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-rw-r--r--modules/bullet/area_bullet.cpp4
-rw-r--r--modules/bullet/bullet_physics_server.cpp44
-rw-r--r--modules/bullet/bullet_physics_server.h9
-rw-r--r--modules/bullet/godot_result_callbacks.cpp68
-rw-r--r--modules/bullet/godot_result_callbacks.h44
-rw-r--r--modules/bullet/hinge_joint_bullet.cpp6
-rw-r--r--modules/bullet/rigid_body_bullet.cpp18
-rw-r--r--modules/bullet/rigid_body_bullet.h9
-rw-r--r--modules/bullet/shape_bullet.cpp45
-rw-r--r--modules/bullet/shape_bullet.h24
-rw-r--r--modules/bullet/space_bullet.cpp187
-rw-r--r--modules/bullet/space_bullet.h17
12 files changed, 321 insertions, 154 deletions
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp
index b004641838..3668088590 100644
--- a/modules/bullet/area_bullet.cpp
+++ b/modules/bullet/area_bullet.cpp
@@ -236,7 +236,7 @@ void AreaBullet::set_param(PhysicsServer::AreaParameter p_param, const Variant &
set_spOv_gravityPointAttenuation(p_value);
break;
default:
- print_line("The Bullet areas doesn't suppot this param: " + itos(p_param));
+ WARN_PRINTS("Area doesn't support this parameter in the Bullet backend: " + itos(p_param));
}
}
@@ -259,7 +259,7 @@ Variant AreaBullet::get_param(PhysicsServer::AreaParameter p_param) const {
case PhysicsServer::AREA_PARAM_GRAVITY_POINT_ATTENUATION:
return spOv_gravityPointAttenuation;
default:
- print_line("The Bullet areas doesn't suppot this param: " + itos(p_param));
+ WARN_PRINTS("Area doesn't support this parameter in the Bullet backend: " + itos(p_param));
return Variant();
}
}
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 9263a9ba6d..3a2cd3b2f1 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -163,6 +163,18 @@ Variant BulletPhysicsServer::shape_get_data(RID p_shape) const {
return shape->get_data();
}
+void BulletPhysicsServer::shape_set_margin(RID p_shape, real_t p_margin) {
+ ShapeBullet *shape = shape_owner.get(p_shape);
+ ERR_FAIL_COND(!shape);
+ shape->set_margin(p_margin);
+}
+
+real_t BulletPhysicsServer::shape_get_margin(RID p_shape) const {
+ ShapeBullet *shape = shape_owner.get(p_shape);
+ ERR_FAIL_COND_V(!shape, 0.0);
+ return shape->get_margin();
+}
+
real_t BulletPhysicsServer::shape_get_custom_solver_bias(RID p_shape) const {
//WARN_PRINT("Bias not supported by Bullet physics engine");
return 0.;
@@ -644,20 +656,6 @@ float BulletPhysicsServer::body_get_param(RID p_body, BodyParameter p_param) con
return body->get_param(p_param);
}
-void BulletPhysicsServer::body_set_combine_mode(RID p_body, BodyParameter p_param, CombineMode p_mode) {
- RigidBodyBullet *body = rigid_body_owner.get(p_body);
- ERR_FAIL_COND(!body);
-
- body->set_combine_mode(p_param, p_mode);
-}
-
-PhysicsServer::CombineMode BulletPhysicsServer::body_get_combine_mode(RID p_body, BodyParameter p_param) const {
- RigidBodyBullet *body = rigid_body_owner.get(p_body);
- ERR_FAIL_COND_V(!body, COMBINE_MODE_INHERIT);
-
- return body->get_combine_mode(p_param);
-}
-
void BulletPhysicsServer::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) {
RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND(!body);
@@ -875,12 +873,20 @@ PhysicsDirectBodyState *BulletPhysicsServer::body_get_direct_state(RID p_body) {
return BulletPhysicsDirectBodyState::get_singleton(body);
}
-bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result) {
+bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes) {
RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
- return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result);
+ return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes);
+}
+
+int BulletPhysicsServer::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
+ RigidBodyBullet *body = rigid_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, 0);
+ ERR_FAIL_COND_V(!body->get_space(), 0);
+
+ return body->get_space()->test_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
}
RID BulletPhysicsServer::soft_body_create(bool p_init_sleeping) {
@@ -995,11 +1001,13 @@ void BulletPhysicsServer::soft_body_get_collision_exceptions(RID p_body, List<RI
}
void BulletPhysicsServer::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
- print_line("TODO MUST BE IMPLEMENTED");
+ // FIXME: Must be implemented.
+ WARN_PRINT("soft_body_state is not implemented yet in Bullet backend.");
}
Variant BulletPhysicsServer::soft_body_get_state(RID p_body, BodyState p_state) const {
- print_line("TODO MUST BE IMPLEMENTED");
+ // FIXME: Must be implemented.
+ WARN_PRINT("soft_body_state is not implemented yet in Bullet backend.");
return Variant();
}
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 2c5b7e51cf..e9c568d605 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -99,6 +99,9 @@ public:
virtual ShapeType shape_get_type(RID p_shape) const;
virtual Variant shape_get_data(RID p_shape) const;
+ virtual void shape_set_margin(RID p_shape, real_t p_margin);
+ virtual real_t shape_get_margin(RID p_shape) const;
+
/// Not supported
virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias);
/// Not supported
@@ -213,9 +216,6 @@ public:
virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value);
virtual float body_get_param(RID p_body, BodyParameter p_param) const;
- virtual void body_set_combine_mode(RID p_body, BodyParameter p_param, CombineMode p_mode);
- virtual CombineMode body_get_combine_mode(RID p_body, BodyParameter p_param) const;
-
virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin);
virtual real_t body_get_kinematic_safe_margin(RID p_body) const;
@@ -261,7 +261,8 @@ public:
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body);
- virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL);
+ virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true);
+ virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001);
/* SOFT BODY API */
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index 197550d686..534034d707 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -30,6 +30,7 @@
#include "godot_result_callbacks.h"
+#include "area_bullet.h"
#include "bullet_types_converter.h"
#include "collision_object_bullet.h"
#include "rigid_body_bullet.h"
@@ -51,11 +52,23 @@ bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) co
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
- if (m_pickRay && gObj->is_ray_pickable()) {
- return true;
- } else if (m_exclude->has(gObj->get_self())) {
+
+ if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
+ if (!collide_with_areas)
+ return false;
+ } else {
+ if (!collide_with_bodies)
+ return false;
+ }
+
+ if (m_pickRay && !gObj->is_ray_pickable()) {
+ return false;
+ }
+
+ if (m_exclude->has(gObj->get_self())) {
return false;
}
+
return true;
} else {
return false;
@@ -124,6 +137,15 @@ bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0)
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
+
+ if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
+ if (!collide_with_areas)
+ return false;
+ } else {
+ if (!collide_with_bodies)
+ return false;
+ }
+
if (m_exclude->has(gObj->get_self())) {
return false;
}
@@ -144,6 +166,15 @@ bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) co
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
+
+ if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
+ if (!collide_with_areas)
+ return false;
+ } else {
+ if (!collide_with_bodies)
+ return false;
+ }
+
if (m_exclude->has(gObj->get_self())) {
return false;
}
@@ -189,6 +220,15 @@ bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *pr
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
+
+ if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
+ if (!collide_with_areas)
+ return false;
+ } else {
+ if (!collide_with_bodies)
+ return false;
+ }
+
if (m_exclude->has(gObj->get_self())) {
return false;
}
@@ -218,6 +258,15 @@ bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
+
+ if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
+ if (!collide_with_areas)
+ return false;
+ } else {
+ if (!collide_with_bodies)
+ return false;
+ }
+
if (m_exclude->has(gObj->get_self())) {
return false;
}
@@ -260,10 +309,19 @@ void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3
if (m_penetration_distance > depth) { // Has penetration?
- bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
+ const bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
m_penetration_distance = depth;
m_other_compound_shape_index = isSwapped ? m_index0 : m_index1;
- m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB;
+
+ const btCollisionObjectWrapper *bw0 = m_body0Wrap;
+ if (isSwapped)
+ bw0 = m_body1Wrap;
+
+ if (bw0->getCollisionShape()->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
+ m_pointNormalWorld = bw0->m_worldTransform.getBasis().transpose() * btVector3(0, 0, 1);
+ } else {
+ m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
+ }
}
}
diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h
index 363051f24c..3948f43c00 100644
--- a/modules/bullet/godot_result_callbacks.h
+++ b/modules/bullet/godot_result_callbacks.h
@@ -56,12 +56,17 @@ struct GodotClosestRayResultCallback : public btCollisionWorld::ClosestRayResult
bool m_pickRay;
int m_shapeId;
+ bool collide_with_bodies;
+ bool collide_with_areas;
+
public:
- GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude) :
+ GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld),
m_exclude(p_exclude),
m_pickRay(false),
- m_shapeId(0) {}
+ m_shapeId(0),
+ collide_with_bodies(p_collide_with_bodies),
+ collide_with_areas(p_collide_with_areas) {}
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
@@ -108,9 +113,14 @@ public:
const Set<RID> *m_exclude;
int m_shapeId;
- GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude) :
+ bool collide_with_bodies;
+ bool collide_with_areas;
+
+ GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld),
- m_exclude(p_exclude) {}
+ m_exclude(p_exclude),
+ collide_with_bodies(p_collide_with_bodies),
+ collide_with_areas(p_collide_with_areas) {}
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
@@ -125,12 +135,17 @@ public:
int m_count;
const Set<RID> *m_exclude;
- GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude) :
+ bool collide_with_bodies;
+ bool collide_with_areas;
+
+ GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
m_self_object(p_self_object),
m_results(p_results),
m_exclude(p_exclude),
m_resultMax(p_resultMax),
- m_count(0) {}
+ m_count(0),
+ collide_with_bodies(p_collide_with_bodies),
+ collide_with_areas(p_collide_with_areas) {}
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
@@ -146,12 +161,17 @@ public:
int m_count;
const Set<RID> *m_exclude;
- GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude) :
+ bool collide_with_bodies;
+ bool collide_with_areas;
+
+ GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
m_self_object(p_self_object),
m_results(p_results),
m_exclude(p_exclude),
m_resultMax(p_resultMax),
- m_count(0) {}
+ m_count(0),
+ collide_with_bodies(p_collide_with_bodies),
+ collide_with_areas(p_collide_with_areas) {}
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
@@ -167,13 +187,17 @@ public:
const btCollisionObject *m_rest_info_collision_object;
btVector3 m_rest_info_bt_point;
const Set<RID> *m_exclude;
+ bool collide_with_bodies;
+ bool collide_with_areas;
- GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeRestInfo *p_result, const Set<RID> *p_exclude) :
+ GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeRestInfo *p_result, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
m_self_object(p_self_object),
m_result(p_result),
m_exclude(p_exclude),
m_collided(false),
- m_min_distance(0) {}
+ m_min_distance(0),
+ collide_with_bodies(p_collide_with_bodies),
+ collide_with_areas(p_collide_with_areas) {}
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp
index 97ea7ca3df..07fde6efb9 100644
--- a/modules/bullet/hinge_joint_bullet.cpp
+++ b/modules/bullet/hinge_joint_bullet.cpp
@@ -97,7 +97,7 @@ void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t
switch (p_param) {
case PhysicsServer::HINGE_JOINT_BIAS:
if (0 < p_value) {
- print_line("The Bullet Hinge Joint doesn't support bias, So it's always 0");
+ WARN_PRINTS("HingeJoint doesn't support bias in the Bullet backend, so it's always 0.");
}
break;
case PhysicsServer::HINGE_JOINT_LIMIT_UPPER:
@@ -122,7 +122,7 @@ void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t
hingeConstraint->setMaxMotorImpulse(p_value);
break;
default:
- WARN_PRINTS("The Bullet Hinge Joint doesn't support this parameter: " + itos(p_param) + ", value: " + itos(p_value));
+ WARN_PRINTS("HingeJoint doesn't support this parameter in the Bullet backend: " + itos(p_param) + ", value: " + itos(p_value));
}
}
@@ -146,7 +146,7 @@ real_t HingeJointBullet::get_param(PhysicsServer::HingeJointParam p_param) const
case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE:
return hingeConstraint->getMaxMotorImpulse();
default:
- WARN_PRINTS("The Bullet Hinge Joint doesn't support this parameter: " + itos(p_param));
+ WARN_PRINTS("HingeJoint doesn't support this parameter in the Bullet backend: " + itos(p_param));
return 0;
}
}
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 81a62edba6..9c0e802be5 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -265,8 +265,6 @@ RigidBodyBullet::RigidBodyBullet() :
angularDamp(0),
can_sleep(true),
omit_forces_integration(false),
- restitution_combine_mode(PhysicsServer::COMBINE_MODE_INHERIT),
- friction_combine_mode(PhysicsServer::COMBINE_MODE_INHERIT),
force_integration_callback(NULL),
isTransformChanged(false),
previousActiveState(true),
@@ -761,22 +759,6 @@ Vector3 RigidBodyBullet::get_angular_velocity() const {
return gVec;
}
-void RigidBodyBullet::set_combine_mode(const PhysicsServer::BodyParameter p_param, const PhysicsServer::CombineMode p_mode) {
- if (p_param == PhysicsServer::BODY_PARAM_BOUNCE) {
- restitution_combine_mode = p_mode;
- } else {
- friction_combine_mode = p_mode;
- }
-}
-
-PhysicsServer::CombineMode RigidBodyBullet::get_combine_mode(PhysicsServer::BodyParameter p_param) const {
- if (p_param == PhysicsServer::BODY_PARAM_BOUNCE) {
- return restitution_combine_mode;
- } else {
- return friction_combine_mode;
- }
-}
-
void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transform) {
if (mode == PhysicsServer::BODY_MODE_KINEMATIC) {
// The kinematic use MotionState class
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 35af3b90d8..f03009bce9 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -203,9 +203,6 @@ private:
bool can_sleep;
bool omit_forces_integration;
- PhysicsServer::CombineMode restitution_combine_mode;
- PhysicsServer::CombineMode friction_combine_mode;
-
Vector<CollisionData> collisions;
// these parameters are used to avoid vector resize
int maxCollisionsDetection;
@@ -301,12 +298,6 @@ public:
void set_angular_velocity(const Vector3 &p_velocity);
Vector3 get_angular_velocity() const;
- void set_combine_mode(const PhysicsServer::BodyParameter p_param, const PhysicsServer::CombineMode p_mode);
- PhysicsServer::CombineMode get_combine_mode(PhysicsServer::BodyParameter p_param) const;
-
- _FORCE_INLINE_ PhysicsServer::CombineMode get_restitution_combine_mode() const { return restitution_combine_mode; }
- _FORCE_INLINE_ PhysicsServer::CombineMode get_friction_combine_mode() const { return friction_combine_mode; }
-
virtual void set_transform__bullet(const btTransform &p_global_transform);
virtual const btTransform &get_transform__bullet() const;
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index e4c1a5f9b5..fab8d0cf3d 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -44,19 +44,20 @@
@author AndreaCatania
*/
-ShapeBullet::ShapeBullet() {}
+ShapeBullet::ShapeBullet() :
+ margin(0.04) {}
ShapeBullet::~ShapeBullet() {}
-btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge) {
btVector3 s;
G_TO_B(p_implicit_scale, s);
- return create_bt_shape(s, p_margin);
+ return create_bt_shape(s, p_extra_edge);
}
btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
p_btShape->setUserPointer(const_cast<ShapeBullet *>(this));
- p_btShape->setMargin(0.);
+ p_btShape->setMargin(margin);
return p_btShape;
}
@@ -93,6 +94,15 @@ const Map<ShapeOwnerBullet *, int> &ShapeBullet::get_owners() const {
return owners;
}
+void ShapeBullet::set_margin(real_t p_margin) {
+ margin = p_margin;
+ notifyShapeChanged();
+}
+
+real_t ShapeBullet::get_margin() const {
+ return margin;
+}
+
btEmptyShape *ShapeBullet::create_shape_empty() {
return bulletnew(btEmptyShape);
}
@@ -166,7 +176,7 @@ void PlaneShapeBullet::setup(const Plane &p_plane) {
notifyShapeChanged();
}
-btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *PlaneShapeBullet::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));
@@ -194,8 +204,8 @@ void SphereShapeBullet::setup(real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
- return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_margin));
+btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+ return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_extra_edge));
}
/* Box */
@@ -221,8 +231,8 @@ void BoxShapeBullet::setup(const Vector3 &p_half_extents) {
notifyShapeChanged();
}
-btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
- return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_margin, p_margin, p_margin)));
+btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+ return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_extra_edge, p_extra_edge, p_extra_edge)));
}
/* Capsule */
@@ -254,8 +264,8 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
- return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin));
+btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+ return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1] + p_extra_edge));
}
/* Cylinder */
@@ -329,11 +339,10 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
notifyShapeChanged();
}
-btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btCollisionShape *cs(ShapeBullet::create_shape_convex(vertices));
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
- cs->setMargin(p_margin);
return cs;
}
@@ -402,14 +411,13 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) {
notifyShapeChanged();
}
-btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape);
if (!cs)
// This is necessary since if 0 faces the creation of concave return NULL
cs = ShapeBullet::create_shape_empty();
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
- cs->setMargin(p_margin);
return cs;
}
@@ -495,11 +503,10 @@ void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int
notifyShapeChanged();
}
-btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height));
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
- cs->setMargin(p_margin);
return cs;
}
@@ -533,6 +540,6 @@ void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) {
notifyShapeChanged();
}
-btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
- return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin, slips_on_slope));
+btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
+ return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_extra_edge, slips_on_slope));
}
diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h
index 16a5ac1fc6..638e044e6a 100644
--- a/modules/bullet/shape_bullet.h
+++ b/modules/bullet/shape_bullet.h
@@ -52,6 +52,7 @@ class btBvhTriangleMeshShape;
class ShapeBullet : public RIDBullet {
Map<ShapeOwnerBullet *, int> owners;
+ real_t margin;
protected:
/// return self
@@ -62,14 +63,17 @@ public:
ShapeBullet();
virtual ~ShapeBullet();
- btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_margin = 0);
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0) = 0;
+ btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0;
void add_owner(ShapeOwnerBullet *p_owner);
void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false);
bool is_owner(ShapeOwnerBullet *p_owner) const;
const Map<ShapeOwnerBullet *, int> &get_owners() const;
+ void set_margin(real_t p_margin);
+ real_t get_margin() const;
+
/// Setup the shape
virtual void set_data(const Variant &p_data) = 0;
virtual Variant get_data() const = 0;
@@ -100,7 +104,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Plane &p_plane);
@@ -117,7 +121,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(real_t p_radius);
@@ -134,7 +138,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Vector3 &p_half_extents);
@@ -153,7 +157,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(real_t p_height, real_t p_radius);
@@ -189,7 +193,7 @@ public:
void get_vertices(Vector<Vector3> &out_vertices);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(const Vector<Vector3> &p_vertices);
@@ -207,7 +211,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(PoolVector<Vector3> p_faces);
@@ -227,7 +231,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
@@ -244,7 +248,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(real_t p_length, bool p_slips_on_slope);
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 8454bea4eb..b5329bc347 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -61,7 +61,7 @@ BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_spac
PhysicsDirectSpaceState(),
space(p_space) {}
-int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
+int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0)
return 0;
@@ -69,13 +69,13 @@ int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, Shape
btVector3 bt_point;
G_TO_B(p_point, bt_point);
- btSphereShape sphere_point(0.f);
+ btSphereShape sphere_point(0.001f);
btCollisionObject collision_object_point;
collision_object_point.setCollisionShape(&sphere_point);
collision_object_point.setWorldTransform(btTransform(btQuaternion::getIdentity(), bt_point));
// Setup query
- GodotAllContactResultCallback btResult(&collision_object_point, r_results, p_result_max, &p_exclude);
+ GodotAllContactResultCallback btResult(&collision_object_point, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btResult.m_collisionFilterGroup = 0;
btResult.m_collisionFilterMask = p_collision_mask;
space->dynamicsWorld->contactTest(&collision_object_point, btResult);
@@ -84,7 +84,7 @@ int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, Shape
return btResult.m_count;
}
-bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_pick_ray) {
+bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) {
btVector3 btVec_from;
btVector3 btVec_to;
@@ -93,7 +93,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V
G_TO_B(p_to, btVec_to);
// setup query
- GodotClosestRayResultCallback btResult(btVec_from, btVec_to, &p_exclude);
+ GodotClosestRayResultCallback btResult(btVec_from, btVec_to, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btResult.m_collisionFilterGroup = 0;
btResult.m_collisionFilterMask = p_collision_mask;
btResult.m_pickRay = p_pick_ray;
@@ -117,7 +117,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V
}
}
-int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
+int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0)
return 0;
@@ -139,7 +139,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
collision_object.setCollisionShape(btConvex);
collision_object.setWorldTransform(bt_xform);
- GodotAllContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude);
+ GodotAllContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
btQuery.m_closestDistanceThreshold = 0;
@@ -150,7 +150,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
return btQuery.m_count;
}
-bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, ShapeRestInfo *r_info) {
+bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
@@ -171,7 +171,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
btTransform bt_xform_to(bt_xform_from);
bt_xform_to.getOrigin() += bt_motion;
- GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude);
+ GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btResult.m_collisionFilterGroup = 0;
btResult.m_collisionFilterMask = p_collision_mask;
@@ -197,7 +197,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
}
/// Returns the list of contacts pairs in this order: Local contact, other body contact
-bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
+bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0)
return 0;
@@ -219,7 +219,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
collision_object.setCollisionShape(btConvex);
collision_object.setWorldTransform(bt_xform);
- GodotContactPairContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude);
+ GodotContactPairContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
btQuery.m_closestDistanceThreshold = 0;
@@ -231,7 +231,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
return btQuery.m_count;
}
-bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
+bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
@@ -251,7 +251,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
collision_object.setCollisionShape(btConvex);
collision_object.setWorldTransform(bt_xform);
- GodotRestInfoContactResultCallback btQuery(&collision_object, r_info, &p_exclude);
+ GodotRestInfoContactResultCallback btQuery(&collision_object, r_info, &p_exclude, p_collide_with_bodies, p_collide_with_areas);
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
btQuery.m_closestDistanceThreshold = 0;
@@ -554,42 +554,12 @@ BulletPhysicsDirectSpaceState *SpaceBullet::get_direct_state() {
btScalar calculateGodotCombinedRestitution(const btCollisionObject *body0, const btCollisionObject *body1) {
- const PhysicsServer::CombineMode cm = static_cast<RigidBodyBullet *>(body0->getUserPointer())->get_restitution_combine_mode();
-
- switch (cm) {
- case PhysicsServer::COMBINE_MODE_INHERIT:
- if (static_cast<RigidBodyBullet *>(body1->getUserPointer())->get_restitution_combine_mode() != PhysicsServer::COMBINE_MODE_INHERIT)
- return calculateGodotCombinedRestitution(body1, body0);
- // else use MAX [This is used when the two bodies doesn't use physical material]
- case PhysicsServer::COMBINE_MODE_MAX:
- return MAX(body0->getRestitution(), body1->getRestitution());
- case PhysicsServer::COMBINE_MODE_MIN:
- return MIN(body0->getRestitution(), body1->getRestitution());
- case PhysicsServer::COMBINE_MODE_MULTIPLY:
- return body0->getRestitution() * body1->getRestitution();
- default: // Is always PhysicsServer::COMBINE_MODE_AVERAGE:
- return (body0->getRestitution() + body1->getRestitution()) / 2;
- }
+ return CLAMP(body0->getRestitution() + body1->getRestitution(), 0, 1);
}
btScalar calculateGodotCombinedFriction(const btCollisionObject *body0, const btCollisionObject *body1) {
- const PhysicsServer::CombineMode cm = static_cast<RigidBodyBullet *>(body0->getUserPointer())->get_friction_combine_mode();
-
- switch (cm) {
- case PhysicsServer::COMBINE_MODE_INHERIT:
- if (static_cast<RigidBodyBullet *>(body1->getUserPointer())->get_friction_combine_mode() != PhysicsServer::COMBINE_MODE_INHERIT)
- return calculateGodotCombinedFriction(body1, body0);
- // else use MULTIPLY [This is used when the two bodies doesn't use physical material]
- case PhysicsServer::COMBINE_MODE_MULTIPLY:
- return body0->getFriction() * body1->getFriction();
- case PhysicsServer::COMBINE_MODE_MAX:
- return MAX(body0->getFriction(), body1->getFriction());
- case PhysicsServer::COMBINE_MODE_MIN:
- return MIN(body0->getFriction(), body1->getFriction());
- default: // Is always PhysicsServer::COMBINE_MODE_AVERAGE:
- return (body0->getFriction() * body1->getFriction()) / 2;
- }
+ return ABS(MIN(body0->getFriction(), body1->getFriction()));
}
void SpaceBullet::create_empty_world(bool p_create_soft_world) {
@@ -849,7 +819,7 @@ static Ref<SpatialMaterial> red_mat;
static Ref<SpatialMaterial> blue_mat;
#endif
-bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result) {
+bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes) {
#if debug_test_motion
/// Yes I know this is not good, but I've used it as fast debugging hack.
@@ -924,6 +894,12 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
// Skip no convex shape
continue;
}
+
+ if (p_exclude_raycast_shapes && p_body->get_bt_shape(shIndex)->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
+ // Skip rayshape in order to implement custom separation process
+ continue;
+ }
+
btConvexShape *convex_shape_test(static_cast<btConvexShape *>(p_body->get_bt_shape(shIndex)));
btTransform shape_world_from = body_transform * p_body->get_kinematic_utilities()->shapes[shIndex].transform;
@@ -954,11 +930,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
btVector3 __rec(0, 0, 0);
RecoverResult r_recover_result;
- has_penetration = recover_from_penetration(p_body, body_transform, 0, p_infinite_inertia, __rec, &r_recover_result);
+ has_penetration = recover_from_penetration(p_body, body_transform, 1, p_infinite_inertia, __rec, &r_recover_result);
// Parse results
if (r_result) {
- B_TO_G(motion + initial_recover_motion, r_result->motion);
+ B_TO_G(motion + initial_recover_motion + __rec, r_result->motion);
if (has_penetration) {
@@ -994,6 +970,39 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
return has_penetration;
}
+int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer::SeparationResult *r_results, int p_result_max, float p_margin) {
+
+ btTransform body_transform;
+ G_TO_B(p_transform, body_transform);
+ UNSCALE_BT_BASIS(body_transform);
+
+ btVector3 recover_motion(0, 0, 0);
+
+ int rays_found;
+
+ 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);
+
+ rays_found = MAX(last_ray_index, rays_found);
+ if (!rays_found) {
+ break;
+ } else {
+ 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]);
+ }
+ }
+
+ B_TO_G(recover_motion, r_recover_motion);
+ return rays_found;
+}
+
struct RecoverPenetrationBroadPhaseCallback : public btBroadphaseAabbCallback {
private:
const btCollisionObject *self_collision_object;
@@ -1050,6 +1059,11 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
continue;
}
+ if (kin_shape.shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
+ // Skip rayshape in order to implement custom separation process
+ 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;
@@ -1152,7 +1166,6 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
if (contactPointResult.hasHit()) {
r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1 * p_recover_movement_scale);
-
if (r_recover_result) {
if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {
r_recover_result->hasPenetration = true;
@@ -1168,3 +1181,79 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
}
return false;
}
+
+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());
+
+ btTransform body_shape_position;
+ btTransform body_shape_position_recovered;
+
+ // Broad phase support
+ btVector3 minAabb, maxAabb;
+
+ int ray_index = 0;
+
+ // For each shape
+ for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
+
+ recover_broad_result.reset();
+
+ if (ray_index >= p_result_max) {
+ break;
+ }
+
+ 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;
+ }
+
+ 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);
+
+ for (int i = recover_broad_result.result_collision_objects.size() - 1; 0 <= i; --i) {
+ btCollisionObject *otherObject = recover_broad_result.result_collision_objects[i];
+ if (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()) {
+ otherObject->activate(); // Force activation of hitten rigid, soft body
+ continue;
+ } else if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()))
+ continue;
+
+ if (otherObject->getCollisionShape()->isCompound()) {
+
+ // Each convex shape
+ btCompoundShape *cs = static_cast<btCompoundShape *>(otherObject->getCollisionShape());
+ for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) {
+
+ RecoverResult r_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, &r_recover_result)) {
+
+ const btRigidBody *btRigid = static_cast<const btRigidBody *>(otherObject);
+ CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(otherObject->getUserPointer());
+
+ r_results[ray_index].collision_depth = r_recover_result.penetration_distance;
+ B_TO_G(r_recover_result.pointWorld, r_results[ray_index].collision_point);
+ B_TO_G(r_recover_result.normal, r_results[ray_index].collision_normal);
+ B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_results[ray_index].collider_velocity);
+ r_results[ray_index].collision_local_shape = kinIndex;
+ r_results[ray_index].collider_id = collisionObject->get_instance_id();
+ r_results[ray_index].collider = collisionObject->get_self();
+ r_results[ray_index].collider_shape = r_recover_result.other_compound_shape_index;
+ }
+ }
+ }
+ }
+
+ ++ray_index;
+ }
+
+ return ray_index;
+}
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 6b86fc2f03..517ec67ffa 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -73,13 +73,13 @@ 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);
- 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_pick_ray = false);
- virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF);
- virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, ShapeRestInfo *r_info = NULL);
+ 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);
+ 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);
+ virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float 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);
+ virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_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 = NULL);
/// Returns the list of contacts pairs in this order: Local contact, other body contact
- virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float 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);
- virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF);
+ virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float 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);
+ virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float 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);
virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const;
};
@@ -174,7 +174,8 @@ public:
void update_gravity();
- bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result);
+ bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes);
+ int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer::SeparationResult *r_results, int p_result_max, float p_margin);
private:
void create_empty_world(bool p_create_soft_world);
@@ -208,5 +209,7 @@ private:
/// 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);
+
+ 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 2024-12-17 06:46:25 +0000