summaryrefslogtreecommitdiff
path: root/modules/bullet
diff options
context:
space:
mode:
Diffstat (limited to 'modules/bullet')
-rw-r--r--modules/bullet/bullet_physics_server.h2
-rw-r--r--modules/bullet/collision_object_bullet.cpp9
-rw-r--r--modules/bullet/generic_6dof_joint_bullet.cpp40
-rw-r--r--modules/bullet/rigid_body_bullet.cpp26
-rw-r--r--modules/bullet/rigid_body_bullet.h15
-rw-r--r--modules/bullet/space_bullet.cpp10
6 files changed, 97 insertions, 5 deletions
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 6b7dcd86e6..c8c782267e 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -397,6 +397,8 @@ public:
virtual void flush_queries();
virtual void finish();
+ virtual bool is_flushing_queries() const { return false; }
+
virtual int get_process_info(ProcessInfo p_info);
CollisionObjectBullet *get_collisin_object(RID p_object) const;
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index 402a276f95..441fa7c8af 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -304,7 +304,11 @@ bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
}
void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
- bulletdelete(shapes.write[p_shape_index].bt_shape);
+ ShapeWrapper &shp = shapes.write[p_shape_index];
+ if (shp.bt_shape == mainShape) {
+ mainShape = NULL;
+ }
+ bulletdelete(shp.bt_shape);
reload_shapes();
}
@@ -366,5 +370,8 @@ void RigidCollisionObjectBullet::body_scale_changed() {
void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {
ShapeWrapper &shp = shapes.write[p_index];
shp.shape->remove_owner(this, p_permanentlyFromThisBody);
+ if (shp.bt_shape == mainShape) {
+ mainShape = NULL;
+ }
bulletdelete(shp.bt_shape);
}
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index a36f1123bc..a94b88d566 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -135,6 +135,15 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis] = p_value;
break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis] = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis] = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis] = p_value;
+ break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
limits_lower[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
@@ -143,6 +152,9 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
limits_upper[1][p_axis] = p_value;
set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
+ break;
case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
break;
@@ -152,6 +164,15 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint = p_value;
+ break;
default:
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_DEPRECATED
@@ -170,6 +191,12 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
return sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis];
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
+ return sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis];
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
+ return sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis];
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
+ return sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
return limits_lower[1][p_axis];
case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
@@ -182,6 +209,12 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
+ return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
+ return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping;
+ 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;
@@ -215,6 +248,12 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING:
+ sixDOFConstraint->getTranslationalLimitMotor()->m_enableSpring[p_axis] = p_value;
+ break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING:
+ sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableSpring = p_value;
+ break;
default:
ERR_EXPLAIN("This flag " + itos(p_flag) + " is deprecated");
WARN_DEPRECATED
@@ -224,6 +263,5 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
ERR_FAIL_INDEX_V(p_axis, 3, false);
-
return flags[p_axis][p_flag];
}
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 37e7718969..9dd04100ed 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -268,6 +268,7 @@ RigidBodyBullet::RigidBodyBullet() :
can_integrate_forces(false),
maxCollisionsDetection(0),
collisionsCount(0),
+ prev_collision_count(0),
maxAreasWhereIam(10),
areaWhereIamCount(0),
countGravityPointSpaces(0),
@@ -293,6 +294,9 @@ RigidBodyBullet::RigidBodyBullet() :
areasWhereIam.write[i] = NULL;
}
btBody->setSleepingThresholds(0.2, 0.2);
+
+ prev_collision_traces = &collision_traces_1;
+ curr_collision_traces = &collision_traces_2;
}
RigidBodyBullet::~RigidBodyBullet() {
@@ -410,7 +414,14 @@ void RigidBodyBullet::on_collision_filters_change() {
}
void RigidBodyBullet::on_collision_checker_start() {
+
+ prev_collision_count = collisionsCount;
collisionsCount = 0;
+
+ // Swap array
+ Vector<RigidBodyBullet *> *s = prev_collision_traces;
+ prev_collision_traces = curr_collision_traces;
+ curr_collision_traces = s;
}
void RigidBodyBullet::on_collision_checker_end() {
@@ -433,10 +444,20 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
cd.other_object_shape = p_other_shape_index;
cd.local_shape = p_local_shape_index;
+ curr_collision_traces->write[collisionsCount] = p_otherObject;
+
++collisionsCount;
return true;
}
+bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) {
+ for (int i = prev_collision_count - 1; 0 <= i; --i) {
+ if ((*prev_collision_traces)[i] == p_other_object)
+ return true;
+ }
+ return false;
+}
+
void RigidBodyBullet::assert_no_constraints() {
if (btBody->getNumConstraintRefs()) {
WARN_PRINT("A body with a joints is destroyed. Please check the implementation in order to destroy the joint before the body.");
@@ -797,7 +818,10 @@ void RigidBodyBullet::reload_shapes() {
const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
if (mainShape) {
- btVector3 inertia;
+ // inertia initialised zero here because some of bullet's collision
+ // shapes incorrectly do not set the vector in calculateLocalIntertia.
+ // Arbitrary zero is preferable to undefined behaviour.
+ btVector3 inertia(0, 0, 0);
mainShape->calculateLocalInertia(mass, inertia);
btBody->setMassProps(mass, inertia);
}
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 26e5018c87..0696073d21 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -205,9 +205,15 @@ private:
bool can_integrate_forces;
Vector<CollisionData> collisions;
+ Vector<RigidBodyBullet *> collision_traces_1;
+ Vector<RigidBodyBullet *> collision_traces_2;
+ Vector<RigidBodyBullet *> *prev_collision_traces;
+ Vector<RigidBodyBullet *> *curr_collision_traces;
+
// these parameters are used to avoid vector resize
int maxCollisionsDetection;
int collisionsCount;
+ int prev_collision_count;
Vector<AreaBullet *> areasWhereIam;
// these parameters are used to avoid vector resize
@@ -244,9 +250,17 @@ public:
virtual void on_collision_checker_end();
void set_max_collisions_detection(int p_maxCollisionsDetection) {
+
+ ERR_FAIL_COND(0 > p_maxCollisionsDetection);
+
maxCollisionsDetection = p_maxCollisionsDetection;
+
collisions.resize(p_maxCollisionsDetection);
+ collision_traces_1.resize(p_maxCollisionsDetection);
+ collision_traces_2.resize(p_maxCollisionsDetection);
+
collisionsCount = 0;
+ prev_collision_count = MIN(prev_collision_count, p_maxCollisionsDetection);
}
int get_max_collisions_detection() {
return maxCollisionsDetection;
@@ -254,6 +268,7 @@ public:
bool can_add_collision() { return collisionsCount < maxCollisionsDetection; }
bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index);
+ bool was_colliding(RigidBodyBullet *p_other_object);
void assert_no_constraints();
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index ab2d1781ad..fed12cd5ed 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -786,16 +786,22 @@ void SpaceBullet::check_body_collision() {
}
const int numContacts = contactManifold->getNumContacts();
+
+ /// Since I don't need report all contacts for these objects,
+ /// So report only the first
#define REPORT_ALL_CONTACTS 0
#if REPORT_ALL_CONTACTS
for (int j = 0; j < numContacts; j++) {
btManifoldPoint &pt = contactManifold->getContactPoint(j);
#else
- // Since I don't need report all contacts for these objects, I'll report only the first
if (numContacts) {
btManifoldPoint &pt = contactManifold->getContactPoint(0);
#endif
- if (pt.getDistance() <= 0.0) {
+ if (
+ pt.getDistance() <= 0.0 ||
+ bodyA->was_colliding(bodyB) ||
+ bodyB->was_colliding(bodyA)) {
+
Vector3 collisionWorldPosition;
Vector3 collisionLocalPosition;
Vector3 normalOnB;
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-20 22:36:27 +0000