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-rw-r--r--modules/bullet/SCsub8
-rw-r--r--modules/bullet/btRayShape.cpp12
-rw-r--r--modules/bullet/btRayShape.h4
-rw-r--r--modules/bullet/bullet_physics_server.cpp21
-rw-r--r--modules/bullet/bullet_physics_server.h10
-rw-r--r--modules/bullet/collision_object_bullet.cpp37
-rw-r--r--modules/bullet/collision_object_bullet.h15
-rw-r--r--modules/bullet/cone_twist_joint_bullet.cpp6
-rw-r--r--modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml2
-rw-r--r--modules/bullet/doc_classes/BulletPhysicsServer.xml2
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp9
-rw-r--r--modules/bullet/godot_ray_world_algorithm.cpp7
-rw-r--r--modules/bullet/hinge_joint_bullet.cpp6
-rw-r--r--modules/bullet/pin_joint_bullet.cpp3
-rw-r--r--modules/bullet/rigid_body_bullet.cpp38
-rw-r--r--modules/bullet/rigid_body_bullet.h8
-rw-r--r--modules/bullet/shape_bullet.cpp11
-rw-r--r--modules/bullet/space_bullet.cpp332
-rw-r--r--modules/bullet/space_bullet.h7
19 files changed, 349 insertions, 189 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub
index 7e714ba43f..ecc8a9b481 100644
--- a/modules/bullet/SCsub
+++ b/modules/bullet/SCsub
@@ -186,9 +186,13 @@ if env['builtin_bullet']:
thirdparty_sources = [thirdparty_dir + file for file in bullet2_src]
- env_bullet.Append(CPPPATH=[thirdparty_dir])
+ # 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])
# if env['target'] == "debug" or env['target'] == "release_debug":
- # env_bullet.Append(CCFLAGS=['-DBT_DEBUG'])
+ # env_bullet.Append(CPPDEFINES=['BT_DEBUG'])
env_thirdparty = env_bullet.Clone()
env_thirdparty.disable_warnings()
diff --git a/modules/bullet/btRayShape.cpp b/modules/bullet/btRayShape.cpp
index b902d08eca..b60d6ba693 100644
--- a/modules/bullet/btRayShape.cpp
+++ b/modules/bullet/btRayShape.cpp
@@ -54,6 +54,11 @@ void btRayShape::setLength(btScalar p_length) {
reload_cache();
}
+void btRayShape::setMargin(btScalar margin) {
+ btConvexInternalShape::setMargin(margin);
+ reload_cache();
+}
+
void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) {
slipsOnSlope = p_slipsOnSlope;
@@ -77,10 +82,9 @@ void btRayShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVecto
}
void btRayShape::getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const {
-#define MARGIN_BROADPHASE 0.1
btVector3 localAabbMin(0, 0, 0);
- btVector3 localAabbMax(m_shapeAxis * (m_cacheScaledLength + m_collisionMargin));
- btTransformAabb(localAabbMin, localAabbMax, MARGIN_BROADPHASE, t, aabbMin, aabbMax);
+ btVector3 localAabbMax(m_shapeAxis * m_cacheScaledLength);
+ btTransformAabb(localAabbMin, localAabbMax, m_collisionMargin, t, aabbMin, aabbMax);
}
void btRayShape::calculateLocalInertia(btScalar mass, btVector3 &inertia) const {
@@ -100,5 +104,5 @@ void btRayShape::reload_cache() {
m_cacheScaledLength = m_length * m_localScaling[2];
m_cacheSupportPoint.setIdentity();
- m_cacheSupportPoint.setOrigin(m_shapeAxis * (m_cacheScaledLength + m_collisionMargin));
+ m_cacheSupportPoint.setOrigin(m_shapeAxis * m_cacheScaledLength);
}
diff --git a/modules/bullet/btRayShape.h b/modules/bullet/btRayShape.h
index 7fedb74083..09c1f6c241 100644
--- a/modules/bullet/btRayShape.h
+++ b/modules/bullet/btRayShape.h
@@ -60,7 +60,9 @@ public:
void setLength(btScalar p_length);
btScalar getLength() const { return m_length; }
- void setSlipsOnSlope(bool p_slipOnSlope);
+ virtual void setMargin(btScalar margin);
+
+ void setSlipsOnSlope(bool p_slipsOnSlope);
bool getSlipsOnSlope() const { return slipsOnSlope; }
const btTransform &getSupportPoint() const { return m_cacheSupportPoint; }
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 44ea061f51..e01928191a 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -267,7 +267,7 @@ RID BulletPhysicsServer::area_get_space(RID p_area) const {
void BulletPhysicsServer::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
AreaBullet *area = area_owner.get(p_area);
- ERR_FAIL_COND(!area)
+ ERR_FAIL_COND(!area);
area->set_spOv_mode(p_mode);
}
@@ -279,14 +279,14 @@ PhysicsServer::AreaSpaceOverrideMode BulletPhysicsServer::area_get_space_overrid
return area->get_spOv_mode();
}
-void BulletPhysicsServer::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform) {
+void BulletPhysicsServer::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform, bool p_disabled) {
AreaBullet *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
ShapeBullet *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
- area->add_shape(shape, p_transform);
+ area->add_shape(shape, p_transform, p_disabled);
}
void BulletPhysicsServer::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
@@ -348,13 +348,13 @@ void BulletPhysicsServer::area_set_shape_disabled(RID p_area, int p_shape_idx, b
area->set_shape_disabled(p_shape_idx, p_disabled);
}
-void BulletPhysicsServer::area_attach_object_instance_id(RID p_area, ObjectID p_ID) {
+void BulletPhysicsServer::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
if (space_owner.owns(p_area)) {
return;
}
AreaBullet *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
- area->set_instance_id(p_ID);
+ area->set_instance_id(p_id);
}
ObjectID BulletPhysicsServer::area_get_object_instance_id(RID p_area) const {
@@ -498,7 +498,7 @@ PhysicsServer::BodyMode BulletPhysicsServer::body_get_mode(RID p_body) const {
return body->get_mode();
}
-void BulletPhysicsServer::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform) {
+void BulletPhysicsServer::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform, bool p_disabled) {
RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND(!body);
@@ -506,7 +506,7 @@ void BulletPhysicsServer::body_add_shape(RID p_body, RID p_shape, const Transfor
ShapeBullet *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
- body->add_shape(shape, p_transform);
+ body->add_shape(shape, p_transform, p_disabled);
}
void BulletPhysicsServer::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
@@ -569,11 +569,11 @@ void BulletPhysicsServer::body_clear_shapes(RID p_body) {
body->remove_all_shapes();
}
-void BulletPhysicsServer::body_attach_object_instance_id(RID p_body, uint32_t p_ID) {
+void BulletPhysicsServer::body_attach_object_instance_id(RID p_body, uint32_t p_id) {
CollisionObjectBullet *body = get_collisin_object(p_body);
ERR_FAIL_COND(!body);
- body->set_instance_id(p_ID);
+ body->set_instance_id(p_id);
}
uint32_t BulletPhysicsServer::body_get_object_instance_id(RID p_body) const {
@@ -1548,8 +1548,7 @@ void BulletPhysicsServer::free(RID p_rid) {
bulletdelete(space);
} else {
- ERR_EXPLAIN("Invalid ID");
- ERR_FAIL();
+ ERR_FAIL_MSG("Invalid ID.");
}
}
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 1b74cbf3fc..4c598c84f2 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -45,7 +45,7 @@
*/
class BulletPhysicsServer : public PhysicsServer {
- GDCLASS(BulletPhysicsServer, PhysicsServer)
+ GDCLASS(BulletPhysicsServer, PhysicsServer);
friend class BulletPhysicsDirectSpaceState;
@@ -133,7 +133,7 @@ public:
virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode);
virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const;
- virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform());
+ virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape);
virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform);
virtual int area_get_shape_count(RID p_area) const;
@@ -142,7 +142,7 @@ public:
virtual void area_remove_shape(RID p_area, int p_shape_idx);
virtual void area_clear_shapes(RID p_area);
virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled);
- virtual void area_attach_object_instance_id(RID p_area, ObjectID p_ID);
+ virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id);
virtual ObjectID area_get_object_instance_id(RID p_area) const;
/// If you pass as p_area the SpaceBullet you can set some parameters as specified below
@@ -174,7 +174,7 @@ public:
virtual void body_set_mode(RID p_body, BodyMode p_mode);
virtual BodyMode body_get_mode(RID p_body) const;
- virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform());
+ virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
// Not supported, Please remove and add new shape
virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape);
virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform);
@@ -189,7 +189,7 @@ public:
virtual void body_clear_shapes(RID p_body);
// Used for Rigid and Soft Bodies
- virtual void body_attach_object_instance_id(RID p_body, uint32_t p_ID);
+ virtual void body_attach_object_instance_id(RID p_body, uint32_t p_id);
virtual uint32_t body_get_object_instance_id(RID p_body) const;
virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable);
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index ef5f21fc21..e1800fd3eb 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -43,7 +43,9 @@
@author AndreaCatania
*/
-#define enableDynamicAabbTree false
+// We enable dynamic AABB tree so that we can actually perform a broadphase on bodies with compound collision shapes.
+// This is crucial for the performance of kinematic bodies and for bodies with transforming shapes.
+#define enableDynamicAabbTree true
CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {}
@@ -57,6 +59,25 @@ void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_tra
transform = p_transform;
}
+btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const {
+ if (shape->get_type() == PhysicsServer::SHAPE_HEIGHTMAP) {
+ const HeightMapShapeBullet *hm_shape = (const HeightMapShapeBullet *)shape; // should be safe to cast now
+ btTransform adjusted_transform;
+
+ // Bullet centers our heightmap:
+ // https://github.com/bulletphysics/bullet3/blob/master/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h#L33
+ // This is really counter intuitive so we're adjusting for it
+
+ adjusted_transform.setIdentity();
+ adjusted_transform.setOrigin(btVector3(0.0, hm_shape->min_height + ((hm_shape->max_height - hm_shape->min_height) * 0.5), 0.0));
+ adjusted_transform *= transform;
+
+ return adjusted_transform;
+ } else {
+ return transform;
+ }
+}
+
void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
if (!bt_shape) {
if (active)
@@ -216,8 +237,8 @@ RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
}
}
-void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform) {
- shapes.push_back(ShapeWrapper(p_shape, p_transform, true));
+void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform, bool p_disabled) {
+ shapes.push_back(ShapeWrapper(p_shape, p_transform, !p_disabled));
p_shape->add_owner(this);
reload_shapes();
}
@@ -284,8 +305,7 @@ void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transfor
ERR_FAIL_INDEX(p_index, get_shape_count());
shapes.write[p_index].set_transform(p_transform);
- // Note, enableDynamicAabbTree is false because on transform change compound is destroyed
- reload_shapes();
+ shape_changed(p_index);
}
const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_index) const {
@@ -299,6 +319,8 @@ Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
}
void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
+ if (shapes[p_index].active != p_disabled)
+ return;
shapes.write[p_index].active = !p_disabled;
shape_changed(p_index);
}
@@ -342,7 +364,8 @@ void RigidCollisionObjectBullet::reload_shapes() {
// Try to optimize by not using compound
if (1 == shape_count) {
shpWrapper = &shapes.write[0];
- if (shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) {
+ btTransform transform = shpWrapper->get_adjusted_transform();
+ if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
shpWrapper->claim_bt_shape(body_scale);
mainShape = shpWrapper->bt_shape;
main_shape_changed();
@@ -356,7 +379,7 @@ void RigidCollisionObjectBullet::reload_shapes() {
for (int i(0); i < shape_count; ++i) {
shpWrapper = &shapes.write[i];
shpWrapper->claim_bt_shape(body_scale);
- btTransform scaled_shape_transform(shpWrapper->transform);
+ btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform());
scaled_shape_transform.getOrigin() *= body_scale;
compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
}
diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h
index 2d4e5c4f1a..04231b0814 100644
--- a/modules/bullet/collision_object_bullet.h
+++ b/modules/bullet/collision_object_bullet.h
@@ -109,6 +109,7 @@ public:
void set_transform(const Transform &p_transform);
void set_transform(const btTransform &p_transform);
+ btTransform get_adjusted_transform() const;
void claim_bt_shape(const btVector3 &body_scale);
};
@@ -166,14 +167,18 @@ public:
_FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; }
_FORCE_INLINE_ void set_collision_layer(uint32_t p_layer) {
- collisionLayer = p_layer;
- on_collision_filters_change();
+ if (collisionLayer != p_layer) {
+ collisionLayer = p_layer;
+ on_collision_filters_change();
+ }
}
_FORCE_INLINE_ uint32_t get_collision_layer() const { return collisionLayer; }
_FORCE_INLINE_ void set_collision_mask(uint32_t p_mask) {
- collisionMask = p_mask;
- on_collision_filters_change();
+ if (collisionMask != p_mask) {
+ collisionMask = p_mask;
+ on_collision_filters_change();
+ }
}
_FORCE_INLINE_ uint32_t get_collision_mask() const { return collisionMask; }
@@ -224,7 +229,7 @@ public:
_FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; }
- void add_shape(ShapeBullet *p_shape, const Transform &p_transform = Transform());
+ void add_shape(ShapeBullet *p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
void set_shape(int p_index, ShapeBullet *p_shape);
int get_shape_count() const;
diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp
index d9a82d6179..97b9a81f77 100644
--- a/modules/bullet/cone_twist_joint_bullet.cpp
+++ b/modules/bullet/cone_twist_joint_bullet.cpp
@@ -83,8 +83,7 @@ void ConeTwistJointBullet::set_param(PhysicsServer::ConeTwistJointParam p_param,
coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), coneConstraint->getBiasFactor(), p_value);
break;
default:
- ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
- WARN_DEPRECATED
+ WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
break;
}
}
@@ -102,8 +101,7 @@ real_t ConeTwistJointBullet::get_param(PhysicsServer::ConeTwistJointParam p_para
case PhysicsServer::CONE_TWIST_JOINT_RELAXATION:
return coneConstraint->getRelaxationFactor();
default:
- ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
- WARN_DEPRECATED;
+ WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
return 0;
}
}
diff --git a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
index 1f91349f32..078bcc45a8 100644
--- a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
+++ b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
@@ -6,8 +6,6 @@
</description>
<tutorials>
</tutorials>
- <demos>
- </demos>
<methods>
</methods>
<constants>
diff --git a/modules/bullet/doc_classes/BulletPhysicsServer.xml b/modules/bullet/doc_classes/BulletPhysicsServer.xml
index 8adc659b2c..2a37f6af5e 100644
--- a/modules/bullet/doc_classes/BulletPhysicsServer.xml
+++ b/modules/bullet/doc_classes/BulletPhysicsServer.xml
@@ -6,8 +6,6 @@
</description>
<tutorials>
</tutorials>
- <demos>
- </demos>
<methods>
</methods>
<constants>
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index 8fed933854..4aae87c220 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -174,8 +174,7 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint = p_value;
break;
default:
- ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
- WARN_DEPRECATED
+ WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
break;
}
}
@@ -216,8 +215,7 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint;
default:
- ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
- WARN_DEPRECATED;
+ WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
return 0;
}
}
@@ -255,8 +253,7 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableSpring = p_value;
break;
default:
- ERR_EXPLAIN("This flag " + itos(p_flag) + " is deprecated");
- WARN_DEPRECATED
+ WARN_DEPRECATED_MSG("The flag " + itos(p_flag) + " is deprecated.");
break;
}
}
diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp
index 3e06239453..2ba75b9a98 100644
--- a/modules/bullet/godot_ray_world_algorithm.cpp
+++ b/modules/bullet/godot_ray_world_algorithm.cpp
@@ -39,6 +39,9 @@
@author AndreaCatania
*/
+// Epsilon to account for floating point inaccuracies
+#define RAY_PENETRATION_DEPTH_EPSILON 0.01
+
GodotRayWorldAlgorithm::CreateFunc::CreateFunc(const btDiscreteDynamicsWorld *world) :
m_world(world) {}
@@ -100,8 +103,8 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo
btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
- if (depth >= -ray_shape->getMargin() * 0.5)
- depth = 0;
+ if (depth > -RAY_PENETRATION_DEPTH_EPSILON)
+ depth = 0.0;
if (ray_shape->getSlipsOnSlope())
resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth);
diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp
index 7b99d3d89f..4d26e729db 100644
--- a/modules/bullet/hinge_joint_bullet.cpp
+++ b/modules/bullet/hinge_joint_bullet.cpp
@@ -117,8 +117,7 @@ void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t
hingeConstraint->setMaxMotorImpulse(p_value);
break;
default:
- ERR_EXPLAIN("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
- WARN_DEPRECATED
+ WARN_DEPRECATED_MSG("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
break;
}
}
@@ -143,8 +142,7 @@ real_t HingeJointBullet::get_param(PhysicsServer::HingeJointParam p_param) const
case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE:
return hingeConstraint->getMaxMotorImpulse();
default:
- ERR_EXPLAIN("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
- WARN_DEPRECATED;
+ WARN_DEPRECATED_MSG("The HingeJoint parameter " + itos(p_param) + " is deprecated.");
return 0;
}
}
diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp
index 58b090006a..8d404e7f04 100644
--- a/modules/bullet/pin_joint_bullet.cpp
+++ b/modules/bullet/pin_joint_bullet.cpp
@@ -85,8 +85,7 @@ real_t PinJointBullet::get_param(PhysicsServer::PinJointParam p_param) const {
case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP:
return p2pConstraint->m_setting.m_impulseClamp;
default:
- ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
- WARN_DEPRECATED
+ WARN_DEPRECATED_MSG("The parameter " + itos(p_param) + " is deprecated.");
return 0;
}
}
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 22f2214898..d611810bfa 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -126,16 +126,16 @@ void BulletPhysicsDirectBodyState::add_torque(const Vector3 &p_torque) {
body->apply_torque(p_torque);
}
-void BulletPhysicsDirectBodyState::apply_central_impulse(const Vector3 &p_j) {
- body->apply_central_impulse(p_j);
+void BulletPhysicsDirectBodyState::apply_central_impulse(const Vector3 &p_impulse) {
+ body->apply_central_impulse(p_impulse);
}
-void BulletPhysicsDirectBodyState::apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
- body->apply_impulse(p_pos, p_j);
+void BulletPhysicsDirectBodyState::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
+ body->apply_impulse(p_pos, p_impulse);
}
-void BulletPhysicsDirectBodyState::apply_torque_impulse(const Vector3 &p_j) {
- body->apply_torque_impulse(p_j);
+void BulletPhysicsDirectBodyState::apply_torque_impulse(const Vector3 &p_impulse) {
+ body->apply_torque_impulse(p_impulse);
}
void BulletPhysicsDirectBodyState::set_sleep_state(bool p_enable) {
@@ -411,6 +411,8 @@ void RigidBodyBullet::on_collision_filters_change() {
if (space) {
space->reload_collision_filters(this);
}
+
+ set_activation_state(true);
}
void RigidBodyBullet::on_collision_checker_start() {
@@ -471,7 +473,7 @@ void RigidBodyBullet::assert_no_constraints() {
void RigidBodyBullet::set_activation_state(bool p_active) {
if (p_active) {
- btBody->setActivationState(ACTIVE_TAG);
+ btBody->activate();
} else {
btBody->setActivationState(WANTS_DEACTIVATION);
}
@@ -597,6 +599,8 @@ void RigidBodyBullet::set_state(PhysicsServer::BodyState p_state, const Variant
if (!can_sleep) {
// Can't sleep
btBody->forceActivationState(DISABLE_DEACTIVATION);
+ } else {
+ btBody->forceActivationState(ACTIVE_TAG);
}
break;
}
@@ -726,12 +730,12 @@ bool RigidBodyBullet::is_axis_locked(PhysicsServer::BodyAxis p_axis) const {
void RigidBodyBullet::reload_axis_lock() {
- btBody->setLinearFactor(btVector3(!is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_X), !is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_Y), !is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_Z)));
+ btBody->setLinearFactor(btVector3(float(!is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_X)), float(!is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_Y)), float(!is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_Z))));
if (PhysicsServer::BODY_MODE_CHARACTER == mode) {
/// When character angular is always locked
btBody->setAngularFactor(btVector3(0., 0., 0.));
} else {
- btBody->setAngularFactor(btVector3(!is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_X), !is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_Y), !is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_Z)));
+ btBody->setAngularFactor(btVector3(float(!is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_X)), float(!is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_Y)), float(!is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_Z))));
}
}
@@ -739,22 +743,20 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {
if (p_enable) {
// This threshold enable CCD if the object moves more than
// 1 meter in one simulation frame
- btBody->setCcdMotionThreshold(0.1);
+ btBody->setCcdMotionThreshold(1e-7);
/// Calculate using the rule writte below the CCD swept sphere radius
/// CCD works on an embedded sphere of radius, make sure this radius
/// is embedded inside the convex objects, preferably smaller:
/// for an object of dimensions 1 meter, try 0.2
- btScalar radius;
+ btScalar radius(1.0);
if (btBody->getCollisionShape()) {
btVector3 center;
btBody->getCollisionShape()->getBoundingSphere(center, radius);
- } else {
- radius = 0;
}
btBody->setCcdSweptSphereRadius(radius * 0.2);
} else {
- btBody->setCcdMotionThreshold(0.);
+ btBody->setCcdMotionThreshold(10000.0);
btBody->setCcdSweptSphereRadius(0.);
}
}
@@ -832,7 +834,7 @@ void RigidBodyBullet::reload_shapes() {
btBody->updateInertiaTensor();
reload_kinematic_shapes();
-
+ set_continuous_collision_detection(btBody->getCcdMotionThreshold() < 9998.0);
reload_body();
}
@@ -866,7 +868,7 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) {
if (p_area->is_spOv_gravityPoint()) {
++countGravityPointSpaces;
- assert(0 < countGravityPointSpaces);
+ ERR_FAIL_COND(countGravityPointSpaces <= 0);
}
}
@@ -888,7 +890,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
if (wasTheAreaFound) {
if (p_area->is_spOv_gravityPoint()) {
--countGravityPointSpaces;
- assert(0 <= countGravityPointSpaces);
+ ERR_FAIL_COND(countGravityPointSpaces < 0);
}
--areaWhereIamCount;
@@ -918,7 +920,7 @@ void RigidBodyBullet::reload_space_override_modificator() {
currentArea = areasWhereIam[i];
- if (PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED == currentArea->get_spOv_mode()) {
+ if (!currentArea || PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED == currentArea->get_spOv_mode()) {
continue;
}
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 1e1bea846a..0b6dc997db 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -54,7 +54,7 @@ class BulletPhysicsDirectBodyState;
/// created by BulletPhysicsServer and is held by the "singleton" variable of this class
/// Each time something require it, the body must be set again.
class BulletPhysicsDirectBodyState : public PhysicsDirectBodyState {
- GDCLASS(BulletPhysicsDirectBodyState, PhysicsDirectBodyState)
+ GDCLASS(BulletPhysicsDirectBodyState, PhysicsDirectBodyState);
static BulletPhysicsDirectBodyState *singleton;
@@ -114,8 +114,8 @@ public:
virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos);
virtual void add_torque(const Vector3 &p_torque);
virtual void apply_central_impulse(const Vector3 &p_impulse);
- virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j);
- virtual void apply_torque_impulse(const Vector3 &p_j);
+ virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
+ virtual void apply_torque_impulse(const Vector3 &p_impulse);
virtual void set_sleep_state(bool p_enable);
virtual bool is_sleeping() const;
@@ -305,7 +305,7 @@ public:
void reload_axis_lock();
/// Doc:
- /// http://www.bulletphysics.org/mediawiki-1.5.8/index.php?title=Anti_tunneling_by_Motion_Clamping
+ /// https://web.archive.org/web/20180404091446/http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Anti_tunneling_by_Motion_Clamping
void set_continuous_collision_detection(bool p_enable);
bool is_continuous_collision_detection_enabled() const;
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index b590d63167..85f47c3bbb 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -148,7 +148,13 @@ btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<rea
const bool flipQuadEdges = false;
const void *heightsPtr = p_heights.read().ptr();
- return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));
+ btHeightfieldTerrainShape *heightfield = bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));
+
+ // The shape can be created without params when you do PhysicsServer.shape_create(PhysicsServer.SHAPE_HEIGHTMAP)
+ if (heightsPtr)
+ heightfield->buildAccelerator(16);
+
+ return heightfield;
}
btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) {
@@ -499,8 +505,7 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
}
} else {
- ERR_EXPLAIN("Expected PoolRealArray or float Image.");
- ERR_FAIL();
+ ERR_FAIL_MSG("Expected PoolRealArray or float Image.");
}
ERR_FAIL_COND(l_width <= 0);
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 8fb8eba057..d73930775d 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -42,6 +42,7 @@
#include "servers/physics_server.h"
#include "soft_body_bullet.h"
+#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
#include <BulletCollision/CollisionDispatch/btGhostObject.h>
#include <BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h>
@@ -459,9 +460,13 @@ void SpaceBullet::remove_area(AreaBullet *p_area) {
}
void SpaceBullet::reload_collision_filters(AreaBullet *p_area) {
- // This is necessary to change collision filter
- dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost());
- dynamicsWorld->addCollisionObject(p_area->get_bt_ghost(), p_area->get_collision_layer(), p_area->get_collision_mask());
+ btGhostObject *ghost_object = p_area->get_bt_ghost();
+
+ btBroadphaseProxy *ghost_proxy = ghost_object->getBroadphaseHandle();
+ ghost_proxy->m_collisionFilterGroup = p_area->get_collision_layer();
+ ghost_proxy->m_collisionFilterMask = p_area->get_collision_mask();
+
+ dynamicsWorld->refreshBroadphaseProxy(ghost_object);
}
void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) {
@@ -482,9 +487,13 @@ void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) {
}
void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) {
- // This is necessary to change collision filter
- remove_rigid_body(p_body);
- add_rigid_body(p_body);
+ btRigidBody *rigid_body = p_body->get_bt_rigid_body();
+
+ btBroadphaseProxy *body_proxy = rigid_body->getBroadphaseProxy();
+ body_proxy->m_collisionFilterGroup = p_body->get_collision_layer();
+ body_proxy->m_collisionFilterMask = p_body->get_collision_mask();
+
+ dynamicsWorld->refreshBroadphaseProxy(rigid_body);
}
void SpaceBullet::add_soft_body(SoftBodyBullet *p_body) {
@@ -582,6 +591,8 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) {
world_mem = malloc(sizeof(btDiscreteDynamicsWorld));
}
+ ERR_FAIL_COND_MSG(!world_mem, "Out of memory.");
+
if (p_create_soft_world) {
collisionConfiguration = bulletnew(GodotSoftCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem)));
} else {
@@ -934,8 +945,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
btVector3 motion;
G_TO_B(p_motion, motion);
-
- { /// phase two - sweep test, from a secure position without margin
+ if (!motion.fuzzyZero()) {
+ // Phase two - sweep test, from a secure position without margin
const int shape_count(p_body->get_shape_count());
@@ -1043,23 +1054,16 @@ int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p
btVector3 recover_motion(0, 0, 0);
int rays_found = 0;
+ int rays_found_this_round = 0;
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
- int last_ray_index = recover_from_penetration_ray(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, p_result_max, recover_motion, r_results);
+ PhysicsServer::SeparationResult *next_results = &r_results[rays_found];
+ rays_found_this_round = recover_from_penetration_ray(p_body, body_transform, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, p_result_max - rays_found, recover_motion, next_results);
- rays_found = MAX(last_ray_index, rays_found);
- if (!rays_found) {
- break;
- } else {
+ rays_found += rays_found_this_round;
+ if (rays_found_this_round == 0) {
body_transform.getOrigin() += recover_motion;
- }
- }
-
- //optimize results (remove non colliding)
- for (int i = 0; i < rays_found; i++) {
- if (r_results[i].collision_depth >= 0) {
- rays_found--;
- SWAP(r_results[i], r_results[rays_found]);
+ break;
}
}
@@ -1069,18 +1073,47 @@ int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p
struct RecoverPenetrationBroadPhaseCallback : public btBroadphaseAabbCallback {
private:
+ btDbvtVolume bounds;
+
const btCollisionObject *self_collision_object;
uint32_t collision_layer;
uint32_t collision_mask;
+ struct CompoundLeafCallback : btDbvt::ICollide {
+ private:
+ RecoverPenetrationBroadPhaseCallback *parent_callback;
+ btCollisionObject *collision_object;
+
+ public:
+ CompoundLeafCallback(RecoverPenetrationBroadPhaseCallback *p_parent_callback, btCollisionObject *p_collision_object) :
+ parent_callback(p_parent_callback),
+ collision_object(p_collision_object) {
+ }
+
+ void Process(const btDbvtNode *leaf) {
+ BroadphaseResult result;
+ result.collision_object = collision_object;
+ result.compound_child_index = leaf->dataAsInt;
+ parent_callback->results.push_back(result);
+ }
+ };
+
public:
- Vector<btCollisionObject *> result_collision_objects;
+ struct BroadphaseResult {
+ btCollisionObject *collision_object;
+ int compound_child_index;
+ };
+
+ Vector<BroadphaseResult> results;
public:
- RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, uint32_t p_collision_mask) :
+ RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, uint32_t p_collision_mask, btVector3 p_aabb_min, btVector3 p_aabb_max) :
self_collision_object(p_self_collision_object),
collision_layer(p_collision_layer),
- collision_mask(p_collision_mask) {}
+ collision_mask(p_collision_mask) {
+
+ bounds = btDbvtVolume::FromMM(p_aabb_min, p_aabb_max);
+ }
virtual ~RecoverPenetrationBroadPhaseCallback() {}
@@ -1089,35 +1122,98 @@ public:
btCollisionObject *co = static_cast<btCollisionObject *>(proxy->m_clientObject);
if (co->getInternalType() <= btCollisionObject::CO_RIGID_BODY) {
if (self_collision_object != proxy->m_clientObject && GodotFilterCallback::test_collision_filters(collision_layer, collision_mask, proxy->m_collisionFilterGroup, proxy->m_collisionFilterMask)) {
- result_collision_objects.push_back(co);
+ if (co->getCollisionShape()->isCompound()) {
+ const btCompoundShape *cs = static_cast<btCompoundShape *>(co->getCollisionShape());
+
+ if (cs->getNumChildShapes() > 1) {
+ const btDbvt *tree = cs->getDynamicAabbTree();
+ ERR_FAIL_COND_V(tree == NULL, true);
+
+ // Transform bounds into compound shape local space
+ const btTransform other_in_compound_space = co->getWorldTransform().inverse();
+ const btMatrix3x3 abs_b = other_in_compound_space.getBasis().absolute();
+ const btVector3 local_center = other_in_compound_space(bounds.Center());
+ const btVector3 local_extent = bounds.Extents().dot3(abs_b[0], abs_b[1], abs_b[2]);
+ const btVector3 local_aabb_min = local_center - local_extent;
+ const btVector3 local_aabb_max = local_center + local_extent;
+ const btDbvtVolume local_bounds = btDbvtVolume::FromMM(local_aabb_min, local_aabb_max);
+
+ // Test collision against compound child shapes using its AABB tree
+ CompoundLeafCallback compound_leaf_callback(this, co);
+ tree->collideTV(tree->m_root, local_bounds, compound_leaf_callback);
+ } else {
+ // If there's only a single child shape then there's no need to search any more, we know which child overlaps
+ BroadphaseResult result;
+ result.collision_object = co;
+ result.compound_child_index = 0;
+ results.push_back(result);
+ }
+ } else {
+ BroadphaseResult result;
+ result.collision_object = co;
+ result.compound_child_index = -1;
+ results.push_back(result);
+ }
return true;
}
}
return false;
}
-
- void reset() {
- result_collision_objects.clear();
- }
};
bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
- RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
+ // Calculate the cumulative AABB of all shapes of the kinematic body
+ btVector3 aabb_min, aabb_max;
+ bool shapes_found = false;
+
+ for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
+
+ const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
+ if (!kin_shape.is_active()) {
+ continue;
+ }
+
+ if (kin_shape.shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
+ // Skip rayshape in order to implement custom separation process
+ continue;
+ }
+
+ btTransform shape_transform = p_body_position * kin_shape.transform;
+ shape_transform.getOrigin() += r_delta_recover_movement;
+
+ btVector3 shape_aabb_min, shape_aabb_max;
+ kin_shape.shape->getAabb(shape_transform, shape_aabb_min, shape_aabb_max);
- btTransform body_shape_position;
- btTransform body_shape_position_recovered;
+ if (!shapes_found) {
+ aabb_min = shape_aabb_min;
+ aabb_max = shape_aabb_max;
+ shapes_found = true;
+ } else {
+ aabb_min.setX((aabb_min.x() < shape_aabb_min.x()) ? aabb_min.x() : shape_aabb_min.x());
+ aabb_min.setY((aabb_min.y() < shape_aabb_min.y()) ? aabb_min.y() : shape_aabb_min.y());
+ aabb_min.setZ((aabb_min.z() < shape_aabb_min.z()) ? aabb_min.z() : shape_aabb_min.z());
+
+ aabb_max.setX((aabb_max.x() > shape_aabb_max.x()) ? aabb_max.x() : shape_aabb_max.x());
+ aabb_max.setY((aabb_max.y() > shape_aabb_max.y()) ? aabb_max.y() : shape_aabb_max.y());
+ aabb_max.setZ((aabb_max.z() > shape_aabb_max.z()) ? aabb_max.z() : shape_aabb_max.z());
+ }
+ }
+
+ // If there are no shapes then there is no penetration either
+ if (!shapes_found) {
+ return false;
+ }
- // Broad phase support
- btVector3 minAabb, maxAabb;
+ // Perform broadphase test
+ RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask(), aabb_min, aabb_max);
+ dynamicsWorld->getBroadphase()->aabbTest(aabb_min, aabb_max, recover_broad_result);
bool penetration = false;
- // For each shape
+ // Perform narrowphase per shape
for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
- recover_broad_result.reset();
-
const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
if (!kin_shape.is_active()) {
continue;
@@ -1128,15 +1224,11 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
continue;
}
- body_shape_position = p_body_position * kin_shape.transform;
- body_shape_position_recovered = body_shape_position;
- body_shape_position_recovered.getOrigin() += r_delta_recover_movement;
-
- kin_shape.shape->getAabb(body_shape_position_recovered, minAabb, maxAabb);
- dynamicsWorld->getBroadphase()->aabbTest(minAabb, maxAabb, recover_broad_result);
+ btTransform shape_transform = p_body_position * kin_shape.transform;
+ shape_transform.getOrigin() += r_delta_recover_movement;
- for (int i = recover_broad_result.result_collision_objects.size() - 1; 0 <= i; --i) {
- btCollisionObject *otherObject = recover_broad_result.result_collision_objects[i];
+ for (int i = recover_broad_result.results.size() - 1; 0 <= i; --i) {
+ btCollisionObject *otherObject = recover_broad_result.results[i].collision_object;
if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) {
otherObject->activate(); // Force activation of hitten rigid, soft body
continue;
@@ -1144,30 +1236,28 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
continue;
if (otherObject->getCollisionShape()->isCompound()) {
+ const btCompoundShape *cs = static_cast<const btCompoundShape *>(otherObject->getCollisionShape());
+ int shape_idx = recover_broad_result.results[i].compound_child_index;
+ ERR_FAIL_COND_V(shape_idx < 0 || shape_idx >= cs->getNumChildShapes(), false);
- // Each convex shape
- btCompoundShape *cs = static_cast<btCompoundShape *>(otherObject->getCollisionShape());
- for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) {
+ if (cs->getChildShape(shape_idx)->isConvex()) {
+ if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
- if (cs->getChildShape(x)->isConvex()) {
- if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(x)), otherObject, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
-
- penetration = true;
- }
- } else {
- if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
+ penetration = true;
+ }
+ } else {
+ if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(shape_idx), p_body->get_bt_collision_object(), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
- penetration = true;
- }
+ penetration = true;
}
}
} else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape
- if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, 0, body_shape_position, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
+ if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
penetration = true;
}
} else {
- if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, body_shape_position, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
+ if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
penetration = true;
}
@@ -1178,12 +1268,11 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
return penetration;
}
-bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
+bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
// Initialize GJK input
btGjkPairDetector::ClosestPointInput gjk_input;
gjk_input.m_transformA = p_transformA;
- gjk_input.m_transformA.getOrigin() += r_delta_recover_movement;
gjk_input.m_transformB = p_transformB;
// Perform GJK test
@@ -1197,6 +1286,7 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt
if (r_recover_result) {
if (result.m_distance < r_recover_result->penetration_distance) {
r_recover_result->hasPenetration = true;
+ r_recover_result->local_shape_most_recovered = p_shapeId_A;
r_recover_result->other_collision_object = p_objectB;
r_recover_result->other_compound_shape_index = p_shapeId_B;
r_recover_result->penetration_distance = result.m_distance;
@@ -1214,7 +1304,6 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
/// Contact test
btTransform tA(p_transformA);
- tA.getOrigin() += r_delta_recover_movement;
btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, tA, -1, p_shapeId_A);
btCollisionObjectWrapper obB(NULL, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);
@@ -1233,6 +1322,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
if (r_recover_result) {
if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {
r_recover_result->hasPenetration = true;
+ r_recover_result->local_shape_most_recovered = p_shapeId_A;
r_recover_result->other_collision_object = p_objectB;
r_recover_result->other_compound_shape_index = p_shapeId_B;
r_recover_result->penetration_distance = contactPointResult.m_penetration_distance;
@@ -1246,39 +1336,81 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
return false;
}
-void SpaceBullet::convert_to_separation_result(PhysicsServer::SeparationResult *r_result, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const {
+int SpaceBullet::add_separation_result(PhysicsServer::SeparationResult *r_result, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const {
+
+ // optimize results (ignore non-colliding)
+ if (p_recover_result.penetration_distance < 0.0) {
+ const btRigidBody *btRigid = static_cast<const btRigidBody *>(p_other_object);
+ CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(p_other_object->getUserPointer());
- const btRigidBody *btRigid = static_cast<const btRigidBody *>(p_other_object);
- CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(p_other_object->getUserPointer());
+ r_result->collision_depth = p_recover_result.penetration_distance;
+ B_TO_G(p_recover_result.pointWorld, r_result->collision_point);
+ B_TO_G(p_recover_result.normal, r_result->collision_normal);
+ B_TO_G(btRigid->getVelocityInLocalPoint(p_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity);
+ r_result->collision_local_shape = p_shape_id;
+ r_result->collider_id = collisionObject->get_instance_id();
+ r_result->collider = collisionObject->get_self();
+ r_result->collider_shape = p_recover_result.other_compound_shape_index;
- r_result->collision_depth = p_recover_result.penetration_distance;
- B_TO_G(p_recover_result.pointWorld, r_result->collision_point);
- B_TO_G(p_recover_result.normal, r_result->collision_normal);
- B_TO_G(btRigid->getVelocityInLocalPoint(p_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity);
- r_result->collision_local_shape = p_shape_id;
- r_result->collider_id = collisionObject->get_instance_id();
- r_result->collider = collisionObject->get_self();
- r_result->collider_shape = p_recover_result.other_compound_shape_index;
+ return 1;
+ } else {
+ return 0;
+ }
}
int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer::SeparationResult *r_results) {
- RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
+ // Calculate the cumulative AABB of all shapes of the kinematic body
+ btVector3 aabb_min, aabb_max;
+ bool shapes_found = false;
- btTransform body_shape_position;
- btTransform body_shape_position_recovered;
+ for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
- // Broad phase support
- btVector3 minAabb, maxAabb;
+ const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
+ if (!kin_shape.is_active()) {
+ continue;
+ }
+
+ if (kin_shape.shape->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE) {
+ continue;
+ }
- int ray_index = 0;
+ btTransform shape_transform = p_body_position * kin_shape.transform;
+ shape_transform.getOrigin() += r_delta_recover_movement;
- // For each shape
- for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
+ btVector3 shape_aabb_min, shape_aabb_max;
+ kin_shape.shape->getAabb(shape_transform, shape_aabb_min, shape_aabb_max);
+
+ if (!shapes_found) {
+ aabb_min = shape_aabb_min;
+ aabb_max = shape_aabb_max;
+ shapes_found = true;
+ } else {
+ aabb_min.setX((aabb_min.x() < shape_aabb_min.x()) ? aabb_min.x() : shape_aabb_min.x());
+ aabb_min.setY((aabb_min.y() < shape_aabb_min.y()) ? aabb_min.y() : shape_aabb_min.y());
+ aabb_min.setZ((aabb_min.z() < shape_aabb_min.z()) ? aabb_min.z() : shape_aabb_min.z());
+
+ aabb_max.setX((aabb_max.x() > shape_aabb_max.x()) ? aabb_max.x() : shape_aabb_max.x());
+ aabb_max.setY((aabb_max.y() > shape_aabb_max.y()) ? aabb_max.y() : shape_aabb_max.y());
+ aabb_max.setZ((aabb_max.z() > shape_aabb_max.z()) ? aabb_max.z() : shape_aabb_max.z());
+ }
+ }
- recover_broad_result.reset();
+ // If there are no shapes then there is no penetration either
+ if (!shapes_found) {
+ return 0;
+ }
+
+ // Perform broadphase test
+ RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask(), aabb_min, aabb_max);
+ dynamicsWorld->getBroadphase()->aabbTest(aabb_min, aabb_max, recover_broad_result);
+
+ int ray_count = 0;
+
+ // Perform narrowphase per shape
+ for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
- if (ray_index >= p_result_max) {
+ if (ray_count >= p_result_max) {
break;
}
@@ -1291,15 +1423,11 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT
continue;
}
- body_shape_position = p_body_position * kin_shape.transform;
- body_shape_position_recovered = body_shape_position;
- body_shape_position_recovered.getOrigin() += r_delta_recover_movement;
+ btTransform shape_transform = p_body_position * kin_shape.transform;
+ shape_transform.getOrigin() += r_delta_recover_movement;
- kin_shape.shape->getAabb(body_shape_position_recovered, minAabb, maxAabb);
- dynamicsWorld->getBroadphase()->aabbTest(minAabb, maxAabb, recover_broad_result);
-
- for (int i = recover_broad_result.result_collision_objects.size() - 1; 0 <= i; --i) {
- btCollisionObject *otherObject = recover_broad_result.result_collision_objects[i];
+ for (int i = recover_broad_result.results.size() - 1; 0 <= i; --i) {
+ btCollisionObject *otherObject = recover_broad_result.results[i].collision_object;
if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) {
otherObject->activate(); // Force activation of hitten rigid, soft body
continue;
@@ -1307,29 +1435,25 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT
continue;
if (otherObject->getCollisionShape()->isCompound()) {
+ const btCompoundShape *cs = static_cast<const btCompoundShape *>(otherObject->getCollisionShape());
+ int shape_idx = recover_broad_result.results[i].compound_child_index;
+ ERR_FAIL_COND_V(shape_idx < 0 || shape_idx >= cs->getNumChildShapes(), false);
- // Each convex shape
- btCompoundShape *cs = static_cast<btCompoundShape *>(otherObject->getCollisionShape());
- for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) {
-
- RecoverResult recover_result;
- if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) {
+ RecoverResult recover_result;
+ if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(shape_idx), p_body->get_bt_collision_object(), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) {
- convert_to_separation_result(&r_results[ray_index], recover_result, kinIndex, otherObject);
- }
+ ray_count = add_separation_result(&r_results[ray_count], recover_result, kinIndex, otherObject);
}
} else {
RecoverResult recover_result;
- if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, body_shape_position, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) {
+ if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) {
- convert_to_separation_result(&r_results[ray_index], recover_result, kinIndex, otherObject);
+ ray_count = add_separation_result(&r_results[ray_count], recover_result, kinIndex, otherObject);
}
}
}
-
- ++ray_index;
}
- return ray_index;
+ return ray_count;
}
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 7bf6a216b5..ecf8a2db9d 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -68,7 +68,8 @@ class btGjkEpaPenetrationDepthSolver;
extern ContactAddedCallback gContactAddedCallback;
class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState {
- GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState)
+ GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState);
+
private:
SpaceBullet *space;
@@ -207,12 +208,12 @@ private:
bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
/// This is an API that recover a kinematic object from penetration
/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
- bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
+ bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
/// This is an API that recover a kinematic object from penetration
/// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm
bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
- void convert_to_separation_result(PhysicsServer::SeparationResult *r_result, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const;
+ int add_separation_result(PhysicsServer::SeparationResult *r_results, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const;
int recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer::SeparationResult *r_results);
};
#endif
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-16 06:59:35 +0000