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-rw-r--r--modules/bullet/bullet_physics_server.cpp4
-rw-r--r--modules/bullet/rigid_body_bullet.h2
-rw-r--r--modules/bullet/shape_bullet.cpp20
-rw-r--r--modules/bullet/shape_bullet.h6
-rw-r--r--modules/bullet/space_bullet.cpp25
-rw-r--r--modules/bullet/space_bullet.h12
6 files changed, 47 insertions, 22 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index fc876a81cf..ed05e51e53 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -87,8 +87,8 @@ RID BulletPhysicsServer3D::shape_create(ShapeType p_shape) {
ShapeBullet *shape = nullptr;
switch (p_shape) {
- case SHAPE_PLANE: {
- shape = bulletnew(PlaneShapeBullet);
+ case SHAPE_WORLD_BOUNDARY: {
+ shape = bulletnew(WorldBoundaryShapeBullet);
} break;
case SHAPE_SPHERE: {
shape = bulletnew(SphereShapeBullet);
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 5e102d8b05..01ac1e4836 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -301,7 +301,7 @@ public:
void reload_axis_lock();
/// Doc:
- /// https://web.archive.org/web/20180404091446/http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Anti_tunneling_by_Motion_Clamping
+ /// https://web.archive.org/web/20180404091446/https://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 40e785d699..88ffb9ec67 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -110,7 +110,7 @@ btEmptyShape *ShapeBullet::create_shape_empty() {
return bulletnew(btEmptyShape);
}
-btStaticPlaneShape *ShapeBullet::create_shape_plane(const btVector3 &planeNormal, btScalar planeConstant) {
+btStaticPlaneShape *ShapeBullet::create_shape_world_boundary(const btVector3 &planeNormal, btScalar planeConstant) {
return bulletnew(btStaticPlaneShape(planeNormal, planeConstant));
}
@@ -164,32 +164,32 @@ btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope
return r;
}
-/* PLANE */
+/* World boundary */
-PlaneShapeBullet::PlaneShapeBullet() :
+WorldBoundaryShapeBullet::WorldBoundaryShapeBullet() :
ShapeBullet() {}
-void PlaneShapeBullet::set_data(const Variant &p_data) {
+void WorldBoundaryShapeBullet::set_data(const Variant &p_data) {
setup(p_data);
}
-Variant PlaneShapeBullet::get_data() const {
+Variant WorldBoundaryShapeBullet::get_data() const {
return plane;
}
-PhysicsServer3D::ShapeType PlaneShapeBullet::get_type() const {
- return PhysicsServer3D::SHAPE_PLANE;
+PhysicsServer3D::ShapeType WorldBoundaryShapeBullet::get_type() const {
+ return PhysicsServer3D::SHAPE_WORLD_BOUNDARY;
}
-void PlaneShapeBullet::setup(const Plane &p_plane) {
+void WorldBoundaryShapeBullet::setup(const Plane &p_plane) {
plane = p_plane;
notifyShapeChanged();
}
-btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+btCollisionShape *WorldBoundaryShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btVector3 btPlaneNormal;
G_TO_B(plane.normal, btPlaneNormal);
- return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d));
+ return prepare(WorldBoundaryShapeBullet::create_shape_world_boundary(btPlaneNormal, plane.d));
}
/* Sphere */
diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h
index 5080d13d99..0822399b5e 100644
--- a/modules/bullet/shape_bullet.h
+++ b/modules/bullet/shape_bullet.h
@@ -81,7 +81,7 @@ public:
public:
static class btEmptyShape *create_shape_empty();
- static class btStaticPlaneShape *create_shape_plane(const btVector3 &planeNormal, btScalar planeConstant);
+ static class btStaticPlaneShape *create_shape_world_boundary(const btVector3 &planeNormal, btScalar planeConstant);
static class btSphereShape *create_shape_sphere(btScalar radius);
static class btBoxShape *create_shape_box(const btVector3 &boxHalfExtents);
static class btCapsuleShape *create_shape_capsule(btScalar radius, btScalar height);
@@ -93,11 +93,11 @@ public:
static class btRayShape *create_shape_ray(real_t p_length, bool p_slips_on_slope);
};
-class PlaneShapeBullet : public ShapeBullet {
+class WorldBoundaryShapeBullet : public ShapeBullet {
Plane plane;
public:
- PlaneShapeBullet();
+ WorldBoundaryShapeBullet();
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index c6d835742d..a9a811c445 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -945,6 +945,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
G_TO_B(p_from, body_transform);
UNSCALE_BT_BASIS(body_transform);
+ if (!p_body->get_kinematic_utilities()) {
+ p_body->init_kinematic_utilities();
+ p_body->reload_kinematic_shapes();
+ }
+
btVector3 initial_recover_motion(0, 0, 0);
{ /// Phase one - multi shapes depenetration using margin
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
@@ -958,6 +963,9 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
btVector3 motion;
G_TO_B(p_motion, motion);
+ real_t total_length = motion.length();
+ real_t unsafe_fraction = 1.0;
+ real_t safe_fraction = 1.0;
{
// Phase two - sweep test, from a secure position without margin
@@ -1007,6 +1015,15 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration);
if (btResult.hasHit()) {
+ if (total_length > CMP_EPSILON) {
+ real_t hit_fraction = btResult.m_closestHitFraction * motion.length() / total_length;
+ if (hit_fraction < unsafe_fraction) {
+ unsafe_fraction = hit_fraction;
+ real_t margin = p_body->get_kinematic_utilities()->safe_margin;
+ safe_fraction = MAX(hit_fraction - (1 - ((total_length - margin) / total_length)), 0);
+ }
+ }
+
/// Since for each sweep test I fix the motion of new shapes in base the recover result,
/// if another shape will hit something it means that has a deepest penetration respect the previous shape
motion *= btResult.m_closestHitFraction;
@@ -1043,6 +1060,9 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p
r_result->collider_id = collisionObject->get_instance_id();
r_result->collider_shape = r_recover_result.other_compound_shape_index;
r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
+ r_result->collision_depth = Math::abs(r_recover_result.penetration_distance);
+ r_result->collision_safe_fraction = safe_fraction;
+ r_result->collision_unsafe_fraction = unsafe_fraction;
#if debug_test_motion
Vector3 sup_line2;
@@ -1067,6 +1087,11 @@ int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform3D
G_TO_B(p_transform, body_transform);
UNSCALE_BT_BASIS(body_transform);
+ if (!p_body->get_kinematic_utilities()) {
+ p_body->init_kinematic_utilities();
+ p_body->reload_kinematic_shapes();
+ }
+
btVector3 recover_motion(0, 0, 0);
int rays_found = 0;
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 2070e0e633..cf8549030d 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -76,13 +76,13 @@ private:
public:
BulletPhysicsDirectSpaceState(SpaceBullet *p_space);
- virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
- virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override;
- virtual int intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
- virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override;
+ virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
+ virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override;
+ virtual int intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
+ virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override;
/// Returns the list of contacts pairs in this order: Local contact, other body contact
- virtual bool collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
- virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
+ virtual bool collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
+ virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override;
};
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-28 03:45:52 +0000