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-rw-r--r--modules/bullet/bullet_physics_server.cpp27
-rw-r--r--modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml2
-rw-r--r--modules/bullet/doc_classes/BulletPhysicsServer.xml2
-rw-r--r--modules/bullet/godot_result_callbacks.cpp23
-rw-r--r--modules/bullet/godot_result_callbacks.h7
-rw-r--r--modules/bullet/rigid_body_bullet.cpp8
-rw-r--r--modules/bullet/rigid_body_bullet.h4
-rw-r--r--modules/bullet/space_bullet.cpp15
8 files changed, 48 insertions, 40 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 61ce26e9fd..6246a295ec 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -89,7 +89,9 @@ BulletPhysicsServer::BulletPhysicsServer() :
active(true),
active_spaces_count(0) {}
-BulletPhysicsServer::~BulletPhysicsServer() {}
+BulletPhysicsServer::~BulletPhysicsServer() {
+ bulletdelete(emptyShape);
+}
RID BulletPhysicsServer::shape_create(ShapeType p_shape) {
ShapeBullet *shape = NULL;
@@ -619,11 +621,11 @@ uint32_t BulletPhysicsServer::body_get_collision_mask(RID p_body) const {
}
void BulletPhysicsServer::body_set_user_flags(RID p_body, uint32_t p_flags) {
- WARN_PRINT("This function si not currently supported by bullet and Godot");
+ // This function si not currently supported
}
uint32_t BulletPhysicsServer::body_get_user_flags(RID p_body) const {
- WARN_PRINT("This function si not currently supported by bullet and Godot");
+ // This function si not currently supported
return 0;
}
@@ -784,21 +786,26 @@ int BulletPhysicsServer::body_get_max_contacts_reported(RID p_body) const {
}
void BulletPhysicsServer::body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) {
- WARN_PRINT("Not supported by bullet and even Godot");
+ // Not supported by bullet and even Godot
}
float BulletPhysicsServer::body_get_contacts_reported_depth_threshold(RID p_body) const {
- WARN_PRINT("Not supported by bullet and even Godot");
+ // Not supported by bullet and even Godot
return 0.;
}
void BulletPhysicsServer::body_set_omit_force_integration(RID p_body, bool p_omit) {
- WARN_PRINT("Not supported by bullet");
+ RigidBodyBullet *body = rigid_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_omit_forces_integration(p_omit);
}
bool BulletPhysicsServer::body_is_omitting_force_integration(RID p_body) const {
- WARN_PRINT("Not supported by bullet");
- return false;
+ RigidBodyBullet *body = rigid_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, false);
+
+ return body->get_omit_forces_integration();
}
void BulletPhysicsServer::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) {
@@ -979,11 +986,11 @@ PhysicsServer::JointType BulletPhysicsServer::joint_get_type(RID p_joint) const
}
void BulletPhysicsServer::joint_set_solver_priority(RID p_joint, int p_priority) {
- //WARN_PRINTS("Joint priority not supported by bullet");
+ // Joint priority not supported by bullet
}
int BulletPhysicsServer::joint_get_solver_priority(RID p_joint) const {
- //WARN_PRINTS("Joint priority not supported by bullet");
+ // Joint priority not supported by bullet
return 0;
}
diff --git a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
index 8c8647e097..a4dc61d0bc 100644
--- a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
+++ b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8" ?>
-<class name="BulletPhysicsDirectBodyState" inherits="PhysicsDirectBodyState" category="Core" version="3.1-dev">
+<class name="BulletPhysicsDirectBodyState" inherits="PhysicsDirectBodyState" category="Core" version="3.1">
<brief_description>
</brief_description>
<description>
diff --git a/modules/bullet/doc_classes/BulletPhysicsServer.xml b/modules/bullet/doc_classes/BulletPhysicsServer.xml
index 8ed84e1dec..1486936cf4 100644
--- a/modules/bullet/doc_classes/BulletPhysicsServer.xml
+++ b/modules/bullet/doc_classes/BulletPhysicsServer.xml
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8" ?>
-<class name="BulletPhysicsServer" inherits="PhysicsServer" category="Core" version="3.1-dev">
+<class name="BulletPhysicsServer" inherits="PhysicsServer" category="Core" version="3.1">
<brief_description>
</brief_description>
<description>
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index 7c051f8f17..72c982bb0b 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -257,18 +257,15 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp
void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {
- if (depth < 0) {
- // Has penetration
- if (m_most_penetrated_distance > depth) {
-
- bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
-
- m_most_penetrated_distance = depth;
- m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject();
- m_other_compound_shape_index = isSwapped ? m_index1 : m_index0;
- m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
- m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB;
- m_penetration_distance = depth;
- }
+ // Has penetration
+ if (m_penetration_distance < ABS(depth)) {
+
+ bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
+
+ m_penetration_distance = depth;
+ m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject();
+ m_other_compound_shape_index = isSwapped ? m_index1 : m_index0;
+ m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
+ m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB;
}
}
diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h
index ed6d4b7d6d..60493d4788 100644
--- a/modules/bullet/godot_result_callbacks.h
+++ b/modules/bullet/godot_result_callbacks.h
@@ -187,18 +187,15 @@ struct GodotDeepPenetrationContactResultCallback : public btManifoldResult {
int m_other_compound_shape_index;
const btCollisionObject *m_pointCollisionObject;
- btScalar m_most_penetrated_distance;
-
GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) :
btManifoldResult(body0Wrap, body1Wrap),
m_pointCollisionObject(NULL),
m_penetration_distance(0),
- m_other_compound_shape_index(0),
- m_most_penetrated_distance(1e20) {}
+ m_other_compound_shape_index(0) {}
void reset() {
m_pointCollisionObject = NULL;
- m_most_penetrated_distance = 1e20;
+ m_penetration_distance = 0;
}
bool hasHit() {
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 75b4cc054a..2494063c22 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -255,6 +255,7 @@ RigidBodyBullet::RigidBodyBullet() :
linearDamp(0),
angularDamp(0),
can_sleep(true),
+ omit_forces_integration(false),
force_integration_callback(NULL),
isTransformChanged(false),
previousActiveState(true),
@@ -334,6 +335,9 @@ void RigidBodyBullet::dispatch_callbacks() {
/// The check isTransformChanged is necessary in order to call integrated forces only when the first transform is sent
if ((btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && isTransformChanged) {
+ if (omit_forces_integration)
+ btBody->clearForces();
+
BulletPhysicsDirectBodyState *bodyDirect = BulletPhysicsDirectBodyState::get_singleton(this);
Variant variantBodyDirect = bodyDirect;
@@ -437,6 +441,10 @@ bool RigidBodyBullet::is_active() const {
return btBody->isActive();
}
+void RigidBodyBullet::set_omit_forces_integration(bool p_omit) {
+ omit_forces_integration = p_omit;
+}
+
void RigidBodyBullet::set_param(PhysicsServer::BodyParameter p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer::BODY_PARAM_BOUNCE:
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 2d529f6dc7..b9511243c7 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -198,6 +198,7 @@ private:
real_t linearDamp;
real_t angularDamp;
bool can_sleep;
+ bool omit_forces_integration;
Vector<CollisionData> collisions;
// these parameters are used to avoid vector resize
@@ -254,6 +255,9 @@ public:
void set_activation_state(bool p_active);
bool is_active() const;
+ void set_omit_forces_integration(bool p_omit);
+ _FORCE_INLINE_ bool get_omit_forces_integration() const { return omit_forces_integration; }
+
void set_param(PhysicsServer::BodyParameter p_param, real_t);
real_t get_param(PhysicsServer::BodyParameter p_param) const;
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index e20a79f667..8c15758e0f 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -790,7 +790,7 @@ void SpaceBullet::update_gravity() {
/// I'm leaving this here just for future tests.
/// Debug motion and normal vector drawing
#define debug_test_motion 0
-#define PERFORM_INITIAL_UNSTACK 0
+
#define RECOVERING_MOVEMENT_SCALE 0.4
#define RECOVERING_MOVEMENT_CYCLES 4
@@ -842,7 +842,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
G_TO_B(p_from, body_safe_position);
UNSCALE_BT_BASIS(body_safe_position);
-#if PERFORM_INITIAL_UNSTACK
btVector3 recover_initial_position(0, 0, 0);
{ /// Phase one - multi shapes depenetration using margin
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
@@ -854,7 +853,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
// Add recover movement in order to make it safe
body_safe_position.getOrigin() += recover_initial_position;
}
-#endif
btVector3 motion;
G_TO_B(p_motion, motion);
@@ -893,7 +891,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
btResult.m_collisionFilterGroup = p_body->get_collision_layer();
btResult.m_collisionFilterMask = p_body->get_collision_mask();
- dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, 0.002);
+ dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
if (btResult.hasHit()) {
/// Since for each sweep test I fix the motion of new shapes in base the recover result,
@@ -918,11 +916,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, delta_recover_movement, &r_recover_result);
if (r_result) {
-#if PERFORM_INITIAL_UNSTACK
B_TO_G(motion + delta_recover_movement + recover_initial_position, r_result->motion);
-#else
- B_TO_G(motion + delta_recover_movement, r_result->motion);
-#endif
+
if (l_has_penetration) {
has_penetration = true;
if (l_penetration_distance <= r_recover_result.penetration_distance) {
@@ -1112,7 +1107,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, tA, -1, p_shapeId_A);
btCollisionObjectWrapper obB(NULL, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);
- btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CLOSEST_POINT_ALGORITHMS);
+ btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS);
if (algorithm) {
GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB);
//discrete collision detection query
@@ -1122,7 +1117,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
dispatcher->freeCollisionAlgorithm(algorithm);
if (contactPointResult.hasHit()) {
- r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1 * p_recover_movement_scale);
+ r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * p_recover_movement_scale);
if (r_recover_result) {
if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-14 12:59:21 +0000