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-rw-r--r--modules/bullet/area_bullet.cpp163
-rw-r--r--modules/bullet/area_bullet.h55
-rw-r--r--modules/bullet/collision_object_bullet.cpp13
-rw-r--r--modules/bullet/collision_object_bullet.h6
-rw-r--r--modules/bullet/rigid_body_bullet.cpp2
-rw-r--r--modules/bullet/space_bullet.cpp150
6 files changed, 188 insertions, 201 deletions
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp
index b5a7da0c38..435069e25c 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);
}
}
@@ -70,30 +70,42 @@ 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(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())];
+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 (!event.event_callback.is_valid()) {
event.event_callback = Callable();
@@ -101,58 +113,97 @@ void AreaBullet::call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3
}
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;
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(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 {
@@ -276,6 +312,7 @@ void AreaBullet::set_event_callback(Type p_callbackObjectType, const Callable &p
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();
}
}
diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h
index d96c550082..3bff364cc1 100644
--- a/modules/bullet/area_bullet.h
+++ b/modules/bullet/area_bullet.h
@@ -43,8 +43,6 @@
class btGhostObject;
class AreaBullet : public RigidCollisionObjectBullet {
- friend void SpaceBullet::check_ghost_overlaps();
-
public:
struct InOutEventCallback {
Callable event_callback;
@@ -59,21 +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:
@@ -82,7 +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;
@@ -104,7 +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; }
@@ -143,20 +140,18 @@ public:
virtual void set_space(SpaceBullet *p_space);
virtual void dispatch_callbacks();
- void call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3D::AreaBodyStatus p_status);
- 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; }
-
- void add_overlap(CollisionObjectBullet *p_otherObject);
- void put_overlap_as_exit(int p_index);
- void put_overlap_as_inside(int p_index);
+ virtual void on_collision_checker_end() { updated = false; }
+
+ 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;
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index c45bd5bbc0..987a45ad5f 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() {
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/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 7b20fad28c..4faab19539 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -420,7 +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) {
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 66d7370bd7..7aa3815c94 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -662,101 +662,77 @@ 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 +741,20 @@ 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 +789,7 @@ 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;
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-02 10:35:55 +0000