptr : ObjectDB::get_instance(result.collider_id);
@@ -171,11 +178,14 @@ bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0)
}
btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
- if (convexResult.m_localShapeInfo) {
- m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is an odd name but contains the compound shape ID
+ // Triangle index is an odd name but contains the compound shape ID.
+ // A shape part of -1 indicates the index is a shape index and not a triangle index.
+ if (convexResult.m_localShapeInfo && convexResult.m_localShapeInfo->m_shapePart == -1) {
+ m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex;
} else {
m_shapeId = 0;
}
+
return btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
}
@@ -219,10 +229,22 @@ btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, con
CollisionObjectBullet *colObj;
if (m_self_object == colObj0Wrap->getCollisionObject()) {
colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
- result.shape = cp.m_index1;
+ // Checking for compound shape because the index might be uninitialized otherwise.
+ // A partId of -1 indicates the index is a shape index and not a triangle index.
+ if (colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound() && cp.m_partId1 == -1) {
+ result.shape = cp.m_index1;
+ } else {
+ result.shape = 0;
+ }
} else {
colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer());
- result.shape = cp.m_index0;
+ // Checking for compound shape because the index might be uninitialized otherwise.
+ // A partId of -1 indicates the index is a shape index and not a triangle index.
+ if (colObj0Wrap->getCollisionObject()->getCollisionShape()->isCompound() && cp.m_partId0 == -1) {
+ result.shape = cp.m_index0;
+ } else {
+ result.shape = 0;
+ }
}
result.collider_id = colObj->get_instance_id();
@@ -311,14 +333,26 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp
CollisionObjectBullet *colObj;
if (m_self_object == colObj0Wrap->getCollisionObject()) {
colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
- m_result->shape = cp.m_index1;
+ // Checking for compound shape because the index might be uninitialized otherwise.
+ // A partId of -1 indicates the index is a shape index and not a triangle index.
+ if (colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound() && cp.m_partId1 == -1) {
+ m_result->shape = cp.m_index1;
+ } else {
+ m_result->shape = 0;
+ }
B_TO_G(cp.getPositionWorldOnB(), m_result->point);
B_TO_G(cp.m_normalWorldOnB, m_result->normal);
m_rest_info_bt_point = cp.getPositionWorldOnB();
m_rest_info_collision_object = colObj1Wrap->getCollisionObject();
} else {
colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer());
- m_result->shape = cp.m_index0;
+ // Checking for compound shape because the index might be uninitialized otherwise.
+ // A partId of -1 indicates the index is a shape index and not a triangle index.
+ if (colObj0Wrap->getCollisionObject()->getCollisionShape()->isCompound() && cp.m_partId0 == -1) {
+ m_result->shape = cp.m_index0;
+ } else {
+ m_result->shape = 0;
+ }
B_TO_G(cp.m_normalWorldOnB * -1, m_result->normal);
m_rest_info_bt_point = cp.getPositionWorldOnA();
m_rest_info_collision_object = colObj0Wrap->getCollisionObject();
diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h
index 96a649d77a..3dfa21aec8 100644
--- a/modules/bullet/godot_result_callbacks.h
+++ b/modules/bullet/godot_result_callbacks.h
@@ -70,8 +70,10 @@ public:
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace) {
- if (rayResult.m_localShapeInfo) {
- m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
+ // Triangle index is an odd name but contains the compound shape ID.
+ // A shape part of -1 indicates the index is a shape index and not a triangle index.
+ if (rayResult.m_localShapeInfo && rayResult.m_localShapeInfo->m_shapePart == -1) {
+ m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex;
} else {
m_shapeId = 0;
}
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 0d2cd1f5a0..4faab19539 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -303,6 +303,7 @@ RigidBodyBullet::~RigidBodyBullet() {
void RigidBodyBullet::init_kinematic_utilities() {
kinematic_utilities = memnew(KinematicUtilities(this));
+ reload_kinematic_shapes();
}
void RigidBodyBullet::destroy_kinematic_utilities() {
@@ -419,7 +420,7 @@ void RigidBodyBullet::on_collision_checker_start() {
void RigidBodyBullet::on_collision_checker_end() {
// Always true if active and not a static or kinematic body
- isTransformChanged = btBody->isActive() && !btBody->isStaticOrKinematicObject();
+ updated = btBody->isActive() && !btBody->isStaticOrKinematicObject();
}
bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const real_t &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) {
@@ -529,26 +530,23 @@ void RigidBodyBullet::set_mode(PhysicsServer3D::BodyMode p_mode) {
can_integrate_forces = false;
destroy_kinematic_utilities();
// The mode change is relevant to its mass
+ mode = p_mode;
switch (p_mode) {
case PhysicsServer3D::BODY_MODE_KINEMATIC:
- mode = PhysicsServer3D::BODY_MODE_KINEMATIC;
reload_axis_lock();
_internal_set_mass(0);
init_kinematic_utilities();
break;
case PhysicsServer3D::BODY_MODE_STATIC:
- mode = PhysicsServer3D::BODY_MODE_STATIC;
reload_axis_lock();
_internal_set_mass(0);
break;
case PhysicsServer3D::BODY_MODE_DYNAMIC:
- mode = PhysicsServer3D::BODY_MODE_DYNAMIC;
reload_axis_lock();
_internal_set_mass(0 == mass ? 1 : mass);
scratch_space_override_modificator();
break;
- case PhysicsServer3D::MODE_DYNAMIC_LOCKED:
- mode = PhysicsServer3D::MODE_DYNAMIC_LOCKED;
+ case PhysicsServer3D::MODE_DYNAMIC_LINEAR:
reload_axis_lock();
_internal_set_mass(0 == mass ? 1 : mass);
scratch_space_override_modificator();
@@ -721,7 +719,7 @@ bool RigidBodyBullet::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const {
void RigidBodyBullet::reload_axis_lock() {
btBody->setLinearFactor(btVector3(btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z))));
- if (PhysicsServer3D::MODE_DYNAMIC_LOCKED == mode) {
+ if (PhysicsServer3D::MODE_DYNAMIC_LINEAR == mode) {
/// When character angular is always locked
btBody->setAngularFactor(btVector3(0., 0., 0.));
} else {
@@ -1016,7 +1014,7 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
// Rigidbody is dynamic if and only if mass is non Zero, otherwise static
const bool isDynamic = p_mass != 0.f;
if (isDynamic) {
- if (PhysicsServer3D::BODY_MODE_DYNAMIC != mode && PhysicsServer3D::MODE_DYNAMIC_LOCKED != mode) {
+ if (PhysicsServer3D::BODY_MODE_DYNAMIC != mode && PhysicsServer3D::MODE_DYNAMIC_LINEAR != mode) {
return;
}
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index 88ffb9ec67..ec039ba842 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -63,8 +63,8 @@ btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
}
void ShapeBullet::notifyShapeChanged() {
- for (Map<ShapeOwnerBullet *, int>::Element *E = owners.front(); E; E = E->next()) {
- ShapeOwnerBullet *owner = static_cast<ShapeOwnerBullet *>(E->key());
+ for (const KeyValue<ShapeOwnerBullet *, int> &E : owners) {
+ ShapeOwnerBullet *owner = static_cast<ShapeOwnerBullet *>(E.key);
owner->shape_changed(owner->find_shape(this));
}
}
diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp
index bbbb0e7851..c0ffffa364 100644
--- a/modules/bullet/soft_body_bullet.cpp
+++ b/modules/bullet/soft_body_bullet.cpp
@@ -32,9 +32,10 @@
#include "bullet_types_converter.h"
#include "bullet_utilities.h"
-#include "scene/3d/soft_body_3d.h"
#include "space_bullet.h"
+#include "servers/rendering_server.h"
+
SoftBodyBullet::SoftBodyBullet() :
CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY) {}
@@ -70,7 +71,7 @@ void SoftBodyBullet::update_rendering_server(RenderingServerHandler *p_rendering
return;
}
- /// Update visual server vertices
+ /// Update rendering server vertices
const btSoftBody::tNodeArray &nodes(bt_soft_body->m_nodes);
const int nodes_count = nodes.size();
@@ -105,24 +106,27 @@ void SoftBodyBullet::update_rendering_server(RenderingServerHandler *p_rendering
p_rendering_server_handler->set_aabb(aabb);
}
-void SoftBodyBullet::set_soft_mesh(const Ref<Mesh> &p_mesh) {
- if (p_mesh.is_null()) {
- soft_mesh.unref();
- } else {
- soft_mesh = p_mesh;
- }
+void SoftBodyBullet::set_soft_mesh(RID p_mesh) {
+ destroy_soft_body();
+
+ soft_mesh = p_mesh;
if (soft_mesh.is_null()) {
- destroy_soft_body();
return;
}
- Array arrays = soft_mesh->surface_get_arrays(0);
- ERR_FAIL_COND(!(soft_mesh->surface_get_format(0) & RS::ARRAY_FORMAT_INDEX));
- set_trimesh_body_shape(arrays[RS::ARRAY_INDEX], arrays[RS::ARRAY_VERTEX]);
+ Array arrays = RenderingServer::get_singleton()->mesh_surface_get_arrays(soft_mesh, 0);
+ ERR_FAIL_COND(arrays.is_empty());
+
+ bool success = set_trimesh_body_shape(arrays[RS::ARRAY_INDEX], arrays[RS::ARRAY_VERTEX]);
+ if (!success) {
+ destroy_soft_body();
+ }
}
void SoftBodyBullet::destroy_soft_body() {
+ soft_mesh = RID();
+
if (!bt_soft_body) {
return;
}
@@ -187,22 +191,24 @@ void SoftBodyBullet::get_node_position(int p_node_index, Vector3 &r_position) co
}
}
-void SoftBodyBullet::set_node_mass(int node_index, btScalar p_mass) {
+void SoftBodyBullet::set_node_mass(int p_node_index, btScalar p_mass) {
if (0 >= p_mass) {
- pin_node(node_index);
+ pin_node(p_node_index);
} else {
- unpin_node(node_index);
+ unpin_node(p_node_index);
}
if (bt_soft_body) {
- bt_soft_body->setMass(node_index, p_mass);
+ ERR_FAIL_INDEX(p_node_index, bt_soft_body->m_nodes.size());
+ bt_soft_body->setMass(p_node_index, p_mass);
}
}
-btScalar SoftBodyBullet::get_node_mass(int node_index) const {
+btScalar SoftBodyBullet::get_node_mass(int p_node_index) const {
if (bt_soft_body) {
- return bt_soft_body->getMass(node_index);
+ ERR_FAIL_INDEX_V(p_node_index, bt_soft_body->m_nodes.size(), 1);
+ return bt_soft_body->getMass(p_node_index);
} else {
- return -1 == search_node_pinned(node_index) ? 1 : 0;
+ return -1 == search_node_pinned(p_node_index) ? 1 : 0;
}
}
@@ -289,15 +295,15 @@ void SoftBodyBullet::set_drag_coefficient(real_t p_val) {
}
}
-void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector3> p_vertices) {
- /// Assert the current soft body is destroyed
- destroy_soft_body();
+bool SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector3> p_vertices) {
+ ERR_FAIL_COND_V(p_indices.is_empty(), false);
+ ERR_FAIL_COND_V(p_vertices.is_empty(), false);
- /// Parse visual server indices to physical indices.
- /// Merge all overlapping vertices and create a map of physical vertices to visual server
+ /// Parse rendering server indices to physical indices.
+ /// Merge all overlapping vertices and create a map of physical vertices to rendering server
{
- /// This is the map of visual server indices to physics indices (So it's the inverse of idices_map), Thanks to it I don't need make a heavy search in the indices_map
+ /// This is the map of rendering server indices to physics indices (So it's the inverse of idices_map), Thanks to it I don't need make a heavy search in the indices_map
Vector<int> vs_indices_to_physics_table;
{ // Map vertices
@@ -363,6 +369,8 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
bt_soft_body = btSoftBodyHelpers::CreateFromTriMesh(fake_world_info, &bt_vertices[0], &bt_triangles[0], triangles_size, false);
setup_soft_body();
}
+
+ return true;
}
void SoftBodyBullet::setup_soft_body() {
@@ -413,20 +421,28 @@ void SoftBodyBullet::setup_soft_body() {
// Set pinned nodes
for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
- bt_soft_body->setMass(pinned_nodes[i], 0);
+ const int node_index = pinned_nodes[i];
+ ERR_CONTINUE(0 > node_index || bt_soft_body->m_nodes.size() <= node_index);
+ bt_soft_body->setMass(node_index, 0);
}
}
void SoftBodyBullet::pin_node(int p_node_index) {
+ if (bt_soft_body) {
+ ERR_FAIL_INDEX(p_node_index, bt_soft_body->m_nodes.size());
+ }
if (-1 == search_node_pinned(p_node_index)) {
pinned_nodes.push_back(p_node_index);
}
}
void SoftBodyBullet::unpin_node(int p_node_index) {
+ if (bt_soft_body) {
+ ERR_FAIL_INDEX(p_node_index, bt_soft_body->m_nodes.size());
+ }
const int id = search_node_pinned(p_node_index);
if (-1 != id) {
- pinned_nodes.remove(id);
+ pinned_nodes.remove_at(id);
}
}
diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h
index 63708b57a7..84da56ae69 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
@@ -42,7 +41,6 @@
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "collision_object_bullet.h"
-#include "scene/resources/mesh.h"
#include "servers/physics_server_3d.h"
#ifdef x11_None
@@ -64,7 +62,7 @@ private:
btSoftBody::Material *mat0 = nullptr; // This is just a copy of pointer managed by btSoftBody
bool isScratched = false;
- Ref<Mesh> soft_mesh;
+ RID soft_mesh;
int simulation_precision = 5;
real_t total_mass = 1.;
@@ -100,7 +98,7 @@ public:
void update_rendering_server(RenderingServerHandler *p_rendering_server_handler);
- void set_soft_mesh(const Ref<Mesh> &p_mesh);
+ void set_soft_mesh(RID p_mesh);
void destroy_soft_body();
// Special function. This function has bad performance
@@ -139,7 +137,7 @@ public:
_FORCE_INLINE_ real_t get_drag_coefficient() const { return drag_coefficient; }
private:
- void set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector3> p_vertices);
+ bool set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector3> p_vertices);
void setup_soft_body();
void pin_node(int p_node_index);
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index a9a811c445..0c7e5eccf0 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -122,7 +122,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
return 0;
}
- ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape);
+ ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get_or_null(p_shape);
ERR_FAIL_COND_V(!shape, 0);
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin);
@@ -158,7 +158,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
btVector3 bt_motion;
G_TO_B(p_motion, bt_motion);
- ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape);
+ ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get_or_null(p_shape);
ERR_FAIL_COND_V(!shape, false);
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
@@ -219,7 +219,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform3D
return false;
}
- ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape);
+ ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get_or_null(p_shape);
ERR_FAIL_COND_V(!shape, false);
btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
@@ -251,7 +251,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform3D
}
bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t 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()->getornull(p_shape);
+ ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get_or_null(p_shape);
ERR_FAIL_COND_V(!shape, false);
btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
@@ -426,8 +426,6 @@ void SpaceBullet::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_va
case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD:
case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP:
- case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
- case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
default:
WARN_PRINT("This set parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it.");
break;
@@ -442,8 +440,6 @@ real_t SpaceBullet::get_param(PhysicsServer3D::SpaceParameter p_param) {
case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD:
case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP:
- case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
- case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
default:
WARN_PRINT("The SpaceBullet doesn't support this get parameter (" + itos(p_param) + "), 0 is returned.");
return 0.f;
@@ -662,101 +658,77 @@ void SpaceBullet::destroy_world() {
}
void SpaceBullet::check_ghost_overlaps() {
- /// Algorithm support variables
- btCollisionShape *other_body_shape;
- btConvexShape *area_shape;
- btGjkPairDetector::ClosestPointInput gjk_input;
- AreaBullet *area;
- int x(-1), i(-1), y(-1), z(-1), indexOverlap(-1);
-
- /// For each areas
- for (x = areas.size() - 1; 0 <= x; --x) {
- area = areas[x];
-
- btVector3 area_scale(area->get_bt_body_scale());
-
+ // For each area
+ for (int area_idx = 0; area_idx < areas.size(); area_idx++) {
+ AreaBullet *area = areas[area_idx];
if (!area->is_monitoring()) {
continue;
}
- /// 1. Reset all states
- for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) {
- AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects.write[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) {
- otherObj.state = AreaBullet::OVERLAP_STATE_DIRTY;
- }
- }
+ btGhostObject *bt_ghost = area->get_bt_ghost();
+ const btTransform &area_transform = area->get_transform__bullet();
+ const btVector3 &area_scale(area->get_bt_body_scale());
- /// 2. Check all overlapping objects using GJK
+ // Mark all current overlapping shapes dirty.
+ area->mark_all_overlaps_dirty();
- const btAlignedObjectArray<btCollisionObject *> ghostOverlaps = area->get_bt_ghost()->getOverlappingPairs();
+ // Broadphase
+ const btAlignedObjectArray<btCollisionObject *> overlapping_pairs = bt_ghost->getOverlappingPairs();
+ // Narrowphase
+ for (int pair_idx = 0; pair_idx < overlapping_pairs.size(); pair_idx++) {
+ btCollisionObject *other_bt_collision_object = overlapping_pairs[pair_idx];
+ RigidCollisionObjectBullet *other_object = static_cast<RigidCollisionObjectBullet *>(other_bt_collision_object->getUserPointer());
+ const btTransform &other_transform = other_object->get_transform__bullet();
+ const btVector3 &other_scale(other_object->get_bt_body_scale());
- // For each overlapping
- for (i = ghostOverlaps.size() - 1; 0 <= i; --i) {
- bool hasOverlap = false;
- btCollisionObject *overlapped_bt_co = ghostOverlaps[i];
- RigidCollisionObjectBullet *otherObject = static_cast<RigidCollisionObjectBullet *>(overlapped_bt_co->getUserPointer());
- btVector3 other_body_scale(otherObject->get_bt_body_scale());
-
- if (!area->is_transform_changed() && !otherObject->is_transform_changed()) {
- hasOverlap = -1 != area->find_overlapping_object(otherObject);
- goto collision_found;
+ if (!area->is_updated() && !other_object->is_updated()) {
+ area->mark_object_overlaps_inside(other_object);
+ continue;
}
- if (overlapped_bt_co->getUserIndex() == CollisionObjectBullet::TYPE_AREA) {
- if (!static_cast<AreaBullet *>(overlapped_bt_co->getUserPointer())->is_monitorable()) {
+ if (other_bt_collision_object->getUserIndex() == CollisionObjectBullet::TYPE_AREA) {
+ if (!static_cast<AreaBullet *>(other_bt_collision_object->getUserPointer())->is_monitorable()) {
continue;
}
- } else if (overlapped_bt_co->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY) {
+ } else if (other_bt_collision_object->getUserIndex() != CollisionObjectBullet::TYPE_RIGID_BODY) {
continue;
}
// For each area shape
- for (y = area->get_shape_count() - 1; 0 <= y; --y) {
- if (!area->get_bt_shape(y)->isConvex()) {
+ for (int our_shape_id = 0; our_shape_id < area->get_shape_count(); our_shape_id++) {
+ btCollisionShape *area_shape = area->get_bt_shape(our_shape_id);
+ if (!area_shape->isConvex()) {
continue;
}
+ btConvexShape *area_convex_shape = static_cast<btConvexShape *>(area_shape);
- btTransform area_shape_treansform(area->get_bt_shape_transform(y));
- area_shape_treansform.getOrigin() *= area_scale;
-
- gjk_input.m_transformA =
- area->get_transform__bullet() *
- area_shape_treansform;
-
- area_shape = static_cast<btConvexShape *>(area->get_bt_shape(y));
+ btTransform area_shape_transform(area->get_bt_shape_transform(our_shape_id));
+ area_shape_transform.getOrigin() *= area_scale;
+ btGjkPairDetector::ClosestPointInput gjk_input;
+ gjk_input.m_transformA = area_transform * area_shape_transform;
// For each other object shape
- for (z = otherObject->get_shape_count() - 1; 0 <= z; --z) {
- other_body_shape = static_cast<btCollisionShape *>(otherObject->get_bt_shape(z));
-
- btTransform other_shape_transform(otherObject->get_bt_shape_transform(z));
- other_shape_transform.getOrigin() *= other_body_scale;
-
- gjk_input.m_transformB =
- otherObject->get_transform__bullet() *
- other_shape_transform;
+ for (int other_shape_id = 0; other_shape_id < other_object->get_shape_count(); other_shape_id++) {
+ btCollisionShape *other_shape = other_object->get_bt_shape(other_shape_id);
+ btTransform other_shape_transform(other_object->get_bt_shape_transform(other_shape_id));
+ other_shape_transform.getOrigin() *= other_scale;
+ gjk_input.m_transformB = other_transform * other_shape_transform;
- if (other_body_shape->isConvex()) {
+ if (other_shape->isConvex()) {
btPointCollector result;
btGjkPairDetector gjk_pair_detector(
- area_shape,
- static_cast<btConvexShape *>(other_body_shape),
+ area_convex_shape,
+ static_cast<btConvexShape *>(other_shape),
gjk_simplex_solver,
gjk_epa_pen_solver);
- gjk_pair_detector.getClosestPoints(gjk_input, result, nullptr);
- if (0 >= result.m_distance) {
- hasOverlap = true;
- goto collision_found;
+ gjk_pair_detector.getClosestPoints(gjk_input, result, nullptr);
+ if (result.m_distance <= 0) {
+ area->set_overlap(other_object, other_shape_id, our_shape_id);
}
-
- } else {
- btCollisionObjectWrapper obA(nullptr, area_shape, area->get_bt_ghost(), gjk_input.m_transformA, -1, y);
- btCollisionObjectWrapper obB(nullptr, other_body_shape, otherObject->get_bt_collision_object(), gjk_input.m_transformB, -1, z);
-
+ } else { // Other shape is not convex.
+ btCollisionObjectWrapper obA(nullptr, area_convex_shape, bt_ghost, gjk_input.m_transformA, -1, our_shape_id);
+ btCollisionObjectWrapper obB(nullptr, other_shape, other_bt_collision_object, gjk_input.m_transformB, -1, other_shape_id);
btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, nullptr, BT_CONTACT_POINT_ALGORITHMS);
if (!algorithm) {
@@ -765,42 +737,20 @@ void SpaceBullet::check_ghost_overlaps() {
GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB);
algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult);
-
algorithm->~btCollisionAlgorithm();
dispatcher->freeCollisionAlgorithm(algorithm);
if (contactPointResult.hasHit()) {
- hasOverlap = true;
- goto collision_found;
+ area->set_overlap(other_object, our_shape_id, other_shape_id);
}
}
+ } // End for each other object shape
+ } // End for each area shape
+ } // End for each overlapping pair
- } // ~For each other object shape
- } // ~For each area shape
-
- collision_found:
- if (!hasOverlap) {
- continue;
- }
-
- indexOverlap = area->find_overlapping_object(otherObject);
- if (-1 == indexOverlap) {
- // Not found
- area->add_overlap(otherObject);
- } else {
- // Found
- area->put_overlap_as_inside(indexOverlap);
- }
- }
-
- /// 3. Remove not overlapping
- for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) {
- // If the overlap has DIRTY state it means that it's no more overlapping
- if (area->overlappingObjects[i].state == AreaBullet::OVERLAP_STATE_DIRTY) {
- area->put_overlap_as_exit(i);
- }
- }
- }
+ // All overlapping shapes still marked dirty must have exited.
+ area->mark_all_dirty_overlaps_as_exit();
+ } // End for each area
}
void SpaceBullet::check_body_collision() {
@@ -835,7 +785,7 @@ void SpaceBullet::check_body_collision() {
btManifoldPoint &pt = contactManifold->getContactPoint(0);
#endif
if (
- pt.getDistance() <= 0.0 ||
+ pt.getDistance() < 0.0 ||
bodyA->was_colliding(bodyB) ||
bodyB->was_colliding(bodyA)) {
Vector3 collisionWorldPosition;
@@ -947,7 +897,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
if (!p_body->get_kinematic_utilities()) {
p_body->init_kinematic_utilities();
- p_body->reload_kinematic_shapes();
}
btVector3 initial_recover_motion(0, 0, 0);
@@ -1089,7 +1038,6 @@ int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform3D
if (!p_body->get_kinematic_utilities()) {
p_body->init_kinematic_utilities();
- p_body->reload_kinematic_shapes();
}
btVector3 recover_motion(0, 0, 0);
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-11 18:44:49 +0000